DistributedMapping

Requirements

• Eigen

• g2o

• Sophus

• evo(optional)

  you can install evo by pip simply, like

pip install evo --upgrade --no-binary evo

Compilation

mkdir build
cd build
cmake ..
make -j4
./kitti(or ./sphere)

.g2o -> .txt(kitti format)

After compilation, execute

./g2oToKitti -i [inputFilename(like 0.g2o)] -o [outputFilename(like 0.txt)]
evo_traj kitti [outputFilename(like 0.txt)] -p --plot_mode=xz
evo_traj kitti fullgraph.txt --ref 00.txt -p --plot_mode=xz

Data/1/

x.g2o :initial poses
x_optimized.g2o :optimized poses
x_optimizedTUM.txt :optimized posed(TUM format)
initial.g2o	:total initial poses
fullGraph_optimized :optimized and merged poses
centralizedxxx.g2o :merged and optimized poses