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GTSAM: added optimizer approach option #172

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matlabbe
2017-03-02 16:46:15 -05:00
parent 9b3b7b09a0
commit 300e37124c
5 changed files with 92 additions and 30 deletions
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21
corelib/include/rtabmap/core/OptimizerGTSAM.h
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@@ -40,20 +40,18 @@ public:
static bool available();
public:
OptimizerGTSAM(
int iterations = Parameters::defaultOptimizerIterations(),
bool slam2d = Parameters::defaultRegForce3DoF(),
bool covarianceIgnored = Parameters::defaultOptimizerVarianceIgnored(),
double epsilon = Parameters::defaultOptimizerEpsilon(),
bool robust = Parameters::defaultOptimizerRobust()) :
Optimizer(iterations, slam2d, covarianceIgnored, epsilon, robust) {}
OptimizerGTSAM(const ParametersMap & parameters) :
Optimizer(parameters) {}
OptimizerGTSAM(const ParametersMap & parameters = ParametersMap()) :
Optimizer(parameters),
optimizer_(Parameters::defaultGTSAMOptimizer())
{
parseParameters(parameters);
}
virtual ~OptimizerGTSAM() {}
virtual Type type() const {return kTypeGTSAM;}
virtual void parseParameters(const ParametersMap & parameters);
virtual std::map<int, Transform> optimize(
int rootId,
const std::map<int, Transform> & poses,
@@ -61,6 +59,9 @@ public:
std::list<std::map<int, Transform> > * intermediateGraphes = 0,
double * finalError = 0,
int * iterationsDone = 0);
private:
int optimizer_;
};
} /* namespace rtabmap */

2
corelib/include/rtabmap/core/Parameters.h
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@@ -358,6 +358,8 @@ class RTABMAP_EXP Parameters
RTABMAP_PARAM(g2o, RobustKernelDelta, double, 8, "Robust kernel delta used for bundle adjustment (0 means don't use robust kernel). Observations with chi2 over this threshold will be ignored in the second optimization pass.");
RTABMAP_PARAM(g2o, Baseline, double, 0.075, "When doing bundle adjustment with RGB-D data, we can set a fake baseline (m) to do stereo bundle adjustment (if 0, mono bundle adjustment is done). For stereo data, the baseline in the calibration is used directly.");
RTABMAP_PARAM(GTSAM, Optimizer, int, 1, "0=Levenberg 1=GaussNewton 2=Dogleg");
// Odometry
RTABMAP_PARAM(Odom, Strategy, int, 0, "0=Frame-to-Map (F2M) 1=Frame-to-Frame (F2F)");
RTABMAP_PARAM(Odom, ResetCountdown, int, 0, "Automatically reset odometry after X consecutive images on which odometry cannot be computed (value=0 disables auto-reset).");