#include <OptimizerCeres.h>

Inheritance diagram for rtabmap::OptimizerCeres:

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)

	OptimizerCeres (const ParametersMap &parameters)

	OptimizerCeres (int iterations=Parameters::defaultOptimizerIterations(), bool slam2d=Parameters::defaultRegForce3DoF(), bool covarianceIgnored=Parameters::defaultOptimizerVarianceIgnored(), double epsilon=Parameters::defaultOptimizerEpsilon())

virtual Type	type () const

virtual	~OptimizerCeres ()

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) 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)

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 >	optimizeBA (int rootId, const std::map< int, Transform > &poses, const std::multimap< int, Link > &links, const std::map< int, Signature > &signatures, 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, std::map< int, cv::Point3f > &points3DMap, std::map< int, std::map< int, FeatureBA > > &wordReferences, bool rematchFeatures=false)

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	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 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)

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 (const ParametersMap &parameters)

	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())

Detailed Description

Definition at line 35 of file OptimizerCeres.h.

Constructor & Destructor Documentation

◆ OptimizerCeres() [1/2]

rtabmap::OptimizerCeres::OptimizerCeres	(	int	iterations = `Parameters::defaultOptimizerIterations()`,
		bool	slam2d = `Parameters::defaultRegForce3DoF()`,
		bool	covarianceIgnored = `Parameters::defaultOptimizerVarianceIgnored()`,
		double	epsilon = `Parameters::defaultOptimizerEpsilon()`
	)

inline

Definition at line 41 of file OptimizerCeres.h.

◆ OptimizerCeres() [2/2]

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

inline

Definition at line 47 of file OptimizerCeres.h.

◆ ~OptimizerCeres()

virtual rtabmap::OptimizerCeres::~OptimizerCeres ( )

inlinevirtual

Definition at line 49 of file OptimizerCeres.h.

Member Function Documentation

◆ available()

bool rtabmap::OptimizerCeres::available ( )

static

Definition at line 57 of file OptimizerCeres.cpp.

◆ optimize()

std::map< int, Transform > rtabmap::OptimizerCeres::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 66 of file OptimizerCeres.cpp.

◆ optimizeBA()

std::map< int, Transform > rtabmap::OptimizerCeres::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 317 of file OptimizerCeres.cpp.

◆ type()

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

inlinevirtual

Implements rtabmap::Optimizer.

Definition at line 51 of file OptimizerCeres.h.

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

Public Member Functions

Static Public Member Functions

Additional Inherited Members