From 0067577cbe500054bafc5ce6dd00a3effc68f88e Mon Sep 17 00:00:00 2001 From: Atsushi Sakai Date: Sun, 17 Nov 2019 14:33:24 +0900 Subject: [PATCH] remove PoseOptimizationSLAM --- README.md | 17 ----------- SLAM/PoseOptimizationSLAM2D/README.md | 9 ------ .../PoseOptimizationSLAM2D/data_downloader.py | 28 ------------------- SLAM/PoseOptimizationSLAM3D/README.md | 25 ----------------- .../PoseOptimizationSLAM3D/data_downloader.py | 26 ----------------- 5 files changed, 105 deletions(-) delete mode 100644 SLAM/PoseOptimizationSLAM2D/README.md delete mode 100644 SLAM/PoseOptimizationSLAM2D/data_downloader.py delete mode 100644 SLAM/PoseOptimizationSLAM3D/README.md delete mode 100644 SLAM/PoseOptimizationSLAM3D/data_downloader.py diff --git a/README.md b/README.md index 1c455e92..e740049b 100644 --- a/README.md +++ b/README.md @@ -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 diff --git a/SLAM/PoseOptimizationSLAM2D/README.md b/SLAM/PoseOptimizationSLAM2D/README.md deleted file mode 100644 index 612fa518..00000000 --- a/SLAM/PoseOptimizationSLAM2D/README.md +++ /dev/null @@ -1,9 +0,0 @@ -# How to use - -1. Download data - ->$ python data_downloader.py - -2. run SLAM - ->$ python pose_optimization_slam.py diff --git a/SLAM/PoseOptimizationSLAM2D/data_downloader.py b/SLAM/PoseOptimizationSLAM2D/data_downloader.py deleted file mode 100644 index d1b8a2c2..00000000 --- a/SLAM/PoseOptimizationSLAM2D/data_downloader.py +++ /dev/null @@ -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() - diff --git a/SLAM/PoseOptimizationSLAM3D/README.md b/SLAM/PoseOptimizationSLAM3D/README.md deleted file mode 100644 index 396a6297..00000000 --- a/SLAM/PoseOptimizationSLAM3D/README.md +++ /dev/null @@ -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) diff --git a/SLAM/PoseOptimizationSLAM3D/data_downloader.py b/SLAM/PoseOptimizationSLAM3D/data_downloader.py deleted file mode 100644 index a0c04fd1..00000000 --- a/SLAM/PoseOptimizationSLAM3D/data_downloader.py +++ /dev/null @@ -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()