整个代码以后围绕着optimizer对象编程。首先实例化一个g2o::SparseOptimizer类的 optimizer优化器，

g2o::SparseOptimizer optimizer;

SparseOptimizer是一个虚类，继承了OptimizableGraph  -> HyperGraph；

SparseOptimizer主要成员：

	
	

		
		

			
			

				
			

		

		

			
			

				protected:
			

		

	

	

		
		

			
			

				
			

		

		

			
			

				bool* _forceStopFlag; //迭代过程中可以停止
			

		

	

	

		
		

			
			

				
			

		

		

			
			

				bool _verbose;// 冗余信息
			

		

	

	

		
		

			
			

				
			

		

		

			
			

				
			

		

	

	

		
		

			
			

				
			

		

		

			
			

				VertexContainer _ivMap;
			

		

	

	

		
		

			
			

				
			

		

		

			
			

				VertexContainer _activeVertices; ///< sorted according to VertexIDCompare
			

		

	

	

		
		

			
			

				
			

		

		

			
			

				EdgeContainer _activeEdges; ///< sorted according to EdgeIDCompare
			

		

	

	

		
		

			
			

				
			

		

		

			
			

				BatchStatisticsContainer _batchStatistics; ///< global statistics of the optimizer, e.g., timing, num-non-zeros
			

		

	

	

		
		

			
			

				
			

		

		

			
			

				bool _computeBatchStatistics;
			

		

	

外部程序需要关系的几个函数接口

	
	

		
		

			
			

				
			

		

		

			
			

				virtual bool initializeOptimization(HyperGraph::VertexSet& vset, int level=0);
			

		

	

	

		
		

			
			

				
			

		

		

			
			

				virtual bool updateInitialization(HyperGraph::VertexSet& vset, HyperGraph::EdgeSet& eset);
			

		

	

	

		
		

			
			

				
			

		

		

			
			

				int optimize(int iterations, bool online = false);
			

		

	

	

		
		

			
			

				
			

		

		

			
			

				void setVerbose(bool verbose);
			

		

	

	

		
		

			
			

				
			

		

		

			
			

				void setAlgorithm(OptimizationAlgorithm*