i/rtabmap
1
0
Fork 0
mirror of https://github.com/introlab/rtabmap.git synced 2026-09-03 01:50:24 +08:00
Code Issues Packages Projects Releases Wiki Activity

💄

Browse Source
This commit is contained in:
matlabbe
2015-09-04 15:30:33 -04:00
parent f912023a30
commit f51754ad64
1 changed files with 31 additions and 72 deletions
Download Patch File Download Diff File Expand all files Collapse all files

103
corelib/src/Graph.cpp
View File

@@ -55,15 +55,10 @@ SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
#include "g2o/types/slam2d/vertex_se2.h" #include "g2o/types/slam2d/vertex_se2.h"
#include "g2o/types/slam2d/edge_se2.h" #include "g2o/types/slam2d/edge_se2.h"
typedef g2o::BlockSolver< g2o::BlockSolverTraits<3, 3> > Slam2dBlockSolver; typedef g2o::BlockSolver< g2o::BlockSolverTraits<-1, -1> > SlamBlockSolver;
typedef g2o::LinearSolverCSparse<Slam2dBlockSolver::PoseMatrixType> Slam2dLinearCSparseSolver; typedef g2o::LinearSolverCSparse<SlamBlockSolver::PoseMatrixType> SlamLinearCSparseSolver;
typedef g2o::LinearSolverCholmod<Slam2dBlockSolver::PoseMatrixType> Slam2dLinearCholmodSolver; typedef g2o::LinearSolverCholmod<SlamBlockSolver::PoseMatrixType> SlamLinearCholmodSolver;
typedef g2o::LinearSolverPCG<Slam2dBlockSolver::PoseMatrixType> Slam2dLinearPCGSolver; typedef g2o::LinearSolverPCG<SlamBlockSolver::PoseMatrixType> SlamLinearPCGSolver;
typedef g2o::BlockSolver< g2o::BlockSolverTraits<6, 3> > Slam3dBlockSolver;
typedef g2o::LinearSolverCSparse<Slam3dBlockSolver::PoseMatrixType> Slam3dLinearCSparseSolver;
typedef g2o::LinearSolverCholmod<Slam3dBlockSolver::PoseMatrixType> Slam3dLinearCholmodSolver;
typedef g2o::LinearSolverPCG<Slam3dBlockSolver::PoseMatrixType> Slam3dLinearPCGSolver;
#include "vertigo/g2o/edge_switchPrior.h" #include "vertigo/g2o/edge_switchPrior.h"
#include "vertigo/g2o/edge_se2Switchable.h" #include "vertigo/g2o/edge_se2Switchable.h"
@@ -731,76 +726,40 @@ std::map<int, Transform> G2OOptimizer::optimize(
// Apply g2o optimization // Apply g2o optimization
g2o::SparseOptimizer optimizer; g2o::SparseOptimizer optimizer;
optimizer.setVerbose(false); optimizer.setVerbose(ULogger::level()==ULogger::kDebug);
int solverApproach = 0; int solverApproach = 0;
int optimizationApproach = 0; int optimizationApproach = 1;
if(isSlam2d())
{
Slam2dBlockSolver * blockSolver;
if(solverApproach == 1)
{
//pcg
Slam2dLinearPCGSolver * linearSolver = new Slam2dLinearPCGSolver();
blockSolver = new Slam2dBlockSolver(linearSolver);
}
else if(solverApproach == 2)
{
//csparse
Slam2dLinearCSparseSolver* linearSolver = new Slam2dLinearCSparseSolver();
linearSolver->setBlockOrdering(false);
blockSolver = new Slam2dBlockSolver(linearSolver);
}
else
{
//chmold
Slam2dLinearCholmodSolver * linearSolver = new Slam2dLinearCholmodSolver();
linearSolver->setBlockOrdering(false);
blockSolver = new Slam2dBlockSolver(linearSolver);
}
if(optimizationApproach == 1) SlamBlockSolver * blockSolver;
{ if(solverApproach == 1)
optimizer.setAlgorithm(new g2o::OptimizationAlgorithmGaussNewton(blockSolver)); {
} //pcg
else SlamLinearPCGSolver * linearSolver = new SlamLinearPCGSolver();
{ blockSolver = new SlamBlockSolver(linearSolver);
optimizer.setAlgorithm(new g2o::OptimizationAlgorithmLevenberg(blockSolver)); }
} else if(solverApproach == 2)
{
//csparse
SlamLinearCSparseSolver* linearSolver = new SlamLinearCSparseSolver();
linearSolver->setBlockOrdering(false);
blockSolver = new SlamBlockSolver(linearSolver);
} }
else else
{ {
Slam3dBlockSolver * blockSolver; //chmold
if(solverApproach == 1) SlamLinearCholmodSolver * linearSolver = new SlamLinearCholmodSolver();
{ linearSolver->setBlockOrdering(false);
//pcg blockSolver = new SlamBlockSolver(linearSolver);
Slam3dLinearPCGSolver * linearSolver = new Slam3dLinearPCGSolver();
blockSolver = new Slam3dBlockSolver(linearSolver);
}
else if(solverApproach == 2)
{
//csparse
Slam3dLinearCSparseSolver* linearSolver = new Slam3dLinearCSparseSolver();
linearSolver->setBlockOrdering(false);
blockSolver = new Slam3dBlockSolver(linearSolver);
}
else
{
//chmold
Slam3dLinearCholmodSolver * linearSolver = new Slam3dLinearCholmodSolver();
linearSolver->setBlockOrdering(false);
blockSolver = new Slam3dBlockSolver(linearSolver);
}
if(optimizationApproach == 1)
{
optimizer.setAlgorithm(new g2o::OptimizationAlgorithmGaussNewton(blockSolver));
}
else
{
optimizer.setAlgorithm(new g2o::OptimizationAlgorithmLevenberg(blockSolver));
}
} }
if(optimizationApproach == 1)
{
optimizer.setAlgorithm(new g2o::OptimizationAlgorithmGaussNewton(blockSolver));
}
else
{
optimizer.setAlgorithm(new g2o::OptimizationAlgorithmLevenberg(blockSolver));
}
UDEBUG("fill poses to g2o..."); UDEBUG("fill poses to g2o...");
for(std::map<int, Transform>::const_iterator iter = poses.begin(); iter!=poses.end(); ++iter) for(std::map<int, Transform>::const_iterator iter = poses.begin(); iter!=poses.end(); ++iter)