SolARModuleG2o is a module to aggregates components dedicated to bundle ajustement optimization based on g2o library. g2o is licenced under LGPL v3.
g2o is an open-source C++ framework for optimizing graph-based nonlinear error functions. g2o has been designed to be easily extensible to a wide range of problems and a new problem typically can be specified in a few lines of code. The current implementation provides solutions to several variants of SLAM and BA.