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2026-08-02 07:56:38 +00:00
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1083 changed files with 121946 additions and 11202 deletions
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@@ -10,6 +10,10 @@
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@@ -27,6 +31,7 @@
<td id="projectalign">
<div id="projectname">RTAB-Map<span id="projectnumber">&#160;0.23.10</span>
</div>
<div id="projectbrief">Real-Time Appearance-Based Mapping</div>
</td>
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<ul>
<li class="navelem"><a class="el" href="namespacertabmap.html">rtabmap</a></li><li class="navelem"><a class="el" href="classrtabmap_1_1OptimizerTORO.html">OptimizerTORO</a></li> </ul>
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<div class="header">
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<a href="#pub-methods">Public Member Functions</a> &#124;
@@ -93,7 +110,7 @@ Inheritance diagram for rtabmap::OptimizerTORO:</div>
<area shape="rect" href="classrtabmap_1_1Optimizer.html" title="Abstract base for pose&#45;graph and bundle&#45;adjustment optimizers." alt="" coords="24,5,173,31"/>
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<div class="dynheader">
Collaboration diagram for rtabmap::OptimizerTORO:</div>
<div class="dyncontent">
@@ -103,13 +120,13 @@ Collaboration diagram for rtabmap::OptimizerTORO:</div>
<area shape="rect" href="classrtabmap_1_1Optimizer.html" title="Abstract base for pose&#45;graph and bundle&#45;adjustment optimizers." alt="" coords="24,5,173,31"/>
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<center><span class="legend">[<a target="top" href="graph_legend.html">legend</a>]</span></center></div>
<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:a7a8bcaf3dc94f5f28ab4837fda8254ca" id="r_a7a8bcaf3dc94f5f28ab4837fda8254ca"><td class="memItemLeft" align="right" valign="top">&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classrtabmap_1_1OptimizerTORO.html#a7a8bcaf3dc94f5f28ab4837fda8254ca">OptimizerTORO</a> (int <a class="el" href="classrtabmap_1_1Optimizer.html#a178bb719b0e22863e29add12c85e14a5">iterations</a>=Parameters::defaultOptimizerIterations(), bool slam2d=Parameters::defaultRegForce3DoF(), bool covarianceIgnored=Parameters::defaultOptimizerVarianceIgnored(), double <a class="el" href="classrtabmap_1_1Optimizer.html#a3bca4e3df1048f8bbad9b3b9473924a2">epsilon</a>=Parameters::defaultOptimizerEpsilon())</td></tr>
<tr class="memitem:a7a8bcaf3dc94f5f28ab4837fda8254ca" id="r_a7a8bcaf3dc94f5f28ab4837fda8254ca"><td class="memItemLeft" align="right" valign="top">&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classrtabmap_1_1OptimizerTORO.html#a7a8bcaf3dc94f5f28ab4837fda8254ca">OptimizerTORO</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:a7a8bcaf3dc94f5f28ab4837fda8254ca"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a3d4d822acdf4bb8a1f27cb1f73c55663" id="r_a3d4d822acdf4bb8a1f27cb1f73c55663"><td class="memItemLeft" align="right" valign="top">&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classrtabmap_1_1OptimizerTORO.html#a3d4d822acdf4bb8a1f27cb1f73c55663">OptimizerTORO</a> (const ParametersMap &amp;parameters)</td></tr>
<tr class="memitem:a3d4d822acdf4bb8a1f27cb1f73c55663" id="r_a3d4d822acdf4bb8a1f27cb1f73c55663"><td class="memItemLeft" align="right" valign="top">&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classrtabmap_1_1OptimizerTORO.html#a3d4d822acdf4bb8a1f27cb1f73c55663">OptimizerTORO</a> (const <a class="el" href="namespacertabmap.html#ad08b6f1796a27dd7316c99c385e2cc55">ParametersMap</a> &amp;parameters)</td></tr>
