C code Library for studying pose graph optimization
✨ This Repository is a Work in Progress! ✨
sudo apt install libglfw3-dev libgl1-mesa-dev libglu1-mesa-dev libglew-dev pkg-config
mkdir build && cd build
cmake ..
make
./simple_pgo
simple-pgo/
├── CMakeLists.txt
├── core/
│ ├── graph.c
│ ├── graph.h
│ ├── optimizer.c
│ ├── optimizer.h
│ ├── jacobian_ops.c
│ ├── jacobian_ops.h
│ └── CMakeLists.txt
├── types/
│ ├── vertex_se2.c
│ ├── vertex_se2.h
│ ├── edge_se2.c
│ ├── edge_se2.h
│ ├── vertex_se3.c
│ ├── edge_se3.c
│ └── CMakeLists.txt
├── include/
│ └── simple_pgo/
│ └── core_api.h
├── visualization/
│ ├── viewer.c # OpenGL based visualization code
│ ├── viewer.h # OpenGL based visualization code
│ ├── g2o_parser.c
│ ├── g2o_parser.h
│ └── CMakeLists.txt
├── main.c # execution file
└── data/ # test data