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< div class = "fragment" >< div class = "line" >< a id = "l00001" name = "l00001" ></ a >< span class = "lineno" > 1</ span >< span class = "comment" > /*</ span ></ div >
< div class = "line" >< a id = "l00002" name = "l00002" ></ a >< span class = "lineno" > 2</ span >< span class = "comment" > Copyright (c) 2010-2016, Mathieu Labbe - IntRoLab - Universite de Sherbrooke</ span ></ div >
< div class = "line" >< a id = "l00003" name = "l00003" ></ a >< span class = "lineno" > 3</ span >< span class = "comment" > All rights reserved.</ span ></ div >
< div class = "line" >< a id = "l00004" name = "l00004" ></ a >< span class = "lineno" > 4</ span >< span class = "comment" ></ span > </ div >
< div class = "line" >< a id = "l00005" name = "l00005" ></ a >< span class = "lineno" > 5</ span >< span class = "comment" > Redistribution and use in source and binary forms, with or without</ span ></ div >
< div class = "line" >< a id = "l00006" name = "l00006" ></ a >< span class = "lineno" > 6</ span >< span class = "comment" > modification, are permitted provided that the following conditions are met:</ span ></ div >
< div class = "line" >< a id = "l00007" name = "l00007" ></ a >< span class = "lineno" > 7</ span >< span class = "comment" > * Redistributions of source code must retain the above copyright</ span ></ div >
< div class = "line" >< a id = "l00008" name = "l00008" ></ a >< span class = "lineno" > 8</ span >< span class = "comment" > notice, this list of conditions and the following disclaimer.</ span ></ div >
< div class = "line" >< a id = "l00009" name = "l00009" ></ a >< span class = "lineno" > 9</ span >< span class = "comment" > * Redistributions in binary form must reproduce the above copyright</ span ></ div >
< div class = "line" >< a id = "l00010" name = "l00010" ></ a >< span class = "lineno" > 10</ span >< span class = "comment" > notice, this list of conditions and the following disclaimer in the</ span ></ div >
< div class = "line" >< a id = "l00011" name = "l00011" ></ a >< span class = "lineno" > 11</ span >< span class = "comment" > documentation and/or other materials provided with the distribution.</ span ></ div >
< div class = "line" >< a id = "l00012" name = "l00012" ></ a >< span class = "lineno" > 12</ span >< span class = "comment" > * Neither the name of the Universite de Sherbrooke nor the</ span ></ div >
< div class = "line" >< a id = "l00013" name = "l00013" ></ a >< span class = "lineno" > 13</ span >< span class = "comment" > names of its contributors may be used to endorse or promote products</ span ></ div >
< div class = "line" >< a id = "l00014" name = "l00014" ></ a >< span class = "lineno" > 14</ span >< span class = "comment" > derived from this software without specific prior written permission.</ span ></ div >
< div class = "line" >< a id = "l00015" name = "l00015" ></ a >< span class = "lineno" > 15</ span >< span class = "comment" ></ span > </ div >
< div class = "line" >< a id = "l00016" name = "l00016" ></ a >< span class = "lineno" > 16</ span >< span class = "comment" > THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS " AS IS" AND</ span ></ div >
< div class = "line" >< a id = "l00017" name = "l00017" ></ a >< span class = "lineno" > 17</ span >< span class = "comment" > ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED</ span ></ div >
< div class = "line" >< a id = "l00018" name = "l00018" ></ a >< span class = "lineno" > 18</ span >< span class = "comment" > WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE</ span ></ div >
< div class = "line" >< a id = "l00019" name = "l00019" ></ a >< span class = "lineno" > 19</ span >< span class = "comment" > DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY</ span ></ div >
