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``` .:[ goki@e14:~/workspace/g2o/bin ]:. (git)-[tags/20200410_git] $ ./g2o -v -i 10 -guess /home/goki/workspace/data/3d/garage/parking-garage.g2o # Used Compiler: GNU /usr/bin/c++ # Using CSparse poseDim -1 landMarkDim -1 blockordering 0 Read input from /home/goki/workspace/data/3d/garage/parking-garage.g2o...

I am not on MacOS. From the error it seems like the used formular uses an URL that does not exists. Can it be fixed by using a release URL...

Can you post a minimal example where the existing implementation is wrong? Note that we have implemented a unit test which compares the analytic Jacobian to a numerically obtained one:...

Try to set the option G2O_BUILD_SLAM3D_ADDON_TYPES to false/off in your cmake config to exclude the cpp file triggering the internal compiler error.

How about modelling GPS by an EdgeXYZPrior

In addition to the ownership, the internal book-keeping of how vertices/edges are connected would get confused. Typically, one can run multiple optimizations on same vertices re-using the optimizer. For example,...

In general, I like the idea. I'm just wondering a bit if we should reason about changes in the g2o API that make things a bit easier. For example, if...

Within `BlockSolverTraits` `a` and `b` refer to the dimension of the vertices that are part of certain blocks when computing the Schur complement. See Section III.D of the original paper:...

You need C++14 activated on your compiler.

The fie in Ceres does only support 2D/3D pose graphs and no types from Bundle Adjustment problems. Does you file also contain edge types? The barebone g2o lib managed to...