rtabmap::Optimizer Class Reference

#include <Optimizer.h>

Inheritance diagram for rtabmap::Optimizer:

Public Types
enum	Type {   kTypeUndef = -1, kTypeTORO = 0, kTypeG2O = 1, kTypeGTSAM = 2,   kTypeCeres = 3, kTypeCVSBA = 4 }

Public Member Functions
void	computeBACorrespondences (const std::map< int, Transform > &poses, const std::multimap< int, Link > &links, const std::map< int, Signature > &signatures, std::map< int, cv::Point3f > &points3DMap, std::map< int, std::map< int, FeatureBA > > &wordReferences, bool rematchFeatures=false)
double	epsilon () const
void	getConnectedGraph (int fromId, const std::map< int, Transform > &posesIn, const std::multimap< int, Link > &linksIn, std::map< int, Transform > &posesOut, std::multimap< int, Link > &linksOut) const
float	gravitySigma () const
bool	isCovarianceIgnored () const
bool	isRobust () const
bool	isSlam2d () const
int	iterations () const
bool	landmarksIgnored () const
std::map< int, Transform >	optimize (int rootId, const std::map< int, Transform > &poses, const std::multimap< int, Link > &constraints, std::list< std::map< int, Transform > > *intermediateGraphes=0, double *finalError=0, int *iterationsDone=0)
virtual std::map< int, Transform >	optimize (int rootId, const std::map< int, Transform > &poses, const std::multimap< int, Link > &constraints, 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, FeatureBA > > &wordReferences, std::set< int > *outliers=0)
std::map< int, Transform >	optimizeBA (int rootId, const std::map< int, Transform > &poses, const std::multimap< int, Link > &links, const std::map< int, Signature > &signatures, std::map< int, cv::Point3f > &points3DMap, std::map< int, std::map< int, FeatureBA > > &wordReferences, bool rematchFeatures=false)
std::map< int, Transform >	optimizeBA (int rootId, const std::map< int, Transform > &poses, const std::multimap< int, Link > &links, const std::map< int, Signature > &signatures, bool rematchFeatures=false)
Transform	optimizeBA (const Link &link, const CameraModel &model, std::map< int, cv::Point3f > &points3DMap, const std::map< int, std::map< int, FeatureBA > > &wordReferences, std::set< int > *outliers=0)
std::map< int, Transform >	optimizeIncremental (int rootId, const std::map< int, Transform > &poses, const std::multimap< int, Link > &constraints, std::list< std::map< int, Transform > > *intermediateGraphes=0, double *finalError=0, int *iterationsDone=0)
virtual void	parseParameters (const ParametersMap &parameters)
bool	priorsIgnored () const
void	setCovarianceIgnored (bool enabled)
void	setEpsilon (double epsilon)
void	setGravitySigma (float value)
void	setIterations (int iterations)
void	setLandmarksIgnored (bool enabled)
void	setPriorsIgnored (bool enabled)
void	setRobust (bool enabled)
void	setSlam2d (bool enabled)
virtual Type	type () const =0
virtual	~Optimizer ()

Static Public Member Functions
static Optimizer *	create (const ParametersMap &parameters)
static Optimizer *	create (Optimizer::Type type, const ParametersMap &parameters=ParametersMap())
static bool	isAvailable (Optimizer::Type type)

Protected Member Functions
	Optimizer (int iterations=Parameters::defaultOptimizerIterations(), bool slam2d=Parameters::defaultRegForce3DoF(), bool covarianceIgnored=Parameters::defaultOptimizerVarianceIgnored(), double epsilon=Parameters::defaultOptimizerEpsilon(), bool robust=Parameters::defaultOptimizerRobust(), bool priorsIgnored=Parameters::defaultOptimizerPriorsIgnored(), bool landmarksIgnored=Parameters::defaultOptimizerLandmarksIgnored(), float gravitySigma=Parameters::defaultOptimizerGravitySigma())
	Optimizer (const ParametersMap &parameters)

Private Attributes
bool	covarianceIgnored_
double	epsilon_
float	gravitySigma_
int	iterations_
bool	landmarksIgnored_
bool	priorsIgnored_
bool	robust_
bool	slam2d_

Detailed Description

Definition at line 57 of file Optimizer.h.

