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/Optimizer.h>
32 
33 namespace rtabmap {
34 
35 class RTABMAP_CORE_EXPORT OptimizerCVSBA : public Optimizer
36 {
37 public:
38  static bool available();
39 
40 public:
42  int iterations = Parameters::defaultOptimizerIterations(),
43  bool slam2d = Parameters::defaultRegForce3DoF(),
44  bool covarianceIgnored = Parameters::defaultOptimizerVarianceIgnored()) :
45  Optimizer(iterations, slam2d, covarianceIgnored) {}
46  OptimizerCVSBA(const ParametersMap & parameters) :
47  Optimizer(parameters) {}
48  virtual ~OptimizerCVSBA() {}
49 
50  virtual Type type() const {return kTypeCVSBA;}
51 
52  virtual std::map<int, Transform> optimizeBA(
53  int rootId,
54  const std::map<int, Transform> & poses,
55  const std::multimap<int, Link> & links,
56  const std::map<int, std::vector<CameraModel> > & models,
57  std::map<int, cv::Point3f> & points3DMap,
58  const std::map<int, std::map<int, FeatureBA> > & wordReferences, // <ID words, IDs frames + keypoint(x,y,depth)>
59  std::set<int> * outliers = 0);
60 };
61 
62 } /* namespace rtabmap */
63 #endif /* OPTIMIZERCVSBA_H_ */
rtabmap::Optimizer
Definition: Optimizer.h:61
rtabmap::OptimizerCVSBA::OptimizerCVSBA
OptimizerCVSBA(int iterations=Parameters::defaultOptimizerIterations(), bool slam2d=Parameters::defaultRegForce3DoF(), bool covarianceIgnored=Parameters::defaultOptimizerVarianceIgnored())
Definition: OptimizerCVSBA.h:41
rtabmap::ParametersMap
std::map< std::string, std::string > ParametersMap
Definition: Parameters.h:43
rtabmap::OptimizerCVSBA
Definition: OptimizerCVSBA.h:35
Type
Optimizer.h
rtabmap::OptimizerCVSBA::OptimizerCVSBA
OptimizerCVSBA(const ParametersMap &parameters)
Definition: OptimizerCVSBA.h:46
rtabmap::OptimizerCVSBA::~OptimizerCVSBA
virtual ~OptimizerCVSBA()
Definition: OptimizerCVSBA.h:48
rtabmap::OptimizerCVSBA::type
virtual Type type() const
Definition: OptimizerCVSBA.h:50
rtabmap
Definition: CameraARCore.cpp:35


rtabmap
Author(s): Mathieu Labbe
autogenerated on Thu Jul 25 2024 02:50:13