<tr class="separator:a3d4d822acdf4bb8a1f27cb1f73c55663"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a965efb877ac5edd3b6cda43983096a64" id="r_a965efb877ac5edd3b6cda43983096a64"><td class="memItemLeft" align="right" valign="top">virtual <a class="el" href="classrtabmap_1_1Optimizer.html#a18ae8ac76346d1adc68ab176a5b02d16">Type</a>&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classrtabmap_1_1OptimizerTORO.html#a965efb877ac5edd3b6cda43983096a64">type</a> () const</td></tr>
<tr class="memdesc:a965efb877ac5edd3b6cda43983096a64"><td class="mdescLeft">&#160;</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>
@@ -124,7 +141,7 @@ bool&#160;</td><td class="memItemRight" valign="bottom"><b>saveGraph</b> (const
<tr class="memitem:a4477c9a5b6651729944726465b5eba7f inherit pub_methods_classrtabmap_1_1Optimizer" id="r_a4477c9a5b6651729944726465b5eba7f"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classrtabmap_1_1Optimizer.html#a4477c9a5b6651729944726465b5eba7f">getConnectedGraph</a> (int fromId, const std::map&lt; int, <a class="el" href="classrtabmap_1_1Transform.html">Transform</a> &gt; &amp;posesIn, const std::multimap&lt; int, <a class="el" href="classrtabmap_1_1Link.html">Link</a> &gt; &amp;linksIn, std::map&lt; int, <a class="el" href="classrtabmap_1_1Transform.html">Transform</a> &gt; &amp;posesOut, std::multimap&lt; int, <a class="el" href="classrtabmap_1_1Link.html">Link</a> &gt; &amp;linksOut) const</td></tr>
<tr class="memdesc:a4477c9a5b6651729944726465b5eba7f inherit pub_methods_classrtabmap_1_1Optimizer"><td class="mdescLeft">&#160;</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">&#160;</td></tr>
<tr class="memitem:a0a942bd7902c8d2f9444b8eba6a648a3 inherit pub_methods_classrtabmap_1_1Optimizer" id="r_a0a942bd7902c8d2f9444b8eba6a648a3"><td class="memItemLeft" align="right" valign="top">virtual void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classrtabmap_1_1Optimizer.html#a0a942bd7902c8d2f9444b8eba6a648a3">parseParameters</a> (const ParametersMap &amp;parameters)</td></tr>
<tr class="memitem:a0a942bd7902c8d2f9444b8eba6a648a3 inherit pub_methods_classrtabmap_1_1Optimizer" id="r_a0a942bd7902c8d2f9444b8eba6a648a3"><td class="memItemLeft" align="right" valign="top">virtual void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classrtabmap_1_1Optimizer.html#a0a942bd7902c8d2f9444b8eba6a648a3">parseParameters</a> (const <a class="el" href="namespacertabmap.html#ad08b6f1796a27dd7316c99c385e2cc55">ParametersMap</a> &amp;parameters)</td></tr>
<tr class="memdesc:a0a942bd7902c8d2f9444b8eba6a648a3 inherit pub_methods_classrtabmap_1_1Optimizer"><td class="mdescLeft">&#160;</td><td class="mdescRight">Reads shared knobs from <code>parameters</code> and applies them to this instance. <br /></td></tr>
<tr class="separator:a0a942bd7902c8d2f9444b8eba6a648a3 inherit pub_methods_classrtabmap_1_1Optimizer"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a278f42e0d250085ac6fe9ed425627acf inherit pub_methods_classrtabmap_1_1Optimizer" id="r_a278f42e0d250085ac6fe9ed425627acf"><td class="memItemLeft" align="right" valign="top">std::map&lt; int, <a class="el" href="classrtabmap_1_1Transform.html">Transform</a> &gt;&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classrtabmap_1_1Optimizer.html#a278f42e0d250085ac6fe9ed425627acf">optimizeIncremental</a> (int rootId, const std::map&lt; int, <a class="el" href="classrtabmap_1_1Transform.html">Transform</a> &gt; &amp;poses, const std::multimap&lt; int, <a class="el" href="classrtabmap_1_1Link.html">Link</a> &gt; &amp;constraints, std::list&lt; std::map&lt; int, <a class="el" href="classrtabmap_1_1Transform.html">Transform</a> &gt; &gt; *intermediateGraphes=0, double *finalError=0, int *iterationsDone=0)</td></tr>
