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api/latest/OdometryF2M_8h_source.html
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@@ -214,7 +214,7 @@ $(document).ready(function(){initNavTree('OdometryF2M_8h_source.html',''); initR
<div class="ttc" id="aclassrtabmap_1_1OdometryInfo_html"><div class="ttname"><a href="classrtabmap_1_1OdometryInfo.html">rtabmap::OdometryInfo</a></div><div class="ttdoc">What one Odometry iteration produced, beyond the pose.</div><div class="ttdef"><b>Definition</b> <a href="OdometryInfo_8h_source.html#l00063">OdometryInfo.h:64</a></div></div> <div class="ttc" id="aclassrtabmap_1_1OdometryInfo_html"><div class="ttname"><a href="classrtabmap_1_1OdometryInfo.html">rtabmap::OdometryInfo</a></div><div class="ttdoc">What one Odometry iteration produced, beyond the pose.</div><div class="ttdef"><b>Definition</b> <a href="OdometryInfo_8h_source.html#l00063">OdometryInfo.h:64</a></div></div>
<div class="ttc" id="aclassrtabmap_1_1Odometry_html"><div class="ttname"><a href="classrtabmap_1_1Odometry.html">rtabmap::Odometry</a></div><div class="ttdoc">Abstract base class for visual, lidar and visual-inertial odometry backends.</div><div class="ttdef"><b>Definition</b> <a href="Odometry_8h_source.html#l00056">Odometry.h:57</a></div></div> <div class="ttc" id="aclassrtabmap_1_1Odometry_html"><div class="ttname"><a href="classrtabmap_1_1Odometry.html">rtabmap::Odometry</a></div><div class="ttdoc">Abstract base class for visual, lidar and visual-inertial odometry backends.</div><div class="ttdef"><b>Definition</b> <a href="Odometry_8h_source.html#l00056">Odometry.h:57</a></div></div>
<div class="ttc" id="aclassrtabmap_1_1Odometry_html_a6427d44c57fd6b7152b62d5b7cca1849"><div class="ttname"><a href="classrtabmap_1_1Odometry.html#a6427d44c57fd6b7152b62d5b7cca1849">rtabmap::Odometry::Type</a></div><div class="ttdeci">Type</div><div class="ttdoc">Odometry backend selected by Parameters::kOdomStrategy().</div><div class="ttdef"><b>Definition</b> <a href="Odometry_8h_source.html#l00060">Odometry.h:60</a></div></div> <div class="ttc" id="aclassrtabmap_1_1Odometry_html_a6427d44c57fd6b7152b62d5b7cca1849"><div class="ttname"><a href="classrtabmap_1_1Odometry.html#a6427d44c57fd6b7152b62d5b7cca1849">rtabmap::Odometry::Type</a></div><div class="ttdeci">Type</div><div class="ttdoc">Odometry backend selected by Parameters::kOdomStrategy().</div><div class="ttdef"><b>Definition</b> <a href="Odometry_8h_source.html#l00060">Odometry.h:60</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"><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_1Registration_html"><div class="ttname"><a href="classrtabmap_1_1Registration.html">rtabmap::Registration</a></div><div class="ttdoc">Abstract base for registering two observations (visual, ICP, or both).</div><div class="ttdef"><b>Definition</b> <a href="Registration_8h_source.html#l00060">Registration.h:61</a></div></div> <div class="ttc" id="aclassrtabmap_1_1Registration_html"><div class="ttname"><a href="classrtabmap_1_1Registration.html">rtabmap::Registration</a></div><div class="ttdoc">Abstract base for registering two observations (visual, ICP, or both).</div><div class="ttdef"><b>Definition</b> <a href="Registration_8h_source.html#l00060">Registration.h:61</a></div></div>
<div class="ttc" id="aclassrtabmap_1_1SensorData_html"><div class="ttname"><a href="classrtabmap_1_1SensorData.html">rtabmap::SensorData</a></div><div class="ttdoc">Container class for all sensor data captured at a specific time.</div><div class="ttdef"><b>Definition</b> <a href="SensorData_8h_source.html#l00096">SensorData.h:97</a></div></div> <div class="ttc" id="aclassrtabmap_1_1SensorData_html"><div class="ttname"><a href="classrtabmap_1_1SensorData.html">rtabmap::SensorData</a></div><div class="ttdoc">Container class for all sensor data captured at a specific time.</div><div class="ttdef"><b>Definition</b> <a href="SensorData_8h_source.html#l00096">SensorData.h:97</a></div></div>
<div class="ttc" id="aclassrtabmap_1_1Signature_html"><div class="ttname"><a href="classrtabmap_1_1Signature.html">rtabmap::Signature</a></div><div class="ttdoc">Represents a node in RTAB-Map's pose graph.</div><div class="ttdef"><b>Definition</b> <a href="Signature_8h_source.html#l00083">Signature.h:84</a></div></div> <div class="ttc" id="aclassrtabmap_1_1Signature_html"><div class="ttname"><a href="classrtabmap_1_1Signature.html">rtabmap::Signature</a></div><div class="ttdoc">Represents a node in RTAB-Map's pose graph.</div><div class="ttdef"><b>Definition</b> <a href="Signature_8h_source.html#l00083">Signature.h:84</a></div></div>
api/latest/OptimizerCVSBA_8h_source.html
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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="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="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="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="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="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="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="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="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="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 class="line"><a id="l00060" name="l00060"></a><span class="lineno"> 60</span>};</div>
</div> </div>
<div class="line"><a id="l00061" name="l00061"></a><span class="lineno"> 61</span> </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="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="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"><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_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"><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#l00091">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"><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> <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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api/latest/OptimizerCeres_8h_source.html
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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="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="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="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="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="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="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="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="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="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="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="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> <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="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="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"><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_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_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_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_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_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"><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> <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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@@ -173,14 +173,14 @@ $(document).ready(function(){initNavTree('OptimizerG2O_8h_source.html',''); init
<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="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="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="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_1OptimizerG2O.html#a17edfbaeee93d32153782f61212a88f0"> 67</a></span> <span class="keyword">virtual</span> std::map&lt;int, Transform&gt; <a class="code hl_function" href="classrtabmap_1_1OptimizerG2O.html#a17edfbaeee93d32153782f61212a88f0">optimizeBA</a>(</div> <div class="line"><a id="l00067" name="l00067"></a><span class="lineno"><a class="line" href="classrtabmap_1_1OptimizerG2O.html#af808c77c716d30691670c18955f08f61"> 67</a></span> <span class="keyword">virtual</span> std::map&lt;int, Transform&gt; <a class="code hl_function" href="classrtabmap_1_1OptimizerG2O.html#af808c77c716d30691670c18955f08f61">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="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="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="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="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="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="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="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="keywordtype">bool</span> saveGraph(</div> <div class="line"><a id="l00076" name="l00076"></a><span class="lineno"> 76</span> <span class="keywordtype">bool</span> saveGraph(</div>
<div class="line"><a id="l00077" name="l00077"></a><span class="lineno"> 77</span> <span class="keyword">const</span> std::string &amp; fileName,</div> <div class="line"><a id="l00077" name="l00077"></a><span class="lineno"> 77</span> <span class="keyword">const</span> std::string &amp; fileName,</div>
@@ -201,11 +201,11 @@ $(document).ready(function(){initNavTree('OptimizerG2O_8h_source.html',''); init
<div class="line"><a id="l00091" name="l00091"></a><span class="lineno"> 91</span><span class="preprocessor">#endif </span><span class="comment">/* OPTIMIZERG2O_H_ */</span><span class="preprocessor"></span></div> <div class="line"><a id="l00091" name="l00091"></a><span class="lineno"> 91</span><span class="preprocessor">#endif </span><span class="comment">/* OPTIMIZERG2O_H_ */</span><span class="preprocessor"></span></div>
<div class="ttc" id="aclassrtabmap_1_1OptimizerG2O_html"><div class="ttname"><a href="classrtabmap_1_1OptimizerG2O.html">rtabmap::OptimizerG2O</a></div><div class="ttdef"><b>Definition</b> <a href="OptimizerG2O_8h_source.html#l00037">OptimizerG2O.h:38</a></div></div> <div class="ttc" id="aclassrtabmap_1_1OptimizerG2O_html"><div class="ttname"><a href="classrtabmap_1_1OptimizerG2O.html">rtabmap::OptimizerG2O</a></div><div class="ttdef"><b>Definition</b> <a href="OptimizerG2O_8h_source.html#l00037">OptimizerG2O.h:38</a></div></div>
<div class="ttc" id="aclassrtabmap_1_1OptimizerG2O_html_a07b598444b99584b6f2bed6baca5e8bb"><div class="ttname"><a href="classrtabmap_1_1OptimizerG2O.html#a07b598444b99584b6f2bed6baca5e8bb">rtabmap::OptimizerG2O::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_1OptimizerG2O_html_a07b598444b99584b6f2bed6baca5e8bb"><div class="ttname"><a href="classrtabmap_1_1OptimizerG2O.html#a07b598444b99584b6f2bed6baca5e8bb">rtabmap::OptimizerG2O::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_1OptimizerG2O_html_a17edfbaeee93d32153782f61212a88f0"><div class="ttname"><a href="classrtabmap_1_1OptimizerG2O.html#a17edfbaeee93d32153782f61212a88f0">rtabmap::OptimizerG2O::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_1OptimizerG2O_html_a9400bdf57331af310cf6b02e661d0a03"><div class="ttname"><a href="classrtabmap_1_1OptimizerG2O.html#a9400bdf57331af310cf6b02e661d0a03">rtabmap::OptimizerG2O::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_1OptimizerG2O_html_a9400bdf57331af310cf6b02e661d0a03"><div class="ttname"><a href="classrtabmap_1_1OptimizerG2O.html#a9400bdf57331af310cf6b02e661d0a03">rtabmap::OptimizerG2O::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_1OptimizerG2O_html_af69edaad65a7f7f936fa99f8c617e10b"><div class="ttname"><a href="classrtabmap_1_1OptimizerG2O.html#af69edaad65a7f7f936fa99f8c617e10b">rtabmap::OptimizerG2O::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="OptimizerG2O_8h_source.html#l00054">OptimizerG2O.h:54</a></div></div> <div class="ttc" id="aclassrtabmap_1_1OptimizerG2O_html_af69edaad65a7f7f936fa99f8c617e10b"><div class="ttname"><a href="classrtabmap_1_1OptimizerG2O.html#af69edaad65a7f7f936fa99f8c617e10b">rtabmap::OptimizerG2O::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="OptimizerG2O_8h_source.html#l00054">OptimizerG2O.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_1OptimizerG2O_html_af808c77c716d30691670c18955f08f61"><div class="ttname"><a href="classrtabmap_1_1OptimizerG2O.html#af808c77c716d30691670c18955f08f61">rtabmap::OptimizerG2O::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_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"><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> <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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api/latest/OptimizerGTSAM_8h_source.html
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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="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="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="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="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="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="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="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="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="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="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="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> <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"><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_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_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_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"><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#l00091">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"><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> <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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api/latest/OptimizerTORO_8h_source.html
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@@ -186,8 +186,8 @@ $(document).ready(function(){initNavTree('OptimizerTORO_8h_source.html',''); ini
<div class="ttc" id="aclassrtabmap_1_1OptimizerTORO_html"><div class="ttname"><a href="classrtabmap_1_1OptimizerTORO.html">rtabmap::OptimizerTORO</a></div><div class="ttdef"><b>Definition</b> <a href="OptimizerTORO_8h_source.html#l00035">OptimizerTORO.h:36</a></div></div> <div class="ttc" id="aclassrtabmap_1_1OptimizerTORO_html"><div class="ttname"><a href="classrtabmap_1_1OptimizerTORO.html">rtabmap::OptimizerTORO</a></div><div class="ttdef"><b>Definition</b> <a href="OptimizerTORO_8h_source.html#l00035">OptimizerTORO.h:36</a></div></div>
<div class="ttc" id="aclassrtabmap_1_1OptimizerTORO_html_a025b40902f0ea048bdbfee9ed4ebc0f3"><div class="ttname"><a href="classrtabmap_1_1OptimizerTORO.html#a025b40902f0ea048bdbfee9ed4ebc0f3">rtabmap::OptimizerTORO::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_1OptimizerTORO_html_a025b40902f0ea048bdbfee9ed4ebc0f3"><div class="ttname"><a href="classrtabmap_1_1OptimizerTORO.html#a025b40902f0ea048bdbfee9ed4ebc0f3">rtabmap::OptimizerTORO::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_1OptimizerTORO_html_a965efb877ac5edd3b6cda43983096a64"><div class="ttname"><a href="classrtabmap_1_1OptimizerTORO.html#a965efb877ac5edd3b6cda43983096a64">rtabmap::OptimizerTORO::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="OptimizerTORO_8h_source.html#l00057">OptimizerTORO.h:57</a></div></div> <div class="ttc" id="aclassrtabmap_1_1OptimizerTORO_html_a965efb877ac5edd3b6cda43983096a64"><div class="ttname"><a href="classrtabmap_1_1OptimizerTORO.html#a965efb877ac5edd3b6cda43983096a64">rtabmap::OptimizerTORO::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="OptimizerTORO_8h_source.html#l00057">OptimizerTORO.h:57</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"><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#l00091">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"><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> <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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@@ -140,185 +140,188 @@ $(document).ready(function(){initNavTree('Optimizer_8h_source.html',''); initRes
<div class="line"><a id="l00032" name="l00032"></a><span class="lineno"> 32</span> </div> <div class="line"><a id="l00032" name="l00032"></a><span class="lineno"> 32</span> </div>
<div class="line"><a id="l00033" name="l00033"></a><span class="lineno"> 33</span><span class="preprocessor">#include &lt;map&gt;</span></div> <div class="line"><a id="l00033" name="l00033"></a><span class="lineno"> 33</span><span class="preprocessor">#include &lt;map&gt;</span></div>
<div class="line"><a id="l00034" name="l00034"></a><span class="lineno"> 34</span><span class="preprocessor">#include &lt;list&gt;</span></div> <div class="line"><a id="l00034" name="l00034"></a><span class="lineno"> 34</span><span class="preprocessor">#include &lt;list&gt;</span></div>
<div class="line"><a id="l00035" name="l00035"></a><span class="lineno"> 35</span><span class="preprocessor">#include &lt;rtabmap/core/Link.h&gt;</span></div> <div class="line"><a id="l00035" name="l00035"></a><span class="lineno"> 35</span><span class="preprocessor">#include &lt;set&gt;</span></div>
<div class="line"><a id="l00036" name="l00036"></a><span class="lineno"> 36</span><span class="preprocessor">#include &lt;rtabmap/core/Parameters.h&gt;</span></div> <div class="line"><a id="l00036" name="l00036"></a><span class="lineno"> 36</span><span class="preprocessor">#include &lt;rtabmap/core/Link.h&gt;</span></div>
<div class="line"><a id="l00037" name="l00037"></a><span class="lineno"> 37</span><span class="preprocessor">#include &lt;rtabmap/core/Signature.h&gt;</span></div> <div class="line"><a id="l00037" name="l00037"></a><span class="lineno"> 37</span><span class="preprocessor">#include &lt;rtabmap/core/Parameters.h&gt;</span></div>
<div class="line"><a id="l00038" name="l00038"></a><span class="lineno"> 38</span> </div> <div class="line"><a id="l00038" name="l00038"></a><span class="lineno"> 38</span><span class="preprocessor">#include &lt;rtabmap/core/Signature.h&gt;</span></div>
<div class="line"><a id="l00039" name="l00039"></a><span class="lineno"> 39</span><span class="keyword">namespace </span><a class="code hl_namespace" href="namespacertabmap.html">rtabmap</a> {</div> <div class="line"><a id="l00039" name="l00039"></a><span class="lineno"> 39</span> </div>
<div class="line"><a id="l00040" name="l00040"></a><span class="lineno"> 40</span> </div> <div class="line"><a id="l00040" name="l00040"></a><span class="lineno"> 40</span><span class="keyword">namespace </span><a class="code hl_namespace" href="namespacertabmap.html">rtabmap</a> {</div>
<div class="foldopen" id="foldopen00050" data-start="{" data-end="};"> <div class="line"><a id="l00041" name="l00041"></a><span class="lineno"> 41</span> </div>
<div class="line"><a id="l00050" name="l00050"></a><span class="lineno"><a class="line" href="classrtabmap_1_1FeatureBA.html"> 50</a></span><span class="keyword">class </span><a class="code hl_class" href="classrtabmap_1_1FeatureBA.html">FeatureBA</a></div> <div class="foldopen" id="foldopen00051" data-start="{" data-end="};">
<div class="line"><a id="l00051" name="l00051"></a><span class="lineno"> 51</span>{</div> <div class="line"><a id="l00051" name="l00051"></a><span class="lineno"><a class="line" href="classrtabmap_1_1FeatureBA.html"> 51</a></span><span class="keyword">class </span><a class="code hl_class" href="classrtabmap_1_1FeatureBA.html">FeatureBA</a></div>
<div class="line"><a id="l00052" name="l00052"></a><span class="lineno"> 52</span><span class="keyword">public</span>:</div> <div class="line"><a id="l00052" name="l00052"></a><span class="lineno"> 52</span>{</div>
<div class="line"><a id="l00053" name="l00053"></a><span class="lineno"> 53</span> <a class="code hl_class" href="classrtabmap_1_1FeatureBA.html">FeatureBA</a>(<span class="keyword">const</span> cv::KeyPoint &amp; kptIn, <span class="keyword">const</span> <span class="keywordtype">float</span> &amp; depthIn = 0.0f, <span class="keyword">const</span> cv::Mat &amp; descriptorIn = cv::Mat(), <span class="keywordtype">int</span> cameraIndexIn = 0):</div> <div class="line"><a id="l00053" name="l00053"></a><span class="lineno"> 53</span><span class="keyword">public</span>:</div>
<div class="line"><a id="l00054" name="l00054"></a><span class="lineno"> 54</span> <a class="code hl_variable" href="classrtabmap_1_1FeatureBA.html#a2bea5690d958d81f5edfa6df954d4a8b">kpt</a>(kptIn),</div> <div class="line"><a id="l00054" name="l00054"></a><span class="lineno"> 54</span> <a class="code hl_class" href="classrtabmap_1_1FeatureBA.html">FeatureBA</a>(<span class="keyword">const</span> cv::KeyPoint &amp; kptIn, <span class="keyword">const</span> <span class="keywordtype">float</span> &amp; depthIn = 0.0f, <span class="keyword">const</span> cv::Mat &amp; descriptorIn = cv::Mat(), <span class="keywordtype">int</span> cameraIndexIn = 0):</div>
<div class="line"><a id="l00055" name="l00055"></a><span class="lineno"> 55</span> <a class="code hl_variable" href="classrtabmap_1_1FeatureBA.html#ad48600a5b6ed17e7713f1485c4317948">depth</a>(depthIn),</div> <div class="line"><a id="l00055" name="l00055"></a><span class="lineno"> 55</span> <a class="code hl_variable" href="classrtabmap_1_1FeatureBA.html#a2bea5690d958d81f5edfa6df954d4a8b">kpt</a>(kptIn),</div>
<div class="line"><a id="l00056" name="l00056"></a><span class="lineno"> 56</span> <a class="code hl_variable" href="classrtabmap_1_1FeatureBA.html#a7db630b2f418b05d2fbd772d1caadf48">descriptor</a>(descriptorIn),</div> <div class="line"><a id="l00056" name="l00056"></a><span class="lineno"> 56</span> <a class="code hl_variable" href="classrtabmap_1_1FeatureBA.html#ad48600a5b6ed17e7713f1485c4317948">depth</a>(depthIn),</div>
<div class="line"><a id="l00057" name="l00057"></a><span class="lineno"> 57</span> <a class="code hl_variable" href="classrtabmap_1_1FeatureBA.html#a8db953b6f93249d5c28c25073cd4e095">cameraIndex</a>(cameraIndexIn)</div> <div class="line"><a id="l00057" name="l00057"></a><span class="lineno"> 57</span> <a class="code hl_variable" href="classrtabmap_1_1FeatureBA.html#a7db630b2f418b05d2fbd772d1caadf48">descriptor</a>(descriptorIn),</div>
<div class="line"><a id="l00058" name="l00058"></a><span class="lineno"> 58</span> {</div> <div class="line"><a id="l00058" name="l00058"></a><span class="lineno"> 58</span> <a class="code hl_variable" href="classrtabmap_1_1FeatureBA.html#a8db953b6f93249d5c28c25073cd4e095">cameraIndex</a>(cameraIndexIn)</div>
<div class="line"><a id="l00059" name="l00059"></a><span class="lineno"> 59</span> <span class="comment">//UDEBUG(&quot;kpt=(%f,%f) depth=%f, camIndex=%d&quot;, kpt.pt.x, kpt.pt.y, depth, cameraIndex);</span></div> <div class="line"><a id="l00059" name="l00059"></a><span class="lineno"> 59</span> {</div>
<div class="line"><a id="l00060" name="l00060"></a><span class="lineno"> 60</span> }</div> <div class="line"><a id="l00060" name="l00060"></a><span class="lineno"> 60</span> <span class="comment">//UDEBUG(&quot;kpt=(%f,%f) depth=%f, camIndex=%d&quot;, kpt.pt.x, kpt.pt.y, depth, cameraIndex);</span></div>
<div class="line"><a id="l00061" name="l00061"></a><span class="lineno"><a class="line" href="classrtabmap_1_1FeatureBA.html#a2bea5690d958d81f5edfa6df954d4a8b"> 61</a></span> cv::KeyPoint <a class="code hl_variable" href="classrtabmap_1_1FeatureBA.html#a2bea5690d958d81f5edfa6df954d4a8b">kpt</a>; </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"><a class="line" href="classrtabmap_1_1FeatureBA.html#ad48600a5b6ed17e7713f1485c4317948"> 62</a></span> <span class="keywordtype">float</span> <a class="code hl_variable" href="classrtabmap_1_1FeatureBA.html#ad48600a5b6ed17e7713f1485c4317948">depth</a>; </div> <div class="line"><a id="l00062" name="l00062"></a><span class="lineno"><a class="line" href="classrtabmap_1_1FeatureBA.html#a2bea5690d958d81f5edfa6df954d4a8b"> 62</a></span> cv::KeyPoint <a class="code hl_variable" href="classrtabmap_1_1FeatureBA.html#a2bea5690d958d81f5edfa6df954d4a8b">kpt</a>; </div>
<div class="line"><a id="l00063" name="l00063"></a><span class="lineno"><a class="line" href="classrtabmap_1_1FeatureBA.html#a7db630b2f418b05d2fbd772d1caadf48"> 63</a></span> cv::Mat <a class="code hl_variable" href="classrtabmap_1_1FeatureBA.html#a7db630b2f418b05d2fbd772d1caadf48">descriptor</a>; </div> <div class="line"><a id="l00063" name="l00063"></a><span class="lineno"><a class="line" href="classrtabmap_1_1FeatureBA.html#ad48600a5b6ed17e7713f1485c4317948"> 63</a></span> <span class="keywordtype">float</span> <a class="code hl_variable" href="classrtabmap_1_1FeatureBA.html#ad48600a5b6ed17e7713f1485c4317948">depth</a>; </div>
<div class="line"><a id="l00064" name="l00064"></a><span class="lineno"><a class="line" href="classrtabmap_1_1FeatureBA.html#a8db953b6f93249d5c28c25073cd4e095"> 64</a></span> <span class="keywordtype">int</span> <a class="code hl_variable" href="classrtabmap_1_1FeatureBA.html#a8db953b6f93249d5c28c25073cd4e095">cameraIndex</a>; </div> <div class="line"><a id="l00064" name="l00064"></a><span class="lineno"><a class="line" href="classrtabmap_1_1FeatureBA.html#a7db630b2f418b05d2fbd772d1caadf48"> 64</a></span> cv::Mat <a class="code hl_variable" href="classrtabmap_1_1FeatureBA.html#a7db630b2f418b05d2fbd772d1caadf48">descriptor</a>; </div>
<div class="line"><a id="l00065" name="l00065"></a><span class="lineno"> 65</span>};</div> <div class="line"><a id="l00065" name="l00065"></a><span class="lineno"><a class="line" href="classrtabmap_1_1FeatureBA.html#a8db953b6f93249d5c28c25073cd4e095"> 65</a></span> <span class="keywordtype">int</span> <a class="code hl_variable" href="classrtabmap_1_1FeatureBA.html#a8db953b6f93249d5c28c25073cd4e095">cameraIndex</a>; </div>
<div class="line"><a id="l00066" name="l00066"></a><span class="lineno"> 66</span>};</div>
</div> </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"> 67</span> </div>
<div class="foldopen" id="foldopen00087" data-start="{" data-end="};"> <div class="line"><a id="l00068" name="l00068"></a><span class="lineno"> 68</span><span class="keyword">typedef</span> std::map&lt;int, std::set&lt;int&gt; &gt; BAOutliers; <span class="comment">// &lt;word ID, rejected pose IDs&gt;, matching wordReferences</span></div>
<div class="line"><a id="l00087" name="l00087"></a><span class="lineno"><a class="line" href="classrtabmap_1_1Optimizer.html"> 87</a></span><span class="keyword">class </span>RTABMAP_CORE_EXPORT <a class="code hl_class" href="classrtabmap_1_1Optimizer.html">Optimizer</a></div> <div class="line"><a id="l00069" name="l00069"></a><span class="lineno"> 69</span> </div>
<div class="line"><a id="l00088" name="l00088"></a><span class="lineno"> 88</span>{</div> <div class="foldopen" id="foldopen00090" data-start="{" data-end="};">
<div class="line"><a id="l00089" name="l00089"></a><span class="lineno"> 89</span><span class="keyword">public</span>:</div> <div class="line"><a id="l00090" name="l00090"></a><span class="lineno"><a class="line" href="classrtabmap_1_1Optimizer.html"> 90</a></span><span class="keyword">class </span>RTABMAP_CORE_EXPORT <a class="code hl_class" href="classrtabmap_1_1Optimizer.html">Optimizer</a></div>
<div class="foldopen" id="foldopen00091" data-start="{" data-end="};"> <div class="line"><a id="l00091" name="l00091"></a><span class="lineno"> 91</span>{</div>
<div class="line"><a id="l00091" name="l00091"></a><span class="lineno"><a class="line" href="classrtabmap_1_1Optimizer.html#a18ae8ac76346d1adc68ab176a5b02d16"> 91</a></span> <span class="keyword">enum</span> <a class="code hl_enumeration" href="classrtabmap_1_1Optimizer.html#a18ae8ac76346d1adc68ab176a5b02d16">Type</a> {</div> <div class="line"><a id="l00092" name="l00092"></a><span class="lineno"> 92</span><span class="keyword">public</span>:</div>
<div class="line"><a id="l00092" name="l00092"></a><span class="lineno"><a class="line" href="classrtabmap_1_1Optimizer.html#a18ae8ac76346d1adc68ab176a5b02d16abae75975865bff7e12e82d2f5295e0db"> 92</a></span> kTypeUndef = -1, </div> <div class="foldopen" id="foldopen00094" data-start="{" data-end="};">
