A small sample for pose optimization using g2o to minimize reprojection errors from known lines' correspondences.
Requirement:
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OpenCV 3.1.0 or newer version.
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LAPACK && Suitesparse && Eigen3.
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(optional) Viz module in opencv (needs compiling with VTK). Disable the display in the macro DISPLAY_3D(NOT IMPLEMENTED YET).
Example:
There is an example given on optimizing a pose calculated from a near pose to give intuitions on the performance of line-based SLAM method utlizing g2o.