This example, found in the path
- the basic construction of a graph of pose constraints,
- the execution of a graph-slam optimization algorithm on it (in order to optimize the global node poses given the information in all the edges and one fixed root node), and
- how to render graphs as MRPT’s OpenGL primitives.
Both 2D or 3D graphs can be generated and optimized, since the example code is templatized.
2. Example snapshots
3. Complete source code
You can browse the complete C++ source code of this example online: https://github.com/MRPT/mrpt/blob/master/samples/graph_slam_demo/