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< a href = "#pub-methods" > Public Member Functions</ a > |
< a href = "#pub-static-methods" > Static Public Member Functions</ a > |
< a href = "classrtabmap_1_1OptimizerCeres-members.html" > List of all members</ a > </ div >
< div class = "headertitle" >< div class = "title" > rtabmap::OptimizerCeres Class Reference</ div ></ div >
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Inheritance diagram for rtabmap::OptimizerCeres:</ div >
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< div class = "center" >< img src = "classrtabmap_1_1OptimizerCeres__inherit__graph.png" border = "0" usemap = "#artabmap_1_1OptimizerCeres_inherit__map" alt = "Inheritance graph" /></ div >
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Collaboration diagram for rtabmap::OptimizerCeres:</ div >
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< div class = "center" >< img src = "classrtabmap_1_1OptimizerCeres__coll__graph.png" border = "0" usemap = "#artabmap_1_1OptimizerCeres_coll__map" alt = "Collaboration graph" /></ div >
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< table class = "memberdecls" >
< tr class = "heading" >< td colspan = "2" >< h2 class = "groupheader" >< a id = "pub-methods" name = "pub-methods" ></ a >
Public Member Functions</ h2 ></ td ></ tr >
< tr class = "memitem:abb916a03a9c397d047384e9739569d01" id = "r_abb916a03a9c397d047384e9739569d01" >< td class = "memItemLeft" align = "right" valign = "top" >   </ td >< td class = "memItemRight" valign = "bottom" >< a class = "el" href = "classrtabmap_1_1OptimizerCeres.html#abb916a03a9c397d047384e9739569d01" > OptimizerCeres</ a > (int < a class = "el" href = "classrtabmap_1_1Optimizer.html#a178bb719b0e22863e29add12c85e14a5" > iterations</ a > =< a class = "el" href = "classrtabmap_1_1Parameters.html#a88a7018a56b4e6c7c0ceb8e11286f319" > Parameters::defaultOptimizerIterations</ a > (), bool slam2d=< a class = "el" href = "classrtabmap_1_1Parameters.html#aee1046f9615d2ed988c952cc47c9331e" > Parameters::defaultRegForce3DoF</ a > (), bool covarianceIgnored=< a class = "el" href = "classrtabmap_1_1Parameters.html#ad329ace1333ac8c94cd4043b58173f1b" > Parameters::defaultOptimizerVarianceIgnored</ a > (), double < a class = "el" href = "classrtabmap_1_1Optimizer.html#a3bca4e3df1048f8bbad9b3b9473924a2" > epsilon</ a > =< a class = "el" href = "classrtabmap_1_1Parameters.html#a8fb0df24ed2d24a013abc03828f43acc" > Parameters::defaultOptimizerEpsilon</ a > ())</ td ></ tr >
< tr class = "separator:abb916a03a9c397d047384e9739569d01" >< td class = "memSeparator" colspan = "2" >   </ td ></ tr >
< tr class = "memitem:a71d72bf02ea19e6c2644aad7c9a11bbb" id = "r_a71d72bf02ea19e6c2644aad7c9a11bbb" >< td class = "memItemLeft" align = "right" valign = "top" >< a id = "a71d72bf02ea19e6c2644aad7c9a11bbb" name = "a71d72bf02ea19e6c2644aad7c9a11bbb" ></ a >
  </ td >< td class = "memItemRight" valign = "bottom" >< b > OptimizerCeres</ b > (const < a class = "el" href = "namespacertabmap.html#ad08b6f1796a27dd7316c99c385e2cc55" > ParametersMap</ a > & parameters)</ td ></ tr >
< tr class = "separator:a71d72bf02ea19e6c2644aad7c9a11bbb" >< td class = "memSeparator" colspan = "2" >   </ td ></ tr >
< tr class = "memitem:ad6d6c0a0cdbea0ee5082d3aaa94d8e7a" id = "r_ad6d6c0a0cdbea0ee5082d3aaa94d8e7a" >< td class = "memItemLeft" align = "right" valign = "top" > virtual < a class = "el" href = "classrtabmap_1_1Optimizer.html#a18ae8ac76346d1adc68ab176a5b02d16" > Type</ a >   </ td >< td class = "memItemRight" valign = "bottom" >< a class = "el" href = "classrtabmap_1_1OptimizerCeres.html#ad6d6c0a0cdbea0ee5082d3aaa94d8e7a" > type</ a > () const</ td ></ tr >
< tr class = "memdesc:ad6d6c0a0cdbea0ee5082d3aaa94d8e7a" >< td class = "mdescLeft" >   </ td >< td class = "mdescRight" > Returns the concrete back-end identifier (one of < a class = "el" href = "classrtabmap_1_1Optimizer.html#a18ae8ac76346d1adc68ab176a5b02d16" > Type</ a > ). < br /></ td ></ tr >
< tr class = "separator:ad6d6c0a0cdbea0ee5082d3aaa94d8e7a" >< td class = "memSeparator" colspan = "2" >   </ td ></ tr >
< tr class = "memitem:aaa1128eeb38451086c7abd58ae6142ac" id = "r_aaa1128eeb38451086c7abd58ae6142ac" >< td class = "memItemLeft" align = "right" valign = "top" > virtual void  </ td >< td class = "memItemRight" valign = "bottom" >< a class = "el" href = "classrtabmap_1_1OptimizerCeres.html#aaa1128eeb38451086c7abd58ae6142ac" > parseParameters</ a > (const < a class = "el" href = "namespacertabmap.html#ad08b6f1796a27dd7316c99c385e2cc55" > ParametersMap</ a > & parameters)</ td ></ tr >
< tr class = "memdesc:aaa1128eeb38451086c7abd58ae6142ac" >< td class = "mdescLeft" >   </ td >< td class = "mdescRight" > Reads shared knobs from < code > parameters</ code > and applies them to this instance. < br /></ td ></ tr >
< tr class = "separator:aaa1128eeb38451086c7abd58ae6142ac" >< td class = "memSeparator" colspan = "2" >   </ td ></ tr >
< tr class = "memitem:ab988decf55da4a8821931855ddaa1c1a" id = "r_ab988decf55da4a8821931855ddaa1c1a" >< td class = "memItemLeft" align = "right" valign = "top" > virtual std::map< int, < a class = "el" href = "classrtabmap_1_1Transform.html" > Transform</ a > >  </ td >< td class = "memItemRight" valign = "bottom" >< a class = "el" href = "classrtabmap_1_1OptimizerCeres.html#ab988decf55da4a8821931855ddaa1c1a" > optimize</ a > (int rootId, const std::map< int, < a class = "el" href = "classrtabmap_1_1Transform.html" > Transform</ a > > & poses, const std::multimap< int, < a class = "el" href = "classrtabmap_1_1Link.html" > Link</ a > > & edgeConstraints, cv::Mat & outputCovariance, std::list< std::map< int, < a class = "el" href = "classrtabmap_1_1Transform.html" > Transform</ a > > > *intermediateGraphes=0, double *finalError=0, int *iterationsDone=0)</ td ></ tr >
< tr class = "memdesc:ab988decf55da4a8821931855ddaa1c1a" >< td class = "mdescLeft" >   </ td >< td class = "mdescRight" > Pose-graph optimization with marginal covariance of < code > rootId</ code > . < br /></ td ></ tr >
< tr class = "separator:ab988decf55da4a8821931855ddaa1c1a" >< td class = "memSeparator" colspan = "2" >   </ td ></ tr >
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< tr class = "memitem:af5c6d465dc4fa7c9045cd241dae5d077" id = "r_af5c6d465dc4fa7c9045cd241dae5d077" >< td class = "memItemLeft" align = "right" valign = "top" > virtual std::map< int, < a class = "el" href = "classrtabmap_1_1Transform.html" > Transform</ a > >  </ td >< td class = "memItemRight" valign = "bottom" >< a class = "el" href = "classrtabmap_1_1OptimizerCeres.html#af5c6d465dc4fa7c9045cd241dae5d077" > optimizeBA</ a > (int rootId, const std::map< int, < a class = "el" href = "classrtabmap_1_1Transform.html" > Transform</ a > > & poses, const std::multimap< int, < a class = "el" href = "classrtabmap_1_1Link.html" > Link</ a > > & links, const std::map< int, std::vector< < a class = "el" href = "classrtabmap_1_1CameraModel.html" > CameraModel</ a > > > & models, std::map< int, cv::Point3f > & points3DMap, const std::map< int, std::map< int, < a class = "el" href = "classrtabmap_1_1FeatureBA.html" > FeatureBA</ a > > > & wordReferences, BAOutliers *outliers=0)</ td ></ tr >
