g2o

General framework for graph optimization and SLAM problems

brewmacoslinux

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General framework for graph optimization

g2o_viewerg2o_convert

Convert g2o format graph file to another format$ g2o_convert -i input.g2o -o output.txt

Visualize a g2o graph file in GUI viewer$ g2o_viewer input.g2o

Run optimization on a graph file (basic usage)$ g2o_convert -i input.g2o -o output.g2o