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https://github.com/introlab/rtabmap.git
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75 lines
2.6 KiB
C++
75 lines
2.6 KiB
C++
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/*
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Copyright (c) 2010-2026, Mathieu Labbe - IntRoLab - Universite de Sherbrooke
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All rights reserved.
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Redistribution and use in source and binary forms, with or without
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modification, are permitted provided that the following conditions are met:
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* Redistributions of source code must retain the above copyright
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notice, this list of conditions and the following disclaimer.
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* Redistributions in binary form must reproduce the above copyright
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notice, this list of conditions and the following disclaimer in the
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documentation and/or other materials provided with the distribution.
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* Neither the name of the Universite de Sherbrooke nor the
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names of its contributors may be used to endorse or promote products
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derived from this software without specific prior written permission.
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THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND
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ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
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WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
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DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY
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DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
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(INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
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LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
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ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
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(INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
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SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
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*/
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#include "CorrectionSolver.h"
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#include "DownhillSimplexSolver.h"
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#include "G2oSolver.h"
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#include "GtsamSolver.h"
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#include "PatternSearchSolver.h"
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#include <rtabmap/core/Version.h>
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const double kInitialSteps[6] = {0.04, 0.04, 0.04, 2.0, 2.0, 2.0};
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std::unique_ptr<CorrectionSolver> createSolver(const std::string & name, float sigma)
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{
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(void)sigma; // used only by the least-squares solvers
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if(name == "pattern")
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{
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return std::unique_ptr<CorrectionSolver>(new PatternSearchSolver());
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}
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if(name == "simplex")
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{
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return std::unique_ptr<CorrectionSolver>(new DownhillSimplexSolver());
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}
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#ifdef RTABMAP_G2O
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if(name == "g2o")
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{
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return std::unique_ptr<CorrectionSolver>(new G2oSolver(sigma));
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}
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#endif
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#ifdef RTABMAP_GTSAM
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if(name == "gtsam")
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{
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return std::unique_ptr<CorrectionSolver>(new GtsamSolver(sigma));
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}
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#endif
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return std::unique_ptr<CorrectionSolver>();
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}
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std::vector<std::string> availableSolvers()
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{
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std::vector<std::string> names = {"simplex", "pattern"};
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#ifdef RTABMAP_G2O
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names.push_back("g2o");
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#endif
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#ifdef RTABMAP_GTSAM
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names.push_back("gtsam");
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#endif
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return names;
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}
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