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Added parameter "RGBD/OptimizeRobust" (default true) to use Vertigo robust graph optimization (only for g2o and GTSAM optimization strategies). Added GTSAM support.

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matlabbe
2015-09-02 17:51:43 -04:00
parent a2b9c9f9a0
commit 7a721105ae
40 changed files with 2125 additions and 158 deletions
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cmake_modules/FindG2O.cmake
+4 -2
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@@ -70,11 +70,13 @@ IF(G2O_STUFF_LIBRARY AND G2O_CORE_LIBRARY AND G2O_INCLUDE_DIR AND G2O_SOLVERS_FO
SET(G2O_INCLUDE_DIRS ${G2O_INCLUDE_DIR} ${CSPARSE_INCLUDE_DIR})
SET(G2O_LIBRARIES
${G2O_STUFF_LIBRARY}
${G2O_CORE_LIBRARY}
${G2O_CORE_LIBRARY}
${G2O_SOLVER_CHOLMOD}
${G2O_SOLVER_CSPARSE}
${G2O_SOLVER_CSPARSE_EXTENSION}
${G2O_TYPES_SLAM2D}
${G2O_TYPES_SLAM3D}
${CSPARSE_LIBRARY})
${CSPARSE_LIBRARY}
cholmod)
SET(G2O_FOUND "YES")
ENDIF(G2O_STUFF_LIBRARY AND G2O_CORE_LIBRARY AND G2O_INCLUDE_DIR AND G2O_SOLVERS_FOUND AND CSPARSE_FOUND)