Public Member Functions | Static Public Member Functions | List of all members
rtabmap::OptimizerTORO Class Reference

#include <OptimizerTORO.h>

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

Public Member Functions

virtual std::map< int, Transformoptimize (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)
 
bool saveGraph (const std::string &fileName, const std::map< int, Transform > &poses, const std::multimap< int, Link > &edgeConstraints)
 
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, FeatureBA > > &wordReferences, bool rematchFeatures=false)
 
double epsilon () const
 
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, bool adjustPosesWithConstraints=true) const
 
float gravitySigma () const
 
bool isCovarianceIgnored () const
 
bool isRobust () const
 
bool isSlam2d () const
 
int iterations () const
 
bool landmarksIgnored () const
 
std::map< int, Transformoptimize (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, TransformoptimizeBA (int rootId, const std::map< int, Transform > &poses, const std::multimap< int, Link > &links, const std::map< int, std::vector< CameraModel > > &models, std::map< int, cv::Point3f > &points3DMap, const std::map< int, std::map< int, FeatureBA > > &wordReferences, std::set< int > *outliers=0)
 
std::map< int, TransformoptimizeBA (int rootId, 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, FeatureBA > > &wordReferences, bool rematchFeatures=false)
 
std::map< int, TransformoptimizeBA (int rootId, const std::map< int, Transform > &poses, const std::multimap< int, Link > &links, const std::map< int, Signature > &signatures, bool rematchFeatures=false)
 
Transform optimizeBA (const Link &link, const CameraModel &model, std::map< int, cv::Point3f > &points3DMap, const std::map< int, std::map< int, FeatureBA > > &wordReferences, std::set< int > *outliers=0)
 
std::map< int, TransformoptimizeIncremental (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 setGravitySigma (float value)
 
void setIterations (int iterations)
 
void setLandmarksIgnored (bool enabled)
 
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 Public Member Functions inherited from rtabmap::Optimizer
static Optimizercreate (const ParametersMap &parameters)
 
static Optimizercreate (Optimizer::Type type, const ParametersMap &parameters=ParametersMap())
 
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,
  kTypeCeres = 3, kTypeCVSBA = 4
}
 
- 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(), bool landmarksIgnored=Parameters::defaultOptimizerLandmarksIgnored(), float gravitySigma=Parameters::defaultOptimizerGravitySigma())
 
 Optimizer (const ParametersMap &parameters)
 

Detailed Description

Definition at line 37 of file OptimizerTORO.h.

Constructor & Destructor Documentation

◆ OptimizerTORO() [1/2]

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

Definition at line 49 of file OptimizerTORO.h.

◆ OptimizerTORO() [2/2]

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

Definition at line 55 of file OptimizerTORO.h.

◆ ~OptimizerTORO()

virtual rtabmap::OptimizerTORO::~OptimizerTORO ( )
inlinevirtual

Definition at line 57 of file OptimizerTORO.h.

Member Function Documentation

◆ available()

bool rtabmap::OptimizerTORO::available ( )
static

Definition at line 45 of file OptimizerTORO.cpp.

◆ loadGraph()

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

Definition at line 479 of file OptimizerTORO.cpp.

◆ optimize()

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.

◆ saveGraph()

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

Definition at line 367 of file OptimizerTORO.cpp.

◆ type()

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

Implements rtabmap::Optimizer.

Definition at line 59 of file OptimizerTORO.h.


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


rtabmap
Author(s): Mathieu Labbe
autogenerated on Mon Jan 23 2023 03:39:00