28 #ifndef OPTIMIZERCVSBA_H_ 29 #define OPTIMIZERCVSBA_H_ 40 static bool available();
44 int iterations = Parameters::defaultOptimizerIterations(),
45 bool slam2d = Parameters::defaultRegForce3DoF(),
46 bool covarianceIgnored = Parameters::defaultOptimizerVarianceIgnored()) :
47 Optimizer(iterations, slam2d, covarianceIgnored) {}
54 virtual std::map<int, Transform> optimizeBA(
56 const std::map<int, Transform> & poses,
57 const std::multimap<int, Link> & links,
58 const std::map<int, CameraModel> & models,
59 std::map<int, cv::Point3f> & points3DMap,
60 const std::map<
int, std::map<int, FeatureBA> > & wordReferences,
61 std::set<int> * outliers = 0);
std::map< std::string, std::string > ParametersMap
OptimizerCVSBA(const ParametersMap ¶meters)
virtual Type type() const
virtual ~OptimizerCVSBA()
OptimizerCVSBA(int iterations=Parameters::defaultOptimizerIterations(), bool slam2d=Parameters::defaultRegForce3DoF(), bool covarianceIgnored=Parameters::defaultOptimizerVarianceIgnored())