< div class = "line" >< a id = "l00020" name = "l00020" ></ a >< span class = "lineno" > 20</ span >< span class = "comment" > DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES</ span ></ div >
< div class = "line" >< a id = "l00021" name = "l00021" ></ a >< span class = "lineno" > 21</ span >< span class = "comment" > (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;</ span ></ div >
< div class = "line" >< a id = "l00022" name = "l00022" ></ a >< span class = "lineno" > 22</ span >< span class = "comment" > LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND</ span ></ div >
< div class = "line" >< a id = "l00023" name = "l00023" ></ a >< span class = "lineno" > 23</ span >< span class = "comment" > ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT</ span ></ div >
< div class = "line" >< a id = "l00024" name = "l00024" ></ a >< span class = "lineno" > 24</ span >< span class = "comment" > (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS</ span ></ div >
< div class = "line" >< a id = "l00025" name = "l00025" ></ a >< span class = "lineno" > 25</ span >< span class = "comment" > SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.</ span ></ div >
< div class = "line" >< a id = "l00026" name = "l00026" ></ a >< span class = "lineno" > 26</ span >< span class = "comment" > */</ span ></ div >
< div class = "line" >< a id = "l00027" name = "l00027" ></ a >< span class = "lineno" > 27</ span > </ div >
< div class = "line" >< a id = "l00028" name = "l00028" ></ a >< span class = "lineno" > 28</ span >< span class = "preprocessor" > #ifndef OPTIMIZERGTSAM_H_</ span ></ div >
< div class = "line" >< a id = "l00029" name = "l00029" ></ a >< span class = "lineno" > 29</ span >< span class = "preprocessor" > #define OPTIMIZERGTSAM_H_</ span ></ div >
< div class = "line" >< a id = "l00030" name = "l00030" ></ a >< span class = "lineno" > 30</ span > </ div >
< div class = "line" >< a id = "l00031" name = "l00031" ></ a >< span class = "lineno" > 31</ span >< span class = "preprocessor" > #include < rtabmap/core/Optimizer.h> </ span ></ div >
< div class = "line" >< a id = "l00032" name = "l00032" ></ a >< span class = "lineno" > 32</ span > </ div >
< div class = "line" >< a id = "l00033" name = "l00033" ></ a >< span class = "lineno" > 33</ span >< span class = "keyword" > namespace </ span > gtsam {</ div >
< div class = "line" >< a id = "l00034" name = "l00034" ></ a >< span class = "lineno" > 34</ span > < span class = "keyword" > class </ span > ISAM2;</ div >
< div class = "line" >< a id = "l00035" name = "l00035" ></ a >< span class = "lineno" > 35</ span > }</ div >
< div class = "line" >< a id = "l00036" name = "l00036" ></ a >< span class = "lineno" > 36</ span > </ div >
< div class = "line" >< a id = "l00037" name = "l00037" ></ a >< span class = "lineno" > 37</ span >< span class = "keyword" > namespace </ span >< a class = "code hl_namespace" href = "namespacertabmap.html" > rtabmap</ a > {</ div >
< div class = "line" >< a id = "l00038" name = "l00038" ></ a >< span class = "lineno" > 38</ span > </ div >
< div class = "foldopen" id = "foldopen00039" data-start = "{" data-end = "};" >
< div class = "line" >< a id = "l00039" name = "l00039" ></ a >< span class = "lineno" >< a class = "line" href = "classrtabmap_1_1OptimizerGTSAM.html" > 39</ a ></ span >< span class = "keyword" > class </ span > RTABMAP_CORE_EXPORT < a class = "code hl_class" href = "classrtabmap_1_1OptimizerGTSAM.html" > OptimizerGTSAM</ a > : < span class = "keyword" > public</ span > < a class = "code hl_class" href = "classrtabmap_1_1Optimizer.html" > Optimizer</ a ></ div >
< div class = "line" >< a id = "l00040" name = "l00040" ></ a >< span class = "lineno" > 40</ span > {</ div >
