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borglab

11 indexed repositories · View on GitHub

gtsam
GTSAM is a library of C++ classes that implement smoothing and mapping (SAM) in robotics and vision, using factor graphs and Bayes networ...

Jupyter Notebook · 3680 stars
gtsfm
End-to-end SFM framework based on GTSAM

Jupyter Notebook · 524 stars
SwiftFusion

Swift · 118 stars
gtsam-project-python
Project template using GTSAM + python wrapping

CMake · 67 stars
GTDynamics
Full kinodynamics constraints for arbitrary robot configurations with factor graphs.

C++ · 65 stars
gpmp2
Gaussian Process Motion Planner 2

C++ · 64 stars
wrap
Wrapper generator for C++ projects with multiple language support

C++ · 37 stars
imuFactors
Evaluation of various Pre-integrated IMU Factors

Jupyter Notebook · 24 stars
gtsam.org
GTSAM website

HTML · 8 stars
gtsam-manylinux-build

Shell · 1 star
homebrew-core
Homebrew tap for BorgLab software

Ruby · 0 stars

Open All

156 open issues indexed

Fix Colmap's crawler to download intrinsics database from https://www.digicamdb.com/ Open

enhancement

borglab/gtsfm#18 · 0 comments · 0 reactions · 0 assignees · Indexed Sep 14, 2026
Rename Keypoints class to GTSFM class Open

enhancement

borglab/gtsfm#30 · 0 comments · 0 reactions · 1 assignee · Indexed Sep 14, 2026
Fix the default size for opencv Keypoint Open

objective

borglab/gtsfm#41 · 0 comments · 0 reactions · 0 assignees · Indexed Sep 14, 2026
Fix 1DSFM on the lund dataset Open

bug

borglab/gtsfm#58 · 1 comment · 0 reactions · 0 assignees · Indexed Sep 14, 2026
pydegensac crashes in mac build Open

bug

borglab/gtsfm#72 · 4 comments · 0 reactions · 0 assignees · Indexed Sep 14, 2026
python 3.9 + dask incompatibility w/o extra import Open

bug

borglab/gtsfm#74 · 2 comments · 0 reactions · 0 assignees · Indexed Sep 14, 2026
1dsfm failure for 30 fps data Open

bug objective

borglab/gtsfm#99 · 1 comment · 0 reactions · 1 assignee · Indexed Sep 14, 2026
Rename utils/features.py to utils/keypoints.py Open

enhancement

borglab/gtsfm#100 · 0 comments · 0 reactions · 1 assignee · Indexed Sep 14, 2026
Allow dropped cameras and use COLMAP export format Open

enhancement

borglab/gtsfm#105 · 2 comments · 0 reactions · 2 assignees · Indexed Sep 14, 2026
Optimize inference with deep models Open

longterm objective

borglab/gtsfm#110 · 1 comment · 0 reactions · 1 assignee · Indexed Sep 14, 2026
Missing info for colmap export Open

enhancement

borglab/gtsfm#130 · 0 comments · 0 reactions · 1 assignee · Indexed Sep 14, 2026
Cheirality exception unit test Open

enhancement

borglab/gtsfm#133 · 0 comments · 0 reactions · 1 assignee · Indexed Sep 14, 2026
Decomposition of Essential Matrix does not reconstruct the same essential matrix again Open

bug

borglab/gtsfm#144 · 5 comments · 0 reactions · 0 assignees · Indexed Sep 14, 2026
Add more tests for verifiers Open

bug

borglab/gtsfm#152 · 1 comment · 0 reactions · 0 assignees · Indexed Sep 14, 2026
No conda env file for gtsfm on windows platform Open

longterm

borglab/gtsfm#155 · 3 comments · 1 reaction · 0 assignees · Indexed Sep 14, 2026
SceneOptimizer cannot handle dropped cameras before rotation averaging Open

bug

borglab/gtsfm#164 · 0 comments · 0 reactions · 0 assignees · Indexed Sep 14, 2026
Debug GTSFM on the Argoverse dataset Open

objective

borglab/gtsfm#183 · 0 comments · 0 reactions · 1 assignee · Indexed Sep 14, 2026
Test pipeline on different image sizes Open

objective

borglab/gtsfm#184 · 0 comments · 0 reactions · 1 assignee · Indexed Sep 14, 2026
log the number of keypoints from each method (SIFT vs. SuperGlue) Open

enhancement

borglab/gtsfm#188 · 0 comments · 0 reactions · 0 assignees · Indexed Sep 14, 2026
Add default config to GTSFM Open

enhancement

borglab/gtsfm#191 · 1 comment · 0 reactions · 1 assignee · Indexed Sep 14, 2026
Add baseline check before triangulation Open

objective

borglab/gtsfm#205 · 2 comments · 0 reactions · 1 assignee · Indexed Sep 14, 2026
Add unit tests to compare Colmap's RANSAC based triangulation with ours Open

