Classes | Public Member Functions | Static Public Member Functions | Private Attributes | List of all members
rtabmap::OptimizerGTSAM Class Reference

#include <OptimizerGTSAM.h>

Inheritance diagram for rtabmap::OptimizerGTSAM:
Inheritance graph
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Classes

struct  ConstraintToFactor
 

Public Member Functions

virtual std::map< int, Transformoptimize (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, Transformoptimize (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, TransformoptimizeBA (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, TransformoptimizeBA (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, TransformoptimizeBA (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, TransformoptimizeIncremental (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 Optimizercreate (const ParametersMap &parameters)
 
static Optimizercreate (Optimizer::Type type, const ParametersMap &parameters=ParametersMap())
 
static bool isAvailable (Optimizer::Type type)
 

Private Attributes

std::set< intaddedPoses_
 
int internalOptimizerType_
 
gtsam::ISAM2isam2_
 
std::vector< ConstraintToFactorlastAddedConstraints_
 
std::pair< int, std::uint64_tlastRootFactorIndex_
 
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:


rtabmap
Author(s): Mathieu Labbe
autogenerated on Thu Jul 25 2024 02:50:28