Base class for graph-based global alignment classes. More...
#include <keyframe_graph_solver.h>
Public Member Functions | |
| KeyframeGraphSolver () | |
| Constructor. | |
| KeyframeGraphSolver () | |
| Constructor. | |
| virtual void | solve (KeyframeVector &keyframes, const KeyframeAssociationVector &associations)=0 |
| Main method to call to perform graph solving. | |
| virtual void | solve (KeyframeVector &keyframes, const KeyframeAssociationVector &associations)=0 |
| Main method to call to perform graph solving. | |
| virtual void | solve (KeyframeVector &keyframes, const KeyframeAssociationVector &associations, AffineTransformVector &path)=0 |
| virtual void | solve (KeyframeVector &keyframes, const KeyframeAssociationVector &associations, AffineTransformVector &path)=0 |
| virtual | ~KeyframeGraphSolver () |
| Default destructor. | |
| virtual | ~KeyframeGraphSolver () |
| Default destructor. | |
Base class for graph-based global alignment classes.
The class takes as input a vector of RGBD keyframes and a vector of associations between them, and modifies the keyframe poses based on the minimization of some error metric.
Definition at line 39 of file include/rgbdtools/graph/keyframe_graph_solver.h.
Constructor.
Definition at line 28 of file keyframe_graph_solver.cpp.
| rgbdtools::KeyframeGraphSolver::~KeyframeGraphSolver | ( | ) | [virtual] |
Default destructor.
Definition at line 32 of file keyframe_graph_solver.cpp.
Constructor.
| virtual rgbdtools::KeyframeGraphSolver::~KeyframeGraphSolver | ( | ) | [virtual] |
Default destructor.
| virtual void rgbdtools::KeyframeGraphSolver::solve | ( | KeyframeVector & | keyframes, |
| const KeyframeAssociationVector & | associations | ||
| ) | [pure virtual] |
Main method to call to perform graph solving.
The keyframe poses will be modified according to some error propagation model informed by the graph defined by the keyframe associations.
| keyframes | vector of keyframes |
| associations | vector of input keyframe associations |
Implemented in rgbdtools::KeyframeGraphSolverG2O, rgbdtools::KeyframeGraphSolverG2O, rgbdtools::KeyframeGraphSolverISAM, and rgbdtools::KeyframeGraphSolverISAM.
| virtual void rgbdtools::KeyframeGraphSolver::solve | ( | KeyframeVector & | keyframes, |
| const KeyframeAssociationVector & | associations | ||
| ) | [pure virtual] |
Main method to call to perform graph solving.
The keyframe poses will be modified according to some error propagation model informed by the graph defined by the keyframe associations.
| keyframes | vector of keyframes |
| associations | vector of input keyframe associations |
Implemented in rgbdtools::KeyframeGraphSolverG2O, rgbdtools::KeyframeGraphSolverG2O, rgbdtools::KeyframeGraphSolverISAM, and rgbdtools::KeyframeGraphSolverISAM.
| virtual void rgbdtools::KeyframeGraphSolver::solve | ( | KeyframeVector & | keyframes, |
| const KeyframeAssociationVector & | associations, | ||
| AffineTransformVector & | path | ||
| ) | [pure virtual] |
| virtual void rgbdtools::KeyframeGraphSolver::solve | ( | KeyframeVector & | keyframes, |
| const KeyframeAssociationVector & | associations, | ||
| AffineTransformVector & | path | ||
| ) | [pure virtual] |
