g2o_ba_example

An easy example of doing bundle adjustment within two images using g2o.

Require: g2o, OpenCV 2.4.x

The program reads two images from the data/1.png and data/2.png, then finds and matches orb key-points between them. After these, it uses g2o to estimate the relative motion between frames and the 3d positions (under a unknown scale).

This is an example written for the beginners of g2o and SLAM.

For more details please see the corresponding blog: http://www.cnblogs.com/gaoxiang12/p/5304272.html (in Chinese only).