slam2d_g2o.cpp File Reference

#include <iostream>
#include "main_window.h"
#include "g2o/core/sparse_optimizer.h"
#include "g2o/core/block_solver.h"
#include "g2o/core/factory.h"
#include "g2o/core/optimization_algorithm_gauss_newton.h"
#include "g2o/core/optimization_algorithm_levenberg.h"
#include "g2o/solvers/csparse/linear_solver_csparse.h"
#include <QApplication>

Include dependency graph for slam2d_g2o.cpp:

Go to the source code of this file.

Functions
	G2O_USE_TYPE_GROUP (slam2d)
int	main (int argc, char **argv)

Function Documentation

G2O_USE_TYPE_GROUP

(

slam2d

)

int main	(	int	argc,
		char **	argv
	)

Definition at line 36 of file slam2d_g2o.cpp.

References MainWindow::solverGaussNewton, MainWindow::solverLevenberg, and g2o::SparseOptimizer.

{
  QApplication qapp(argc, argv);

  MainWindow mw;
  mw.show();

  mw.viewer->graph = new SparseOptimizer();

  typedef BlockSolver< BlockSolverTraits<-1, -1> >  SlamBlockSolver;
  typedef LinearSolverCSparse<SlamBlockSolver::PoseMatrixType> SlamLinearSolver;

  SlamLinearSolver* linearSolver = new SlamLinearSolver();
  linearSolver->setBlockOrdering(false);
  SlamBlockSolver* blockSolver = new SlamBlockSolver(linearSolver);

  OptimizationAlgorithmGaussNewton* solverGauss   = new OptimizationAlgorithmGaussNewton(blockSolver);
  OptimizationAlgorithmLevenberg* solverLevenberg = new OptimizationAlgorithmLevenberg(blockSolver);
  mw.solverGaussNewton = solverGauss;
  mw.solverLevenberg = solverLevenberg;
  mw.viewer->graph->setAlgorithm(solverGauss);

  return qapp.exec();
}