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prime-slam / mrob

Cpp-Python library for state estimation in 2D and 3D by solving graph optimization
Apache License 2.0
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any example code for multi-view point clouds registration #77

Open CharlieV5 opened 3 weeks ago

CharlieV5 commented 3 weeks ago

Hi! I have read the paper Eigen-Factors an Alternating Optimization for Back-end Plane SLAM of 3D Point Clouds . And I'm interested in comparing the results of BALM, BAREG and EF, but I' m not good at Python. Is there any example C++ code for running EF to test on my own data(with some point clouds and poses)?

g-ferrer commented 2 weeks ago

Hi, I think your easiest option is to run examples from the EF project: https://github.com/prime-slam/EF-plane-SLAM They are in python (bindings to C++) but this will be faster since all code is there already, so it will require to prepare data and read it.

Unfortunately, the closest example available of creating a Fgraph in Cpp is in here: https://github.com/prime-slam/mrob/tree/master/src/FGraph/examples (the structure is the same in all the files in the folder) It would require you create a Fgraph add the EF factors or any of the kind (Bareg, pi), you will have to look at the python bindings to get the correct way to add data and then optimize.

Balm is not implemented, so it has to be patched from their code to process data.

CharlieV5 commented 2 weeks ago

Hi, I think your easiest option is to run examples from the EF project: https://github.com/prime-slam/EF-plane-SLAM They are in python (bindings to C++) but this will be faster since all code is there already, so it will require to prepare data and read it.

Unfortunately, the closest example available of creating a Fgraph in Cpp is in here: https://github.com/prime-slam/mrob/tree/master/src/FGraph/examples (the structure is the same in all the files in the folder) It would require you create a Fgraph add the EF factors or any of the kind (Bareg, pi), you will have to look at the python bindings to get the correct way to add data and then optimize.

Balm is not implemented, so it has to be patched from their code to process data.

Thank you! I'll give it a try later.