OptimizerG2O.h
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1 /*
2 Copyright (c) 2010-2016, Mathieu Labbe - IntRoLab - Universite de Sherbrooke
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27 
28 #ifndef OPTIMIZERG2O_H_
29 #define OPTIMIZERG2O_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  static bool isCSparseAvailable();
42  static bool isCholmodAvailable();
43 
44 public:
45  OptimizerG2O(const ParametersMap & parameters = ParametersMap()) :
46  Optimizer(parameters),
47  solver_(Parameters::defaultg2oSolver()),
48  optimizer_(Parameters::defaultg2oOptimizer()),
49  pixelVariance_(Parameters::defaultg2oPixelVariance()),
50  robustKernelDelta_(Parameters::defaultg2oRobustKernelDelta()),
51  baseline_(Parameters::defaultg2oBaseline())
52  {
53  parseParameters(parameters);
54  }
55  virtual ~OptimizerG2O() {}
56 
57  virtual Type type() const {return kTypeG2O;}
58 
59  virtual void parseParameters(const ParametersMap & parameters);
60 
61  virtual std::map<int, Transform> optimize(
62  int rootId,
63  const std::map<int, Transform> & poses,
64  const std::multimap<int, Link> & edgeConstraints,
65  cv::Mat & outputCovariance,
66  std::list<std::map<int, Transform> > * intermediateGraphes = 0,
67  double * finalError = 0,
68  int * iterationsDone = 0);
69 
70  virtual std::map<int, Transform> optimizeBA(
71  int rootId,
72  const std::map<int, Transform> & poses,
73  const std::multimap<int, Link> & links,
74  const std::map<int, CameraModel> & models, // in case of stereo, Tx should be set
75  std::map<int, cv::Point3f> & points3DMap,
76  const std::map<int, std::map<int, FeatureBA> > & wordReferences, // <ID words, IDs frames + keypoint(x,y,depth)>
77  std::set<int> * outliers = 0);
78 
79  bool saveGraph(
80  const std::string & fileName,
81  const std::map<int, Transform> & poses,
82  const std::multimap<int, Link> & edgeConstraints);
83 
84 private:
85  int solver_;
89  double baseline_;
90 };
91 
92 } /* namespace rtabmap */
93 #endif /* OPTIMIZERG2O_H_ */
OptimizerG2O(const ParametersMap &parameters=ParametersMap())
Definition: OptimizerG2O.h:45
std::map< std::string, std::string > ParametersMap
Definition: Parameters.h:43
#define RTABMAP_EXP
Definition: RtabmapExp.h:38
virtual Type type() const
Definition: OptimizerG2O.h:57


rtabmap
Author(s): Mathieu Labbe
autogenerated on Mon Dec 14 2020 03:34:59