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@@ -173,14 +173,14 @@ $(document).ready(function(){initNavTree('OptimizerCeres_8h_source.html',''); in
<div class="line"><a id="l00064" name="l00064"></a><span class="lineno"> 64</span> <span class="keywordtype">double</span> * finalError = 0,</div>
<div class="line"><a id="l00065" name="l00065"></a><span class="lineno"> 65</span> <span class="keywordtype">int</span> * iterationsDone = 0);</div>
<div class="line"><a id="l00066" name="l00066"></a><span class="lineno"> 66</span> </div>
<div class="line"><a id="l00067" name="l00067"></a><span class="lineno"><a class="line" href="classrtabmap_1_1OptimizerCeres.html#a5057dd09f74610f3092bb597f6af0413"> 67</a></span> <span class="keyword">virtual</span> std::map&lt;int, Transform&gt; <a class="code hl_function" href="classrtabmap_1_1OptimizerCeres.html#a5057dd09f74610f3092bb597f6af0413">optimizeBA</a>(</div>
<div class="line"><a id="l00067" name="l00067"></a><span class="lineno"><a class="line" href="classrtabmap_1_1OptimizerCeres.html#af5c6d465dc4fa7c9045cd241dae5d077"> 67</a></span> <span class="keyword">virtual</span> std::map&lt;int, Transform&gt; <a class="code hl_function" href="classrtabmap_1_1OptimizerCeres.html#af5c6d465dc4fa7c9045cd241dae5d077">optimizeBA</a>(</div>
<div class="line"><a id="l00068" name="l00068"></a><span class="lineno"> 68</span> <span class="keywordtype">int</span> rootId,</div>
<div class="line"><a id="l00069" name="l00069"></a><span class="lineno"> 69</span> <span class="keyword">const</span> std::map&lt;int, Transform&gt; &amp; poses,</div>
<div class="line"><a id="l00070" name="l00070"></a><span class="lineno"> 70</span> <span class="keyword">const</span> std::multimap&lt;int, Link&gt; &amp; links,</div>
<div class="line"><a id="l00071" name="l00071"></a><span class="lineno"> 71</span> <span class="keyword">const</span> std::map&lt;<span class="keywordtype">int</span>, std::vector&lt;CameraModel&gt; &gt; &amp; models, <span class="comment">// in case of stereo, Tx should be set</span></div>
<div class="line"><a id="l00072" name="l00072"></a><span class="lineno"> 72</span> std::map&lt;int, cv::Point3f&gt; &amp; points3DMap,</div>
<div class="line"><a id="l00073" name="l00073"></a><span class="lineno"> 73</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="l00074" name="l00074"></a><span class="lineno"> 74</span> std::set&lt;int&gt; * outliers = 0);</div>
<div class="line"><a id="l00074" name="l00074"></a><span class="lineno"> 74</span> BAOutliers * outliers = 0);</div>
<div class="line"><a id="l00075" name="l00075"></a><span class="lineno"> 75</span> </div>
<div class="line"><a id="l00076" name="l00076"></a><span class="lineno"> 76</span><span class="keyword">private</span>:</div>
<div class="line"><a id="l00077" name="l00077"></a><span class="lineno"> 77</span> <span class="keywordtype">double</span> pixelVariance_;</div>
@@ -193,12 +193,12 @@ $(document).ready(function(){initNavTree('OptimizerCeres_8h_source.html',''); in
<div class="line"><a id="l00083" name="l00083"></a><span class="lineno"> 83</span>} <span class="comment">/* namespace rtabmap */</span></div>
<div class="line"><a id="l00084" name="l00084"></a><span class="lineno"> 84</span><span class="preprocessor">#endif </span><span class="comment">/* OPTIMIZERCERES_H_ */</span><span class="preprocessor"></span></div>
<div class="ttc" id="aclassrtabmap_1_1OptimizerCeres_html"><div class="ttname"><a href="classrtabmap_1_1OptimizerCeres.html">rtabmap::OptimizerCeres</a></div><div class="ttdef"><b>Definition</b> <a href="OptimizerCeres_8h_source.html#l00035">OptimizerCeres.h:36</a></div></div>
<div class="ttc" id="aclassrtabmap_1_1OptimizerCeres_html_a5057dd09f74610f3092bb597f6af0413"><div class="ttname"><a href="classrtabmap_1_1OptimizerCeres.html#a5057dd09f74610f3092bb597f6af0413">rtabmap::OptimizerCeres::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_1OptimizerCeres_html_aaa1128eeb38451086c7abd58ae6142ac"><div class="ttname"><a href="classrtabmap_1_1OptimizerCeres.html#aaa1128eeb38451086c7abd58ae6142ac">rtabmap::OptimizerCeres::parseParameters</a></div><div class="ttdeci">virtual void parseParameters(const ParametersMap &amp;parameters)</div><div class="ttdoc">Reads shared knobs from parameters and applies them to this instance.</div></div>
<div class="ttc" id="aclassrtabmap_1_1OptimizerCeres_html_ab988decf55da4a8821931855ddaa1c1a"><div class="ttname"><a href="classrtabmap_1_1OptimizerCeres.html#ab988decf55da4a8821931855ddaa1c1a">rtabmap::OptimizerCeres::optimize</a></div><div class="ttdeci">virtual std::map&lt; int, Transform &gt; optimize(int rootId, const std::map&lt; int, Transform &gt; &amp;poses, const std::multimap&lt; int, Link &gt; &amp;edgeConstraints, cv::Mat &amp;outputCovariance, std::list&lt; std::map&lt; int, Transform &gt; &gt; *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_1OptimizerCeres_html_ad6d6c0a0cdbea0ee5082d3aaa94d8e7a"><div class="ttname"><a href="classrtabmap_1_1OptimizerCeres.html#ad6d6c0a0cdbea0ee5082d3aaa94d8e7a">rtabmap::OptimizerCeres::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="OptimizerCeres_8h_source.html#l00054">OptimizerCeres.h:54</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_1OptimizerCeres_html_af5c6d465dc4fa7c9045cd241dae5d077"><div class="ttname"><a href="classrtabmap_1_1OptimizerCeres.html#af5c6d465dc4fa7c9045cd241dae5d077">rtabmap::OptimizerCeres::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_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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