63 lines
2.5 KiB
C++
63 lines
2.5 KiB
C++
/**
|
|
* This file is part of ORB-SLAM2.
|
|
*
|
|
* Copyright (C) 2014-2016 Raúl Mur-Artal <raulmur at unizar dot es> (University of Zaragoza)
|
|
* For more information see <https://github.com/raulmur/ORB_SLAM2>
|
|
*
|
|
* ORB-SLAM2 is free software: you can redistribute it and/or modify
|
|
* it under the terms of the GNU General Public License as published by
|
|
* the Free Software Foundation, either version 3 of the License, or
|
|
* (at your option) any later version.
|
|
*
|
|
* ORB-SLAM2 is distributed in the hope that it will be useful,
|
|
* but WITHOUT ANY WARRANTY; without even the implied warranty of
|
|
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
|
|
* GNU General Public License for more details.
|
|
*
|
|
* You should have received a copy of the GNU General Public License
|
|
* along with ORB-SLAM2. If not, see <http://www.gnu.org/licenses/>.
|
|
*/
|
|
|
|
#ifndef OPTIMIZER_H
|
|
#define OPTIMIZER_H
|
|
|
|
#include "Map.h"
|
|
#include "MapPoint.h"
|
|
#include "KeyFrame.h"
|
|
#include "LoopClosing.h"
|
|
#include "Frame.h"
|
|
|
|
#include "Thirdparty/g2o/g2o/types/types_seven_dof_expmap.h"
|
|
|
|
namespace ORB_SLAM2
|
|
{
|
|
|
|
class LoopClosing;
|
|
|
|
class Optimizer
|
|
{
|
|
public:
|
|
void static BundleAdjustment(const std::vector<KeyFrame*> &vpKF, const std::vector<MapPoint*> &vpMP,
|
|
int nIterations = 5, bool *pbStopFlag=NULL, const unsigned long nLoopKF=0,
|
|
const bool bRobust = true);
|
|
void static GlobalBundleAdjustemnt(Map* pMap, int nIterations=5, bool *pbStopFlag=NULL,
|
|
const unsigned long nLoopKF=0, const bool bRobust = true);
|
|
void static LocalBundleAdjustment(KeyFrame* pKF, bool *pbStopFlag, Map *pMap);
|
|
int static PoseOptimization(Frame* pFrame);
|
|
|
|
// if bFixScale is true, 6DoF optimization (stereo,rgbd), 7DoF otherwise (mono)
|
|
void static OptimizeEssentialGraph(Map* pMap, KeyFrame* pLoopKF, KeyFrame* pCurKF,
|
|
const LoopClosing::KeyFrameAndPose &NonCorrectedSim3,
|
|
const LoopClosing::KeyFrameAndPose &CorrectedSim3,
|
|
const map<KeyFrame *, set<KeyFrame *> > &LoopConnections,
|
|
const bool &bFixScale);
|
|
|
|
// if bFixScale is true, optimize SE3 (stereo,rgbd), Sim3 otherwise (mono)
|
|
static int OptimizeSim3(KeyFrame* pKF1, KeyFrame* pKF2, std::vector<MapPoint *> &vpMatches1,
|
|
g2o::Sim3 &g2oS12, const float th2, const bool bFixScale);
|
|
};
|
|
|
|
} //namespace ORB_SLAM
|
|
|
|
#endif // OPTIMIZER_H
|