<div class="line"><a id="l00093" name="l00093"></a><span class="lineno"><a class="line" href="classrtabmap_1_1Optimizer.html#a18ae8ac76346d1adc68ab176a5b02d16a6065bdb6e49c0f5ffc98d5f2f6b0d5ab"> 93</a></span> kTypeTORO = 0, </div> <div class="line"><a id="l00094" name="l00094"></a><span class="lineno"><a class="line" href="classrtabmap_1_1Optimizer.html#a18ae8ac76346d1adc68ab176a5b02d16"> 94</a></span> <span class="keyword">enum</span> <a class="code hl_enumeration" href="classrtabmap_1_1Optimizer.html#a18ae8ac76346d1adc68ab176a5b02d16">Type</a> {</div>
<div class="line"><a id="l00094" name="l00094"></a><span class="lineno"><a class="line" href="classrtabmap_1_1Optimizer.html#a18ae8ac76346d1adc68ab176a5b02d16aa4d070fe00ba5e81adbc958bad18d853"> 94</a></span> kTypeG2O = 1, </div> <div class="line"><a id="l00095" name="l00095"></a><span class="lineno"><a class="line" href="classrtabmap_1_1Optimizer.html#a18ae8ac76346d1adc68ab176a5b02d16abae75975865bff7e12e82d2f5295e0db"> 95</a></span> kTypeUndef = -1, </div>
<div class="line"><a id="l00095" name="l00095"></a><span class="lineno"><a class="line" href="classrtabmap_1_1Optimizer.html#a18ae8ac76346d1adc68ab176a5b02d16ab71c83617497f5da0607a47ab162630f"> 95</a></span> kTypeGTSAM = 2, </div> <div class="line"><a id="l00096" name="l00096"></a><span class="lineno"><a class="line" href="classrtabmap_1_1Optimizer.html#a18ae8ac76346d1adc68ab176a5b02d16a6065bdb6e49c0f5ffc98d5f2f6b0d5ab"> 96</a></span> kTypeTORO = 0, </div>
<div class="line"><a id="l00096" name="l00096"></a><span class="lineno"><a class="line" href="classrtabmap_1_1Optimizer.html#a18ae8ac76346d1adc68ab176a5b02d16a891b6c7cbbe5e149e583ac1fc14fc91d"> 96</a></span> kTypeCeres = 3, </div> <div class="line"><a id="l00097" name="l00097"></a><span class="lineno"><a class="line" href="classrtabmap_1_1Optimizer.html#a18ae8ac76346d1adc68ab176a5b02d16aa4d070fe00ba5e81adbc958bad18d853"> 97</a></span> kTypeG2O = 1, </div>
<div class="line"><a id="l00097" name="l00097"></a><span class="lineno"> 97</span> kTypeCVSBA = 4 </div> <div class="line"><a id="l00098" name="l00098"></a><span class="lineno"><a class="line" href="classrtabmap_1_1Optimizer.html#a18ae8ac76346d1adc68ab176a5b02d16ab71c83617497f5da0607a47ab162630f"> 98</a></span> kTypeGTSAM = 2, </div>
<div class="line"><a id="l00098" name="l00098"></a><span class="lineno"><a class="line" href="classrtabmap_1_1Optimizer.html#a18ae8ac76346d1adc68ab176a5b02d16a53545e83af9618cb4d39cf0420b3cd54"> 98</a></span> };</div> <div class="line"><a id="l00099" name="l00099"></a><span class="lineno"><a class="line" href="classrtabmap_1_1Optimizer.html#a18ae8ac76346d1adc68ab176a5b02d16a891b6c7cbbe5e149e583ac1fc14fc91d"> 99</a></span> kTypeCeres = 3, </div>
<div class="line"><a id="l00100" name="l00100"></a><span class="lineno"> 100</span> kTypeCVSBA = 4 </div>
<div class="line"><a id="l00101" name="l00101"></a><span class="lineno"><a class="line" href="classrtabmap_1_1Optimizer.html#a18ae8ac76346d1adc68ab176a5b02d16a53545e83af9618cb4d39cf0420b3cd54"> 101</a></span> };</div>
</div> </div>
<div class="line"><a id="l00099" name="l00099"></a><span class="lineno"> 99</span> </div> <div class="line"><a id="l00102" name="l00102"></a><span class="lineno"> 102</span> </div>
<div class="line"><a id="l00106" name="l00106"></a><span class="lineno"><a class="line" href="classrtabmap_1_1Optimizer.html#afe0381a3b42926b7634027e522766eb1"> 106</a></span> <span class="keyword">static</span> <span class="keywordtype">bool</span> <a class="code hl_function" href="classrtabmap_1_1Optimizer.html#afe0381a3b42926b7634027e522766eb1">isAvailable</a>(<a class="code hl_enumeration" href="classrtabmap_1_1Optimizer.html#a18ae8ac76346d1adc68ab176a5b02d16">Optimizer::Type</a> type);</div> <div class="line"><a id="l00109" name="l00109"></a><span class="lineno"><a class="line" href="classrtabmap_1_1Optimizer.html#afe0381a3b42926b7634027e522766eb1"> 109</a></span> <span class="keyword">static</span> <span class="keywordtype">bool</span> <a class="code hl_function" href="classrtabmap_1_1Optimizer.html#afe0381a3b42926b7634027e522766eb1">isAvailable</a>(<a class="code hl_enumeration" href="classrtabmap_1_1Optimizer.html#a18ae8ac76346d1adc68ab176a5b02d16">Optimizer::Type</a> type);</div>
<div class="line"><a id="l00107" name="l00107"></a><span class="lineno"> 107</span> </div> <div class="line"><a id="l00110" name="l00110"></a><span class="lineno"> 110</span> </div>
<div class="line"><a id="l00114" name="l00114"></a><span class="lineno"><a class="line" href="classrtabmap_1_1Optimizer.html#a78b457bec2cdb7bdd320e2bfcca759df"> 114</a></span> <span class="keyword">static</span> <a class="code hl_class" href="classrtabmap_1_1Optimizer.html">Optimizer</a> * <a class="code hl_function" href="classrtabmap_1_1Optimizer.html#a78b457bec2cdb7bdd320e2bfcca759df">create</a>(<span class="keyword">const</span> <a class="code hl_typedef" href="namespacertabmap.html#ad08b6f1796a27dd7316c99c385e2cc55">ParametersMap</a> &amp; parameters);</div> <div class="line"><a id="l00117" name="l00117"></a><span class="lineno"><a class="line" href="classrtabmap_1_1Optimizer.html#a78b457bec2cdb7bdd320e2bfcca759df"> 117</a></span> <span class="keyword">static</span> <a class="code hl_class" href="classrtabmap_1_1Optimizer.html">Optimizer</a> * <a class="code hl_function" href="classrtabmap_1_1Optimizer.html#a78b457bec2cdb7bdd320e2bfcca759df">create</a>(<span class="keyword">const</span> <a class="code hl_typedef" href="namespacertabmap.html#ad08b6f1796a27dd7316c99c385e2cc55">ParametersMap</a> &amp; parameters);</div>
<div class="line"><a id="l00115" name="l00115"></a><span class="lineno"> 115</span> </div>
<div class="line"><a id="l00117" name="l00117"></a><span class="lineno"><a class="line" href="classrtabmap_1_1Optimizer.html#aeff86117cf69fdae3c25e5bc327a142d"> 117</a></span> <span class="keyword">static</span> <a class="code hl_class" href="classrtabmap_1_1Optimizer.html">Optimizer</a> * <a class="code hl_function" href="classrtabmap_1_1Optimizer.html#aeff86117cf69fdae3c25e5bc327a142d">create</a>(<a class="code hl_enumeration" href="classrtabmap_1_1Optimizer.html#a18ae8ac76346d1adc68ab176a5b02d16">Optimizer::Type</a> type, <span class="keyword">const</span> <a class="code hl_typedef" href="namespacertabmap.html#ad08b6f1796a27dd7316c99c385e2cc55">ParametersMap</a> &amp; parameters = <a class="code hl_typedef" href="namespacertabmap.html#ad08b6f1796a27dd7316c99c385e2cc55">ParametersMap</a>());</div>
<div class="line"><a id="l00118" name="l00118"></a><span class="lineno"> 118</span> </div> <div class="line"><a id="l00118" name="l00118"></a><span class="lineno"> 118</span> </div>
<div class="line"><a id="l00127" name="l00127"></a><span class="lineno"><a class="line" href="classrtabmap_1_1Optimizer.html#a4477c9a5b6651729944726465b5eba7f"> 127</a></span> <span class="keywordtype">void</span> <a class="code hl_function" href="classrtabmap_1_1Optimizer.html#a4477c9a5b6651729944726465b5eba7f">getConnectedGraph</a>(</div> <div class="line"><a id="l00120" name="l00120"></a><span class="lineno"><a class="line" href="classrtabmap_1_1Optimizer.html#aeff86117cf69fdae3c25e5bc327a142d"> 120</a></span> <span class="keyword">static</span> <a class="code hl_class" href="classrtabmap_1_1Optimizer.html">Optimizer</a> * <a class="code hl_function" href="classrtabmap_1_1Optimizer.html#aeff86117cf69fdae3c25e5bc327a142d">create</a>(<a class="code hl_enumeration" href="classrtabmap_1_1Optimizer.html#a18ae8ac76346d1adc68ab176a5b02d16">Optimizer::Type</a> type, <span class="keyword">const</span> <a class="code hl_typedef" href="namespacertabmap.html#ad08b6f1796a27dd7316c99c385e2cc55">ParametersMap</a> &amp; parameters = <a class="code hl_typedef" href="namespacertabmap.html#ad08b6f1796a27dd7316c99c385e2cc55">ParametersMap</a>());</div>
<div class="line"><a id="l00128" name="l00128"></a><span class="lineno"> 128</span> <span class="keywordtype">int</span> fromId,</div> <div class="line"><a id="l00121" name="l00121"></a><span class="lineno"> 121</span> </div>
<div class="line"><a id="l00129" name="l00129"></a><span class="lineno"> 129</span> <span class="keyword">const</span> std::map&lt;int, Transform&gt; &amp; posesIn,</div> <div class="line"><a id="l00130" name="l00130"></a><span class="lineno"><a class="line" href="classrtabmap_1_1Optimizer.html#a4477c9a5b6651729944726465b5eba7f"> 130</a></span> <span class="keywordtype">void</span> <a class="code hl_function" href="classrtabmap_1_1Optimizer.html#a4477c9a5b6651729944726465b5eba7f">getConnectedGraph</a>(</div>
<div class="line"><a id="l00130" name="l00130"></a><span class="lineno"> 130</span> <span class="keyword">const</span> std::multimap&lt;int, Link&gt; &amp; linksIn,</div> <div class="line"><a id="l00131" name="l00131"></a><span class="lineno"> 131</span> <span class="keywordtype">int</span> fromId,</div>
<div class="line"><a id="l00131" name="l00131"></a><span class="lineno"> 131</span> std::map&lt;int, Transform&gt; &amp; posesOut,</div> <div class="line"><a id="l00132" name="l00132"></a><span class="lineno"> 132</span> <span class="keyword">const</span> std::map&lt;int, Transform&gt; &amp; posesIn,</div>
<div class="line"><a id="l00132" name="l00132"></a><span class="lineno"> 132</span> std::multimap&lt;int, Link&gt; &amp; linksOut) <span class="keyword">const</span>;</div> <div class="line"><a id="l00133" name="l00133"></a><span class="lineno"> 133</span> <span class="keyword">const</span> std::multimap&lt;int, Link&gt; &amp; linksIn,</div>
<div class="line"><a id="l00133" name="l00133"></a><span class="lineno"> 133</span> </div> <div class="line"><a id="l00134" name="l00134"></a><span class="lineno"> 134</span> std::map&lt;int, Transform&gt; &amp; posesOut,</div>
<div class="line"><a id="l00134" name="l00134"></a><span class="lineno"> 134</span><span class="keyword">public</span>:</div> <div class="line"><a id="l00135" name="l00135"></a><span class="lineno"> 135</span> std::multimap&lt;int, Link&gt; &amp; linksOut) <span class="keyword">const</span>;</div>
<div class="line"><a id="l00135" name="l00135"></a><span class="lineno"> 135</span> <span class="keyword">virtual</span> <a class="code hl_class" href="classrtabmap_1_1Optimizer.html">~Optimizer</a>() {}</div>
<div class="line"><a id="l00136" name="l00136"></a><span class="lineno"> 136</span> </div> <div class="line"><a id="l00136" name="l00136"></a><span class="lineno"> 136</span> </div>
<div class="line"><a id="l00138" name="l00138"></a><span class="lineno"><a class="line" href="classrtabmap_1_1Optimizer.html#aa2be82e1f986b1beae103148be7cd520"> 138</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_1Optimizer.html#aa2be82e1f986b1beae103148be7cd520">type</a>() <span class="keyword">const</span> = 0;</div> <div class="line"><a id="l00137" name="l00137"></a><span class="lineno"> 137</span><span class="keyword">public</span>:</div>
<div class="line"><a id="l00138" name="l00138"></a><span class="lineno"> 138</span> <span class="keyword">virtual</span> <a class="code hl_class" href="classrtabmap_1_1Optimizer.html">~Optimizer</a>() {}</div>
<div class="line"><a id="l00139" name="l00139"></a><span class="lineno"> 139</span> </div> <div class="line"><a id="l00139" name="l00139"></a><span class="lineno"> 139</span> </div>
<div class="line"><a id="l00142" name="l00142"></a><span class="lineno"><a class="line" href="classrtabmap_1_1Optimizer.html#a178bb719b0e22863e29add12c85e14a5"> 142</a></span> <span class="keywordtype">int</span> <a class="code hl_function" href="classrtabmap_1_1Optimizer.html#a178bb719b0e22863e29add12c85e14a5">iterations</a>()<span class="keyword"> const </span>{<span class="keywordflow">return</span> iterations_;} </div> <div class="line"><a id="l00141" name="l00141"></a><span class="lineno"><a class="line" href="classrtabmap_1_1Optimizer.html#aa2be82e1f986b1beae103148be7cd520"> 141</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_1Optimizer.html#aa2be82e1f986b1beae103148be7cd520">type</a>() <span class="keyword">const</span> = 0;</div>
<div class="foldopen" id="foldopen00143" data-start="{" data-end="}"> <div class="line"><a id="l00142" name="l00142"></a><span class="lineno"> 142</span> </div>
<div class="line"><a id="l00143" name="l00143"></a><span class="lineno"><a class="line" href="classrtabmap_1_1Optimizer.html#a51485674608bbf910922ecee43cc13aa"> 143</a></span> <span class="keywordtype">bool</span> <a class="code hl_function" href="classrtabmap_1_1Optimizer.html#a51485674608bbf910922ecee43cc13aa">isSlam2d</a>()<span class="keyword"> const </span>{<span class="keywordflow">return</span> slam2d_;} </div> <div class="line"><a id="l00145" name="l00145"></a><span class="lineno"><a class="line" href="classrtabmap_1_1Optimizer.html#a178bb719b0e22863e29add12c85e14a5"> 145</a></span> <span class="keywordtype">int</span> <a class="code hl_function" href="classrtabmap_1_1Optimizer.html#a178bb719b0e22863e29add12c85e14a5">iterations</a>()<span class="keyword"> const </span>{<span class="keywordflow">return</span> iterations_;} </div>
<div class="foldopen" id="foldopen00144" data-start="{" data-end="}">
<div class="line"><a id="l00144" name="l00144"></a><span class="lineno"><a class="line" href="classrtabmap_1_1Optimizer.html#a8bb6372ce4c67fd9b8d54f692ac34238"> 144</a></span> <span class="keywordtype">bool</span> <a class="code hl_function" href="classrtabmap_1_1Optimizer.html#a8bb6372ce4c67fd9b8d54f692ac34238">isCovarianceIgnored</a>()<span class="keyword"> const </span>{<span class="keywordflow">return</span> covarianceIgnored_;} </div>
<div class="foldopen" id="foldopen00145" data-start="{" data-end="}">
<div class="line"><a id="l00145" name="l00145"></a><span class="lineno"><a class="line" href="classrtabmap_1_1Optimizer.html#a3bca4e3df1048f8bbad9b3b9473924a2"> 145</a></span> <span class="keywordtype">double</span> <a class="code hl_function" href="classrtabmap_1_1Optimizer.html#a3bca4e3df1048f8bbad9b3b9473924a2">epsilon</a>()<span class="keyword"> const </span>{<span class="keywordflow">return</span> epsilon_;} </div>
<div class="foldopen" id="foldopen00146" data-start="{" data-end="}"> <div class="foldopen" id="foldopen00146" data-start="{" data-end="}">
<div class="line"><a id="l00146" name="l00146"></a><span class="lineno"><a class="line" href="classrtabmap_1_1Optimizer.html#a29ba07e1e829ae616d82756977161c9f"> 146</a></span> <span class="keywordtype">bool</span> <a class="code hl_function" href="classrtabmap_1_1Optimizer.html#a29ba07e1e829ae616d82756977161c9f">isRobust</a>()<span class="keyword"> const </span>{<span class="keywordflow">return</span> robust_;} </div> <div class="line"><a id="l00146" name="l00146"></a><span class="lineno"><a class="line" href="classrtabmap_1_1Optimizer.html#a51485674608bbf910922ecee43cc13aa"> 146</a></span> <span class="keywordtype">bool</span> <a class="code hl_function" href="classrtabmap_1_1Optimizer.html#a51485674608bbf910922ecee43cc13aa">isSlam2d</a>()<span class="keyword"> const </span>{<span class="keywordflow">return</span> slam2d_;} </div>
<div class="foldopen" id="foldopen00147" data-start="{" data-end="}"> <div class="foldopen" id="foldopen00147" data-start="{" data-end="}">
<div class="line"><a id="l00147" name="l00147"></a><span class="lineno"><a class="line" href="classrtabmap_1_1Optimizer.html#aeebd0d5575ab7e9f492b095c05ddb237"> 147</a></span> <span class="keywordtype">bool</span> <a class="code hl_function" href="classrtabmap_1_1Optimizer.html#aeebd0d5575ab7e9f492b095c05ddb237">priorsIgnored</a>()<span class="keyword"> const </span>{<span class="keywordflow">return</span> priorsIgnored_;} </div> <div class="line"><a id="l00147" name="l00147"></a><span class="lineno"><a class="line" href="classrtabmap_1_1Optimizer.html#a8bb6372ce4c67fd9b8d54f692ac34238"> 147</a></span> <span class="keywordtype">bool</span> <a class="code hl_function" href="classrtabmap_1_1Optimizer.html#a8bb6372ce4c67fd9b8d54f692ac34238">isCovarianceIgnored</a>()<span class="keyword"> const </span>{<span class="keywordflow">return</span> covarianceIgnored_;} </div>
<div class="foldopen" id="foldopen00148" data-start="{" data-end="}"> <div class="foldopen" id="foldopen00148" data-start="{" data-end="}">
<div class="line"><a id="l00148" name="l00148"></a><span class="lineno"><a class="line" href="classrtabmap_1_1Optimizer.html#a32f53d408ef0372c5c196ee89ff5ad79"> 148</a></span> <span class="keywordtype">bool</span> <a class="code hl_function" href="classrtabmap_1_1Optimizer.html#a32f53d408ef0372c5c196ee89ff5ad79">landmarksIgnored</a>()<span class="keyword"> const </span>{<span class="keywordflow">return</span> landmarksIgnored_;}</div> <div class="line"><a id="l00148" name="l00148"></a><span class="lineno"><a class="line" href="classrtabmap_1_1Optimizer.html#a3bca4e3df1048f8bbad9b3b9473924a2"> 148</a></span> <span class="keywordtype">double</span> <a class="code hl_function" href="classrtabmap_1_1Optimizer.html#a3bca4e3df1048f8bbad9b3b9473924a2">epsilon</a>()<span class="keyword"> const </span>{<span class="keywordflow">return</span> epsilon_;} </div>
<div class="foldopen" id="foldopen00149" data-start="{" data-end="}"> <div class="foldopen" id="foldopen00149" data-start="{" data-end="}">
<div class="line"><a id="l00149" name="l00149"></a><span class="lineno"><a class="line" href="classrtabmap_1_1Optimizer.html#aceb68e0f692b81c4a978e46f804515d7"> 149</a></span> <span class="keywordtype">float</span> <a class="code hl_function" href="classrtabmap_1_1Optimizer.html#aceb68e0f692b81c4a978e46f804515d7">gravitySigma</a>()<span class="keyword"> const </span>{<span class="keywordflow">return</span> gravitySigma_;} </div> <div class="line"><a id="l00149" name="l00149"></a><span class="lineno"><a class="line" href="classrtabmap_1_1Optimizer.html#a29ba07e1e829ae616d82756977161c9f"> 149</a></span> <span class="keywordtype">bool</span> <a class="code hl_function" href="classrtabmap_1_1Optimizer.html#a29ba07e1e829ae616d82756977161c9f">isRobust</a>()<span class="keyword"> const </span>{<span class="keywordflow">return</span> robust_;} </div>
<div class="line"><a id="l00151" name="l00151"></a><span class="lineno"> 151</span> </div> <div class="foldopen" id="foldopen00150" data-start="{" data-end="}">
<div class="line"><a id="l00154" name="l00154"></a><span class="lineno"> 154</span> <span class="keywordtype">void</span> setIterations(<span class="keywordtype">int</span> iterations) {iterations_ = iterations;}</div> <div class="line"><a id="l00150" name="l00150"></a><span class="lineno"><a class="line" href="classrtabmap_1_1Optimizer.html#aeebd0d5575ab7e9f492b095c05ddb237"> 150</a></span> <span class="keywordtype">bool</span> <a class="code hl_function" href="classrtabmap_1_1Optimizer.html#aeebd0d5575ab7e9f492b095c05ddb237">priorsIgnored</a>()<span class="keyword"> const </span>{<span class="keywordflow">return</span> priorsIgnored_;} </div>
<div class="line"><a id="l00155" name="l00155"></a><span class="lineno"> 155</span> <span class="keywordtype">void</span> setSlam2d(<span class="keywordtype">bool</span> enabled) {slam2d_ = enabled;}</div> <div class="foldopen" id="foldopen00151" data-start="{" data-end="}">
<div class="line"><a id="l00156" name="l00156"></a><span class="lineno"> 156</span> <span class="keywordtype">void</span> setCovarianceIgnored(<span class="keywordtype">bool</span> enabled) {covarianceIgnored_ = enabled;}</div> <div class="line"><a id="l00151" name="l00151"></a><span class="lineno"><a class="line" href="classrtabmap_1_1Optimizer.html#a32f53d408ef0372c5c196ee89ff5ad79"> 151</a></span> <span class="keywordtype">bool</span> <a class="code hl_function" href="classrtabmap_1_1Optimizer.html#a32f53d408ef0372c5c196ee89ff5ad79">landmarksIgnored</a>()<span class="keyword"> const </span>{<span class="keywordflow">return</span> landmarksIgnored_;}</div>
<div class="line"><a id="l00157" name="l00157"></a><span class="lineno"> 157</span> <span class="keywordtype">void</span> setEpsilon(<span class="keywordtype">double</span> epsilon) {epsilon_ = epsilon;}</div> <div class="foldopen" id="foldopen00152" data-start="{" data-end="}">
<div class="line"><a id="l00158" name="l00158"></a><span class="lineno"> 158</span> <span class="keywordtype">void</span> setRobust(<span class="keywordtype">bool</span> enabled) {robust_ = enabled;}</div> <div class="line"><a id="l00152" name="l00152"></a><span class="lineno"><a class="line" href="classrtabmap_1_1Optimizer.html#aceb68e0f692b81c4a978e46f804515d7"> 152</a></span> <span class="keywordtype">float</span> <a class="code hl_function" href="classrtabmap_1_1Optimizer.html#aceb68e0f692b81c4a978e46f804515d7">gravitySigma</a>()<span class="keyword"> const </span>{<span class="keywordflow">return</span> gravitySigma_;} </div>
<div class="line"><a id="l00159" name="l00159"></a><span class="lineno"> 159</span> <span class="keywordtype">void</span> setPriorsIgnored(<span class="keywordtype">bool</span> enabled) {priorsIgnored_ = enabled;}</div> <div class="line"><a id="l00154" name="l00154"></a><span class="lineno"> 154</span> </div>
<div class="line"><a id="l00160" name="l00160"></a><span class="lineno"> 160</span> <span class="keywordtype">void</span> setLandmarksIgnored(<span class="keywordtype">bool</span> enabled) {landmarksIgnored_ = enabled;}</div> <div class="line"><a id="l00157" name="l00157"></a><span class="lineno"> 157</span> <span class="keywordtype">void</span> setIterations(<span class="keywordtype">int</span> iterations) {iterations_ = iterations;}</div>
<div class="line"><a id="l00161" name="l00161"></a><span class="lineno"> 161</span> <span class="keywordtype">void</span> setGravitySigma(<span class="keywordtype">float</span> value) {gravitySigma_ = value;}</div> <div class="line"><a id="l00158" name="l00158"></a><span class="lineno"> 158</span> <span class="keywordtype">void</span> setSlam2d(<span class="keywordtype">bool</span> enabled) {slam2d_ = enabled;}</div>
<div class="line"><a id="l00163" name="l00163"></a><span class="lineno"> 163</span> </div> <div class="line"><a id="l00159" name="l00159"></a><span class="lineno"> 159</span> <span class="keywordtype">void</span> setCovarianceIgnored(<span class="keywordtype">bool</span> enabled) {covarianceIgnored_ = enabled;}</div>
<div class="line"><a id="l00170" name="l00170"></a><span class="lineno"><a class="line" href="classrtabmap_1_1Optimizer.html#a0a942bd7902c8d2f9444b8eba6a648a3"> 170</a></span> <span class="keyword">virtual</span> <span class="keywordtype">void</span> <a class="code hl_function" href="classrtabmap_1_1Optimizer.html#a0a942bd7902c8d2f9444b8eba6a648a3">parseParameters</a>(<span class="keyword">const</span> <a class="code hl_typedef" href="namespacertabmap.html#ad08b6f1796a27dd7316c99c385e2cc55">ParametersMap</a> &amp; parameters);</div> <div class="line"><a id="l00160" name="l00160"></a><span class="lineno"> 160</span> <span class="keywordtype">void</span> setEpsilon(<span class="keywordtype">double</span> epsilon) {epsilon_ = epsilon;}</div>
<div class="line"><a id="l00171" name="l00171"></a><span class="lineno"> 171</span> </div> <div class="line"><a id="l00161" name="l00161"></a><span class="lineno"> 161</span> <span class="keywordtype">void</span> setRobust(<span class="keywordtype">bool</span> enabled) {robust_ = enabled;}</div>
<div class="line"><a id="l00189" name="l00189"></a><span class="lineno"><a class="line" href="classrtabmap_1_1Optimizer.html#a278f42e0d250085ac6fe9ed425627acf"> 189</a></span> std::map&lt;int, Transform&gt; <a class="code hl_function" href="classrtabmap_1_1Optimizer.html#a278f42e0d250085ac6fe9ed425627acf">optimizeIncremental</a>(</div> <div class="line"><a id="l00162" name="l00162"></a><span class="lineno"> 162</span> <span class="keywordtype">void</span> setPriorsIgnored(<span class="keywordtype">bool</span> enabled) {priorsIgnored_ = enabled;}</div>
<div class="line"><a id="l00190" name="l00190"></a><span class="lineno"> 190</span> <span class="keywordtype">int</span> rootId,</div> <div class="line"><a id="l00163" name="l00163"></a><span class="lineno"> 163</span> <span class="keywordtype">void</span> setLandmarksIgnored(<span class="keywordtype">bool</span> enabled) {landmarksIgnored_ = enabled;}</div>
<div class="line"><a id="l00191" name="l00191"></a><span class="lineno"> 191</span> <span class="keyword">const</span> std::map&lt;int, Transform&gt; &amp; poses,</div> <div class="line"><a id="l00164" name="l00164"></a><span class="lineno"> 164</span> <span class="keywordtype">void</span> setGravitySigma(<span class="keywordtype">float</span> value) {gravitySigma_ = value;}</div>
<div class="line"><a id="l00192" name="l00192"></a><span class="lineno"> 192</span> <span class="keyword">const</span> std::multimap&lt;int, Link&gt; &amp; constraints,</div> <div class="line"><a id="l00166" name="l00166"></a><span class="lineno"> 166</span> </div>
<div class="line"><a id="l00193" name="l00193"></a><span class="lineno"> 193</span> std::list&lt;std::map&lt;int, Transform&gt; &gt; * intermediateGraphes = 0,</div> <div class="line"><a id="l00173" name="l00173"></a><span class="lineno"><a class="line" href="classrtabmap_1_1Optimizer.html#a0a942bd7902c8d2f9444b8eba6a648a3"> 173</a></span> <span class="keyword">virtual</span> <span class="keywordtype">void</span> <a class="code hl_function" href="classrtabmap_1_1Optimizer.html#a0a942bd7902c8d2f9444b8eba6a648a3">parseParameters</a>(<span class="keyword">const</span> <a class="code hl_typedef" href="namespacertabmap.html#ad08b6f1796a27dd7316c99c385e2cc55">ParametersMap</a> &amp; parameters);</div>
<div class="line"><a id="l00194" name="l00194"></a><span class="lineno"> 194</span> <span class="keywordtype">double</span> * finalError = 0,</div> <div class="line"><a id="l00174" name="l00174"></a><span class="lineno"> 174</span> </div>
<div class="line"><a id="l00195" name="l00195"></a><span class="lineno"> 195</span> <span class="keywordtype">int</span> * iterationsDone = 0);</div> <div class="line"><a id="l00192" name="l00192"></a><span class="lineno"><a class="line" href="classrtabmap_1_1Optimizer.html#a278f42e0d250085ac6fe9ed425627acf"> 192</a></span> std::map&lt;int, Transform&gt; <a class="code hl_function" href="classrtabmap_1_1Optimizer.html#a278f42e0d250085ac6fe9ed425627acf">optimizeIncremental</a>(</div>
<div class="line"><a id="l00196" name="l00196"></a><span class="lineno"> 196</span> </div> <div class="line"><a id="l00193" name="l00193"></a><span class="lineno"> 193</span> <span class="keywordtype">int</span> rootId,</div>
<div class="line"><a id="l00203" name="l00203"></a><span class="lineno"><a class="line" href="classrtabmap_1_1Optimizer.html#a7e3aff943e77603493a358ff522fa2dc"> 203</a></span> std::map&lt;int, Transform&gt; <a class="code hl_function" href="classrtabmap_1_1Optimizer.html#a7e3aff943e77603493a358ff522fa2dc">optimize</a>(</div> <div class="line"><a id="l00194" name="l00194"></a><span class="lineno"> 194</span> <span class="keyword">const</span> std::map&lt;int, Transform&gt; &amp; poses,</div>
<div class="line"><a id="l00204" name="l00204"></a><span class="lineno"> 204</span> <span class="keywordtype">int</span> rootId,</div> <div class="line"><a id="l00195" name="l00195"></a><span class="lineno"> 195</span> <span class="keyword">const</span> std::multimap&lt;int, Link&gt; &amp; constraints,</div>
<div class="line"><a id="l00205" name="l00205"></a><span class="lineno"> 205</span> <span class="keyword">const</span> std::map&lt;int, Transform&gt; &amp; poses,</div> <div class="line"><a id="l00196" name="l00196"></a><span class="lineno"> 196</span> std::list&lt;std::map&lt;int, Transform&gt; &gt; * intermediateGraphes = 0,</div>
<div class="line"><a id="l00206" name="l00206"></a><span class="lineno"> 206</span> <span class="keyword">const</span> std::multimap&lt;int, Link&gt; &amp; constraints,</div> <div class="line"><a id="l00197" name="l00197"></a><span class="lineno"> 197</span> <span class="keywordtype">double</span> * finalError = 0,</div>
<div class="line"><a id="l00207" name="l00207"></a><span class="lineno"> 207</span> std::list&lt;std::map&lt;int, Transform&gt; &gt; * intermediateGraphes = 0,</div> <div class="line"><a id="l00198" name="l00198"></a><span class="lineno"> 198</span> <span class="keywordtype">int</span> * iterationsDone = 0);</div>
<div class="line"><a id="l00208" name="l00208"></a><span class="lineno"> 208</span> <span class="keywordtype">double</span> * finalError = 0,</div> <div class="line"><a id="l00199" name="l00199"></a><span class="lineno"> 199</span> </div>
