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Update documentation (latest) df52523a0c
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@@ -142,9 +142,9 @@ Public Member Functions</h2></td></tr>
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<tr class="memitem:ab988decf55da4a8821931855ddaa1c1a" id="r_ab988decf55da4a8821931855ddaa1c1a"><td class="memItemLeft" align="right" valign="top">virtual std::map< int, <a class="el" href="classrtabmap_1_1Transform.html">Transform</a> > </td><td class="memItemRight" valign="bottom"><a class="el" href="classrtabmap_1_1OptimizerCeres.html#ab988decf55da4a8821931855ddaa1c1a">optimize</a> (int rootId, const std::map< int, <a class="el" href="classrtabmap_1_1Transform.html">Transform</a> > &poses, const std::multimap< int, <a class="el" href="classrtabmap_1_1Link.html">Link</a> > &edgeConstraints, cv::Mat &outputCovariance, std::list< std::map< int, <a class="el" href="classrtabmap_1_1Transform.html">Transform</a> > > *intermediateGraphes=0, double *finalError=0, int *iterationsDone=0)</td></tr>
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<tr class="memdesc:ab988decf55da4a8821931855ddaa1c1a"><td class="mdescLeft"> </td><td class="mdescRight">Pose-graph optimization with marginal covariance of <code>rootId</code>. <br /></td></tr>
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<tr class="separator:ab988decf55da4a8821931855ddaa1c1a"><td class="memSeparator" colspan="2"> </td></tr>
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<tr class="memitem:a5057dd09f74610f3092bb597f6af0413" id="r_a5057dd09f74610f3092bb597f6af0413"><td class="memItemLeft" align="right" valign="top">virtual std::map< int, <a class="el" href="classrtabmap_1_1Transform.html">Transform</a> > </td><td class="memItemRight" valign="bottom"><a class="el" href="classrtabmap_1_1OptimizerCeres.html#a5057dd09f74610f3092bb597f6af0413">optimizeBA</a> (int rootId, const std::map< int, <a class="el" href="classrtabmap_1_1Transform.html">Transform</a> > &poses, const std::multimap< int, <a class="el" href="classrtabmap_1_1Link.html">Link</a> > &links, const std::map< int, std::vector< <a class="el" href="classrtabmap_1_1CameraModel.html">CameraModel</a> > > &models, std::map< int, cv::Point3f > &points3DMap, const std::map< int, std::map< int, <a class="el" href="classrtabmap_1_1FeatureBA.html">FeatureBA</a> > > &wordReferences, std::set< int > *outliers=0)</td></tr>
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<tr class="memdesc:a5057dd09f74610f3092bb597f6af0413"><td class="mdescLeft"> </td><td class="mdescRight">Bundle adjustment: jointly refine poses and 3D points (back-end-level entry point). <br /></td></tr>
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<tr class="separator:a5057dd09f74610f3092bb597f6af0413"><td class="memSeparator" colspan="2"> </td></tr>
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<tr class="memitem:af5c6d465dc4fa7c9045cd241dae5d077" id="r_af5c6d465dc4fa7c9045cd241dae5d077"><td class="memItemLeft" align="right" valign="top">virtual std::map< int, <a class="el" href="classrtabmap_1_1Transform.html">Transform</a> > </td><td class="memItemRight" valign="bottom"><a class="el" href="classrtabmap_1_1OptimizerCeres.html#af5c6d465dc4fa7c9045cd241dae5d077">optimizeBA</a> (int rootId, const std::map< int, <a class="el" href="classrtabmap_1_1Transform.html">Transform</a> > &poses, const std::multimap< int, <a class="el" href="classrtabmap_1_1Link.html">Link</a> > &links, const std::map< int, std::vector< <a class="el" href="classrtabmap_1_1CameraModel.html">CameraModel</a> > > &models, std::map< int, cv::Point3f > &points3DMap, const std::map< int, std::map< int, <a class="el" href="classrtabmap_1_1FeatureBA.html">FeatureBA</a> > > &wordReferences, BAOutliers *outliers=0)</td></tr>
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<tr class="memdesc:af5c6d465dc4fa7c9045cd241dae5d077"><td class="mdescLeft"> </td><td class="mdescRight">Bundle adjustment: jointly refine poses and 3D points (back-end-level entry point). <br /></td></tr>
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<tr class="separator:af5c6d465dc4fa7c9045cd241dae5d077"><td class="memSeparator" colspan="2"> </td></tr>
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<tr class="inherit_header pub_methods_classrtabmap_1_1Optimizer"><td colspan="2" onclick="javascript:toggleInherit('pub_methods_classrtabmap_1_1Optimizer')"><img src="closed.png" alt="-"/> Public Member Functions inherited from <a class="el" href="classrtabmap_1_1Optimizer.html">rtabmap::Optimizer</a></td></tr>
