Dense constraints for less noisy trajectory

README.md

1. Rectified poses with correct thetas
2. Manhattan constraints on dense graph less noisy trajectory in g2o format
3. Constraints on different sections:
   I: del_x = 0.1 m; del_y = 0.5 m; del_theta = 0 degree
   II: del_x = 0.1 m; del_y = 0.3 m; del_theta = 0 degree
   III: del_x = 0.1 m; del_y = 0.1 m; del_theta = 270 degree
4. Performing g2o optimization on the graph is causing trajectory to go haywire.

1. Ground truth
   
2. Noisy trajectory with dense constraints given on 3 sections :
   
3. g2o constraints which are failing after optimization