HugoNip/TrajectoryErrorEstimation

Trajectory Error Estimation

Introduction

The trajectory error estimation in the SLAM.
Besides, this project also contains a file showing how to use Sophus package.

Requirements

Eigen Package (Version >= 3.0.0)

Source

http://eigen.tuxfamily.org/index.php?title=Main_Page

Compile and Install

cd [path-to-Eigen]
mkdir build
cd build
cmake ..
make 
sudo make install 

Search Installing Location

sudo updatedb
locate eigen3

default location "/usr/include/eigen3"

OpenGL Package (use pangolin)

Download

https://github.com/HugoNip/Pangolin

Install the dependency for pangolin (mainly the OpenGL)

sudo apt-get install libglew-dev

Sophus Package

Download

https://github.com/HugoNip/Sophus

Compile and Install

cd [path-to-pangolin]
mkdir build
cd build
cmake ..
make 
sudo make install 

Compile this Project

mkdir build
cd build
cmake ..
make 

Run

./trajectoryError
./useSophus

Reference

Source