nanoPGO: A header-only library for Pose-Graph-Optimization in SE(2).

nanoPGO

nanoPGO: A header-only library for Pose-Graph-Optimization in SE(2).

1. Description

This repo is an implementation of 2D Pose Graph Optimization.
The code has been tested on the MIT Killian Court (2D) dataset. nanoPGO does not require compiling or installing, you just need to #include "nano_pgo.hpp" in your code;

2. Prerequisite

Eigen: Download and install instructions can be found at: http://eigen.tuxfamily.org.
Opencv: Alternative, only for displaying the result.

3. Test

befor optimization:
img
after optimization:
img

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