OptimizerCeres.h
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1 /*
2 Copyright (c) 2010-2019, Mathieu Labbe - IntRoLab - Universite de Sherbrooke
3 All rights reserved.
4 
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27 
28 #ifndef OPTIMIZERCERES_H_
29 #define OPTIMIZERCERES_H_
30 
31 #include "rtabmap/core/RtabmapExp.h" // DLL export/import defines
32 
33 #include <rtabmap/core/Optimizer.h>
34 
35 namespace rtabmap {
36 
38 {
39 public:
40  static bool available();
41 
42 public:
44  int iterations = Parameters::defaultOptimizerIterations(),
45  bool slam2d = Parameters::defaultRegForce3DoF(),
46  bool covarianceIgnored = Parameters::defaultOptimizerVarianceIgnored(),
47  double epsilon = Parameters::defaultOptimizerEpsilon()) :
48  Optimizer(iterations, slam2d, covarianceIgnored, epsilon) {}
49  OptimizerCeres(const ParametersMap & parameters) :
50  Optimizer(parameters) {}
51  virtual ~OptimizerCeres() {}
52 
53  virtual Type type() const {return kTypeCeres;}
54 
55  virtual std::map<int, Transform> optimize(
56  int rootId,
57  const std::map<int, Transform> & poses,
58  const std::multimap<int, Link> & edgeConstraints,
59  cv::Mat & outputCovariance,
60  std::list<std::map<int, Transform> > * intermediateGraphes = 0,
61  double * finalError = 0,
62  int * iterationsDone = 0);
63 
64  virtual std::map<int, Transform> optimizeBA(
65  int rootId,
66  const std::map<int, Transform> & poses,
67  const std::multimap<int, Link> & links,
68  const std::map<int, CameraModel> & models, // in case of stereo, Tx should be set
69  std::map<int, cv::Point3f> & points3DMap,
70  const std::map<int, std::map<int, FeatureBA> > & wordReferences, // <ID words, IDs frames + keypoint(x,y,depth)>
71  std::set<int> * outliers = 0);
72 };
73 
74 } /* namespace rtabmap */
75 #endif /* OPTIMIZERCERES_H_ */
OptimizerCeres(int iterations=Parameters::defaultOptimizerIterations(), bool slam2d=Parameters::defaultRegForce3DoF(), bool covarianceIgnored=Parameters::defaultOptimizerVarianceIgnored(), double epsilon=Parameters::defaultOptimizerEpsilon())
virtual Type type() const
double epsilon
std::map< std::string, std::string > ParametersMap
Definition: Parameters.h:43
OptimizerCeres(const ParametersMap &parameters)
#define RTABMAP_EXP
Definition: RtabmapExp.h:38


rtabmap
Author(s): Mathieu Labbe
autogenerated on Mon Jan 23 2023 03:37:29