enhancement good first issue

borglab/gtsfm#206 · 0 comments · 0 reactions · 0 assignees · Indexed Sep 14, 2026
Enforce in base loader that image pairs i.e. edges (i1,i2) are ordered as i1 < i2. Open

bug

borglab/gtsfm#210 · 0 comments · 0 reactions · 1 assignee · Indexed Sep 14, 2026
References and design doc request Open

documentation

borglab/gtsfm#212 · 4 comments · 0 reactions · 0 assignees · Indexed Sep 14, 2026
Delayed expected types Open

documentation

borglab/gtsfm#238 · 2 comments · 1 reaction · 0 assignees · Indexed Sep 14, 2026
Improving data association Open

objective

borglab/gtsfm#244 · 3 comments · 0 reactions · 2 assignees · Indexed Sep 14, 2026
Handle None vs. Nan in data association Open

bug

borglab/gtsfm#248 · 1 comment · 0 reactions · 0 assignees · Indexed Sep 14, 2026
Outlier rejection analysis Open

borglab/gtsfm#254 · 1 comment · 0 reactions · 0 assignees · Indexed Sep 14, 2026
Make test_verifier_argoverse.py::TestDegensacVerifierArgoverse::testRecoveredPoseError more consistent Open

bug

borglab/gtsfm#255 · 0 comments · 0 reactions · 1 assignee · Indexed Sep 14, 2026
Interface between loaders and `GtsfmData` Open

enhancement help wanted

borglab/gtsfm#263 · 2 comments · 0 reactions · 0 assignees · Indexed Sep 14, 2026
Handling images without EXIF data Open

enhancement help wanted

borglab/gtsfm#265 · 0 comments · 0 reactions · 0 assignees · Indexed Sep 14, 2026
Visual comparison of result w.r.t. GT in Open3d or Mayavi Open

borglab/gtsfm#270 · 2 comments · 0 reactions · 0 assignees · Indexed Sep 14, 2026
"New" translation averaging paper? Open

borglab/gtsfm#271 · 2 comments · 1 reaction · 1 assignee · Indexed Sep 14, 2026
Exit code per image pair & more metrics for front-end Open

borglab/gtsfm#283 · 1 comment · 0 reactions · 1 assignee · Indexed Sep 14, 2026
Converting third-party modules to submodules Open

dependencies longterm

borglab/gtsfm#284 · 0 comments · 0 reactions · 0 assignees · Indexed Sep 14, 2026
Automatic metric comparison Open

documentation enhancement

borglab/gtsfm#287 · 6 comments · 0 reactions · 0 assignees · Indexed Sep 14, 2026
Decide which module initial outlier rejection steps (e.g. cycle consistency) should go in code Open

borglab/gtsfm#289 · 0 comments · 0 reactions · 0 assignees · Indexed Sep 14, 2026
GPU computation improvements Open

borglab/gtsfm#293 · 0 comments · 0 reactions · 0 assignees · Indexed Sep 14, 2026
Refactor the dataloaders with more functionality in base class Open

refactor

borglab/gtsfm#294 · 0 comments · 0 reactions · 1 assignee · Indexed Sep 14, 2026
Consider Adding GPS? Open

borglab/gtsfm#299 · 0 comments · 0 reactions · 0 assignees · Indexed Sep 14, 2026
React application not starting Open

bug

borglab/gtsfm#300 · 3 comments · 0 reactions · 0 assignees · Indexed Sep 14, 2026
Radial coefficients k1, k2 hard-coded to zero when reading values Open

borglab/gtsfm#301 · 0 comments · 0 reactions · 0 assignees · Indexed Sep 14, 2026
use pixel thresholds relative to image size Open

borglab/gtsfm#302 · 1 comment · 0 reactions · 0 assignees · Indexed Sep 14, 2026
Investigate further inlier ratio w.r.t. GT model and w.r.t estimated model Open

bug objective

borglab/gtsfm#306 · 1 comment · 1 reaction · 0 assignees · Indexed Sep 14, 2026
Analyze and remove randomness between runs of GTSFM Open

borglab/gtsfm#323 · 0 comments · 0 reactions · 0 assignees · Indexed Sep 14, 2026
Add flag for smoothness prior on intrinsics Open

borglab/gtsfm#324 · 0 comments · 0 reactions · 0 assignees · Indexed Sep 14, 2026
Provide a simple runner which runs from a folder of images Open

borglab/gtsfm#352 · 3 comments · 0 reactions · 0 assignees · Indexed Sep 14, 2026
Improvements to make for code quality Open

borglab/gtsfm#356 · 0 comments · 0 reactions · 0 assignees · Indexed Sep 14, 2026
Organize the passing of ground truth (poses, meshes etc.) in the scene optimizer and individual modules Open

refactor

borglab/gtsfm#361 · 1 comment · 0 reactions · 1 assignee · Indexed Sep 14, 2026
360 Camera Support Open

borglab/gtsfm#368 · 3 comments · 0 reactions · 0 assignees · Indexed Sep 14, 2026

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