add Optimizer typedef to visualSLAM.h
parent
4071d4f673
commit
95f91ab831
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@ -24,7 +24,6 @@ using namespace std;
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using namespace gtsam;
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using namespace gtsam::visualSLAM;
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using namespace boost;
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typedef NonlinearOptimizer<Graph,Values> Optimizer;
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/* ************************************************************************* */
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#define CALIB_FILE "Data/calib.txt"
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@ -19,14 +19,13 @@
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#pragma once
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#include <gtsam/geometry/Pose3.h>
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#include <gtsam/geometry/Point3.h>
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#include <gtsam/geometry/Cal3_S2.h>
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#include <gtsam/geometry/Point2.h>
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#include <gtsam/geometry/SimpleCamera.h>
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#include <gtsam/nonlinear/Key.h>
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#include <gtsam/nonlinear/NonlinearFactorGraph.h>
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#include <gtsam/nonlinear/TupleValues.h>
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#include <gtsam/nonlinear/NonlinearEquality.h>
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#include <gtsam/nonlinear/NonlinearOptimizer.h>
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#include <gtsam/slam/PriorFactor.h>
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namespace gtsam { namespace visualSLAM {
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@ -199,4 +198,7 @@ namespace gtsam { namespace visualSLAM {
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}; // Graph
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// Optimizer
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typedef NonlinearOptimizer<Graph, Values> Optimizer;
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} } // namespaces
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