solver_dense.cpp

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// g2o - General Graph Optimization
// Copyright (C) 2011 R. Kuemmerle, G. Grisetti, H. Strasdat, W. Burgard
// All rights reserved.
//
// Redistribution and use in source and binary forms, with or without
// modification, are permitted provided that the following conditions are
// met:
//
// * Redistributions of source code must retain the above copyright notice,
//   this list of conditions and the following disclaimer.
// * Redistributions in binary form must reproduce the above copyright
//   notice, this list of conditions and the following disclaimer in the
//   documentation and/or other materials provided with the distribution.
//
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// IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED
// TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A
// PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT
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#include "linear_solver_dense.h"

#include "g2o/config.h"
#include "g2o/core/block_solver.h"
#include "g2o/core/solver.h"
#include "g2o/core/optimization_algorithm_factory.h"

#include "g2o/core/optimization_algorithm_gauss_newton.h"
#include "g2o/core/optimization_algorithm_levenberg.h"

#define DIM_TO_SOLVER(p, l) BlockSolver< BlockSolverTraits<p, l> >

#define ALLOC_DENSE(s, p, l) \
  if (1) { \
      std::cerr << "# Using DENSE poseDim " << p << " landMarkDim " << l << std::endl; \
      DIM_TO_SOLVER(p, l)::LinearSolverType* linearSolver = new LinearSolverDense<DIM_TO_SOLVER(p, l)::PoseMatrixType>(); \
      s = new DIM_TO_SOLVER(p, l)(linearSolver); \
  } else (void)0

using namespace std;

namespace g2o {

  static OptimizationAlgorithm* createSolver(const std::string& fullSolverName)
  {
    g2o::Solver* s = 0;

    string methodName = fullSolverName.substr(0, 2);
    string solverName = fullSolverName.substr(3);

    if (solverName == "dense") {
      ALLOC_DENSE(s, -1, -1);
    }
    else if (solverName == "dense3_2") {
      ALLOC_DENSE(s, 3, 2);
    }
    else if (solverName == "dense6_3") {
      ALLOC_DENSE(s, 6, 3);
    }
    else if (solverName == "dense7_3") {
      ALLOC_DENSE(s, 7, 3);
    }

    OptimizationAlgorithm* snl = 0;
    if (methodName == "gn") {
      snl = new OptimizationAlgorithmGaussNewton(s);
    }
    else if (methodName == "lm") {
      snl = new OptimizationAlgorithmLevenberg(s);
    }

    return snl;
  }

  class DenseSolverCreator : public AbstractOptimizationAlgorithmCreator
  {
    public:
      DenseSolverCreator(const OptimizationAlgorithmProperty& p) : AbstractOptimizationAlgorithmCreator(p) {}
      virtual OptimizationAlgorithm* construct()
      {
        return createSolver(property().name);
      }
  };

  G2O_REGISTER_OPTIMIZATION_LIBRARY(dense);

  G2O_REGISTER_OPTIMIZATION_ALGORITHM(gn_dense, new DenseSolverCreator(OptimizationAlgorithmProperty("gn_dense", "Gauss-Newton: Dense solver (variable blocksize)", "Dense", false, Eigen::Dynamic, Eigen::Dynamic)));
  G2O_REGISTER_OPTIMIZATION_ALGORITHM(gn_dense3_2, new DenseSolverCreator(OptimizationAlgorithmProperty("gn_dense3_2", "Gauss-Newton: Dense solver (fixed blocksize)", "Dense", true, 3, 2)));
  G2O_REGISTER_OPTIMIZATION_ALGORITHM(gn_dense6_3, new DenseSolverCreator(OptimizationAlgorithmProperty("gn_dense6_3", "Gauss-Newton: Dense solver (fixed blocksize)", "Dense", true, 6, 3)));
  G2O_REGISTER_OPTIMIZATION_ALGORITHM(gn_dense7_3, new DenseSolverCreator(OptimizationAlgorithmProperty("gn_dense7_3", "Gauss-Newton: Dense solver (fixed blocksize)", "Dense", true, 7, 3)));
  G2O_REGISTER_OPTIMIZATION_ALGORITHM(lm_dense, new DenseSolverCreator(OptimizationAlgorithmProperty("lm_dense", "Levenberg: Dense solver (variable blocksize)", "Dense", false, -1, -1)));
  G2O_REGISTER_OPTIMIZATION_ALGORITHM(lm_dense3_2, new DenseSolverCreator(OptimizationAlgorithmProperty("lm_dense3_2", "Levenberg: Dense solver (fixed blocksize)", "Dense", true, 3, 2)));
  G2O_REGISTER_OPTIMIZATION_ALGORITHM(lm_dense6_3, new DenseSolverCreator(OptimizationAlgorithmProperty("lm_dense6_3", "Levenberg: Dense solver (fixed blocksize)", "Dense", true, 6, 3)));
  G2O_REGISTER_OPTIMIZATION_ALGORITHM(lm_dense7_3, new DenseSolverCreator(OptimizationAlgorithmProperty("lm_dense7_3", "Levenberg: Dense solver (fixed blocksize)", "Dense", true, 7, 3)));

} // end namespace