OptimizerG2O.h
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1 /*
2 Copyright (c) 2010-2016, Mathieu Labbe - IntRoLab - Universite de Sherbrooke
3 All rights reserved.
4 
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27 
28 #ifndef OPTIMIZERG2O_H_
29 #define OPTIMIZERG2O_H_
30 
31 #include "rtabmap/core/rtabmap_core_export.h" // DLL export/import defines
32 
33 #include <rtabmap/core/Optimizer.h>
34 
35 namespace rtabmap {
36 
37 class RTABMAP_CORE_EXPORT OptimizerG2O : public Optimizer
38 {
39 public:
40  static bool available();
41  static bool isCSparseAvailable();
42  static bool isCholmodAvailable();
43 
44 public:
45  OptimizerG2O(const ParametersMap & parameters = ParametersMap());
46  virtual ~OptimizerG2O() {}
47 
48  virtual Type type() const {return kTypeG2O;}
49 
50  virtual void parseParameters(const ParametersMap & parameters);
51 
52  virtual std::map<int, Transform> optimize(
53  int rootId,
54  const std::map<int, Transform> & poses,
55  const std::multimap<int, Link> & edgeConstraints,
56  cv::Mat & outputCovariance,
57  std::list<std::map<int, Transform> > * intermediateGraphes = 0,
58  double * finalError = 0,
59  int * iterationsDone = 0);
60 
61  virtual std::map<int, Transform> optimizeBA(
62  int rootId,
63  const std::map<int, Transform> & poses,
64  const std::multimap<int, Link> & links,
65  const std::map<int, std::vector<CameraModel> > & models, // in case of stereo, Tx should be set
66  std::map<int, cv::Point3f> & points3DMap,
67  const std::map<int, std::map<int, FeatureBA> > & wordReferences, // <ID words, IDs frames + keypoint(x,y,depth)>
68  std::set<int> * outliers = 0);
69 
70  bool saveGraph(
71  const std::string & fileName,
72  const std::map<int, Transform> & poses,
73  const std::multimap<int, Link> & edgeConstraints);
74 
75 private:
76  int solver_;
80  double baseline_;
81 };
82 
83 } /* namespace rtabmap */
84 #endif /* OPTIMIZERG2O_H_ */
rtabmap::OptimizerG2O::robustKernelDelta_
double robustKernelDelta_
Definition: OptimizerG2O.h:79
rtabmap::OptimizerG2O::type
virtual Type type() const
Definition: OptimizerG2O.h:48
rtabmap::Optimizer
Definition: Optimizer.h:61
rtabmap::OptimizerG2O
Definition: OptimizerG2O.h:37
rtabmap::ParametersMap
std::map< std::string, std::string > ParametersMap
Definition: Parameters.h:43
rtabmap::OptimizerG2O::~OptimizerG2O
virtual ~OptimizerG2O()
Definition: OptimizerG2O.h:46
optimize
gtsam.ISAM2 optimize(List[GpsMeasurement] gps_measurements, List[ImuMeasurement] imu_measurements, gtsam.noiseModel.Diagonal sigma_init_x, gtsam.noiseModel.Diagonal sigma_init_v, gtsam.noiseModel.Diagonal sigma_init_b, gtsam.noiseModel.Diagonal noise_model_gps, KittiCalibration kitti_calibration, int first_gps_pose, int gps_skip)
rtabmap::OptimizerG2O::pixelVariance_
double pixelVariance_
Definition: OptimizerG2O.h:78
Type
Optimizer.h
rtabmap::OptimizerG2O::optimizer_
int optimizer_
Definition: OptimizerG2O.h:77
rtabmap::OptimizerG2O::solver_
int solver_
Definition: OptimizerG2O.h:76
rtabmap
Definition: CameraARCore.cpp:35
rtabmap::OptimizerG2O::baseline_
double baseline_
Definition: OptimizerG2O.h:80


rtabmap
Author(s): Mathieu Labbe
autogenerated on Thu Jul 25 2024 02:50:14