OptimizerCVSBA.h

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

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      documentation and/or other materials provided with the distribution.
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      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 OPTIMIZERCVSBA_H_
#define OPTIMIZERCVSBA_H_

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

#include <rtabmap/core/Optimizer.h>

namespace rtabmap {

class RTABMAP_EXP OptimizerCVSBA : public Optimizer
{
public:
        static bool available();

public:
        OptimizerCVSBA(
                        int iterations         = Parameters::defaultOptimizerIterations(),
                        bool slam2d            = Parameters::defaultRegForce3DoF(),
                        bool covarianceIgnored = Parameters::defaultOptimizerVarianceIgnored()) :
                Optimizer(iterations, slam2d, covarianceIgnored) {}
        OptimizerCVSBA(const ParametersMap & parameters) :
                Optimizer(parameters) {}
        virtual ~OptimizerCVSBA() {}

        virtual Type type() const {return kTypeCVSBA;}

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

} /* namespace rtabmap */
#endif /* OPTIMIZERCVSBA_H_ */