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Optimizer::create() updated interface

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matlabbe
2016-03-22 11:06:45 -04:00
parent 9385aa2332
commit c43fd6a2a7
2 changed files with 3 additions and 4 deletions
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corelib/include/rtabmap/core/Optimizer.h
+1 -1
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@@ -53,7 +53,7 @@ public:
}; };
static bool isAvailable(Optimizer::Type type); static bool isAvailable(Optimizer::Type type);
static Optimizer * create(const ParametersMap & parameters); static Optimizer * create(const ParametersMap & parameters);
static Optimizer * create(Optimizer::Type & type, const ParametersMap & parameters = ParametersMap()); static Optimizer * create(Optimizer::Type type, const ParametersMap & parameters = ParametersMap());
// Get connected poses and constraints from a set of links // Get connected poses and constraints from a set of links
static void getConnectedGraph( static void getConnectedGraph(
corelib/src/Optimizer.cpp
+2 -3
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@@ -66,11 +66,10 @@ Optimizer * Optimizer::create(const ParametersMap & parameters)
{ {
int optimizerTypeInt = Parameters::defaultOptimizerStrategy(); int optimizerTypeInt = Parameters::defaultOptimizerStrategy();
Parameters::parse(parameters, Parameters::kOptimizerStrategy(), optimizerTypeInt); Parameters::parse(parameters, Parameters::kOptimizerStrategy(), optimizerTypeInt);
Optimizer::Type type = (Optimizer::Type)optimizerTypeInt; return create((Optimizer::Type)optimizerTypeInt, parameters);
return create(type, parameters);
} }
Optimizer * Optimizer::create(Optimizer::Type & type, const ParametersMap & parameters) Optimizer * Optimizer::create(Optimizer::Type type, const ParametersMap & parameters)
{ {
UASSERT_MSG(OptimizerG2O::available() || OptimizerGTSAM::available() || OptimizerTORO::available(), UASSERT_MSG(OptimizerG2O::available() || OptimizerGTSAM::available() || OptimizerTORO::available(),
"RTAB-Map is not built with any graph optimization approach!"); "RTAB-Map is not built with any graph optimization approach!");