<div class="line"><a id="l00209" name="l00209"></a><span class="lineno"> 209</span> <span class="keywordtype">int</span> * iterationsDone = 0);</div> <div class="line"><a id="l00206" name="l00206"></a><span class="lineno"><a class="line" href="classrtabmap_1_1Optimizer.html#a7e3aff943e77603493a358ff522fa2dc"> 206</a></span> std::map&lt;int, Transform&gt; <a class="code hl_function" href="classrtabmap_1_1Optimizer.html#a7e3aff943e77603493a358ff522fa2dc">optimize</a>(</div>
<div class="line"><a id="l00210" name="l00210"></a><span class="lineno"> 210</span> </div> <div class="line"><a id="l00207" name="l00207"></a><span class="lineno"> 207</span> <span class="keywordtype">int</span> rootId,</div>
<div class="line"><a id="l00227" name="l00227"></a><span class="lineno"><a class="line" href="classrtabmap_1_1Optimizer.html#af59c8340394268f9a1eb76fd5709f2c3"> 227</a></span> <span class="keyword">virtual</span> std::map&lt;int, Transform&gt; <a class="code hl_function" href="classrtabmap_1_1Optimizer.html#af59c8340394268f9a1eb76fd5709f2c3">optimize</a>(</div> <div class="line"><a id="l00208" name="l00208"></a><span class="lineno"> 208</span> <span class="keyword">const</span> std::map&lt;int, Transform&gt; &amp; poses,</div>
<div class="line"><a id="l00228" name="l00228"></a><span class="lineno"> 228</span> <span class="keywordtype">int</span> rootId,</div> <div class="line"><a id="l00209" name="l00209"></a><span class="lineno"> 209</span> <span class="keyword">const</span> std::multimap&lt;int, Link&gt; &amp; constraints,</div>
<div class="line"><a id="l00229" name="l00229"></a><span class="lineno"> 229</span> <span class="keyword">const</span> std::map&lt;int, Transform&gt; &amp; poses,</div> <div class="line"><a id="l00210" name="l00210"></a><span class="lineno"> 210</span> std::list&lt;std::map&lt;int, Transform&gt; &gt; * intermediateGraphes = 0,</div>
<div class="line"><a id="l00230" name="l00230"></a><span class="lineno"> 230</span> <span class="keyword">const</span> std::multimap&lt;int, Link&gt; &amp; constraints,</div> <div class="line"><a id="l00211" name="l00211"></a><span class="lineno"> 211</span> <span class="keywordtype">double</span> * finalError = 0,</div>
<div class="line"><a id="l00231" name="l00231"></a><span class="lineno"> 231</span> cv::Mat &amp; outputCovariance,</div> <div class="line"><a id="l00212" name="l00212"></a><span class="lineno"> 212</span> <span class="keywordtype">int</span> * iterationsDone = 0);</div>
<div class="line"><a id="l00232" name="l00232"></a><span class="lineno"> 232</span> std::list&lt;std::map&lt;int, Transform&gt; &gt; * intermediateGraphes = 0,</div> <div class="line"><a id="l00213" name="l00213"></a><span class="lineno"> 213</span> </div>
<div class="line"><a id="l00233" name="l00233"></a><span class="lineno"> 233</span> <span class="keywordtype">double</span> * finalError = 0,</div> <div class="line"><a id="l00230" name="l00230"></a><span class="lineno"><a class="line" href="classrtabmap_1_1Optimizer.html#af59c8340394268f9a1eb76fd5709f2c3"> 230</a></span> <span class="keyword">virtual</span> std::map&lt;int, Transform&gt; <a class="code hl_function" href="classrtabmap_1_1Optimizer.html#af59c8340394268f9a1eb76fd5709f2c3">optimize</a>(</div>
<div class="line"><a id="l00234" name="l00234"></a><span class="lineno"> 234</span> <span class="keywordtype">int</span> * iterationsDone = 0);</div> <div class="line"><a id="l00231" name="l00231"></a><span class="lineno"> 231</span> <span class="keywordtype">int</span> rootId,</div>
<div class="line"><a id="l00235" name="l00235"></a><span class="lineno"> 235</span> </div> <div class="line"><a id="l00232" name="l00232"></a><span class="lineno"> 232</span> <span class="keyword">const</span> std::map&lt;int, Transform&gt; &amp; poses,</div>
<div class="line"><a id="l00253" name="l00253"></a><span class="lineno"><a class="line" href="classrtabmap_1_1Optimizer.html#a038e8df970ab744f6f4ba7027f62b263"> 253</a></span> <span class="keyword">virtual</span> std::map&lt;int, Transform&gt; <a class="code hl_function" href="classrtabmap_1_1Optimizer.html#a038e8df970ab744f6f4ba7027f62b263">optimizeBA</a>(</div> <div class="line"><a id="l00233" name="l00233"></a><span class="lineno"> 233</span> <span class="keyword">const</span> std::multimap&lt;int, Link&gt; &amp; constraints,</div>
<div class="line"><a id="l00254" name="l00254"></a><span class="lineno"> 254</span> <span class="keywordtype">int</span> rootId,</div> <div class="line"><a id="l00234" name="l00234"></a><span class="lineno"> 234</span> cv::Mat &amp; outputCovariance,</div>
<div class="line"><a id="l00255" name="l00255"></a><span class="lineno"> 255</span> <span class="keyword">const</span> std::map&lt;int, Transform&gt; &amp; poses,</div> <div class="line"><a id="l00235" name="l00235"></a><span class="lineno"> 235</span> std::list&lt;std::map&lt;int, Transform&gt; &gt; * intermediateGraphes = 0,</div>
<div class="line"><a id="l00256" name="l00256"></a><span class="lineno"> 256</span> <span class="keyword">const</span> std::multimap&lt;int, Link&gt; &amp; links,</div> <div class="line"><a id="l00236" name="l00236"></a><span class="lineno"> 236</span> <span class="keywordtype">double</span> * finalError = 0,</div>
<div class="line"><a id="l00257" name="l00257"></a><span class="lineno"> 257</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="l00237" name="l00237"></a><span class="lineno"> 237</span> <span class="keywordtype">int</span> * iterationsDone = 0);</div>
<div class="line"><a id="l00258" name="l00258"></a><span class="lineno"> 258</span> std::map&lt;int, cv::Point3f&gt; &amp; points3DMap,</div> <div class="line"><a id="l00238" name="l00238"></a><span class="lineno"> 238</span> </div>
<div class="line"><a id="l00259" name="l00259"></a><span class="lineno"> 259</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="l00256" name="l00256"></a><span class="lineno"><a class="line" href="classrtabmap_1_1Optimizer.html#a1122f017f10105f7e6c14039d41709e5"> 256</a></span> <span class="keyword">virtual</span> std::map&lt;int, Transform&gt; <a class="code hl_function" href="classrtabmap_1_1Optimizer.html#a1122f017f10105f7e6c14039d41709e5">optimizeBA</a>(</div>
<div class="line"><a id="l00260" name="l00260"></a><span class="lineno"> 260</span> std::set&lt;int&gt; * outliers = 0);</div> <div class="line"><a id="l00257" name="l00257"></a><span class="lineno"> 257</span> <span class="keywordtype">int</span> rootId,</div>
<div class="line"><a id="l00261" name="l00261"></a><span class="lineno"> 261</span> </div> <div class="line"><a id="l00258" name="l00258"></a><span class="lineno"> 258</span> <span class="keyword">const</span> std::map&lt;int, Transform&gt; &amp; poses,</div>
<div class="line"><a id="l00274" name="l00274"></a><span class="lineno"><a class="line" href="classrtabmap_1_1Optimizer.html#a2f7cbdebed9787ffa6b0b30536dfa1a0"> 274</a></span> std::map&lt;int, Transform&gt; <a class="code hl_function" href="classrtabmap_1_1Optimizer.html#a2f7cbdebed9787ffa6b0b30536dfa1a0">optimizeBA</a>(</div> <div class="line"><a id="l00259" name="l00259"></a><span class="lineno"> 259</span> <span class="keyword">const</span> std::multimap&lt;int, Link&gt; &amp; links,</div>
<div class="line"><a id="l00275" name="l00275"></a><span class="lineno"> 275</span> <span class="keywordtype">int</span> rootId,</div> <div class="line"><a id="l00260" name="l00260"></a><span class="lineno"> 260</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="l00276" name="l00276"></a><span class="lineno"> 276</span> <span class="keyword">const</span> std::map&lt;int, Transform&gt; &amp; poses,</div> <div class="line"><a id="l00261" name="l00261"></a><span class="lineno"> 261</span> std::map&lt;int, cv::Point3f&gt; &amp; points3DMap,</div>
<div class="line"><a id="l00277" name="l00277"></a><span class="lineno"> 277</span> <span class="keyword">const</span> std::multimap&lt;int, Link&gt; &amp; links,</div> <div class="line"><a id="l00262" name="l00262"></a><span class="lineno"> 262</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="l00278" name="l00278"></a><span class="lineno"> 278</span> <span class="keyword">const</span> std::map&lt;int, Signature&gt; &amp; signatures,</div> <div class="line"><a id="l00263" name="l00263"></a><span class="lineno"> 263</span> BAOutliers * outliers = 0);</div>
<div class="line"><a id="l00279" name="l00279"></a><span class="lineno"> 279</span> std::map&lt;int, cv::Point3f&gt; &amp; points3DMap,</div> <div class="line"><a id="l00264" name="l00264"></a><span class="lineno"> 264</span> </div>
<div class="line"><a id="l00280" name="l00280"></a><span class="lineno"> 280</span> std::map&lt;<span class="keywordtype">int</span>, std::map&lt;int, FeatureBA&gt; &gt; &amp; wordReferences,</div> <div class="line"><a id="l00277" name="l00277"></a><span class="lineno"><a class="line" href="classrtabmap_1_1Optimizer.html#a2f7cbdebed9787ffa6b0b30536dfa1a0"> 277</a></span> std::map&lt;int, Transform&gt; <a class="code hl_function" href="classrtabmap_1_1Optimizer.html#a2f7cbdebed9787ffa6b0b30536dfa1a0">optimizeBA</a>(</div>
<div class="line"><a id="l00281" name="l00281"></a><span class="lineno"> 281</span> <span class="keywordtype">bool</span> rematchFeatures = <span class="keyword">false</span>,</div> <div class="line"><a id="l00278" name="l00278"></a><span class="lineno"> 278</span> <span class="keywordtype">int</span> rootId,</div>
<div class="line"><a id="l00282" name="l00282"></a><span class="lineno"> 282</span> <span class="keyword">const</span> <a class="code hl_typedef" href="namespacertabmap.html#ad08b6f1796a27dd7316c99c385e2cc55">ParametersMap</a> &amp; registrationParameters = <a class="code hl_typedef" href="namespacertabmap.html#ad08b6f1796a27dd7316c99c385e2cc55">ParametersMap</a>());</div> <div class="line"><a id="l00279" name="l00279"></a><span class="lineno"> 279</span> <span class="keyword">const</span> std::map&lt;int, Transform&gt; &amp; poses,</div>
<div class="line"><a id="l00283" name="l00283"></a><span class="lineno"> 283</span> </div> <div class="line"><a id="l00280" name="l00280"></a><span class="lineno"> 280</span> <span class="keyword">const</span> std::multimap&lt;int, Link&gt; &amp; links,</div>
<div class="line"><a id="l00286" name="l00286"></a><span class="lineno"><a class="line" href="classrtabmap_1_1Optimizer.html#aab99f045516162944ad68fdabacb53dc"> 286</a></span> std::map&lt;int, Transform&gt; <a class="code hl_function" href="classrtabmap_1_1Optimizer.html#aab99f045516162944ad68fdabacb53dc">optimizeBA</a>(</div> <div class="line"><a id="l00281" name="l00281"></a><span class="lineno"> 281</span> <span class="keyword">const</span> std::map&lt;int, Signature&gt; &amp; signatures,</div>
<div class="line"><a id="l00287" name="l00287"></a><span class="lineno"> 287</span> <span class="keywordtype">int</span> rootId,</div> <div class="line"><a id="l00282" name="l00282"></a><span class="lineno"> 282</span> std::map&lt;int, cv::Point3f&gt; &amp; points3DMap,</div>
<div class="line"><a id="l00288" name="l00288"></a><span class="lineno"> 288</span> <span class="keyword">const</span> std::map&lt;int, Transform&gt; &amp; poses,</div> <div class="line"><a id="l00283" name="l00283"></a><span class="lineno"> 283</span> std::map&lt;<span class="keywordtype">int</span>, std::map&lt;int, FeatureBA&gt; &gt; &amp; wordReferences,</div>
<div class="line"><a id="l00289" name="l00289"></a><span class="lineno"> 289</span> <span class="keyword">const</span> std::multimap&lt;int, Link&gt; &amp; links,</div> <div class="line"><a id="l00284" name="l00284"></a><span class="lineno"> 284</span> <span class="keywordtype">bool</span> rematchFeatures = <span class="keyword">false</span>,</div>
<div class="line"><a id="l00290" name="l00290"></a><span class="lineno"> 290</span> <span class="keyword">const</span> std::map&lt;int, Signature&gt; &amp; signatures,</div> <div class="line"><a id="l00285" name="l00285"></a><span class="lineno"> 285</span> <span class="keyword">const</span> <a class="code hl_typedef" href="namespacertabmap.html#ad08b6f1796a27dd7316c99c385e2cc55">ParametersMap</a> &amp; registrationParameters = <a class="code hl_typedef" href="namespacertabmap.html#ad08b6f1796a27dd7316c99c385e2cc55">ParametersMap</a>());</div>
<div class="line"><a id="l00291" name="l00291"></a><span class="lineno"> 291</span> <span class="keywordtype">bool</span> rematchFeatures = <span class="keyword">false</span>,</div> <div class="line"><a id="l00286" name="l00286"></a><span class="lineno"> 286</span> </div>
<div class="line"><a id="l00292" name="l00292"></a><span class="lineno"> 292</span> <span class="keyword">const</span> <a class="code hl_typedef" href="namespacertabmap.html#ad08b6f1796a27dd7316c99c385e2cc55">ParametersMap</a> &amp; registrationParameters = <a class="code hl_typedef" href="namespacertabmap.html#ad08b6f1796a27dd7316c99c385e2cc55">ParametersMap</a>());</div> <div class="line"><a id="l00289" name="l00289"></a><span class="lineno"><a class="line" href="classrtabmap_1_1Optimizer.html#aab99f045516162944ad68fdabacb53dc"> 289</a></span> std::map&lt;int, Transform&gt; <a class="code hl_function" href="classrtabmap_1_1Optimizer.html#aab99f045516162944ad68fdabacb53dc">optimizeBA</a>(</div>
<div class="line"><a id="l00293" name="l00293"></a><span class="lineno"> 293</span> </div> <div class="line"><a id="l00290" name="l00290"></a><span class="lineno"> 290</span> <span class="keywordtype">int</span> rootId,</div>
<div class="line"><a id="l00301" name="l00301"></a><span class="lineno"><a class="line" href="classrtabmap_1_1Optimizer.html#ad6b32a9697837f03941773f6a5bbf91c"> 301</a></span> <a class="code hl_class" href="classrtabmap_1_1Transform.html">Transform</a> <a class="code hl_function" href="classrtabmap_1_1Optimizer.html#ad6b32a9697837f03941773f6a5bbf91c">optimizeBA</a>(</div> <div class="line"><a id="l00291" name="l00291"></a><span class="lineno"> 291</span> <span class="keyword">const</span> std::map&lt;int, Transform&gt; &amp; poses,</div>
<div class="line"><a id="l00302" name="l00302"></a><span class="lineno"> 302</span> <span class="keyword">const</span> <a class="code hl_class" href="classrtabmap_1_1Link.html">Link</a> &amp; link,</div> <div class="line"><a id="l00292" name="l00292"></a><span class="lineno"> 292</span> <span class="keyword">const</span> std::multimap&lt;int, Link&gt; &amp; links,</div>
<div class="line"><a id="l00303" name="l00303"></a><span class="lineno"> 303</span> <span class="keyword">const</span> <a class="code hl_class" href="classrtabmap_1_1CameraModel.html">CameraModel</a> &amp; model,</div> <div class="line"><a id="l00293" name="l00293"></a><span class="lineno"> 293</span> <span class="keyword">const</span> std::map&lt;int, Signature&gt; &amp; signatures,</div>
<div class="line"><a id="l00304" name="l00304"></a><span class="lineno"> 304</span> std::map&lt;int, cv::Point3f&gt; &amp; points3DMap,</div> <div class="line"><a id="l00294" name="l00294"></a><span class="lineno"> 294</span> <span class="keywordtype">bool</span> rematchFeatures = <span class="keyword">false</span>,</div>
<div class="line"><a id="l00305" name="l00305"></a><span class="lineno"> 305</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="l00295" name="l00295"></a><span class="lineno"> 295</span> <span class="keyword">const</span> <a class="code hl_typedef" href="namespacertabmap.html#ad08b6f1796a27dd7316c99c385e2cc55">ParametersMap</a> &amp; registrationParameters = <a class="code hl_typedef" href="namespacertabmap.html#ad08b6f1796a27dd7316c99c385e2cc55">ParametersMap</a>());</div>
<div class="line"><a id="l00306" name="l00306"></a><span class="lineno"> 306</span> std::set&lt;int&gt; * outliers = 0);</div> <div class="line"><a id="l00296" name="l00296"></a><span class="lineno"> 296</span> </div>
<div class="line"><a id="l00307" name="l00307"></a><span class="lineno"> 307</span> </div> <div class="line"><a id="l00304" name="l00304"></a><span class="lineno"><a class="line" href="classrtabmap_1_1Optimizer.html#aedaeb7cc371f3685f8595d9a151f6605"> 304</a></span> <a class="code hl_class" href="classrtabmap_1_1Transform.html">Transform</a> <a class="code hl_function" href="classrtabmap_1_1Optimizer.html#aedaeb7cc371f3685f8595d9a151f6605">optimizeBA</a>(</div>
<div class="line"><a id="l00323" name="l00323"></a><span class="lineno"><a class="line" href="classrtabmap_1_1Optimizer.html#a93fb09dac068e64de000f692bcb8216f"> 323</a></span> <span class="keywordtype">void</span> <a class="code hl_function" href="classrtabmap_1_1Optimizer.html#a93fb09dac068e64de000f692bcb8216f">computeBACorrespondences</a>(</div> <div class="line"><a id="l00305" name="l00305"></a><span class="lineno"> 305</span> <span class="keyword">const</span> <a class="code hl_class" href="classrtabmap_1_1Link.html">Link</a> &amp; link,</div>
<div class="line"><a id="l00324" name="l00324"></a><span class="lineno"> 324</span> <span class="keyword">const</span> std::map&lt;int, Transform&gt; &amp; poses,</div> <div class="line"><a id="l00306" name="l00306"></a><span class="lineno"> 306</span> <span class="keyword">const</span> <a class="code hl_class" href="classrtabmap_1_1CameraModel.html">CameraModel</a> &amp; model,</div>
<div class="line"><a id="l00325" name="l00325"></a><span class="lineno"> 325</span> <span class="keyword">const</span> std::multimap&lt;int, Link&gt; &amp; links,</div> <div class="line"><a id="l00307" name="l00307"></a><span class="lineno"> 307</span> std::map&lt;int, cv::Point3f&gt; &amp; points3DMap,</div>
<div class="line"><a id="l00326" name="l00326"></a><span class="lineno"> 326</span> <span class="keyword">const</span> std::map&lt;int, Signature&gt; &amp; signatures,</div> <div class="line"><a id="l00308" name="l00308"></a><span class="lineno"> 308</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="l00327" name="l00327"></a><span class="lineno"> 327</span> std::map&lt;int, cv::Point3f&gt; &amp; points3DMap,</div> <div class="line"><a id="l00309" name="l00309"></a><span class="lineno"> 309</span> BAOutliers * outliers = 0);</div>
<div class="line"><a id="l00328" name="l00328"></a><span class="lineno"> 328</span> std::map&lt;<span class="keywordtype">int</span>, std::map&lt;int, FeatureBA &gt; &gt; &amp; wordReferences,</div> <div class="line"><a id="l00310" name="l00310"></a><span class="lineno"> 310</span> </div>
<div class="line"><a id="l00329" name="l00329"></a><span class="lineno"> 329</span> <span class="keywordtype">bool</span> rematchFeatures = <span class="keyword">false</span>,</div> <div class="line"><a id="l00326" name="l00326"></a><span class="lineno"><a class="line" href="classrtabmap_1_1Optimizer.html#a93fb09dac068e64de000f692bcb8216f"> 326</a></span> <span class="keywordtype">void</span> <a class="code hl_function" href="classrtabmap_1_1Optimizer.html#a93fb09dac068e64de000f692bcb8216f">computeBACorrespondences</a>(</div>
<div class="line"><a id="l00330" name="l00330"></a><span class="lineno"> 330</span> <span class="keywordtype">bool</span> useLinkTransformAsGuess = <span class="keyword">false</span>,</div> <div class="line"><a id="l00327" name="l00327"></a><span class="lineno"> 327</span> <span class="keyword">const</span> std::map&lt;int, Transform&gt; &amp; poses,</div>
<div class="line"><a id="l00331" name="l00331"></a><span class="lineno"> 331</span> <a class="code hl_typedef" href="namespacertabmap.html#ad08b6f1796a27dd7316c99c385e2cc55">ParametersMap</a> registrationParameters = <a class="code hl_typedef" href="namespacertabmap.html#ad08b6f1796a27dd7316c99c385e2cc55">ParametersMap</a>());</div> <div class="line"><a id="l00328" name="l00328"></a><span class="lineno"> 328</span> <span class="keyword">const</span> std::multimap&lt;int, Link&gt; &amp; links,</div>
<div class="line"><a id="l00332" name="l00332"></a><span class="lineno"> 332</span> </div> <div class="line"><a id="l00329" name="l00329"></a><span class="lineno"> 329</span> <span class="keyword">const</span> std::map&lt;int, Signature&gt; &amp; signatures,</div>
<div class="line"><a id="l00333" name="l00333"></a><span class="lineno"> 333</span><span class="keyword">protected</span>:</div> <div class="line"><a id="l00330" name="l00330"></a><span class="lineno"> 330</span> std::map&lt;int, cv::Point3f&gt; &amp; points3DMap,</div>
<div class="line"><a id="l00334" name="l00334"></a><span class="lineno"> 334</span> <a class="code hl_class" href="classrtabmap_1_1Optimizer.html">Optimizer</a>(</div> <div class="line"><a id="l00331" name="l00331"></a><span class="lineno"> 331</span> std::map&lt;<span class="keywordtype">int</span>, std::map&lt;int, FeatureBA &gt; &gt; &amp; wordReferences,</div>
<div class="line"><a id="l00335" name="l00335"></a><span class="lineno"> 335</span> <span class="keywordtype">int</span> iterations = Parameters::defaultOptimizerIterations(),</div> <div class="line"><a id="l00332" name="l00332"></a><span class="lineno"> 332</span> <span class="keywordtype">bool</span> rematchFeatures = <span class="keyword">false</span>,</div>
<div class="line"><a id="l00336" name="l00336"></a><span class="lineno"> 336</span> <span class="keywordtype">bool</span> slam2d = Parameters::defaultRegForce3DoF(),</div> <div class="line"><a id="l00333" name="l00333"></a><span class="lineno"> 333</span> <span class="keywordtype">bool</span> useLinkTransformAsGuess = <span class="keyword">false</span>,</div>
<div class="line"><a id="l00337" name="l00337"></a><span class="lineno"> 337</span> <span class="keywordtype">bool</span> covarianceIgnored = Parameters::defaultOptimizerVarianceIgnored(),</div> <div class="line"><a id="l00334" name="l00334"></a><span class="lineno"> 334</span> <a class="code hl_typedef" href="namespacertabmap.html#ad08b6f1796a27dd7316c99c385e2cc55">ParametersMap</a> registrationParameters = <a class="code hl_typedef" href="namespacertabmap.html#ad08b6f1796a27dd7316c99c385e2cc55">ParametersMap</a>());</div>
<div class="line"><a id="l00338" name="l00338"></a><span class="lineno"> 338</span> <span class="keywordtype">double</span> epsilon = Parameters::defaultOptimizerEpsilon(),</div> <div class="line"><a id="l00335" name="l00335"></a><span class="lineno"> 335</span> </div>
<div class="line"><a id="l00339" name="l00339"></a><span class="lineno"> 339</span> <span class="keywordtype">bool</span> robust = Parameters::defaultOptimizerRobust(),</div> <div class="line"><a id="l00336" name="l00336"></a><span class="lineno"> 336</span><span class="keyword">protected</span>:</div>
<div class="line"><a id="l00340" name="l00340"></a><span class="lineno"> 340</span> <span class="keywordtype">bool</span> priorsIgnored = Parameters::defaultOptimizerPriorsIgnored(),</div> <div class="line"><a id="l00337" name="l00337"></a><span class="lineno"> 337</span> <a class="code hl_class" href="classrtabmap_1_1Optimizer.html">Optimizer</a>(</div>
<div class="line"><a id="l00341" name="l00341"></a><span class="lineno"> 341</span> <span class="keywordtype">bool</span> landmarksIgnored = Parameters::defaultOptimizerLandmarksIgnored(),</div> <div class="line"><a id="l00338" name="l00338"></a><span class="lineno"> 338</span> <span class="keywordtype">int</span> iterations = Parameters::defaultOptimizerIterations(),</div>
<div class="line"><a id="l00342" name="l00342"></a><span class="lineno"> 342</span> <span class="keywordtype">float</span> gravitySigma = Parameters::defaultOptimizerGravitySigma());</div> <div class="line"><a id="l00339" name="l00339"></a><span class="lineno"> 339</span> <span class="keywordtype">bool</span> slam2d = Parameters::defaultRegForce3DoF(),</div>
<div class="line"><a id="l00343" name="l00343"></a><span class="lineno"> 343</span> <a class="code hl_class" href="classrtabmap_1_1Optimizer.html">Optimizer</a>(<span class="keyword">const</span> <a class="code hl_typedef" href="namespacertabmap.html#ad08b6f1796a27dd7316c99c385e2cc55">ParametersMap</a> &amp; parameters);</div> <div class="line"><a id="l00340" name="l00340"></a><span class="lineno"> 340</span> <span class="keywordtype">bool</span> covarianceIgnored = Parameters::defaultOptimizerVarianceIgnored(),</div>
<div class="line"><a id="l00344" name="l00344"></a><span class="lineno"> 344</span> </div> <div class="line"><a id="l00341" name="l00341"></a><span class="lineno"> 341</span> <span class="keywordtype">double</span> epsilon = Parameters::defaultOptimizerEpsilon(),</div>
<div class="line"><a id="l00345" name="l00345"></a><span class="lineno"> 345</span><span class="keyword">private</span>:</div> <div class="line"><a id="l00342" name="l00342"></a><span class="lineno"> 342</span> <span class="keywordtype">bool</span> robust = Parameters::defaultOptimizerRobust(),</div>
<div class="line"><a id="l00346" name="l00346"></a><span class="lineno"> 346</span> <span class="keywordtype">int</span> iterations_;</div> <div class="line"><a id="l00343" name="l00343"></a><span class="lineno"> 343</span> <span class="keywordtype">bool</span> priorsIgnored = Parameters::defaultOptimizerPriorsIgnored(),</div>
<div class="line"><a id="l00347" name="l00347"></a><span class="lineno"> 347</span> <span class="keywordtype">bool</span> slam2d_;</div> <div class="line"><a id="l00344" name="l00344"></a><span class="lineno"> 344</span> <span class="keywordtype">bool</span> landmarksIgnored = Parameters::defaultOptimizerLandmarksIgnored(),</div>
<div class="line"><a id="l00348" name="l00348"></a><span class="lineno"> 348</span> <span class="keywordtype">bool</span> covarianceIgnored_;</div> <div class="line"><a id="l00345" name="l00345"></a><span class="lineno"> 345</span> <span class="keywordtype">float</span> gravitySigma = Parameters::defaultOptimizerGravitySigma());</div>
<div class="line"><a id="l00349" name="l00349"></a><span class="lineno"> 349</span> <span class="keywordtype">double</span> epsilon_;</div> <div class="line"><a id="l00346" name="l00346"></a><span class="lineno"> 346</span> <a class="code hl_class" href="classrtabmap_1_1Optimizer.html">Optimizer</a>(<span class="keyword">const</span> <a class="code hl_typedef" href="namespacertabmap.html#ad08b6f1796a27dd7316c99c385e2cc55">ParametersMap</a> &amp; parameters);</div>
<div class="line"><a id="l00350" name="l00350"></a><span class="lineno"> 350</span> <span class="keywordtype">bool</span> robust_;</div> <div class="line"><a id="l00347" name="l00347"></a><span class="lineno"> 347</span> </div>
<div class="line"><a id="l00351" name="l00351"></a><span class="lineno"> 351</span> <span class="keywordtype">bool</span> priorsIgnored_;</div> <div class="line"><a id="l00348" name="l00348"></a><span class="lineno"> 348</span><span class="keyword">private</span>:</div>
<div class="line"><a id="l00352" name="l00352"></a><span class="lineno"> 352</span> <span class="keywordtype">bool</span> landmarksIgnored_;</div> <div class="line"><a id="l00349" name="l00349"></a><span class="lineno"> 349</span> <span class="keywordtype">int</span> iterations_;</div>
<div class="line"><a id="l00353" name="l00353"></a><span class="lineno"> 353</span> <span class="keywordtype">float</span> gravitySigma_;</div> <div class="line"><a id="l00350" name="l00350"></a><span class="lineno"> 350</span> <span class="keywordtype">bool</span> slam2d_;</div>
<div class="line"><a id="l00354" name="l00354"></a><span class="lineno"> 354</span>};</div> <div class="line"><a id="l00351" name="l00351"></a><span class="lineno"> 351</span> <span class="keywordtype">bool</span> covarianceIgnored_;</div>
<div class="line"><a id="l00355" name="l00355"></a><span class="lineno"> 355</span> </div> <div class="line"><a id="l00352" name="l00352"></a><span class="lineno"> 352</span> <span class="keywordtype">double</span> epsilon_;</div>
<div class="line"><a id="l00356" name="l00356"></a><span class="lineno"> 356</span>} <span class="comment">/* namespace rtabmap */</span></div> <div class="line"><a id="l00353" name="l00353"></a><span class="lineno"> 353</span> <span class="keywordtype">bool</span> robust_;</div>
<div class="line"><a id="l00357" name="l00357"></a><span class="lineno"> 357</span><span class="preprocessor">#endif </span><span class="comment">/* OPTIMIZER_H_ */</span><span class="preprocessor"></span></div> <div class="line"><a id="l00354" name="l00354"></a><span class="lineno"> 354</span> <span class="keywordtype">bool</span> priorsIgnored_;</div>
<div class="line"><a id="l00355" name="l00355"></a><span class="lineno"> 355</span> <span class="keywordtype">bool</span> landmarksIgnored_;</div>
<div class="line"><a id="l00356" name="l00356"></a><span class="lineno"> 356</span> <span class="keywordtype">float</span> gravitySigma_;</div>
