# Sparse Bundle Adjustment Python Wrapper

**URL:** <https://discourse.openrobotics.org/t/sparse-bundle-adjustment-python-wrapper/10699>\
**Category:** Projects\
**Created:** [September 17, 2019, 6:28am UTC](https://discourse.openrobotics.org/t/sparse-bundle-adjustment-python-wrapper/10699 "2019-09-17T06:28:52Z")\
**Posts on this page:** 1\
**Page:** 1

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**Author:** ![safijari](https://sea2.discourse-cdn.com/flex022/user_avatar/discourse.openrobotics.org/safijari/32/4497_2.png) [@safijari](https://discourse.openrobotics.org/u/safijari)\
**Post date:** [September 17, 2019, 6:28am UTC](https://discourse.openrobotics.org/t/sparse-bundle-adjustment-python-wrapper/10699/1 "2019-09-17T06:28:52Z")

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I recently made a [python wrapper](https://github.com/safijari/sparse_bundle_adjustment) over the excellent `sparse_bundle_adjustment` library ([PyPI link](https://pypi.org/project/sparse-bundle-adjustment/) for linux wheels). I’m using it in a graph slam package. So far only the SBA2d piece is exposed (example on github) but I will be working on exposing more bits and pieces as I build my SLAM package.

Sharing it here in case it’s useful to someone. If you have requests please post here or open an issue on Github 🙂