Plane Graph

This repository contains the code for the Plane Graph optimize project using ROS and Gazebo.

Setup

To get started, clone the repository and build the project using the following commands:

git clone https://github.com/dongjineee/plane_graph_slam.git
cd plane_graph_slam
catkin_make

Setting

To get started, clone the repository and build the project using the following commands:

git clone https://github.com/dongjineee/plane_graph_slam.git
cd plane_graph_slam
catkin_make

1. RUN

rosrun qp_slam keyframe_node # keyframe node
rosrun qp_slam plane_frontend_node # plane frontend node
rosrun qp_slam backend_node # backend node

2. example environment using Gazebo

3. example result

• Red points: Noise points
• Green points: Ground truth points
• Yellow points: Optimized points

Project Tree

plane_graph_slam
├─ .gitignore
├─ CMakeLists.txt
├─ README.md
├─ include
│  └─ qp_slam
│     ├─ backend.h
│     ├─ keyframe.h
│     └─ tracker_cloud.h
├─ msg
│  ├─ key_m.msg
│  ├─ plane.msg
│  ├─ planes.msg
│  └─ pose.msg
├─ package.xml
└─ src
   ├─ backend.cpp
   ├─ front_plane.cpp
   └─ keyframe.cpp