<div class="line"><a id="l00357" name="l00357"></a><span class="lineno"> 357</span>};</div>
<div class="line"><a id="l00358" name="l00358"></a><span class="lineno"> 358</span> </div>
<div class="line"><a id="l00359" name="l00359"></a><span class="lineno"> 359</span>} <span class="comment">/* namespace rtabmap */</span></div>
<div class="line"><a id="l00360" name="l00360"></a><span class="lineno"> 360</span><span class="preprocessor">#endif </span><span class="comment">/* OPTIMIZER_H_ */</span><span class="preprocessor"></span></div>
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<div class="ttc" id="aclassrtabmap_1_1CameraModel_html"><div class="ttname"><a href="classrtabmap_1_1CameraModel.html">rtabmap::CameraModel</a></div><div class="ttdoc">Represents a pinhole camera model containing intrinsic and extrinsic parameters, used for projection,...</div><div class="ttdef"><b>Definition</b> <a href="CameraModel_8h_source.html#l00052">CameraModel.h:53</a></div></div> <div class="ttc" id="aclassrtabmap_1_1CameraModel_html"><div class="ttname"><a href="classrtabmap_1_1CameraModel.html">rtabmap::CameraModel</a></div><div class="ttdoc">Represents a pinhole camera model containing intrinsic and extrinsic parameters, used for projection,...</div><div class="ttdef"><b>Definition</b> <a href="CameraModel_8h_source.html#l00052">CameraModel.h:53</a></div></div>
<div class="ttc" id="aclassrtabmap_1_1FeatureBA_html"><div class="ttname"><a href="classrtabmap_1_1FeatureBA.html">rtabmap::FeatureBA</a></div><div class="ttdoc">A single bundle adjustment feature observation: one keypoint seen in one frame.</div><div class="ttdef"><b>Definition</b> <a href="Optimizer_8h_source.html#l00050">Optimizer.h:51</a></div></div> <div class="ttc" id="aclassrtabmap_1_1FeatureBA_html"><div class="ttname"><a href="classrtabmap_1_1FeatureBA.html">rtabmap::FeatureBA</a></div><div class="ttdoc">A single bundle adjustment feature observation: one keypoint seen in one frame.</div><div class="ttdef"><b>Definition</b> <a href="Optimizer_8h_source.html#l00051">Optimizer.h:52</a></div></div>
<div class="ttc" id="aclassrtabmap_1_1FeatureBA_html_a2bea5690d958d81f5edfa6df954d4a8b"><div class="ttname"><a href="classrtabmap_1_1FeatureBA.html#a2bea5690d958d81f5edfa6df954d4a8b">rtabmap::FeatureBA::kpt</a></div><div class="ttdeci">cv::KeyPoint kpt</div><div class="ttdoc">2D image keypoint.</div><div class="ttdef"><b>Definition</b> <a href="Optimizer_8h_source.html#l00061">Optimizer.h:61</a></div></div> <div class="ttc" id="aclassrtabmap_1_1FeatureBA_html_a2bea5690d958d81f5edfa6df954d4a8b"><div class="ttname"><a href="classrtabmap_1_1FeatureBA.html#a2bea5690d958d81f5edfa6df954d4a8b">rtabmap::FeatureBA::kpt</a></div><div class="ttdeci">cv::KeyPoint kpt</div><div class="ttdoc">2D image keypoint.</div><div class="ttdef"><b>Definition</b> <a href="Optimizer_8h_source.html#l00062">Optimizer.h:62</a></div></div>
<div class="ttc" id="aclassrtabmap_1_1FeatureBA_html_a7db630b2f418b05d2fbd772d1caadf48"><div class="ttname"><a href="classrtabmap_1_1FeatureBA.html#a7db630b2f418b05d2fbd772d1caadf48">rtabmap::FeatureBA::descriptor</a></div><div class="ttdeci">cv::Mat descriptor</div><div class="ttdoc">Optional descriptor for the keypoint (used when re-matching is enabled).</div><div class="ttdef"><b>Definition</b> <a href="Optimizer_8h_source.html#l00063">Optimizer.h:63</a></div></div> <div class="ttc" id="aclassrtabmap_1_1FeatureBA_html_a7db630b2f418b05d2fbd772d1caadf48"><div class="ttname"><a href="classrtabmap_1_1FeatureBA.html#a7db630b2f418b05d2fbd772d1caadf48">rtabmap::FeatureBA::descriptor</a></div><div class="ttdeci">cv::Mat descriptor</div><div class="ttdoc">Optional descriptor for the keypoint (used when re-matching is enabled).</div><div class="ttdef"><b>Definition</b> <a href="Optimizer_8h_source.html#l00064">Optimizer.h:64</a></div></div>
<div class="ttc" id="aclassrtabmap_1_1FeatureBA_html_a8db953b6f93249d5c28c25073cd4e095"><div class="ttname"><a href="classrtabmap_1_1FeatureBA.html#a8db953b6f93249d5c28c25073cd4e095">rtabmap::FeatureBA::cameraIndex</a></div><div class="ttdeci">int cameraIndex</div><div class="ttdoc">Index into the frame's camera model list for multi-camera rigs.</div><div class="ttdef"><b>Definition</b> <a href="Optimizer_8h_source.html#l00064">Optimizer.h:64</a></div></div> <div class="ttc" id="aclassrtabmap_1_1FeatureBA_html_a8db953b6f93249d5c28c25073cd4e095"><div class="ttname"><a href="classrtabmap_1_1FeatureBA.html#a8db953b6f93249d5c28c25073cd4e095">rtabmap::FeatureBA::cameraIndex</a></div><div class="ttdeci">int cameraIndex</div><div class="ttdoc">Index into the frame's camera model list for multi-camera rigs.</div><div class="ttdef"><b>Definition</b> <a href="Optimizer_8h_source.html#l00065">Optimizer.h:65</a></div></div>
<div class="ttc" id="aclassrtabmap_1_1FeatureBA_html_ad48600a5b6ed17e7713f1485c4317948"><div class="ttname"><a href="classrtabmap_1_1FeatureBA.html#ad48600a5b6ed17e7713f1485c4317948">rtabmap::FeatureBA::depth</a></div><div class="ttdeci">float depth</div><div class="ttdoc">Depth at kpt in meters, or 0 if unknown (monocular).</div><div class="ttdef"><b>Definition</b> <a href="Optimizer_8h_source.html#l00062">Optimizer.h:62</a></div></div> <div class="ttc" id="aclassrtabmap_1_1FeatureBA_html_ad48600a5b6ed17e7713f1485c4317948"><div class="ttname"><a href="classrtabmap_1_1FeatureBA.html#ad48600a5b6ed17e7713f1485c4317948">rtabmap::FeatureBA::depth</a></div><div class="ttdeci">float depth</div><div class="ttdoc">Depth at kpt in meters, or 0 if unknown (monocular).</div><div class="ttdef"><b>Definition</b> <a href="Optimizer_8h_source.html#l00063">Optimizer.h:63</a></div></div>
<div class="ttc" id="aclassrtabmap_1_1Link_html"><div class="ttname"><a href="classrtabmap_1_1Link.html">rtabmap::Link</a></div><div class="ttdoc">Directed constraint between two nodes in RTAB-Map's pose graph.</div><div class="ttdef"><b>Definition</b> <a href="Link_8h_source.html#l00054">Link.h:55</a></div></div> <div class="ttc" id="aclassrtabmap_1_1Link_html"><div class="ttname"><a href="classrtabmap_1_1Link.html">rtabmap::Link</a></div><div class="ttdoc">Directed constraint between two nodes in RTAB-Map's pose graph.</div><div class="ttdef"><b>Definition</b> <a href="Link_8h_source.html#l00054">Link.h:55</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"><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_a038e8df970ab744f6f4ba7027f62b263"><div class="ttname"><a href="classrtabmap_1_1Optimizer.html#a038e8df970ab744f6f4ba7027f62b263">rtabmap::Optimizer::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_1Optimizer_html_a0a942bd7902c8d2f9444b8eba6a648a3"><div class="ttname"><a href="classrtabmap_1_1Optimizer.html#a0a942bd7902c8d2f9444b8eba6a648a3">rtabmap::Optimizer::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_a0a942bd7902c8d2f9444b8eba6a648a3"><div class="ttname"><a href="classrtabmap_1_1Optimizer.html#a0a942bd7902c8d2f9444b8eba6a648a3">rtabmap::Optimizer::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_a178bb719b0e22863e29add12c85e14a5"><div class="ttname"><a href="classrtabmap_1_1Optimizer.html#a178bb719b0e22863e29add12c85e14a5">rtabmap::Optimizer::iterations</a></div><div class="ttdeci">int iterations() const</div><div class="ttdoc">Max solver iterations.</div><div class="ttdef"><b>Definition</b> <a href="Optimizer_8h_source.html#l00142">Optimizer.h:142</a></div></div> <div class="ttc" id="aclassrtabmap_1_1Optimizer_html_a1122f017f10105f7e6c14039d41709e5"><div class="ttname"><a href="classrtabmap_1_1Optimizer.html#a1122f017f10105f7e6c14039d41709e5">rtabmap::Optimizer::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_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_a178bb719b0e22863e29add12c85e14a5"><div class="ttname"><a href="classrtabmap_1_1Optimizer.html#a178bb719b0e22863e29add12c85e14a5">rtabmap::Optimizer::iterations</a></div><div class="ttdeci">int iterations() const</div><div class="ttdoc">Max solver iterations.</div><div class="ttdef"><b>Definition</b> <a href="Optimizer_8h_source.html#l00145">Optimizer.h:145</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="aclassrtabmap_1_1Optimizer_html_a278f42e0d250085ac6fe9ed425627acf"><div class="ttname"><a href="classrtabmap_1_1Optimizer.html#a278f42e0d250085ac6fe9ed425627acf">rtabmap::Optimizer::optimizeIncremental</a></div><div class="ttdeci">std::map&lt; int, Transform &gt; optimizeIncremental(int rootId, const std::map&lt; int, Transform &gt; &amp;poses, const std::multimap&lt; int, Link &gt; &amp;constraints, 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 that grows the graph one node at a time.</div></div> <div class="ttc" id="aclassrtabmap_1_1Optimizer_html_a278f42e0d250085ac6fe9ed425627acf"><div class="ttname"><a href="classrtabmap_1_1Optimizer.html#a278f42e0d250085ac6fe9ed425627acf">rtabmap::Optimizer::optimizeIncremental</a></div><div class="ttdeci">std::map&lt; int, Transform &gt; optimizeIncremental(int rootId, const std::map&lt; int, Transform &gt; &amp;poses, const std::multimap&lt; int, Link &gt; &amp;constraints, 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 that grows the graph one node at a time.</div></div>
<div class="ttc" id="aclassrtabmap_1_1Optimizer_html_a29ba07e1e829ae616d82756977161c9f"><div class="ttname"><a href="classrtabmap_1_1Optimizer.html#a29ba07e1e829ae616d82756977161c9f">rtabmap::Optimizer::isRobust</a></div><div class="ttdeci">bool isRobust() const</div><div class="ttdoc">If true, use a robust kernel / switchable factors against bad loop closures.</div><div class="ttdef"><b>Definition</b> <a href="Optimizer_8h_source.html#l00146">Optimizer.h:146</a></div></div> <div class="ttc" id="aclassrtabmap_1_1Optimizer_html_a29ba07e1e829ae616d82756977161c9f"><div class="ttname"><a href="classrtabmap_1_1Optimizer.html#a29ba07e1e829ae616d82756977161c9f">rtabmap::Optimizer::isRobust</a></div><div class="ttdeci">bool isRobust() const</div><div class="ttdoc">If true, use a robust kernel / switchable factors against bad loop closures.</div><div class="ttdef"><b>Definition</b> <a href="Optimizer_8h_source.html#l00149">Optimizer.h:149</a></div></div>
<div class="ttc" id="aclassrtabmap_1_1Optimizer_html_a2f7cbdebed9787ffa6b0b30536dfa1a0"><div class="ttname"><a href="classrtabmap_1_1Optimizer.html#a2f7cbdebed9787ffa6b0b30536dfa1a0">rtabmap::Optimizer::optimizeBA</a></div><div class="ttdeci">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, Signature &gt; &amp;signatures, std::map&lt; int, cv::Point3f &gt; &amp;points3DMap, std::map&lt; int, std::map&lt; int, FeatureBA &gt; &gt; &amp;wordReferences, bool rematchFeatures=false, const ParametersMap &amp;registrationParameters=ParametersMap())</div><div class="ttdoc">BA wrapper that derives camera models and correspondences from signatures.</div></div> <div class="ttc" id="aclassrtabmap_1_1Optimizer_html_a2f7cbdebed9787ffa6b0b30536dfa1a0"><div class="ttname"><a href="classrtabmap_1_1Optimizer.html#a2f7cbdebed9787ffa6b0b30536dfa1a0">rtabmap::Optimizer::optimizeBA</a></div><div class="ttdeci">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, Signature &gt; &amp;signatures, std::map&lt; int, cv::Point3f &gt; &amp;points3DMap, std::map&lt; int, std::map&lt; int, FeatureBA &gt; &gt; &amp;wordReferences, bool rematchFeatures=false, const ParametersMap &amp;registrationParameters=ParametersMap())</div><div class="ttdoc">BA wrapper that derives camera models and correspondences from signatures.</div></div>
<div class="ttc" id="aclassrtabmap_1_1Optimizer_html_a32f53d408ef0372c5c196ee89ff5ad79"><div class="ttname"><a href="classrtabmap_1_1Optimizer.html#a32f53d408ef0372c5c196ee89ff5ad79">rtabmap::Optimizer::landmarksIgnored</a></div><div class="ttdeci">bool landmarksIgnored() const</div><div class="ttdoc">If true, landmark/marker observations are dropped.</div><div class="ttdef"><b>Definition</b> <a href="Optimizer_8h_source.html#l00148">Optimizer.h:148</a></div></div> <div class="ttc" id="aclassrtabmap_1_1Optimizer_html_a32f53d408ef0372c5c196ee89ff5ad79"><div class="ttname"><a href="classrtabmap_1_1Optimizer.html#a32f53d408ef0372c5c196ee89ff5ad79">rtabmap::Optimizer::landmarksIgnored</a></div><div class="ttdeci">bool landmarksIgnored() const</div><div class="ttdoc">If true, landmark/marker observations are dropped.</div><div class="ttdef"><b>Definition</b> <a href="Optimizer_8h_source.html#l00151">Optimizer.h:151</a></div></div>
<div class="ttc" id="aclassrtabmap_1_1Optimizer_html_a3bca4e3df1048f8bbad9b3b9473924a2"><div class="ttname"><a href="classrtabmap_1_1Optimizer.html#a3bca4e3df1048f8bbad9b3b9473924a2">rtabmap::Optimizer::epsilon</a></div><div class="ttdeci">double epsilon() const</div><div class="ttdoc">Convergence threshold on cost decrease.</div><div class="ttdef"><b>Definition</b> <a href="Optimizer_8h_source.html#l00145">Optimizer.h:145</a></div></div> <div class="ttc" id="aclassrtabmap_1_1Optimizer_html_a3bca4e3df1048f8bbad9b3b9473924a2"><div class="ttname"><a href="classrtabmap_1_1Optimizer.html#a3bca4e3df1048f8bbad9b3b9473924a2">rtabmap::Optimizer::epsilon</a></div><div class="ttdeci">double epsilon() const</div><div class="ttdoc">Convergence threshold on cost decrease.</div><div class="ttdef"><b>Definition</b> <a href="Optimizer_8h_source.html#l00148">Optimizer.h:148</a></div></div>
<div class="ttc" id="aclassrtabmap_1_1Optimizer_html_a4477c9a5b6651729944726465b5eba7f"><div class="ttname"><a href="classrtabmap_1_1Optimizer.html#a4477c9a5b6651729944726465b5eba7f">rtabmap::Optimizer::getConnectedGraph</a></div><div class="ttdeci">void getConnectedGraph(int fromId, const std::map&lt; int, Transform &gt; &amp;posesIn, const std::multimap&lt; int, Link &gt; &amp;linksIn, std::map&lt; int, Transform &gt; &amp;posesOut, std::multimap&lt; int, Link &gt; &amp;linksOut) const</div><div class="ttdoc">Extracts the connected component reachable from fromId.</div></div> <div class="ttc" id="aclassrtabmap_1_1Optimizer_html_a4477c9a5b6651729944726465b5eba7f"><div class="ttname"><a href="classrtabmap_1_1Optimizer.html#a4477c9a5b6651729944726465b5eba7f">rtabmap::Optimizer::getConnectedGraph</a></div><div class="ttdeci">void getConnectedGraph(int fromId, const std::map&lt; int, Transform &gt; &amp;posesIn, const std::multimap&lt; int, Link &gt; &amp;linksIn, std::map&lt; int, Transform &gt; &amp;posesOut, std::multimap&lt; int, Link &gt; &amp;linksOut) const</div><div class="ttdoc">Extracts the connected component reachable from fromId.</div></div>
<div class="ttc" id="aclassrtabmap_1_1Optimizer_html_a51485674608bbf910922ecee43cc13aa"><div class="ttname"><a href="classrtabmap_1_1Optimizer.html#a51485674608bbf910922ecee43cc13aa">rtabmap::Optimizer::isSlam2d</a></div><div class="ttdeci">bool isSlam2d() const</div><div class="ttdoc">True if optimizing in SE(2) instead of SE(3).</div><div class="ttdef"><b>Definition</b> <a href="Optimizer_8h_source.html#l00143">Optimizer.h:143</a></div></div> <div class="ttc" id="aclassrtabmap_1_1Optimizer_html_a51485674608bbf910922ecee43cc13aa"><div class="ttname"><a href="classrtabmap_1_1Optimizer.html#a51485674608bbf910922ecee43cc13aa">rtabmap::Optimizer::isSlam2d</a></div><div class="ttdeci">bool isSlam2d() const</div><div class="ttdoc">True if optimizing in SE(2) instead of SE(3).</div><div class="ttdef"><b>Definition</b> <a href="Optimizer_8h_source.html#l00146">Optimizer.h:146</a></div></div>
<div class="ttc" id="aclassrtabmap_1_1Optimizer_html_a78b457bec2cdb7bdd320e2bfcca759df"><div class="ttname"><a href="classrtabmap_1_1Optimizer.html#a78b457bec2cdb7bdd320e2bfcca759df">rtabmap::Optimizer::create</a></div><div class="ttdeci">static Optimizer * create(const ParametersMap &amp;parameters)</div><div class="ttdoc">Factory: build an optimizer from a ParametersMap.</div></div> <div class="ttc" id="aclassrtabmap_1_1Optimizer_html_a78b457bec2cdb7bdd320e2bfcca759df"><div class="ttname"><a href="classrtabmap_1_1Optimizer.html#a78b457bec2cdb7bdd320e2bfcca759df">rtabmap::Optimizer::create</a></div><div class="ttdeci">static Optimizer * create(const ParametersMap &amp;parameters)</div><div class="ttdoc">Factory: build an optimizer from a ParametersMap.</div></div>
<div class="ttc" id="aclassrtabmap_1_1Optimizer_html_a7e3aff943e77603493a358ff522fa2dc"><div class="ttname"><a href="classrtabmap_1_1Optimizer.html#a7e3aff943e77603493a358ff522fa2dc">rtabmap::Optimizer::optimize</a></div><div class="ttdeci">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;constraints, 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 (single shot).</div></div> <div class="ttc" id="aclassrtabmap_1_1Optimizer_html_a7e3aff943e77603493a358ff522fa2dc"><div class="ttname"><a href="classrtabmap_1_1Optimizer.html#a7e3aff943e77603493a358ff522fa2dc">rtabmap::Optimizer::optimize</a></div><div class="ttdeci">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;constraints, 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 (single shot).</div></div>
<div class="ttc" id="aclassrtabmap_1_1Optimizer_html_a8bb6372ce4c67fd9b8d54f692ac34238"><div class="ttname"><a href="classrtabmap_1_1Optimizer.html#a8bb6372ce4c67fd9b8d54f692ac34238">rtabmap::Optimizer::isCovarianceIgnored</a></div><div class="ttdeci">bool isCovarianceIgnored() const</div><div class="ttdoc">If true, all edges share an identity information matrix.</div><div class="ttdef"><b>Definition</b> <a href="Optimizer_8h_source.html#l00144">Optimizer.h:144</a></div></div> <div class="ttc" id="aclassrtabmap_1_1Optimizer_html_a8bb6372ce4c67fd9b8d54f692ac34238"><div class="ttname"><a href="classrtabmap_1_1Optimizer.html#a8bb6372ce4c67fd9b8d54f692ac34238">rtabmap::Optimizer::isCovarianceIgnored</a></div><div class="ttdeci">bool isCovarianceIgnored() const</div><div class="ttdoc">If true, all edges share an identity information matrix.</div><div class="ttdef"><b>Definition</b> <a href="Optimizer_8h_source.html#l00147">Optimizer.h:147</a></div></div>
<div class="ttc" id="aclassrtabmap_1_1Optimizer_html_a93fb09dac068e64de000f692bcb8216f"><div class="ttname"><a href="classrtabmap_1_1Optimizer.html#a93fb09dac068e64de000f692bcb8216f">rtabmap::Optimizer::computeBACorrespondences</a></div><div class="ttdeci">void computeBACorrespondences(const std::map&lt; int, Transform &gt; &amp;poses, const std::multimap&lt; int, Link &gt; &amp;links, const std::map&lt; int, Signature &gt; &amp;signatures, std::map&lt; int, cv::Point3f &gt; &amp;points3DMap, std::map&lt; int, std::map&lt; int, FeatureBA &gt; &gt; &amp;wordReferences, bool rematchFeatures=false, bool useLinkTransformAsGuess=false, ParametersMap registrationParameters=ParametersMap())</div><div class="ttdoc">Build BA correspondences (3D points + per-frame observations) from signatures.</div></div> <div class="ttc" id="aclassrtabmap_1_1Optimizer_html_a93fb09dac068e64de000f692bcb8216f"><div class="ttname"><a href="classrtabmap_1_1Optimizer.html#a93fb09dac068e64de000f692bcb8216f">rtabmap::Optimizer::computeBACorrespondences</a></div><div class="ttdeci">void computeBACorrespondences(const std::map&lt; int, Transform &gt; &amp;poses, const std::multimap&lt; int, Link &gt; &amp;links, const std::map&lt; int, Signature &gt; &amp;signatures, std::map&lt; int, cv::Point3f &gt; &amp;points3DMap, std::map&lt; int, std::map&lt; int, FeatureBA &gt; &gt; &amp;wordReferences, bool rematchFeatures=false, bool useLinkTransformAsGuess=false, ParametersMap registrationParameters=ParametersMap())</div><div class="ttdoc">Build BA correspondences (3D points + per-frame observations) from signatures.</div></div>
<div class="ttc" id="aclassrtabmap_1_1Optimizer_html_aa2be82e1f986b1beae103148be7cd520"><div class="ttname"><a href="classrtabmap_1_1Optimizer.html#aa2be82e1f986b1beae103148be7cd520">rtabmap::Optimizer::type</a></div><div class="ttdeci">virtual Type type() const =0</div><div class="ttdoc">Returns the concrete back-end identifier (one of Type).</div></div> <div class="ttc" id="aclassrtabmap_1_1Optimizer_html_aa2be82e1f986b1beae103148be7cd520"><div class="ttname"><a href="classrtabmap_1_1Optimizer.html#aa2be82e1f986b1beae103148be7cd520">rtabmap::Optimizer::type</a></div><div class="ttdeci">virtual Type type() const =0</div><div class="ttdoc">Returns the concrete back-end identifier (one of Type).</div></div>
<div class="ttc" id="aclassrtabmap_1_1Optimizer_html_aab99f045516162944ad68fdabacb53dc"><div class="ttname"><a href="classrtabmap_1_1Optimizer.html#aab99f045516162944ad68fdabacb53dc">rtabmap::Optimizer::optimizeBA</a></div><div class="ttdeci">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, Signature &gt; &amp;signatures, bool rematchFeatures=false, const ParametersMap &amp;registrationParameters=ParametersMap())</div><div class="ttdoc">BA convenience wrapper: like the overload above but ignores the refined 3D points and observation map...</div></div> <div class="ttc" id="aclassrtabmap_1_1Optimizer_html_aab99f045516162944ad68fdabacb53dc"><div class="ttname"><a href="classrtabmap_1_1Optimizer.html#aab99f045516162944ad68fdabacb53dc">rtabmap::Optimizer::optimizeBA</a></div><div class="ttdeci">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, Signature &gt; &amp;signatures, bool rematchFeatures=false, const ParametersMap &amp;registrationParameters=ParametersMap())</div><div class="ttdoc">BA convenience wrapper: like the overload above but ignores the refined 3D points and observation map...</div></div>
<div class="ttc" id="aclassrtabmap_1_1Optimizer_html_aceb68e0f692b81c4a978e46f804515d7"><div class="ttname"><a href="classrtabmap_1_1Optimizer.html#aceb68e0f692b81c4a978e46f804515d7">rtabmap::Optimizer::gravitySigma</a></div><div class="ttdeci">float gravitySigma() const</div><div class="ttdoc">Std-dev (rad) of the gravity prior on roll/pitch; 0 disables it.</div><div class="ttdef"><b>Definition</b> <a href="Optimizer_8h_source.html#l00149">Optimizer.h:149</a></div></div> <div class="ttc" id="aclassrtabmap_1_1Optimizer_html_aceb68e0f692b81c4a978e46f804515d7"><div class="ttname"><a href="classrtabmap_1_1Optimizer.html#aceb68e0f692b81c4a978e46f804515d7">rtabmap::Optimizer::gravitySigma</a></div><div class="ttdeci">float gravitySigma() const</div><div class="ttdoc">Std-dev (rad) of the gravity prior on roll/pitch; 0 disables it.</div><div class="ttdef"><b>Definition</b> <a href="Optimizer_8h_source.html#l00152">Optimizer.h:152</a></div></div>
<div class="ttc" id="aclassrtabmap_1_1Optimizer_html_ad6b32a9697837f03941773f6a5bbf91c"><div class="ttname"><a href="classrtabmap_1_1Optimizer.html#ad6b32a9697837f03941773f6a5bbf91c">rtabmap::Optimizer::optimizeBA</a></div><div class="ttdeci">Transform optimizeBA(const Link &amp;link, const CameraModel &amp;model, 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">Refine a single two-frame link via BA.</div></div> <div class="ttc" id="aclassrtabmap_1_1Optimizer_html_aedaeb7cc371f3685f8595d9a151f6605"><div class="ttname"><a href="classrtabmap_1_1Optimizer.html#aedaeb7cc371f3685f8595d9a151f6605">rtabmap::Optimizer::optimizeBA</a></div><div class="ttdeci">Transform optimizeBA(const Link &amp;link, const CameraModel &amp;model, 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">Refine a single two-frame link via BA.</div></div>
<div class="ttc" id="aclassrtabmap_1_1Optimizer_html_aeebd0d5575ab7e9f492b095c05ddb237"><div class="ttname"><a href="classrtabmap_1_1Optimizer.html#aeebd0d5575ab7e9f492b095c05ddb237">rtabmap::Optimizer::priorsIgnored</a></div><div class="ttdeci">bool priorsIgnored() const</div><div class="ttdoc">If true, unary priors on poses are dropped.</div><div class="ttdef"><b>Definition</b> <a href="Optimizer_8h_source.html#l00147">Optimizer.h:147</a></div></div> <div class="ttc" id="aclassrtabmap_1_1Optimizer_html_aeebd0d5575ab7e9f492b095c05ddb237"><div class="ttname"><a href="classrtabmap_1_1Optimizer.html#aeebd0d5575ab7e9f492b095c05ddb237">rtabmap::Optimizer::priorsIgnored</a></div><div class="ttdeci">bool priorsIgnored() const</div><div class="ttdoc">If true, unary priors on poses are dropped.</div><div class="ttdef"><b>Definition</b> <a href="Optimizer_8h_source.html#l00150">Optimizer.h:150</a></div></div>
<div class="ttc" id="aclassrtabmap_1_1Optimizer_html_aeff86117cf69fdae3c25e5bc327a142d"><div class="ttname"><a href="classrtabmap_1_1Optimizer.html#aeff86117cf69fdae3c25e5bc327a142d">rtabmap::Optimizer::create</a></div><div class="ttdeci">static Optimizer * create(Optimizer::Type type, const ParametersMap &amp;parameters=ParametersMap())</div><div class="ttdoc">Factory: build an optimizer of a specific type. Caller owns the result.</div></div> <div class="ttc" id="aclassrtabmap_1_1Optimizer_html_aeff86117cf69fdae3c25e5bc327a142d"><div class="ttname"><a href="classrtabmap_1_1Optimizer.html#aeff86117cf69fdae3c25e5bc327a142d">rtabmap::Optimizer::create</a></div><div class="ttdeci">static Optimizer * create(Optimizer::Type type, const ParametersMap &amp;parameters=ParametersMap())</div><div class="ttdoc">Factory: build an optimizer of a specific type. Caller owns the result.</div></div>
<div class="ttc" id="aclassrtabmap_1_1Optimizer_html_af59c8340394268f9a1eb76fd5709f2c3"><div class="ttname"><a href="classrtabmap_1_1Optimizer.html#af59c8340394268f9a1eb76fd5709f2c3">rtabmap::Optimizer::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;constraints, 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_1Optimizer_html_af59c8340394268f9a1eb76fd5709f2c3"><div class="ttname"><a href="classrtabmap_1_1Optimizer.html#af59c8340394268f9a1eb76fd5709f2c3">rtabmap::Optimizer::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;constraints, 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_1Optimizer_html_afe0381a3b42926b7634027e522766eb1"><div class="ttname"><a href="classrtabmap_1_1Optimizer.html#afe0381a3b42926b7634027e522766eb1">rtabmap::Optimizer::isAvailable</a></div><div class="ttdeci">static bool isAvailable(Optimizer::Type type)</div><div class="ttdoc">Returns whether type was compiled in (its third-party dependency was found).</div></div> <div class="ttc" id="aclassrtabmap_1_1Optimizer_html_afe0381a3b42926b7634027e522766eb1"><div class="ttname"><a href="classrtabmap_1_1Optimizer.html#afe0381a3b42926b7634027e522766eb1">rtabmap::Optimizer::isAvailable</a></div><div class="ttdeci">static bool isAvailable(Optimizer::Type type)</div><div class="ttdoc">Returns whether type was compiled in (its third-party dependency was found).</div></div>
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<div class="ttc" id="aclassrtabmap_1_1GFTT_html"><div class="ttname"><a href="classrtabmap_1_1GFTT.html">rtabmap::GFTT</a></div><div class="ttdoc">Good-features-to-track detector (Shi–Tomasi / Harris).</div><div class="ttdef"><b>Definition</b> <a href="Features2d_8h_source.html#l00493">Features2d.h:494</a></div></div> <div class="ttc" id="aclassrtabmap_1_1GFTT_html"><div class="ttname"><a href="classrtabmap_1_1GFTT.html">rtabmap::GFTT</a></div><div class="ttdoc">Good-features-to-track detector (Shi–Tomasi / Harris).</div><div class="ttdef"><b>Definition</b> <a href="Features2d_8h_source.html#l00493">Features2d.h:494</a></div></div>
<div class="ttc" id="aclassrtabmap_1_1KAZE_html"><div class="ttname"><a href="classrtabmap_1_1KAZE.html">rtabmap::KAZE</a></div><div class="ttdoc">KAZE detector and descriptor (OpenCV 3+).</div><div class="ttdef"><b>Definition</b> <a href="Features2d_8h_source.html#l00620">Features2d.h:621</a></div></div> <div class="ttc" id="aclassrtabmap_1_1KAZE_html"><div class="ttname"><a href="classrtabmap_1_1KAZE.html">rtabmap::KAZE</a></div><div class="ttdoc">KAZE detector and descriptor (OpenCV 3+).</div><div class="ttdef"><b>Definition</b> <a href="Features2d_8h_source.html#l00620">Features2d.h:621</a></div></div>
<div class="ttc" id="aclassrtabmap_1_1ORB_html"><div class="ttname"><a href="classrtabmap_1_1ORB.html">rtabmap::ORB</a></div><div class="ttdoc">ORB detector and descriptor (optional GPU).</div><div class="ttdef"><b>Definition</b> <a href="Features2d_8h_source.html#l00383">Features2d.h:384</a></div></div> <div class="ttc" id="aclassrtabmap_1_1ORB_html"><div class="ttname"><a href="classrtabmap_1_1ORB.html">rtabmap::ORB</a></div><div class="ttdoc">ORB detector and descriptor (optional GPU).</div><div class="ttdef"><b>Definition</b> <a href="Features2d_8h_source.html#l00383">Features2d.h:384</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"><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_1Parameters_html"><div class="ttname"><a href="classrtabmap_1_1Parameters.html">rtabmap::Parameters</a></div><div class="ttdef"><b>Definition</b> <a href="Parameters_8h_source.html#l00182">Parameters.h:183</a></div></div> <div class="ttc" id="aclassrtabmap_1_1Parameters_html"><div class="ttname"><a href="classrtabmap_1_1Parameters.html">rtabmap::Parameters</a></div><div class="ttdef"><b>Definition</b> <a href="Parameters_8h_source.html#l00182">Parameters.h:183</a></div></div>
