Public Member Functions | Static Public Member Functions | Private Attributes
rtabmap::OptimizerG2O Class Reference

#include <OptimizerG2O.h>

Inheritance diagram for rtabmap::OptimizerG2O:
Inheritance graph
[legend]

List of all members.

Public Member Functions

virtual std::map< int, Transformoptimize (int rootId, const std::map< int, Transform > &poses, const std::multimap< int, Link > &edgeConstraints, std::list< std::map< int, Transform > > *intermediateGraphes=0, double *finalError=0, int *iterationsDone=0)
virtual std::map< int, TransformoptimizeBA (int rootId, const std::map< int, Transform > &poses, const std::multimap< int, Link > &links, const std::map< int, Signature > &signatures)
 OptimizerG2O (const ParametersMap &parameters=ParametersMap())
virtual void parseParameters (const ParametersMap &parameters)
virtual Type type () const
virtual ~OptimizerG2O ()

Static Public Member Functions

static bool available ()
static bool isCholmodAvailable ()
static bool isCSparseAvailable ()
static bool saveGraph (const std::string &fileName, const std::map< int, Transform > &poses, const std::multimap< int, Link > &edgeConstraints, bool useRobustConstraints=false)

Private Attributes

int optimizer_
double pixelVariance_
int solver_

Detailed Description

Definition at line 37 of file OptimizerG2O.h.


Constructor & Destructor Documentation

rtabmap::OptimizerG2O::OptimizerG2O ( const ParametersMap parameters = ParametersMap()) [inline]

Definition at line 50 of file OptimizerG2O.h.

virtual rtabmap::OptimizerG2O::~OptimizerG2O ( ) [inline, virtual]

Definition at line 58 of file OptimizerG2O.h.


Member Function Documentation

Definition at line 82 of file OptimizerG2O.cpp.

Definition at line 100 of file OptimizerG2O.cpp.

Definition at line 91 of file OptimizerG2O.cpp.

std::map< int, Transform > rtabmap::OptimizerG2O::optimize ( int  rootId,
const std::map< int, Transform > &  poses,
const std::multimap< int, Link > &  edgeConstraints,
std::list< std::map< int, Transform > > *  intermediateGraphes = 0,
double *  finalError = 0,
int *  iterationsDone = 0 
) [virtual]

Reimplemented from rtabmap::Optimizer.

Definition at line 135 of file OptimizerG2O.cpp.

std::map< int, Transform > rtabmap::OptimizerG2O::optimizeBA ( int  rootId,
const std::map< int, Transform > &  poses,
const std::multimap< int, Link > &  links,
const std::map< int, Signature > &  signatures 
) [virtual]

Reimplemented from rtabmap::Optimizer.

Definition at line 546 of file OptimizerG2O.cpp.

void rtabmap::OptimizerG2O::parseParameters ( const ParametersMap parameters) [virtual]

Reimplemented from rtabmap::Optimizer.

Definition at line 109 of file OptimizerG2O.cpp.

bool rtabmap::OptimizerG2O::saveGraph ( const std::string &  fileName,
const std::map< int, Transform > &  poses,
const std::multimap< int, Link > &  edgeConstraints,
bool  useRobustConstraints = false 
) [static]

Definition at line 849 of file OptimizerG2O.cpp.

virtual Type rtabmap::OptimizerG2O::type ( ) const [inline, virtual]

Implements rtabmap::Optimizer.

Definition at line 60 of file OptimizerG2O.h.


Member Data Documentation

Definition at line 80 of file OptimizerG2O.h.

Definition at line 81 of file OptimizerG2O.h.

Definition at line 79 of file OptimizerG2O.h.


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


rtabmap
Author(s): Mathieu Labbe
autogenerated on Sat Jul 23 2016 11:44:32