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<tr class="memitem:a4477c9a5b6651729944726465b5eba7f inherit pub_methods_classrtabmap_1_1Optimizer" id="r_a4477c9a5b6651729944726465b5eba7f"><td class="memItemLeft" align="right" valign="top">void </td><td class="memItemRight" valign="bottom"><a class="el" href="classrtabmap_1_1Optimizer.html#a4477c9a5b6651729944726465b5eba7f">getConnectedGraph</a> (int fromId, const std::map< int, <a class="el" href="classrtabmap_1_1Transform.html">Transform</a> > &posesIn, const std::multimap< int, <a class="el" href="classrtabmap_1_1Link.html">Link</a> > &linksIn, std::map< int, <a class="el" href="classrtabmap_1_1Transform.html">Transform</a> > &posesOut, std::multimap< int, <a class="el" href="classrtabmap_1_1Link.html">Link</a> > &linksOut) const</td></tr>
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<tr class="memdesc:a4477c9a5b6651729944726465b5eba7f inherit pub_methods_classrtabmap_1_1Optimizer"><td class="mdescLeft"> </td><td class="mdescRight">Extracts the connected component reachable from <code>fromId</code>. <br /></td></tr>
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@@ -162,9 +162,9 @@ Public Member Functions</h2></td></tr>
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std::map< int, <a class="el" href="classrtabmap_1_1Transform.html">Transform</a> > </td><td class="memItemRight" valign="bottom"><b>optimizeBA</b> (int rootId, const std::map< int, <a class="el" href="classrtabmap_1_1Transform.html">Transform</a> > &poses, const std::multimap< int, <a class="el" href="classrtabmap_1_1Link.html">Link</a> > &links, const std::map< int, <a class="el" href="classrtabmap_1_1Signature.html">Signature</a> > &signatures, bool rematchFeatures=false, const <a class="el" href="namespacertabmap.html#ad08b6f1796a27dd7316c99c385e2cc55">ParametersMap</a> &registrationParameters=<a class="el" href="namespacertabmap.html#ad08b6f1796a27dd7316c99c385e2cc55">ParametersMap</a>())</td></tr>
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<tr class="memdesc:aab99f045516162944ad68fdabacb53dc inherit pub_methods_classrtabmap_1_1Optimizer"><td class="mdescLeft"> </td><td class="mdescRight">BA convenience wrapper: like the overload above but ignores the refined 3D points and observation map. <br /></td></tr>
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<tr class="separator:aab99f045516162944ad68fdabacb53dc inherit pub_methods_classrtabmap_1_1Optimizer"><td class="memSeparator" colspan="2"> </td></tr>
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<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> </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> &link, const <a class="el" href="classrtabmap_1_1CameraModel.html">CameraModel</a> &model, std::map< int, cv::Point3f > &points3DMap, const std::map< int, std::map< int, <a class="el" href="classrtabmap_1_1FeatureBA.html">FeatureBA</a> > > &wordReferences, std::set< int > *outliers=0)</td></tr>
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<tr class="memdesc:ad6b32a9697837f03941773f6a5bbf91c inherit pub_methods_classrtabmap_1_1Optimizer"><td class="mdescLeft"> </td><td class="mdescRight">Refine a single two-frame link via BA. <br /></td></tr>
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<tr class="separator:ad6b32a9697837f03941773f6a5bbf91c inherit pub_methods_classrtabmap_1_1Optimizer"><td class="memSeparator" colspan="2"> </td></tr>
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<tr class="memitem:aedaeb7cc371f3685f8595d9a151f6605 inherit pub_methods_classrtabmap_1_1Optimizer" id="r_aedaeb7cc371f3685f8595d9a151f6605"><td class="memItemLeft" align="right" valign="top"><a class="el" href="classrtabmap_1_1Transform.html">Transform</a> </td><td class="memItemRight" valign="bottom"><a class="el" href="classrtabmap_1_1Optimizer.html#aedaeb7cc371f3685f8595d9a151f6605">optimizeBA</a> (const <a class="el" href="classrtabmap_1_1Link.html">Link</a> &link, const <a class="el" href="classrtabmap_1_1CameraModel.html">CameraModel</a> &model, std::map< int, cv::Point3f > &points3DMap, const std::map< int, std::map< int, <a class="el" href="classrtabmap_1_1FeatureBA.html">FeatureBA</a> > > &wordReferences, BAOutliers *outliers=0)</td></tr>
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<tr class="memdesc:aedaeb7cc371f3685f8595d9a151f6605 inherit pub_methods_classrtabmap_1_1Optimizer"><td class="mdescLeft"> </td><td class="mdescRight">Refine a single two-frame link via BA. <br /></td></tr>
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<tr class="separator:aedaeb7cc371f3685f8595d9a151f6605 inherit pub_methods_classrtabmap_1_1Optimizer"><td class="memSeparator" colspan="2"> </td></tr>
