OptimizerPBA

1. Introduction

This is a optimizer plugin base on PBA for GSLAM later then version 2.1.0, which implement parallel bundle adjust with GPU or multi-core CPU.

2. Build and Install

2.1. Build and install GSLAM

https://github.com/zdzhaoyong/GSLAM

2.2. Build and install OptimizerPBA

mkdir build;cd build;cmake ..;sudo make install

3. Usage

bool bundleAdjust(GSLAM::BundleGraph& graph)
{
  SPtr<GSLAM::Optimizer> optimizer=GSLAM::Optimizer::create("libgslam_optimizerPBA");
  return optimizer->optimize(graph);
}