OptimizerTORO.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 OPTIMIZERTORO_H_
00029 #define OPTIMIZERTORO_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 OptimizerTORO : public Optimizer
00038 {
00039 public:
00040         static bool available();
00041 
00042 public:
00043         static bool saveGraph(
00044                         const std::string & fileName,
00045                         const std::map<int, Transform> & poses,
00046                         const std::multimap<int, Link> & edgeConstraints);
00047         static bool loadGraph(
00048                         const std::string & fileName,
00049                         std::map<int, Transform> & poses,
00050                         std::multimap<int, Link> & edgeConstraints);
00051 
00052 public:
00053         OptimizerTORO(
00054                         int iterations         = Parameters::defaultOptimizerIterations(),
00055                         bool slam2d            = Parameters::defaultRegForce3DoF(),
00056                         bool covarianceIgnored = Parameters::defaultOptimizerVarianceIgnored(),
00057                         double epsilon         = Parameters::defaultOptimizerEpsilon()) :
00058                 Optimizer(iterations, slam2d, covarianceIgnored, epsilon) {}
00059         OptimizerTORO(const ParametersMap & parameters) :
00060                 Optimizer(parameters) {}
00061         virtual ~OptimizerTORO() {}
00062 
00063         virtual Type type() const {return kTypeTORO;}
00064 
00065         virtual std::map<int, Transform> optimize(
00066                         int rootId,
00067                         const std::map<int, Transform> & poses,
00068                         const std::multimap<int, Link> & edgeConstraints,
00069                         cv::Mat & outputCovariance,
00070                         std::list<std::map<int, Transform> > * intermediateGraphes = 0,
00071                         double * finalError = 0,
00072                         int * iterationsDone = 0);
00073 };
00074 
00075 } /* namespace rtabmap */
00076 #endif /* GRAPH_H_ */


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