@@ -136,17 +153,17 @@ bool&#160;</td><td class="memItemRight" valign="bottom"><b>saveGraph</b> (const
<tr class="memitem:a038e8df970ab744f6f4ba7027f62b263 inherit pub_methods_classrtabmap_1_1Optimizer" id="r_a038e8df970ab744f6f4ba7027f62b263"><td class="memItemLeft" align="right" valign="top">virtual std::map&lt; int, <a class="el" href="classrtabmap_1_1Transform.html">Transform</a> &gt;&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classrtabmap_1_1Optimizer.html#a038e8df970ab744f6f4ba7027f62b263">optimizeBA</a> (int rootId, const std::map&lt; int, <a class="el" href="classrtabmap_1_1Transform.html">Transform</a> &gt; &amp;poses, const std::multimap&lt; int, <a class="el" href="classrtabmap_1_1Link.html">Link</a> &gt; &amp;links, const std::map&lt; int, std::vector&lt; <a class="el" href="classrtabmap_1_1CameraModel.html">CameraModel</a> &gt; &gt; &amp;models, std::map&lt; int, cv::Point3f &gt; &amp;points3DMap, const std::map&lt; int, std::map&lt; int, <a class="el" href="classrtabmap_1_1FeatureBA.html">FeatureBA</a> &gt; &gt; &amp;wordReferences, std::set&lt; int &gt; *outliers=0)</td></tr>
<tr class="memdesc:a038e8df970ab744f6f4ba7027f62b263 inherit pub_methods_classrtabmap_1_1Optimizer"><td class="mdescLeft">&#160;</td><td class="mdescRight">Bundle adjustment: jointly refine poses and 3D points (back-end-level entry point). <br /></td></tr>
<tr class="separator:a038e8df970ab744f6f4ba7027f62b263 inherit pub_methods_classrtabmap_1_1Optimizer"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a2f7cbdebed9787ffa6b0b30536dfa1a0 inherit pub_methods_classrtabmap_1_1Optimizer" id="r_a2f7cbdebed9787ffa6b0b30536dfa1a0"><td class="memItemLeft" align="right" valign="top">std::map&lt; int, <a class="el" href="classrtabmap_1_1Transform.html">Transform</a> &gt;&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classrtabmap_1_1Optimizer.html#a2f7cbdebed9787ffa6b0b30536dfa1a0">optimizeBA</a> (int rootId, const std::map&lt; int, <a class="el" href="classrtabmap_1_1Transform.html">Transform</a> &gt; &amp;poses, const std::multimap&lt; int, <a class="el" href="classrtabmap_1_1Link.html">Link</a> &gt; &amp;links, const std::map&lt; int, <a class="el" href="classrtabmap_1_1Signature.html">Signature</a> &gt; &amp;signatures, std::map&lt; int, cv::Point3f &gt; &amp;points3DMap, std::map&lt; int, std::map&lt; int, <a class="el" href="classrtabmap_1_1FeatureBA.html">FeatureBA</a> &gt; &gt; &amp;wordReferences, bool rematchFeatures=false, const ParametersMap &amp;registrationParameters=ParametersMap())</td></tr>
<tr class="memitem:a2f7cbdebed9787ffa6b0b30536dfa1a0 inherit pub_methods_classrtabmap_1_1Optimizer" id="r_a2f7cbdebed9787ffa6b0b30536dfa1a0"><td class="memItemLeft" align="right" valign="top">std::map&lt; int, <a class="el" href="classrtabmap_1_1Transform.html">Transform</a> &gt;&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classrtabmap_1_1Optimizer.html#a2f7cbdebed9787ffa6b0b30536dfa1a0">optimizeBA</a> (int rootId, const std::map&lt; int, <a class="el" href="classrtabmap_1_1Transform.html">Transform</a> &gt; &amp;poses, const std::multimap&lt; int, <a class="el" href="classrtabmap_1_1Link.html">Link</a> &gt; &amp;links, const std::map&lt; int, <a class="el" href="classrtabmap_1_1Signature.html">Signature</a> &gt; &amp;signatures, std::map&lt; int, cv::Point3f &gt; &amp;points3DMap, std::map&lt; int, std::map&lt; int, <a class="el" href="classrtabmap_1_1FeatureBA.html">FeatureBA</a> &gt; &gt; &amp;wordReferences, bool rematchFeatures=false, const <a class="el" href="namespacertabmap.html#ad08b6f1796a27dd7316c99c385e2cc55">ParametersMap</a> &amp;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">&#160;</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">&#160;</td></tr>
