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