OptimizerGTSAM.h

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/*
Copyright (c) 2010-2016, 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:
    * Redistributions of source code must retain the above copyright
      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 OPTIMIZERGTSAM_H_
#define OPTIMIZERGTSAM_H_
 
#include <rtabmap/core/Optimizer.h>
 
namespace gtsam {
        class ISAM2;
}
 
namespace rtabmap {
 
class RTABMAP_CORE_EXPORT OptimizerGTSAM : public Optimizer
{
public:
        static bool available();
 
public:
        OptimizerGTSAM(const ParametersMap & parameters = ParametersMap());
        virtual ~OptimizerGTSAM();
 
        virtual Type type() const {return kTypeGTSAM;}
 
        virtual void parseParameters(const ParametersMap & parameters);
 
        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);
 
private:
        int internalOptimizerType_;
 
        gtsam::ISAM2 * isam2_;
        struct ConstraintToFactor {
                ConstraintToFactor(int _from, int _to, std::uint64_t _factorIndice)
                {
                        from = _from;
                        to = _to;
                        factorIndice = _factorIndice;
                }
                int from;
                int to;
                std::uint64_t factorIndice;
        };
 
        std::vector<ConstraintToFactor> lastAddedConstraints_;
        int lastSwitchId_;
        std::set<int> addedPoses_;
        std::pair<int, std::uint64_t> lastRootFactorIndex_;
};
 
} /* namespace rtabmap */
#endif /* OPTIMIZERGTSAM_H_ */