< div class = "line" >< a id = "l00041" name = "l00041" ></ a >< span class = "lineno" > 41</ span >< span class = "keyword" > public</ span > :</ div >
< div class = "line" >< a id = "l00042" name = "l00042" ></ a >< span class = "lineno" > 42</ span > < span class = "keyword" > static</ span > < span class = "keywordtype" > bool</ span > available();</ div >
< div class = "line" >< a id = "l00043" name = "l00043" ></ a >< span class = "lineno" > 43</ span > </ div >
< div class = "line" >< a id = "l00044" name = "l00044" ></ a >< span class = "lineno" > 44</ span >< span class = "keyword" > public</ span > :</ div >
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< div class = "line" >< a id = "l00045" name = "l00045" ></ a >< span class = "lineno" > 45</ span > < a class = "code hl_class" href = "classrtabmap_1_1OptimizerGTSAM.html" > OptimizerGTSAM</ a > (< span class = "keyword" > const</ span > < a class = "code hl_typedef" href = "namespacertabmap.html#ad08b6f1796a27dd7316c99c385e2cc55" > ParametersMap</ a > & parameters = < a class = "code hl_typedef" href = "namespacertabmap.html#ad08b6f1796a27dd7316c99c385e2cc55" > ParametersMap</ a > ());</ div >
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< div class = "line" >< a id = "l00046" name = "l00046" ></ a >< span class = "lineno" > 46</ span > < span class = "keyword" > virtual</ span > < a class = "code hl_class" href = "classrtabmap_1_1OptimizerGTSAM.html" > ~OptimizerGTSAM</ a > ();</ div >
< div class = "line" >< a id = "l00047" name = "l00047" ></ a >< span class = "lineno" > 47</ span > </ div >
< div class = "line" >< a id = "l00048" name = "l00048" ></ a >< span class = "lineno" >< a class = "line" href = "classrtabmap_1_1OptimizerGTSAM.html#a422fe2960e4b71832e2108d5ab2aee46" > 48</ a ></ span > < span class = "keyword" > virtual</ span > < a class = "code hl_enumeration" href = "classrtabmap_1_1Optimizer.html#a18ae8ac76346d1adc68ab176a5b02d16" > Type</ a > < a class = "code hl_function" href = "classrtabmap_1_1OptimizerGTSAM.html#a422fe2960e4b71832e2108d5ab2aee46" > type</ a > ()< span class = "keyword" > const </ span > {< span class = "keywordflow" > return</ span > kTypeGTSAM;}</ div >
< div class = "line" >< a id = "l00049" name = "l00049" ></ a >< span class = "lineno" > 49</ span > </ div >
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< div class = "line" >< a id = "l00050" name = "l00050" ></ a >< span class = "lineno" >< a class = "line" href = "classrtabmap_1_1OptimizerGTSAM.html#a9ac24a2315e15b16270151c3aae9d8f0" > 50</ a ></ span > < span class = "keyword" > virtual</ span > < span class = "keywordtype" > void</ span > < a class = "code hl_function" href = "classrtabmap_1_1OptimizerGTSAM.html#a9ac24a2315e15b16270151c3aae9d8f0" > parseParameters</ a > (< span class = "keyword" > const</ span > < a class = "code hl_typedef" href = "namespacertabmap.html#ad08b6f1796a27dd7316c99c385e2cc55" > ParametersMap</ a > & parameters);</ div >
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< div class = "line" >< a id = "l00051" name = "l00051" ></ a >< span class = "lineno" > 51</ span > </ div >
< div class = "line" >< a id = "l00052" name = "l00052" ></ a >< span class = "lineno" >< a class = "line" href = "classrtabmap_1_1OptimizerGTSAM.html#a4905d84cfc59516eef21ea89064c31ba" > 52</ a ></ span > < span class = "keyword" > virtual</ span > std::map< int, Transform> < a class = "code hl_function" href = "classrtabmap_1_1OptimizerGTSAM.html#a4905d84cfc59516eef21ea89064c31ba" > optimize</ a > (</ div >
< div class = "line" >< a id = "l00053" name = "l00053" ></ a >< span class = "lineno" > 53</ span > < span class = "keywordtype" > int</ span > rootId,</ div >
< div class = "line" >< a id = "l00054" name = "l00054" ></ a >< span class = "lineno" > 54</ span > < span class = "keyword" > const</ span > std::map< int, Transform> & poses,</ div >