< tr class = "memdesc:af5c6d465dc4fa7c9045cd241dae5d077" >< td class = "mdescLeft" >   </ td >< td class = "mdescRight" > Bundle adjustment: jointly refine poses and 3D points (back-end-level entry point). < br /></ td ></ tr >
< tr class = "separator:af5c6d465dc4fa7c9045cd241dae5d077" >< td class = "memSeparator" colspan = "2" >   </ td ></ tr >
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< tr class = "inherit_header pub_methods_classrtabmap_1_1Optimizer" >< td colspan = "2" onclick = "javascript:toggleInherit('pub_methods_classrtabmap_1_1Optimizer')" >< img src = "closed.png" alt = "-" />   Public Member Functions inherited from < a class = "el" href = "classrtabmap_1_1Optimizer.html" > rtabmap::Optimizer</ a ></ td ></ tr >
< tr class = "memitem:a4477c9a5b6651729944726465b5eba7f inherit pub_methods_classrtabmap_1_1Optimizer" id = "r_a4477c9a5b6651729944726465b5eba7f" >< td class = "memItemLeft" align = "right" valign = "top" > void  </ td >< td class = "memItemRight" valign = "bottom" >< a class = "el" href = "classrtabmap_1_1Optimizer.html#a4477c9a5b6651729944726465b5eba7f" > getConnectedGraph</ a > (int fromId, const std::map< int, < a class = "el" href = "classrtabmap_1_1Transform.html" > Transform</ a > > & posesIn, const std::multimap< int, < a class = "el" href = "classrtabmap_1_1Link.html" > Link</ a > > & linksIn, std::map< int, < a class = "el" href = "classrtabmap_1_1Transform.html" > Transform</ a > > & posesOut, std::multimap< int, < a class = "el" href = "classrtabmap_1_1Link.html" > Link</ a > > & linksOut) const</ td ></ tr >
< tr class = "memdesc:a4477c9a5b6651729944726465b5eba7f inherit pub_methods_classrtabmap_1_1Optimizer" >< td class = "mdescLeft" >   </ td >< td class = "mdescRight" > Extracts the connected component reachable from < code > fromId</ code > . < br /></ td ></ tr >
< tr class = "separator:a4477c9a5b6651729944726465b5eba7f inherit pub_methods_classrtabmap_1_1Optimizer" >< td class = "memSeparator" colspan = "2" >   </ td ></ tr >
< tr class = "memitem:a278f42e0d250085ac6fe9ed425627acf inherit pub_methods_classrtabmap_1_1Optimizer" id = "r_a278f42e0d250085ac6fe9ed425627acf" >< td class = "memItemLeft" align = "right" valign = "top" > std::map< int, < a class = "el" href = "classrtabmap_1_1Transform.html" > Transform</ a > >  </ td >< td class = "memItemRight" valign = "bottom" >< a class = "el" href = "classrtabmap_1_1Optimizer.html#a278f42e0d250085ac6fe9ed425627acf" > optimizeIncremental</ a > (int rootId, const std::map< int, < a class = "el" href = "classrtabmap_1_1Transform.html" > Transform</ a > > & poses, const std::multimap< int, < a class = "el" href = "classrtabmap_1_1Link.html" > Link</ a > > & constraints, std::list< std::map< int, < a class = "el" href = "classrtabmap_1_1Transform.html" > Transform</ a > > > *intermediateGraphes=0, double *finalError=0, int *iterationsDone=0)</ td ></ tr >
< tr class = "memdesc:a278f42e0d250085ac6fe9ed425627acf inherit pub_methods_classrtabmap_1_1Optimizer" >< td class = "mdescLeft" >   </ td >< td class = "mdescRight" > Pose-graph optimization that grows the graph one node at a time. < br /></ td ></ tr >
< tr class = "separator:a278f42e0d250085ac6fe9ed425627acf inherit pub_methods_classrtabmap_1_1Optimizer" >< td class = "memSeparator" colspan = "2" >   </ td ></ tr >
< tr class = "memitem:a7e3aff943e77603493a358ff522fa2dc inherit pub_methods_classrtabmap_1_1Optimizer" id = "r_a7e3aff943e77603493a358ff522fa2dc" >< td class = "memItemLeft" align = "right" valign = "top" > std::map< int, < a class = "el" href = "classrtabmap_1_1Transform.html" > Transform</ a > >  </ td >< td class = "memItemRight" valign = "bottom" >< a class = "el" href = "classrtabmap_1_1Optimizer.html#a7e3aff943e77603493a358ff522fa2dc" > optimize</ a > (int rootId, const std::map< int, < a class = "el" href = "classrtabmap_1_1Transform.html" > Transform</ a > > & poses, const std::multimap< int, < a class = "el" href = "classrtabmap_1_1Link.html" > Link</ a > > & constraints, std::list< std::map< int, < a class = "el" href = "classrtabmap_1_1Transform.html" > Transform</ a > > > *intermediateGraphes=0, double *finalError=0, int *iterationsDone=0)</ td ></ tr >
< tr class = "memdesc:a7e3aff943e77603493a358ff522fa2dc inherit pub_methods_classrtabmap_1_1Optimizer" >< td class = "mdescLeft" >   </ td >< td class = "mdescRight" > Pose-graph optimization (single shot). < br /></ td ></ tr >
< tr class = "separator:a7e3aff943e77603493a358ff522fa2dc inherit pub_methods_classrtabmap_1_1Optimizer" >< td class = "memSeparator" colspan = "2" >   </ td ></ tr >
< tr class = "memitem:a2f7cbdebed9787ffa6b0b30536dfa1a0 inherit pub_methods_classrtabmap_1_1Optimizer" id = "r_a2f7cbdebed9787ffa6b0b30536dfa1a0" >< td class = "memItemLeft" align = "right" valign = "top" > std::map< int, < a class = "el" href = "classrtabmap_1_1Transform.html" > Transform</ a > >  </ td >< td class = "memItemRight" valign = "bottom" >< a class = "el" href = "classrtabmap_1_1Optimizer.html#a2f7cbdebed9787ffa6b0b30536dfa1a0" > optimizeBA</ a > (int rootId, const std::map< int, < a class = "el" href = "classrtabmap_1_1Transform.html" > Transform</ a > > & poses, const std::multimap< int, < a class = "el" href = "classrtabmap_1_1Link.html" > Link</ a > > & links, const std::map< int, < a class = "el" href = "classrtabmap_1_1Signature.html" > Signature</ a > > & signatures, std::map< int, cv::Point3f > & points3DMap, std::map< int, std::map< int, < a class = "el" href = "classrtabmap_1_1FeatureBA.html" > FeatureBA</ a > > > & wordReferences, bool rematchFeatures=false, const < a class = "el" href = "namespacertabmap.html#ad08b6f1796a27dd7316c99c385e2cc55" > ParametersMap</ a > & registrationParameters=< a class = "el" href = "namespacertabmap.html#ad08b6f1796a27dd7316c99c385e2cc55" > ParametersMap</ a > ())</ td ></ tr >
< tr class = "memdesc:a2f7cbdebed9787ffa6b0b30536dfa1a0 inherit pub_methods_classrtabmap_1_1Optimizer" >< td class = "mdescLeft" >   </ td >< td class = "mdescRight" > BA wrapper that derives camera models and correspondences from signatures. < br /></ td ></ tr >
< tr class = "separator:a2f7cbdebed9787ffa6b0b30536dfa1a0 inherit pub_methods_classrtabmap_1_1Optimizer" >< td class = "memSeparator" colspan = "2" >   </ td ></ tr >
< tr class = "memitem:aab99f045516162944ad68fdabacb53dc inherit pub_methods_classrtabmap_1_1Optimizer" id = "r_aab99f045516162944ad68fdabacb53dc" >< td class = "memItemLeft" align = "right" valign = "top" >
