bundle_adjust.h

/*ckwg +29
 * Copyright 2014-2017 by Kitware, Inc.
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/**
 * \file
 * \brief Header for VXL bundle adjustment algorithm
 */

#ifndef KWIVER_ARROWS_VXL_BUNDLE_ADJUST_H_
#define KWIVER_ARROWS_VXL_BUNDLE_ADJUST_H_


#include <vital/vital_config.h>
#include <arrows/vxl/kwiver_algo_vxl_export.h>

#include <vital/algo/bundle_adjust.h>

#include <memory>


namespace kwiver {
namespace arrows {
namespace vxl {

/// A class for bundle adjustment of feature tracks using VXL
class KWIVER_ALGO_VXL_EXPORT bundle_adjust
: public vital::algorithm_impl<bundle_adjust, vital::algo::bundle_adjust>
{
public:
  /// Constructor
  bundle_adjust();

  /// Destructor
  virtual ~bundle_adjust();

  /// Get this algorithm's \link vital::config_block configuration block \endlink
  virtual vital::config_block_sptr get_configuration() const;
  /// Set this algorithm's properties via a config block
  virtual void set_configuration(vital::config_block_sptr config);
  /// Check that the algorithm's currently configuration is valid
  virtual bool check_configuration(vital::config_block_sptr config) const;

  /// Optimize the camera and landmark parameters given a set of feature tracks
  /**
   * \param [in,out] cameras the cameras to optimize
   * \param [in,out] landmarks the landmarks to optimize
   * \param [in] tracks the feature tracks to use as constraints
   * \param [in] metadata the frame metadata to use as constraints
   */
  virtual void
  optimize(vital::camera_map_sptr& cameras,
           vital::landmark_map_sptr& landmarks,
           vital::feature_track_set_sptr tracks,
           vital::video_metadata_map_sptr metadata = nullptr) const;

private:
  /// private implementation class
  class priv;
  const std::unique_ptr<priv> d_;
};


} // end namespace vxl
} // end namespace arrows
} // end namespace kwiver

#endif // KWIVER_ARROWS_VXL_BUNDLE_ADJUST_H_