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Added OptimizerCeres class (Optimizer/Strategy=3)

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matlabbe
2019-08-17 03:55:04 -04:00
parent 38044040a6
commit 536f001479
29 changed files with 1982 additions and 284 deletions
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5
corelib/src/odometry/OdometryF2M.cpp
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@@ -97,11 +97,12 @@ OdometryF2M::OdometryF2M(const ParametersMap & parameters) :
if(bundleAdjustment_ > 0)
{
if((bundleAdjustment_==1 && Optimizer::isAvailable(Optimizer::kTypeG2O)) ||
(bundleAdjustment_==2 && Optimizer::isAvailable(Optimizer::kTypeCVSBA)))
(bundleAdjustment_==2 && Optimizer::isAvailable(Optimizer::kTypeCVSBA)) ||
(bundleAdjustment_==3 && Optimizer::isAvailable(Optimizer::kTypeCeres)))
{
// disable bundle in RegistrationVis as we do it already here
uInsert(bundleParameters, ParametersPair(Parameters::kVisBundleAdjustment(), "0"));
sba_ = Optimizer::create(bundleAdjustment_==2?Optimizer::kTypeCVSBA:Optimizer::kTypeG2O, bundleParameters);
sba_ = Optimizer::create(bundleAdjustment_==3?Optimizer::kTypeCeres:bundleAdjustment_==2?Optimizer::kTypeCVSBA:Optimizer::kTypeG2O, bundleParameters);
}
else
{