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Updated g2o and toro saveGraph() to use Optimizer's parameters (#320, #319)

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matlabbe
2018-10-15 13:41:44 -04:00
parent 42c60c7154
commit b2c012d8bc
9 changed files with 211 additions and 108 deletions
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5
corelib/include/rtabmap/core/Graph.h
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@@ -32,6 +32,7 @@ SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
#include <map>
#include <list>
#include <rtabmap/core/Parameters.h>
#include <rtabmap/core/Link.h>
#include <rtabmap/core/GeodeticCoords.h>
@@ -44,13 +45,13 @@ namespace graph {
// Graph utilities
////////////////////////////////////////////
bool RTABMAP_EXP exportPoses(
bool RTABMAP_EXP exportPoses(
const std::string & filePath,
int format, // 0=Raw (*.txt), 1=RGBD-SLAM (*.txt), 2=KITTI (*.txt), 3=TORO (*.graph), 4=g2o (*.g2o)
const std::map<int, Transform> & poses,
const std::multimap<int, Link> & constraints = std::multimap<int, Link>(), // required for formats 3 and 4
const std::map<int, double> & stamps = std::map<int, double>(), // required for format 1
bool g2oRobust = false); // optional for format 4
const ParametersMap & parameters = ParametersMap()); // optional for formats 3 and 4
bool RTABMAP_EXP importPoses(
const std::string & filePath,

10
corelib/include/rtabmap/core/optimizer/OptimizerG2O.h
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@@ -40,11 +40,6 @@ public:
static bool available();
static bool isCSparseAvailable();
static bool isCholmodAvailable();
static bool saveGraph(
const std::string & fileName,
const std::map<int, Transform> & poses,
const std::multimap<int, Link> & edgeConstraints,
const bool useRobustConstraints = false);
public:
OptimizerG2O(const ParametersMap & parameters = ParametersMap()) :
@@ -81,6 +76,11 @@ public:
const std::map<int, std::map<int, cv::Point3f> > & wordReferences, // <ID words, IDs frames + keypoint(x,y,depth)>
std::set<int> * outliers = 0);
bool saveGraph(
const std::string & fileName,
const std::map<int, Transform> & poses,
const std::multimap<int, Link> & edgeConstraints);
private:
int solver_;
int optimizer_;

9
corelib/include/rtabmap/core/optimizer/OptimizerTORO.h
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@@ -40,10 +40,6 @@ public:
static bool available();
public:
static bool saveGraph(
const std::string & fileName,
const std::map<int, Transform> & poses,
const std::multimap<int, Link> & edgeConstraints);
static bool loadGraph(
const std::string & fileName,
std::map<int, Transform> & poses,
@@ -70,6 +66,11 @@ public:
std::list<std::map<int, Transform> > * intermediateGraphes = 0,
double * finalError = 0,
int * iterationsDone = 0);
bool saveGraph(
const std::string & fileName,
const std::map<int, Transform> & poses,
const std::multimap<int, Link> & edgeConstraints);
};
} /* namespace rtabmap */