OptimizerG2O.h

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/*
Copyright (c) 2010-2016, Mathieu Labbe - IntRoLab - Universite de Sherbrooke
All rights reserved.

Redistribution and use in source and binary forms, with or without
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    * Redistributions of source code must retain the above copyright
      notice, this list of conditions and the following disclaimer.
    * Redistributions in binary form must reproduce the above copyright
      notice, this list of conditions and the following disclaimer in the
      documentation and/or other materials provided with the distribution.
    * Neither the name of the Universite de Sherbrooke nor the
      names of its contributors may be used to endorse or promote products
      derived from this software without specific prior written permission.

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*/

#ifndef OPTIMIZERG2O_H_
#define OPTIMIZERG2O_H_

#include "rtabmap/core/RtabmapExp.h" // DLL export/import defines

#include <rtabmap/core/Optimizer.h>

namespace rtabmap {

class RTABMAP_EXP OptimizerG2O : public Optimizer
{
public:
        static bool available();
        static bool isCSparseAvailable();
        static bool isCholmodAvailable();
        static bool saveGraph(
                        const std::string & fileName,
                        const std::map<int, Transform> & poses,
                        const std::multimap<int, Link> & edgeConstraints,
                        bool useRobustConstraints = false);

public:
        OptimizerG2O(const ParametersMap & parameters = ParametersMap()) :
                Optimizer(parameters),
                solver_(Parameters::defaultg2oSolver()),
                optimizer_(Parameters::defaultg2oOptimizer()),
        pixelVariance_(Parameters::defaultg2oPixelVariance()),
                robustKernelDelta_(Parameters::defaultg2oRobustKernelDelta()),
                baseline_(Parameters::defaultg2oBaseline())
        {
                parseParameters(parameters);
        }
        virtual ~OptimizerG2O() {}

        virtual Type type() const {return kTypeG2O;}

        virtual void parseParameters(const ParametersMap & parameters);

        virtual std::map<int, Transform> optimize(
                                int rootId,
                                const std::map<int, Transform> & poses,
                                const std::multimap<int, Link> & edgeConstraints,
                                cv::Mat & outputCovariance,
                                std::list<std::map<int, Transform> > * intermediateGraphes = 0,
                                double * finalError = 0,
                                int * iterationsDone = 0);

        virtual std::map<int, Transform> optimizeBA(
                        int rootId,
                        const std::map<int, Transform> & poses,
                        const std::multimap<int, Link> & links,
                        const std::map<int, CameraModel> & models, // in case of stereo, Tx should be set
                        std::map<int, cv::Point3f> & points3DMap,
                        const std::map<int, std::map<int, cv::Point3f> > & wordReferences, // <ID words, IDs frames + keypoint(x,y,depth)>
                        std::set<int> * outliers = 0);

private:
        int solver_;
        int optimizer_;
        double pixelVariance_;
        double robustKernelDelta_;
        double baseline_;
};

} /* namespace rtabmap */
#endif /* OPTIMIZERG2O_H_ */