<div class="ttc" id="aclassrtabmap_1_1Parameters_html_a08f4ea48ac7dbd93cb322d1c89b455b0"><div class="ttname"><a href="classrtabmap_1_1Parameters.html#a08f4ea48ac7dbd93cb322d1c89b455b0">rtabmap::Parameters::getType</a></div><div class="ttdeci">static std::string getType(const std::string &amp;paramKey)</div></div> <div class="ttc" id="aclassrtabmap_1_1Parameters_html_a08f4ea48ac7dbd93cb322d1c89b455b0"><div class="ttname"><a href="classrtabmap_1_1Parameters.html#a08f4ea48ac7dbd93cb322d1c89b455b0">rtabmap::Parameters::getType</a></div><div class="ttdeci">static std::string getType(const std::string &amp;paramKey)</div></div>
<div class="ttc" id="aclassrtabmap_1_1Parameters_html_a24faced7b8d2ebb7045cd6f8f6382ad7"><div class="ttname"><a href="classrtabmap_1_1Parameters.html#a24faced7b8d2ebb7045cd6f8f6382ad7">rtabmap::Parameters::filterParameters</a></div><div class="ttdeci">static ParametersMap filterParameters(const ParametersMap &amp;parameters, const std::string &amp;group, bool remove=false)</div></div> <div class="ttc" id="aclassrtabmap_1_1Parameters_html_a24faced7b8d2ebb7045cd6f8f6382ad7"><div class="ttname"><a href="classrtabmap_1_1Parameters.html#a24faced7b8d2ebb7045cd6f8f6382ad7">rtabmap::Parameters::filterParameters</a></div><div class="ttdeci">static ParametersMap filterParameters(const ParametersMap &amp;parameters, const std::string &amp;group, bool remove=false)</div></div>
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<div class="ttc" id="aclassrtabmap_1_1LaserScan_html"><div class="ttname"><a href="classrtabmap_1_1LaserScan.html">rtabmap::LaserScan</a></div><div class="ttdoc">Represents 2D or 3D laser scan data with support for multiple point data formats.</div><div class="ttdef"><b>Definition</b> <a href="LaserScan_8h_source.html#l00045">LaserScan.h:46</a></div></div> <div class="ttc" id="aclassrtabmap_1_1LaserScan_html"><div class="ttname"><a href="classrtabmap_1_1LaserScan.html">rtabmap::LaserScan</a></div><div class="ttdoc">Represents 2D or 3D laser scan data with support for multiple point data formats.</div><div class="ttdef"><b>Definition</b> <a href="LaserScan_8h_source.html#l00045">LaserScan.h:46</a></div></div>
<div class="ttc" id="aclassrtabmap_1_1Link_html"><div class="ttname"><a href="classrtabmap_1_1Link.html">rtabmap::Link</a></div><div class="ttdoc">Directed constraint between two nodes in RTAB-Map's pose graph.</div><div class="ttdef"><b>Definition</b> <a href="Link_8h_source.html#l00054">Link.h:55</a></div></div> <div class="ttc" id="aclassrtabmap_1_1Link_html"><div class="ttname"><a href="classrtabmap_1_1Link.html">rtabmap::Link</a></div><div class="ttdoc">Directed constraint between two nodes in RTAB-Map's pose graph.</div><div class="ttdef"><b>Definition</b> <a href="Link_8h_source.html#l00054">Link.h:55</a></div></div>
<div class="ttc" id="aclassrtabmap_1_1Memory_html"><div class="ttname"><a href="classrtabmap_1_1Memory.html">rtabmap::Memory</a></div><div class="ttdoc">Three-tiered memory management (STM, WM, LTM) for RTAB-Map.</div><div class="ttdef"><b>Definition</b> <a href="Memory_8h_source.html#l00101">Memory.h:102</a></div></div> <div class="ttc" id="aclassrtabmap_1_1Memory_html"><div class="ttname"><a href="classrtabmap_1_1Memory.html">rtabmap::Memory</a></div><div class="ttdoc">Three-tiered memory management (STM, WM, LTM) for RTAB-Map.</div><div class="ttdef"><b>Definition</b> <a href="Memory_8h_source.html#l00101">Memory.h:102</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"><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_1ProgressState_html"><div class="ttname"><a href="classrtabmap_1_1ProgressState.html">rtabmap::ProgressState</a></div><div class="ttdef"><b>Definition</b> <a href="ProgressState_8h_source.html#l00035">ProgressState.h:36</a></div></div> <div class="ttc" id="aclassrtabmap_1_1ProgressState_html"><div class="ttname"><a href="classrtabmap_1_1ProgressState.html">rtabmap::ProgressState</a></div><div class="ttdef"><b>Definition</b> <a href="ProgressState_8h_source.html#l00035">ProgressState.h:36</a></div></div>
<div class="ttc" id="aclassrtabmap_1_1Rtabmap_html"><div class="ttname"><a href="classrtabmap_1_1Rtabmap.html">rtabmap::Rtabmap</a></div><div class="ttdoc">Top-level RTAB-Map SLAM pipeline (mapping, localization and loop closure).</div><div class="ttdef"><b>Definition</b> <a href="Rtabmap_8h_source.html#l00193">Rtabmap.h:194</a></div></div> <div class="ttc" id="aclassrtabmap_1_1Rtabmap_html"><div class="ttname"><a href="classrtabmap_1_1Rtabmap.html">rtabmap::Rtabmap</a></div><div class="ttdoc">Top-level RTAB-Map SLAM pipeline (mapping, localization and loop closure).</div><div class="ttdef"><b>Definition</b> <a href="Rtabmap_8h_source.html#l00193">Rtabmap.h:194</a></div></div>
<div class="ttc" id="aclassrtabmap_1_1Rtabmap_html_a037ddb5d737e0466d7610b88d8429bd6"><div class="ttname"><a href="classrtabmap_1_1Rtabmap.html#a037ddb5d737e0466d7610b88d8429bd6">rtabmap::Rtabmap::setUserData</a></div><div class="ttdeci">bool setUserData(int id, const cv::Mat &amp;data)</div><div class="ttdoc">Attaches user data to signature id, compressing it on the fly if needed.</div></div> <div class="ttc" id="aclassrtabmap_1_1Rtabmap_html_a037ddb5d737e0466d7610b88d8429bd6"><div class="ttname"><a href="classrtabmap_1_1Rtabmap.html#a037ddb5d737e0466d7610b88d8429bd6">rtabmap::Rtabmap::setUserData</a></div><div class="ttdeci">bool setUserData(int id, const cv::Mat &amp;data)</div><div class="ttdoc">Attaches user data to signature id, compressing it on the fly if needed.</div></div>
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</table> </table>
<a name="details" id="details"></a><h2 class="groupheader">Detailed Description</h2> <a name="details" id="details"></a><h2 class="groupheader">Detailed Description</h2>
<div class="textblock"><p>A single bundle adjustment feature observation: one keypoint seen in one frame. </p> <div class="textblock"><p>A single bundle adjustment feature observation: one keypoint seen in one frame. </p>
<p>Used as the per-frame value in the <code>wordReferences</code> map (<code>&lt;wordId, &lt;frameId, <a class="el" href="classrtabmap_1_1FeatureBA.html" title="A single bundle adjustment feature observation: one keypoint seen in one frame.">FeatureBA</a>&gt;&gt;</code>) passed to <a class="el" href="classrtabmap_1_1Optimizer.html#a038e8df970ab744f6f4ba7027f62b263">Optimizer::optimizeBA()</a>. <a class="el" href="classrtabmap_1_1FeatureBA.html#ad48600a5b6ed17e7713f1485c4317948">depth</a> is in meters when available (RGB-D / stereo with disparity) or 0 if unknown (monocular). <a class="el" href="classrtabmap_1_1FeatureBA.html#a7db630b2f418b05d2fbd772d1caadf48">descriptor</a> and <a class="el" href="classrtabmap_1_1FeatureBA.html#a8db953b6f93249d5c28c25073cd4e095">cameraIndex</a> are optional; <a class="el" href="classrtabmap_1_1FeatureBA.html#a8db953b6f93249d5c28c25073cd4e095">cameraIndex</a> selects which <a class="el" href="classrtabmap_1_1CameraModel.html">CameraModel</a> of a multi-camera rig the keypoint belongs to. </p> <p>Used as the per-frame value in the <code>wordReferences</code> map (<code>&lt;wordId, &lt;frameId, <a class="el" href="classrtabmap_1_1FeatureBA.html" title="A single bundle adjustment feature observation: one keypoint seen in one frame.">FeatureBA</a>&gt;&gt;</code>) passed to <a class="el" href="classrtabmap_1_1Optimizer.html#a1122f017f10105f7e6c14039d41709e5">Optimizer::optimizeBA()</a>. <a class="el" href="classrtabmap_1_1FeatureBA.html#ad48600a5b6ed17e7713f1485c4317948">depth</a> is in meters when available (RGB-D / stereo with disparity) or 0 if unknown (monocular). <a class="el" href="classrtabmap_1_1FeatureBA.html#a7db630b2f418b05d2fbd772d1caadf48">descriptor</a> and <a class="el" href="classrtabmap_1_1FeatureBA.html#a8db953b6f93249d5c28c25073cd4e095">cameraIndex</a> are optional; <a class="el" href="classrtabmap_1_1FeatureBA.html#a8db953b6f93249d5c28c25073cd4e095">cameraIndex</a> selects which <a class="el" href="classrtabmap_1_1CameraModel.html">CameraModel</a> of a multi-camera rig the keypoint belongs to. </p>
<p class="definition">Definition at line <a class="el" href="Optimizer_8h_source.html#l00050">50</a> of file <a class="el" href="Optimizer_8h_source.html">Optimizer.h</a>.</p> <p class="definition">Definition at line <a class="el" href="Optimizer_8h_source.html#l00051">51</a> of file <a class="el" href="Optimizer_8h_source.html">Optimizer.h</a>.</p>
</div><h2 class="groupheader">Constructor &amp; Destructor Documentation</h2> </div><h2 class="groupheader">Constructor &amp; Destructor Documentation</h2>
<a id="a9e3336b09b6913c0b922e6b2f194ba76" name="a9e3336b09b6913c0b922e6b2f194ba76"></a> <a id="a9e3336b09b6913c0b922e6b2f194ba76" name="a9e3336b09b6913c0b922e6b2f194ba76"></a>
<h2 class="memtitle"><span class="permalink"><a href="#a9e3336b09b6913c0b922e6b2f194ba76">&#9670;&#160;</a></span>FeatureBA()</h2> <h2 class="memtitle"><span class="permalink"><a href="#a9e3336b09b6913c0b922e6b2f194ba76">&#9670;&#160;</a></span>FeatureBA()</h2>
@@ -183,7 +183,7 @@ Public Attributes</h2></td></tr>
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<p class="definition">Definition at line <a class="el" href="Optimizer_8h_source.html#l00053">53</a> of file <a class="el" href="Optimizer_8h_source.html">Optimizer.h</a>.</p> <p class="definition">Definition at line <a class="el" href="Optimizer_8h_source.html#l00054">54</a> of file <a class="el" href="Optimizer_8h_source.html">Optimizer.h</a>.</p>
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<p>2D image keypoint. </p> <p>2D image keypoint. </p>
<p class="definition">Definition at line <a class="el" href="Optimizer_8h_source.html#l00061">61</a> of file <a class="el" href="Optimizer_8h_source.html">Optimizer.h</a>.</p> <p class="definition">Definition at line <a class="el" href="Optimizer_8h_source.html#l00062">62</a> of file <a class="el" href="Optimizer_8h_source.html">Optimizer.h</a>.</p>
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<p>Depth at <a class="el" href="classrtabmap_1_1FeatureBA.html#a2bea5690d958d81f5edfa6df954d4a8b">kpt</a> in meters, or 0 if unknown (monocular). </p> <p>Depth at <a class="el" href="classrtabmap_1_1FeatureBA.html#a2bea5690d958d81f5edfa6df954d4a8b">kpt</a> in meters, or 0 if unknown (monocular). </p>
<p class="definition">Definition at line <a class="el" href="Optimizer_8h_source.html#l00062">62</a> of file <a class="el" href="Optimizer_8h_source.html">Optimizer.h</a>.</p> <p class="definition">Definition at line <a class="el" href="Optimizer_8h_source.html#l00063">63</a> of file <a class="el" href="Optimizer_8h_source.html">Optimizer.h</a>.</p>
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@@ -238,7 +238,7 @@ Public Attributes</h2></td></tr>
<p>Optional descriptor for the keypoint (used when re-matching is enabled). </p> <p>Optional descriptor for the keypoint (used when re-matching is enabled). </p>
<p class="definition">Definition at line <a class="el" href="Optimizer_8h_source.html#l00063">63</a> of file <a class="el" href="Optimizer_8h_source.html">Optimizer.h</a>.</p> <p class="definition">Definition at line <a class="el" href="Optimizer_8h_source.html#l00064">64</a> of file <a class="el" href="Optimizer_8h_source.html">Optimizer.h</a>.</p>
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@@ -256,7 +256,7 @@ Public Attributes</h2></td></tr>
<p>Index into the frame's camera model list for multi-camera rigs. </p> <p>Index into the frame's camera model list for multi-camera rigs. </p>
<p class="definition">Definition at line <a class="el" href="Optimizer_8h_source.html#l00064">64</a> of file <a class="el" href="Optimizer_8h_source.html">Optimizer.h</a>.</p> <p class="definition">Definition at line <a class="el" href="Optimizer_8h_source.html#l00065">65</a> of file <a class="el" href="Optimizer_8h_source.html">Optimizer.h</a>.</p>
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<tr class="odd"><td class="entry"><a class="el" href="classrtabmap_1_1Optimizer.html#a32f53d408ef0372c5c196ee89ff5ad79">landmarksIgnored</a>() const</td><td class="entry"><a class="el" href="classrtabmap_1_1Optimizer.html">rtabmap::Optimizer</a></td><td class="entry"><span class="mlabel">inline</span></td></tr> <tr class="odd"><td class="entry"><a class="el" href="classrtabmap_1_1Optimizer.html#a32f53d408ef0372c5c196ee89ff5ad79">landmarksIgnored</a>() const</td><td class="entry"><a class="el" href="classrtabmap_1_1Optimizer.html">rtabmap::Optimizer</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
<tr class="even"><td class="entry"><a class="el" href="classrtabmap_1_1Optimizer.html#a7e3aff943e77603493a358ff522fa2dc">optimize</a>(int rootId, const std::map&lt; int, Transform &gt; &amp;poses, const std::multimap&lt; int, Link &gt; &amp;constraints, std::list&lt; std::map&lt; int, Transform &gt; &gt; *intermediateGraphes=0, double *finalError=0, int *iterationsDone=0)</td><td class="entry"><a class="el" href="classrtabmap_1_1Optimizer.html">rtabmap::Optimizer</a></td><td class="entry"></td></tr> <tr class="even"><td class="entry"><a class="el" href="classrtabmap_1_1Optimizer.html#a7e3aff943e77603493a358ff522fa2dc">optimize</a>(int rootId, const std::map&lt; int, Transform &gt; &amp;poses, const std::multimap&lt; int, Link &gt; &amp;constraints, std::list&lt; std::map&lt; int, Transform &gt; &gt; *intermediateGraphes=0, double *finalError=0, int *iterationsDone=0)</td><td class="entry"><a class="el" href="classrtabmap_1_1Optimizer.html">rtabmap::Optimizer</a></td><td class="entry"></td></tr>
<tr class="odd"><td class="entry"><a class="el" href="classrtabmap_1_1Optimizer.html#af59c8340394268f9a1eb76fd5709f2c3">optimize</a>(int rootId, const std::map&lt; int, Transform &gt; &amp;poses, const std::multimap&lt; int, Link &gt; &amp;constraints, cv::Mat &amp;outputCovariance, std::list&lt; std::map&lt; int, Transform &gt; &gt; *intermediateGraphes=0, double *finalError=0, int *iterationsDone=0)</td><td class="entry"><a class="el" href="classrtabmap_1_1Optimizer.html">rtabmap::Optimizer</a></td><td class="entry"><span class="mlabel">virtual</span></td></tr> <tr class="odd"><td class="entry"><a class="el" href="classrtabmap_1_1Optimizer.html#af59c8340394268f9a1eb76fd5709f2c3">optimize</a>(int rootId, const std::map&lt; int, Transform &gt; &amp;poses, const std::multimap&lt; int, Link &gt; &amp;constraints, cv::Mat &amp;outputCovariance, std::list&lt; std::map&lt; int, Transform &gt; &gt; *intermediateGraphes=0, double *finalError=0, int *iterationsDone=0)</td><td class="entry"><a class="el" href="classrtabmap_1_1Optimizer.html">rtabmap::Optimizer</a></td><td class="entry"><span class="mlabel">virtual</span></td></tr>
<tr class="even"><td class="entry"><a class="el" href="classrtabmap_1_1Optimizer.html#a038e8df970ab744f6f4ba7027f62b263">optimizeBA</a>(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)</td><td class="entry"><a class="el" href="classrtabmap_1_1Optimizer.html">rtabmap::Optimizer</a></td><td class="entry"><span class="mlabel">virtual</span></td></tr> <tr class="even"><td class="entry"><a class="el" href="classrtabmap_1_1Optimizer.html#a1122f017f10105f7e6c14039d41709e5">optimizeBA</a>(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)</td><td class="entry"><a class="el" href="classrtabmap_1_1Optimizer.html">rtabmap::Optimizer</a></td><td class="entry"><span class="mlabel">virtual</span></td></tr>
<tr class="odd"><td class="entry"><a class="el" href="classrtabmap_1_1Optimizer.html#a2f7cbdebed9787ffa6b0b30536dfa1a0">optimizeBA</a>(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, Signature &gt; &amp;signatures, std::map&lt; int, cv::Point3f &gt; &amp;points3DMap, std::map&lt; int, std::map&lt; int, FeatureBA &gt; &gt; &amp;wordReferences, bool rematchFeatures=false, const ParametersMap &amp;registrationParameters=ParametersMap())</td><td class="entry"><a class="el" href="classrtabmap_1_1Optimizer.html">rtabmap::Optimizer</a></td><td class="entry"></td></tr> <tr class="odd"><td class="entry"><a class="el" href="classrtabmap_1_1Optimizer.html#a2f7cbdebed9787ffa6b0b30536dfa1a0">optimizeBA</a>(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, Signature &gt; &amp;signatures, std::map&lt; int, cv::Point3f &gt; &amp;points3DMap, std::map&lt; int, std::map&lt; int, FeatureBA &gt; &gt; &amp;wordReferences, bool rematchFeatures=false, const ParametersMap &amp;registrationParameters=ParametersMap())</td><td class="entry"><a class="el" href="classrtabmap_1_1Optimizer.html">rtabmap::Optimizer</a></td><td class="entry"></td></tr>
<tr class="even"><td class="entry"><a class="el" href="classrtabmap_1_1Optimizer.html#aab99f045516162944ad68fdabacb53dc">optimizeBA</a>(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, Signature &gt; &amp;signatures, bool rematchFeatures=false, const ParametersMap &amp;registrationParameters=ParametersMap())</td><td class="entry"><a class="el" href="classrtabmap_1_1Optimizer.html">rtabmap::Optimizer</a></td><td class="entry"></td></tr> <tr class="even"><td class="entry"><a class="el" href="classrtabmap_1_1Optimizer.html#aab99f045516162944ad68fdabacb53dc">optimizeBA</a>(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, Signature &gt; &amp;signatures, bool rematchFeatures=false, const ParametersMap &amp;registrationParameters=ParametersMap())</td><td class="entry"><a class="el" href="classrtabmap_1_1Optimizer.html">rtabmap::Optimizer</a></td><td class="entry"></td></tr>
<tr class="odd"><td class="entry"><a class="el" href="classrtabmap_1_1Optimizer.html#ad6b32a9697837f03941773f6a5bbf91c">optimizeBA</a>(const Link &amp;link, const CameraModel &amp;model, 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)</td><td class="entry"><a class="el" href="classrtabmap_1_1Optimizer.html">rtabmap::Optimizer</a></td><td class="entry"></td></tr> <tr class="odd"><td class="entry"><a class="el" href="classrtabmap_1_1Optimizer.html#aedaeb7cc371f3685f8595d9a151f6605">optimizeBA</a>(const Link &amp;link, const CameraModel &amp;model, 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)</td><td class="entry"><a class="el" href="classrtabmap_1_1Optimizer.html">rtabmap::Optimizer</a></td><td class="entry"></td></tr>
<tr class="even"><td class="entry"><a class="el" href="classrtabmap_1_1Optimizer.html#a278f42e0d250085ac6fe9ed425627acf">optimizeIncremental</a>(int rootId, const std::map&lt; int, Transform &gt; &amp;poses, const std::multimap&lt; int, Link &gt; &amp;constraints, std::list&lt; std::map&lt; int, Transform &gt; &gt; *intermediateGraphes=0, double *finalError=0, int *iterationsDone=0)</td><td class="entry"><a class="el" href="classrtabmap_1_1Optimizer.html">rtabmap::Optimizer</a></td><td class="entry"></td></tr> <tr class="even"><td class="entry"><a class="el" href="classrtabmap_1_1Optimizer.html#a278f42e0d250085ac6fe9ed425627acf">optimizeIncremental</a>(int rootId, const std::map&lt; int, Transform &gt; &amp;poses, const std::multimap&lt; int, Link &gt; &amp;constraints, std::list&lt; std::map&lt; int, Transform &gt; &gt; *intermediateGraphes=0, double *finalError=0, int *iterationsDone=0)</td><td class="entry"><a class="el" href="classrtabmap_1_1Optimizer.html">rtabmap::Optimizer</a></td><td class="entry"></td></tr>
<tr bgcolor="#f0f0f0" class="odd"><td class="entry"><b>Optimizer</b>(int iterations=Parameters::defaultOptimizerIterations(), bool slam2d=Parameters::defaultRegForce3DoF(), bool covarianceIgnored=Parameters::defaultOptimizerVarianceIgnored(), double epsilon=Parameters::defaultOptimizerEpsilon(), bool robust=Parameters::defaultOptimizerRobust(), bool priorsIgnored=Parameters::defaultOptimizerPriorsIgnored(), bool landmarksIgnored=Parameters::defaultOptimizerLandmarksIgnored(), float gravitySigma=Parameters::defaultOptimizerGravitySigma()) (defined in <a class="el" href="classrtabmap_1_1Optimizer.html">rtabmap::Optimizer</a>)</td><td class="entry"><a class="el" href="classrtabmap_1_1Optimizer.html">rtabmap::Optimizer</a></td><td class="entry"><span class="mlabel">protected</span></td></tr> <tr bgcolor="#f0f0f0" class="odd"><td class="entry"><b>Optimizer</b>(int iterations=Parameters::defaultOptimizerIterations(), bool slam2d=Parameters::defaultRegForce3DoF(), bool covarianceIgnored=Parameters::defaultOptimizerVarianceIgnored(), double epsilon=Parameters::defaultOptimizerEpsilon(), bool robust=Parameters::defaultOptimizerRobust(), bool priorsIgnored=Parameters::defaultOptimizerPriorsIgnored(), bool landmarksIgnored=Parameters::defaultOptimizerLandmarksIgnored(), float gravitySigma=Parameters::defaultOptimizerGravitySigma()) (defined in <a class="el" href="classrtabmap_1_1Optimizer.html">rtabmap::Optimizer</a>)</td><td class="entry"><a class="el" href="classrtabmap_1_1Optimizer.html">rtabmap::Optimizer</a></td><td class="entry"><span class="mlabel">protected</span></td></tr>
<tr bgcolor="#f0f0f0" class="even"><td class="entry"><b>Optimizer</b>(const ParametersMap &amp;parameters) (defined in <a class="el" href="classrtabmap_1_1Optimizer.html">rtabmap::Optimizer</a>)</td><td class="entry"><a class="el" href="classrtabmap_1_1Optimizer.html">rtabmap::Optimizer</a></td><td class="entry"><span class="mlabel">protected</span></td></tr> <tr bgcolor="#f0f0f0" class="even"><td class="entry"><b>Optimizer</b>(const ParametersMap &amp;parameters) (defined in <a class="el" href="classrtabmap_1_1Optimizer.html">rtabmap::Optimizer</a>)</td><td class="entry"><a class="el" href="classrtabmap_1_1Optimizer.html">rtabmap::Optimizer</a></td><td class="entry"><span class="mlabel">protected</span></td></tr>
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<tr class="memitem:af59c8340394268f9a1eb76fd5709f2c3" id="r_af59c8340394268f9a1eb76fd5709f2c3"><td class="memItemLeft" align="right" valign="top">virtual std::map&lt; int, <a class="el" href="classrtabmap_1_1Transform.html">Transform</a> &gt;&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classrtabmap_1_1Optimizer.html#af59c8340394268f9a1eb76fd5709f2c3">optimize</a> (int rootId, const std::map&lt; int, <a class="el" href="classrtabmap_1_1Transform.html">Transform</a> &gt; &amp;poses, const std::multimap&lt; int, <a class="el" href="classrtabmap_1_1Link.html">Link</a> &gt; &amp;constraints, cv::Mat &amp;outputCovariance, std::list&lt; std::map&lt; int, <a class="el" href="classrtabmap_1_1Transform.html">Transform</a> &gt; &gt; *intermediateGraphes=0, double *finalError=0, int *iterationsDone=0)</td></tr> <tr class="memitem:af59c8340394268f9a1eb76fd5709f2c3" id="r_af59c8340394268f9a1eb76fd5709f2c3"><td class="memItemLeft" align="right" valign="top">virtual std::map&lt; int, <a class="el" href="classrtabmap_1_1Transform.html">Transform</a> &gt;&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classrtabmap_1_1Optimizer.html#af59c8340394268f9a1eb76fd5709f2c3">optimize</a> (int rootId, const std::map&lt; int, <a class="el" href="classrtabmap_1_1Transform.html">Transform</a> &gt; &amp;poses, const std::multimap&lt; int, <a class="el" href="classrtabmap_1_1Link.html">Link</a> &gt; &amp;constraints, cv::Mat &amp;outputCovariance, std::list&lt; std::map&lt; int, <a class="el" href="classrtabmap_1_1Transform.html">Transform</a> &gt; &gt; *intermediateGraphes=0, double *finalError=0, int *iterationsDone=0)</td></tr>
<tr class="memdesc:af59c8340394268f9a1eb76fd5709f2c3"><td class="mdescLeft">&#160;</td><td class="mdescRight">Pose-graph optimization with marginal covariance of <code>rootId</code>. <br /></td></tr> <tr class="memdesc:af59c8340394268f9a1eb76fd5709f2c3"><td class="mdescLeft">&#160;</td><td class="mdescRight">Pose-graph optimization with marginal covariance of <code>rootId</code>. <br /></td></tr>
<tr class="separator:af59c8340394268f9a1eb76fd5709f2c3"><td class="memSeparator" colspan="2">&#160;</td></tr> <tr class="separator:af59c8340394268f9a1eb76fd5709f2c3"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a038e8df970ab744f6f4ba7027f62b263" id="r_a038e8df970ab744f6f4ba7027f62b263"><td class="memItemLeft" align="right" valign="top">virtual std::map&lt; int, <a class="el" href="classrtabmap_1_1Transform.html">Transform</a> &gt;&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classrtabmap_1_1Optimizer.html#a038e8df970ab744f6f4ba7027f62b263">optimizeBA</a> (int rootId, const std::map&lt; int, <a class="el" href="classrtabmap_1_1Transform.html">Transform</a> &gt; &amp;poses, const std::multimap&lt; int, <a class="el" href="classrtabmap_1_1Link.html">Link</a> &gt; &amp;links, const std::map&lt; int, std::vector&lt; <a class="el" href="classrtabmap_1_1CameraModel.html">CameraModel</a> &gt; &gt; &amp;models, std::map&lt; int, cv::Point3f &gt; &amp;points3DMap, const std::map&lt; int, std::map&lt; int, <a class="el" href="classrtabmap_1_1FeatureBA.html">FeatureBA</a> &gt; &gt; &amp;wordReferences, std::set&lt; int &gt; *outliers=0)</td></tr> <tr class="memitem:a1122f017f10105f7e6c14039d41709e5" id="r_a1122f017f10105f7e6c14039d41709e5"><td class="memItemLeft" align="right" valign="top">virtual std::map&lt; int, <a class="el" href="classrtabmap_1_1Transform.html">Transform</a> &gt;&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classrtabmap_1_1Optimizer.html#a1122f017f10105f7e6c14039d41709e5">optimizeBA</a> (int rootId, const std::map&lt; int, <a class="el" href="classrtabmap_1_1Transform.html">Transform</a> &gt; &amp;poses, const std::multimap&lt; int, <a class="el" href="classrtabmap_1_1Link.html">Link</a> &gt; &amp;links, const std::map&lt; int, std::vector&lt; <a class="el" href="classrtabmap_1_1CameraModel.html">CameraModel</a> &gt; &gt; &amp;models, std::map&lt; int, cv::Point3f &gt; &amp;points3DMap, const std::map&lt; int, std::map&lt; int, <a class="el" href="classrtabmap_1_1FeatureBA.html">FeatureBA</a> &gt; &gt; &amp;wordReferences, BAOutliers *outliers=0)</td></tr>
<tr class="memdesc:a038e8df970ab744f6f4ba7027f62b263"><td class="mdescLeft">&#160;</td><td class="mdescRight">Bundle adjustment: jointly refine poses and 3D points (back-end-level entry point). <br /></td></tr> <tr class="memdesc:a1122f017f10105f7e6c14039d41709e5"><td class="mdescLeft">&#160;</td><td class="mdescRight">Bundle adjustment: jointly refine poses and 3D points (back-end-level entry point). <br /></td></tr>
<tr class="separator:a038e8df970ab744f6f4ba7027f62b263"><td class="memSeparator" colspan="2">&#160;</td></tr> <tr class="separator:a1122f017f10105f7e6c14039d41709e5"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a2f7cbdebed9787ffa6b0b30536dfa1a0" id="r_a2f7cbdebed9787ffa6b0b30536dfa1a0"><td class="memItemLeft" align="right" valign="top">std::map&lt; int, <a class="el" href="classrtabmap_1_1Transform.html">Transform</a> &gt;&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classrtabmap_1_1Optimizer.html#a2f7cbdebed9787ffa6b0b30536dfa1a0">optimizeBA</a> (int rootId, const std::map&lt; int, <a class="el" href="classrtabmap_1_1Transform.html">Transform</a> &gt; &amp;poses, const std::multimap&lt; int, <a class="el" href="classrtabmap_1_1Link.html">Link</a> &gt; &amp;links, const std::map&lt; int, <a class="el" href="classrtabmap_1_1Signature.html">Signature</a> &gt; &amp;signatures, std::map&lt; int, cv::Point3f &gt; &amp;points3DMap, std::map&lt; int, std::map&lt; int, <a class="el" href="classrtabmap_1_1FeatureBA.html">FeatureBA</a> &gt; &gt; &amp;wordReferences, bool rematchFeatures=false, const <a class="el" href="namespacertabmap.html#ad08b6f1796a27dd7316c99c385e2cc55">ParametersMap</a> &amp;registrationParameters=<a class="el" href="namespacertabmap.html#ad08b6f1796a27dd7316c99c385e2cc55">ParametersMap</a>())</td></tr> <tr class="memitem:a2f7cbdebed9787ffa6b0b30536dfa1a0" id="r_a2f7cbdebed9787ffa6b0b30536dfa1a0"><td class="memItemLeft" align="right" valign="top">std::map&lt; int, <a class="el" href="classrtabmap_1_1Transform.html">Transform</a> &gt;&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classrtabmap_1_1Optimizer.html#a2f7cbdebed9787ffa6b0b30536dfa1a0">optimizeBA</a> (int rootId, const std::map&lt; int, <a class="el" href="classrtabmap_1_1Transform.html">Transform</a> &gt; &amp;poses, const std::multimap&lt; int, <a class="el" href="classrtabmap_1_1Link.html">Link</a> &gt; &amp;links, const std::map&lt; int, <a class="el" href="classrtabmap_1_1Signature.html">Signature</a> &gt; &amp;signatures, std::map&lt; int, cv::Point3f &gt; &amp;points3DMap, std::map&lt; int, std::map&lt; int, <a class="el" href="classrtabmap_1_1FeatureBA.html">FeatureBA</a> &gt; &gt; &amp;wordReferences, bool rematchFeatures=false, const <a class="el" href="namespacertabmap.html#ad08b6f1796a27dd7316c99c385e2cc55">ParametersMap</a> &amp;registrationParameters=<a class="el" href="namespacertabmap.html#ad08b6f1796a27dd7316c99c385e2cc55">ParametersMap</a>())</td></tr>
