rtabmap::OptimizerG2O Class Reference

#include <OptimizerG2O.h>

Inheritance diagram for rtabmap::OptimizerG2O:

List of all members.

Public Member Functions
virtual std::map< int, Transform >	optimize (int rootId, const std::map< int, Transform > &poses, const std::multimap< int, Link > &edgeConstraints, cv::Mat &outputCovariance, std::list< std::map< int, Transform > > *intermediateGraphes=0, double *finalError=0, int *iterationsDone=0)
virtual std::map< int, Transform >	optimizeBA (int rootId, const std::map< int, Transform > &poses, const std::multimap< int, Link > &links, const std::map< int, CameraModel > &models, std::map< int, cv::Point3f > &points3DMap, const std::map< int, std::map< int, cv::Point3f > > &wordReferences, std::set< int > *outliers=0)
	OptimizerG2O (const ParametersMap &parameters=ParametersMap())
virtual void	parseParameters (const ParametersMap &parameters)
virtual Type	type () const
virtual	~OptimizerG2O ()
Static Public Member Functions
static bool	available ()
static bool	isCholmodAvailable ()
static bool	isCSparseAvailable ()
static bool	saveGraph (const std::string &fileName, const std::map< int, Transform > &poses, const std::multimap< int, Link > &edgeConstraints, bool useRobustConstraints=false)
Private Attributes
double	baseline_
int	optimizer_
double	pixelVariance_
double	robustKernelDelta_
int	solver_

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Detailed Description

Definition at line 37 of file OptimizerG2O.h.

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Constructor & Destructor Documentation

rtabmap::OptimizerG2O::OptimizerG2O

(

const ParametersMap &

parameters = ParametersMap()

)

[inline]

Definition at line 50 of file OptimizerG2O.h.

virtual rtabmap::OptimizerG2O::~OptimizerG2O

(

)

[inline, virtual]

Definition at line 60 of file OptimizerG2O.h.

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Member Function Documentation

bool rtabmap::OptimizerG2O::available

(

)

[static]

Definition at line 101 of file OptimizerG2O.cpp.

bool rtabmap::OptimizerG2O::isCholmodAvailable

(

)

[static]

Definition at line 119 of file OptimizerG2O.cpp.

bool rtabmap::OptimizerG2O::isCSparseAvailable

(

)

[static]

Definition at line 110 of file OptimizerG2O.cpp.

std::map< int, Transform > rtabmap::OptimizerG2O::optimize	(	int	rootId,
		const std::map< int, Transform > &	poses,
		const std::multimap< int, Link > &	edgeConstraints,
		cv::Mat &	outputCovariance,
		std::list< std::map< int, Transform > > *	intermediateGraphes = 0,
		double *	finalError = 0,
		int *	iterationsDone = 0
	)		[virtual]

Reimplemented from rtabmap::Optimizer.

Definition at line 166 of file OptimizerG2O.cpp.

std::map< int, Transform > rtabmap::OptimizerG2O::optimizeBA	(	int	rootId,
		const std::map< int, Transform > &	poses,
		const std::multimap< int, Link > &	links,
		const std::map< int, CameraModel > &	models,
		std::map< int, cv::Point3f > &	points3DMap,
		const std::map< int, std::map< int, cv::Point3f > > &	wordReferences,
		std::set< int > *	outliers = 0
	)		[virtual]

Reimplemented from rtabmap::Optimizer.

Definition at line 851 of file OptimizerG2O.cpp.

void rtabmap::OptimizerG2O::parseParameters

(

const ParametersMap &

parameters

)

[virtual]

Reimplemented from rtabmap::Optimizer.

Definition at line 128 of file OptimizerG2O.cpp.

bool rtabmap::OptimizerG2O::saveGraph	(	const std::string &	fileName,
		const std::map< int, Transform > &	poses,
		const std::multimap< int, Link > &	edgeConstraints,
		bool	useRobustConstraints = false
	)		[static]

Definition at line 1362 of file OptimizerG2O.cpp.

virtual Type rtabmap::OptimizerG2O::type

(

)

const [inline, virtual]

Implements rtabmap::Optimizer.

Definition at line 62 of file OptimizerG2O.h.

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Member Data Documentation

double rtabmap::OptimizerG2O::baseline_ [private]

Definition at line 89 of file OptimizerG2O.h.

int rtabmap::OptimizerG2O::optimizer_ [private]

Definition at line 86 of file OptimizerG2O.h.

double rtabmap::OptimizerG2O::pixelVariance_ [private]

Definition at line 87 of file OptimizerG2O.h.

double rtabmap::OptimizerG2O::robustKernelDelta_ [private]

Definition at line 88 of file OptimizerG2O.h.

int rtabmap::OptimizerG2O::solver_ [private]

Definition at line 85 of file OptimizerG2O.h.

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The documentation for this class was generated from the following files:

• OptimizerG2O.h
• OptimizerG2O.cpp