<tr class="memitem:aab99f045516162944ad68fdabacb53dc inherit pub_methods_classrtabmap_1_1Optimizer" id="r_aab99f045516162944ad68fdabacb53dc"><td class="memItemLeft" align="right" valign="top">
std::map&lt; int, <a class="el" href="classrtabmap_1_1Transform.html">Transform</a> &gt;&#160;</td><td class="memItemRight" valign="bottom"><b>optimizeBA</b> (int rootId, const std::map&lt; int, <a class="el" href="classrtabmap_1_1Transform.html">Transform</a> &gt; &amp;poses, const std::multimap&lt; int, <a class="el" href="classrtabmap_1_1Link.html">Link</a> &gt; &amp;links, const std::map&lt; int, <a class="el" href="classrtabmap_1_1Signature.html">Signature</a> &gt; &amp;signatures, bool rematchFeatures=false, const ParametersMap &amp;registrationParameters=ParametersMap())</td></tr>
std::map&lt; int, <a class="el" href="classrtabmap_1_1Transform.html">Transform</a> &gt;&#160;</td><td class="memItemRight" valign="bottom"><b>optimizeBA</b> (int rootId, const std::map&lt; int, <a class="el" href="classrtabmap_1_1Transform.html">Transform</a> &gt; &amp;poses, const std::multimap&lt; int, <a class="el" href="classrtabmap_1_1Link.html">Link</a> &gt; &amp;links, const std::map&lt; int, <a class="el" href="classrtabmap_1_1Signature.html">Signature</a> &gt; &amp;signatures, bool rematchFeatures=false, const <a class="el" href="namespacertabmap.html#ad08b6f1796a27dd7316c99c385e2cc55">ParametersMap</a> &amp;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">&#160;</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">&#160;</td></tr>
<tr class="memitem:ad6b32a9697837f03941773f6a5bbf91c inherit pub_methods_classrtabmap_1_1Optimizer" id="r_ad6b32a9697837f03941773f6a5bbf91c"><td class="memItemLeft" align="right" valign="top"><a class="el" href="classrtabmap_1_1Transform.html">Transform</a>&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classrtabmap_1_1Optimizer.html#ad6b32a9697837f03941773f6a5bbf91c">optimizeBA</a> (const <a class="el" href="classrtabmap_1_1Link.html">Link</a> &amp;link, const <a class="el" href="classrtabmap_1_1CameraModel.html">CameraModel</a> &amp;model, std::map&lt; int, cv::Point3f &gt; &amp;points3DMap, const std::map&lt; int, std::map&lt; int, <a class="el" href="classrtabmap_1_1FeatureBA.html">FeatureBA</a> &gt; &gt; &amp;wordReferences, std::set&lt; int &gt; *outliers=0)</td></tr>
<tr class="memdesc:ad6b32a9697837f03941773f6a5bbf91c inherit pub_methods_classrtabmap_1_1Optimizer"><td class="mdescLeft">&#160;</td><td class="mdescRight">Refine a single two-frame link via BA. <br /></td></tr>
<tr class="separator:ad6b32a9697837f03941773f6a5bbf91c inherit pub_methods_classrtabmap_1_1Optimizer"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a93fb09dac068e64de000f692bcb8216f inherit pub_methods_classrtabmap_1_1Optimizer" id="r_a93fb09dac068e64de000f692bcb8216f"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classrtabmap_1_1Optimizer.html#a93fb09dac068e64de000f692bcb8216f">computeBACorrespondences</a> (const std::map&lt; int, <a class="el" href="classrtabmap_1_1Transform.html">Transform</a> &gt; &amp;poses, const std::multimap&lt; int, <a class="el" href="classrtabmap_1_1Link.html">Link</a> &gt; &amp;links, const std::map&lt; int, <a class="el" href="classrtabmap_1_1Signature.html">Signature</a> &gt; &amp;signatures, std::map&lt; int, cv::Point3f &gt; &amp;points3DMap, std::map&lt; int, std::map&lt; int, <a class="el" href="classrtabmap_1_1FeatureBA.html">FeatureBA</a> &gt; &gt; &amp;wordReferences, bool rematchFeatures=false, bool useLinkTransformAsGuess=false, ParametersMap registrationParameters=ParametersMap())</td></tr>
