Getting started step by step using g2o to solve ICP problems - estimating the transformation relationship between two sets of 3D point sets with matching relationship

1. First paste the effect picture （ In this paper, computer vision life One solution left ICP Problem homework ）

Topic website ：https://mp.weixin.qq.com/s?__biz=MzIxOTczOTM4NA==&mid=2247487562&idx=1&sn=f1c5030d8bb7e58891d49ee7d245ab7e&chksm=97d7f5dda0a07ccba22349823cf63fdfee955794fa19cd89bcef159210a5192ad8d96ea412a2&scene=178&cur_album_id=1361700104461467649#rd
I've been searching online for a long time , I didn't find the experimental effect I wanted , I have to write one by myself

2. Attached is the estimated rendering

3. If someone really wants to understand g2o Use process of , You can leave me a message , Communicate together , After all, it really took a day to put g2o Mathematical model for , And the programming routines are summarized clearly , I also have some little questions that I don't understand , Don't want the code to be taken away directly , The premise is to let me know that you really want to learn ;（ Because the notes are super clear , The code is not long. , But the details of each step have been checked as clearly as possible ）

Finally, I'll attach a copy of what I sorted g2o Some use brain maps , From the establishment of mathematical model , To routine programming , It should be noted that the principle is very clear . After private chat, confirm that you really want to exchange and study together .