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Optimizer: fall back on g2o or gtsam first if one or the other is not available (instead of going TORO). ExportClouds: added ceiling and floor filtering options.

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This commit is contained in:
matlabbe
2020-11-22 01:23:08 -05:00
parent f5d7dc2814
commit 98a499b603
3 changed files with 100 additions and 45 deletions
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41
corelib/src/Optimizer.cpp
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@@ -101,16 +101,16 @@ Optimizer * Optimizer::create(Optimizer::Type type, const ParametersMap & parame
}
if(!OptimizerG2O::available() && type == Optimizer::kTypeG2O)
{
if(OptimizerTORO::available())
{
UWARN("g2o optimizer not available. TORO will be used instead.");
type = Optimizer::kTypeTORO;
}
else if(OptimizerGTSAM::available())
if(OptimizerGTSAM::available())
{
UWARN("g2o optimizer not available. GTSAM will be used instead.");
type = Optimizer::kTypeGTSAM;
}
else if(OptimizerTORO::available())
{
UWARN("g2o optimizer not available. TORO will be used instead.");
type = Optimizer::kTypeTORO;
}
else if(OptimizerCeres::available())
{
UWARN("g2o optimizer not available. ceres will be used instead.");
@@ -119,16 +119,16 @@ Optimizer * Optimizer::create(Optimizer::Type type, const ParametersMap & parame
}
if(!OptimizerGTSAM::available() && type == Optimizer::kTypeGTSAM)
{
if(OptimizerTORO::available())
{
UWARN("GTSAM optimizer not available. TORO will be used instead.");
type = Optimizer::kTypeTORO;
}
else if(OptimizerG2O::available())
if(OptimizerG2O::available())
{
UWARN("GTSAM optimizer not available. g2o will be used instead.");
type = Optimizer::kTypeG2O;
}
else if(OptimizerTORO::available())
{
UWARN("GTSAM optimizer not available. TORO will be used instead.");
type = Optimizer::kTypeTORO;
}
else if(OptimizerCeres::available())
{
UWARN("GTSAM optimizer not available. ceres will be used instead.");
@@ -137,26 +137,11 @@ Optimizer * Optimizer::create(Optimizer::Type type, const ParametersMap & parame
}
if(!OptimizerCVSBA::available() && type == Optimizer::kTypeCVSBA)
{
if(OptimizerTORO::available())
{
UWARN("CVSBA optimizer not available. TORO will be used instead.");
type = Optimizer::kTypeTORO;
}
else if(OptimizerGTSAM::available())
{
UWARN("CVSBA optimizer not available. GTSAM will be used instead.");
type = Optimizer::kTypeGTSAM;
}
else if(OptimizerG2O::available())
if(OptimizerG2O::available())
{
UWARN("CVSBA optimizer not available. g2o will be used instead.");
type = Optimizer::kTypeG2O;
}
else if(OptimizerCeres::available())
{
UWARN("CVSBA optimizer not available. ceres will be used instead.");
type = Optimizer::kTypeCeres;
}
}
if(!OptimizerCeres::available() && type == Optimizer::kTypeCeres)
{