std::map< int, < a class = "el" href = "classrtabmap_1_1Transform.html" > Transform</ a > >  </ td >< td class = "memItemRight" valign = "bottom" >< b > optimizeBA</ b > (int rootId, const std::map< int, < a class = "el" href = "classrtabmap_1_1Transform.html" > Transform</ a > > & poses, const std::multimap< int, < a class = "el" href = "classrtabmap_1_1Link.html" > Link</ a > > & links, const std::map< int, < a class = "el" href = "classrtabmap_1_1Signature.html" > Signature</ a > > & signatures, bool rematchFeatures=false, const < a class = "el" href = "namespacertabmap.html#ad08b6f1796a27dd7316c99c385e2cc55" > ParametersMap</ a > & registrationParameters=< a class = "el" href = "namespacertabmap.html#ad08b6f1796a27dd7316c99c385e2cc55" > ParametersMap</ a > ())</ td ></ tr >
< tr class = "memdesc:aab99f045516162944ad68fdabacb53dc inherit pub_methods_classrtabmap_1_1Optimizer" >< td class = "mdescLeft" >   </ td >< td class = "mdescRight" > BA convenience wrapper: like the overload above but ignores the refined 3D points and observation map. < br /></ td ></ tr >
< tr class = "separator:aab99f045516162944ad68fdabacb53dc inherit pub_methods_classrtabmap_1_1Optimizer" >< td class = "memSeparator" colspan = "2" >   </ td ></ tr >
2026-08-10 00:39:24 +00:00
< tr class = "memitem:aedaeb7cc371f3685f8595d9a151f6605 inherit pub_methods_classrtabmap_1_1Optimizer" id = "r_aedaeb7cc371f3685f8595d9a151f6605" >< td class = "memItemLeft" align = "right" valign = "top" >< a class = "el" href = "classrtabmap_1_1Transform.html" > Transform</ a >   </ td >< td class = "memItemRight" valign = "bottom" >< a class = "el" href = "classrtabmap_1_1Optimizer.html#aedaeb7cc371f3685f8595d9a151f6605" > optimizeBA</ a > (const < a class = "el" href = "classrtabmap_1_1Link.html" > Link</ a > & link, const < a class = "el" href = "classrtabmap_1_1CameraModel.html" > CameraModel</ a > & model, std::map< int, cv::Point3f > & points3DMap, const std::map< int, std::map< int, < a class = "el" href = "classrtabmap_1_1FeatureBA.html" > FeatureBA</ a > > > & wordReferences, BAOutliers *outliers=0)</ td ></ tr >
< tr class = "memdesc:aedaeb7cc371f3685f8595d9a151f6605 inherit pub_methods_classrtabmap_1_1Optimizer" >< td class = "mdescLeft" >   </ td >< td class = "mdescRight" > Refine a single two-frame link via BA. < br /></ td ></ tr >
< tr class = "separator:aedaeb7cc371f3685f8595d9a151f6605 inherit pub_methods_classrtabmap_1_1Optimizer" >< td class = "memSeparator" colspan = "2" >   </ td ></ tr >
2026-08-06 22:56:24 +00:00
< tr class = "memitem:a93fb09dac068e64de000f692bcb8216f inherit pub_methods_classrtabmap_1_1Optimizer" id = "r_a93fb09dac068e64de000f692bcb8216f" >< td class = "memItemLeft" align = "right" valign = "top" > void  </ td >< td class = "memItemRight" valign = "bottom" >< a class = "el" href = "classrtabmap_1_1Optimizer.html#a93fb09dac068e64de000f692bcb8216f" > computeBACorrespondences</ a > (const std::map< int, < a class = "el" href = "classrtabmap_1_1Transform.html" > Transform</ a > > & poses, const std::multimap< int, < a class = "el" href = "classrtabmap_1_1Link.html" > Link</ a > > & links, const std::map< int, < a class = "el" href = "classrtabmap_1_1Signature.html" > Signature</ a > > & signatures, std::map< int, cv::Point3f > & points3DMap, std::map< int, std::map< int, < a class = "el" href = "classrtabmap_1_1FeatureBA.html" > FeatureBA</ a > > > & wordReferences, bool rematchFeatures=false, bool useLinkTransformAsGuess=false, < a class = "el" href = "namespacertabmap.html#ad08b6f1796a27dd7316c99c385e2cc55" > ParametersMap</ a > registrationParameters=< a class = "el" href = "namespacertabmap.html#ad08b6f1796a27dd7316c99c385e2cc55" > ParametersMap</ a > ())</ td ></ tr >
< tr class = "memdesc:a93fb09dac068e64de000f692bcb8216f inherit pub_methods_classrtabmap_1_1Optimizer" >< td class = "mdescLeft" >   </ td >< td class = "mdescRight" > Build BA correspondences (3D points + per-frame observations) from signatures. < br /></ td ></ tr >
< tr class = "separator:a93fb09dac068e64de000f692bcb8216f inherit pub_methods_classrtabmap_1_1Optimizer" >< td class = "memSeparator" colspan = "2" >   </ td ></ tr >
< tr class = "memitem:a178bb719b0e22863e29add12c85e14a5 inherit pub_methods_classrtabmap_1_1Optimizer" id = "r_a178bb719b0e22863e29add12c85e14a5" >< td class = "memItemLeft" align = "right" valign = "top" > int  </ td >< td class = "memItemRight" valign = "bottom" >< a class = "el" href = "classrtabmap_1_1Optimizer.html#a178bb719b0e22863e29add12c85e14a5" > iterations</ a > () const</ td ></ tr >
< tr class = "memdesc:a178bb719b0e22863e29add12c85e14a5 inherit pub_methods_classrtabmap_1_1Optimizer" >< td class = "mdescLeft" >   </ td >< td class = "mdescRight" > Max solver iterations. < br /></ td ></ tr >
< tr class = "separator:a178bb719b0e22863e29add12c85e14a5 inherit pub_methods_classrtabmap_1_1Optimizer" >< td class = "memSeparator" colspan = "2" >   </ td ></ tr >
< tr class = "memitem:a51485674608bbf910922ecee43cc13aa inherit pub_methods_classrtabmap_1_1Optimizer" id = "r_a51485674608bbf910922ecee43cc13aa" >< td class = "memItemLeft" align = "right" valign = "top" > bool  </ td >< td class = "memItemRight" valign = "bottom" >< a class = "el" href = "classrtabmap_1_1Optimizer.html#a51485674608bbf910922ecee43cc13aa" > isSlam2d</ a > () const</ td ></ tr >
< tr class = "memdesc:a51485674608bbf910922ecee43cc13aa inherit pub_methods_classrtabmap_1_1Optimizer" >< td class = "mdescLeft" >   </ td >< td class = "mdescRight" > True if optimizing in SE(2) instead of SE(3). < br /></ td ></ tr >
< tr class = "separator:a51485674608bbf910922ecee43cc13aa inherit pub_methods_classrtabmap_1_1Optimizer" >< td class = "memSeparator" colspan = "2" >   </ td ></ tr >
< tr class = "memitem:a8bb6372ce4c67fd9b8d54f692ac34238 inherit pub_methods_classrtabmap_1_1Optimizer" id = "r_a8bb6372ce4c67fd9b8d54f692ac34238" >< td class = "memItemLeft" align = "right" valign = "top" > bool  </ td >< td class = "memItemRight" valign = "bottom" >< a class = "el" href = "classrtabmap_1_1Optimizer.html#a8bb6372ce4c67fd9b8d54f692ac34238" > isCovarianceIgnored</ a > () const</ td ></ tr >
< tr class = "memdesc:a8bb6372ce4c67fd9b8d54f692ac34238 inherit pub_methods_classrtabmap_1_1Optimizer" >< td class = "mdescLeft" >   </ td >< td class = "mdescRight" > If true, all edges share an identity information matrix. < br /></ td ></ tr >
< tr class = "separator:a8bb6372ce4c67fd9b8d54f692ac34238 inherit pub_methods_classrtabmap_1_1Optimizer" >< td class = "memSeparator" colspan = "2" >   </ td ></ tr >
