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0.17.2: compute marginals (covariance) on graph optimization

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matlabbe
2018-05-30 15:35:08 -04:00
parent 055cccd151
commit 1914275fa8
13 changed files with 155 additions and 22 deletions
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corelib/src/Optimizer.cpp
+19
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@@ -328,10 +328,29 @@ std::map<int, Transform> Optimizer::optimizeIncremental(
return std::map<int, Transform>();
}
std::map<int, Transform> Optimizer::optimize(
int rootId,
const std::map<int, Transform> & poses,
const std::multimap<int, Link> & edgeConstraints,
std::list<std::map<int, Transform> > * intermediateGraphes,
double * finalError,
int * iterationsDone)
{
cv::Mat covariance;
return optimize(rootId,
poses,
edgeConstraints,
covariance,
intermediateGraphes,
finalError,
iterationsDone);
}
std::map<int, Transform> Optimizer::optimize(
int rootId,
const std::map<int, Transform> & poses,
const std::multimap<int, Link> & constraints,
cv::Mat & outputCovariance,
std::list<std::map<int, Transform> > * intermediateGraphes,
double * finalError,
int * iterationsDone)