gtsamEx

Nonlinear factor graph optimization visualizer

• Optimization .g2o and control to iterlation in dynamic_reconfigure

Dependency

• ROS (tested in Noetic only)

sudo apt-get install ros-noetic-jsk-visualization

• gtsam

sudo apt-get install ros-noetic-gtsam

Install

Use the following commands to download and compile the package.

cd ~/catkin_ws/src
git  clone https://github.com/aksrb1030/gtsamEx
cd ..
catkin_make

Run the pacakge

roslaunch gtsam_ex run_gtsam.launch

Visualizer

dynamic_reconfigure

sphere.g2o(before)

sphere.g2o(after)

parking-garage_after.g2o(before)

parking-garage_after.g2o(after)