< tr class = "memitem:a3bca4e3df1048f8bbad9b3b9473924a2 inherit pub_methods_classrtabmap_1_1Optimizer" id = "r_a3bca4e3df1048f8bbad9b3b9473924a2" >< td class = "memItemLeft" align = "right" valign = "top" > double  </ td >< td class = "memItemRight" valign = "bottom" >< a class = "el" href = "classrtabmap_1_1Optimizer.html#a3bca4e3df1048f8bbad9b3b9473924a2" > epsilon</ a > () const</ td ></ tr >
< tr class = "memdesc:a3bca4e3df1048f8bbad9b3b9473924a2 inherit pub_methods_classrtabmap_1_1Optimizer" >< td class = "mdescLeft" >   </ td >< td class = "mdescRight" > Convergence threshold on cost decrease. < br /></ td ></ tr >
< tr class = "separator:a3bca4e3df1048f8bbad9b3b9473924a2 inherit pub_methods_classrtabmap_1_1Optimizer" >< td class = "memSeparator" colspan = "2" >   </ td ></ tr >
< tr class = "memitem:a29ba07e1e829ae616d82756977161c9f inherit pub_methods_classrtabmap_1_1Optimizer" id = "r_a29ba07e1e829ae616d82756977161c9f" >< td class = "memItemLeft" align = "right" valign = "top" > bool  </ td >< td class = "memItemRight" valign = "bottom" >< a class = "el" href = "classrtabmap_1_1Optimizer.html#a29ba07e1e829ae616d82756977161c9f" > isRobust</ a > () const</ td ></ tr >
< tr class = "memdesc:a29ba07e1e829ae616d82756977161c9f inherit pub_methods_classrtabmap_1_1Optimizer" >< td class = "mdescLeft" >   </ td >< td class = "mdescRight" > If true, use a robust kernel / switchable factors against bad loop closures. < br /></ td ></ tr >
< tr class = "separator:a29ba07e1e829ae616d82756977161c9f inherit pub_methods_classrtabmap_1_1Optimizer" >< td class = "memSeparator" colspan = "2" >   </ td ></ tr >
< tr class = "memitem:aeebd0d5575ab7e9f492b095c05ddb237 inherit pub_methods_classrtabmap_1_1Optimizer" id = "r_aeebd0d5575ab7e9f492b095c05ddb237" >< td class = "memItemLeft" align = "right" valign = "top" > bool  </ td >< td class = "memItemRight" valign = "bottom" >< a class = "el" href = "classrtabmap_1_1Optimizer.html#aeebd0d5575ab7e9f492b095c05ddb237" > priorsIgnored</ a > () const</ td ></ tr >
< tr class = "memdesc:aeebd0d5575ab7e9f492b095c05ddb237 inherit pub_methods_classrtabmap_1_1Optimizer" >< td class = "mdescLeft" >   </ td >< td class = "mdescRight" > If true, unary priors on poses are dropped. < br /></ td ></ tr >
< tr class = "separator:aeebd0d5575ab7e9f492b095c05ddb237 inherit pub_methods_classrtabmap_1_1Optimizer" >< td class = "memSeparator" colspan = "2" >   </ td ></ tr >
< tr class = "memitem:a32f53d408ef0372c5c196ee89ff5ad79 inherit pub_methods_classrtabmap_1_1Optimizer" id = "r_a32f53d408ef0372c5c196ee89ff5ad79" >< td class = "memItemLeft" align = "right" valign = "top" > bool  </ td >< td class = "memItemRight" valign = "bottom" >< a class = "el" href = "classrtabmap_1_1Optimizer.html#a32f53d408ef0372c5c196ee89ff5ad79" > landmarksIgnored</ a > () const</ td ></ tr >
< tr class = "memdesc:a32f53d408ef0372c5c196ee89ff5ad79 inherit pub_methods_classrtabmap_1_1Optimizer" >< td class = "mdescLeft" >   </ td >< td class = "mdescRight" > If true, landmark/marker observations are dropped. < br /></ td ></ tr >
< tr class = "separator:a32f53d408ef0372c5c196ee89ff5ad79 inherit pub_methods_classrtabmap_1_1Optimizer" >< td class = "memSeparator" colspan = "2" >   </ td ></ tr >
< tr class = "memitem:aceb68e0f692b81c4a978e46f804515d7 inherit pub_methods_classrtabmap_1_1Optimizer" id = "r_aceb68e0f692b81c4a978e46f804515d7" >< td class = "memItemLeft" align = "right" valign = "top" > float  </ td >< td class = "memItemRight" valign = "bottom" >< a class = "el" href = "classrtabmap_1_1Optimizer.html#aceb68e0f692b81c4a978e46f804515d7" > gravitySigma</ a > () const</ td ></ tr >
< tr class = "memdesc:aceb68e0f692b81c4a978e46f804515d7 inherit pub_methods_classrtabmap_1_1Optimizer" >< td class = "mdescLeft" >   </ td >< td class = "mdescRight" > Std-dev (rad) of the gravity prior on roll/pitch; 0 disables it. < br /></ td ></ tr >
< tr class = "separator:aceb68e0f692b81c4a978e46f804515d7 inherit pub_methods_classrtabmap_1_1Optimizer" >< td class = "memSeparator" colspan = "2" >   </ td ></ tr >
< tr class = "memitem:abe01fb650ef1d6fbd21af93a6ffe5c8b inherit pub_methods_classrtabmap_1_1Optimizer" id = "r_abe01fb650ef1d6fbd21af93a6ffe5c8b" >< td class = "memItemLeft" align = "right" valign = "top" > void  </ td >< td class = "memItemRight" valign = "bottom" >< a class = "el" href = "classrtabmap_1_1Optimizer.html#abe01fb650ef1d6fbd21af93a6ffe5c8b" > setIterations</ a > (int < a class = "el" href = "classrtabmap_1_1Optimizer.html#a178bb719b0e22863e29add12c85e14a5" > iterations</ a > )</ td ></ tr >
< tr class = "separator:abe01fb650ef1d6fbd21af93a6ffe5c8b inherit pub_methods_classrtabmap_1_1Optimizer" >< td class = "memSeparator" colspan = "2" >   </ td ></ tr >
< tr class = "memitem:ae15ad77a795f8391648508f9071753dd inherit pub_methods_classrtabmap_1_1Optimizer" id = "r_ae15ad77a795f8391648508f9071753dd" >< td class = "memItemLeft" align = "right" valign = "top" > void  </ td >< td class = "memItemRight" valign = "bottom" >< a class = "el" href = "classrtabmap_1_1Optimizer.html#ae15ad77a795f8391648508f9071753dd" > setSlam2d</ a > (bool enabled)</ td ></ tr >
< tr class = "separator:ae15ad77a795f8391648508f9071753dd inherit pub_methods_classrtabmap_1_1Optimizer" >< td class = "memSeparator" colspan = "2" >   </ td ></ tr >
< tr class = "memitem:a5055007e4cc5af9028956e1da3047c4f inherit pub_methods_classrtabmap_1_1Optimizer" id = "r_a5055007e4cc5af9028956e1da3047c4f" >< td class = "memItemLeft" align = "right" valign = "top" > void  </ td >< td class = "memItemRight" valign = "bottom" >< a class = "el" href = "classrtabmap_1_1Optimizer.html#a5055007e4cc5af9028956e1da3047c4f" > setCovarianceIgnored</ a > (bool enabled)</ td ></ tr >
< tr class = "separator:a5055007e4cc5af9028956e1da3047c4f inherit pub_methods_classrtabmap_1_1Optimizer" >< td class = "memSeparator" colspan = "2" >   </ td ></ tr >
< tr class = "memitem:a3914e9e0310c37340998b92030dc9d68 inherit pub_methods_classrtabmap_1_1Optimizer" id = "r_a3914e9e0310c37340998b92030dc9d68" >< td class = "memItemLeft" align = "right" valign = "top" > void  </ td >< td class = "memItemRight" valign = "bottom" >< a class = "el" href = "classrtabmap_1_1Optimizer.html#a3914e9e0310c37340998b92030dc9d68" > setEpsilon</ a > (double < a class = "el" href = "classrtabmap_1_1Optimizer.html#a3bca4e3df1048f8bbad9b3b9473924a2" > epsilon</ a > )</ td ></ tr >
< tr class = "separator:a3914e9e0310c37340998b92030dc9d68 inherit pub_methods_classrtabmap_1_1Optimizer" >< td class = "memSeparator" colspan = "2" >   </ td ></ tr >
< tr class = "memitem:a1008348a699d769f52921ebbfbce171e inherit pub_methods_classrtabmap_1_1Optimizer" id = "r_a1008348a699d769f52921ebbfbce171e" >< td class = "memItemLeft" align = "right" valign = "top" > void  </ td >< td class = "memItemRight" valign = "bottom" >< a class = "el" href = "classrtabmap_1_1Optimizer.html#a1008348a699d769f52921ebbfbce171e" > setRobust</ a > (bool enabled)</ td ></ tr >
