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<divclass="line"><aid="l00071"name="l00071"></a><spanclass="lineno"> 71</span><spanclass="keyword">const</span> std::map<<spanclass="keywordtype">int</span>, std::vector<CameraModel>>& models, <spanclass="comment">// in case of stereo, Tx should be set</span></div>
<divclass="ttc"id="aclassrtabmap_1_1OptimizerCeres_html_aaa1128eeb38451086c7abd58ae6142ac"><divclass="ttname"><ahref="classrtabmap_1_1OptimizerCeres.html#aaa1128eeb38451086c7abd58ae6142ac">rtabmap::OptimizerCeres::parseParameters</a></div><divclass="ttdeci">virtual void parseParameters(const ParametersMap &parameters)</div><divclass="ttdoc">Reads shared knobs from parameters and applies them to this instance.</div></div>
<divclass="ttc"id="aclassrtabmap_1_1OptimizerCeres_html_ab988decf55da4a8821931855ddaa1c1a"><divclass="ttname"><ahref="classrtabmap_1_1OptimizerCeres.html#ab988decf55da4a8821931855ddaa1c1a">rtabmap::OptimizerCeres::optimize</a></div><divclass="ttdeci">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)</div><divclass="ttdoc">Pose-graph optimization with marginal covariance of rootId.</div></div>
<divclass="ttc"id="aclassrtabmap_1_1OptimizerCeres_html_ad6d6c0a0cdbea0ee5082d3aaa94d8e7a"><divclass="ttname"><ahref="classrtabmap_1_1OptimizerCeres.html#ad6d6c0a0cdbea0ee5082d3aaa94d8e7a">rtabmap::OptimizerCeres::type</a></div><divclass="ttdeci">virtual Type type() const</div><divclass="ttdoc">Returns the concrete back-end identifier (one of Type).</div><divclass="ttdef"><b>Definition</b><ahref="OptimizerCeres_8h_source.html#l00054">OptimizerCeres.h:54</a></div></div>
<divclass="ttc"id="aclassrtabmap_1_1Optimizer_html"><divclass="ttname"><ahref="classrtabmap_1_1Optimizer.html">rtabmap::Optimizer</a></div><divclass="ttdoc">Abstract base for pose-graph and bundle-adjustment optimizers.</div><divclass="ttdef"><b>Definition</b><ahref="Optimizer_8h_source.html#l00087">Optimizer.h:88</a></div></div>
<divclass="ttc"id="anamespacertabmap_html_ad08b6f1796a27dd7316c99c385e2cc55"><divclass="ttname"><ahref="namespacertabmap.html#ad08b6f1796a27dd7316c99c385e2cc55">rtabmap::ParametersMap</a></div><divclass="ttdeci">std::map< std::string, std::string > ParametersMap</div><divclass="ttdoc">Parameter keys mapped to their values, as used by every configurable class (see Parameters).</div><divclass="ttdef"><b>Definition</b><ahref="Parameters_8h_source.html#l00044">Parameters.h:44</a></div></div>
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