MFAS.h

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/* ----------------------------------------------------------------------------

 * GTSAM Copyright 2010-2020, Georgia Tech Research Corporation,
 * Atlanta, Georgia 30332-0415
 * All Rights Reserved
 * Authors: Frank Dellaert, et al. (see THANKS for the full author list)

 * See LICENSE for the license information

 * -------------------------------------------------------------------------- */

#pragma once

#include <gtsam/geometry/Unit3.h>
#include <gtsam/inference/Key.h>
#include <gtsam/sfm/BinaryMeasurement.h>

#include <memory>
#include <unordered_map>
#include <vector>

namespace gtsam {

class GTSAM_EXPORT MFAS {
 public:
  // used to represent edges between two nodes in the graph. When used in
  // translation averaging for global SfM
  using KeyPair = std::pair<Key, Key>;
  using TranslationEdges = std::vector<BinaryMeasurement<Unit3>>;

 private:
  // edges with a direction such that all weights are positive
  // i.e, edges that originally had negative weights are flipped
  std::map<KeyPair, double> edgeWeights_;

 public:
  MFAS(const std::map<KeyPair, double> &edgeWeights)
      : edgeWeights_(edgeWeights) {}

  MFAS(const TranslationEdges &relativeTranslations,
       const Unit3 &projectionDirection);

  KeyVector computeOrdering() const;

  std::map<KeyPair, double> computeOutlierWeights() const;
};

typedef std::map<std::pair<Key, Key>, double> KeyPairDoubleMap;

}  // namespace gtsam