< tr class = "separator:a1008348a699d769f52921ebbfbce171e inherit pub_methods_classrtabmap_1_1Optimizer" >< td class = "memSeparator" colspan = "2" >   </ td ></ tr >
< tr class = "memitem:a568f1db66bef63e490d48b1db1720517 inherit pub_methods_classrtabmap_1_1Optimizer" id = "r_a568f1db66bef63e490d48b1db1720517" >< td class = "memItemLeft" align = "right" valign = "top" > void  </ td >< td class = "memItemRight" valign = "bottom" >< a class = "el" href = "classrtabmap_1_1Optimizer.html#a568f1db66bef63e490d48b1db1720517" > setPriorsIgnored</ a > (bool enabled)</ td ></ tr >
< tr class = "separator:a568f1db66bef63e490d48b1db1720517 inherit pub_methods_classrtabmap_1_1Optimizer" >< td class = "memSeparator" colspan = "2" >   </ td ></ tr >
< tr class = "memitem:a31403359b9ef2f72d9639d4d0c8bb1ed inherit pub_methods_classrtabmap_1_1Optimizer" id = "r_a31403359b9ef2f72d9639d4d0c8bb1ed" >< td class = "memItemLeft" align = "right" valign = "top" > void  </ td >< td class = "memItemRight" valign = "bottom" >< a class = "el" href = "classrtabmap_1_1Optimizer.html#a31403359b9ef2f72d9639d4d0c8bb1ed" > setLandmarksIgnored</ a > (bool enabled)</ td ></ tr >
< tr class = "separator:a31403359b9ef2f72d9639d4d0c8bb1ed inherit pub_methods_classrtabmap_1_1Optimizer" >< td class = "memSeparator" colspan = "2" >   </ td ></ tr >
< tr class = "memitem:ad61ce1ac9ca73cd04b833cf65c098b8c inherit pub_methods_classrtabmap_1_1Optimizer" id = "r_ad61ce1ac9ca73cd04b833cf65c098b8c" >< td class = "memItemLeft" align = "right" valign = "top" > void  </ td >< td class = "memItemRight" valign = "bottom" >< a class = "el" href = "classrtabmap_1_1Optimizer.html#ad61ce1ac9ca73cd04b833cf65c098b8c" > setGravitySigma</ a > (float value)</ td ></ tr >
< tr class = "separator:ad61ce1ac9ca73cd04b833cf65c098b8c inherit pub_methods_classrtabmap_1_1Optimizer" >< td class = "memSeparator" colspan = "2" >   </ td ></ tr >
</ table >< table class = "memberdecls" >
< tr class = "heading" >< td colspan = "2" >< h2 class = "groupheader" >< a id = "pub-static-methods" name = "pub-static-methods" ></ a >
Static Public Member Functions</ h2 ></ td ></ tr >
< tr class = "memitem:a26e6516ded4fe6d1b016950b3db0899d" id = "r_a26e6516ded4fe6d1b016950b3db0899d" >< td class = "memItemLeft" align = "right" valign = "top" >< a id = "a26e6516ded4fe6d1b016950b3db0899d" name = "a26e6516ded4fe6d1b016950b3db0899d" ></ a >
static bool  </ td >< td class = "memItemRight" valign = "bottom" >< b > available</ b > ()</ td ></ tr >
< tr class = "separator:a26e6516ded4fe6d1b016950b3db0899d" >< td class = "memSeparator" colspan = "2" >   </ td ></ tr >
< tr class = "inherit_header pub_static_methods_classrtabmap_1_1Optimizer" >< td colspan = "2" onclick = "javascript:toggleInherit('pub_static_methods_classrtabmap_1_1Optimizer')" >< img src = "closed.png" alt = "-" />   Static Public Member Functions inherited from < a class = "el" href = "classrtabmap_1_1Optimizer.html" > rtabmap::Optimizer</ a ></ td ></ tr >
< tr class = "memitem:afe0381a3b42926b7634027e522766eb1 inherit pub_static_methods_classrtabmap_1_1Optimizer" id = "r_afe0381a3b42926b7634027e522766eb1" >< td class = "memItemLeft" align = "right" valign = "top" > static bool  </ td >< td class = "memItemRight" valign = "bottom" >< a class = "el" href = "classrtabmap_1_1Optimizer.html#afe0381a3b42926b7634027e522766eb1" > isAvailable</ a > (< a class = "el" href = "classrtabmap_1_1Optimizer.html#a18ae8ac76346d1adc68ab176a5b02d16" > Optimizer::Type</ a > < a class = "el" href = "classrtabmap_1_1Optimizer.html#aa2be82e1f986b1beae103148be7cd520" > type</ a > )</ td ></ tr >
< tr class = "memdesc:afe0381a3b42926b7634027e522766eb1 inherit pub_static_methods_classrtabmap_1_1Optimizer" >< td class = "mdescLeft" >   </ td >< td class = "mdescRight" > Returns whether < code > type</ code > was compiled in (its third-party dependency was found). < br /></ td ></ tr >
< tr class = "separator:afe0381a3b42926b7634027e522766eb1 inherit pub_static_methods_classrtabmap_1_1Optimizer" >< td class = "memSeparator" colspan = "2" >   </ td ></ tr >
< tr class = "memitem:a78b457bec2cdb7bdd320e2bfcca759df inherit pub_static_methods_classrtabmap_1_1Optimizer" id = "r_a78b457bec2cdb7bdd320e2bfcca759df" >< td class = "memItemLeft" align = "right" valign = "top" > static < a class = "el" href = "classrtabmap_1_1Optimizer.html" > Optimizer</ a > *  </ td >< td class = "memItemRight" valign = "bottom" >< a class = "el" href = "classrtabmap_1_1Optimizer.html#a78b457bec2cdb7bdd320e2bfcca759df" > create</ a > (const < a class = "el" href = "namespacertabmap.html#ad08b6f1796a27dd7316c99c385e2cc55" > ParametersMap</ a > & parameters)</ td ></ tr >
< tr class = "memdesc:a78b457bec2cdb7bdd320e2bfcca759df inherit pub_static_methods_classrtabmap_1_1Optimizer" >< td class = "mdescLeft" >   </ td >< td class = "mdescRight" > Factory: build an optimizer from a < a class = "el" href = "namespacertabmap.html#ad08b6f1796a27dd7316c99c385e2cc55" > ParametersMap</ a > . < br /></ td ></ tr >
< tr class = "separator:a78b457bec2cdb7bdd320e2bfcca759df inherit pub_static_methods_classrtabmap_1_1Optimizer" >< td class = "memSeparator" colspan = "2" >   </ td ></ tr >
< tr class = "memitem:aeff86117cf69fdae3c25e5bc327a142d inherit pub_static_methods_classrtabmap_1_1Optimizer" id = "r_aeff86117cf69fdae3c25e5bc327a142d" >< td class = "memItemLeft" align = "right" valign = "top" >
static < a class = "el" href = "classrtabmap_1_1Optimizer.html" > Optimizer</ a > *  </ td >< td class = "memItemRight" valign = "bottom" >< b > create</ b > (< a class = "el" href = "classrtabmap_1_1Optimizer.html#a18ae8ac76346d1adc68ab176a5b02d16" > Optimizer::Type</ a > < a class = "el" href = "classrtabmap_1_1Optimizer.html#aa2be82e1f986b1beae103148be7cd520" > type</ a > , const < a class = "el" href = "namespacertabmap.html#ad08b6f1796a27dd7316c99c385e2cc55" > ParametersMap</ a > & parameters=< a class = "el" href = "namespacertabmap.html#ad08b6f1796a27dd7316c99c385e2cc55" > ParametersMap</ a > ())</ td ></ tr >
< tr class = "memdesc:aeff86117cf69fdae3c25e5bc327a142d inherit pub_static_methods_classrtabmap_1_1Optimizer" >< td class = "mdescLeft" >   </ td >< td class = "mdescRight" > Factory: build an optimizer of a specific < code > type</ code > . Caller owns the result. < br /></ td ></ tr >
< tr class = "separator:aeff86117cf69fdae3c25e5bc327a142d inherit pub_static_methods_classrtabmap_1_1Optimizer" >< td class = "memSeparator" colspan = "2" >   </ td ></ tr >
</ table >< table class = "memberdecls" >
< tr class = "heading" >< td colspan = "2" >< h2 class = "groupheader" >< a id = "inherited" name = "inherited" ></ a >
Additional Inherited Members</ h2 ></ td ></ tr >
< tr class = "inherit_header pub_types_classrtabmap_1_1Optimizer" >< td colspan = "2" onclick = "javascript:toggleInherit('pub_types_classrtabmap_1_1Optimizer')" >< img src = "closed.png" alt = "-" />   Public Types inherited from < a class = "el" href = "classrtabmap_1_1Optimizer.html" > rtabmap::Optimizer</ a ></ td ></ tr >
