OptimizerCeres.h

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/*
Copyright (c) 2010-2019, 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 OPTIMIZERCERES_H_
#define OPTIMIZERCERES_H_
 
#include <rtabmap/core/Optimizer.h>
 
namespace rtabmap {
 
class RTABMAP_CORE_EXPORT OptimizerCeres : public Optimizer
{
public:
        static bool available();
 
public:
        OptimizerCeres(
                        int iterations         = Parameters::defaultOptimizerIterations(),
                        bool slam2d            = Parameters::defaultRegForce3DoF(),
                        bool covarianceIgnored = Parameters::defaultOptimizerVarianceIgnored(),
                        double epsilon         = Parameters::defaultOptimizerEpsilon()) :
                Optimizer(iterations, slam2d, covarianceIgnored, epsilon) {}
        OptimizerCeres(const ParametersMap & parameters) :
                Optimizer(parameters) {}
        virtual ~OptimizerCeres() {}
 
        virtual Type type() const {return kTypeCeres;}
 
        virtual std::map<int, Transform> optimize(
                        int rootId,
                        const std::map<int, Transform> & poses,
                        const std::multimap<int, Link> & edgeConstraints,
                        cv::Mat & outputCovariance,
                        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, std::vector<CameraModel> > & models, // in case of stereo, Tx should be set
                        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 /* OPTIMIZERCERES_H_ */