# marge_ceres

**Repository Path**: rbopen-source/marge_ceres

## Basic Information

- **Project Name**: marge_ceres
- **Description**: 使用ceres探索边缘化以及fej的过程
- **Primary Language**: Unknown
- **License**: Not specified
- **Default Branch**: master
- **Homepage**: None
- **GVP Project**: No

## Statistics

- **Stars**: 0
- **Forks**: 0
- **Created**: 2023-04-13
- **Last Updated**: 2023-04-14

## Categories & Tags

**Categories**: Uncategorized

**Tags**: None

## README

# 边缘化原理验证


## 使用

编译运行
```
mkdir build
cd build
cmake ..
make
./merge
```

使用evo进行仿真验证
```
evo_traj tum  outWindowBa.txt fullBA.txt true.txt --plot
```



[博客](https://blog.csdn.net/weixin_41738773/article/details/130160102?csdn_share_tail=%7B%22type%22%3A%22blog%22%2C%22rType%22%3A%22article%22%2C%22rId%22%3A%22130160102%22%2C%22source%22%3A%22weixin_41738773%22%7D&ydreferer=aHR0cHM6Ly9tcC5jc2RuLm5ldC9tcF9ibG9nL2NyZWF0aW9uL3N1Y2Nlc3MvMTMwMTYwMTAy&ydreferer=aHR0cHM6Ly9tcC5jc2RuLm5ldC9tcF9ibG9nL2NyZWF0aW9uL3N1Y2Nlc3MvMTMwMTYwMTAy)