< tr class = "memitem:a18ae8ac76346d1adc68ab176a5b02d16 inherit pub_types_classrtabmap_1_1Optimizer" id = "r_a18ae8ac76346d1adc68ab176a5b02d16" >< td class = "memItemLeft" align = "right" valign = "top" > enum   </ td >< td class = "memItemRight" valign = "bottom" >< a class = "el" href = "classrtabmap_1_1Optimizer.html#a18ae8ac76346d1adc68ab176a5b02d16" > Type</ a > { < br />
   < a class = "el" href = "classrtabmap_1_1Optimizer.html#a18ae8ac76346d1adc68ab176a5b02d16abae75975865bff7e12e82d2f5295e0db" > kTypeUndef</ a > = -1
, < a class = "el" href = "classrtabmap_1_1Optimizer.html#a18ae8ac76346d1adc68ab176a5b02d16a6065bdb6e49c0f5ffc98d5f2f6b0d5ab" > kTypeTORO</ a > = 0
, < a class = "el" href = "classrtabmap_1_1Optimizer.html#a18ae8ac76346d1adc68ab176a5b02d16aa4d070fe00ba5e81adbc958bad18d853" > kTypeG2O</ a > = 1
, < a class = "el" href = "classrtabmap_1_1Optimizer.html#a18ae8ac76346d1adc68ab176a5b02d16ab71c83617497f5da0607a47ab162630f" > kTypeGTSAM</ a > = 2
, < br />
   < a class = "el" href = "classrtabmap_1_1Optimizer.html#a18ae8ac76346d1adc68ab176a5b02d16a891b6c7cbbe5e149e583ac1fc14fc91d" > kTypeCeres</ a > = 3
, < a class = "el" href = "classrtabmap_1_1Optimizer.html#a18ae8ac76346d1adc68ab176a5b02d16a53545e83af9618cb4d39cf0420b3cd54" > kTypeCVSBA</ a > = 4
< br />
}</ td ></ tr >
< tr class = "memdesc:a18ae8ac76346d1adc68ab176a5b02d16" >< td class = "mdescLeft" >   </ td >< td class = "mdescRight" > Graph-optimizer back-end identifier. < a href = "classrtabmap_1_1Optimizer.html#a18ae8ac76346d1adc68ab176a5b02d16" > More...</ a >< br /></ td ></ tr >
< tr class = "separator:a18ae8ac76346d1adc68ab176a5b02d16 inherit pub_types_classrtabmap_1_1Optimizer" >< td class = "memSeparator" colspan = "2" >   </ td ></ tr >
< tr class = "inherit_header pro_methods_classrtabmap_1_1Optimizer" >< td colspan = "2" onclick = "javascript:toggleInherit('pro_methods_classrtabmap_1_1Optimizer')" >< img src = "closed.png" alt = "-" />   Protected Member Functions inherited from < a class = "el" href = "classrtabmap_1_1Optimizer.html" > rtabmap::Optimizer</ a ></ td ></ tr >
< tr class = "memitem:a8c9e731f0c81d267a4aae62941b5af18 inherit pro_methods_classrtabmap_1_1Optimizer" id = "r_a8c9e731f0c81d267a4aae62941b5af18" >< td class = "memItemLeft" align = "right" valign = "top" >
  </ td >< td class = "memItemRight" valign = "bottom" >< b > Optimizer</ b > (int < a class = "el" href = "classrtabmap_1_1Optimizer.html#a178bb719b0e22863e29add12c85e14a5" > iterations</ a > =< a class = "el" href = "classrtabmap_1_1Parameters.html#a88a7018a56b4e6c7c0ceb8e11286f319" > Parameters::defaultOptimizerIterations</ a > (), bool slam2d=< a class = "el" href = "classrtabmap_1_1Parameters.html#aee1046f9615d2ed988c952cc47c9331e" > Parameters::defaultRegForce3DoF</ a > (), bool covarianceIgnored=< a class = "el" href = "classrtabmap_1_1Parameters.html#ad329ace1333ac8c94cd4043b58173f1b" > Parameters::defaultOptimizerVarianceIgnored</ a > (), double < a class = "el" href = "classrtabmap_1_1Optimizer.html#a3bca4e3df1048f8bbad9b3b9473924a2" > epsilon</ a > =< a class = "el" href = "classrtabmap_1_1Parameters.html#a8fb0df24ed2d24a013abc03828f43acc" > Parameters::defaultOptimizerEpsilon</ a > (), bool robust=< a class = "el" href = "classrtabmap_1_1Parameters.html#a2a83a1c7b7cc3dfe1b03bd9c10a437fd" > Parameters::defaultOptimizerRobust</ a > (), bool < a class = "el" href = "classrtabmap_1_1Optimizer.html#aeebd0d5575ab7e9f492b095c05ddb237" > priorsIgnored</ a > =< a class = "el" href = "classrtabmap_1_1Parameters.html#a6394c7cc99dca72faf68799adc89ffd7" > Parameters::defaultOptimizerPriorsIgnored</ a > (), bool < a class = "el" href = "classrtabmap_1_1Optimizer.html#a32f53d408ef0372c5c196ee89ff5ad79" > landmarksIgnored</ a > =< a class = "el" href = "classrtabmap_1_1Parameters.html#a45cdc34f61574e7de40f2d4a822b1ca6" > Parameters::defaultOptimizerLandmarksIgnored</ a > (), float < a class = "el" href = "classrtabmap_1_1Optimizer.html#aceb68e0f692b81c4a978e46f804515d7" > gravitySigma</ a > =< a class = "el" href = "classrtabmap_1_1Parameters.html#a88fab03b485f103123fad036a536c71a" > Parameters::defaultOptimizerGravitySigma</ a > ())</ td ></ tr >
< tr class = "separator:a8c9e731f0c81d267a4aae62941b5af18 inherit pro_methods_classrtabmap_1_1Optimizer" >< td class = "memSeparator" colspan = "2" >   </ td ></ tr >
< tr class = "memitem:af6e45bcd0da53aeeabb6a2bf8bfd641a inherit pro_methods_classrtabmap_1_1Optimizer" id = "r_af6e45bcd0da53aeeabb6a2bf8bfd641a" >< td class = "memItemLeft" align = "right" valign = "top" >
  </ td >< td class = "memItemRight" valign = "bottom" >< b > Optimizer</ b > (const < a class = "el" href = "namespacertabmap.html#ad08b6f1796a27dd7316c99c385e2cc55" > ParametersMap</ a > & parameters)</ td ></ tr >
< tr class = "separator:af6e45bcd0da53aeeabb6a2bf8bfd641a inherit pro_methods_classrtabmap_1_1Optimizer" >< td class = "memSeparator" colspan = "2" >   </ td ></ tr >
</ table >
< a name = "details" id = "details" ></ a >< h2 class = "groupheader" > Detailed Description</ h2 >
< div class = "textblock" >
< p class = "definition" > Definition at line < a class = "el" href = "OptimizerCeres_8h_source.html#l00035" > 35</ a > of file < a class = "el" href = "OptimizerCeres_8h_source.html" > OptimizerCeres.h</ a > .</ p >
</ div >< h2 class = "groupheader" > Constructor & Destructor Documentation</ h2 >
< a id = "abb916a03a9c397d047384e9739569d01" name = "abb916a03a9c397d047384e9739569d01" ></ a >
< h2 class = "memtitle" >< span class = "permalink" >< a href = "#abb916a03a9c397d047384e9739569d01" > ◆  </ a ></ span > OptimizerCeres()</ h2 >
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< td class = "memname" > rtabmap::OptimizerCeres::OptimizerCeres </ td >
< td > (</ td >
< td class = "paramtype" > int  </ td >
< td class = "paramname" >< em > iterations</ em > = < code >< a class = "el" href = "classrtabmap_1_1Parameters.html#a88a7018a56b4e6c7c0ceb8e11286f319" > Parameters::defaultOptimizerIterations</ a > ()</ code > , </ td >
</ tr >
< tr >
< td class = "paramkey" ></ td >
< td ></ td >
< td class = "paramtype" > bool  </ td >
< td class = "paramname" >< em > slam2d</ em > = < code >< a class = "el" href = "classrtabmap_1_1Parameters.html#aee1046f9615d2ed988c952cc47c9331e" > Parameters::defaultRegForce3DoF</ a > ()</ code > , </ td >
</ tr >
< tr >
< td class = "paramkey" ></ td >
< td ></ td >
< td class = "paramtype" > bool  </ td >
< td class = "paramname" >< em > covarianceIgnored</ em > = < code >< a class = "el" href = "classrtabmap_1_1Parameters.html#ad329ace1333ac8c94cd4043b58173f1b" > Parameters::defaultOptimizerVarianceIgnored</ a > ()</ code > , </ td >
</ tr >
