I'm trying to use g2o for refine the 3D points obtained through a multi view system. I have obtained the 3D points through triangulation, and for each acquisition I have the relative poses and the 2D features.
I would refine the 3D points using g2o for graph optimization, in order to reduce the reprojection error.
Anyone have experience in it? I saw that there are a great number of types of vertices and edges but I can't understand what are the one that can be the more suitable for my application.
I tried to follow the 'sba_demo.cpp' in the examples folder of g2o but it seems to not use the 2D corresponces.