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<tr class="memitem:a93fb09dac068e64de000f692bcb8216f inherit pub_methods_classrtabmap_1_1Optimizer" id="r_a93fb09dac068e64de000f692bcb8216f"><td class="memItemLeft" align="right" valign="top">void </td><td class="memItemRight" valign="bottom"><a class="el" href="classrtabmap_1_1Optimizer.html#a93fb09dac068e64de000f692bcb8216f">computeBACorrespondences</a> (const std::map< int, <a class="el" href="classrtabmap_1_1Transform.html">Transform</a> > &poses, const std::multimap< int, <a class="el" href="classrtabmap_1_1Link.html">Link</a> > &links, const std::map< int, <a class="el" href="classrtabmap_1_1Signature.html">Signature</a> > &signatures, std::map< int, cv::Point3f > &points3DMap, std::map< int, std::map< int, <a class="el" href="classrtabmap_1_1FeatureBA.html">FeatureBA</a> > > &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>
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<tr class="memdesc:a93fb09dac068e64de000f692bcb8216f inherit pub_methods_classrtabmap_1_1Optimizer"><td class="mdescLeft"> </td><td class="mdescRight">Build BA correspondences (3D points + per-frame observations) from signatures. <br /></td></tr>
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<tr class="separator:a93fb09dac068e64de000f692bcb8216f inherit pub_methods_classrtabmap_1_1Optimizer"><td class="memSeparator" colspan="2"> </td></tr>
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@@ -477,8 +477,8 @@ Additional Inherited Members</h2></td></tr>
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<a id="a5057dd09f74610f3092bb597f6af0413" name="a5057dd09f74610f3092bb597f6af0413"></a>
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<h2 class="memtitle"><span class="permalink"><a href="#a5057dd09f74610f3092bb597f6af0413">◆ </a></span>optimizeBA()</h2>
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<a id="af5c6d465dc4fa7c9045cd241dae5d077" name="af5c6d465dc4fa7c9045cd241dae5d077"></a>
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<h2 class="memtitle"><span class="permalink"><a href="#af5c6d465dc4fa7c9045cd241dae5d077">◆ </a></span>optimizeBA()</h2>
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@@ -525,7 +525,7 @@ Additional Inherited Members</h2></td></tr>
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<td class="paramkey"></td>
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<td></td>
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<td class="paramtype">std::set< int > * </td>
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<td class="paramtype">BAOutliers * </td>
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<td class="paramname"><em>outliers</em> = <code>0</code> </td>
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@@ -542,7 +542,7 @@ Additional Inherited Members</h2></td></tr>
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</div><div class="memdoc">
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<p>Bundle adjustment: jointly refine poses and 3D points (back-end-level entry point). </p>
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<p>Concrete subclasses (g2o, Ceres, cvsba) override this; the base implementation errors out. The other <a class="el" href="classrtabmap_1_1OptimizerCeres.html#a5057dd09f74610f3092bb597f6af0413">optimizeBA()</a> overloads ultimately funnel here.</p>
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<p>Concrete subclasses (g2o, Ceres, cvsba) override this; the base implementation errors out. The other <a class="el" href="classrtabmap_1_1OptimizerCeres.html#af5c6d465dc4fa7c9045cd241dae5d077">optimizeBA()</a> overloads ultimately funnel here.</p>
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<dl class="params"><dt>Parameters</dt><dd>
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<table class="params">
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<tr><td class="paramname">rootId</td><td>Pose to hold fixed. If negative, ALL poses other than the (positive) lowest id are held fixed. </td></tr>
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@@ -557,7 +557,7 @@ Additional Inherited Members</h2></td></tr>
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</dl>
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<dl class="section return"><dt>Returns</dt><dd>Refined poses, or empty on failure. </dd></dl>
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<p>Reimplemented from <a class="el" href="classrtabmap_1_1Optimizer.html#a038e8df970ab744f6f4ba7027f62b263">rtabmap::Optimizer</a>.</p>
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<p>Reimplemented from <a class="el" href="classrtabmap_1_1Optimizer.html#a1122f017f10105f7e6c14039d41709e5">rtabmap::Optimizer</a>.</p>
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</div>
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</div>
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