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remove PoseOptimizationSLAM

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Atsushi Sakai
2019-11-17 14:33:24 +09:00
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17
README.md
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@@ -31,8 +31,6 @@ Python codes for robotics algorithm.
* [SLAM](#slam)
* [Iterative Closest Point (ICP) Matching](#iterative-closest-point-icp-matching)
* [FastSLAM 1.0](#fastslam-10)
* [Pose Optimization SLAM 2D](#pose-optimization-slam-2d)
* [Pose Optimization SLAM 3D](#pose-optimization-slam-3d)
* [Path Planning](#path-planning)
* [Dynamic Window Approach](#dynamic-window-approach)
* [Grid based search](#grid-based-search)
@@ -251,21 +249,6 @@ Ref:
- [SLAM simulations by Tim Bailey](http://www-personal.acfr.usyd.edu.au/tbailey/software/slam_simulations.htm)
## Pose Optimization SLAM 2D
This is a graph based 2D pose optimization SLAM example.
![3](https://github.com/AtsushiSakai/PythonRoboticsGifs/raw/master/SLAM/PoseOptimizationSLAM2D/animation.gif)
## Pose Optimization SLAM 3D
This is a graph based 3D pose optimization SLAM example.
![3](https://github.com/AtsushiSakai/PythonRoboticsGifs/raw/master/SLAM/PoseOptimizationSLAM3D/animation.gif)
# Path Planning
## Dynamic Window Approach

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SLAM/PoseOptimizationSLAM2D/README.md
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@@ -1,9 +0,0 @@
# How to use
1. Download data
>$ python data_downloader.py
2. run SLAM
>$ python pose_optimization_slam.py

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SLAM/PoseOptimizationSLAM2D/data_downloader.py
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@@ -1,28 +0,0 @@
"""
Data down loader for pose optimization
author: Atsushi Sakai
"""
import subprocess
def main():
print("start!!")
cmd = "wget https://www.dropbox.com/s/vcz8cag7bo0zlaj/input_INTEL_g2o.g2o?dl=0 -O intel.g2o -nc"
subprocess.call(cmd, shell=True)
cmd = "wget https://www.dropbox.com/s/d8fcn1jg1mebx8f/input_MITb_g2o.g2o?dl=0 -O mit_killian.g2o -nc"
subprocess.call(cmd, shell=True)
cmd = "wget https://www.dropbox.com/s/gmdzo74b3tzvbrw/input_M3500_g2o.g2o?dl=0 -O manhattan3500.g2o -nc"
subprocess.call(cmd, shell=True)
print("done!!")
if __name__ == '__main__':
main()

25
SLAM/PoseOptimizationSLAM3D/README.md
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@@ -1,25 +0,0 @@
# PoseOptimizationSLAM3D
3D (x, y, z, qw, qx, qy, qz) pose optimization SLAM
## How to use
1. Download data
~~~
python data_downloader.py
~~~
2. run SLAM
~~~
python pose_optimization_slam_3d.py
~~~
## Reference
- [A Compact and Portable Implementation of Graph\-based SLAM](https://www.researchgate.net/publication/321287640_A_Compact_and_Portable_Implementation_of_Graph-based_SLAM)
- [GitHub \- furo\-org/p2o: Single header 2D/3D graph\-based SLAM library](https://github.com/furo-org/p2o)
- [GitHub \- AtsushiSakai/PythonRobotics
/SLAM/PoseOptimizationSLAM](https://github.com/AtsushiSakai/PythonRobotics/tree/master/SLAM/PoseOptimizationSLAM)
- [リー代数による3次元ポーズ調整\(Pose Adjustment\)\[PythonRobotics\]\[SLAM\] \- Qiita](https://qiita.com/saitosasaki/items/a0540cba994f08bf5e16#comment-3e6588e6b096cc2567d8)

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SLAM/PoseOptimizationSLAM3D/data_downloader.py
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@@ -1,26 +0,0 @@
"""
Data down loader for pose optimization
author: Atsushi Sakai
"""
import subprocess
def main():
print("start!!")
cmd = "wget https://www.dropbox.com/s/zu23p8d522qccor/parking-garage.g2o?dl=0 -O parking-garage.g2o -nc"
subprocess.call(cmd, shell=True)
cmd = "wget http://www.furo.org/irie/datasets/torus3d_guess.g2o -nc"
subprocess.call(cmd, shell=True)
cmd = "wget http://www.furo.org/irie/datasets/sphere2200_guess.g2o -nc"
subprocess.call(cmd, shell=True)
print("done!!")
if __name__ == '__main__':
main()