< div class = "line" >< a id = "l00055" name = "l00055" ></ a >< span class = "lineno" > 55</ span > < span class = "keyword" > const</ span > std::multimap< int, Link> & edgeConstraints,</ div >
< div class = "line" >< a id = "l00056" name = "l00056" ></ a >< span class = "lineno" > 56</ span > cv::Mat & outputCovariance,</ div >
< div class = "line" >< a id = "l00057" name = "l00057" ></ a >< span class = "lineno" > 57</ span > std::list< std::map< int, Transform> > * intermediateGraphes = 0,</ div >
< div class = "line" >< a id = "l00058" name = "l00058" ></ a >< span class = "lineno" > 58</ span > < span class = "keywordtype" > double</ span > * finalError = 0,</ div >
< div class = "line" >< a id = "l00059" name = "l00059" ></ a >< span class = "lineno" > 59</ span > < span class = "keywordtype" > int</ span > * iterationsDone = 0);</ div >
< div class = "line" >< a id = "l00060" name = "l00060" ></ a >< span class = "lineno" > 60</ span > </ div >
< div class = "line" >< a id = "l00061" name = "l00061" ></ a >< span class = "lineno" >< a class = "line" href = "classrtabmap_1_1OptimizerGTSAM.html#a7a2033a466505f8c2191b8329b5b342c" > 61</ a ></ span > < span class = "keyword" > virtual</ span > std::map< int, Transform> < a class = "code hl_function" href = "classrtabmap_1_1OptimizerGTSAM.html#a7a2033a466505f8c2191b8329b5b342c" > optimizeBA</ a > (</ div >
< div class = "line" >< a id = "l00062" name = "l00062" ></ a >< span class = "lineno" > 62</ span > < span class = "keywordtype" > int</ span > rootId,</ div >
< div class = "line" >< a id = "l00063" name = "l00063" ></ a >< span class = "lineno" > 63</ span > < span class = "keyword" > const</ span > std::map< int, Transform> & poses,</ div >
< div class = "line" >< a id = "l00064" name = "l00064" ></ a >< span class = "lineno" > 64</ span > < span class = "keyword" > const</ span > std::multimap< int, Link> & links,</ div >
< div class = "line" >< a id = "l00065" name = "l00065" ></ a >< span class = "lineno" > 65</ span > < span class = "keyword" > const</ span > std::map< < span class = "keywordtype" > int</ span > , std::vector< CameraModel> > & models,</ div >
< div class = "line" >< a id = "l00066" name = "l00066" ></ a >< span class = "lineno" > 66</ span > std::map< int, cv::Point3f> & points3DMap,</ div >
< div class = "line" >< a id = "l00067" name = "l00067" ></ a >< span class = "lineno" > 67</ span > < span class = "keyword" > const</ span > std::map< < span class = "keywordtype" > int</ span > , std::map< int, FeatureBA> > & wordReferences,</ div >
< div class = "line" >< a id = "l00068" name = "l00068" ></ a >< span class = "lineno" > 68</ span > std::set< int> * outliers = 0);</ div >
< div class = "line" >< a id = "l00069" name = "l00069" ></ a >< span class = "lineno" > 69</ span > </ div >
< div class = "line" >< a id = "l00070" name = "l00070" ></ a >< span class = "lineno" > 70</ span >< span class = "keyword" > private</ span > :</ div >
< div class = "line" >< a id = "l00071" name = "l00071" ></ a >< span class = "lineno" > 71</ span > < span class = "keywordtype" > int</ span > internalOptimizerType_;</ div >
< div class = "line" >< a id = "l00072" name = "l00072" ></ a >< span class = "lineno" > 72</ span > < span class = "keywordtype" > double</ span > pixelVariance_;</ div >
< div class = "line" >< a id = "l00073" name = "l00073" ></ a >< span class = "lineno" > 73</ span > < span class = "keywordtype" > double</ span > disparityVariance_;</ div >
< div class = "line" >< a id = "l00074" name = "l00074" ></ a >< span class = "lineno" > 74</ span > < span class = "keywordtype" > double</ span > robustKernelDelta_;</ div >
