Merge pull request #3127 from savuor:levmarqfromscratch

New LevMarq implementation

* updated pose graph interface

* updating LevMarq calls according to the last changes

* Updating class name

modules/rgbd/src/large_kinfu.cpp

@@ -287,8 +287,8 @@ bool LargeKinfuImpl<MatType>::updateT(const MatType& _depth)
         // TODO: Convert constraints to posegraph
         Ptr<detail::PoseGraph> poseGraph = submapMgr->MapToPoseGraph();
         CV_LOG_INFO(NULL, "Created posegraph");
-        int iters = poseGraph->optimize();
-        if (iters < 0)
+        LevMarq::Report r = poseGraph->optimize();
+        if (!r.found)
         {
             CV_LOG_INFO(NULL, "Failed to perform pose graph optimization");
             return false;

modules/rgbd/src/precomp.hpp

@@ -24,7 +24,7 @@
 #include "opencv2/core.hpp"
 #include "opencv2/imgproc.hpp"
 #include "opencv2/3d.hpp"
-#include "opencv2/3d/detail/pose_graph.hpp"
+#include "opencv2/3d/detail/optimizer.hpp"
 #include "opencv2/3d/detail/kinfu_frame.hpp"
 #include "opencv2/3d/detail/submap.hpp"
 #include "opencv2/rgbd.hpp"