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<div class="fragment"><div class="line"><a id="l00001" name="l00001"></a><span class="lineno">    1</span><span class="comment">/*</span></div>
<div class="line"><a id="l00002" name="l00002"></a><span class="lineno">    2</span><span class="comment">Copyright (c) 2010-2016, Mathieu Labbe - IntRoLab - Universite de Sherbrooke</span></div>
<div class="line"><a id="l00003" name="l00003"></a><span class="lineno">    3</span><span class="comment">All rights reserved.</span></div>
<div class="line"><a id="l00004" name="l00004"></a><span class="lineno">    4</span><span class="comment"></span> </div>
<div class="line"><a id="l00005" name="l00005"></a><span class="lineno">    5</span><span class="comment">Redistribution and use in source and binary forms, with or without</span></div>
<div class="line"><a id="l00006" name="l00006"></a><span class="lineno">    6</span><span class="comment">modification, are permitted provided that the following conditions are met:</span></div>
<div class="line"><a id="l00007" name="l00007"></a><span class="lineno">    7</span><span class="comment">    * Redistributions of source code must retain the above copyright</span></div>
<div class="line"><a id="l00008" name="l00008"></a><span class="lineno">    8</span><span class="comment">      notice, this list of conditions and the following disclaimer.</span></div>
<div class="line"><a id="l00009" name="l00009"></a><span class="lineno">    9</span><span class="comment">    * Redistributions in binary form must reproduce the above copyright</span></div>
<div class="line"><a id="l00010" name="l00010"></a><span class="lineno">   10</span><span class="comment">      notice, this list of conditions and the following disclaimer in the</span></div>
<div class="line"><a id="l00011" name="l00011"></a><span class="lineno">   11</span><span class="comment">      documentation and/or other materials provided with the distribution.</span></div>
<div class="line"><a id="l00012" name="l00012"></a><span class="lineno">   12</span><span class="comment">    * Neither the name of the Universite de Sherbrooke nor the</span></div>
<div class="line"><a id="l00013" name="l00013"></a><span class="lineno">   13</span><span class="comment">      names of its contributors may be used to endorse or promote products</span></div>
<div class="line"><a id="l00014" name="l00014"></a><span class="lineno">   14</span><span class="comment">      derived from this software without specific prior written permission.</span></div>
<div class="line"><a id="l00015" name="l00015"></a><span class="lineno">   15</span><span class="comment"></span> </div>
<div class="line"><a id="l00016" name="l00016"></a><span class="lineno">   16</span><span class="comment">THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS &quot;AS IS&quot; AND</span></div>
<div class="line"><a id="l00017" name="l00017"></a><span class="lineno">   17</span><span class="comment">ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED</span></div>
<div class="line"><a id="l00018" name="l00018"></a><span class="lineno">   18</span><span class="comment">WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE</span></div>
<div class="line"><a id="l00019" name="l00019"></a><span class="lineno">   19</span><span class="comment">DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY</span></div>
<div class="line"><a id="l00020" name="l00020"></a><span class="lineno">   20</span><span class="comment">DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES</span></div>
<div class="line"><a id="l00021" name="l00021"></a><span class="lineno">   21</span><span class="comment">(INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;</span></div>
<div class="line"><a id="l00022" name="l00022"></a><span class="lineno">   22</span><span class="comment">LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND</span></div>
<div class="line"><a id="l00023" name="l00023"></a><span class="lineno">   23</span><span class="comment">ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT</span></div>
<div class="line"><a id="l00024" name="l00024"></a><span class="lineno">   24</span><span class="comment">(INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS</span></div>
<div class="line"><a id="l00025" name="l00025"></a><span class="lineno">   25</span><span class="comment">SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.</span></div>
<div class="line"><a id="l00026" name="l00026"></a><span class="lineno">   26</span><span class="comment">*/</span></div>
<div class="line"><a id="l00027" name="l00027"></a><span class="lineno">   27</span> </div>
