OptimizerCVSBA.h
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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_ */


rtabmap
Author(s): Mathieu Labbe
autogenerated on Thu Jun 6 2019 21:59:21