Nikolaus Demmel
7b8f675bfd
- Change formatting standard to Cpp11. Main difference is not having the space between two closing >> for nested templates. We don't choose c++14, because older versions of clang-format (version 9 and earlier) don't know this value yet, and it doesn't make a difference in the formatting. - Apply clang-format to all (non generated) internal source files. - Manually fix some code sections (clang-format on/off) and c-strings - Exclude some embedded external files with very different formatting (gtest/gmock) - Add script to format all source files Change-Id: Ic6cea41575ad6e37c9e136dbce176b0d505dc44d
Pose Graph 2D
The Simultaneous Localization and Mapping (SLAM) problem consists of building a map of an unknown environment while simultaneously localizing against this map. The main difficulty of this problem stems from not having any additional external aiding information such as GPS. SLAM has been considered one of the fundamental challenges of robotics. A pose graph optimization problem is one example of a SLAM problem.
This package defines the necessary Ceres cost functions needed to model the 2-dimensional pose graph optimization problem as well as a binary to build and solve the problem. The cost functions are shown for instruction purposes and can be speed up by using analytical derivatives which take longer to implement.
Running
This package includes an executable pose_graph_2d that will read a problem
definition file. This executable can work with any 2D problem definition that
uses the g2o format. It would be relatively straightforward to implement a new
reader for a different format such as TORO or others. pose_graph_2d will print
the Ceres solver full summary and then output to disk the original and optimized
poses (poses_original.txt and poses_optimized.txt, respectively) of the
robot in the following format:
pose_id x y yaw_radians
pose_id x y yaw_radians
pose_id x y yaw_radians
...
where pose_id is the corresponding integer ID from the file definition. Note,
the file will be sorted in ascending order for the pose_id.
The executable pose_graph_2d has one flag --input which is the path to the
problem definition. To run the executable,
/path/to/bin/pose_graph_2d --input /path/to/dataset/dataset.g2o
A python script is provided to visualize the resulting output files.
/path/to/repo/examples/slam/pose_graph_2d/plot_results.py --optimized_poses ./poses_optimized.txt --initial_poses ./poses_original.txt