https://github.com/powei-lin/py-minisam

Pure python implementation of minisam.
https://github.com/powei-lin/py-minisam

factor-graph gtsam least-squares minisam optimization python python3 robotics

Last synced: about 2 months ago
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Pure python implementation of minisam.

• Host: GitHub
• URL: https://github.com/powei-lin/py-minisam
• Owner: powei-lin
• License: mit
• Created: 2024-03-03T15:49:38.000Z (over 2 years ago)
• Default Branch: main
• Last Pushed: 2024-03-23T16:17:09.000Z (over 2 years ago)
• Last Synced: 2025-11-01T21:15:01.000Z (8 months ago)
• Topics: factor-graph, gtsam, least-squares, minisam, optimization, python, python3, robotics
• Language: Python
• Homepage:
• Size: 249 KB
• Stars: 1
• Watchers: 1
• Forks: 0
• Open Issues: 0
• Metadata Files:
  • Readme: README.md
  • License: LICENSE

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README

          
# py-minisam

[![Ubuntu Build Status](https://github.com/powei-lin/py-minisam/workflows/ubuntu/badge.svg)](https://github.com/powei-lin/py-minisam/actions?query=workflow%3Aubuntu)

[![PyPI - Version](https://img.shields.io/pypi/v/py-minisam.svg)](https://pypi.org/project/py-minisam)

[![PyPI - Python Version](https://img.shields.io/pypi/pyversions/py-minisam.svg)](https://pypi.org/project/py-minisam)

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Pure python implementation of [minisam](https://github.com/dongjing3309/minisam).



**TODO list**

- [x] gauss_newton_optimizer

- [ ] levenberg_marquardt_optimizer(has bug now)

- [ ] information matrix

- [ ] loss function

- [ ] multithreading

**Table of Contents**

- [Installation](#installation)

- [License](#license)

## Installation

```console

pip install py-minisam

```

## License

`py-minisam` is distributed under the terms of the [MIT](https://spdx.org/licenses/MIT.html) license.