rtabmap::OptimizerGTSAM Class Reference

#include <OptimizerGTSAM.h>

Inheritance diagram for rtabmap::OptimizerGTSAM:

Classes
struct	ConstraintToFactor

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)
	OptimizerGTSAM (const ParametersMap &parameters=ParametersMap())
virtual void	parseParameters (const ParametersMap &parameters)
virtual Type	type () const
virtual	~OptimizerGTSAM ()
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)
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)
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 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
std::set< int >	addedPoses_
int	internalOptimizerType_
gtsam::ISAM2 *	isam2_
std::vector< ConstraintToFactor >	lastAddedConstraints_
std::pair< int, std::uint64_t >	lastRootFactorIndex_
int	lastSwitchId_

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 39 of file OptimizerGTSAM.h.

Constructor & Destructor Documentation

OptimizerGTSAM()

rtabmap::OptimizerGTSAM::OptimizerGTSAM

(

const ParametersMap &

parameters = ParametersMap()

)

Definition at line 66 of file OptimizerGTSAM.cpp.

~OptimizerGTSAM()

rtabmap::OptimizerGTSAM::~OptimizerGTSAM ( )

virtual

Definition at line 76 of file OptimizerGTSAM.cpp.

Member Function Documentation

available()

bool rtabmap::OptimizerGTSAM::available ( )

static

Definition at line 83 of file OptimizerGTSAM.cpp.

optimize()

std::map< int, Transform > rtabmap::OptimizerGTSAM::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 138 of file OptimizerGTSAM.cpp.

parseParameters()

void rtabmap::OptimizerGTSAM::parseParameters ( const ParametersMap &  parameters )

virtual

Reimplemented from rtabmap::Optimizer.

Definition at line 92 of file OptimizerGTSAM.cpp.

type()

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

inlinevirtual

Implements rtabmap::Optimizer.

Definition at line 48 of file OptimizerGTSAM.h.

Member Data Documentation

addedPoses_

std::set<int> rtabmap::OptimizerGTSAM::addedPoses_

private

Definition at line 79 of file OptimizerGTSAM.h.

internalOptimizerType_

int rtabmap::OptimizerGTSAM::internalOptimizerType_

private

Definition at line 62 of file OptimizerGTSAM.h.

isam2_

gtsam::ISAM2* rtabmap::OptimizerGTSAM::isam2_

private

Definition at line 64 of file OptimizerGTSAM.h.

lastAddedConstraints_

std::vector<ConstraintToFactor> rtabmap::OptimizerGTSAM::lastAddedConstraints_

private

Definition at line 77 of file OptimizerGTSAM.h.

lastRootFactorIndex_

std::pair<int, std::uint64_t> rtabmap::OptimizerGTSAM::lastRootFactorIndex_

private

Definition at line 80 of file OptimizerGTSAM.h.

lastSwitchId_

int rtabmap::OptimizerGTSAM::lastSwitchId_

private

Definition at line 78 of file OptimizerGTSAM.h.

---

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

• OptimizerGTSAM.h
• OptimizerGTSAM.cpp