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2022-06-21 09:16:15 +03:00
commit 96f206fca0
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--- a/include/Optimizer.h
+++ b/include/Optimizer.h
@@ -0,0 +1,62 @@
+/**
+* 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