<tr class="memdesc:a2f7cbdebed9787ffa6b0b30536dfa1a0"><td class="mdescLeft">&#160;</td><td class="mdescRight">BA wrapper that derives camera models and correspondences from signatures. <br /></td></tr> <tr class="memdesc:a2f7cbdebed9787ffa6b0b30536dfa1a0"><td class="mdescLeft">&#160;</td><td class="mdescRight">BA wrapper that derives camera models and correspondences from signatures. <br /></td></tr>
<tr class="separator:a2f7cbdebed9787ffa6b0b30536dfa1a0"><td class="memSeparator" colspan="2">&#160;</td></tr> <tr class="separator:a2f7cbdebed9787ffa6b0b30536dfa1a0"><td class="memSeparator" colspan="2">&#160;</td></tr>
@@ -176,9 +176,9 @@ Public Member Functions</h2></td></tr>
std::map&lt; int, <a class="el" href="classrtabmap_1_1Transform.html">Transform</a> &gt;&#160;</td><td class="memItemRight" valign="bottom"><b>optimizeBA</b> (int rootId, const std::map&lt; int, <a class="el" href="classrtabmap_1_1Transform.html">Transform</a> &gt; &amp;poses, const std::multimap&lt; int, <a class="el" href="classrtabmap_1_1Link.html">Link</a> &gt; &amp;links, const std::map&lt; int, <a class="el" href="classrtabmap_1_1Signature.html">Signature</a> &gt; &amp;signatures, bool rematchFeatures=false, const <a class="el" href="namespacertabmap.html#ad08b6f1796a27dd7316c99c385e2cc55">ParametersMap</a> &amp;registrationParameters=<a class="el" href="namespacertabmap.html#ad08b6f1796a27dd7316c99c385e2cc55">ParametersMap</a>())</td></tr> std::map&lt; int, <a class="el" href="classrtabmap_1_1Transform.html">Transform</a> &gt;&#160;</td><td class="memItemRight" valign="bottom"><b>optimizeBA</b> (int rootId, const std::map&lt; int, <a class="el" href="classrtabmap_1_1Transform.html">Transform</a> &gt; &amp;poses, const std::multimap&lt; int, <a class="el" href="classrtabmap_1_1Link.html">Link</a> &gt; &amp;links, const std::map&lt; int, <a class="el" href="classrtabmap_1_1Signature.html">Signature</a> &gt; &amp;signatures, bool rematchFeatures=false, const <a class="el" href="namespacertabmap.html#ad08b6f1796a27dd7316c99c385e2cc55">ParametersMap</a> &amp;registrationParameters=<a class="el" href="namespacertabmap.html#ad08b6f1796a27dd7316c99c385e2cc55">ParametersMap</a>())</td></tr>
<tr class="memdesc:aab99f045516162944ad68fdabacb53dc"><td class="mdescLeft">&#160;</td><td class="mdescRight">BA convenience wrapper: like the overload above but ignores the refined 3D points and observation map. <br /></td></tr> <tr class="memdesc:aab99f045516162944ad68fdabacb53dc"><td class="mdescLeft">&#160;</td><td class="mdescRight">BA convenience wrapper: like the overload above but ignores the refined 3D points and observation map. <br /></td></tr>
<tr class="separator:aab99f045516162944ad68fdabacb53dc"><td class="memSeparator" colspan="2">&#160;</td></tr> <tr class="separator:aab99f045516162944ad68fdabacb53dc"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:ad6b32a9697837f03941773f6a5bbf91c" id="r_ad6b32a9697837f03941773f6a5bbf91c"><td class="memItemLeft" align="right" valign="top"><a class="el" href="classrtabmap_1_1Transform.html">Transform</a>&#160;</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> &amp;link, const <a class="el" href="classrtabmap_1_1CameraModel.html">CameraModel</a> &amp;model, std::map&lt; int, cv::Point3f &gt; &amp;points3DMap, const std::map&lt; int, std::map&lt; int, <a class="el" href="classrtabmap_1_1FeatureBA.html">FeatureBA</a> &gt; &gt; &amp;wordReferences, std::set&lt; int &gt; *outliers=0)</td></tr> <tr class="memitem:aedaeb7cc371f3685f8595d9a151f6605" id="r_aedaeb7cc371f3685f8595d9a151f6605"><td class="memItemLeft" align="right" valign="top"><a class="el" href="classrtabmap_1_1Transform.html">Transform</a>&#160;</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> &amp;link, const <a class="el" href="classrtabmap_1_1CameraModel.html">CameraModel</a> &amp;model, std::map&lt; int, cv::Point3f &gt; &amp;points3DMap, const std::map&lt; int, std::map&lt; int, <a class="el" href="classrtabmap_1_1FeatureBA.html">FeatureBA</a> &gt; &gt; &amp;wordReferences, BAOutliers *outliers=0)</td></tr>
<tr class="memdesc:ad6b32a9697837f03941773f6a5bbf91c"><td class="mdescLeft">&#160;</td><td class="mdescRight">Refine a single two-frame link via BA. <br /></td></tr> <tr class="memdesc:aedaeb7cc371f3685f8595d9a151f6605"><td class="mdescLeft">&#160;</td><td class="mdescRight">Refine a single two-frame link via BA. <br /></td></tr>
<tr class="separator:ad6b32a9697837f03941773f6a5bbf91c"><td class="memSeparator" colspan="2">&#160;</td></tr> <tr class="separator:aedaeb7cc371f3685f8595d9a151f6605"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a93fb09dac068e64de000f692bcb8216f" id="r_a93fb09dac068e64de000f692bcb8216f"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classrtabmap_1_1Optimizer.html#a93fb09dac068e64de000f692bcb8216f">computeBACorrespondences</a> (const std::map&lt; int, <a class="el" href="classrtabmap_1_1Transform.html">Transform</a> &gt; &amp;poses, const std::multimap&lt; int, <a class="el" href="classrtabmap_1_1Link.html">Link</a> &gt; &amp;links, const std::map&lt; int, <a class="el" href="classrtabmap_1_1Signature.html">Signature</a> &gt; &amp;signatures, std::map&lt; int, cv::Point3f &gt; &amp;points3DMap, std::map&lt; int, std::map&lt; int, <a class="el" href="classrtabmap_1_1FeatureBA.html">FeatureBA</a> &gt; &gt; &amp;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> <tr class="memitem:a93fb09dac068e64de000f692bcb8216f" id="r_a93fb09dac068e64de000f692bcb8216f"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classrtabmap_1_1Optimizer.html#a93fb09dac068e64de000f692bcb8216f">computeBACorrespondences</a> (const std::map&lt; int, <a class="el" href="classrtabmap_1_1Transform.html">Transform</a> &gt; &amp;poses, const std::multimap&lt; int, <a class="el" href="classrtabmap_1_1Link.html">Link</a> &gt; &amp;links, const std::map&lt; int, <a class="el" href="classrtabmap_1_1Signature.html">Signature</a> &gt; &amp;signatures, std::map&lt; int, cv::Point3f &gt; &amp;points3DMap, std::map&lt; int, std::map&lt; int, <a class="el" href="classrtabmap_1_1FeatureBA.html">FeatureBA</a> &gt; &gt; &amp;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>
<tr class="memdesc:a93fb09dac068e64de000f692bcb8216f"><td class="mdescLeft">&#160;</td><td class="mdescRight">Build BA correspondences (3D points + per-frame observations) from signatures. <br /></td></tr> <tr class="memdesc:a93fb09dac068e64de000f692bcb8216f"><td class="mdescLeft">&#160;</td><td class="mdescRight">Build BA correspondences (3D points + per-frame observations) from signatures. <br /></td></tr>
<tr class="separator:a93fb09dac068e64de000f692bcb8216f"><td class="memSeparator" colspan="2">&#160;</td></tr> <tr class="separator:a93fb09dac068e64de000f692bcb8216f"><td class="memSeparator" colspan="2">&#160;</td></tr>
@@ -252,11 +252,11 @@ Protected Member Functions</h2></td></tr>
<p><a class="el" href="classrtabmap_1_1Optimizer.html" title="Abstract base for pose-graph and bundle-adjustment optimizers.">Optimizer</a> is a factory + interface in front of several third-party back-ends (<a class="el" href="classrtabmap_1_1Optimizer.html#a18ae8ac76346d1adc68ab176a5b02d16a6065bdb6e49c0f5ffc98d5f2f6b0d5ab">TORO</a>, <a class="el" href="classrtabmap_1_1Optimizer.html#a18ae8ac76346d1adc68ab176a5b02d16aa4d070fe00ba5e81adbc958bad18d853">g2o</a>, <a class="el" href="classrtabmap_1_1Optimizer.html#a18ae8ac76346d1adc68ab176a5b02d16ab71c83617497f5da0607a47ab162630f">GTSAM</a>, <a class="el" href="classrtabmap_1_1Optimizer.html#a18ae8ac76346d1adc68ab176a5b02d16a891b6c7cbbe5e149e583ac1fc14fc91d">Ceres</a>, <a class="el" href="classrtabmap_1_1Optimizer.html#a18ae8ac76346d1adc68ab176a5b02d16a53545e83af9618cb4d39cf0420b3cd54">cvsba</a>). Use <a class="el" href="classrtabmap_1_1Optimizer.html#a78b457bec2cdb7bdd320e2bfcca759df">create()</a> to instantiate one based on the <code>Optimizer/Strategy</code> parameter; use <a class="el" href="classrtabmap_1_1Optimizer.html#afe0381a3b42926b7634027e522766eb1">isAvailable()</a> to check whether a given back-end was compiled in.</p> <p><a class="el" href="classrtabmap_1_1Optimizer.html" title="Abstract base for pose-graph and bundle-adjustment optimizers.">Optimizer</a> is a factory + interface in front of several third-party back-ends (<a class="el" href="classrtabmap_1_1Optimizer.html#a18ae8ac76346d1adc68ab176a5b02d16a6065bdb6e49c0f5ffc98d5f2f6b0d5ab">TORO</a>, <a class="el" href="classrtabmap_1_1Optimizer.html#a18ae8ac76346d1adc68ab176a5b02d16aa4d070fe00ba5e81adbc958bad18d853">g2o</a>, <a class="el" href="classrtabmap_1_1Optimizer.html#a18ae8ac76346d1adc68ab176a5b02d16ab71c83617497f5da0607a47ab162630f">GTSAM</a>, <a class="el" href="classrtabmap_1_1Optimizer.html#a18ae8ac76346d1adc68ab176a5b02d16a891b6c7cbbe5e149e583ac1fc14fc91d">Ceres</a>, <a class="el" href="classrtabmap_1_1Optimizer.html#a18ae8ac76346d1adc68ab176a5b02d16a53545e83af9618cb4d39cf0420b3cd54">cvsba</a>). Use <a class="el" href="classrtabmap_1_1Optimizer.html#a78b457bec2cdb7bdd320e2bfcca759df">create()</a> to instantiate one based on the <code>Optimizer/Strategy</code> parameter; use <a class="el" href="classrtabmap_1_1Optimizer.html#afe0381a3b42926b7634027e522766eb1">isAvailable()</a> to check whether a given back-end was compiled in.</p>
<p>Two families of methods are exposed:</p><ul> <p>Two families of methods are exposed:</p><ul>
<li><b>Pose-graph optimization</b> (<a class="el" href="classrtabmap_1_1Optimizer.html#a7e3aff943e77603493a358ff522fa2dc">optimize</a> / <a class="el" href="classrtabmap_1_1Optimizer.html#a278f42e0d250085ac6fe9ed425627acf">optimizeIncremental</a>) — refines poses given relative-pose constraints. Subclasses override <a class="el" href="classrtabmap_1_1Optimizer.html#a7e3aff943e77603493a358ff522fa2dc">optimize()</a> with covariance output.</li> <li><b>Pose-graph optimization</b> (<a class="el" href="classrtabmap_1_1Optimizer.html#a7e3aff943e77603493a358ff522fa2dc">optimize</a> / <a class="el" href="classrtabmap_1_1Optimizer.html#a278f42e0d250085ac6fe9ed425627acf">optimizeIncremental</a>) — refines poses given relative-pose constraints. Subclasses override <a class="el" href="classrtabmap_1_1Optimizer.html#a7e3aff943e77603493a358ff522fa2dc">optimize()</a> with covariance output.</li>
<li><b>Bundle adjustment</b> (<a class="el" href="classrtabmap_1_1Optimizer.html#a038e8df970ab744f6f4ba7027f62b263">optimizeBA</a>) — jointly refines poses and 3D points using reprojection error. Subclasses override the lowest-level overload; the others are convenience wrappers that fill in models/correspondences from <a class="el" href="classrtabmap_1_1Signature.html">Signature</a> data.</li> <li><b>Bundle adjustment</b> (<a class="el" href="classrtabmap_1_1Optimizer.html#a1122f017f10105f7e6c14039d41709e5">optimizeBA</a>) — jointly refines poses and 3D points using reprojection error. Subclasses override the lowest-level overload; the others are convenience wrappers that fill in models/correspondences from <a class="el" href="classrtabmap_1_1Signature.html">Signature</a> data.</li>
</ul> </ul>
<p>Common knobs (iterations, robust kernels, 2D-vs-3D, etc.) are configured through <a class="el" href="classrtabmap_1_1Optimizer.html#a0a942bd7902c8d2f9444b8eba6a648a3">parseParameters()</a> or per-attribute setters and apply to whichever back-end is selected. </p> <p>Common knobs (iterations, robust kernels, 2D-vs-3D, etc.) are configured through <a class="el" href="classrtabmap_1_1Optimizer.html#a0a942bd7902c8d2f9444b8eba6a648a3">parseParameters()</a> or per-attribute setters and apply to whichever back-end is selected. </p>
<p class="definition">Definition at line <a class="el" href="Optimizer_8h_source.html#l00087">87</a> of file <a class="el" href="Optimizer_8h_source.html">Optimizer.h</a>.</p> <p class="definition">Definition at line <a class="el" href="Optimizer_8h_source.html#l00090">90</a> of file <a class="el" href="Optimizer_8h_source.html">Optimizer.h</a>.</p>
</div><h2 class="groupheader">Member Enumeration Documentation</h2> </div><h2 class="groupheader">Member Enumeration Documentation</h2>
<a id="a18ae8ac76346d1adc68ab176a5b02d16" name="a18ae8ac76346d1adc68ab176a5b02d16"></a> <a id="a18ae8ac76346d1adc68ab176a5b02d16" name="a18ae8ac76346d1adc68ab176a5b02d16"></a>
<h2 class="memtitle"><span class="permalink"><a href="#a18ae8ac76346d1adc68ab176a5b02d16">&#9670;&#160;</a></span>Type</h2> <h2 class="memtitle"><span class="permalink"><a href="#a18ae8ac76346d1adc68ab176a5b02d16">&#9670;&#160;</a></span>Type</h2>
@@ -286,7 +286,7 @@ Protected Member Functions</h2></td></tr>
</td></tr> </td></tr>
</table> </table>
<p class="definition">Definition at line <a class="el" href="Optimizer_8h_source.html#l00091">91</a> of file <a class="el" href="Optimizer_8h_source.html">Optimizer.h</a>.</p> <p class="definition">Definition at line <a class="el" href="Optimizer_8h_source.html#l00094">94</a> of file <a class="el" href="Optimizer_8h_source.html">Optimizer.h</a>.</p>
</div> </div>
</div> </div>
@@ -314,7 +314,7 @@ Protected Member Functions</h2></td></tr>
</table> </table>
</div><div class="memdoc"> </div><div class="memdoc">
<p class="definition">Definition at line <a class="el" href="Optimizer_8h_source.html#l00135">135</a> of file <a class="el" href="Optimizer_8h_source.html">Optimizer.h</a>.</p> <p class="definition">Definition at line <a class="el" href="Optimizer_8h_source.html#l00138">138</a> of file <a class="el" href="Optimizer_8h_source.html">Optimizer.h</a>.</p>
</div> </div>
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@@ -480,7 +480,7 @@ Protected Member Functions</h2></td></tr>
<p>Max solver iterations. </p> <p>Max solver iterations. </p>
<p class="definition">Definition at line <a class="el" href="Optimizer_8h_source.html#l00142">142</a> of file <a class="el" href="Optimizer_8h_source.html">Optimizer.h</a>.</p> <p class="definition">Definition at line <a class="el" href="Optimizer_8h_source.html#l00145">145</a> of file <a class="el" href="Optimizer_8h_source.html">Optimizer.h</a>.</p>
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<p>True if optimizing in SE(2) instead of SE(3). </p> <p>True if optimizing in SE(2) instead of SE(3). </p>
<p class="definition">Definition at line <a class="el" href="Optimizer_8h_source.html#l00143">143</a> of file <a class="el" href="Optimizer_8h_source.html">Optimizer.h</a>.</p> <p class="definition">Definition at line <a class="el" href="Optimizer_8h_source.html#l00146">146</a> of file <a class="el" href="Optimizer_8h_source.html">Optimizer.h</a>.</p>
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<p>If true, all edges share an identity information matrix. </p> <p>If true, all edges share an identity information matrix. </p>
<p class="definition">Definition at line <a class="el" href="Optimizer_8h_source.html#l00144">144</a> of file <a class="el" href="Optimizer_8h_source.html">Optimizer.h</a>.</p> <p class="definition">Definition at line <a class="el" href="Optimizer_8h_source.html#l00147">147</a> of file <a class="el" href="Optimizer_8h_source.html">Optimizer.h</a>.</p>
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<p>Convergence threshold on cost decrease. </p> <p>Convergence threshold on cost decrease. </p>
<p class="definition">Definition at line <a class="el" href="Optimizer_8h_source.html#l00145">145</a> of file <a class="el" href="Optimizer_8h_source.html">Optimizer.h</a>.</p> <p class="definition">Definition at line <a class="el" href="Optimizer_8h_source.html#l00148">148</a> of file <a class="el" href="Optimizer_8h_source.html">Optimizer.h</a>.</p>
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<p>If true, use a robust kernel / switchable factors against bad loop closures. </p> <p>If true, use a robust kernel / switchable factors against bad loop closures. </p>
<p class="definition">Definition at line <a class="el" href="Optimizer_8h_source.html#l00146">146</a> of file <a class="el" href="Optimizer_8h_source.html">Optimizer.h</a>.</p> <p class="definition">Definition at line <a class="el" href="Optimizer_8h_source.html#l00149">149</a> of file <a class="el" href="Optimizer_8h_source.html">Optimizer.h</a>.</p>
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<p>If true, unary priors on poses are dropped. </p> <p>If true, unary priors on poses are dropped. </p>
<p class="definition">Definition at line <a class="el" href="Optimizer_8h_source.html#l00147">147</a> of file <a class="el" href="Optimizer_8h_source.html">Optimizer.h</a>.</p> <p class="definition">Definition at line <a class="el" href="Optimizer_8h_source.html#l00150">150</a> of file <a class="el" href="Optimizer_8h_source.html">Optimizer.h</a>.</p>
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<p>If true, landmark/marker observations are dropped. </p> <p>If true, landmark/marker observations are dropped. </p>
<p class="definition">Definition at line <a class="el" href="Optimizer_8h_source.html#l00148">148</a> of file <a class="el" href="Optimizer_8h_source.html">Optimizer.h</a>.</p> <p class="definition">Definition at line <a class="el" href="Optimizer_8h_source.html#l00151">151</a> of file <a class="el" href="Optimizer_8h_source.html">Optimizer.h</a>.</p>
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<p>Std-dev (rad) of the gravity prior on roll/pitch; 0 disables it. </p> <p>Std-dev (rad) of the gravity prior on roll/pitch; 0 disables it. </p>
<p class="definition">Definition at line <a class="el" href="Optimizer_8h_source.html#l00149">149</a> of file <a class="el" href="Optimizer_8h_source.html">Optimizer.h</a>.</p> <p class="definition">Definition at line <a class="el" href="Optimizer_8h_source.html#l00152">152</a> of file <a class="el" href="Optimizer_8h_source.html">Optimizer.h</a>.</p>
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<p class="definition">Definition at line <a class="el" href="Optimizer_8h_source.html#l00154">154</a> of file <a class="el" href="Optimizer_8h_source.html">Optimizer.h</a>.</p> <p class="definition">Definition at line <a class="el" href="Optimizer_8h_source.html#l00157">157</a> of file <a class="el" href="Optimizer_8h_source.html">Optimizer.h</a>.</p>
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<p class="definition">Definition at line <a class="el" href="Optimizer_8h_source.html#l00155">155</a> of file <a class="el" href="Optimizer_8h_source.html">Optimizer.h</a>.</p> <p class="definition">Definition at line <a class="el" href="Optimizer_8h_source.html#l00158">158</a> of file <a class="el" href="Optimizer_8h_source.html">Optimizer.h</a>.</p>
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<p class="definition">Definition at line <a class="el" href="Optimizer_8h_source.html#l00156">156</a> of file <a class="el" href="Optimizer_8h_source.html">Optimizer.h</a>.</p> <p class="definition">Definition at line <a class="el" href="Optimizer_8h_source.html#l00159">159</a> of file <a class="el" href="Optimizer_8h_source.html">Optimizer.h</a>.</p>
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<p class="definition">Definition at line <a class="el" href="Optimizer_8h_source.html#l00157">157</a> of file <a class="el" href="Optimizer_8h_source.html">Optimizer.h</a>.</p> <p class="definition">Definition at line <a class="el" href="Optimizer_8h_source.html#l00160">160</a> of file <a class="el" href="Optimizer_8h_source.html">Optimizer.h</a>.</p>
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<p class="definition">Definition at line <a class="el" href="Optimizer_8h_source.html#l00158">158</a> of file <a class="el" href="Optimizer_8h_source.html">Optimizer.h</a>.</p> <p class="definition">Definition at line <a class="el" href="Optimizer_8h_source.html#l00161">161</a> of file <a class="el" href="Optimizer_8h_source.html">Optimizer.h</a>.</p>
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<p class="definition">Definition at line <a class="el" href="Optimizer_8h_source.html#l00159">159</a> of file <a class="el" href="Optimizer_8h_source.html">Optimizer.h</a>.</p> <p class="definition">Definition at line <a class="el" href="Optimizer_8h_source.html#l00162">162</a> of file <a class="el" href="Optimizer_8h_source.html">Optimizer.h</a>.</p>
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<p class="definition">Definition at line <a class="el" href="Optimizer_8h_source.html#l00160">160</a> of file <a class="el" href="Optimizer_8h_source.html">Optimizer.h</a>.</p> <p class="definition">Definition at line <a class="el" href="Optimizer_8h_source.html#l00163">163</a> of file <a class="el" href="Optimizer_8h_source.html">Optimizer.h</a>.</p>
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<p class="definition">Definition at line <a class="el" href="Optimizer_8h_source.html#l00161">161</a> of file <a class="el" href="Optimizer_8h_source.html">Optimizer.h</a>.</p> <p class="definition">Definition at line <a class="el" href="Optimizer_8h_source.html#l00164">164</a> of file <a class="el" href="Optimizer_8h_source.html">Optimizer.h</a>.</p>
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<a id="a038e8df970ab744f6f4ba7027f62b263" name="a038e8df970ab744f6f4ba7027f62b263"></a> <a id="a1122f017f10105f7e6c14039d41709e5" name="a1122f017f10105f7e6c14039d41709e5"></a>
<h2 class="memtitle"><span class="permalink"><a href="#a038e8df970ab744f6f4ba7027f62b263">&#9670;&#160;</a></span>optimizeBA() <span class="overload">[1/3]</span></h2> <h2 class="memtitle"><span class="permalink"><a href="#a1122f017f10105f7e6c14039d41709e5">&#9670;&#160;</a></span>optimizeBA() <span class="overload">[1/3]</span></h2>
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<td class="paramkey"></td> <td class="paramkey"></td>
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<td class="paramtype">std::set&lt; int &gt; *&#160;</td> <td class="paramtype">BAOutliers *&#160;</td>
<td class="paramname"><em>outliers</em> = <code>0</code>&#160;</td> <td class="paramname"><em>outliers</em> = <code>0</code>&#160;</td>
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<p>Bundle adjustment: jointly refine poses and 3D points (back-end-level entry point). </p> <p>Bundle adjustment: jointly refine poses and 3D points (back-end-level entry point). </p>
<p>Concrete subclasses (g2o, Ceres, cvsba) override this; the base implementation errors out. The other <a class="el" href="classrtabmap_1_1Optimizer.html#a038e8df970ab744f6f4ba7027f62b263">optimizeBA()</a> overloads ultimately funnel here.</p> <p>Concrete subclasses (g2o, Ceres, cvsba) override this; the base implementation errors out. The other <a class="el" href="classrtabmap_1_1Optimizer.html#a1122f017f10105f7e6c14039d41709e5">optimizeBA()</a> overloads ultimately funnel here.</p>
<dl class="params"><dt>Parameters</dt><dd> <dl class="params"><dt>Parameters</dt><dd>
<table class="params"> <table class="params">
<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> <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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<dl class="section return"><dt>Returns</dt><dd>Refined poses, or empty on failure. </dd></dl> <dl class="section return"><dt>Returns</dt><dd>Refined poses, or empty on failure. </dd></dl>
<p>Reimplemented in <a class="el" href="classrtabmap_1_1OptimizerCeres.html#a5057dd09f74610f3092bb597f6af0413">rtabmap::OptimizerCeres</a>, <a class="el" href="classrtabmap_1_1OptimizerCVSBA.html#ad6ff3fec8e75ab76290da5763022a903">rtabmap::OptimizerCVSBA</a>, <a class="el" href="classrtabmap_1_1OptimizerG2O.html#a17edfbaeee93d32153782f61212a88f0">rtabmap::OptimizerG2O</a>, and <a class="el" href="classrtabmap_1_1OptimizerGTSAM.html#a7a2033a466505f8c2191b8329b5b342c">rtabmap::OptimizerGTSAM</a>.</p> <p>Reimplemented in <a class="el" href="classrtabmap_1_1OptimizerCeres.html#af5c6d465dc4fa7c9045cd241dae5d077">rtabmap::OptimizerCeres</a>, <a class="el" href="classrtabmap_1_1OptimizerCVSBA.html#a48fce33707a004a0d89db99c1c39d999">rtabmap::OptimizerCVSBA</a>, <a class="el" href="classrtabmap_1_1OptimizerG2O.html#af808c77c716d30691670c18955f08f61">rtabmap::OptimizerG2O</a>, and <a class="el" href="classrtabmap_1_1OptimizerGTSAM.html#a8009ace7ad9f50214bc359421546a54b">rtabmap::OptimizerGTSAM</a>.</p>
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<h2 class="memtitle"><span class="permalink"><a href="#ad6b32a9697837f03941773f6a5bbf91c">&#9670;&#160;</a></span>optimizeBA() <span class="overload">[3/3]</span></h2> <h2 class="memtitle"><span class="permalink"><a href="#aedaeb7cc371f3685f8595d9a151f6605">&#9670;&#160;</a></span>optimizeBA() <span class="overload">[3/3]</span></h2>
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<td class="paramtype">std::set&lt; int &gt; *&#160;</td> <td class="paramtype">BAOutliers *&#160;</td>
<td class="paramname"><em>outliers</em> = <code>0</code>&#160;</td> <td class="paramname"><em>outliers</em> = <code>0</code>&#160;</td>
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api/latest/classrtabmap_1_1OptimizerCVSBA-members.html
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<tr class="even"><td class="entry"><a class="el" href="classrtabmap_1_1Optimizer.html#a32f53d408ef0372c5c196ee89ff5ad79">landmarksIgnored</a>() const</td><td class="entry"><a class="el" href="classrtabmap_1_1Optimizer.html">rtabmap::Optimizer</a></td><td class="entry"><span class="mlabel">inline</span></td></tr> <tr class="even"><td class="entry"><a class="el" href="classrtabmap_1_1Optimizer.html#a32f53d408ef0372c5c196ee89ff5ad79">landmarksIgnored</a>() const</td><td class="entry"><a class="el" href="classrtabmap_1_1Optimizer.html">rtabmap::Optimizer</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
<tr class="odd"><td class="entry"><a class="el" href="classrtabmap_1_1Optimizer.html#a7e3aff943e77603493a358ff522fa2dc">optimize</a>(int rootId, const std::map&lt; int, Transform &gt; &amp;poses, const std::multimap&lt; int, Link &gt; &amp;constraints, std::list&lt; std::map&lt; int, Transform &gt; &gt; *intermediateGraphes=0, double *finalError=0, int *iterationsDone=0)</td><td class="entry"><a class="el" href="classrtabmap_1_1Optimizer.html">rtabmap::Optimizer</a></td><td class="entry"></td></tr> <tr class="odd"><td class="entry"><a class="el" href="classrtabmap_1_1Optimizer.html#a7e3aff943e77603493a358ff522fa2dc">optimize</a>(int rootId, const std::map&lt; int, Transform &gt; &amp;poses, const std::multimap&lt; int, Link &gt; &amp;constraints, std::list&lt; std::map&lt; int, Transform &gt; &gt; *intermediateGraphes=0, double *finalError=0, int *iterationsDone=0)</td><td class="entry"><a class="el" href="classrtabmap_1_1Optimizer.html">rtabmap::Optimizer</a></td><td class="entry"></td></tr>
<tr class="even"><td class="entry"><a class="el" href="classrtabmap_1_1Optimizer.html#af59c8340394268f9a1eb76fd5709f2c3">optimize</a>(int rootId, const std::map&lt; int, Transform &gt; &amp;poses, const std::multimap&lt; int, Link &gt; &amp;constraints, cv::Mat &amp;outputCovariance, std::list&lt; std::map&lt; int, Transform &gt; &gt; *intermediateGraphes=0, double *finalError=0, int *iterationsDone=0)</td><td class="entry"><a class="el" href="classrtabmap_1_1Optimizer.html">rtabmap::Optimizer</a></td><td class="entry"><span class="mlabel">virtual</span></td></tr> <tr class="even"><td class="entry"><a class="el" href="classrtabmap_1_1Optimizer.html#af59c8340394268f9a1eb76fd5709f2c3">optimize</a>(int rootId, const std::map&lt; int, Transform &gt; &amp;poses, const std::multimap&lt; int, Link &gt; &amp;constraints, cv::Mat &amp;outputCovariance, std::list&lt; std::map&lt; int, Transform &gt; &gt; *intermediateGraphes=0, double *finalError=0, int *iterationsDone=0)</td><td class="entry"><a class="el" href="classrtabmap_1_1Optimizer.html">rtabmap::Optimizer</a></td><td class="entry"><span class="mlabel">virtual</span></td></tr>
