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Example: graph_slam_demo

1. Description

This example, found in the path MRPT/samples/graph_slam_demo, demonstrates:

  • the basic construction of a graph of pose constraints,
  • the execution of a graph-slam optimization algorithm on it (in order to optimize the global node poses given the information in all the edges and one fixed root node), and
  • how to render graphs as MRPT’s OpenGL primitives.

Both 2D or 3D graphs can be generated and optimized, since the example code is templatized.

The optimization algorithm is a Sparse Levenberg-Marquartd iterative method, implemented in the template function mrpt::graphslam::optimize_graph_spa_levmarq(), in the library mrpt-graphslam.

2. Example snapshots

Input data (noisy node poses)
Input data (noisy node poses)
Output data from graph-slam
Output data from graph-slam
Evolution of the logarithmic squared total error over iterations
Evolution of the logarithmic squared total error over iterations

3. Complete source code

You can browse the complete C++ source code of this example online.