g2o拟合曲线

CmakeLists:

cmake_minimum_required(VERSION 3.7)
project(g2o_curve_fitting_robin)

set(CMAKE_CXX_STANDARD 11)

#添加g2o的CMAKE_MODUAL_PATH
list(APPEND CMAKE_MODULE_PATH /home/roibn/install/g2o-master/cmake_modules)


find_package(G2O REQUIRED)
INCLUDE_DIRECTORIES(${G2O_DIRS})

find_package(OpenCV REQUIRED)
include_directories(${OpenCV_DIRS})

add_executable(g2o_curve_fitting_robin main.cpp)
target_link_libraries(g2o_curve_fitting_robin ${OpenCV_LIBS} g2o_core g2o_stuff)

程序：

#include <iostream>
#include <opencv2/core/core.hpp>
#include <Eigen/Core>
#include <cmath>

//首先引入引入核心控件中的基础顶点和边
#include <g2o/core/base_vertex.h>  //include进核心构件中基础顶点头文件。引进后可以自己派生定义顶点.vertex:顶点
#include <g2o/core/base_unary_edge.h>  //include进核心构件中的基础一元边头文件，自定边时直接继承类重写就是了

//然后引入核心控件中的求解器
#include <g2o/core/block_solver.h>  //in