28 #ifndef OPTIMIZERTORO_H_
29 #define OPTIMIZERTORO_H_
38 static bool available();
41 static bool loadGraph(
42 const std::string & fileName,
43 std::map<int, Transform> & poses,
44 std::multimap<int, Link> & edgeConstraints);
48 int iterations = Parameters::defaultOptimizerIterations(),
49 bool slam2d = Parameters::defaultRegForce3DoF(),
50 bool covarianceIgnored = Parameters::defaultOptimizerVarianceIgnored(),
51 double epsilon = Parameters::defaultOptimizerEpsilon()) :
59 virtual std::map<int, Transform>
optimize(
61 const std::map<int, Transform> & poses,
62 const std::multimap<int, Link> & edgeConstraints,
63 cv::Mat & outputCovariance,
64 std::list<std::map<int, Transform> > * intermediateGraphes = 0,
65 double * finalError = 0,
66 int * iterationsDone = 0);
69 const std::string & fileName,
70 const std::map<int, Transform> & poses,
71 const std::multimap<int, Link> & edgeConstraints);