p2o2 (p2o v2): Petite Portable Pose-graph Optimizer v2

p2o2 is a compact and portable 3D pose-graph optimization library.

Difference Between Previous Version

• Lie Algebra Optimization
• Customizable Error Functions
  • Relative 6DoF Pose (odometry, scan matching)
  • 3D Position (GNSS)
  • Altitude (for IMU, coming soon)

Original p2o is still available and can be accessed in 'p2o_v1' tag.

Requirements

p2o v2 is dependent on Eigen3 and C++14.

Usage

./sample_run_p2o <p2ofile>

Options:

• max no. of iterations (-m) default: 300
• min no. of iterations (-n) default: 50
• robust threshold (-r) default: 0.01

Run p2o with sample GNSS data

• cmake -Bbuild .
• cmake --build build
• ./build/sample_run_p2o samples/data/cit_tsudanuma2020/CIT_2020_odom_gnss.p2o
• cd samples/data/cit_tsudanuma2020/ && gnuplot CIT_2020_odom_gnss.plt #trajectories will be saved in png files