Functionality?

[antithing]

Hi! Thanks for making this code available. I am learning about pose graph icp slam, and I am trying to get your code built in windows. Is this a functional slam system? What dataset do I need to pass in?

Thanks again!

[Ellon]

Hi, and thanks for your interest.

I developed the code exclusively on Linux, so I cannot guarantee it will compile and run as expected on Windows (I'm almost sure it won't).

The system is still a work in progress that should reach a stable state soon. I'll then add some docs and examples. I plan to add an example using KITTI odometry dataset and another one using a dataset of the InFuse project (not yet publicly available).

If you want to start using it already, you can make a class that inherits from pgslam::PoseGraphSlam<T> and that converts your data to the expected input format and calls pgslam::PoseGraphSlam::AddData(...) (see this method's parameters for the input data). But keep in mind that the code is not stable and will probably change considerably in the next days.

Best,

[antithing]

Thanks! I will wait for a working dataset version. :)

Have a great weekend

[antithing]

Hi again! Did you get a chance to get a kitti example working with this code? Thanks again!

[iDonghq]

Hi Ellon, thanks for your wonderful work!

I have one question that how to config

" localizerptr->SetInputFiltersConfig(localizer_input_filters_config); localizerptr->SetIcpConfig(localizer_icp_config); loop_closerptr->SetIcpConfig(loop_closer_icp_config); " ?

Could you give me example about config_file?

thanks again

[Pavankv92]

Hi Ellon,

This is a great project. I also read your paper which I hope based on this code!

It would be great if could update us on the status of the project and outline how to use your code in our project with pointcloud data set.

Thanks Pavan