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Questions tagged [g2o]

g2o is a graph-based sparse matrix optimization library for C++, with an emphasis on robotics.

21 questions
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1 answer

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…
Matthew Hoggan
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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 =…
dlfksj
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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(…
sunnywang537
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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…
Zepherus
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Eigen matrix product doesn't work correctly in ORB-SLAM3 in release mode on windows

The whole picture of the problem is as below: I cloned the ORB-SLAM3 from https://github.com/rexdsp/ORB_SLAM3_Windows. It can be built and works well. Then I tried to evaluate its accuracy with EuRoC MH_01_easy, but found it was at least 10 times…
yazou
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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…
sa.l_dev
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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…
Mikuláš Bankovič
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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…
anti
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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…
anti
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2 answers

python import successful in one terminal but fails in another

I downloaded and installed (build + make) a cython package, g2opy successfully. And when I tried checking if everything went well, I get this: (cv) clmno@machine:~/OpenSource/python/g2opy$ python Python 3.4.5 |Continuum Analytics, Inc.| (default,…
clamentjohn
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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…
Knipser
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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…
Finley
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CMake unable to find package G2O and include its headers

The title of post might need to be corrected. I have the following project structure. scan_inconsistency |-- CMakeLists.txt |-- build |-- cmake_modules |-- libs | |-- CMakeLists.txt | |-- consist | `-- g2o `-- src |-- CMakeLists.txt …
Shrinivas Iyengar
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1 answer

g2o: How to optimize camera intrinsic (fx,fy,cx,cy) during Bundle Adjustment

Some pre-defined edges, such as EdgeProjectXYZ2UV, EdgeSE3ProjectXYZ, are widely used during BA. However, they can only set unchangeable camera parameters. I'm wondering if I can set optimizable camera parameters. Thanks for any reply in advance! I…
vicky Lin
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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…
ricber
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