#include <Optimizer.h>

Static Public Member Functions
static void	BundleAdjustment (const std::vector< KeyFrame * > &vpKF, const std::vector< MapPoint * > &vpMP, int nIterations=5, bool *pbStopFlag=NULL, const unsigned long nLoopKF=0, const bool bRobust=true)

static void	GlobalBundleAdjustemnt (Map pMap, int nIterations=5, bool pbStopFlag=NULL, const unsigned long nLoopKF=0, const bool bRobust=true)

static void	LocalBundleAdjustment (KeyFrame pKF, bool pbStopFlag, Map *pMap)

static void	OptimizeEssentialGraph (Map pMap, KeyFrame pLoopKF, KeyFrame pCurKF, const LoopClosing::KeyFrameAndPose &NonCorrectedSim3, const LoopClosing::KeyFrameAndPose &CorrectedSim3, const map< KeyFrame , set< KeyFrame * > > &LoopConnections, const bool &bFixScale)

static int	OptimizeSim3 (KeyFrame pKF1, KeyFrame pKF2, std::vector< MapPoint * > &vpMatches1, g2o::Sim3 &g2oS12, const float th2, const bool bFixScale)

static int	PoseOptimization (Frame *pFrame)

Detailed Description

Definition at line 37 of file Optimizer.h.

Member Function Documentation

void ORB_SLAM2::Optimizer::BundleAdjustment	(	const std::vector< KeyFrame * > &	vpKF,
		const std::vector< MapPoint * > &	vpMP,
		int	nIterations = `5`,
		bool *	pbStopFlag = `NULL`,
		const unsigned long	nLoopKF = `0`,
		const bool	bRobust = `true`
	)

static

Definition at line 49 of file Optimizer.cc.

void ORB_SLAM2::Optimizer::GlobalBundleAdjustemnt	(	Map *	pMap,
		int	nIterations = `5`,
		bool *	pbStopFlag = `NULL`,
		const unsigned long	nLoopKF = `0`,
		const bool	bRobust = `true`
	)

static

Definition at line 41 of file Optimizer.cc.

void ORB_SLAM2::Optimizer::LocalBundleAdjustment	(	KeyFrame *	pKF,
		bool *	pbStopFlag,
		Map *	pMap
	)

static

Definition at line 453 of file Optimizer.cc.

void ORB_SLAM2::Optimizer::OptimizeEssentialGraph	(	Map *	pMap,
		KeyFrame *	pLoopKF,
		KeyFrame *	pCurKF,
		const LoopClosing::KeyFrameAndPose &	NonCorrectedSim3,
		const LoopClosing::KeyFrameAndPose &	CorrectedSim3,
		const map< KeyFrame , set< KeyFrame > > &	LoopConnections,
		const bool &	bFixScale
	)

static

Definition at line 781 of file Optimizer.cc.

int ORB_SLAM2::Optimizer::OptimizeSim3	(	KeyFrame *	pKF1,
		KeyFrame *	pKF2,
		std::vector< MapPoint * > &	vpMatches1,
		g2o::Sim3 &	g2oS12,
		const float	th2,
		const bool	bFixScale
	)

static

Definition at line 1046 of file Optimizer.cc.

int ORB_SLAM2::Optimizer::PoseOptimization ( Frame * pFrame )

static

Definition at line 239 of file Optimizer.cc.

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