About

Toy monocular SLAM implementation for Creative Coding Practice M25723-2021/22

 

To Use:

git clone https://github.com/GandalfTea/slamhmw
cd slamhmw
pip install numpy PyOpenGL scikit-image opencv-contib-python pygame 
python slam.py [video].mp4

The video argument can be replaced with a number representing the index of a camera.
Default index 0 will grab first camera found on system:

python slam.py 0

 

Example video used:

https://www.youtube.com/watch?v=Auuf4lTvtSw

Todo:

• Write real-time version in C++.
• Camera argument to VideoCapture(sys.argv[1] does not work.
• Clean up points
• Use g2opy for cleanup?