<div class="line"><a id="l00028" name="l00028"></a><span class="lineno">   28</span><span class="preprocessor">#ifndef OPTIMIZERCVSBA_H_</span></div>
<div class="line"><a id="l00029" name="l00029"></a><span class="lineno">   29</span><span class="preprocessor">#define OPTIMIZERCVSBA_H_</span></div>
<div class="line"><a id="l00030" name="l00030"></a><span class="lineno">   30</span> </div>
<div class="line"><a id="l00031" name="l00031"></a><span class="lineno">   31</span><span class="preprocessor">#include &lt;rtabmap/core/Optimizer.h&gt;</span></div>
<div class="line"><a id="l00032" name="l00032"></a><span class="lineno">   32</span> </div>
<div class="line"><a id="l00033" name="l00033"></a><span class="lineno">   33</span><span class="keyword">namespace </span><a class="code hl_namespace" href="namespacertabmap.html">rtabmap</a> {</div>
<div class="line"><a id="l00034" name="l00034"></a><span class="lineno">   34</span> </div>
<div class="foldopen" id="foldopen00035" data-start="{" data-end="};">
<div class="line"><a id="l00035" name="l00035"></a><span class="lineno"><a class="line" href="classrtabmap_1_1OptimizerCVSBA.html">   35</a></span><span class="keyword">class </span>RTABMAP_CORE_EXPORT <a class="code hl_class" href="classrtabmap_1_1OptimizerCVSBA.html">OptimizerCVSBA</a> : <span class="keyword">public</span> <a class="code hl_class" href="classrtabmap_1_1Optimizer.html">Optimizer</a></div>
<div class="line"><a id="l00036" name="l00036"></a><span class="lineno">   36</span>{</div>
<div class="line"><a id="l00037" name="l00037"></a><span class="lineno">   37</span><span class="keyword">public</span>:</div>
<div class="line"><a id="l00038" name="l00038"></a><span class="lineno">   38</span>  <span class="keyword">static</span> <span class="keywordtype">bool</span> available();</div>
<div class="line"><a id="l00039" name="l00039"></a><span class="lineno">   39</span> </div>
<div class="line"><a id="l00040" name="l00040"></a><span class="lineno">   40</span><span class="keyword">public</span>:</div>
<div class="line"><a id="l00041" name="l00041"></a><span class="lineno">   41</span>  <a class="code hl_class" href="classrtabmap_1_1OptimizerCVSBA.html">OptimizerCVSBA</a>(</div>
<div class="line"><a id="l00042" name="l00042"></a><span class="lineno">   42</span>      <span class="keywordtype">int</span> iterations         = Parameters::defaultOptimizerIterations(),</div>
<div class="line"><a id="l00043" name="l00043"></a><span class="lineno">   43</span>      <span class="keywordtype">bool</span> slam2d            = Parameters::defaultRegForce3DoF(),</div>
<div class="line"><a id="l00044" name="l00044"></a><span class="lineno">   44</span>      <span class="keywordtype">bool</span> covarianceIgnored = Parameters::defaultOptimizerVarianceIgnored()) :</div>
<div class="line"><a id="l00045" name="l00045"></a><span class="lineno">   45</span>    <a class="code hl_class" href="classrtabmap_1_1Optimizer.html">Optimizer</a>(iterations, slam2d, covarianceIgnored) {}</div>
<div class="line"><a id="l00046" name="l00046"></a><span class="lineno">   46</span>  <a class="code hl_class" href="classrtabmap_1_1OptimizerCVSBA.html">OptimizerCVSBA</a>(<span class="keyword">const</span> ParametersMap &amp; parameters) :</div>
<div class="line"><a id="l00047" name="l00047"></a><span class="lineno">   47</span>    <a class="code hl_class" href="classrtabmap_1_1Optimizer.html">Optimizer</a>(parameters) {}</div>
<div class="line"><a id="l00048" name="l00048"></a><span class="lineno">   48</span>  <span class="keyword">virtual</span> <a class="code hl_class" href="classrtabmap_1_1OptimizerCVSBA.html">~OptimizerCVSBA</a>() {}</div>
<div class="line"><a id="l00049" name="l00049"></a><span class="lineno">   49</span> </div>
<div class="line"><a id="l00050" name="l00050"></a><span class="lineno"><a class="line" href="classrtabmap_1_1OptimizerCVSBA.html#afbf58e60900671630e0974a13e49b2b0">   50</a></span>  <span class="keyword">virtual</span> <a class="code hl_enumeration" href="classrtabmap_1_1Optimizer.html#a18ae8ac76346d1adc68ab176a5b02d16">Type</a> <a class="code hl_function" href="classrtabmap_1_1OptimizerCVSBA.html#afbf58e60900671630e0974a13e49b2b0">type</a>()<span class="keyword"> const </span>{<span class="keywordflow">return</span> kTypeCVSBA;}</div>
<div class="line"><a id="l00051" name="l00051"></a><span class="lineno">   51</span> </div>
<div class="line"><a id="l00052" name="l00052"></a><span class="lineno"><a class="line" href="classrtabmap_1_1OptimizerCVSBA.html#ad6ff3fec8e75ab76290da5763022a903">   52</a></span>  <span class="keyword">virtual</span> std::map&lt;int, Transform&gt; <a class="code hl_function" href="classrtabmap_1_1OptimizerCVSBA.html#ad6ff3fec8e75ab76290da5763022a903">optimizeBA</a>(</div>