<tr class="odd"><td class="entry"><a class="el" href="classrtabmap_1_1OptimizerCVSBA.html#ad6ff3fec8e75ab76290da5763022a903">optimizeBA</a>(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)</td><td class="entry"><a class="el" href="classrtabmap_1_1OptimizerCVSBA.html">rtabmap::OptimizerCVSBA</a></td><td class="entry"><span class="mlabel">virtual</span></td></tr> <tr class="odd"><td class="entry"><a class="el" href="classrtabmap_1_1OptimizerCVSBA.html#a48fce33707a004a0d89db99c1c39d999">optimizeBA</a>(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)</td><td class="entry"><a class="el" href="classrtabmap_1_1OptimizerCVSBA.html">rtabmap::OptimizerCVSBA</a></td><td class="entry"><span class="mlabel">virtual</span></td></tr>
<tr class="even"><td class="entry"><a class="el" href="classrtabmap_1_1Optimizer.html#a2f7cbdebed9787ffa6b0b30536dfa1a0">rtabmap::Optimizer::optimizeBA</a>(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, Signature &gt; &amp;signatures, std::map&lt; int, cv::Point3f &gt; &amp;points3DMap, std::map&lt; int, std::map&lt; int, FeatureBA &gt; &gt; &amp;wordReferences, bool rematchFeatures=false, const ParametersMap &amp;registrationParameters=ParametersMap())</td><td class="entry"><a class="el" href="classrtabmap_1_1Optimizer.html">rtabmap::Optimizer</a></td><td class="entry"></td></tr> <tr class="even"><td class="entry"><a class="el" href="classrtabmap_1_1Optimizer.html#a2f7cbdebed9787ffa6b0b30536dfa1a0">rtabmap::Optimizer::optimizeBA</a>(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, Signature &gt; &amp;signatures, std::map&lt; int, cv::Point3f &gt; &amp;points3DMap, std::map&lt; int, std::map&lt; int, FeatureBA &gt; &gt; &amp;wordReferences, bool rematchFeatures=false, const ParametersMap &amp;registrationParameters=ParametersMap())</td><td class="entry"><a class="el" href="classrtabmap_1_1Optimizer.html">rtabmap::Optimizer</a></td><td class="entry"></td></tr>
<tr class="odd"><td class="entry"><a class="el" href="classrtabmap_1_1Optimizer.html#aab99f045516162944ad68fdabacb53dc">rtabmap::Optimizer::optimizeBA</a>(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, Signature &gt; &amp;signatures, bool rematchFeatures=false, const ParametersMap &amp;registrationParameters=ParametersMap())</td><td class="entry"><a class="el" href="classrtabmap_1_1Optimizer.html">rtabmap::Optimizer</a></td><td class="entry"></td></tr> <tr class="odd"><td class="entry"><a class="el" href="classrtabmap_1_1Optimizer.html#aab99f045516162944ad68fdabacb53dc">rtabmap::Optimizer::optimizeBA</a>(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, Signature &gt; &amp;signatures, bool rematchFeatures=false, const ParametersMap &amp;registrationParameters=ParametersMap())</td><td class="entry"><a class="el" href="classrtabmap_1_1Optimizer.html">rtabmap::Optimizer</a></td><td class="entry"></td></tr>
<tr class="even"><td class="entry"><a class="el" href="classrtabmap_1_1Optimizer.html#ad6b32a9697837f03941773f6a5bbf91c">rtabmap::Optimizer::optimizeBA</a>(const Link &amp;link, const CameraModel &amp;model, 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)</td><td class="entry"><a class="el" href="classrtabmap_1_1Optimizer.html">rtabmap::Optimizer</a></td><td class="entry"></td></tr> <tr class="even"><td class="entry"><a class="el" href="classrtabmap_1_1Optimizer.html#aedaeb7cc371f3685f8595d9a151f6605">rtabmap::Optimizer::optimizeBA</a>(const Link &amp;link, const CameraModel &amp;model, 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)</td><td class="entry"><a class="el" href="classrtabmap_1_1Optimizer.html">rtabmap::Optimizer</a></td><td class="entry"></td></tr>
<tr class="odd"><td class="entry"><a class="el" href="classrtabmap_1_1Optimizer.html#a278f42e0d250085ac6fe9ed425627acf">optimizeIncremental</a>(int rootId, const std::map&lt; int, Transform &gt; &amp;poses, const std::multimap&lt; int, Link &gt; &amp;constraints, std::list&lt; std::map&lt; int, Transform &gt; &gt; *intermediateGraphes=0, double *finalError=0, int *iterationsDone=0)</td><td class="entry"><a class="el" href="classrtabmap_1_1Optimizer.html">rtabmap::Optimizer</a></td><td class="entry"></td></tr> <tr class="odd"><td class="entry"><a class="el" href="classrtabmap_1_1Optimizer.html#a278f42e0d250085ac6fe9ed425627acf">optimizeIncremental</a>(int rootId, const std::map&lt; int, Transform &gt; &amp;poses, const std::multimap&lt; int, Link &gt; &amp;constraints, std::list&lt; std::map&lt; int, Transform &gt; &gt; *intermediateGraphes=0, double *finalError=0, int *iterationsDone=0)</td><td class="entry"><a class="el" href="classrtabmap_1_1Optimizer.html">rtabmap::Optimizer</a></td><td class="entry"></td></tr>
<tr bgcolor="#f0f0f0" class="even"><td class="entry"><b>Optimizer</b>(int iterations=Parameters::defaultOptimizerIterations(), bool slam2d=Parameters::defaultRegForce3DoF(), bool covarianceIgnored=Parameters::defaultOptimizerVarianceIgnored(), double epsilon=Parameters::defaultOptimizerEpsilon(), bool robust=Parameters::defaultOptimizerRobust(), bool priorsIgnored=Parameters::defaultOptimizerPriorsIgnored(), bool landmarksIgnored=Parameters::defaultOptimizerLandmarksIgnored(), float gravitySigma=Parameters::defaultOptimizerGravitySigma()) (defined in <a class="el" href="classrtabmap_1_1Optimizer.html">rtabmap::Optimizer</a>)</td><td class="entry"><a class="el" href="classrtabmap_1_1Optimizer.html">rtabmap::Optimizer</a></td><td class="entry"><span class="mlabel">protected</span></td></tr> <tr bgcolor="#f0f0f0" class="even"><td class="entry"><b>Optimizer</b>(int iterations=Parameters::defaultOptimizerIterations(), bool slam2d=Parameters::defaultRegForce3DoF(), bool covarianceIgnored=Parameters::defaultOptimizerVarianceIgnored(), double epsilon=Parameters::defaultOptimizerEpsilon(), bool robust=Parameters::defaultOptimizerRobust(), bool priorsIgnored=Parameters::defaultOptimizerPriorsIgnored(), bool landmarksIgnored=Parameters::defaultOptimizerLandmarksIgnored(), float gravitySigma=Parameters::defaultOptimizerGravitySigma()) (defined in <a class="el" href="classrtabmap_1_1Optimizer.html">rtabmap::Optimizer</a>)</td><td class="entry"><a class="el" href="classrtabmap_1_1Optimizer.html">rtabmap::Optimizer</a></td><td class="entry"><span class="mlabel">protected</span></td></tr>
<tr bgcolor="#f0f0f0" class="odd"><td class="entry"><b>Optimizer</b>(const ParametersMap &amp;parameters) (defined in <a class="el" href="classrtabmap_1_1Optimizer.html">rtabmap::Optimizer</a>)</td><td class="entry"><a class="el" href="classrtabmap_1_1Optimizer.html">rtabmap::Optimizer</a></td><td class="entry"><span class="mlabel">protected</span></td></tr> <tr bgcolor="#f0f0f0" class="odd"><td class="entry"><b>Optimizer</b>(const ParametersMap &amp;parameters) (defined in <a class="el" href="classrtabmap_1_1Optimizer.html">rtabmap::Optimizer</a>)</td><td class="entry"><a class="el" href="classrtabmap_1_1Optimizer.html">rtabmap::Optimizer</a></td><td class="entry"><span class="mlabel">protected</span></td></tr>
api/latest/classrtabmap_1_1OptimizerCVSBA.html
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@@ -135,9 +135,9 @@ Public Member Functions</h2></td></tr>
<tr class="memitem:afbf58e60900671630e0974a13e49b2b0" id="r_afbf58e60900671630e0974a13e49b2b0"><td class="memItemLeft" align="right" valign="top">virtual <a class="el" href="classrtabmap_1_1Optimizer.html#a18ae8ac76346d1adc68ab176a5b02d16">Type</a>&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classrtabmap_1_1OptimizerCVSBA.html#afbf58e60900671630e0974a13e49b2b0">type</a> () const</td></tr> <tr class="memitem:afbf58e60900671630e0974a13e49b2b0" id="r_afbf58e60900671630e0974a13e49b2b0"><td class="memItemLeft" align="right" valign="top">virtual <a class="el" href="classrtabmap_1_1Optimizer.html#a18ae8ac76346d1adc68ab176a5b02d16">Type</a>&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classrtabmap_1_1OptimizerCVSBA.html#afbf58e60900671630e0974a13e49b2b0">type</a> () const</td></tr>
<tr class="memdesc:afbf58e60900671630e0974a13e49b2b0"><td class="mdescLeft">&#160;</td><td class="mdescRight">Returns the concrete back-end identifier (one of <a class="el" href="classrtabmap_1_1Optimizer.html#a18ae8ac76346d1adc68ab176a5b02d16">Type</a>). <br /></td></tr> <tr class="memdesc:afbf58e60900671630e0974a13e49b2b0"><td class="mdescLeft">&#160;</td><td class="mdescRight">Returns the concrete back-end identifier (one of <a class="el" href="classrtabmap_1_1Optimizer.html#a18ae8ac76346d1adc68ab176a5b02d16">Type</a>). <br /></td></tr>
<tr class="separator:afbf58e60900671630e0974a13e49b2b0"><td class="memSeparator" colspan="2">&#160;</td></tr> <tr class="separator:afbf58e60900671630e0974a13e49b2b0"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:ad6ff3fec8e75ab76290da5763022a903" id="r_ad6ff3fec8e75ab76290da5763022a903"><td class="memItemLeft" align="right" valign="top">virtual std::map&lt; int, <a class="el" href="classrtabmap_1_1Transform.html">Transform</a> &gt;&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classrtabmap_1_1OptimizerCVSBA.html#ad6ff3fec8e75ab76290da5763022a903">optimizeBA</a> (int rootId, const std::map&lt; int, <a class="el" href="classrtabmap_1_1Transform.html">Transform</a> &gt; &amp;poses, const std::multimap&lt; int, <a class="el" href="classrtabmap_1_1Link.html">Link</a> &gt; &amp;links, const std::map&lt; int, std::vector&lt; <a class="el" href="classrtabmap_1_1CameraModel.html">CameraModel</a> &gt; &gt; &amp;models, std::map&lt; int, cv::Point3f &gt; &amp;points3DMap, const std::map&lt; int, std::map&lt; int, <a class="el" href="classrtabmap_1_1FeatureBA.html">FeatureBA</a> &gt; &gt; &amp;wordReferences, std::set&lt; int &gt; *outliers=0)</td></tr> <tr class="memitem:a48fce33707a004a0d89db99c1c39d999" id="r_a48fce33707a004a0d89db99c1c39d999"><td class="memItemLeft" align="right" valign="top">virtual std::map&lt; int, <a class="el" href="classrtabmap_1_1Transform.html">Transform</a> &gt;&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classrtabmap_1_1OptimizerCVSBA.html#a48fce33707a004a0d89db99c1c39d999">optimizeBA</a> (int rootId, const std::map&lt; int, <a class="el" href="classrtabmap_1_1Transform.html">Transform</a> &gt; &amp;poses, const std::multimap&lt; int, <a class="el" href="classrtabmap_1_1Link.html">Link</a> &gt; &amp;links, const std::map&lt; int, std::vector&lt; <a class="el" href="classrtabmap_1_1CameraModel.html">CameraModel</a> &gt; &gt; &amp;models, std::map&lt; int, cv::Point3f &gt; &amp;points3DMap, const std::map&lt; int, std::map&lt; int, <a class="el" href="classrtabmap_1_1FeatureBA.html">FeatureBA</a> &gt; &gt; &amp;wordReferences, BAOutliers *outliers=0)</td></tr>
<tr class="memdesc:ad6ff3fec8e75ab76290da5763022a903"><td class="mdescLeft">&#160;</td><td class="mdescRight">Bundle adjustment: jointly refine poses and 3D points (back-end-level entry point). <br /></td></tr> <tr class="memdesc:a48fce33707a004a0d89db99c1c39d999"><td class="mdescLeft">&#160;</td><td class="mdescRight">Bundle adjustment: jointly refine poses and 3D points (back-end-level entry point). <br /></td></tr>
<tr class="separator:ad6ff3fec8e75ab76290da5763022a903"><td class="memSeparator" colspan="2">&#160;</td></tr> <tr class="separator:a48fce33707a004a0d89db99c1c39d999"><td class="memSeparator" colspan="2">&#160;</td></tr>
<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="-"/>&#160;Public Member Functions inherited from <a class="el" href="classrtabmap_1_1Optimizer.html">rtabmap::Optimizer</a></td></tr> <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="-"/>&#160;Public Member Functions inherited from <a class="el" href="classrtabmap_1_1Optimizer.html">rtabmap::Optimizer</a></td></tr>
<tr class="memitem:a4477c9a5b6651729944726465b5eba7f inherit pub_methods_classrtabmap_1_1Optimizer" id="r_a4477c9a5b6651729944726465b5eba7f"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classrtabmap_1_1Optimizer.html#a4477c9a5b6651729944726465b5eba7f">getConnectedGraph</a> (int fromId, const std::map&lt; int, <a class="el" href="classrtabmap_1_1Transform.html">Transform</a> &gt; &amp;posesIn, const std::multimap&lt; int, <a class="el" href="classrtabmap_1_1Link.html">Link</a> &gt; &amp;linksIn, std::map&lt; int, <a class="el" href="classrtabmap_1_1Transform.html">Transform</a> &gt; &amp;posesOut, std::multimap&lt; int, <a class="el" href="classrtabmap_1_1Link.html">Link</a> &gt; &amp;linksOut) const</td></tr> <tr class="memitem:a4477c9a5b6651729944726465b5eba7f inherit pub_methods_classrtabmap_1_1Optimizer" id="r_a4477c9a5b6651729944726465b5eba7f"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classrtabmap_1_1Optimizer.html#a4477c9a5b6651729944726465b5eba7f">getConnectedGraph</a> (int fromId, const std::map&lt; int, <a class="el" href="classrtabmap_1_1Transform.html">Transform</a> &gt; &amp;posesIn, const std::multimap&lt; int, <a class="el" href="classrtabmap_1_1Link.html">Link</a> &gt; &amp;linksIn, std::map&lt; int, <a class="el" href="classrtabmap_1_1Transform.html">Transform</a> &gt; &amp;posesOut, std::multimap&lt; int, <a class="el" href="classrtabmap_1_1Link.html">Link</a> &gt; &amp;linksOut) const</td></tr>
<tr class="memdesc:a4477c9a5b6651729944726465b5eba7f inherit pub_methods_classrtabmap_1_1Optimizer"><td class="mdescLeft">&#160;</td><td class="mdescRight">Extracts the connected component reachable from <code>fromId</code>. <br /></td></tr> <tr class="memdesc:a4477c9a5b6651729944726465b5eba7f inherit pub_methods_classrtabmap_1_1Optimizer"><td class="mdescLeft">&#160;</td><td class="mdescRight">Extracts the connected component reachable from <code>fromId</code>. <br /></td></tr>
@@ -161,9 +161,9 @@ Public Member Functions</h2></td></tr>
std::map&lt; int, <a class="el" href="classrtabmap_1_1Transform.html">Transform</a> &gt;&#160;</td><td class="memItemRight" valign="bottom"><b>optimizeBA</b> (int rootId, const std::map&lt; int, <a class="el" href="classrtabmap_1_1Transform.html">Transform</a> &gt; &amp;poses, const std::multimap&lt; int, <a class="el" href="classrtabmap_1_1Link.html">Link</a> &gt; &amp;links, const std::map&lt; int, <a class="el" href="classrtabmap_1_1Signature.html">Signature</a> &gt; &amp;signatures, bool rematchFeatures=false, const <a class="el" href="namespacertabmap.html#ad08b6f1796a27dd7316c99c385e2cc55">ParametersMap</a> &amp;registrationParameters=<a class="el" href="namespacertabmap.html#ad08b6f1796a27dd7316c99c385e2cc55">ParametersMap</a>())</td></tr> std::map&lt; int, <a class="el" href="classrtabmap_1_1Transform.html">Transform</a> &gt;&#160;</td><td class="memItemRight" valign="bottom"><b>optimizeBA</b> (int rootId, const std::map&lt; int, <a class="el" href="classrtabmap_1_1Transform.html">Transform</a> &gt; &amp;poses, const std::multimap&lt; int, <a class="el" href="classrtabmap_1_1Link.html">Link</a> &gt; &amp;links, const std::map&lt; int, <a class="el" href="classrtabmap_1_1Signature.html">Signature</a> &gt; &amp;signatures, bool rematchFeatures=false, const <a class="el" href="namespacertabmap.html#ad08b6f1796a27dd7316c99c385e2cc55">ParametersMap</a> &amp;registrationParameters=<a class="el" href="namespacertabmap.html#ad08b6f1796a27dd7316c99c385e2cc55">ParametersMap</a>())</td></tr>
<tr class="memdesc:aab99f045516162944ad68fdabacb53dc inherit pub_methods_classrtabmap_1_1Optimizer"><td class="mdescLeft">&#160;</td><td class="mdescRight">BA convenience wrapper: like the overload above but ignores the refined 3D points and observation map. <br /></td></tr> <tr class="memdesc:aab99f045516162944ad68fdabacb53dc inherit pub_methods_classrtabmap_1_1Optimizer"><td class="mdescLeft">&#160;</td><td class="mdescRight">BA convenience wrapper: like the overload above but ignores the refined 3D points and observation map. <br /></td></tr>
<tr class="separator:aab99f045516162944ad68fdabacb53dc inherit pub_methods_classrtabmap_1_1Optimizer"><td class="memSeparator" colspan="2">&#160;</td></tr> <tr class="separator:aab99f045516162944ad68fdabacb53dc inherit pub_methods_classrtabmap_1_1Optimizer"><td class="memSeparator" colspan="2">&#160;</td></tr>
<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>&#160;</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> &amp;link, const <a class="el" href="classrtabmap_1_1CameraModel.html">CameraModel</a> &amp;model, std::map&lt; int, cv::Point3f &gt; &amp;points3DMap, const std::map&lt; int, std::map&lt; int, <a class="el" href="classrtabmap_1_1FeatureBA.html">FeatureBA</a> &gt; &gt; &amp;wordReferences, std::set&lt; int &gt; *outliers=0)</td></tr> <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>&#160;</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> &amp;link, const <a class="el" href="classrtabmap_1_1CameraModel.html">CameraModel</a> &amp;model, std::map&lt; int, cv::Point3f &gt; &amp;points3DMap, const std::map&lt; int, std::map&lt; int, <a class="el" href="classrtabmap_1_1FeatureBA.html">FeatureBA</a> &gt; &gt; &amp;wordReferences, BAOutliers *outliers=0)</td></tr>
<tr class="memdesc:ad6b32a9697837f03941773f6a5bbf91c inherit pub_methods_classrtabmap_1_1Optimizer"><td class="mdescLeft">&#160;</td><td class="mdescRight">Refine a single two-frame link via BA. <br /></td></tr> <tr class="memdesc:aedaeb7cc371f3685f8595d9a151f6605 inherit pub_methods_classrtabmap_1_1Optimizer"><td class="mdescLeft">&#160;</td><td class="mdescRight">Refine a single two-frame link via BA. <br /></td></tr>
<tr class="separator:ad6b32a9697837f03941773f6a5bbf91c inherit pub_methods_classrtabmap_1_1Optimizer"><td class="memSeparator" colspan="2">&#160;</td></tr> <tr class="separator:aedaeb7cc371f3685f8595d9a151f6605 inherit pub_methods_classrtabmap_1_1Optimizer"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a93fb09dac068e64de000f692bcb8216f inherit pub_methods_classrtabmap_1_1Optimizer" id="r_a93fb09dac068e64de000f692bcb8216f"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classrtabmap_1_1Optimizer.html#a93fb09dac068e64de000f692bcb8216f">computeBACorrespondences</a> (const std::map&lt; int, <a class="el" href="classrtabmap_1_1Transform.html">Transform</a> &gt; &amp;poses, const std::multimap&lt; int, <a class="el" href="classrtabmap_1_1Link.html">Link</a> &gt; &amp;links, const std::map&lt; int, <a class="el" href="classrtabmap_1_1Signature.html">Signature</a> &gt; &amp;signatures, std::map&lt; int, cv::Point3f &gt; &amp;points3DMap, std::map&lt; int, std::map&lt; int, <a class="el" href="classrtabmap_1_1FeatureBA.html">FeatureBA</a> &gt; &gt; &amp;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> <tr class="memitem:a93fb09dac068e64de000f692bcb8216f inherit pub_methods_classrtabmap_1_1Optimizer" id="r_a93fb09dac068e64de000f692bcb8216f"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classrtabmap_1_1Optimizer.html#a93fb09dac068e64de000f692bcb8216f">computeBACorrespondences</a> (const std::map&lt; int, <a class="el" href="classrtabmap_1_1Transform.html">Transform</a> &gt; &amp;poses, const std::multimap&lt; int, <a class="el" href="classrtabmap_1_1Link.html">Link</a> &gt; &amp;links, const std::map&lt; int, <a class="el" href="classrtabmap_1_1Signature.html">Signature</a> &gt; &amp;signatures, std::map&lt; int, cv::Point3f &gt; &amp;points3DMap, std::map&lt; int, std::map&lt; int, <a class="el" href="classrtabmap_1_1FeatureBA.html">FeatureBA</a> &gt; &gt; &amp;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>
<tr class="memdesc:a93fb09dac068e64de000f692bcb8216f inherit pub_methods_classrtabmap_1_1Optimizer"><td class="mdescLeft">&#160;</td><td class="mdescRight">Build BA correspondences (3D points + per-frame observations) from signatures. <br /></td></tr> <tr class="memdesc:a93fb09dac068e64de000f692bcb8216f inherit pub_methods_classrtabmap_1_1Optimizer"><td class="mdescLeft">&#160;</td><td class="mdescRight">Build BA correspondences (3D points + per-frame observations) from signatures. <br /></td></tr>
<tr class="separator:a93fb09dac068e64de000f692bcb8216f inherit pub_methods_classrtabmap_1_1Optimizer"><td class="memSeparator" colspan="2">&#160;</td></tr> <tr class="separator:a93fb09dac068e64de000f692bcb8216f inherit pub_methods_classrtabmap_1_1Optimizer"><td class="memSeparator" colspan="2">&#160;</td></tr>
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<h2 class="memtitle"><span class="permalink"><a href="#ad6ff3fec8e75ab76290da5763022a903">&#9670;&#160;</a></span>optimizeBA()</h2> <h2 class="memtitle"><span class="permalink"><a href="#a48fce33707a004a0d89db99c1c39d999">&#9670;&#160;</a></span>optimizeBA()</h2>
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<tr> <tr>
<td class="paramkey"></td> <td class="paramkey"></td>
<td></td> <td></td>
<td class="paramtype">std::set&lt; int &gt; *&#160;</td> <td class="paramtype">BAOutliers *&#160;</td>
<td class="paramname"><em>outliers</em> = <code>0</code>&#160;</td> <td class="paramname"><em>outliers</em> = <code>0</code>&#160;</td>
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<p>Bundle adjustment: jointly refine poses and 3D points (back-end-level entry point). </p> <p>Bundle adjustment: jointly refine poses and 3D points (back-end-level entry point). </p>
<p>Concrete subclasses (g2o, Ceres, cvsba) override this; the base implementation errors out. The other <a class="el" href="classrtabmap_1_1OptimizerCVSBA.html#ad6ff3fec8e75ab76290da5763022a903">optimizeBA()</a> overloads ultimately funnel here.</p> <p>Concrete subclasses (g2o, Ceres, cvsba) override this; the base implementation errors out. The other <a class="el" href="classrtabmap_1_1OptimizerCVSBA.html#a48fce33707a004a0d89db99c1c39d999">optimizeBA()</a> overloads ultimately funnel here.</p>
<dl class="params"><dt>Parameters</dt><dd> <dl class="params"><dt>Parameters</dt><dd>
<table class="params"> <table class="params">
<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> <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>
@@ -463,7 +463,7 @@ Additional Inherited Members</h2></td></tr>
</dl> </dl>
<dl class="section return"><dt>Returns</dt><dd>Refined poses, or empty on failure. </dd></dl> <dl class="section return"><dt>Returns</dt><dd>Refined poses, or empty on failure. </dd></dl>
<p>Reimplemented from <a class="el" href="classrtabmap_1_1Optimizer.html#a038e8df970ab744f6f4ba7027f62b263">rtabmap::Optimizer</a>.</p> <p>Reimplemented from <a class="el" href="classrtabmap_1_1Optimizer.html#a1122f017f10105f7e6c14039d41709e5">rtabmap::Optimizer</a>.</p>
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api/latest/classrtabmap_1_1OptimizerCVSBA.js
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[ "optimizeBA", "classrtabmap_1_1OptimizerCVSBA.html#ad6ff3fec8e75ab76290da5763022a903", null ] [ "optimizeBA", "classrtabmap_1_1OptimizerCVSBA.html#a48fce33707a004a0d89db99c1c39d999", null ]
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api/latest/classrtabmap_1_1OptimizerCeres-members.html
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@@ -125,10 +125,10 @@ $(document).ready(function(){initNavTree('classrtabmap_1_1OptimizerCeres.html','
<tr class="even"><td class="entry"><a class="el" href="classrtabmap_1_1Optimizer.html#a32f53d408ef0372c5c196ee89ff5ad79">landmarksIgnored</a>() const</td><td class="entry"><a class="el" href="classrtabmap_1_1Optimizer.html">rtabmap::Optimizer</a></td><td class="entry"><span class="mlabel">inline</span></td></tr> <tr class="even"><td class="entry"><a class="el" href="classrtabmap_1_1Optimizer.html#a32f53d408ef0372c5c196ee89ff5ad79">landmarksIgnored</a>() const</td><td class="entry"><a class="el" href="classrtabmap_1_1Optimizer.html">rtabmap::Optimizer</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
<tr class="odd"><td class="entry"><a class="el" href="classrtabmap_1_1OptimizerCeres.html#ab988decf55da4a8821931855ddaa1c1a">optimize</a>(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)</td><td class="entry"><a class="el" href="classrtabmap_1_1OptimizerCeres.html">rtabmap::OptimizerCeres</a></td><td class="entry"><span class="mlabel">virtual</span></td></tr> <tr class="odd"><td class="entry"><a class="el" href="classrtabmap_1_1OptimizerCeres.html#ab988decf55da4a8821931855ddaa1c1a">optimize</a>(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)</td><td class="entry"><a class="el" href="classrtabmap_1_1OptimizerCeres.html">rtabmap::OptimizerCeres</a></td><td class="entry"><span class="mlabel">virtual</span></td></tr>
<tr class="even"><td class="entry"><a class="el" href="classrtabmap_1_1Optimizer.html#a7e3aff943e77603493a358ff522fa2dc">rtabmap::Optimizer::optimize</a>(int rootId, const std::map&lt; int, Transform &gt; &amp;poses, const std::multimap&lt; int, Link &gt; &amp;constraints, std::list&lt; std::map&lt; int, Transform &gt; &gt; *intermediateGraphes=0, double *finalError=0, int *iterationsDone=0)</td><td class="entry"><a class="el" href="classrtabmap_1_1Optimizer.html">rtabmap::Optimizer</a></td><td class="entry"></td></tr> <tr class="even"><td class="entry"><a class="el" href="classrtabmap_1_1Optimizer.html#a7e3aff943e77603493a358ff522fa2dc">rtabmap::Optimizer::optimize</a>(int rootId, const std::map&lt; int, Transform &gt; &amp;poses, const std::multimap&lt; int, Link &gt; &amp;constraints, std::list&lt; std::map&lt; int, Transform &gt; &gt; *intermediateGraphes=0, double *finalError=0, int *iterationsDone=0)</td><td class="entry"><a class="el" href="classrtabmap_1_1Optimizer.html">rtabmap::Optimizer</a></td><td class="entry"></td></tr>
<tr class="odd"><td class="entry"><a class="el" href="classrtabmap_1_1OptimizerCeres.html#a5057dd09f74610f3092bb597f6af0413">optimizeBA</a>(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)</td><td class="entry"><a class="el" href="classrtabmap_1_1OptimizerCeres.html">rtabmap::OptimizerCeres</a></td><td class="entry"><span class="mlabel">virtual</span></td></tr> <tr class="odd"><td class="entry"><a class="el" href="classrtabmap_1_1OptimizerCeres.html#af5c6d465dc4fa7c9045cd241dae5d077">optimizeBA</a>(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)</td><td class="entry"><a class="el" href="classrtabmap_1_1OptimizerCeres.html">rtabmap::OptimizerCeres</a></td><td class="entry"><span class="mlabel">virtual</span></td></tr>
<tr class="even"><td class="entry"><a class="el" href="classrtabmap_1_1Optimizer.html#a2f7cbdebed9787ffa6b0b30536dfa1a0">rtabmap::Optimizer::optimizeBA</a>(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, Signature &gt; &amp;signatures, std::map&lt; int, cv::Point3f &gt; &amp;points3DMap, std::map&lt; int, std::map&lt; int, FeatureBA &gt; &gt; &amp;wordReferences, bool rematchFeatures=false, const ParametersMap &amp;registrationParameters=ParametersMap())</td><td class="entry"><a class="el" href="classrtabmap_1_1Optimizer.html">rtabmap::Optimizer</a></td><td class="entry"></td></tr> <tr class="even"><td class="entry"><a class="el" href="classrtabmap_1_1Optimizer.html#a2f7cbdebed9787ffa6b0b30536dfa1a0">rtabmap::Optimizer::optimizeBA</a>(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, Signature &gt; &amp;signatures, std::map&lt; int, cv::Point3f &gt; &amp;points3DMap, std::map&lt; int, std::map&lt; int, FeatureBA &gt; &gt; &amp;wordReferences, bool rematchFeatures=false, const ParametersMap &amp;registrationParameters=ParametersMap())</td><td class="entry"><a class="el" href="classrtabmap_1_1Optimizer.html">rtabmap::Optimizer</a></td><td class="entry"></td></tr>
<tr class="odd"><td class="entry"><a class="el" href="classrtabmap_1_1Optimizer.html#aab99f045516162944ad68fdabacb53dc">rtabmap::Optimizer::optimizeBA</a>(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, Signature &gt; &amp;signatures, bool rematchFeatures=false, const ParametersMap &amp;registrationParameters=ParametersMap())</td><td class="entry"><a class="el" href="classrtabmap_1_1Optimizer.html">rtabmap::Optimizer</a></td><td class="entry"></td></tr> <tr class="odd"><td class="entry"><a class="el" href="classrtabmap_1_1Optimizer.html#aab99f045516162944ad68fdabacb53dc">rtabmap::Optimizer::optimizeBA</a>(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, Signature &gt; &amp;signatures, bool rematchFeatures=false, const ParametersMap &amp;registrationParameters=ParametersMap())</td><td class="entry"><a class="el" href="classrtabmap_1_1Optimizer.html">rtabmap::Optimizer</a></td><td class="entry"></td></tr>
