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Added g2o optimization option (along with TORO). Some refactoring: updated graph optimization parameter names, new graph::Optimizer class and new parameter RGBD/OptimizeSlam2d

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Mathieu Labbe
2015-03-12 17:00:56 -04:00
parent 05d4276ba0
commit aa8fe2e55c
22 changed files with 3254 additions and 820 deletions
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9
CMakeLists.txt
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@@ -20,7 +20,7 @@ SET(CMAKE_MODULE_PATH "${PROJECT_SOURCE_DIR}/cmake_modules")
#######################
SET(RTABMAP_MAJOR_VERSION 0)
SET(RTABMAP_MINOR_VERSION 8)
SET(RTABMAP_PATCH_VERSION 6)
SET(RTABMAP_PATCH_VERSION 7)
SET(RTABMAP_VERSION
${RTABMAP_MAJOR_VERSION}.${RTABMAP_MINOR_VERSION}.${RTABMAP_PATCH_VERSION})
@@ -125,6 +125,7 @@ ENDIF("${VTK_MAJOR_VERSION}" EQUAL 5)
FIND_PACKAGE(ZLIB REQUIRED)
FIND_PACKAGE(Freenect)
FIND_PACKAGE(OpenNI2)
FIND_PACKAGE(G2O)
# If Qt is here, the GUI will be built
FIND_PACKAGE(Qt4 COMPONENTS QtCore QtGui QtSvg)
@@ -328,4 +329,10 @@ ELSE()
MESSAGE(STATUS " With OpenNI2 = NO (OpenNI2 not found)")
ENDIF()
IF(G2O_FOUND)
MESSAGE(STATUS " With g2o = YES")
ELSE()
MESSAGE(STATUS " With g2o = NO (g2o not found)")
ENDIF()
MESSAGE(STATUS "--------------------------------------------")