開源庫收集（機器人領域VSLAM）1

機器人領域中相關開源庫資料彙總收集

目錄

1. 矩陣運算
   1.1 稀疏矩陣計算算法
   1.1.1 SuiteSparse
2. 圖形庫
   2.1 可視化及人機交互
   2.1.1 Pangolin

正文

1. 矩陣運算

1.1 稀疏矩陣計算算法

1.1.1 SuiteSparse

SuiteSparse是一系列稀疏矩陣運算算法集，主要包含：
•GraphBLAS: graph algorithms in the language of linear algebra
•Mongoose: graph partitioning
•ssget: MATLAB and Java interface to the SuiteSparse Matrix Collection
•UMFPACK: multifrontal LU factorization. Appears as LU and x=A\b in MATLAB.
•CHOLMOD: supernodal Cholesky. Appears as CHOL and x=A\b in MATLAB. Now with CUDA acceleration, in collaboration with NVIDIA.
•SPQR: multifrontal QR. Appears as QR and x=A\b in MATLAB, with CUDA acceleration.
•KLU and BTF: sparse LU factorization, well-suited for circuit simulation.
•Ordering methods (AMD, CAMD, COLAMD, and CCOLAMD). AMD and COLAMD appear in MATLAB.
•CSparse and CXSparse: a concise sparse Cholesky factorization package for my SIAM book.
•spqr_rank: a MATLAB package for reliable sparse rank detection, null set bases, pseudoinverse solutions, and basic solutions.
•Factorize: an object-oriented solver for MATLAB (a reusable backslash).
•SSMULT and SFMULT: sparse matrix multiplication. Appears as the built-in C=A*B operator in MATLAB.
•… and many other packages.

SuiteSparse下載地址：http://faculty.cse.tamu.edu/davis/suitesparse.html

2. 圖形庫

2.1 可視化及人機交互

2.1.1 Pangolin

”Pangolin”是一個用於管理“OpenGL”顯示、交互和抽象視頻輸入的輕量級便於快速開發的開源庫。
github描述：
Pangolinis a lightweight portable rapid development library for managing OpenGL display / interaction and abstracting video input. At its heart is a simple OpenGl viewport manager which can help to modularise 3D visualisation without adding to its complexity, and offers an advanced but intuitive 3D navigation handler. Pangolinalso provides a mechanism for manipulating program variables through config files and ui integration, and has a flexible real-time plotter for visualising graphical data.

The ethos of Pangolinis to reduce the boilerplate code that normally gets written to visualise and interact with (typically image and 3D based) systems, without compromising performance. It also enables write-once code for a number of platforms, currently including Windows, Linux, OSX, Android and IOS.

”Pangolin”開源網址：https://github.com/stevenlovegrove/Pangolin

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