<div class="line"><a id="l00053" name="l00053"></a><span class="lineno">   53</span>      <span class="keywordtype">int</span> rootId,</div>
<div class="line"><a id="l00054" name="l00054"></a><span class="lineno">   54</span>      <span class="keyword">const</span> std::map&lt;int, Transform&gt; &amp; poses,</div>
<div class="line"><a id="l00055" name="l00055"></a><span class="lineno">   55</span>      <span class="keyword">const</span> std::multimap&lt;int, Link&gt; &amp; links,</div>
<div class="line"><a id="l00056" name="l00056"></a><span class="lineno">   56</span>      <span class="keyword">const</span> std::map&lt;<span class="keywordtype">int</span>, std::vector&lt;CameraModel&gt; &gt; &amp; models,</div>
<div class="line"><a id="l00057" name="l00057"></a><span class="lineno">   57</span>      std::map&lt;int, cv::Point3f&gt; &amp; points3DMap,</div>
<div class="line"><a id="l00058" name="l00058"></a><span class="lineno">   58</span>      <span class="keyword">const</span> std::map&lt;<span class="keywordtype">int</span>, std::map&lt;int, FeatureBA&gt; &gt; &amp; wordReferences, <span class="comment">// &lt;ID words, IDs frames + keypoint(x,y,depth)&gt;</span></div>
<div class="line"><a id="l00059" name="l00059"></a><span class="lineno">   59</span>      std::set&lt;int&gt; * outliers = 0);</div>
<div class="line"><a id="l00060" name="l00060"></a><span class="lineno">   60</span>};</div>
</div>
<div class="line"><a id="l00061" name="l00061"></a><span class="lineno">   61</span> </div>
<div class="line"><a id="l00062" name="l00062"></a><span class="lineno">   62</span>} <span class="comment">/* namespace rtabmap */</span></div>
<div class="line"><a id="l00063" name="l00063"></a><span class="lineno">   63</span><span class="preprocessor">#endif </span><span class="comment">/* OPTIMIZERCVSBA_H_ */</span><span class="preprocessor"></span></div>
<div class="ttc" id="aclassrtabmap_1_1OptimizerCVSBA_html"><div class="ttname"><a href="classrtabmap_1_1OptimizerCVSBA.html">rtabmap::OptimizerCVSBA</a></div><div class="ttdef"><b>Definition</b> <a href="OptimizerCVSBA_8h_source.html#l00035">OptimizerCVSBA.h:36</a></div></div>
<div class="ttc" id="aclassrtabmap_1_1OptimizerCVSBA_html_ad6ff3fec8e75ab76290da5763022a903"><div class="ttname"><a href="classrtabmap_1_1OptimizerCVSBA.html#ad6ff3fec8e75ab76290da5763022a903">rtabmap::OptimizerCVSBA::optimizeBA</a></div><div class="ttdeci">virtual std::map&lt; int, Transform &gt; optimizeBA(int rootId, const std::map&lt; int, Transform &gt; &amp;poses, const std::multimap&lt; int, Link &gt; &amp;links, const std::map&lt; int, std::vector&lt; CameraModel &gt; &gt; &amp;models, std::map&lt; int, cv::Point3f &gt; &amp;points3DMap, const std::map&lt; int, std::map&lt; int, FeatureBA &gt; &gt; &amp;wordReferences, std::set&lt; int &gt; *outliers=0)</div><div class="ttdoc">Bundle adjustment: jointly refine poses and 3D points (back-end-level entry point).</div></div>
<div class="ttc" id="aclassrtabmap_1_1OptimizerCVSBA_html_afbf58e60900671630e0974a13e49b2b0"><div class="ttname"><a href="classrtabmap_1_1OptimizerCVSBA.html#afbf58e60900671630e0974a13e49b2b0">rtabmap::OptimizerCVSBA::type</a></div><div class="ttdeci">virtual Type type() const</div><div class="ttdoc">Returns the concrete back-end identifier (one of Type).</div><div class="ttdef"><b>Definition</b> <a href="OptimizerCVSBA_8h_source.html#l00050">OptimizerCVSBA.h:50</a></div></div>
<div class="ttc" id="aclassrtabmap_1_1Optimizer_html"><div class="ttname"><a href="classrtabmap_1_1Optimizer.html">rtabmap::Optimizer</a></div><div class="ttdoc">Abstract base for pose-graph and bundle-adjustment optimizers.</div><div class="ttdef"><b>Definition</b> <a href="Optimizer_8h_source.html#l00087">Optimizer.h:88</a></div></div>
<div class="ttc" id="aclassrtabmap_1_1Optimizer_html_a18ae8ac76346d1adc68ab176a5b02d16"><div class="ttname"><a href="classrtabmap_1_1Optimizer.html#a18ae8ac76346d1adc68ab176a5b02d16">rtabmap::Optimizer::Type</a></div><div class="ttdeci">Type</div><div class="ttdoc">Graph-optimizer back-end identifier.</div><div class="ttdef"><b>Definition</b> <a href="Optimizer_8h_source.html#l00091">Optimizer.h:91</a></div></div>
<div class="ttc" id="anamespacertabmap_html"><div class="ttname"><a href="namespacertabmap.html">rtabmap</a></div><div class="ttdef"><b>Definition</b> <a href="BayesFilter_8h_source.html#l00039">BayesFilter.h:39</a></div></div>
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