symforce
openvslam
| symforce | openvslam | |
|---|---|---|
| 15 | 3 | |
| 1,347 | 2,952 | |
| 1.0% | - | |
| 8.9 | 4.0 | |
| 11 days ago | about 3 years ago | |
| C++ | C++ | |
| Apache License 2.0 | GNU General Public License v3.0 or later |
Stars - the number of stars that a project has on GitHub. Growth - month over month growth in stars.
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For example, an activity of 9.0 indicates that a project is amongst the top 10% of the most actively developed projects that we are tracking.
symforce
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SymPy: Symbolic Mathematics in Python
You might find this library interesting: https://github.com/symforce-org/symforce
- SymForce is a fast symbolic computation and code generation library for robotics
- Fast Symbolic Computation for Robotics
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Literature request: Lie groups and algebra
Personally I followed along the text implementing things using symforce (https://symforce.org/) instead of Sophus.
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Jacobian Matrix possible on arduino?
It isn't related to Arduino, and may be overkill for this application, but Symforce has some cool tools for implementing the 1st option.
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What optimization libraries are you using?
I've been paying around with Symforce and the more I get into it the more excited I get about it. It lets you prototype in high level symbolic math in Python, then once you get things working it autogenerates super optimized C++ for you. And it has the built in tangent space stuff for factor graphs like GTSAM
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Skydio Researchers Open-Source ‘SymForce’: A Fast Symbolic Computation And Code Generation Library For Robotics Applications Like Computer Vision, etc.
Continue reading | Checkout the paper and github
- Fast symbolic computation, code generation, and nonlinear optimization for robotics
openvslam
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Grafana, Loki, and Tempo will be relicensed to AGPLv3
This might be the case. However there is an additional risk and process component:
- you might not want to risk because you don't have lawyers etc in your company.
- even if you have lawyers etc in your company, if there are 2 alternatives one which is just an MIT license, you'll probably go for that one because you don't want to have a 1.5 month review of the use of this AGPL licensed alternative.
In general things like this https://github.com/xdspacelab/openvslam/wiki/Termination-of-... (repo with 3k stars), an effort terminated because of some traces of GPL code MIGHT be somewhere in there comes to light. Even though Grafana etc are mostly tools, for my startup I would probably not risk any of this (for my own sake and also for any kind of due diligence in case it ever gets acquired)
- OpenVSLAM – Termination of the release because of GPLv3
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Looking for cheap solution for many-camera SLAM
OpenVSLAM
What are some alternatives?
casadi - CasADi is a symbolic framework for numeric optimization implementing automatic differentiation in forward and reverse modes on sparse matrix-valued computational graphs. It supports self-contained C-code generation and interfaces state-of-the-art codes such as SUNDIALS, IPOPT etc. It can be used from C++, Python or Matlab/Octave.
ORB_SLAM3 - ORB-SLAM3: An Accurate Open-Source Library for Visual, Visual-Inertial and Multi-Map SLAM
CppRobotics - Header-only C++ library for robotics, control, and path planning algorithms. Work in progress, contributions are welcome!
tello-ros2 - ROS2 node for DJI Tello and Visual SLAM for mapping of indoor environments.
pinocchio - A fast and flexible implementation of Rigid Body Dynamics algorithms and their analytical derivatives
rtabmap - RTAB-Map library and standalone application
Colosseum - Open source simulator for autonomous robotics built on Unreal Engine with support for Unity
open_vins - An open source platform for visual-inertial navigation research.
ANMS-Codes - Efficient adaptive non-maximal suppression algorithms for homogeneous spatial keypoint distribution
Kimera - Index repo for Kimera code
xflrpy - xflrpy is a python enabled version of xflr5 for scripting and design optimization.
SuperPoint_SLAM - SuperPoint + ORB_SLAM2