search

ethz-asl / voxgraph

Voxblox-based Pose graph optimization
BSD 2-Clause "Simplified" License
517 stars 69 forks source link

Absolute Pose Constraints #55

Open swarmt opened 3 years ago

swarmt commented 3 years ago

Wow this library is amazing. Thanks for publishing it.

I would like to use the RTK GPS to georeference the mesh. Which should be possible by using the measurements to constrain the graph?

Could you please advise on what needs to be completed for this to work? I imagine that the position covariance needs to be used to weight the node adjustment for fixed/unfixed measurements.

This would be very useful for mapping regions of mixed indoor and outdoor.

Thanks

victorreijgwart commented 3 years ago

Hi @swarmt. Sorry for missing your message. Including GPS measurements in the optimization should be possible. When writing the framework, we took this into account as something we might want to do in the future. So most of the infrastructure and some of the building blocks are already there. However, we haven't yet encountered a project where we needed them so this part of the code isn't finished. If you would be willing to write some code to finish this functionality and test if it works correctly (either on your data or a dataset from our side), I could help. Just let me know if you're interested.