bundle_adjustment_factor.hpp

// SPDX-License-Identifier: MIT
// Copyright (c) 2021  Kenji Koide (k.koide@aist.go.jp)
 
#pragma once
 
#include <gtsam/geometry/Point3.h>
#include <gtsam/nonlinear/NonlinearFactor.h>
#include <gtsam_points/util/gtsam_migration.hpp>
 
namespace gtsam_points {
 
class BundleAdjustmentFactorBase : public gtsam::NonlinearFactor {
public:
  using shared_ptr = gtsam_points::shared_ptr<BundleAdjustmentFactorBase>;
 
  virtual ~BundleAdjustmentFactorBase() {}
 
  virtual void add(const gtsam::Point3& pt, const gtsam::Key& key) = 0;
 
  virtual int num_points() const = 0;
 
  virtual void set_scale(double scale) {}
};
}  // namespace gtsam_points