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@@ -167,14 +167,14 @@ $(document).ready(function(){initNavTree('OptimizerGTSAM_8h_source.html',''); in
<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&lt;int, Transform&gt; <a class="code hl_function" href="classrtabmap_1_1OptimizerGTSAM.html#a7a2033a466505f8c2191b8329b5b342c">optimizeBA</a>(</div>
<div class="line"><a id="l00061" name="l00061"></a><span class="lineno"><a class="line" href="classrtabmap_1_1OptimizerGTSAM.html#a8009ace7ad9f50214bc359421546a54b"> 61</a></span> <span class="keyword">virtual</span> std::map&lt;int, Transform&gt; <a class="code hl_function" href="classrtabmap_1_1OptimizerGTSAM.html#a8009ace7ad9f50214bc359421546a54b">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&lt;int, Transform&gt; &amp; poses,</div>
<div class="line"><a id="l00064" name="l00064"></a><span class="lineno"> 64</span> <span class="keyword">const</span> std::multimap&lt;int, Link&gt; &amp; links,</div>
<div class="line"><a id="l00065" name="l00065"></a><span class="lineno"> 65</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="l00066" name="l00066"></a><span class="lineno"> 66</span> std::map&lt;int, cv::Point3f&gt; &amp; points3DMap,</div>
<div class="line"><a id="l00067" name="l00067"></a><span class="lineno"> 67</span> <span class="keyword">const</span> std::map&lt;<span class="keywordtype">int</span>, std::map&lt;int, FeatureBA&gt; &gt; &amp; wordReferences,</div>
<div class="line"><a id="l00068" name="l00068"></a><span class="lineno"> 68</span> std::set&lt;int&gt; * outliers = 0);</div>
<div class="line"><a id="l00068" name="l00068"></a><span class="lineno"> 68</span> BAOutliers * 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>
@@ -209,10 +209,10 @@ $(document).ready(function(){initNavTree('OptimizerGTSAM_8h_source.html',''); in
<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&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_1OptimizerGTSAM_html_a7a2033a466505f8c2191b8329b5b342c"><div class="ttname"><a href="classrtabmap_1_1OptimizerGTSAM.html#a7a2033a466505f8c2191b8329b5b342c">rtabmap::OptimizerGTSAM::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_1OptimizerGTSAM_html_a8009ace7ad9f50214bc359421546a54b"><div class="ttname"><a href="classrtabmap_1_1OptimizerGTSAM.html#a8009ace7ad9f50214bc359421546a54b">rtabmap::OptimizerGTSAM::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_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 &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_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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