g2o

Optimize pose graphs and solve nonlinear least squares problems

brewmacoslinux

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General framework for graph optimization

g2o_viewerg2o_hierarchicalconvert_landmark

visualize a pose graph optimization result$ g2o_viewer input_graph.g2o

optimize a graph file and save the result$ g2o -i 20 -o output_graph.g2o input_graph.g2o

convert landmark data format$ convert_landmark input_landmarks.txt output_landmarks.g2o

optimize graph using hierarchical approach for large datasets$ g2o_hierarchical -i input_graph.g2o -o optimized_graph.g2o

run graph optimization with custom solver algorithm$ g2o -solveInIterations 10 -i 50 input_graph.g2o