Added OptimizerCeres class (Optimizer/Strategy=3)

corelib/include/rtabmap/core/optimizer/OptimizerCeres.h

@@ -0,0 +1,75 @@
+/*
+Copyright (c) 2010-2019, Mathieu Labbe - IntRoLab - Universite de Sherbrooke
+All rights reserved.
+
+Redistribution and use in source and binary forms, with or without
+modification, are permitted provided that the following conditions are met:
+    * Redistributions of source code must retain the above copyright
+      notice, this list of conditions and the following disclaimer.
+    * Redistributions in binary form must reproduce the above copyright
+      notice, this list of conditions and the following disclaimer in the
+      documentation and/or other materials provided with the distribution.
+    * Neither the name of the Universite de Sherbrooke nor the
+      names of its contributors may be used to endorse or promote products
+      derived from this software without specific prior written permission.
+
+THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND
+ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
+WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
+DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY
+DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
+(INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
+ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
+(INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
+SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+*/
+
+#ifndef OPTIMIZERCERES_H_
+#define OPTIMIZERCERES_H_
+
+#include "rtabmap/core/RtabmapExp.h" // DLL export/import defines
+
+#include <rtabmap/core/Optimizer.h>
+
+namespace rtabmap {
+
+class RTABMAP_EXP OptimizerCeres : public Optimizer
+{
+public:
+	static bool available();
+
+public:
+	OptimizerCeres(
+			int iterations         = Parameters::defaultOptimizerIterations(),
+			bool slam2d            = Parameters::defaultRegForce3DoF(),
+			bool covarianceIgnored = Parameters::defaultOptimizerVarianceIgnored(),
+			double epsilon         = Parameters::defaultOptimizerEpsilon()) :
+		Optimizer(iterations, slam2d, covarianceIgnored, epsilon) {}
+	OptimizerCeres(const ParametersMap & parameters) :
+		Optimizer(parameters) {}
+	virtual ~OptimizerCeres() {}
+
+	virtual Type type() const {return kTypeCeres;}
+
+	virtual std::map<int, Transform> optimize(
+			int rootId,
+			const std::map<int, Transform> & poses,
+			const std::multimap<int, Link> & edgeConstraints,
+			cv::Mat & outputCovariance,
+			std::list<std::map<int, Transform> > * intermediateGraphes = 0,
+			double * finalError = 0,
+			int * iterationsDone = 0);
+
+	virtual std::map<int, Transform> optimizeBA(
+			int rootId,
+			const std::map<int, Transform> & poses,
+			const std::multimap<int, Link> & links,
+			const std::map<int, CameraModel> & models, // in case of stereo, Tx should be set
+			std::map<int, cv::Point3f> & points3DMap,
+			const std::map<int, std::map<int, FeatureBA> > & wordReferences, // <ID words, IDs frames + keypoint(x,y,depth)>
+			std::set<int> * outliers = 0);
+};
+
+} /* namespace rtabmap */
+#endif /* OPTIMIZERCERES_H_ */