添加项目文件。

3rdparty/opencv/inc/opencv2/rgbd/detail/pose_graph.hpp

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+// This file is part of OpenCV project.
+// It is subject to the license terms in the LICENSE file found in the top-level directory
+// of this distribution and at http://opencv.org/license.html
+
+#ifndef OPENCV_RGBD_POSE_GRAPH_HPP
+#define OPENCV_RGBD_POSE_GRAPH_HPP
+
+#include "opencv2/core/affine.hpp"
+#include "opencv2/core/quaternion.hpp"
+
+namespace cv
+{
+namespace kinfu
+{
+namespace detail
+{
+
+// ATTENTION! This class is used internally in Large KinFu.
+// It has been pushed to publicly available headers for tests only.
+// Source compatibility of this API is not guaranteed in the future.
+
+// This class provides tools to solve so-called pose graph problem often arisen in SLAM problems
+// The pose graph format, cost function and optimization techniques
+// repeat the ones used in Ceres 3D Pose Graph Optimization:
+// http://ceres-solver.org/nnls_tutorial.html#other-examples, pose_graph_3d.cc bullet
+class CV_EXPORTS_W PoseGraph
+{
+public:
+    static Ptr<PoseGraph> create();
+    virtual ~PoseGraph();
+
+    // Node may have any id >= 0
+    virtual void addNode(size_t _nodeId, const Affine3d& _pose, bool fixed) = 0;
+    virtual bool isNodeExist(size_t nodeId) const = 0;
+    virtual bool setNodeFixed(size_t nodeId, bool fixed) = 0;
+    virtual bool isNodeFixed(size_t nodeId) const = 0;
+    virtual Affine3d getNodePose(size_t nodeId) const = 0;
+    virtual std::vector<size_t> getNodesIds() const = 0;
+    virtual size_t getNumNodes() const = 0;
+
+    // Edges have consequent indices starting from 0
+    virtual void addEdge(size_t _sourceNodeId, size_t _targetNodeId, const Affine3f& _transformation,
+                         const Matx66f& _information = Matx66f::eye()) = 0;
+    virtual size_t getEdgeStart(size_t i) const = 0;
+    virtual size_t getEdgeEnd(size_t i) const = 0;
+    virtual size_t getNumEdges() const = 0;
+
+    // checks if graph is connected and each edge connects exactly 2 nodes
+    virtual bool isValid() const = 0;
+
+    // Termination criteria are max number of iterations and min relative energy change to current energy
+    // Returns number of iterations elapsed or -1 if max number of iterations was reached or failed to optimize
+    virtual int optimize(const cv::TermCriteria& tc = cv::TermCriteria(TermCriteria::COUNT+TermCriteria::EPS, 100, 1e-6)) = 0;
+
+    // calculate cost function based on current nodes parameters
+    virtual double calcEnergy() const = 0;
+};
+
+}  // namespace detail
+}  // namespace kinfu
+}  // namespace cv
+#endif /* ifndef OPENCV_RGBD_POSE_GRAPH_HPP */