This package provides edge types in g2o for use in robust optimization. Specifically, it contains:

• MaxMixtureOriginal edges, the original implementation by Praktik Agarwal, from https://github.com/agpratik/max-mixture, licensed under the BSD
• MaxMixture edges, my own templated implementation with some improvements (mainly speed and versatility) over the original by Praktik Agarwal, also licensed under the BSD
• SwitchableConstraints edges, from the Vertigo package by Niko Suenderhauf, from https://svn.openslam.org/data/svn/vertigo/, licensed under the GPLv3
• RobustifiedEdges: Generic robust edges allowing the per-edge use of robust kernels from g2o, released in public domain via CC0

Please see the individual README and LICENSE files the the subdirectories for more information.

• G2O, git version from https://github.com/RainerKuemmerle/g2o
• Eigen3 (also a G2O dependency)

Compile with

mkdir ./build
cd ./build
cmake ..
make

Use ccmake or cmake-gui to have more control over build variables, like the CMAKE_BUILD_TYPE or where G2O is found.

If G2O can't be found, try setting an environment variable to where you installed G2O called G2O_ROOT.

sudo make install

will install to the location you specified with CMAKE_INSTALL_PREFIX. Note that it will collapse all libraries and headers into a single directory.

Once the plugins are built or installed, you can run for example the g2o command line program with these custom edge types using the -typeslib option.

To run the robustified edges example:

LD_LIBRARY_PATH=${G2O_ROOT}/lib ${G2O_ROOT}/bin/g2o -v -typeslib RobustifiedEdges/libg2o_types_robust_edges.so ../examples/robustified_se2.g2o

Or one of the original MaxMixture datasets with the new MaxMixture implementation supporting many iterations with "multimodal" edges (aka hyperedges):

wget https://github.com/agpratik/max-mixture/raw/master/datasets/multimodal/_MM_2_manhattanG2O3500.g2o
LD_LIBRARY_PATH=${G2O_ROOT}/lib ${G2O_ROOT}/bin/g2o -v -typeslib MaxMixture/libg2o_types_max_mixture.so _MM_2_manhattanG2O3500.g2o

Check for lines starting with "EdgeRobustified::read: unknown kernel", which happens if you misspell the robust kernel to use. Unfortunately, G2O does not check the return value of g2o::HyperGraph::Edge::read(), so they appear to load fine, but the kernel is not set.