/*
Copyright (c) 2010-2026, Mathieu Labbe - IntRoLab - Universite de Sherbrooke
All rights reserved.

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    * Redistributions in binary form must reproduce the above copyright
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      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.

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*/

#ifndef LIDARCAMERACALIBRATION_GTSAMSOLVER_H_
#define LIDARCAMERACALIBRATION_GTSAMSOLVER_H_

#include "CorrectionSolver.h"
#include "PatternSearchSolver.h"

#include <rtabmap/core/Version.h>

#ifdef RTABMAP_GTSAM

// The same least squares as G2oSolver (see there), with GTSAM: one factor per lidar edge
// point on the correction's parameters, a Welsch robust noise model, Levenberg-Marquardt
// after a coarse pattern search, with the robust scale going from wide to narrow.
class GtsamSolver : public CorrectionSolver
{
public:
	GtsamSolver(double sigma) : sigma_(sigma), coarse_(4) {}
	const char * name() const override {return "gtsam";}
	void solve(const CalibrationProblem & problem, bool estimateTranslation, double p[6]) const override;

private:
	template<int D>
	void solveWith(const CalibrationProblem & problem, const std::vector<int> & solved, double p[6]) const;

	double sigma_;
	PatternSearchSolver coarse_;  // steps of 2 down to 0.25 deg
};

#endif

#endif /* LIDARCAMERACALIBRATION_GTSAMSOLVER_H_ */