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@@ -158,24 +158,24 @@ $(document).ready(function(){initNavTree('OptimizerCVSBA_8h_source.html',''); in
<div class="line"><a id="l00049" name="l00049"></a><span class="lineno"> 49</span> </div>
<div class="line"><a id="l00050" name="l00050"></a><span class="lineno"><a class="line" href="classrtabmap_1_1OptimizerCVSBA.html#afbf58e60900671630e0974a13e49b2b0"> 50</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_1OptimizerCVSBA.html#afbf58e60900671630e0974a13e49b2b0">type</a>()<span class="keyword"> const </span>{<span class="keywordflow">return</span> kTypeCVSBA;}</div>
<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_1OptimizerCVSBA.html#ad6ff3fec8e75ab76290da5763022a903"> 52</a></span> <span class="keyword">virtual</span> std::map&lt;int, Transform&gt; <a class="code hl_function" href="classrtabmap_1_1OptimizerCVSBA.html#ad6ff3fec8e75ab76290da5763022a903">optimizeBA</a>(</div>
<div class="line"><a id="l00052" name="l00052"></a><span class="lineno"><a class="line" href="classrtabmap_1_1OptimizerCVSBA.html#a48fce33707a004a0d89db99c1c39d999"> 52</a></span> <span class="keyword">virtual</span> std::map&lt;int, Transform&gt; <a class="code hl_function" href="classrtabmap_1_1OptimizerCVSBA.html#a48fce33707a004a0d89db99c1c39d999">optimizeBA</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&lt;int, Transform&gt; &amp; poses,</div>
<div class="line"><a id="l00055" name="l00055"></a><span class="lineno"> 55</span> <span class="keyword">const</span> std::multimap&lt;int, Link&gt; &amp; links,</div>
<div class="line"><a id="l00056" name="l00056"></a><span class="lineno"> 56</span> <span class="keyword">const</span> std::map&lt;<span class="keywordtype">int</span>, std::vector&lt;CameraModel&gt; &gt; &amp; models,</div>
<div class="line"><a id="l00057" name="l00057"></a><span class="lineno"> 57</span> std::map&lt;int, cv::Point3f&gt; &amp; points3DMap,</div>
<div class="line"><a id="l00058" name="l00058"></a><span class="lineno"> 58</span> <span class="keyword">const</span> std::map&lt;<span class="keywordtype">int</span>, std::map&lt;int, FeatureBA&gt; &gt; &amp; wordReferences, <span class="comment">// &lt;ID words, IDs frames + keypoint(x,y,depth)&gt;</span></div>
<div class="line"><a id="l00059" name="l00059"></a><span class="lineno"> 59</span> std::set&lt;int&gt; * outliers = 0);</div>
<div class="line"><a id="l00059" name="l00059"></a><span class="lineno"> 59</span> BAOutliers * outliers = 0);</div>
<div class="line"><a id="l00060" name="l00060"></a><span class="lineno"> 60</span>};</div>
</div>
<div class="line"><a id="l00061" name="l00061"></a><span class="lineno"> 61</span> </div>
<div class="line"><a id="l00062" name="l00062"></a><span class="lineno"> 62</span>} <span class="comment">/* namespace rtabmap */</span></div>
<div class="line"><a id="l00063" name="l00063"></a><span class="lineno"> 63</span><span class="preprocessor">#endif </span><span class="comment">/* OPTIMIZERCVSBA_H_ */</span><span class="preprocessor"></span></div>
<div class="ttc" id="aclassrtabmap_1_1OptimizerCVSBA_html"><div class="ttname"><a href="classrtabmap_1_1OptimizerCVSBA.html">rtabmap::OptimizerCVSBA</a></div><div class="ttdef"><b>Definition</b> <a href="OptimizerCVSBA_8h_source.html#l00035">OptimizerCVSBA.h:36</a></div></div>
<div class="ttc" id="aclassrtabmap_1_1OptimizerCVSBA_html_ad6ff3fec8e75ab76290da5763022a903"><div class="ttname"><a href="classrtabmap_1_1OptimizerCVSBA.html#ad6ff3fec8e75ab76290da5763022a903">rtabmap::OptimizerCVSBA::optimizeBA</a></div><div class="ttdeci">virtual std::map&lt; int, Transform &gt; optimizeBA(int rootId, const std::map&lt; int, Transform &gt; &amp;poses, const std::multimap&lt; int, Link &gt; &amp;links, const std::map&lt; int, std::vector&lt; CameraModel &gt; &gt; &amp;models, std::map&lt; int, cv::Point3f &gt; &amp;points3DMap, const std::map&lt; int, std::map&lt; int, FeatureBA &gt; &gt; &amp;wordReferences, std::set&lt; int &gt; *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_1OptimizerCVSBA_html_a48fce33707a004a0d89db99c1c39d999"><div class="ttname"><a href="classrtabmap_1_1OptimizerCVSBA.html#a48fce33707a004a0d89db99c1c39d999">rtabmap::OptimizerCVSBA::optimizeBA</a></div><div class="ttdeci">virtual std::map&lt; int, Transform &gt; optimizeBA(int rootId, const std::map&lt; int, Transform &gt; &amp;poses, const std::multimap&lt; int, Link &gt; &amp;links, const std::map&lt; int, std::vector&lt; CameraModel &gt; &gt; &amp;models, std::map&lt; int, cv::Point3f &gt; &amp;points3DMap, const std::map&lt; int, std::map&lt; int, FeatureBA &gt; &gt; &amp;wordReferences, BAOutliers *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_1OptimizerCVSBA_html_afbf58e60900671630e0974a13e49b2b0"><div class="ttname"><a href="classrtabmap_1_1OptimizerCVSBA.html#afbf58e60900671630e0974a13e49b2b0">rtabmap::OptimizerCVSBA::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="OptimizerCVSBA_8h_source.html#l00050">OptimizerCVSBA.h:50</a></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="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#l00090">Optimizer.h:91</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#l00094">Optimizer.h:94</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>
<div class="ttc" id="anamespacertabmap_html_ad08b6f1796a27dd7316c99c385e2cc55"><div class="ttname"><a href="namespacertabmap.html#ad08b6f1796a27dd7316c99c385e2cc55">rtabmap::ParametersMap</a></div><div class="ttdeci">std::map&lt; std::string, std::string &gt; 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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