#include <OptimizerTORO.h>

Inheritance diagram for rtabmap::OptimizerTORO:

Public Member Functions
virtual std::map< int, Transform >	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)

	OptimizerTORO (int iterations=Parameters::defaultOptimizerIterations(), bool slam2d=Parameters::defaultRegForce3DoF(), bool covarianceIgnored=Parameters::defaultOptimizerVarianceIgnored(), double epsilon=Parameters::defaultOptimizerEpsilon())

	OptimizerTORO (const ParametersMap &parameters)

virtual Type	type () const

virtual	~OptimizerTORO ()

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, cv::Point3f > > &wordReferences)

double	epsilon () const

bool	isCovarianceIgnored () const

bool	isRobust () const

bool	isSlam2d () const

int	iterations () const

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, CameraModel > &models, std::map< int, cv::Point3f > &points3DMap, const std::map< int, std::map< int, cv::Point3f > > &wordReferences, std::set< int > *outliers=0)

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)

Transform	optimizeBA (const Link &link, const CameraModel &model, std::map< int, cv::Point3f > &points3DMap, const std::map< int, std::map< int, cv::Point3f > > &wordReferences, std::set< int > *outliers=0)

std::map< int, Transform >	optimizeIncremental (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 void	parseParameters (const ParametersMap &parameters)

bool	priorsIgnored () const

void	setCovarianceIgnored (bool enabled)

void	setEpsilon (double epsilon)

void	setIterations (int iterations)

void	setPriorsIgnored (bool enabled)

void	setRobust (bool enabled)

void	setSlam2d (bool enabled)

virtual	~Optimizer ()

Static Public Member Functions
static bool	available ()

static bool	loadGraph (const std::string &fileName, std::map< int, Transform > &poses, std::multimap< int, Link > &edgeConstraints)

static bool	saveGraph (const std::string &fileName, const std::map< int, Transform > &poses, const std::multimap< int, Link > &edgeConstraints)

Static Public Member Functions inherited from rtabmap::Optimizer
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)

Additional Inherited Members
Public Types inherited from rtabmap::Optimizer
enum	Type { kTypeUndef = -1, kTypeTORO = 0, kTypeG2O = 1, kTypeGTSAM = 2, kTypeCVSBA = 3 }

Protected Member Functions inherited from rtabmap::Optimizer
	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())

	Optimizer (const ParametersMap &parameters)

Detailed Description

Definition at line 37 of file OptimizerTORO.h.

Constructor & Destructor Documentation

rtabmap::OptimizerTORO::OptimizerTORO	(	int	iterations = `Parameters::defaultOptimizerIterations()`,
		bool	slam2d = `Parameters::defaultRegForce3DoF()`,
		bool	covarianceIgnored = `Parameters::defaultOptimizerVarianceIgnored()`,
		double	epsilon = `Parameters::defaultOptimizerEpsilon()`
	)

inline

Definition at line 53 of file OptimizerTORO.h.

rtabmap::OptimizerTORO::OptimizerTORO ( const ParametersMap & parameters )

inline

Definition at line 59 of file OptimizerTORO.h.

virtual rtabmap::OptimizerTORO::~OptimizerTORO ( )

inlinevirtual

Definition at line 61 of file OptimizerTORO.h.

Member Function Documentation

bool rtabmap::OptimizerTORO::available ( )

static

Definition at line 45 of file OptimizerTORO.cpp.

bool rtabmap::OptimizerTORO::loadGraph	(	const std::string &	fileName,
		std::map< int, Transform > &	poses,
		std::multimap< int, Link > &	edgeConstraints
	)

static

Definition at line 412 of file OptimizerTORO.cpp.

std::map< int, Transform > rtabmap::OptimizerTORO::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 54 of file OptimizerTORO.cpp.

bool rtabmap::OptimizerTORO::saveGraph	(	const std::string &	fileName,
		const std::map< int, Transform > &	poses,
		const std::multimap< int, Link > &	edgeConstraints
	)

static

Definition at line 335 of file OptimizerTORO.cpp.

virtual Type rtabmap::OptimizerTORO::type ( ) const

inlinevirtual

Implements rtabmap::Optimizer.

Definition at line 63 of file OptimizerTORO.h.

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

Public Member Functions

Static Public Member Functions

Additional Inherited Members

Detailed Description

Constructor & Destructor Documentation

Member Function Documentation