Lidar-Camera calibration tool

tools/LidarCameraCalibration/CorrectionSolver.cpp

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