Optimizer.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
modification, are permitted provided that the following conditions are met:
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      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 OPTIMIZER_H_
#define OPTIMIZER_H_

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

#include <map>
#include <list>
#include <rtabmap/core/Link.h>
#include <rtabmap/core/Parameters.h>
#include <rtabmap/core/Signature.h>

namespace rtabmap {

// Graph optimizers
class RTABMAP_EXP Optimizer
{
public:
        enum Type {
                kTypeUndef = -1,
                kTypeTORO = 0,
                kTypeG2O = 1,
                kTypeGTSAM = 2,
                kTypeCVSBA = 3
        };
        static bool isAvailable(Optimizer::Type type);
        static Optimizer * create(const ParametersMap & parameters);
        static Optimizer * create(Optimizer::Type type, const ParametersMap & parameters = ParametersMap());

        // Get connected poses and constraints from a set of links
        static void getConnectedGraph(
                        int fromId,
                        const std::map<int, Transform> & posesIn,
                        const std::multimap<int, Link> & linksIn, // only one link between two poses
                        std::map<int, Transform> & posesOut,
                        std::multimap<int, Link> & linksOut,
                        int depth = 0);

public:
        virtual ~Optimizer() {}

        virtual Type type() const = 0;

        // getters
        int iterations() const {return iterations_;}
        bool isSlam2d() const {return slam2d_;}
        bool isCovarianceIgnored() const {return covarianceIgnored_;}
        double epsilon() const {return epsilon_;}
        bool isRobust() const {return robust_;}

        // setters
        void setIterations(int iterations) {iterations_ = iterations;}
        void setSlam2d(bool enabled) {slam2d_ = enabled;}
        void setCovarianceIgnored(bool enabled) {covarianceIgnored_ = enabled;}
        void setEpsilon(double epsilon) {epsilon_ = epsilon;}
        void setRobust(bool enabled) {robust_ = enabled;}

        // inherited classes should implement one of these methods
        virtual std::map<int, Transform> optimize(
                        int rootId,
                        const std::map<int, Transform> & poses,
                        const std::multimap<int, Link> & constraints,
                        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, Signature> & signatures);

        virtual void parseParameters(const ParametersMap & parameters);

        void computeBACorrespondences(
                        const std::map<int, Transform> & poses,
                        const std::multimap<int, Link> & links,
                        const std::map<int, Signature> & signatures,
                        std::map<int, cv::Point3f> & points3DMap,
                        std::map<int, std::map<int, cv::Point2f> > & wordReferences); // <ID words, IDs frames + keypoint>

protected:
        Optimizer(
                        int iterations         = Parameters::defaultOptimizerIterations(),
                        bool slam2d            = Parameters::defaultOptimizerSlam2D(),
                        bool covarianceIgnored = Parameters::defaultOptimizerVarianceIgnored(),
                        double epsilon         = Parameters::defaultOptimizerEpsilon(),
                        bool robust            = Parameters::defaultOptimizerRobust());
        Optimizer(const ParametersMap & parameters);

private:
        int iterations_;
        bool slam2d_;
        bool covarianceIgnored_;
        double epsilon_;
        bool robust_;
};

} /* namespace rtabmap */
#endif /* OPTIMIZER_H_ */