OptimizerCVSBA.h
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1 /*
2 Copyright (c) 2010-2016, Mathieu Labbe - IntRoLab - Universite de Sherbrooke
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27 
28 #ifndef OPTIMIZERCVSBA_H_
29 #define OPTIMIZERCVSBA_H_
30 
31 #include "rtabmap/core/RtabmapExp.h" // DLL export/import defines
32 
33 #include <rtabmap/core/Optimizer.h>
34 
35 namespace rtabmap {
36 
38 {
39 public:
40  static bool available();
41 
42 public:
44  int iterations = Parameters::defaultOptimizerIterations(),
45  bool slam2d = Parameters::defaultRegForce3DoF(),
46  bool covarianceIgnored = Parameters::defaultOptimizerVarianceIgnored()) :
47  Optimizer(iterations, slam2d, covarianceIgnored) {}
48  OptimizerCVSBA(const ParametersMap & parameters) :
49  Optimizer(parameters) {}
50  virtual ~OptimizerCVSBA() {}
51 
52  virtual Type type() const {return kTypeCVSBA;}
53 
54  virtual std::map<int, Transform> optimizeBA(
55  int rootId,
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, // <ID words, IDs frames + keypoint(x,y,depth)>
61  std::set<int> * outliers = 0);
62 };
63 
64 } /* namespace rtabmap */
65 #endif /* OPTIMIZERCVSBA_H_ */
std::map< std::string, std::string > ParametersMap
Definition: Parameters.h:43
OptimizerCVSBA(const ParametersMap &parameters)
#define RTABMAP_EXP
Definition: RtabmapExp.h:38
virtual Type type() const
OptimizerCVSBA(int iterations=Parameters::defaultOptimizerIterations(), bool slam2d=Parameters::defaultRegForce3DoF(), bool covarianceIgnored=Parameters::defaultOptimizerVarianceIgnored())


rtabmap
Author(s): Mathieu Labbe
autogenerated on Mon Dec 14 2020 03:34:59