# slam_optimizer

**Repository Path**: zl_vslam/slam_optimizer

## Basic Information

- **Project Name**: slam_optimizer
- **Description**: 个人CSDN博客《SLAM中非线性优化的从古至今》对应的源码，该系列博客地址：https://blog.csdn.net/zl_vslam/category_12872677.html

- **Primary Language**: Unknown
- **License**: MulanPSL-2.0
- **Default Branch**: master
- **Homepage**: None
- **GVP Project**: No

## Statistics

- **Stars**: 1
- **Forks**: 1
- **Created**: 2025-03-16
- **Last Updated**: 2025-11-28

## Categories & Tags

**Categories**: Uncategorized

**Tags**: None

## README

# slam_optimizer
test system: 
ubuntu 16.04.7
ceres-solver 1.12.0
Eigen version 3.3.7
# 测试数据集
1. kaist urban 38
2. nclt : https://robots.engin.umich.edu/nclt/index.html#changelog
#### 介绍
个人CSDN博客《SLAM中非线性优化的从古至今》对应的源码，该系列博客地址：https://blog.csdn.net/zl_vslam/category_12872677.html

2d_optimizer文件夹下配套的代码，对应的博客说明如下：
ch3：《 https://blog.csdn.net/zl_vslam/article/details/146296748?spm=1001.2014.3001.5502 》
ch4_5_6/main_ch4.cpp : 对应 《 https://mp.csdn.net/mp_blog/creation/editor/146458510 》  
ch4_5_6/main_ch5.cpp : 对应 《 https://blog.csdn.net/zl_vslam/article/details/147014277?spm=1001.2014.3001.5502 》  
ch4_5_6/main_ch6.cpp : 对应 《 https://blog.csdn.net/zl_vslam/article/details/147165512?spm=1001.2014.3001.5502 》