iMAP-pytorch

This is reproduction implementation for iMAP(https://edgarsucar.github.io/iMAP/)

dependency

• PyTorch 1.8
• opencv-python
• numpy

For visualizer(WIP, optional)

• pymcubes
• pyopengl
• pangolin (requires offline installation, check it out here: https://github.com/uoip/pangolin)

Quick start

Download RGBD dataset from TUM(https://vision.in.tum.de/data/datasets/rgbd-dataset/download)

run with following commands

python run_slam_tum.py path/to/rgbd_dataset_freiburg1_teddy/