i/rtabmap_ros
1
0
Fork 0
mirror of https://github.com/introlab/rtabmap_ros.git synced 2026-10-05 01:07:49 +08:00
Code Issues Packages Projects Releases Wiki Activity

Refactoring: Split all graph optimization approaches in multiple files

Browse Source
This commit is contained in:
matlabbe
2015-11-27 11:09:39 -05:00
parent 93326ab1fe
commit 7d35906398
23 changed files with 2373 additions and 1958 deletions
Download Patch File Download Diff File Expand all files Collapse all files
corelib/src/Rtabmap.cpp
+8 -7
View File
@@ -28,6 +28,7 @@ SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
#include "rtabmap/core/Rtabmap.h"
#include "rtabmap/core/Version.h"
#include "rtabmap/core/Features2d.h"
#include "rtabmap/core/Optimizer.h"
#include "rtabmap/core/Graph.h"
#include "rtabmap/core/Signature.h"
@@ -416,12 +417,12 @@ void Rtabmap::parseParameters(const ParametersMap & parameters)
// If they already exists, we check the parameters if a change is requested
// Graph optimizer
graph::Optimizer::Type optimizerType = graph::Optimizer::kTypeUndef;
if((iter=parameters.find(Parameters::kRGBDOptimizeStrategy())) != parameters.end())
Optimizer::Type optimizerType = Optimizer::kTypeUndef;
if((iter=parameters.find(Parameters::kOptimizerStrategy())) != parameters.end())
{
optimizerType = (graph::Optimizer::Type)std::atoi((*iter).second.c_str());
optimizerType = (Optimizer::Type)std::atoi((*iter).second.c_str());
}
if(optimizerType!=graph::Optimizer::kTypeUndef)
if(optimizerType!=Optimizer::kTypeUndef)
{
UDEBUG("new detector strategy %d", int(optimizerType));
if(_graphOptimizer)
@@ -430,7 +431,7 @@ void Rtabmap::parseParameters(const ParametersMap & parameters)
_graphOptimizer = 0;
}
_graphOptimizer = graph::Optimizer::create(optimizerType, parameters);
_graphOptimizer = Optimizer::create(optimizerType, parameters);
}
else if(_graphOptimizer)
{
@@ -438,8 +439,8 @@ void Rtabmap::parseParameters(const ParametersMap & parameters)
}
else
{
optimizerType = (graph::Optimizer::Type)Parameters::defaultRGBDOptimizeStrategy();
_graphOptimizer = graph::Optimizer::create(optimizerType, parameters);
optimizerType = (Optimizer::Type)Parameters::defaultOptimizerStrategy();
_graphOptimizer = Optimizer::create(optimizerType, parameters);
}
if(_memory)