rslam_dev's People
rslam_dev's Issues
ROS Parameters and launch file
For macro things like front end choice, persistent mode, using loop closure etc ...
Remove miniglog dependency
Change logging over to ROS. Remove CHECK macros/replace with ROS_ASSERT where appropriate.
Consolidate front end
The common front end interface isn't actually a common interface. Move common code into the "interface" and standardize member variables across semidense and sparse front ends.
Remove non-free library
Simplify SLAM map
Visualization for SLAM MAP
Consolidate back end
The back end is implemented via 3 libraries, back_end, optimization and ba. Consolidate this and allow plug-ins to standard solvers like g2o/ceres etc.
Documentation
Remove calibu dependency
This is a big library. Seems to only be used for shunting camera matrices around.
Remove all CVARs
FeatureImage is hard coded to FAST features
In sparse_front_end/src/front_end.cpp line 289
Add wheel odometry to front end
Enable place recognition in semi dense front end
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