rtabmap::Optimizer Class Reference

#include <Optimizer.h>

Inheritance diagram for rtabmap::Optimizer:

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

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, cv::Point3f > > &wordReferences)
double	epsilon () const
bool	isCovarianceIgnored () const
bool	isRobust () const
bool	isSlam2d () const
int	iterations () 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, cv::Point3f > > &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)
Transform	optimizeBA (const Link &link, const CameraModel &model, std::map< int, cv::Point3f > &points3DMap, const std::map< int, std::map< int, cv::Point3f > > &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	setIterations (int iterations)
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 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, int depth=0)
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())
	Optimizer (const ParametersMap &parameters)

Private Attributes
bool	covarianceIgnored_
double	epsilon_
int	iterations_
bool	priorsIgnored_
bool	robust_
bool	slam2d_

Detailed Description

Definition at line 44 of file Optimizer.h.

Member Enumeration Documentation

enum rtabmap::Optimizer::Type

Enumerator
kTypeUndef
kTypeTORO
kTypeG2O
kTypeGTSAM
kTypeCVSBA

Definition at line 47 of file Optimizer.h.

Constructor & Destructor Documentation

virtual rtabmap::Optimizer::~Optimizer ( )

inlinevirtual

Definition at line 68 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()  )

protected

Definition at line 235 of file Optimizer.cpp.

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

protected

Definition at line 245 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, cv::Point3f > > &	wordReferences
	)

Definition at line 457 of file Optimizer.cpp.

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

static

Definition at line 67 of file Optimizer.cpp.

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

static

Definition at line 74 of file Optimizer.cpp.

double rtabmap::Optimizer::epsilon ( ) const

inline

Definition at line 76 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, int  depth = 0  )

static

Definition at line 157 of file Optimizer.cpp.

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

static

Definition at line 46 of file Optimizer.cpp.

bool rtabmap::Optimizer::isCovarianceIgnored ( ) const

inline

Definition at line 75 of file Optimizer.h.

bool rtabmap::Optimizer::isRobust ( ) const

inline

Definition at line 77 of file Optimizer.h.

bool rtabmap::Optimizer::isSlam2d ( ) const

inline

Definition at line 74 of file Optimizer.h.

int rtabmap::Optimizer::iterations ( ) const

inline

Definition at line 73 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 331 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, and rtabmap::OptimizerGTSAM.

Definition at line 349 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, cv::Point3f > > &  wordReferences, std::set< int > *  outliers = 0  )

virtual

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

Definition at line 362 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
	)

Definition at line 375 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, cv::Point3f > > &	wordReferences,
		std::set< int > *	outliers = 0
	)

Definition at line 431 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 266 of file Optimizer.cpp.

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

virtual

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

Definition at line 256 of file Optimizer.cpp.

bool rtabmap::Optimizer::priorsIgnored ( ) const

inline

Definition at line 78 of file Optimizer.h.

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

inline

Definition at line 83 of file Optimizer.h.

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

inline

Definition at line 84 of file Optimizer.h.

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

inline

Definition at line 81 of file Optimizer.h.

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

inline

Definition at line 86 of file Optimizer.h.

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

inline

Definition at line 85 of file Optimizer.h.

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

inline

Definition at line 82 of file Optimizer.h.

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

pure virtual

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

Member Data Documentation

bool rtabmap::Optimizer::covarianceIgnored_

private

Definition at line 157 of file Optimizer.h.

double rtabmap::Optimizer::epsilon_

private

Definition at line 158 of file Optimizer.h.

int rtabmap::Optimizer::iterations_

private

Definition at line 155 of file Optimizer.h.

bool rtabmap::Optimizer::priorsIgnored_

private

Definition at line 160 of file Optimizer.h.

bool rtabmap::Optimizer::robust_

private

Definition at line 159 of file Optimizer.h.

bool rtabmap::Optimizer::slam2d_

private

Definition at line 156 of file Optimizer.h.

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

• Optimizer.h
• Optimizer.cpp