ECG2O

Equality-Constrained g2o – Extending g2o with Equality Constraint Support

ECG2O extends the open-source g2o (General Graph Optimization) framework by introducing equality constraints. This allows for the addition of equality edge factors, enabling constrained optimization within factor graphs. The library also includes an Augmented Lagrangian implementation as a benchmark for constrained optimization techniques.

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Prerequisites

Before building and using ECG2O, ensure you have the following dependencies installed:

• g2o: Follow the official g2o installation guide to install the base library.
• CMake: Required for compiling the library. Install it via:

  sudo apt-get install cmake  # Ubuntu/Debian
  brew install cmake  # macOS

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Building ECG2O

1. Navigate to the library folder:

   cd path/to/ecg2o

2. Create and enter a build directory:

   mkdir build  
   cd build  

3. Compile the library using CMake:

   cmake ..  
   make  

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Usage

Once the library is successfully built, you can execute the provided functions for equality-constrained optimization.

./example_gn

or

./example_al

or

./example_soft

Ensure that all necessary input files or configurations are correctly set up before execution.

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License

This project is open-source and distributed under GPL-3.0 .