#include <OptimizerG2O.h>

Inheritance diagram for rtabmap::OptimizerG2O:

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)

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)

	OptimizerG2O (const ParametersMap &parameters=ParametersMap())

virtual void	parseParameters (const ParametersMap &parameters)

virtual Type	type () const

virtual	~OptimizerG2O ()

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)

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)

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	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)

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)

Private Attributes
double	baseline_

int	optimizer_

double	pixelVariance_

double	robustKernelDelta_

int	solver_

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 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 ( )

inlinevirtual

Definition at line 60 of file OptimizerG2O.h.

Member Function Documentation

bool rtabmap::OptimizerG2O::available ( )

static

Definition at line 101 of file OptimizerG2O.cpp.

bool rtabmap::OptimizerG2O::isCholmodAvailable ( )

static

Definition at line 119 of file OptimizerG2O.cpp.

bool rtabmap::OptimizerG2O::isCSparseAvailable ( )

static

Definition at line 110 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,
		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 166 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, CameraModel > &	models,
		std::map< int, cv::Point3f > &	points3DMap,
		const std::map< int, std::map< int, cv::Point3f > > &	wordReferences,
		std::set< int > *	outliers = `0`
	)

virtual

Reimplemented from rtabmap::Optimizer.

Definition at line 851 of file OptimizerG2O.cpp.

void rtabmap::OptimizerG2O::parseParameters ( const ParametersMap & parameters )

virtual

Reimplemented from rtabmap::Optimizer.

Definition at line 128 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 1362 of file OptimizerG2O.cpp.

virtual Type rtabmap::OptimizerG2O::type ( ) const

inlinevirtual

Implements rtabmap::Optimizer.

Definition at line 62 of file OptimizerG2O.h.

Member Data Documentation

double rtabmap::OptimizerG2O::baseline_

private

Definition at line 89 of file OptimizerG2O.h.

int rtabmap::OptimizerG2O::optimizer_

private

Definition at line 86 of file OptimizerG2O.h.

double rtabmap::OptimizerG2O::pixelVariance_

private

Definition at line 87 of file OptimizerG2O.h.

double rtabmap::OptimizerG2O::robustKernelDelta_

private

Definition at line 88 of file OptimizerG2O.h.

int rtabmap::OptimizerG2O::solver_

private

Definition at line 85 of file OptimizerG2O.h.

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

Public Member Functions

Static Public Member Functions

Private Attributes

Additional Inherited Members

Detailed Description

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation