ccny_rgbd::KeyframeGraphSolverG2O Class Reference

Graph-based global alignement using g2o (generalized graph optimizaiton) More...

#include <keyframe_graph_solver_g2o.h>

Inheritance diagram for ccny_rgbd::KeyframeGraphSolverG2O:

List of all members.

Public Member Functions
	KeyframeGraphSolverG2O (const ros::NodeHandle &nh, const ros::NodeHandle &nh_private)
	Constructor from ROS noehandles.
void	solve (KeyframeVector &keyframes, KeyframeAssociationVector &associations)
	Main method to call to perform graph solving using g2o.
	~KeyframeGraphSolverG2O ()
	Default destructor.
Private Member Functions
void	addEdge (int from_idx, int to_idx, const Eigen::Matrix4f &relative_pose, const Eigen::Matrix< double, 6, 6 > &information_matrix)
	Adds an edge to the g2o structure.
void	addVertex (const Eigen::Matrix4f &vertex_pose, int vertex_idx)
	Adds a vertex to the g2o structure.
void	optimizeGraph ()
	runs the optimization
void	updatePoses (KeyframeVector &keyframes)
	copies the (optimized) poses from the g2o structure into the keyframe vector
Private Attributes
g2o::BlockSolverX::LinearSolverType *	linearSolver
g2o::SparseOptimizer	optimizer
g2o::BlockSolverX *	solver_ptr
int	vertexIdx

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Detailed Description

Graph-based global alignement using g2o (generalized graph optimizaiton)

Definition at line 42 of file keyframe_graph_solver_g2o.h.

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Constructor & Destructor Documentation

ccny_rgbd::KeyframeGraphSolverG2O::KeyframeGraphSolverG2O	(	const ros::NodeHandle &	nh,
		const ros::NodeHandle &	nh_private
	)

Constructor from ROS noehandles.

Parameters:

nh	the public nodehandle
nh_private	the private notehandle

Definition at line 28 of file keyframe_graph_solver_g2o.cpp.

ccny_rgbd::KeyframeGraphSolverG2O::~KeyframeGraphSolverG2O

(

)

Default destructor.

Definition at line 43 of file keyframe_graph_solver_g2o.cpp.

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Member Function Documentation

void ccny_rgbd::KeyframeGraphSolverG2O::addEdge	(	int	from_idx,
		int	to_idx,
		const Eigen::Matrix4f &	relative_pose,
		const Eigen::Matrix< double, 6, 6 > &	information_matrix
	)		[private]

Adds an edge to the g2o structure.

Definition at line 130 of file keyframe_graph_solver_g2o.cpp.

void ccny_rgbd::KeyframeGraphSolverG2O::addVertex	(	const Eigen::Matrix4f &	vertex_pose,
		int	vertex_idx
	)		[private]

Adds a vertex to the g2o structure.

Definition at line 95 of file keyframe_graph_solver_g2o.cpp.

void ccny_rgbd::KeyframeGraphSolverG2O::optimizeGraph

(

)

[private]

runs the optimization

Definition at line 166 of file keyframe_graph_solver_g2o.cpp.

void ccny_rgbd::KeyframeGraphSolverG2O::solve	(	KeyframeVector &	keyframes,
		KeyframeAssociationVector &	associations
	)		[virtual]

Main method to call to perform graph solving using g2o.

Parameters:

keyframes	vector of keyframes
associations	vector of input keyframe associations

Implements ccny_rgbd::KeyframeGraphSolver.

Definition at line 48 of file keyframe_graph_solver_g2o.cpp.

void ccny_rgbd::KeyframeGraphSolverG2O::updatePoses

(

KeyframeVector &

keyframes

)

[private]

copies the (optimized) poses from the g2o structure into the keyframe vector

Parameters:

keyframes

the vector of keyframes to modify the poses

Definition at line 178 of file keyframe_graph_solver_g2o.cpp.

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Member Data Documentation

g2o::BlockSolverX::LinearSolverType* ccny_rgbd::KeyframeGraphSolverG2O::linearSolver [private]

Definition at line 69 of file keyframe_graph_solver_g2o.h.

g2o::SparseOptimizer ccny_rgbd::KeyframeGraphSolverG2O::optimizer [private]

Definition at line 68 of file keyframe_graph_solver_g2o.h.

g2o::BlockSolverX* ccny_rgbd::KeyframeGraphSolverG2O::solver_ptr [private]

Definition at line 70 of file keyframe_graph_solver_g2o.h.

int ccny_rgbd::KeyframeGraphSolverG2O::vertexIdx [private]

Definition at line 67 of file keyframe_graph_solver_g2o.h.

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

• keyframe_graph_solver_g2o.h
• keyframe_graph_solver_g2o.cpp