Simon Julier
Simon Julier
You might want to check ORBSLAM3: https://github.com/UZ-SLAMLab/ORB_SLAM3
I assume this is packaging on homebrew. I use homebrew, but I've never used it to install g2o. I've only ever built from source. I recall somebody set it up...
Can VertexPointXYZ be used as a drop-in replacement? That's what happened in the rest of the g2o code when the SBA vertex was removed. Otherwise, can you use a typedef?
Had a quick look, but not sure. Can you instrument up the post iteration action and see if it's called and what the flow of logic is within it?
Sorry for the delay in replying. Rainer and I were discussing this. You are correct. I think the reason for this is a bit of an involved answer which involves...
By default, g2o takes ownership of the vertices and edges. Therefore, if you call removeVertex, the vertex will be deleted. I think to stop this behaviour you have to build...
I've not tried it for this, but would the push() and pop() methods of SparseOptimizer work?
It should be set(CMAKE_CXX_STANDARD 14) - no underscore after 14. Does that make any difference? Also are the compile arguments being anywhere being used to set the c++ standard? I'm...
I haven't done it myself. However, I'd hazard a guess you could build it up by iterating over all the edges, extracting all the Jacobians and using them to populate...
Is residual the error term or the squared error term?