< tr >
< td class = "paramkey" ></ td >
< td ></ td >
< td class = "paramtype" > double  </ td >
< td class = "paramname" >< em > epsilon</ em > = < code >< a class = "el" href = "classrtabmap_1_1Parameters.html#a8fb0df24ed2d24a013abc03828f43acc" > Parameters::defaultOptimizerEpsilon</ a > ()</ code >   </ td >
</ tr >
< tr >
< td ></ td >
< td > )</ td >
< td ></ td >< td ></ td >
</ tr >
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</ td >
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< span class = "mlabels" >< span class = "mlabel" > inline</ span ></ span > </ td >
</ tr >
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</ div >< div class = "memdoc" >
< p class = "definition" > Definition at line < a class = "el" href = "OptimizerCeres_8h_source.html#l00041" > 41</ a > of file < a class = "el" href = "OptimizerCeres_8h_source.html" > OptimizerCeres.h</ a > .</ p >
</ div >
</ div >
< a id = "a8eaf12f2d914833bad4ffdcdbdfb647a" name = "a8eaf12f2d914833bad4ffdcdbdfb647a" ></ a >
< h2 class = "memtitle" >< span class = "permalink" >< a href = "#a8eaf12f2d914833bad4ffdcdbdfb647a" > ◆  </ a ></ span > ~OptimizerCeres()</ h2 >
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< td class = "memname" > virtual rtabmap::OptimizerCeres::~OptimizerCeres </ td >
< td > (</ td >
< td class = "paramname" ></ td >< td > )</ td >
< td ></ td >
</ tr >
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</ td >
< td class = "mlabels-right" >
< span class = "mlabels" >< span class = "mlabel" > inline</ span >< span class = "mlabel" > virtual</ span ></ span > </ td >
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< p class = "definition" > Definition at line < a class = "el" href = "OptimizerCeres_8h_source.html#l00052" > 52</ a > of file < a class = "el" href = "OptimizerCeres_8h_source.html" > OptimizerCeres.h</ a > .</ p >
</ div >
</ div >
< h2 class = "groupheader" > Member Function Documentation</ h2 >
< a id = "ad6d6c0a0cdbea0ee5082d3aaa94d8e7a" name = "ad6d6c0a0cdbea0ee5082d3aaa94d8e7a" ></ a >
< h2 class = "memtitle" >< span class = "permalink" >< a href = "#ad6d6c0a0cdbea0ee5082d3aaa94d8e7a" > ◆  </ a ></ span > type()</ h2 >
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< td class = "memname" > virtual < a class = "el" href = "classrtabmap_1_1Optimizer.html#a18ae8ac76346d1adc68ab176a5b02d16" > Type</ a > rtabmap::OptimizerCeres::type </ td >
< td > (</ td >
< td class = "paramname" ></ td >< td > )</ td >
< td > const</ td >
</ tr >
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< span class = "mlabels" >< span class = "mlabel" > inline</ span >< span class = "mlabel" > virtual</ span ></ span > </ td >
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< p > Returns the concrete back-end identifier (one of < a class = "el" href = "classrtabmap_1_1Optimizer.html#a18ae8ac76346d1adc68ab176a5b02d16" > Type</ a > ). </ p >
< p > Implements < a class = "el" href = "classrtabmap_1_1Optimizer.html#aa2be82e1f986b1beae103148be7cd520" > rtabmap::Optimizer</ a > .</ p >
< p class = "definition" > Definition at line < a class = "el" href = "OptimizerCeres_8h_source.html#l00054" > 54</ a > of file < a class = "el" href = "OptimizerCeres_8h_source.html" > OptimizerCeres.h</ a > .</ p >
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< a id = "aaa1128eeb38451086c7abd58ae6142ac" name = "aaa1128eeb38451086c7abd58ae6142ac" ></ a >
< h2 class = "memtitle" >< span class = "permalink" >< a href = "#aaa1128eeb38451086c7abd58ae6142ac" > ◆  </ a ></ span > parseParameters()</ h2 >
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< td class = "memname" > virtual void rtabmap::OptimizerCeres::parseParameters </ td >
< td > (</ td >
< td class = "paramtype" > const < a class = "el" href = "namespacertabmap.html#ad08b6f1796a27dd7316c99c385e2cc55" > ParametersMap</ a > &  </ td >
< td class = "paramname" >< em > parameters</ em ></ td >< td > )</ td >
< td ></ td >
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< p > Reads shared knobs from < code > parameters</ code > and applies them to this instance. </ p >
< p > Subclasses override to additionally read back-end-specific keys (e.g. < code > g2o/Solver</ code > , < code > GTSAM/Optimizer</ code > ); they should call this base implementation first. </ p >
< p > Reimplemented from < a class = "el" href = "classrtabmap_1_1Optimizer.html#a0a942bd7902c8d2f9444b8eba6a648a3" > rtabmap::Optimizer</ a > .</ p >
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< a id = "ab988decf55da4a8821931855ddaa1c1a" name = "ab988decf55da4a8821931855ddaa1c1a" ></ a >
< h2 class = "memtitle" >< span class = "permalink" >< a href = "#ab988decf55da4a8821931855ddaa1c1a" > ◆  </ a ></ span > optimize()</ h2 >
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< td class = "memname" > virtual std::map< int, < a class = "el" href = "classrtabmap_1_1Transform.html" > Transform</ a > > rtabmap::OptimizerCeres::optimize </ td >
< td > (</ td >
< td class = "paramtype" > int  </ td >
< td class = "paramname" >< em > rootId</ em > , </ td >
</ tr >
< tr >
< td class = "paramkey" ></ td >
< td ></ td >
< td class = "paramtype" > const std::map< int, < a class = "el" href = "classrtabmap_1_1Transform.html" > Transform</ a > > &  </ td >
< td class = "paramname" >< em > poses</ em > , </ td >
</ tr >
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< td class = "paramkey" ></ td >
< td ></ td >
< td class = "paramtype" > const std::multimap< int, < a class = "el" href = "classrtabmap_1_1Link.html" > Link</ a > > &  </ td >
< td class = "paramname" >< em > constraints</ em > , </ td >
</ tr >
< tr >
< td class = "paramkey" ></ td >
< td ></ td >
< td class = "paramtype" > cv::Mat &  </ td >
< td class = "paramname" >< em > outputCovariance</ em > , </ td >
</ tr >
< tr >
< td class = "paramkey" ></ td >
< td ></ td >
< td class = "paramtype" > std::list< std::map< int, < a class = "el" href = "classrtabmap_1_1Transform.html" > Transform</ a > > > *  </ td >
< td class = "paramname" >< em > intermediateGraphes</ em > = < code > 0</ code > , </ td >
</ tr >
< tr >
< td class = "paramkey" ></ td >
< td ></ td >
< td class = "paramtype" > double *  </ td >
< td class = "paramname" >< em > finalError</ em > = < code > 0</ code > , </ td >
</ tr >
< tr >
< td class = "paramkey" ></ td >
< td ></ td >
< td class = "paramtype" > int *  </ td >
< td class = "paramname" >< em > iterationsDone</ em > = < code > 0</ code >   </ td >
</ tr >
< tr >
< td ></ td >
< td > )</ td >
< td ></ td >< td ></ td >
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< p > Pose-graph optimization with marginal covariance of < code > rootId</ code > . </ p >
< p > This is the primary back-end entry point — concrete subclasses override it. The base implementation just emits an error.</ p >
