View Code? Open in Web Editor
NEW
This project forked from gyubeomim/pgo_toy_example
A toy example of Pose Graph Optimization (PGO) using g2o library.
License: MIT License
pgo_toy_example's Introduction
- A toy example of Pose Graph Optimization (PGO) using g2o library.
- Pose: SE3Quat
- Vertex: VertexSE3Expmap
- Edge: EdgeSE3Expmap
- Information Matrix: Randomly generated
- Black: Current Estimated Poses
- Gray: Previous Poses
- ROS kinetic (Ubuntu 16.04) or ROS melodic (Ubuntu 18.04) download
- g2o library (2020.07 commit) download
- If you have a g2o version problem while building, try to use
31ea135 commit version.
- In the g2o directory, type
$ git checkout 31ea135 and build the g2o library.
- Clone this repository
git clone https://github.com/edward0im/pgo_toy_example.
- Put this direcotory into your workspace such as
catkin_ws.
- Build the workspace using
catkin_make.
- Update ROS packages using
rospack profile.
- Run
roslaunch pgo_toy_example pgo_toy_example.launch.
pgo_toy_example's People
Contributors
React
Typescript
Django
Laravel
Facebook
Microsoft
Google
Alibaba
D3
Tencent