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@@ -154,9 +154,9 @@ bool </td><td class="memItemRight" valign="bottom"><b>saveGraph</b> (const
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<tr class="memitem:a7e3aff943e77603493a358ff522fa2dc inherit pub_methods_classrtabmap_1_1Optimizer" id="r_a7e3aff943e77603493a358ff522fa2dc"><td class="memItemLeft" align="right" valign="top">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_1Optimizer.html#a7e3aff943e77603493a358ff522fa2dc">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> > &constraints, 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:a7e3aff943e77603493a358ff522fa2dc inherit pub_methods_classrtabmap_1_1Optimizer"><td class="mdescLeft"> </td><td class="mdescRight">Pose-graph optimization (single shot). <br /></td></tr>
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<tr class="separator:a7e3aff943e77603493a358ff522fa2dc inherit pub_methods_classrtabmap_1_1Optimizer"><td class="memSeparator" colspan="2"> </td></tr>
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<tr class="memitem:a038e8df970ab744f6f4ba7027f62b263 inherit pub_methods_classrtabmap_1_1Optimizer" id="r_a038e8df970ab744f6f4ba7027f62b263"><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_1Optimizer.html#a038e8df970ab744f6f4ba7027f62b263">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:a038e8df970ab744f6f4ba7027f62b263 inherit pub_methods_classrtabmap_1_1Optimizer"><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:a038e8df970ab744f6f4ba7027f62b263 inherit pub_methods_classrtabmap_1_1Optimizer"><td class="memSeparator" colspan="2"> </td></tr>
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<tr class="memitem:a1122f017f10105f7e6c14039d41709e5 inherit pub_methods_classrtabmap_1_1Optimizer" id="r_a1122f017f10105f7e6c14039d41709e5"><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_1Optimizer.html#a1122f017f10105f7e6c14039d41709e5">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:a1122f017f10105f7e6c14039d41709e5 inherit pub_methods_classrtabmap_1_1Optimizer"><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:a1122f017f10105f7e6c14039d41709e5 inherit pub_methods_classrtabmap_1_1Optimizer"><td class="memSeparator" colspan="2"> </td></tr>
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<tr class="memitem:a2f7cbdebed9787ffa6b0b30536dfa1a0 inherit pub_methods_classrtabmap_1_1Optimizer" id="r_a2f7cbdebed9787ffa6b0b30536dfa1a0"><td class="memItemLeft" align="right" valign="top">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_1Optimizer.html#a2f7cbdebed9787ffa6b0b30536dfa1a0">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, <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, 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:a2f7cbdebed9787ffa6b0b30536dfa1a0 inherit pub_methods_classrtabmap_1_1Optimizer"><td class="mdescLeft"> </td><td class="mdescRight">BA wrapper that derives camera models and correspondences from signatures. <br /></td></tr>
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<tr class="separator:a2f7cbdebed9787ffa6b0b30536dfa1a0 inherit pub_methods_classrtabmap_1_1Optimizer"><td class="memSeparator" colspan="2"> </td></tr>
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@@ -164,9 +164,9 @@ bool </td><td class="memItemRight" valign="bottom"><b>saveGraph</b> (const
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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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