28 #ifndef OPTIMIZERG2O_H_
29 #define OPTIMIZERG2O_H_
31 #include "rtabmap/core/rtabmap_core_export.h"
40 static bool available();
41 static bool isCSparseAvailable();
42 static bool isCholmodAvailable();
50 virtual void parseParameters(
const ParametersMap & parameters);
52 virtual std::map<int, Transform>
optimize(
54 const std::map<int, Transform> & poses,
55 const std::multimap<int, Link> & edgeConstraints,
56 cv::Mat & outputCovariance,
57 std::list<std::map<int, Transform> > * intermediateGraphes = 0,
58 double * finalError = 0,
59 int * iterationsDone = 0);
61 virtual std::map<int, Transform> optimizeBA(
63 const std::map<int, Transform> & poses,
64 const std::multimap<int, Link> & links,
65 const std::map<
int, std::vector<CameraModel> > & models,
66 std::map<int, cv::Point3f> & points3DMap,
67 const std::map<
int, std::map<int, FeatureBA> > & wordReferences,
68 std::set<int> * outliers = 0);
71 const std::string & fileName,
72 const std::map<int, Transform> & poses,
73 const std::multimap<int, Link> & edgeConstraints);