Member Enumeration Documentation

enum rtabmap::Optimizer::Type

Enumerator
kTypeUndef
kTypeTORO
kTypeG2O
kTypeGTSAM
kTypeCeres
kTypeCVSBA

Definition at line 60 of file Optimizer.h.

Constructor & Destructor Documentation

virtual rtabmap::Optimizer::~Optimizer ( )

inlinevirtual

Definition at line 81 of file Optimizer.h.

rtabmap::Optimizer::Optimizer ( int  iterations = Parameters::defaultOptimizerIterations(), bool  slam2d = Parameters::defaultRegForce3DoF(), bool  covarianceIgnored = Parameters::defaultOptimizerVarianceIgnored(), double  epsilon = Parameters::defaultOptimizerEpsilon(), bool  robust = Parameters::defaultOptimizerRobust(), bool  priorsIgnored = Parameters::defaultOptimizerPriorsIgnored(), bool  landmarksIgnored = Parameters::defaultOptimizerLandmarksIgnored(), float  gravitySigma = Parameters::defaultOptimizerGravitySigma()  )

protected

Definition at line 296 of file Optimizer.cpp.

rtabmap::Optimizer::Optimizer ( const ParametersMap &  parameters )

protected

Definition at line 308 of file Optimizer.cpp.

Member Function Documentation

void rtabmap::Optimizer::computeBACorrespondences	(	const std::map< int, Transform > &	poses,
		const std::multimap< int, Link > &	links,
		const std::map< int, Signature > &	signatures,
		std::map< int, cv::Point3f > &	points3DMap,
		std::map< int, std::map< int, FeatureBA > > &	wordReferences,
		bool	rematchFeatures = false
	)

Definition at line 554 of file Optimizer.cpp.

Optimizer * rtabmap::Optimizer::create ( const ParametersMap &  parameters )

static

Definition at line 72 of file Optimizer.cpp.

Optimizer * rtabmap::Optimizer::create ( Optimizer::Type  type, const ParametersMap &  parameters = ParametersMap()  )

static

Definition at line 79 of file Optimizer.cpp.

double rtabmap::Optimizer::epsilon ( ) const

inline

Definition at line 89 of file Optimizer.h.

void rtabmap::Optimizer::getConnectedGraph	(	int	fromId,
		const std::map< int, Transform > &	posesIn,
		const std::multimap< int, Link > &	linksIn,
		std::map< int, Transform > &	posesOut,
		std::multimap< int, Link > &	linksOut
	)		const

Definition at line 188 of file Optimizer.cpp.

float rtabmap::Optimizer::gravitySigma ( ) const

inline

Definition at line 93 of file Optimizer.h.

bool rtabmap::Optimizer::isAvailable ( Optimizer::Type  type )

static

Definition at line 47 of file Optimizer.cpp.

bool rtabmap::Optimizer::isCovarianceIgnored ( ) const

inline

Definition at line 88 of file Optimizer.h.

bool rtabmap::Optimizer::isRobust ( ) const

inline

Definition at line 90 of file Optimizer.h.

bool rtabmap::Optimizer::isSlam2d ( ) const

inline

Definition at line 87 of file Optimizer.h.

int rtabmap::Optimizer::iterations ( ) const

inline

Definition at line 86 of file Optimizer.h.

bool rtabmap::Optimizer::landmarksIgnored ( ) const

inline

Definition at line 92 of file Optimizer.h.

std::map< int, Transform > rtabmap::Optimizer::optimize	(	int	rootId,
		const std::map< int, Transform > &	poses,
		const std::multimap< int, Link > &	constraints,
		std::list< std::map< int, Transform > > *	intermediateGraphes = 0,
		double *	finalError = 0,
		int *	iterationsDone = 0
	)

Definition at line 398 of file Optimizer.cpp.

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

virtual

Reimplemented in rtabmap::OptimizerG2O, rtabmap::OptimizerTORO, rtabmap::OptimizerCeres, and rtabmap::OptimizerGTSAM.

Definition at line 416 of file Optimizer.cpp.

std::map< int, Transform > rtabmap::Optimizer::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, FeatureBA > > &  wordReferences, std::set< int > *  outliers = 0  )

virtual

Reimplemented in rtabmap::OptimizerG2O, rtabmap::OptimizerCeres, and rtabmap::OptimizerCVSBA.

