This is an extension of G2O that can optimise 2D affine pose graph using Lie group theory.
- C++14 compiler (CI pipeline runs with gcc, clang and MSVC)
- cmake http://www.cmake.org
- Eigen3 http://eigen.tuxfamily.org
On Ubuntu / Debian these dependencies are resolved by installing the following packages.
- cmake
- libeigen3-dev
- suitesparse http://faculty.cse.tamu.edu/davis/suitesparse.html
- Qt5 http://qt-project.org
- libQGLViewer http://www.libqglviewer.com
On Ubuntu / Debian these dependencies are resolved by installing the following packages.
- libsuitesparse-dev
- qtdeclarative5-dev
- qt5-qmake
- libqglviewer-dev-qt5
On Ubuntu, install G2O with:
$ git clone https://github.com/RainerKuemmerle/g2o
$ cd g2o
$ mkdir build
$ cd build
$ cmake ../
$ make$ mkdir build
$ cd build
$ cmake ../
$ make$ affine_g2o ../data/*.g2o (* is the filename)
sim_generate -o *.g2o (* is the filename)
Add comments to the code. Add more explanation to this README file.