static OptimizationAlgorithm* createSolver(const std::string& solverName) { g2o::Solver* s = 0; if (solverName == "fix3_2_cholmod") { ALLOC_CHOLMOD(s, 3, 2); } else if (solverName == "fix6_3_cholmod") { ALLOC_CHOLMOD(s, 6, 3); } OptimizationAlgorithmGaussNewton* gaussNewton = new OptimizationAlgorithmGaussNewton(s); return gaussNewton; }
static Solver* createSolver(SparseOptimizer* opt, const std::string& solverName) { g2o::Solver* s = 0; if (solverName == "fix3_2_cholmod") { ALLOC_CHOLMOD(s, 3, 2); s->setAdditionalVectorSpace(300); } else if (solverName == "fix6_3_cholmod") { ALLOC_CHOLMOD(s, 6, 3); s->setAdditionalVectorSpace(600); } return s; }