Definition at line 429 of file Optimizer.cpp.

std::map< int, Transform > rtabmap::Optimizer::optimizeBA	(	int	rootId,
		const std::map< int, Transform > &	poses,
		const std::multimap< int, Link > &	links,
		const std::map< int, Signature > &	signatures,
		std::map< int, cv::Point3f > &	points3DMap,
		std::map< int, std::map< int, FeatureBA > > &	wordReferences,
		bool	rematchFeatures = false
	)

Definition at line 442 of file Optimizer.cpp.

std::map< int, Transform > rtabmap::Optimizer::optimizeBA	(	int	rootId,
		const std::map< int, Transform > &	poses,
		const std::multimap< int, Link > &	links,
		const std::map< int, Signature > &	signatures,
		bool	rematchFeatures = false
	)

Definition at line 508 of file Optimizer.cpp.

Transform rtabmap::Optimizer::optimizeBA	(	const Link &	link,
		const CameraModel &	model,
		std::map< int, cv::Point3f > &	points3DMap,
		const std::map< int, std::map< int, FeatureBA > > &	wordReferences,
		std::set< int > *	outliers = 0
	)

Definition at line 520 of file Optimizer.cpp.

std::map< int, Transform > rtabmap::Optimizer::optimizeIncremental	(	int	rootId,
		const std::map< int, Transform > &	poses,
		const std::multimap< int, Link > &	constraints,
		std::list< std::map< int, Transform > > *	intermediateGraphes = 0,
		double *	finalError = 0,
		int *	iterationsDone = 0
	)

Definition at line 333 of file Optimizer.cpp.

void rtabmap::Optimizer::parseParameters ( const ParametersMap &  parameters )

virtual

Reimplemented in rtabmap::OptimizerG2O, and rtabmap::OptimizerGTSAM.

Definition at line 321 of file Optimizer.cpp.

bool rtabmap::Optimizer::priorsIgnored ( ) const

inline

Definition at line 91 of file Optimizer.h.

void rtabmap::Optimizer::setCovarianceIgnored ( bool  enabled )

inline

Definition at line 98 of file Optimizer.h.

void rtabmap::Optimizer::setEpsilon ( double  epsilon )

inline

Definition at line 99 of file Optimizer.h.

void rtabmap::Optimizer::setGravitySigma ( float  value )

inline

Definition at line 103 of file Optimizer.h.

void rtabmap::Optimizer::setIterations ( int  iterations )

inline

Definition at line 96 of file Optimizer.h.

void rtabmap::Optimizer::setLandmarksIgnored ( bool  enabled )

inline

Definition at line 102 of file Optimizer.h.

void rtabmap::Optimizer::setPriorsIgnored ( bool  enabled )

inline

Definition at line 101 of file Optimizer.h.

void rtabmap::Optimizer::setRobust ( bool  enabled )

inline

Definition at line 100 of file Optimizer.h.

void rtabmap::Optimizer::setSlam2d ( bool  enabled )

inline

Definition at line 97 of file Optimizer.h.

virtual Type rtabmap::Optimizer::type ( ) const

pure virtual

Implemented in rtabmap::OptimizerTORO, rtabmap::OptimizerG2O, rtabmap::OptimizerCeres, rtabmap::OptimizerCVSBA, and rtabmap::OptimizerGTSAM.

Member Data Documentation

bool rtabmap::Optimizer::covarianceIgnored_

private

Definition at line 187 of file Optimizer.h.

double rtabmap::Optimizer::epsilon_

private

Definition at line 188 of file Optimizer.h.

float rtabmap::Optimizer::gravitySigma_

private

Definition at line 192 of file Optimizer.h.

int rtabmap::Optimizer::iterations_

private

Definition at line 185 of file Optimizer.h.

bool rtabmap::Optimizer::landmarksIgnored_

private

Definition at line 191 of file Optimizer.h.

bool rtabmap::Optimizer::priorsIgnored_

private

Definition at line 190 of file Optimizer.h.

bool rtabmap::Optimizer::robust_

private

Definition at line 189 of file Optimizer.h.

bool rtabmap::Optimizer::slam2d_

private

Definition at line 186 of file Optimizer.h.

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

• Optimizer.h
• Optimizer.cpp