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Whats new?

• How to render a gridmap from a SSA2D graph.
• Added 2D laser dataset Freiburg079 to repository. Small Howto can be found here.
• Added 3D RGBD example ALUFR_Black_Mug 3D description to wiki. [ALUFR_Black_Mug 3D] (https://github.com/MichaelRuhnke/ssa/wiki/Example-Dataset-ALUFR_Black_Mug-3D).

Sparse Surface Adjustment:
SSA is an open-source C++ tool for post optimization of 2D or 3D SLAM solutions. SSA iteratively refines robot poses and surface points in one global graph optimization system and produces highly accurate 3D point clouds. 3D sensor observations are not treated as rigid body and might be refined during the optimization procedure. This leads to substantially less accumulated noise in the resulting model. SSA builds upon g2o as optimization back-end.

More detailed information can be found in the Sparse Surface Adjustment the following publications Ruhnke ICRA 2012 (3D point clouds) or the Ruhnke ICRA 2011 (2D laser maps).

Authors: Michael Ruhnke; Rainer Kuemmerle; Giorgio Grisetti; Wolfram Burgard;

License:
SSA is free software: you can redistribute it and/or modify it under the terms of the GNU Lesser General Public License as published by the Free Software Foundation, either version 3 of the License, or (at your option) any later version.
SSA is distributed in the hope that it will be useful, but WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU Lesser General Public License for more details.

How to get the code?

git clone https://github.com/MichaelRuhnke/ssa.git

Dependencies: * libqglviewer (for opengl visualization) * Suitesparse (math library for sparse matrices)
SSA offers an option to download and compile openBLAS and suitesparse.
usually this gives a speedup up between 2 and 10 for the optimization.
* Pointcloud Library (for import / export of data) * FLANN (also a dependency of pcl) * Eigen3 (also a dependency of pcl) * g2o (will be checked out from the developer git repository during the build process)

On Ubuntu machines you might install the dependencies with:

sudo add-apt-repository ppa:v-launchpad-jochen-sprickerhof-de/pcl
sudo apt-get update
sudo apt-get install libqglviewer-qt4-dev libsuitesparse-dev libpcl-all

Compiling ssa:

mkdir build
cd build
cmake-gui ../

#if qmake-NOTFOUND appears change it into qmake-qt4