#include <Optimizer.h>

Inheritance diagram for rtabmap::Optimizer:

Public Types
enum	Type { kTypeUndef = -1, kTypeTORO = 0, kTypeG2O = 1, kTypeGTSAM = 2, kTypeCVSBA = 3 }
Public Member Functions
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, cv::Point2f > > &wordReferences)
double	epsilon () const
bool	isCovarianceIgnored () const
bool	isRobust () const
bool	isSlam2d () const
int	iterations () const
virtual 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)
virtual 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)
virtual void	parseParameters (const ParametersMap &parameters)
void	setCovarianceIgnored (bool enabled)
void	setEpsilon (double epsilon)
void	setIterations (int iterations)
void	setRobust (bool enabled)
void	setSlam2d (bool enabled)
virtual Type	type () const =0
virtual	~Optimizer ()
Static Public Member Functions
static Optimizer *	create (const ParametersMap &parameters)
static Optimizer *	create (Optimizer::Type type, const ParametersMap &parameters=ParametersMap())
static 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, int depth=0)
static bool	isAvailable (Optimizer::Type type)
Protected Member Functions
	Optimizer (int iterations=Parameters::defaultOptimizerIterations(), bool slam2d=Parameters::defaultOptimizerSlam2D(), bool covarianceIgnored=Parameters::defaultOptimizerVarianceIgnored(), double epsilon=Parameters::defaultOptimizerEpsilon(), bool robust=Parameters::defaultOptimizerRobust())
	Optimizer (const ParametersMap &parameters)
Private Attributes
bool	covarianceIgnored_
double	epsilon_
int	iterations_
bool	robust_
bool	slam2d_

Detailed Description

Definition at line 44 of file Optimizer.h.

Member Enumeration Documentation

enum rtabmap::Optimizer::Type

Enumerator:

kTypeUndef
kTypeTORO
kTypeG2O
kTypeGTSAM
kTypeCVSBA

Definition at line 47 of file Optimizer.h.

Constructor & Destructor Documentation

virtual rtabmap::Optimizer::~Optimizer ( ) [inline, virtual]

Definition at line 68 of file Optimizer.h.

rtabmap::Optimizer::Optimizer	(	int	iterations = `Parameters::defaultOptimizerIterations()`,
		bool	slam2d = `Parameters::defaultOptimizerSlam2D()`,
		bool	covarianceIgnored = `Parameters::defaultOptimizerVarianceIgnored()`,
		double	epsilon = `Parameters::defaultOptimizerEpsilon()`,
		bool	robust = `Parameters::defaultOptimizerRobust()`
	)		`[protected]`

Definition at line 157 of file Optimizer.cpp.

rtabmap::Optimizer::Optimizer ( const ParametersMap & parameters ) [protected]

Definition at line 166 of file Optimizer.cpp.

Member Function Documentation

void rtabmap::Optimizer::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, cv::Point2f > > &	wordReferences
	)

Definition at line 275 of file Optimizer.cpp.

Optimizer * rtabmap::Optimizer::create ( const ParametersMap & parameters ) [static]

Definition at line 67 of file Optimizer.cpp.

Optimizer * rtabmap::Optimizer::create	(	Optimizer::Type	type,
		const ParametersMap &	parameters = `ParametersMap()`
	)		`[static]`

Definition at line 74 of file Optimizer.cpp.

double rtabmap::Optimizer::epsilon ( ) const [inline]

Definition at line 76 of file Optimizer.h.

void rtabmap::Optimizer::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,
		int	depth = `0`
	)		`[static]`

Definition at line 207 of file Optimizer.cpp.

bool rtabmap::Optimizer::isAvailable ( Optimizer::Type type ) [static]

Definition at line 46 of file Optimizer.cpp.

bool rtabmap::Optimizer::isCovarianceIgnored ( ) const [inline]

Definition at line 75 of file Optimizer.h.

bool rtabmap::Optimizer::isRobust ( ) const [inline]

Definition at line 77 of file Optimizer.h.

bool rtabmap::Optimizer::isSlam2d ( ) const [inline]

Definition at line 74 of file Optimizer.h.

int rtabmap::Optimizer::iterations ( ) const [inline]

Definition at line 73 of file Optimizer.h.

std::map< int, Transform > rtabmap::Optimizer::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`
	)		`[virtual]`

Reimplemented in rtabmap::OptimizerTORO, rtabmap::OptimizerG2O, and rtabmap::OptimizerGTSAM.

Definition at line 185 of file Optimizer.cpp.

std::map< int, Transform > rtabmap::Optimizer::optimizeBA	(	int	rootId,
		const std::map< int, Transform > &	poses,
		const std::multimap< int, Link > &	links,
		const std::map< int, Signature > &	signatures
	)		`[virtual]`