00001 /* 00002 Copyright (c) 2010-2016, Mathieu Labbe - IntRoLab - Universite de Sherbrooke 00003 All rights reserved. 00004 00005 Redistribution and use in source and binary forms, with or without 00006 modification, are permitted provided that the following conditions are met: 00007 * Redistributions of source code must retain the above copyright 00008 notice, this list of conditions and the following disclaimer. 00009 * Redistributions in binary form must reproduce the above copyright 00010 notice, this list of conditions and the following disclaimer in the 00011 documentation and/or other materials provided with the distribution. 00012 * Neither the name of the Universite de Sherbrooke nor the 00013 names of its contributors may be used to endorse or promote products 00014 derived from this software without specific prior written permission. 00015 00016 THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND 00017 ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED 00018 WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE 00019 DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY 00020 DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES 00021 (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; 00022 LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND 00023 ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT 00024 (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS 00025 SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. 00026 */ 00027 00028 #ifndef OPTIMIZERCVSBA_H_ 00029 #define OPTIMIZERCVSBA_H_ 00030 00031 #include "rtabmap/core/RtabmapExp.h" // DLL export/import defines 00032 00033 #include <rtabmap/core/Optimizer.h> 00034 00035 namespace rtabmap { 00036 00037 class RTABMAP_EXP OptimizerCVSBA : public Optimizer 00038 { 00039 public: 00040 static bool available(); 00041 00042 public: 00043 OptimizerCVSBA( 00044 int iterations = Parameters::defaultOptimizerIterations(), 00045 bool slam2d = Parameters::defaultRegForce3DoF(), 00046 bool covarianceIgnored = Parameters::defaultOptimizerVarianceIgnored()) : 00047 Optimizer(iterations, slam2d, covarianceIgnored) {} 00048 OptimizerCVSBA(const ParametersMap & parameters) : 00049 Optimizer(parameters) {} 00050 virtual ~OptimizerCVSBA() {} 00051 00052 virtual Type type() const {return kTypeCVSBA;} 00053 00054 virtual std::map<int, Transform> optimizeBA( 00055 int rootId, 00056 const std::map<int, Transform> & poses, 00057 const std::multimap<int, Link> & links, 00058 const std::map<int, CameraModel> & models, 00059 std::map<int, cv::Point3f> & points3DMap, 00060 const std::map<int, std::map<int, cv::Point3f> > & wordReferences, // <ID words, IDs frames + keypoint(x,y,depth)> 00061 std::set<int> * outliers = 0); 00062 }; 00063 00064 } /* namespace rtabmap */ 00065 #endif /* OPTIMIZERCVSBA_H_ */