tag:github.com,2008:https://github.com/mpkuse/solve_keyframe_pose_graph/releases 2019-07-16T03:02:53Z tag:github.com,2008:Repository/136406813/v0.2 2019-07-16T06:42:11Z <ul> <li>Save state and load state support.</li> <li>More publishers and completely separated from main code in class Composer</li> </ul> mpkuse tag:github.com,2008:Repository/136406813/v0.1 2019-06-20T04:15:09Z <p>This kidnap aware, multithreaded pose graph solver. No external dependencies. The loopedge msg defination is now part of this package. A developer who wishes to use this package need to supply the camera odometry (ie. w_T_{ci}. This package will use it to form the odometry residue terms.</p> <p>This package also subscribes to LoopEdgeMsg which need to contain 2 timestamps and the relative pose (estimated) between these 2 timestamps. This is used to construct loopedge residue terms. The solver then solves the least squares problem using all these as initial guess.</p> <p>In addition to this, this package also listens to topic <code>rcvd_flag_header</code> which can be used to signal kidnap and unkidnap.</p> <p>The composer class publishes the current pose in camera frame of reference. See the launch files to know how to run it.</p> mpkuse