Public Member Functions | Static Public Member Functions | Private Attributes | List of all members
rtabmap::OptimizerG2O Class Reference

#include <OptimizerG2O.h>

Inheritance diagram for rtabmap::OptimizerG2O:
Inheritance graph
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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, std::vector< CameraModel > > &models, std::map< int, cv::Point3f > &points3DMap, const std::map< int, std::map< int, FeatureBA > > &wordReferences, std::set< int > *outliers=0)
 
 OptimizerG2O (const ParametersMap &parameters=ParametersMap())
 
virtual void parseParameters (const ParametersMap &parameters)
 
bool saveGraph (const std::string &fileName, const std::map< int, Transform > &poses, const std::multimap< int, Link > &edgeConstraints)
 
virtual Type type () const
 
virtual ~OptimizerG2O ()
 
- Public Member Functions inherited from rtabmap::Optimizer
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, bool adjustPosesWithConstraints=true) 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)
 
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)
 
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 ~Optimizer ()
 

Static Public Member Functions

static bool available ()
 
static bool isCholmodAvailable ()
 
static bool isCSparseAvailable ()
 
- Static Public Member Functions inherited from rtabmap::Optimizer
static Optimizer * create (const ParametersMap &parameters)
 
static Optimizer * create (Optimizer::Type type, const ParametersMap &parameters=ParametersMap())
 
static bool isAvailable (Optimizer::Type type)
 

Private Attributes

double baseline_
 
int optimizer_
 
double pixelVariance_
 
double robustKernelDelta_
 
int solver_
 

Additional Inherited Members

- Public Types inherited from rtabmap::Optimizer
enum  Type {
  kTypeUndef = -1, kTypeTORO = 0, kTypeG2O = 1, kTypeGTSAM = 2,
  kTypeCeres = 3, kTypeCVSBA = 4
}
 
- Protected Member Functions inherited from 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())
 
 Optimizer (const ParametersMap &parameters)
 

Detailed Description

Definition at line 37 of file OptimizerG2O.h.

Constructor & Destructor Documentation

◆ OptimizerG2O()

rtabmap::OptimizerG2O::OptimizerG2O ( const ParametersMap &  parameters = ParametersMap())

Definition at line 144 of file OptimizerG2O.cpp.

◆ ~OptimizerG2O()

virtual rtabmap::OptimizerG2O::~OptimizerG2O ( )
inlinevirtual

Definition at line 46 of file OptimizerG2O.h.

Member Function Documentation

◆ available()

bool rtabmap::OptimizerG2O::available ( )
static

Definition at line 117 of file OptimizerG2O.cpp.

◆ isCholmodAvailable()

bool rtabmap::OptimizerG2O::isCholmodAvailable ( )
static

Definition at line 135 of file OptimizerG2O.cpp.

◆ isCSparseAvailable()

bool rtabmap::OptimizerG2O::isCSparseAvailable ( )
static

Definition at line 126 of file OptimizerG2O.cpp.

◆ optimize()

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 204 of file OptimizerG2O.cpp.

◆ optimizeBA()

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, std::vector< CameraModel > > &  models,
std::map< int, cv::Point3f > &  points3DMap,
const std::map< int, std::map< int, FeatureBA > > &  wordReferences,
std::set< int > *  outliers = 0 
)
virtual

Reimplemented from rtabmap::Optimizer.

Definition at line 1399 of file OptimizerG2O.cpp.

◆ parseParameters()

void rtabmap::OptimizerG2O::parseParameters ( const ParametersMap &  parameters)
virtual

Reimplemented from rtabmap::Optimizer.

Definition at line 166 of file OptimizerG2O.cpp.

◆ saveGraph()

bool rtabmap::OptimizerG2O::saveGraph ( const std::string &  fileName,
const std::map< int, Transform > &  poses,
const std::multimap< int, Link > &  edgeConstraints 
)

Definition at line 2018 of file OptimizerG2O.cpp.

◆ type()

virtual Type rtabmap::OptimizerG2O::type ( ) const
inlinevirtual

Implements rtabmap::Optimizer.

Definition at line 48 of file OptimizerG2O.h.

Member Data Documentation

◆ baseline_

double rtabmap::OptimizerG2O::baseline_
private

Definition at line 80 of file OptimizerG2O.h.

◆ optimizer_

int rtabmap::OptimizerG2O::optimizer_
private

Definition at line 77 of file OptimizerG2O.h.

◆ pixelVariance_

double rtabmap::OptimizerG2O::pixelVariance_
private

Definition at line 78 of file OptimizerG2O.h.

◆ robustKernelDelta_

double rtabmap::OptimizerG2O::robustKernelDelta_
private

Definition at line 79 of file OptimizerG2O.h.

◆ solver_

int rtabmap::OptimizerG2O::solver_
private

Definition at line 76 of file OptimizerG2O.h.

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

rtabmap
Author(s): Mathieu Labbe
autogenerated on Mon Jan 23 2023 03:39:00