Depedency

• GTSAM Quadrics - https://github.com/best-of-acrv/gtsam-quadrics
• GTSAM - https://github.com/borglab/gtsam - May not be needed to installed explicitly if installed with gtsam quadrics
• numpy

Instructions

./toy_experiments contains the code that's used to validate that calibrated uncertainty estimates gives better SLAM results. - python figure8_slam.py for toy experiments in slam with figure 8 loop closure.

./quadric_slam - containes the code for the reimplementation of quadric slam.

• Download the rgb images of the dataset from of the sequence fr3/long_office_household at https://vision.in.tum.de/data/datasets/rgbd-dataset/download
• Put the images under ./quadric_slam/data/rgb/

cd quadric_slam
python quadric_slam.py