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