#include <OptimizerG2O.h>

Inheritance diagram for rtabmap::OptimizerG2O:

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) 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)

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 (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 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 1470 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 2089 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:

Public Member Functions

Static Public Member Functions

Private Attributes

Additional Inherited Members

Detailed Description

Constructor & Destructor Documentation

◆ OptimizerG2O()

◆ ~OptimizerG2O()

Member Function Documentation

◆ available()

◆ isCholmodAvailable()

◆ isCSparseAvailable()

◆ optimize()

◆ optimizeBA()

◆ parseParameters()

◆ saveGraph()

◆ type()

Member Data Documentation

◆ baseline_

◆ optimizer_

◆ pixelVariance_

◆ robustKernelDelta_

◆ solver_