Skip to content

rvp-group/srrg2_solver

Repository files navigation

SRRG2-SOLVER

Basic solver specifically designed for SLAM pipelines. Highly efficient, no fancy stuff, but man if it runs! :D

This repository contains several Catkin packages:

  1. srrg2_solver: the barebone srrr2-solver package. Provides batch optimization with BOSS graphs, conversion of graphs from/to g2o format to/from BOSS format, and all other solver modules (most used variables and factors, linear solvers, iteration algorithms, robustifiers, termination criteria ... ). Minimal build dependencies are required.

  2. srrg2_solver_extras: provides additional variables and factors (e.g. the AD version of the factors in tha package srrg2_solver). Minimal build dependencies are required.

  3. srrg2_solver_experiments: provides comparative examples with pcl - based point registration.

  4. srrg2_solver_gui: super experimental package that includes a graph viewer (works only with standard pose-graphs now). Requires OpenGL, QT, QGLViewer.

To know more about those packages, refer to the readme file in the respective packages.

Publications

To have a more detailed overview on this solver, you can read our brand new article. If you use our srrg2_solver, please cite us in your work.

@article{grisetti2020solver,
  author={Grisetti, Giorgio and Guadagnino, Tiziano and Aloise, Irvin and Colosi, Mirco and Della Corte, Bartolomeo and Schlegel, Dominik},
  title={Least Squares Optimization: from Theory to Practice},
  journal={Robotics},
  year={2020},
  month={July},
  volume={9},
  number={3},
  pages={51},
  doi={10.3390/robotics9030051}
}

Something is not working?

Open an issue or contact the mantainers :)

Contributors

  • Giorgio Grisetti
  • Tiziano Guadagnino
  • Irvin Aloise
  • Mirco Colosi
  • Bartolomeo Della Corte
  • Dominik Schlegel

License

BSD 3.0