From 3866df5f9cb6d677e9f5f92292811c6f05c8f0ad Mon Sep 17 00:00:00 2001 From: Rostislav Vasilikhin Date: Tue, 7 Dec 2021 00:47:10 +0300 Subject: [PATCH 1/3] updated pose graph interface --- modules/rgbd/src/large_kinfu.cpp | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/modules/rgbd/src/large_kinfu.cpp b/modules/rgbd/src/large_kinfu.cpp index ada29ea03d..7dc12d833e 100644 --- a/modules/rgbd/src/large_kinfu.cpp +++ b/modules/rgbd/src/large_kinfu.cpp @@ -287,8 +287,8 @@ bool LargeKinfuImpl::updateT(const MatType& _depth) // TODO: Convert constraints to posegraph Ptr poseGraph = submapMgr->MapToPoseGraph(); CV_LOG_INFO(NULL, "Created posegraph"); - int iters = poseGraph->optimize(); - if (iters < 0) + BaseLevMarq::Report r = poseGraph->optimize(); + if (!r.found) { CV_LOG_INFO(NULL, "Failed to perform pose graph optimization"); return false; From 6a79dbdea2a6ecb7b2720f77bcd08c1b3a8837c0 Mon Sep 17 00:00:00 2001 From: Rostislav Vasilikhin Date: Wed, 22 Dec 2021 02:25:12 +0300 Subject: [PATCH 2/3] updating LevMarq calls according to the last changes --- modules/rgbd/src/large_kinfu.cpp | 2 +- modules/rgbd/src/precomp.hpp | 2 +- 2 files changed, 2 insertions(+), 2 deletions(-) diff --git a/modules/rgbd/src/large_kinfu.cpp b/modules/rgbd/src/large_kinfu.cpp index 7dc12d833e..28549235da 100644 --- a/modules/rgbd/src/large_kinfu.cpp +++ b/modules/rgbd/src/large_kinfu.cpp @@ -287,7 +287,7 @@ bool LargeKinfuImpl::updateT(const MatType& _depth) // TODO: Convert constraints to posegraph Ptr poseGraph = submapMgr->MapToPoseGraph(); CV_LOG_INFO(NULL, "Created posegraph"); - BaseLevMarq::Report r = poseGraph->optimize(); + LevMarqBase::Report r = poseGraph->optimize(); if (!r.found) { CV_LOG_INFO(NULL, "Failed to perform pose graph optimization"); diff --git a/modules/rgbd/src/precomp.hpp b/modules/rgbd/src/precomp.hpp index 89b5f0cdba..7e7ba32ce7 100644 --- a/modules/rgbd/src/precomp.hpp +++ b/modules/rgbd/src/precomp.hpp @@ -24,7 +24,7 @@ #include "opencv2/core.hpp" #include "opencv2/imgproc.hpp" #include "opencv2/3d.hpp" -#include "opencv2/3d/detail/pose_graph.hpp" +#include "opencv2/3d/detail/optimizer.hpp" #include "opencv2/3d/detail/kinfu_frame.hpp" #include "opencv2/3d/detail/submap.hpp" #include "opencv2/rgbd.hpp" From 816ae6b31bea54794172fa26da7339ab1e6b3f1e Mon Sep 17 00:00:00 2001 From: Rostislav Vasilikhin Date: Mon, 27 Dec 2021 01:49:31 +0300 Subject: [PATCH 3/3] Updating class name --- modules/rgbd/src/large_kinfu.cpp | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/modules/rgbd/src/large_kinfu.cpp b/modules/rgbd/src/large_kinfu.cpp index 28549235da..a373cdc8d2 100644 --- a/modules/rgbd/src/large_kinfu.cpp +++ b/modules/rgbd/src/large_kinfu.cpp @@ -287,7 +287,7 @@ bool LargeKinfuImpl::updateT(const MatType& _depth) // TODO: Convert constraints to posegraph Ptr poseGraph = submapMgr->MapToPoseGraph(); CV_LOG_INFO(NULL, "Created posegraph"); - LevMarqBase::Report r = poseGraph->optimize(); + LevMarq::Report r = poseGraph->optimize(); if (!r.found) { CV_LOG_INFO(NULL, "Failed to perform pose graph optimization");