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仅依赖Eigen实现的LM算法(以g2o为参照).

代码框架:

appbackend
├── backend.h
├── CMakeLists.txt
├── edge.cc
├── edge.h
├── eigen_types.h
├── problem.cc
├── problem.h
├── vertex.cc
└── vertex.h
基础功能实现文件,后端优化的框架.其中一些函数有待完善,用TODO标记出.

app
├── CMakeLists.txt
├── CurveFitting.cpp
├── NoLinearLeastSquares3.cpp
└── NoLinearLeastSquares.cpp
使用自构的优化框架实现的一个非线性最小二乘的例子,提供了两种编程思想.

test
├── CMakeLists.txt
├── curvefitting3V.cpp
├── curvefitting.cpp
├── MatDecomposition.cpp
└── TestEigen.cpp
学习测试Eigen的矩阵分解;使用g2o实现了上述的最下二乘案例,两种编程思想.

utils
├── CMakeLists.txt
└── tic_toc.h
工具集,同于计时.

xmind
└── 求解器(problem).xmind
代码文档,思路整理

代码运行

mkdir build
cmake ..
make -j8

非线性问题

y = exp(a*x^2 + b*x + c)

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A optimizetion solver acquired from g2o.

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