<tr class="memitem:a93fb09dac068e64de000f692bcb8216f inherit pub_methods_classrtabmap_1_1Optimizer" id="r_a93fb09dac068e64de000f692bcb8216f"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classrtabmap_1_1Optimizer.html#a93fb09dac068e64de000f692bcb8216f">computeBACorrespondences</a> (const std::map&lt; int, <a class="el" href="classrtabmap_1_1Transform.html">Transform</a> &gt; &amp;poses, const std::multimap&lt; int, <a class="el" href="classrtabmap_1_1Link.html">Link</a> &gt; &amp;links, const std::map&lt; int, <a class="el" href="classrtabmap_1_1Signature.html">Signature</a> &gt; &amp;signatures, std::map&lt; int, cv::Point3f &gt; &amp;points3DMap, std::map&lt; int, std::map&lt; int, <a class="el" href="classrtabmap_1_1FeatureBA.html">FeatureBA</a> &gt; &gt; &amp;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">&#160;</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">&#160;</td></tr>
<tr class="memitem:a178bb719b0e22863e29add12c85e14a5 inherit pub_methods_classrtabmap_1_1Optimizer" id="r_a178bb719b0e22863e29add12c85e14a5"><td class="memItemLeft" align="right" valign="top">int&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classrtabmap_1_1Optimizer.html#a178bb719b0e22863e29add12c85e14a5">iterations</a> () const</td></tr>
@@ -202,11 +219,11 @@ static bool&#160;</td><td class="memItemRight" valign="bottom"><b>loadGraph</b>
<tr class="memitem:afe0381a3b42926b7634027e522766eb1 inherit pub_static_methods_classrtabmap_1_1Optimizer" id="r_afe0381a3b42926b7634027e522766eb1"><td class="memItemLeft" align="right" valign="top">static bool&#160;</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">&#160;</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">&#160;</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> *&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classrtabmap_1_1Optimizer.html#a78b457bec2cdb7bdd320e2bfcca759df">create</a> (const ParametersMap &amp;parameters)</td></tr>
<tr class="memdesc:a78b457bec2cdb7bdd320e2bfcca759df inherit pub_static_methods_classrtabmap_1_1Optimizer"><td class="mdescLeft">&#160;</td><td class="mdescRight">Factory: build an optimizer from a ParametersMap. <br /></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> *&#160;</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> &amp;parameters)</td></tr>
<tr class="memdesc:a78b457bec2cdb7bdd320e2bfcca759df inherit pub_static_methods_classrtabmap_1_1Optimizer"><td class="mdescLeft">&#160;</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">&#160;</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> *&#160;</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 ParametersMap &amp;parameters=ParametersMap())</td></tr>
static <a class="el" href="classrtabmap_1_1Optimizer.html">Optimizer</a> *&#160;</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> &amp;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">&#160;</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">&#160;</td></tr>
</table><table class="memberdecls">
@@ -227,10 +244,10 @@ Additional Inherited Members</h2></td></tr>
<tr class="separator:a18ae8ac76346d1adc68ab176a5b02d16 inherit pub_types_classrtabmap_1_1Optimizer"><td class="memSeparator" colspan="2">&#160;</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="-"/>&#160;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">
