This repo contains several concepts and implimentations of computer vision and visual slam algorithms for rapid prototyping for reserachers to test concepts.

Some implientations are done with g2o for optimisatiion or Gauss newton non linear solver

For solutions done with Gauss newton code runs very slowly as using the c++/python bind libraries are faster

python3 -m venv venv

On my mac i had to change some things to get to work so eddited g2opy will be attached you can skip the git clone

git clone https://github.com/uoip/g2opy.git
cd g2opy
mkdir build
cd build
cmake ..
make -j8
cd ..
python setup.py install

pip install PyOpenGL PyOpenGL_accelerate

git clone https://github.com/uoip/pangolin.git
cd pangolin
mkdir build
cd build
cmake ..
make -j8
cd ..
python setup.py install

pip install sophuspy

pip install open3d

pip install opencv-python

pip install scipy