Authors: [Shi-Sheng Huang] please contact with me via shishenghuang.net@gmail.com
G2O is a popular math library for solving factor graph based Bundle Adjustment optimization problems in visual SLAM. However, the original g2o library doesn't contain factors like line-, plane- reprojection factors. In this library, the line-, plane- reprojection factors are integrated, you can try it for free. See details in the doc/factors.pdf
We have tested the library in 16.04, but it should be easy to compile in other platforms. A powerful computer (e.g. i7) will ensure real-time performance and provide more stable and accurate results.
We use the new thread and chrono functionalities of C++11.
Required Download and install instructions can be found at: http://eigen.tuxfamily.org. Required at least 3.1.0.
mkdir build
cd build
cmake ..
make -j4