< dl class = "params" >< dt > Parameters</ dt >< dd >
< table class = "params" >
< tr >< td class = "paramname" > rootId</ td >< td > Pose to hold fixed during optimization. </ td ></ tr >
< tr >< td class = "paramname" > poses</ td >< td > Initial pose estimates. </ td ></ tr >
< tr >< td class = "paramname" > constraints</ td >< td > Relative-pose constraints between pose ids (and optionally to landmarks). </ td ></ tr >
< tr >< td class = "paramname" > outputCovariance</ td >< td > Output: 6x6 covariance of the last optimized pose w.r.t. < code > rootId</ code > (3x3 for 2D mode). Filled only if the back-end supports it. </ td ></ tr >
< tr >< td class = "paramname" > intermediateGraphes</ td >< td > Optional: appended at each iteration for debug/visualization. </ td ></ tr >
< tr >< td class = "paramname" > finalError</ td >< td > Optional: written with the solver's final cost. </ td ></ tr >
< tr >< td class = "paramname" > iterationsDone</ td >< td > Optional: written with the solver's actual iteration count. </ td ></ tr >
</ table >
</ dd >
</ dl >
< dl class = "section return" >< dt > Returns</ dt >< dd > Refined poses, or empty on failure. </ dd ></ dl >
< p > Reimplemented from < a class = "el" href = "classrtabmap_1_1Optimizer.html#af59c8340394268f9a1eb76fd5709f2c3" > rtabmap::Optimizer</ a > .</ p >
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< a id = "af5c6d465dc4fa7c9045cd241dae5d077" name = "af5c6d465dc4fa7c9045cd241dae5d077" ></ a >
< h2 class = "memtitle" >< span class = "permalink" >< a href = "#af5c6d465dc4fa7c9045cd241dae5d077" > ◆  </ a ></ span > optimizeBA()</ h2 >
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< td class = "memname" > virtual std::map< int, < a class = "el" href = "classrtabmap_1_1Transform.html" > Transform</ a > > rtabmap::OptimizerCeres::optimizeBA </ td >
< td > (</ td >
< td class = "paramtype" > int  </ td >
< td class = "paramname" >< em > rootId</ em > , </ td >
</ tr >
< tr >
< td class = "paramkey" ></ td >
< td ></ td >
< td class = "paramtype" > const std::map< int, < a class = "el" href = "classrtabmap_1_1Transform.html" > Transform</ a > > &  </ td >
< td class = "paramname" >< em > poses</ em > , </ td >
</ tr >
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< td class = "paramkey" ></ td >
< td ></ td >
< td class = "paramtype" > const std::multimap< int, < a class = "el" href = "classrtabmap_1_1Link.html" > Link</ a > > &  </ td >
< td class = "paramname" >< em > links</ em > , </ td >
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< td class = "paramkey" ></ td >
< td ></ td >
< td class = "paramtype" > const std::map< int, std::vector< < a class = "el" href = "classrtabmap_1_1CameraModel.html" > CameraModel</ a > > > &  </ td >
< td class = "paramname" >< em > models</ em > , </ td >
</ tr >
< tr >
< td class = "paramkey" ></ td >
< td ></ td >
< td class = "paramtype" > std::map< int, cv::Point3f > &  </ td >
< td class = "paramname" >< em > points3DMap</ em > , </ td >
</ tr >
< tr >
< td class = "paramkey" ></ td >
< td ></ td >
< td class = "paramtype" > const std::map< int, std::map< int, < a class = "el" href = "classrtabmap_1_1FeatureBA.html" > FeatureBA</ a > > > &  </ td >
< td class = "paramname" >< em > wordReferences</ em > , </ td >
</ tr >
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< td class = "paramkey" ></ td >
< td ></ td >
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< td class = "paramtype" > BAOutliers *  </ td >
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< td class = "paramname" >< em > outliers</ em > = < code > 0</ code >   </ td >
</ tr >
< tr >
< td ></ td >
< td > )</ td >
< td ></ td >< td ></ td >
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< p > Bundle adjustment: jointly refine poses and 3D points (back-end-level entry point). </ p >
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< p > Concrete subclasses (g2o, Ceres, cvsba) override this; the base implementation errors out. The other < a class = "el" href = "classrtabmap_1_1OptimizerCeres.html#af5c6d465dc4fa7c9045cd241dae5d077" > optimizeBA()</ a > overloads ultimately funnel here.</ p >
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< dl class = "params" >< dt > Parameters</ dt >< dd >
< table class = "params" >
< tr >< td class = "paramname" > rootId</ td >< td > Pose to hold fixed. If negative, ALL poses other than the (positive) lowest id are held fixed. </ td ></ tr >
< tr >< td class = "paramname" > poses</ td >< td > Initial pose estimates keyed by frame id. </ td ></ tr >
< tr >< td class = "paramname" > links</ td >< td > Edges used to define the BA problem topology. </ td ></ tr >
< tr >< td class = "paramname" > models</ td >< td >< a class = "el" href = "classrtabmap_1_1Camera.html" > Camera</ a > model(s) per frame; for stereo, < code > Tx</ code > must be set on the model (= -baseline*fx). Multi-camera rigs have multiple entries per frame. </ td ></ tr >
< tr >< td class = "paramname" > points3DMap</ td >< td > In/out: world 3D points keyed by word id; refined on return. </ td ></ tr >
< tr >< td class = "paramname" > wordReferences</ td >< td > Observations: < code > < wordId, < frameId, < a class = "el" href = "classrtabmap_1_1FeatureBA.html" title = "A single bundle adjustment feature observation: one keypoint seen in one frame." > FeatureBA</ a > >> </ code > . See < a class = "el" href = "classrtabmap_1_1FeatureBA.html" > FeatureBA</ a > . </ td ></ tr >
< tr >< td class = "paramname" > outliers</ td >< td > Optional output: word ids dropped by the back-end's outlier rejection. </ td ></ tr >
</ table >
</ dd >
</ dl >
< dl class = "section return" >< dt > Returns</ dt >< dd > Refined poses, or empty on failure. </ dd ></ dl >
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< p > Reimplemented from < a class = "el" href = "classrtabmap_1_1Optimizer.html#a1122f017f10105f7e6c14039d41709e5" > rtabmap::Optimizer</ a > .</ p >
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</ div >
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< hr /> The documentation for this class was generated from the following file:< ul >
< li > corelib/include/rtabmap/core/optimizer/< a class = "el" href = "OptimizerCeres_8h_source.html" > OptimizerCeres.h</ a ></ li >
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< li class = "navelem" >< a class = "el" href = "namespacertabmap.html" > rtabmap</ a ></ li >< li class = "navelem" >< a class = "el" href = "classrtabmap_1_1OptimizerCeres.html" > OptimizerCeres</ a ></ li >
< li class = "footer" > Generated by < a href = "https://www.doxygen.org/index.html" >< img class = "footer" src = "doxygen.svg" width = "104" height = "31" alt = "doxygen" /></ a > 1.9.8 </ li >
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