Closed soulslicer closed 3 years ago
Oh ic, but can I use the factor graph that was collected to solve the slam problem with GTSAM then?
I mean I have never tried that, but if you could convert the data structures we use to something compatible with GTSAM then I don't see why not.
Have 3 questions:
I notice that there was a dependancy submodule (https://github.com/utamrl/amrl_shared_lib/tree/900bbc73891f6a48f03c742ebca3bb3db068b3b4). Are there any major components in there that are being used?
Can you point where the GTSAM non linear opt stuff is being done in the code?
I notice that in rviz, i can see the features, but they look quite sparse in the 2d Image. But the 3d points look very dense. Why is this? Also nothing is being drawn in the actual image itself in the executable.
https://drive.google.com/file/d/1LuJ4B1aMobkUkIajRBCsbeXY6IfN6coc/view?usp=sharing