g2o is a graph-based sparse matrix optimization library for C++, with an emphasis on robotics.
Questions tagged [g2o]
21 questions
2
votes
0 answers
g2o conflicts with opencv on /g2o-master/g2o/examples/ba/ba_demo.cpp?
When I test g2o on /g2o-master/g2o/examples/ba/ba_demo.cpp, CMakeList.txt is as follwing:
FIND_PACKAGE( OpenCV 2.4 REQUIRED )
LIST( APPEND CMAKE_MODULE_PATH ${PROJECT_SOURCE_DIR}/cmake_modules )
SET( G2O_ROOT /usr/local/include/g2o )
FIND_PACKAGE(…
![](../../users/profiles/7538385.webp)
sunnywang537
- 21
- 1
2
votes
2 answers
Loop Closing 3d Point Clouds
I am looking to understand how to implement a simple loop closing algorithm.
Here is my situation : I have x numbers of point clouds, and I have used a registration algorithm in 3d that has given me the pose of all these point clouds.
In the end, I…
![](../../users/profiles/4989857.webp)
Zepherus
- 51
- 9
1
vote
1 answer
g2o - what's difference between VertexSE3 and VertexSE3Expmap?
I'm really new to g2o library and I'm struggling to add pose to vertex :(
I used the python version of g2o and this is the code I wrote.
The type error occus in this line: v_se3.set_estimate(pose)
import g2o
import numpy as np
solver =…
![](../../users/profiles/10069897.webp)
dlfksj
- 55
- 4
1
vote
1 answer
How to optimize multi-constraint function with g2o
I am currently trying to optimize a multi constraints function for SLAM. Classic optimization function minimize reprojection errors with g2o like proposed in https://fzheng.me/2016/03/15/g2o-demo/.
My problem is that I do not know how to modify this…
![](../../users/profiles/5635683.webp)
sa.l_dev
- 159
- 8
1
vote
1 answer
How to clone, build, and link g2o framework in C++
I want to use g2o library in my C++11 project on Ubuntu 18.04, but I cannot make build working. I have all the dependencies. But I cannot link g2o library to my project via CMakeLists.txt
I am a newbie in C++ dependencies.
I've tried cloning…
![](../../users/profiles/10446071.webp)
Mikuláš Bankovič
- 50
- 1
- 8
1
vote
0 answers
Bundle Adjustment with g2o, compiles and runs, but the data is unchanged
I am running bundle adjustment on some known data using g2o libraries.
My function is based on the one in OrbSlam2, and takes in two camera poses, and a std::vector of 3d points with corresponding 2d points, or 'observations' in each of the camera…
![](../../users/profiles/4402282.webp)
anti
- 2,565
- 3
- 26
- 62
1
vote
0 answers
Bundle adjustment with g2o library. How to verify?
I have a simple bundle adjustment function, using the g2o libraries to optimise camera poses and 3d map points. I pass in two KeyFrames, which each contain:
std::vector vObs_pos; //the 2d coordinates that align to the 3d map points
int…
![](../../users/profiles/4402282.webp)
anti
- 2,565
- 3
- 26
- 62
1
vote
1 answer
g2o_viewer was unable to start (0xc000007b)
I built the g2o library on Windows 7 with
Qt 5.6
Eigen 3.3.4
libQGLViewer-2.7.1.
Everything compiles fine, but on the first run of g2o_viewer the program complains about the missing QGLViewer2.dll. Therefore, I added it to the directory.
After the…
![](../../users/profiles/3865073.webp)
Knipser
- 337
- 1
- 12
1
vote
0 answers
error: "data is not aligned" from Eigen when performing bundle adjustment with g2o
I defined a derived class with g2o:
class EdgeProjectXYZ2UVPoseOnly: public g2o::BaseUnaryEdge<2,Eigen::Vector2d,g2o::VertexSE3Expmap>
{
public:
EIGEN_MAKE_ALIGNED_OPERATOR_NEW;
virtual void computeError();
virtual void…
![](../../users/profiles/8110010.webp)
Finley
- 528
- 4
- 15
1
vote
0 answers
libg2o linker errors on OS X
I am getting the following linker errors:
cd /Users/mhoggan/Development/bluenote/image_pose_adjustment/image_pose_adjustment/native/graph/cmake-build-debug/src && /Applications/CLion.app/Contents/bin/cmake/bin/cmake -E cmake_link_script…
![](../../users/profiles/287592.webp)
Matthew Hoggan
- 6,723
- 13
- 63
- 120
0
votes
0 answers
Camera Pose Optimization with g2opy
I'm trying to implement a simple pose optimizer with 3 frames. I've calculated 3D points by triangulation. Then, I projected some of these points onto the 3rd frame. I have 3D pts., actual pts. and projected points. I need to refine the camera pose…
![](../../users/profiles/5865017.webp)
A. G. Gelen
- 33
- 5
0
votes
0 answers
Advantage of using g2o for bundle adjustment
I am interested in the motivation of using g2o to solve the non-linear optimization in bundle adjustment. Compared to other optimization libraries, what is the advantage of using g2o?
0
votes
0 answers
How to specify package location in cmake file?
I have two versions of the same library (g2o) on my Ubuntu 18.04 pc. One is built with catkin_make in a ROS workspace (/home/riccardo/catkin_ws/src/g2o).
The other one is in the directory of the project I'm trying to build (/home/myproject/g2o).
As…
![](../../users/profiles/6416937.webp)
ricber
- 23
- 4
0
votes
0 answers
How to correctly use [VertexSE3Expmap] as two connecting Vertex in Edge_V_V_GICP?
I am working on a pose estimation problem solved by Levenberg-Marquardt with g2o.
I want to build 3D rigid constraint between two pose, so I choose Edge_V_V_GICP and test the g2o/examples/icp/gicp_demo.cpp .
I changed the Vertex class of …
![](../../users/profiles/9641752.webp)
Jerry123
- 1
- 1
- 3
0
votes
1 answer
error LNK2001: unresolved external symbol Visaul C++ SuiteSparse lib
I used Visual C++ 2015.
I received the following errors when I tried to build my g2o sample code.
Error LNK2001 unresolved external symbol __imp_fflush
Error LNK2001 unresolved external symbol __imp_fflush
Error LNK2001 unresolved external…
![](../../users/profiles/10945866.webp)
Shengren Huang
- 1
- 1