Micro Graph Optimizer
Micro graph optimizer is a minimal least squares solver for problems represented as factor graphs.
The solver is contained in
micro_graph_optimizer.cpp and depends only on Eigen. It has no special build requirements. That said, a CMake build file is provided for convenience and to quickly build the examples.
Two examples are provided:
- hello_slam: constructs a simple linear pose graph and optimizes it.
- slam2d: demonstrates optimzing a non-linear 2D SLAM problem read from a g2o file.