< div class = "line" >< a id = "l00075" name = "l00075" ></ a >< span class = "lineno" > 75</ span > < span class = "keywordtype" > double</ span > baseline_;</ div >
< div class = "line" >< a id = "l00076" name = "l00076" ></ a >< span class = "lineno" > 76</ span > </ div >
< div class = "line" >< a id = "l00077" name = "l00077" ></ a >< span class = "lineno" > 77</ span > gtsam::ISAM2 * isam2_;</ div >
< div class = "line" >< a id = "l00078" name = "l00078" ></ a >< span class = "lineno" > 78</ span > < span class = "keyword" > struct </ span > ConstraintToFactor {</ div >
< div class = "line" >< a id = "l00079" name = "l00079" ></ a >< span class = "lineno" > 79</ span > ConstraintToFactor(< span class = "keywordtype" > int</ span > _from, < span class = "keywordtype" > int</ span > _to, std::uint64_t _factorIndice)</ div >
< div class = "line" >< a id = "l00080" name = "l00080" ></ a >< span class = "lineno" > 80</ span > {</ div >
< div class = "line" >< a id = "l00081" name = "l00081" ></ a >< span class = "lineno" > 81</ span > from = _from;</ div >
< div class = "line" >< a id = "l00082" name = "l00082" ></ a >< span class = "lineno" > 82</ span > to = _to;</ div >
< div class = "line" >< a id = "l00083" name = "l00083" ></ a >< span class = "lineno" > 83</ span > factorIndice = _factorIndice;</ div >
< div class = "line" >< a id = "l00084" name = "l00084" ></ a >< span class = "lineno" > 84</ span > }</ div >
< div class = "line" >< a id = "l00085" name = "l00085" ></ a >< span class = "lineno" > 85</ span > < span class = "keywordtype" > int</ span > from;</ div >
< div class = "line" >< a id = "l00086" name = "l00086" ></ a >< span class = "lineno" > 86</ span > < span class = "keywordtype" > int</ span > to;</ div >
< div class = "line" >< a id = "l00087" name = "l00087" ></ a >< span class = "lineno" > 87</ span > std::uint64_t factorIndice;</ div >
< div class = "line" >< a id = "l00088" name = "l00088" ></ a >< span class = "lineno" > 88</ span > };</ div >
< div class = "line" >< a id = "l00089" name = "l00089" ></ a >< span class = "lineno" > 89</ span > </ div >
< div class = "line" >< a id = "l00090" name = "l00090" ></ a >< span class = "lineno" > 90</ span > std::vector< ConstraintToFactor> lastAddedConstraints_;</ div >
< div class = "line" >< a id = "l00091" name = "l00091" ></ a >< span class = "lineno" > 91</ span > < span class = "keywordtype" > int</ span > lastSwitchId_;</ div >
< div class = "line" >< a id = "l00092" name = "l00092" ></ a >< span class = "lineno" > 92</ span > std::set< int> addedPoses_;</ div >
< div class = "line" >< a id = "l00093" name = "l00093" ></ a >< span class = "lineno" > 93</ span > std::map< int, bool> isLandmarkWithRotation_; < span class = "comment" > // persists across iSAM2 incremental calls</ span ></ div >
< div class = "line" >< a id = "l00094" name = "l00094" ></ a >< span class = "lineno" > 94</ span > std::pair< int, std::uint64_t> lastRootFactorIndex_;</ div >
< div class = "line" >< a id = "l00095" name = "l00095" ></ a >< span class = "lineno" > 95</ span > };</ div >
</ div >
< div class = "line" >< a id = "l00096" name = "l00096" ></ a >< span class = "lineno" > 96</ span > </ div >
< div class = "line" >< a id = "l00097" name = "l00097" ></ a >< span class = "lineno" > 97</ span > } < span class = "comment" > /* namespace rtabmap */</ span ></ div >
< div class = "line" >< a id = "l00098" name = "l00098" ></ a >< span class = "lineno" > 98</ span >< span class = "preprocessor" > #endif </ span >< span class = "comment" > /* OPTIMIZERGTSAM_H_ */</ span >< span class = "preprocessor" ></ span ></ div >
< div class = "ttc" id = "aclassrtabmap_1_1OptimizerGTSAM_html" >< div class = "ttname" >< a href = "classrtabmap_1_1OptimizerGTSAM.html" > rtabmap::OptimizerGTSAM</ a ></ div >< div class = "ttdef" >< b > Definition</ b > < a href = "OptimizerGTSAM_8h_source.html#l00039" > OptimizerGTSAM.h:40</ a ></ div ></ div >
