// Register this RBA problem: RBA_Run_BasePtr my_creator_se3_lm3d_cart3d(RBASLAM_Params &config) { if (config.arg_se3.isSet() && config.arg_lm3d.isSet() && config.arg_obs.getValue()=="Cartesian_3D") return RBA_Run_Factory<kf2kf_poses::SE3,landmarks::Euclidean3D,observations::Cartesian_3D>::create(); return RBA_Run_BasePtr(); }
// Register this RBA problem: RBA_Run_BasePtr my_creator_se3_lm3d_monocular(RBASLAM_Params &config) { if (config.arg_se3.isSet() && config.arg_lm3d.isSet() && config.arg_obs.getValue()=="MonocularCamera") return RBA_Run_Factory<kf2kf_poses::SE3,landmarks::Euclidean3D,observations::MonocularCamera>::create(); return RBA_Run_BasePtr(); }