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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) |
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| OptimizerCVSBA (int iterations=Parameters::defaultOptimizerIterations(), bool slam2d=Parameters::defaultRegForce3DoF(), bool covarianceIgnored=Parameters::defaultOptimizerVarianceIgnored()) |
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| OptimizerCVSBA (const ParametersMap ¶meters) |
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virtual Type | type () const |
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virtual | ~OptimizerCVSBA () |
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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) |
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double | epsilon () const |
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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 |
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float | gravitySigma () const |
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bool | isCovarianceIgnored () const |
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bool | isRobust () const |
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bool | isSlam2d () const |
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int | iterations () const |
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bool | landmarksIgnored () const |
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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) |
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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) |
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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) |
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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) |
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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) |
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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) |
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virtual void | parseParameters (const ParametersMap ¶meters) |
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bool | priorsIgnored () const |
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void | setCovarianceIgnored (bool enabled) |
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void | setEpsilon (double epsilon) |
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void | setGravitySigma (float value) |
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void | setIterations (int iterations) |
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void | setLandmarksIgnored (bool enabled) |
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void | setPriorsIgnored (bool enabled) |
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void | setRobust (bool enabled) |
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void | setSlam2d (bool enabled) |
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virtual | ~Optimizer () |
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Definition at line 37 of file OptimizerCVSBA.h.