OptimizerTORO.h
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1 /*
2 Copyright (c) 2010-2016, Mathieu Labbe - IntRoLab - Universite de Sherbrooke
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27 
28 #ifndef OPTIMIZERTORO_H_
29 #define OPTIMIZERTORO_H_
30 
31 #include <rtabmap/core/Optimizer.h>
32 
33 namespace rtabmap {
34 
35 class RTABMAP_CORE_EXPORT OptimizerTORO : public Optimizer
36 {
37 public:
38  static bool available();
39 
40 public:
41  static bool loadGraph(
42  const std::string & fileName,
43  std::map<int, Transform> & poses,
44  std::multimap<int, Link> & edgeConstraints);
45 
46 public:
48  int iterations = Parameters::defaultOptimizerIterations(),
49  bool slam2d = Parameters::defaultRegForce3DoF(),
50  bool covarianceIgnored = Parameters::defaultOptimizerVarianceIgnored(),
51  double epsilon = Parameters::defaultOptimizerEpsilon()) :
52  Optimizer(iterations, slam2d, covarianceIgnored, epsilon) {}
53  OptimizerTORO(const ParametersMap & parameters) :
54  Optimizer(parameters) {}
55  virtual ~OptimizerTORO() {}
56 
57  virtual Type type() const {return kTypeTORO;}
58 
59  virtual std::map<int, Transform> optimize(
60  int rootId,
61  const std::map<int, Transform> & poses,
62  const std::multimap<int, Link> & edgeConstraints,
63  cv::Mat & outputCovariance,
64  std::list<std::map<int, Transform> > * intermediateGraphes = 0,
65  double * finalError = 0,
66  int * iterationsDone = 0);
67 
68  bool saveGraph(
69  const std::string & fileName,
70  const std::map<int, Transform> & poses,
71  const std::multimap<int, Link> & edgeConstraints);
72 };
73 
74 } /* namespace rtabmap */
75 #endif /* GRAPH_H_ */
rtabmap::Optimizer
Definition: Optimizer.h:61
rtabmap::ParametersMap
std::map< std::string, std::string > ParametersMap
Definition: Parameters.h:43
rtabmap::OptimizerTORO::OptimizerTORO
OptimizerTORO(int iterations=Parameters::defaultOptimizerIterations(), bool slam2d=Parameters::defaultRegForce3DoF(), bool covarianceIgnored=Parameters::defaultOptimizerVarianceIgnored(), double epsilon=Parameters::defaultOptimizerEpsilon())
Definition: OptimizerTORO.h:47
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)
Type
Optimizer.h
rtabmap::OptimizerTORO::type
virtual Type type() const
Definition: OptimizerTORO.h:57
rtabmap::OptimizerTORO::~OptimizerTORO
virtual ~OptimizerTORO()
Definition: OptimizerTORO.h:55
epsilon
double epsilon
rtabmap::OptimizerTORO::OptimizerTORO
OptimizerTORO(const ParametersMap &parameters)
Definition: OptimizerTORO.h:53
rtabmap
Definition: CameraARCore.cpp:35
rtabmap::OptimizerTORO
Definition: OptimizerTORO.h:35


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