graph_manager.cpp File Reference

#include <sys/time.h>
#include <visualization_msgs/Marker.h>
#include <geometry_msgs/Point.h>
#include "graph_manager.h"
#include "misc.h"
#include <opencv2/features2d/features2d.hpp>
#include <QThread>
#include <qtconcurrentrun.h>
#include <QtConcurrentMap>
#include <utility>
#include <fstream>
#include <limits>
#include <boost/foreach.hpp>
#include <pcl_ros/point_cloud.h>
#include "g2o/types/slam3d/se3quat.h"
#include "g2o/types/slam3d/edge_se3.h"
#include "g2o/core/block_solver.h"
#include "g2o/core/optimizable_graph.h"
#include "g2o/solvers/csparse/linear_solver_csparse.h"
#include "g2o/solvers/cholmod/linear_solver_cholmod.h"
#include "g2o/solvers/pcg/linear_solver_pcg.h"
#include "g2o/solvers/dense/linear_solver_dense.h"
#include "g2o/core/sparse_optimizer.h"
#include "g2o/core/optimization_algorithm_dogleg.h"
#include "g2o/core/optimization_algorithm_levenberg.h"
#include "scoped_timer.h"

Include dependency graph for graph_manager.cpp:

Go to the source code of this file.

Typedefs
typedef std::set < g2o::HyperGraph::Edge * >	EdgeSet
typedef g2o::BlockSolver < g2o::BlockSolverTraits< 6, 3 > >	SlamBlockSolver
typedef g2o::LinearSolverCholmod < SlamBlockSolver::PoseMatrixType >	SlamLinearCholmodSolver
typedef g2o::LinearSolverCSparse < SlamBlockSolver::PoseMatrixType >	SlamLinearCSparseSolver
typedef g2o::LinearSolverDense < SlamBlockSolver::PoseMatrixType >	SlamLinearDenseSolver
typedef g2o::LinearSolverPCG < SlamBlockSolver::PoseMatrixType >	SlamLinearPCGSolver
typedef std::tr1::unordered_map< int, g2o::HyperGraph::Vertex * >	VertexIDMap
typedef std::pair< int, g2o::HyperGraph::Vertex * >	VertexIDPair
Functions
bool	containsVertex (g2o::HyperGraph::Edge *myedge, g2o::HyperGraph::Vertex *v_to_del)
void	fixationOfVertices (std::string strategy, g2o::SparseOptimizer *optimizer, std::map< int, Node * > &graph, g2o::HyperGraph::VertexSet &camera_vertices, int earliest_loop_closure_node)
void	updateInlierFeatures (const MatchingResult &mr, Node *new_node, Node *old_node)

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Typedef Documentation

typedef std::set<g2o::HyperGraph::Edge*> EdgeSet

Definition at line 60 of file graph_manager.cpp.

typedef g2o::BlockSolver< g2o::BlockSolverTraits<6, 3> > SlamBlockSolver

Definition at line 51 of file graph_manager.cpp.

typedef g2o::LinearSolverCholmod<SlamBlockSolver::PoseMatrixType> SlamLinearCholmodSolver

Definition at line 53 of file graph_manager.cpp.

typedef g2o::LinearSolverCSparse<SlamBlockSolver::PoseMatrixType> SlamLinearCSparseSolver

Definition at line 52 of file graph_manager.cpp.

typedef g2o::LinearSolverDense<SlamBlockSolver::PoseMatrixType> SlamLinearDenseSolver

Definition at line 55 of file graph_manager.cpp.

typedef g2o::LinearSolverPCG<SlamBlockSolver::PoseMatrixType> SlamLinearPCGSolver

Definition at line 54 of file graph_manager.cpp.

typedef std::tr1::unordered_map<int, g2o::HyperGraph::Vertex*> VertexIDMap

Definition at line 57 of file graph_manager.cpp.

typedef std::pair<int, g2o::HyperGraph::Vertex*> VertexIDPair

Definition at line 58 of file graph_manager.cpp.

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Function Documentation

bool containsVertex	(	g2o::HyperGraph::Edge *	myedge,
		g2o::HyperGraph::Vertex *	v_to_del
	)

Definition at line 1068 of file graph_manager.cpp.

void fixationOfVertices	(	std::string	strategy,
		g2o::SparseOptimizer *	optimizer,
		std::map< int, Node * > &	graph,
		g2o::HyperGraph::VertexSet &	camera_vertices,
		int	earliest_loop_closure_node
	)

Definition at line 911 of file graph_manager.cpp.

void updateInlierFeatures	(	const MatchingResult &	mr,
		Node *	new_node,
		Node *	old_node
	)

Definition at line 409 of file graph_manager.cpp.