Overview

• This repository has some examples of pose adjustment using a pose graph.
• All pose graphs are implemented as a factor graph defined by GTSAM.
• This repository was used for demonstration of this seminar.
  • セミナー名: SLAM（自己位置推定・地図構築）の基礎と高性能化技術および実装・実応用のポイント

Dependencies

• gtsam
  • Library for factor graph optimization
• iridescence
  • Library for visualization

We tested all codes with Ubuntu 22.04.

Preparation to execute sample codes

• Please execute the following commands before executing sample codes.
• All sample codes assume that you are in the build directory made by the following command.

git clone https://github.com/TakuOkawara/pose_adjustment_demo.git
cd pose_adjustment_demo
mkdir build
cd build

How to execute each sample code

small_pose_adjustment_2d.cpp

• This example is a small pose graph optimization using a pose graph.
• We made this example referring to official gtsam tutorial
• This code can be executed by the following commands

cd build
cmake ..
make
./small_pose_adjustment_2d 

pose_adjustment_2d.cpp

• This example is 2D pose graph optimization using a pose graph.
• This code uses the Manhattan dataset.
• This code can be executed by the following commands

cd build
cmake ..
make
./pose_adjustment_2d 

pose_adjustment_3d.cpp

• This example is 3D pose graph optimization using a pose graph.
• This code uses the Sphere dataset.
• This code can be executed by the following commands

cd build
cmake ..
make
./pose_adjustment_3d 

pose_adjustment_3d_with_customfactor.cpp

• This example is 3D pose graph optimization using a pose graph implemented by a custom factor.
• The custom factor is created by inheriting the NoiseModelFactor; thus this code is a tutorial to make a new factor (constraint for SLAM) using GTSAM.
  • This custom between factor is the same as gtsam::BetweenFactor< gtsam::Pose3 >.
• Custom factors are important for implementing novel factors that are still not implemented in the official GTSAM repository, such as full_linear_wheel_odometry_factor
  • full_linear_wheel_odometry_factor is a custom factor to consider wheel slippage and wheel radius errors for skid-steering robots.
• This code also uses the Sphere dataset; thus this result is the same as pose_adjustment_3d.cpp.
• This code can be executed by the following commands

cd build
cmake ..
make
./pose_adjustment_3d_with_customfactor 

Trouble shooting

error while loading shared libraries: libmetis-gtsam.so: cannot open shared object file: No such file or directory

Please execute the following commands when the above execution error occurs.

echo "export LD_LIBRARY_PATH=/usr/local/lib:$LD_LIBRARY_PATH" >> ~/.bashrc
source ~/.bashrc