< div class = "ttc" id = "aclassrtabmap_1_1OptimizerGTSAM_html_a422fe2960e4b71832e2108d5ab2aee46" >< div class = "ttname" >< a href = "classrtabmap_1_1OptimizerGTSAM.html#a422fe2960e4b71832e2108d5ab2aee46" > rtabmap::OptimizerGTSAM::type</ a ></ div >< div class = "ttdeci" > virtual Type type() const</ div >< div class = "ttdoc" > Returns the concrete back-end identifier (one of Type).</ div >< div class = "ttdef" >< b > Definition</ b > < a href = "OptimizerGTSAM_8h_source.html#l00048" > OptimizerGTSAM.h:48</ a ></ div ></ div >
< div class = "ttc" id = "aclassrtabmap_1_1OptimizerGTSAM_html_a4905d84cfc59516eef21ea89064c31ba" >< div class = "ttname" >< a href = "classrtabmap_1_1OptimizerGTSAM.html#a4905d84cfc59516eef21ea89064c31ba" > rtabmap::OptimizerGTSAM::optimize</ a ></ div >< div class = "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 >< div class = "ttdoc" > Pose-graph optimization with marginal covariance of rootId.</ div ></ div >
< div class = "ttc" id = "aclassrtabmap_1_1OptimizerGTSAM_html_a7a2033a466505f8c2191b8329b5b342c" >< div class = "ttname" >< a href = "classrtabmap_1_1OptimizerGTSAM.html#a7a2033a466505f8c2191b8329b5b342c" > rtabmap::OptimizerGTSAM::optimizeBA</ a ></ div >< div class = "ttdeci" > virtual std::map< int, Transform > optimizeBA(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)</ div >< div class = "ttdoc" > Bundle adjustment: jointly refine poses and 3D points (back-end-level entry point).</ div ></ div >
< div class = "ttc" id = "aclassrtabmap_1_1OptimizerGTSAM_html_a9ac24a2315e15b16270151c3aae9d8f0" >< div class = "ttname" >< a href = "classrtabmap_1_1OptimizerGTSAM.html#a9ac24a2315e15b16270151c3aae9d8f0" > rtabmap::OptimizerGTSAM::parseParameters</ a ></ div >< div class = "ttdeci" > virtual void parseParameters(const ParametersMap & parameters)</ div >< div class = "ttdoc" > Reads shared knobs from parameters and applies them to this instance.</ div ></ div >
< div class = "ttc" id = "aclassrtabmap_1_1Optimizer_html" >< div class = "ttname" >< a href = "classrtabmap_1_1Optimizer.html" > rtabmap::Optimizer</ a ></ div >< div class = "ttdoc" > Abstract base for pose-graph and bundle-adjustment optimizers.</ div >< div class = "ttdef" >< b > Definition</ b > < a href = "Optimizer_8h_source.html#l00087" > Optimizer.h:88</ a ></ div ></ div >
< div class = "ttc" id = "aclassrtabmap_1_1Optimizer_html_a18ae8ac76346d1adc68ab176a5b02d16" >< div class = "ttname" >< a href = "classrtabmap_1_1Optimizer.html#a18ae8ac76346d1adc68ab176a5b02d16" > rtabmap::Optimizer::Type</ a ></ div >< div class = "ttdeci" > Type</ div >< div class = "ttdoc" > Graph-optimizer back-end identifier.</ div >< div class = "ttdef" >< b > Definition</ b > < a href = "Optimizer_8h_source.html#l00091" > Optimizer.h:91</ a ></ div ></ div >
< div class = "ttc" id = "anamespacertabmap_html" >< div class = "ttname" >< a href = "namespacertabmap.html" > rtabmap</ a ></ div >< div class = "ttdef" >< b > Definition</ b > < a href = "BayesFilter_8h_source.html#l00039" > BayesFilter.h:39</ a ></ div ></ div >
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< div class = "ttc" id = "anamespacertabmap_html_ad08b6f1796a27dd7316c99c385e2cc55" >< div class = "ttname" >< a href = "namespacertabmap.html#ad08b6f1796a27dd7316c99c385e2cc55" > rtabmap::ParametersMap</ a ></ div >< div class = "ttdeci" > std::map< std::string, std::string > ParametersMap</ div >< div class = "ttdoc" > Parameter keys mapped to their values, as used by every configurable class (see Parameters).</ div >< div class = "ttdef" >< b > Definition</ b > < a href = "Parameters_8h_source.html#l00044" > Parameters.h:44</ a ></ div ></ div >
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