Method OptimizeEssentialGraph4DoF

src/Optimizer.cc:5292–5588

}

void Optimizer::OptimizeEssentialGraph4DoF(Map* pMap, KeyFrame* pLoopKF, KeyFrame* pCurKF,
                                       const LoopClosing::KeyFrameAndPose &NonCorrectedSim3,
                                       const LoopClosing::KeyFrameAndPose &CorrectedSim3,
                                       const map<KeyFrame *, set<KeyFrame *> > &LoopConnections)
{
    typedef g2o::BlockSolver< g2o::BlockSolverTraits<4, 4> > BlockSolver_4_4;

    // Setup optimizer
    g2o::SparseOptimizer optimizer;
    optimizer.setVerbose(false);
    g2o::BlockSolverX::LinearSolverType * linearSolver =
            new g2o::LinearSolverEigen<g2o::BlockSolverX::PoseMatrixType>();
    g2o::BlockSolverX * solver_ptr = new g2o::BlockSolverX(linearSolver);

    g2o::OptimizationAlgorithmLevenberg* solver = new g2o::OptimizationAlgorithmLevenberg(solver_ptr);

    optimizer.setAlgorithm(solver);

    const vector<KeyFrame*> vpKFs = pMap->GetAllKeyFrames();
    const vector<MapPoint*> vpMPs = pMap->GetAllMapPoints();

    const unsigned int nMaxKFid = pMap->GetMaxKFid();

    vector<g2o::Sim3,Eigen::aligned_allocator<g2o::Sim3> > vScw(nMaxKFid+1);
    vector<g2o::Sim3,Eigen::aligned_allocator<g2o::Sim3> > vCorrectedSwc(nMaxKFid+1);

    vector<VertexPose4DoF*> vpVertices(nMaxKFid+1);

    const int minFeat = 100;
    // Set KeyFrame vertices
    for(size_t i=0, iend=vpKFs.size(); i<iend;i++)
    {
        KeyFrame* pKF = vpKFs[i];
        if(pKF->isBad())
            continue;

        VertexPose4DoF* V4DoF;

        const int nIDi = pKF->mnId;

        LoopClosing::KeyFrameAndPose::const_iterator it = CorrectedSim3.find(pKF);

        if(it!=CorrectedSim3.end())
        {
            vScw[nIDi] = it->second;
            const g2o::Sim3 Swc = it->second.inverse();
            Eigen::Matrix3d Rwc = Swc.rotation().toRotationMatrix();
            Eigen::Vector3d twc = Swc.translation();
            V4DoF = new VertexPose4DoF(Rwc, twc, pKF);
        }
        else
        {
            Sophus::SE3d Tcw = pKF->GetPose().cast<double>();
            g2o::Sim3 Siw(Tcw.unit_quaternion(),Tcw.translation(),1.0);

            vScw[nIDi] = Siw;
            V4DoF = new VertexPose4DoF(pKF);
        }