Optimizer.h

#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