Changes towards functional single-robot 3D Slam

bergercookie commented 7 years ago

[x] Make CGraphSlamEngine structures more generic - handle both CPose2D, CPose3D via the pose_t template argument
[x] Extend CFixedIntervalsNRD to register 3D constraints as well
[x] Visualization changes in the optimization procedure (CLevMarqGSO class)
[ ] Visualization changes in the ERDs (e.g., try to visualize laser scans in 2D cases only; resort to CObservation3DRangeScans in 3D cases). This should be done in their common parent to avoid code duplication
[ ] CLoopCloserERD, CICPCriteriaERD to register 3D constraints between non-consecutive nodes in the graph
[ ] Visualize the images when using a Kinect
[ ] Visualize ground truth in 3D scenarios
[ ] Record new online dataset with kinnect and run with that to verify the procedure - see rawlog-grabber
[ ] Make ROS wrappers - similar to mrpt_graphslam_2d
[ ] Make PRs to MRPT upstream repos (MRPT, mrpt_navigation, mrpt_slam)

@babisp

bergercookie commented 7 years ago

See c0a0d8856, 793f03e6c

bergercookie commented 7 years ago

Solved "Visualization changes in the optimization procedure (CLevMarqGSO class)" via https://github.com/bergercookie/mrpt/commit/498746e007e3c3f6785c83d3643bd46053c4ef78

bergercookie / mrpt