&#160;</td><td class="memItemRight" valign="bottom"><b>Optimizer</b> (int <a class="el" href="classrtabmap_1_1Optimizer.html#a178bb719b0e22863e29add12c85e14a5">iterations</a>=Parameters::defaultOptimizerIterations(), bool slam2d=Parameters::defaultRegForce3DoF(), bool covarianceIgnored=Parameters::defaultOptimizerVarianceIgnored(), double <a class="el" href="classrtabmap_1_1Optimizer.html#a3bca4e3df1048f8bbad9b3b9473924a2">epsilon</a>=Parameters::defaultOptimizerEpsilon(), bool robust=Parameters::defaultOptimizerRobust(), bool <a class="el" href="classrtabmap_1_1Optimizer.html#aeebd0d5575ab7e9f492b095c05ddb237">priorsIgnored</a>=Parameters::defaultOptimizerPriorsIgnored(), bool <a class="el" href="classrtabmap_1_1Optimizer.html#a32f53d408ef0372c5c196ee89ff5ad79">landmarksIgnored</a>=Parameters::defaultOptimizerLandmarksIgnored(), float <a class="el" href="classrtabmap_1_1Optimizer.html#aceb68e0f692b81c4a978e46f804515d7">gravitySigma</a>=Parameters::defaultOptimizerGravitySigma())</td></tr>
&#160;</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">&#160;</td></tr>
<tr class="memitem:af6e45bcd0da53aeeabb6a2bf8bfd641a inherit pro_methods_classrtabmap_1_1Optimizer" id="r_af6e45bcd0da53aeeabb6a2bf8bfd641a"><td class="memItemLeft" align="right" valign="top">
&#160;</td><td class="memItemRight" valign="bottom"><b>Optimizer</b> (const ParametersMap &amp;parameters)</td></tr>
&#160;</td><td class="memItemRight" valign="bottom"><b>Optimizer</b> (const <a class="el" href="namespacertabmap.html#ad08b6f1796a27dd7316c99c385e2cc55">ParametersMap</a> &amp;parameters)</td></tr>
<tr class="separator:af6e45bcd0da53aeeabb6a2bf8bfd641a inherit pro_methods_classrtabmap_1_1Optimizer"><td class="memSeparator" colspan="2">&#160;</td></tr>
</table>
<a name="details" id="details"></a><h2 class="groupheader">Detailed Description</h2>
@@ -250,25 +267,25 @@ Additional Inherited Members</h2></td></tr>
<td class="memname">rtabmap::OptimizerTORO::OptimizerTORO </td>
<td>(</td>
<td class="paramtype">int&#160;</td>
<td class="paramname"><em>iterations</em> = <code>Parameters::defaultOptimizerIterations()</code>, </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&#160;</td>
<td class="paramname"><em>slam2d</em> = <code>Parameters::defaultRegForce3DoF()</code>, </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&#160;</td>
<td class="paramname"><em>covarianceIgnored</em> = <code>Parameters::defaultOptimizerVarianceIgnored()</code>, </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&#160;</td>
<td class="paramname"><em>epsilon</em> = <code>Parameters::defaultOptimizerEpsilon()</code>&#160;</td>
<td class="paramname"><em>epsilon</em> = <code><a class="el" href="classrtabmap_1_1Parameters.html#a8fb0df24ed2d24a013abc03828f43acc">Parameters::defaultOptimizerEpsilon</a>()</code>&#160;</td>
</tr>
<tr>
<td></td>
@@ -299,7 +316,7 @@ Additional Inherited Members</h2></td></tr>
<tr>
<td class="memname">rtabmap::OptimizerTORO::OptimizerTORO </td>
<td>(</td>
<td class="paramtype">const ParametersMap &amp;&#160;</td>
<td class="paramtype">const <a class="el" href="namespacertabmap.html#ad08b6f1796a27dd7316c99c385e2cc55">ParametersMap</a> &amp;&#160;</td>
<td class="paramname"><em>parameters</em></td><td>)</td>
<td></td>
</tr>
@@ -462,9 +479,13 @@ Additional Inherited Members</h2></td></tr>
<li>corelib/include/rtabmap/core/optimizer/<a class="el" href="OptimizerTORO_8h_source.html">OptimizerTORO.h</a></li>
</ul>
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