<tr class="even"><td class="entry"><a class="el" href="classrtabmap_1_1Optimizer.html#ad6b32a9697837f03941773f6a5bbf91c">rtabmap::Optimizer::optimizeBA</a>(const Link &amp;link, const CameraModel &amp;model, 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)</td><td class="entry"><a class="el" href="classrtabmap_1_1Optimizer.html">rtabmap::Optimizer</a></td><td class="entry"></td></tr> <tr class="even"><td class="entry"><a class="el" href="classrtabmap_1_1Optimizer.html#aedaeb7cc371f3685f8595d9a151f6605">rtabmap::Optimizer::optimizeBA</a>(const Link &amp;link, const CameraModel &amp;model, 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)</td><td class="entry"><a class="el" href="classrtabmap_1_1Optimizer.html">rtabmap::Optimizer</a></td><td class="entry"></td></tr>
<tr class="odd"><td class="entry"><a class="el" href="classrtabmap_1_1Optimizer.html#a278f42e0d250085ac6fe9ed425627acf">optimizeIncremental</a>(int rootId, const std::map&lt; int, Transform &gt; &amp;poses, const std::multimap&lt; int, Link &gt; &amp;constraints, std::list&lt; std::map&lt; int, Transform &gt; &gt; *intermediateGraphes=0, double *finalError=0, int *iterationsDone=0)</td><td class="entry"><a class="el" href="classrtabmap_1_1Optimizer.html">rtabmap::Optimizer</a></td><td class="entry"></td></tr> <tr class="odd"><td class="entry"><a class="el" href="classrtabmap_1_1Optimizer.html#a278f42e0d250085ac6fe9ed425627acf">optimizeIncremental</a>(int rootId, const std::map&lt; int, Transform &gt; &amp;poses, const std::multimap&lt; int, Link &gt; &amp;constraints, std::list&lt; std::map&lt; int, Transform &gt; &gt; *intermediateGraphes=0, double *finalError=0, int *iterationsDone=0)</td><td class="entry"><a class="el" href="classrtabmap_1_1Optimizer.html">rtabmap::Optimizer</a></td><td class="entry"></td></tr>
<tr bgcolor="#f0f0f0" class="even"><td class="entry"><b>Optimizer</b>(int iterations=Parameters::defaultOptimizerIterations(), bool slam2d=Parameters::defaultRegForce3DoF(), bool covarianceIgnored=Parameters::defaultOptimizerVarianceIgnored(), double epsilon=Parameters::defaultOptimizerEpsilon(), bool robust=Parameters::defaultOptimizerRobust(), bool priorsIgnored=Parameters::defaultOptimizerPriorsIgnored(), bool landmarksIgnored=Parameters::defaultOptimizerLandmarksIgnored(), float gravitySigma=Parameters::defaultOptimizerGravitySigma()) (defined in <a class="el" href="classrtabmap_1_1Optimizer.html">rtabmap::Optimizer</a>)</td><td class="entry"><a class="el" href="classrtabmap_1_1Optimizer.html">rtabmap::Optimizer</a></td><td class="entry"><span class="mlabel">protected</span></td></tr> <tr bgcolor="#f0f0f0" class="even"><td class="entry"><b>Optimizer</b>(int iterations=Parameters::defaultOptimizerIterations(), bool slam2d=Parameters::defaultRegForce3DoF(), bool covarianceIgnored=Parameters::defaultOptimizerVarianceIgnored(), double epsilon=Parameters::defaultOptimizerEpsilon(), bool robust=Parameters::defaultOptimizerRobust(), bool priorsIgnored=Parameters::defaultOptimizerPriorsIgnored(), bool landmarksIgnored=Parameters::defaultOptimizerLandmarksIgnored(), float gravitySigma=Parameters::defaultOptimizerGravitySigma()) (defined in <a class="el" href="classrtabmap_1_1Optimizer.html">rtabmap::Optimizer</a>)</td><td class="entry"><a class="el" href="classrtabmap_1_1Optimizer.html">rtabmap::Optimizer</a></td><td class="entry"><span class="mlabel">protected</span></td></tr>
<tr bgcolor="#f0f0f0" class="odd"><td class="entry"><b>Optimizer</b>(const ParametersMap &amp;parameters) (defined in <a class="el" href="classrtabmap_1_1Optimizer.html">rtabmap::Optimizer</a>)</td><td class="entry"><a class="el" href="classrtabmap_1_1Optimizer.html">rtabmap::Optimizer</a></td><td class="entry"><span class="mlabel">protected</span></td></tr> <tr bgcolor="#f0f0f0" class="odd"><td class="entry"><b>Optimizer</b>(const ParametersMap &amp;parameters) (defined in <a class="el" href="classrtabmap_1_1Optimizer.html">rtabmap::Optimizer</a>)</td><td class="entry"><a class="el" href="classrtabmap_1_1Optimizer.html">rtabmap::Optimizer</a></td><td class="entry"><span class="mlabel">protected</span></td></tr>
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<tr class="memitem:ab988decf55da4a8821931855ddaa1c1a" id="r_ab988decf55da4a8821931855ddaa1c1a"><td class="memItemLeft" align="right" valign="top">virtual std::map&lt; int, <a class="el" href="classrtabmap_1_1Transform.html">Transform</a> &gt;&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classrtabmap_1_1OptimizerCeres.html#ab988decf55da4a8821931855ddaa1c1a">optimize</a> (int rootId, const std::map&lt; int, <a class="el" href="classrtabmap_1_1Transform.html">Transform</a> &gt; &amp;poses, const std::multimap&lt; int, <a class="el" href="classrtabmap_1_1Link.html">Link</a> &gt; &amp;edgeConstraints, cv::Mat &amp;outputCovariance, std::list&lt; std::map&lt; int, <a class="el" href="classrtabmap_1_1Transform.html">Transform</a> &gt; &gt; *intermediateGraphes=0, double *finalError=0, int *iterationsDone=0)</td></tr> <tr class="memitem:ab988decf55da4a8821931855ddaa1c1a" id="r_ab988decf55da4a8821931855ddaa1c1a"><td class="memItemLeft" align="right" valign="top">virtual std::map&lt; int, <a class="el" href="classrtabmap_1_1Transform.html">Transform</a> &gt;&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classrtabmap_1_1OptimizerCeres.html#ab988decf55da4a8821931855ddaa1c1a">optimize</a> (int rootId, const std::map&lt; int, <a class="el" href="classrtabmap_1_1Transform.html">Transform</a> &gt; &amp;poses, const std::multimap&lt; int, <a class="el" href="classrtabmap_1_1Link.html">Link</a> &gt; &amp;edgeConstraints, cv::Mat &amp;outputCovariance, std::list&lt; std::map&lt; int, <a class="el" href="classrtabmap_1_1Transform.html">Transform</a> &gt; &gt; *intermediateGraphes=0, double *finalError=0, int *iterationsDone=0)</td></tr>
<tr class="memdesc:ab988decf55da4a8821931855ddaa1c1a"><td class="mdescLeft">&#160;</td><td class="mdescRight">Pose-graph optimization with marginal covariance of <code>rootId</code>. <br /></td></tr> <tr class="memdesc:ab988decf55da4a8821931855ddaa1c1a"><td class="mdescLeft">&#160;</td><td class="mdescRight">Pose-graph optimization with marginal covariance of <code>rootId</code>. <br /></td></tr>
<tr class="separator:ab988decf55da4a8821931855ddaa1c1a"><td class="memSeparator" colspan="2">&#160;</td></tr> <tr class="separator:ab988decf55da4a8821931855ddaa1c1a"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a5057dd09f74610f3092bb597f6af0413" id="r_a5057dd09f74610f3092bb597f6af0413"><td class="memItemLeft" align="right" valign="top">virtual std::map&lt; int, <a class="el" href="classrtabmap_1_1Transform.html">Transform</a> &gt;&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classrtabmap_1_1OptimizerCeres.html#a5057dd09f74610f3092bb597f6af0413">optimizeBA</a> (int rootId, const std::map&lt; int, <a class="el" href="classrtabmap_1_1Transform.html">Transform</a> &gt; &amp;poses, const std::multimap&lt; int, <a class="el" href="classrtabmap_1_1Link.html">Link</a> &gt; &amp;links, const std::map&lt; int, std::vector&lt; <a class="el" href="classrtabmap_1_1CameraModel.html">CameraModel</a> &gt; &gt; &amp;models, std::map&lt; int, cv::Point3f &gt; &amp;points3DMap, const std::map&lt; int, std::map&lt; int, <a class="el" href="classrtabmap_1_1FeatureBA.html">FeatureBA</a> &gt; &gt; &amp;wordReferences, std::set&lt; int &gt; *outliers=0)</td></tr> <tr class="memitem:af5c6d465dc4fa7c9045cd241dae5d077" id="r_af5c6d465dc4fa7c9045cd241dae5d077"><td class="memItemLeft" align="right" valign="top">virtual std::map&lt; int, <a class="el" href="classrtabmap_1_1Transform.html">Transform</a> &gt;&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classrtabmap_1_1OptimizerCeres.html#af5c6d465dc4fa7c9045cd241dae5d077">optimizeBA</a> (int rootId, const std::map&lt; int, <a class="el" href="classrtabmap_1_1Transform.html">Transform</a> &gt; &amp;poses, const std::multimap&lt; int, <a class="el" href="classrtabmap_1_1Link.html">Link</a> &gt; &amp;links, const std::map&lt; int, std::vector&lt; <a class="el" href="classrtabmap_1_1CameraModel.html">CameraModel</a> &gt; &gt; &amp;models, std::map&lt; int, cv::Point3f &gt; &amp;points3DMap, const std::map&lt; int, std::map&lt; int, <a class="el" href="classrtabmap_1_1FeatureBA.html">FeatureBA</a> &gt; &gt; &amp;wordReferences, BAOutliers *outliers=0)</td></tr>
<tr class="memdesc:a5057dd09f74610f3092bb597f6af0413"><td class="mdescLeft">&#160;</td><td class="mdescRight">Bundle adjustment: jointly refine poses and 3D points (back-end-level entry point). <br /></td></tr> <tr class="memdesc:af5c6d465dc4fa7c9045cd241dae5d077"><td class="mdescLeft">&#160;</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="inherit_header pub_methods_classrtabmap_1_1Optimizer"><td colspan="2" onclick="javascript:toggleInherit('pub_methods_classrtabmap_1_1Optimizer')"><img src="closed.png" alt="-"/>&#160;Public Member Functions inherited from <a class="el" href="classrtabmap_1_1Optimizer.html">rtabmap::Optimizer</a></td></tr> <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="-"/>&#160;Public Member Functions inherited from <a class="el" href="classrtabmap_1_1Optimizer.html">rtabmap::Optimizer</a></td></tr>
<tr class="memitem:a4477c9a5b6651729944726465b5eba7f inherit pub_methods_classrtabmap_1_1Optimizer" id="r_a4477c9a5b6651729944726465b5eba7f"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classrtabmap_1_1Optimizer.html#a4477c9a5b6651729944726465b5eba7f">getConnectedGraph</a> (int fromId, const std::map&lt; int, <a class="el" href="classrtabmap_1_1Transform.html">Transform</a> &gt; &amp;posesIn, const std::multimap&lt; int, <a class="el" href="classrtabmap_1_1Link.html">Link</a> &gt; &amp;linksIn, std::map&lt; int, <a class="el" href="classrtabmap_1_1Transform.html">Transform</a> &gt; &amp;posesOut, std::multimap&lt; int, <a class="el" href="classrtabmap_1_1Link.html">Link</a> &gt; &amp;linksOut) const</td></tr> <tr class="memitem:a4477c9a5b6651729944726465b5eba7f inherit pub_methods_classrtabmap_1_1Optimizer" id="r_a4477c9a5b6651729944726465b5eba7f"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classrtabmap_1_1Optimizer.html#a4477c9a5b6651729944726465b5eba7f">getConnectedGraph</a> (int fromId, const std::map&lt; int, <a class="el" href="classrtabmap_1_1Transform.html">Transform</a> &gt; &amp;posesIn, const std::multimap&lt; int, <a class="el" href="classrtabmap_1_1Link.html">Link</a> &gt; &amp;linksIn, std::map&lt; int, <a class="el" href="classrtabmap_1_1Transform.html">Transform</a> &gt; &amp;posesOut, std::multimap&lt; int, <a class="el" href="classrtabmap_1_1Link.html">Link</a> &gt; &amp;linksOut) const</td></tr>
<tr class="memdesc:a4477c9a5b6651729944726465b5eba7f inherit pub_methods_classrtabmap_1_1Optimizer"><td class="mdescLeft">&#160;</td><td class="mdescRight">Extracts the connected component reachable from <code>fromId</code>. <br /></td></tr> <tr class="memdesc:a4477c9a5b6651729944726465b5eba7f inherit pub_methods_classrtabmap_1_1Optimizer"><td class="mdescLeft">&#160;</td><td class="mdescRight">Extracts the connected component reachable from <code>fromId</code>. <br /></td></tr>
@@ -162,9 +162,9 @@ Public Member Functions</h2></td></tr>
std::map&lt; int, <a class="el" href="classrtabmap_1_1Transform.html">Transform</a> &gt;&#160;</td><td class="memItemRight" valign="bottom"><b>optimizeBA</b> (int rootId, const std::map&lt; int, <a class="el" href="classrtabmap_1_1Transform.html">Transform</a> &gt; &amp;poses, const std::multimap&lt; int, <a class="el" href="classrtabmap_1_1Link.html">Link</a> &gt; &amp;links, const std::map&lt; int, <a class="el" href="classrtabmap_1_1Signature.html">Signature</a> &gt; &amp;signatures, bool rematchFeatures=false, const <a class="el" href="namespacertabmap.html#ad08b6f1796a27dd7316c99c385e2cc55">ParametersMap</a> &amp;registrationParameters=<a class="el" href="namespacertabmap.html#ad08b6f1796a27dd7316c99c385e2cc55">ParametersMap</a>())</td></tr> std::map&lt; int, <a class="el" href="classrtabmap_1_1Transform.html">Transform</a> &gt;&#160;</td><td class="memItemRight" valign="bottom"><b>optimizeBA</b> (int rootId, const std::map&lt; int, <a class="el" href="classrtabmap_1_1Transform.html">Transform</a> &gt; &amp;poses, const std::multimap&lt; int, <a class="el" href="classrtabmap_1_1Link.html">Link</a> &gt; &amp;links, const std::map&lt; int, <a class="el" href="classrtabmap_1_1Signature.html">Signature</a> &gt; &amp;signatures, bool rematchFeatures=false, const <a class="el" href="namespacertabmap.html#ad08b6f1796a27dd7316c99c385e2cc55">ParametersMap</a> &amp;registrationParameters=<a class="el" href="namespacertabmap.html#ad08b6f1796a27dd7316c99c385e2cc55">ParametersMap</a>())</td></tr>
<tr class="memdesc:aab99f045516162944ad68fdabacb53dc inherit pub_methods_classrtabmap_1_1Optimizer"><td class="mdescLeft">&#160;</td><td class="mdescRight">BA convenience wrapper: like the overload above but ignores the refined 3D points and observation map. <br /></td></tr> <tr class="memdesc:aab99f045516162944ad68fdabacb53dc inherit pub_methods_classrtabmap_1_1Optimizer"><td class="mdescLeft">&#160;</td><td class="mdescRight">BA convenience wrapper: like the overload above but ignores the refined 3D points and observation map. <br /></td></tr>
<tr class="separator:aab99f045516162944ad68fdabacb53dc inherit pub_methods_classrtabmap_1_1Optimizer"><td class="memSeparator" colspan="2">&#160;</td></tr> <tr class="separator:aab99f045516162944ad68fdabacb53dc inherit pub_methods_classrtabmap_1_1Optimizer"><td class="memSeparator" colspan="2">&#160;</td></tr>
<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>&#160;</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> &amp;link, const <a class="el" href="classrtabmap_1_1CameraModel.html">CameraModel</a> &amp;model, std::map&lt; int, cv::Point3f &gt; &amp;points3DMap, const std::map&lt; int, std::map&lt; int, <a class="el" href="classrtabmap_1_1FeatureBA.html">FeatureBA</a> &gt; &gt; &amp;wordReferences, std::set&lt; int &gt; *outliers=0)</td></tr> <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>&#160;</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> &amp;link, const <a class="el" href="classrtabmap_1_1CameraModel.html">CameraModel</a> &amp;model, std::map&lt; int, cv::Point3f &gt; &amp;points3DMap, const std::map&lt; int, std::map&lt; int, <a class="el" href="classrtabmap_1_1FeatureBA.html">FeatureBA</a> &gt; &gt; &amp;wordReferences, BAOutliers *outliers=0)</td></tr>
<tr class="memdesc:ad6b32a9697837f03941773f6a5bbf91c inherit pub_methods_classrtabmap_1_1Optimizer"><td class="mdescLeft">&#160;</td><td class="mdescRight">Refine a single two-frame link via BA. <br /></td></tr> <tr class="memdesc:aedaeb7cc371f3685f8595d9a151f6605 inherit pub_methods_classrtabmap_1_1Optimizer"><td class="mdescLeft">&#160;</td><td class="mdescRight">Refine a single two-frame link via BA. <br /></td></tr>
<tr class="separator:ad6b32a9697837f03941773f6a5bbf91c inherit pub_methods_classrtabmap_1_1Optimizer"><td class="memSeparator" colspan="2">&#160;</td></tr> <tr class="separator:aedaeb7cc371f3685f8595d9a151f6605 inherit pub_methods_classrtabmap_1_1Optimizer"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a93fb09dac068e64de000f692bcb8216f inherit pub_methods_classrtabmap_1_1Optimizer" id="r_a93fb09dac068e64de000f692bcb8216f"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classrtabmap_1_1Optimizer.html#a93fb09dac068e64de000f692bcb8216f">computeBACorrespondences</a> (const std::map&lt; int, <a class="el" href="classrtabmap_1_1Transform.html">Transform</a> &gt; &amp;poses, const std::multimap&lt; int, <a class="el" href="classrtabmap_1_1Link.html">Link</a> &gt; &amp;links, const std::map&lt; int, <a class="el" href="classrtabmap_1_1Signature.html">Signature</a> &gt; &amp;signatures, std::map&lt; int, cv::Point3f &gt; &amp;points3DMap, std::map&lt; int, std::map&lt; int, <a class="el" href="classrtabmap_1_1FeatureBA.html">FeatureBA</a> &gt; &gt; &amp;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> <tr class="memitem:a93fb09dac068e64de000f692bcb8216f inherit pub_methods_classrtabmap_1_1Optimizer" id="r_a93fb09dac068e64de000f692bcb8216f"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classrtabmap_1_1Optimizer.html#a93fb09dac068e64de000f692bcb8216f">computeBACorrespondences</a> (const std::map&lt; int, <a class="el" href="classrtabmap_1_1Transform.html">Transform</a> &gt; &amp;poses, const std::multimap&lt; int, <a class="el" href="classrtabmap_1_1Link.html">Link</a> &gt; &amp;links, const std::map&lt; int, <a class="el" href="classrtabmap_1_1Signature.html">Signature</a> &gt; &amp;signatures, std::map&lt; int, cv::Point3f &gt; &amp;points3DMap, std::map&lt; int, std::map&lt; int, <a class="el" href="classrtabmap_1_1FeatureBA.html">FeatureBA</a> &gt; &gt; &amp;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>
<tr class="memdesc:a93fb09dac068e64de000f692bcb8216f inherit pub_methods_classrtabmap_1_1Optimizer"><td class="mdescLeft">&#160;</td><td class="mdescRight">Build BA correspondences (3D points + per-frame observations) from signatures. <br /></td></tr> <tr class="memdesc:a93fb09dac068e64de000f692bcb8216f inherit pub_methods_classrtabmap_1_1Optimizer"><td class="mdescLeft">&#160;</td><td class="mdescRight">Build BA correspondences (3D points + per-frame observations) from signatures. <br /></td></tr>
<tr class="separator:a93fb09dac068e64de000f692bcb8216f inherit pub_methods_classrtabmap_1_1Optimizer"><td class="memSeparator" colspan="2">&#160;</td></tr> <tr class="separator:a93fb09dac068e64de000f692bcb8216f inherit pub_methods_classrtabmap_1_1Optimizer"><td class="memSeparator" colspan="2">&#160;</td></tr>
@@ -477,8 +477,8 @@ Additional Inherited Members</h2></td></tr>
</div> </div>
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<h2 class="memtitle"><span class="permalink"><a href="#a5057dd09f74610f3092bb597f6af0413">&#9670;&#160;</a></span>optimizeBA()</h2> <h2 class="memtitle"><span class="permalink"><a href="#af5c6d465dc4fa7c9045cd241dae5d077">&#9670;&#160;</a></span>optimizeBA()</h2>
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<tr> <tr>
<td class="paramkey"></td> <td class="paramkey"></td>
<td></td> <td></td>
<td class="paramtype">std::set&lt; int &gt; *&#160;</td> <td class="paramtype">BAOutliers *&#160;</td>
<td class="paramname"><em>outliers</em> = <code>0</code>&#160;</td> <td class="paramname"><em>outliers</em> = <code>0</code>&#160;</td>
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<tr> <tr>
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<p>Bundle adjustment: jointly refine poses and 3D points (back-end-level entry point). </p> <p>Bundle adjustment: jointly refine poses and 3D points (back-end-level entry point). </p>
<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> <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>
<dl class="params"><dt>Parameters</dt><dd> <dl class="params"><dt>Parameters</dt><dd>
<table class="params"> <table class="params">
<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> <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>
@@ -557,7 +557,7 @@ Additional Inherited Members</h2></td></tr>
</dl> </dl>
<dl class="section return"><dt>Returns</dt><dd>Refined poses, or empty on failure. </dd></dl> <dl class="section return"><dt>Returns</dt><dd>Refined poses, or empty on failure. </dd></dl>
<p>Reimplemented from <a class="el" href="classrtabmap_1_1Optimizer.html#a038e8df970ab744f6f4ba7027f62b263">rtabmap::Optimizer</a>.</p> <p>Reimplemented from <a class="el" href="classrtabmap_1_1Optimizer.html#a1122f017f10105f7e6c14039d41709e5">rtabmap::Optimizer</a>.</p>
</div> </div>
</div> </div>
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<tr bgcolor="#f0f0f0" class="odd"><td class="entry"><b>loadGraph</b>(const std::string &amp;fileName, std::map&lt; int, Transform &gt; &amp;poses, std::multimap&lt; int, Link &gt; &amp;edgeConstraints) (defined in <a class="el" href="classrtabmap_1_1OptimizerG2O.html">rtabmap::OptimizerG2O</a>)</td><td class="entry"><a class="el" href="classrtabmap_1_1OptimizerG2O.html">rtabmap::OptimizerG2O</a></td><td class="entry"><span class="mlabel">static</span></td></tr> <tr bgcolor="#f0f0f0" class="odd"><td class="entry"><b>loadGraph</b>(const std::string &amp;fileName, std::map&lt; int, Transform &gt; &amp;poses, std::multimap&lt; int, Link &gt; &amp;edgeConstraints) (defined in <a class="el" href="classrtabmap_1_1OptimizerG2O.html">rtabmap::OptimizerG2O</a>)</td><td class="entry"><a class="el" href="classrtabmap_1_1OptimizerG2O.html">rtabmap::OptimizerG2O</a></td><td class="entry"><span class="mlabel">static</span></td></tr>
<tr class="even"><td class="entry"><a class="el" href="classrtabmap_1_1OptimizerG2O.html#a9400bdf57331af310cf6b02e661d0a03">optimize</a>(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)</td><td class="entry"><a class="el" href="classrtabmap_1_1OptimizerG2O.html">rtabmap::OptimizerG2O</a></td><td class="entry"><span class="mlabel">virtual</span></td></tr> <tr class="even"><td class="entry"><a class="el" href="classrtabmap_1_1OptimizerG2O.html#a9400bdf57331af310cf6b02e661d0a03">optimize</a>(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)</td><td class="entry"><a class="el" href="classrtabmap_1_1OptimizerG2O.html">rtabmap::OptimizerG2O</a></td><td class="entry"><span class="mlabel">virtual</span></td></tr>
<tr class="odd"><td class="entry"><a class="el" href="classrtabmap_1_1Optimizer.html#a7e3aff943e77603493a358ff522fa2dc">rtabmap::Optimizer::optimize</a>(int rootId, const std::map&lt; int, Transform &gt; &amp;poses, const std::multimap&lt; int, Link &gt; &amp;constraints, std::list&lt; std::map&lt; int, Transform &gt; &gt; *intermediateGraphes=0, double *finalError=0, int *iterationsDone=0)</td><td class="entry"><a class="el" href="classrtabmap_1_1Optimizer.html">rtabmap::Optimizer</a></td><td class="entry"></td></tr> <tr class="odd"><td class="entry"><a class="el" href="classrtabmap_1_1Optimizer.html#a7e3aff943e77603493a358ff522fa2dc">rtabmap::Optimizer::optimize</a>(int rootId, const std::map&lt; int, Transform &gt; &amp;poses, const std::multimap&lt; int, Link &gt; &amp;constraints, std::list&lt; std::map&lt; int, Transform &gt; &gt; *intermediateGraphes=0, double *finalError=0, int *iterationsDone=0)</td><td class="entry"><a class="el" href="classrtabmap_1_1Optimizer.html">rtabmap::Optimizer</a></td><td class="entry"></td></tr>
<tr class="even"><td class="entry"><a class="el" href="classrtabmap_1_1OptimizerG2O.html#a17edfbaeee93d32153782f61212a88f0">optimizeBA</a>(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)</td><td class="entry"><a class="el" href="classrtabmap_1_1OptimizerG2O.html">rtabmap::OptimizerG2O</a></td><td class="entry"><span class="mlabel">virtual</span></td></tr> <tr class="even"><td class="entry"><a class="el" href="classrtabmap_1_1OptimizerG2O.html#af808c77c716d30691670c18955f08f61">optimizeBA</a>(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)</td><td class="entry"><a class="el" href="classrtabmap_1_1OptimizerG2O.html">rtabmap::OptimizerG2O</a></td><td class="entry"><span class="mlabel">virtual</span></td></tr>
<tr class="odd"><td class="entry"><a class="el" href="classrtabmap_1_1Optimizer.html#a2f7cbdebed9787ffa6b0b30536dfa1a0">rtabmap::Optimizer::optimizeBA</a>(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, Signature &gt; &amp;signatures, std::map&lt; int, cv::Point3f &gt; &amp;points3DMap, std::map&lt; int, std::map&lt; int, FeatureBA &gt; &gt; &amp;wordReferences, bool rematchFeatures=false, const ParametersMap &amp;registrationParameters=ParametersMap())</td><td class="entry"><a class="el" href="classrtabmap_1_1Optimizer.html">rtabmap::Optimizer</a></td><td class="entry"></td></tr> <tr class="odd"><td class="entry"><a class="el" href="classrtabmap_1_1Optimizer.html#a2f7cbdebed9787ffa6b0b30536dfa1a0">rtabmap::Optimizer::optimizeBA</a>(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, Signature &gt; &amp;signatures, std::map&lt; int, cv::Point3f &gt; &amp;points3DMap, std::map&lt; int, std::map&lt; int, FeatureBA &gt; &gt; &amp;wordReferences, bool rematchFeatures=false, const ParametersMap &amp;registrationParameters=ParametersMap())</td><td class="entry"><a class="el" href="classrtabmap_1_1Optimizer.html">rtabmap::Optimizer</a></td><td class="entry"></td></tr>
<tr class="even"><td class="entry"><a class="el" href="classrtabmap_1_1Optimizer.html#aab99f045516162944ad68fdabacb53dc">rtabmap::Optimizer::optimizeBA</a>(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, Signature &gt; &amp;signatures, bool rematchFeatures=false, const ParametersMap &amp;registrationParameters=ParametersMap())</td><td class="entry"><a class="el" href="classrtabmap_1_1Optimizer.html">rtabmap::Optimizer</a></td><td class="entry"></td></tr> <tr class="even"><td class="entry"><a class="el" href="classrtabmap_1_1Optimizer.html#aab99f045516162944ad68fdabacb53dc">rtabmap::Optimizer::optimizeBA</a>(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, Signature &gt; &amp;signatures, bool rematchFeatures=false, const ParametersMap &amp;registrationParameters=ParametersMap())</td><td class="entry"><a class="el" href="classrtabmap_1_1Optimizer.html">rtabmap::Optimizer</a></td><td class="entry"></td></tr>
<tr class="odd"><td class="entry"><a class="el" href="classrtabmap_1_1Optimizer.html#ad6b32a9697837f03941773f6a5bbf91c">rtabmap::Optimizer::optimizeBA</a>(const Link &amp;link, const CameraModel &amp;model, 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)</td><td class="entry"><a class="el" href="classrtabmap_1_1Optimizer.html">rtabmap::Optimizer</a></td><td class="entry"></td></tr> <tr class="odd"><td class="entry"><a class="el" href="classrtabmap_1_1Optimizer.html#aedaeb7cc371f3685f8595d9a151f6605">rtabmap::Optimizer::optimizeBA</a>(const Link &amp;link, const CameraModel &amp;model, 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)</td><td class="entry"><a class="el" href="classrtabmap_1_1Optimizer.html">rtabmap::Optimizer</a></td><td class="entry"></td></tr>
<tr class="even"><td class="entry"><a class="el" href="classrtabmap_1_1Optimizer.html#a278f42e0d250085ac6fe9ed425627acf">optimizeIncremental</a>(int rootId, const std::map&lt; int, Transform &gt; &amp;poses, const std::multimap&lt; int, Link &gt; &amp;constraints, std::list&lt; std::map&lt; int, Transform &gt; &gt; *intermediateGraphes=0, double *finalError=0, int *iterationsDone=0)</td><td class="entry"><a class="el" href="classrtabmap_1_1Optimizer.html">rtabmap::Optimizer</a></td><td class="entry"></td></tr> <tr class="even"><td class="entry"><a class="el" href="classrtabmap_1_1Optimizer.html#a278f42e0d250085ac6fe9ed425627acf">optimizeIncremental</a>(int rootId, const std::map&lt; int, Transform &gt; &amp;poses, const std::multimap&lt; int, Link &gt; &amp;constraints, std::list&lt; std::map&lt; int, Transform &gt; &gt; *intermediateGraphes=0, double *finalError=0, int *iterationsDone=0)</td><td class="entry"><a class="el" href="classrtabmap_1_1Optimizer.html">rtabmap::Optimizer</a></td><td class="entry"></td></tr>
<tr bgcolor="#f0f0f0" class="odd"><td class="entry"><b>Optimizer</b>(int iterations=Parameters::defaultOptimizerIterations(), bool slam2d=Parameters::defaultRegForce3DoF(), bool covarianceIgnored=Parameters::defaultOptimizerVarianceIgnored(), double epsilon=Parameters::defaultOptimizerEpsilon(), bool robust=Parameters::defaultOptimizerRobust(), bool priorsIgnored=Parameters::defaultOptimizerPriorsIgnored(), bool landmarksIgnored=Parameters::defaultOptimizerLandmarksIgnored(), float gravitySigma=Parameters::defaultOptimizerGravitySigma()) (defined in <a class="el" href="classrtabmap_1_1Optimizer.html">rtabmap::Optimizer</a>)</td><td class="entry"><a class="el" href="classrtabmap_1_1Optimizer.html">rtabmap::Optimizer</a></td><td class="entry"><span class="mlabel">protected</span></td></tr> <tr bgcolor="#f0f0f0" class="odd"><td class="entry"><b>Optimizer</b>(int iterations=Parameters::defaultOptimizerIterations(), bool slam2d=Parameters::defaultRegForce3DoF(), bool covarianceIgnored=Parameters::defaultOptimizerVarianceIgnored(), double epsilon=Parameters::defaultOptimizerEpsilon(), bool robust=Parameters::defaultOptimizerRobust(), bool priorsIgnored=Parameters::defaultOptimizerPriorsIgnored(), bool landmarksIgnored=Parameters::defaultOptimizerLandmarksIgnored(), float gravitySigma=Parameters::defaultOptimizerGravitySigma()) (defined in <a class="el" href="classrtabmap_1_1Optimizer.html">rtabmap::Optimizer</a>)</td><td class="entry"><a class="el" href="classrtabmap_1_1Optimizer.html">rtabmap::Optimizer</a></td><td class="entry"><span class="mlabel">protected</span></td></tr>
<tr bgcolor="#f0f0f0" class="even"><td class="entry"><b>Optimizer</b>(const ParametersMap &amp;parameters) (defined in <a class="el" href="classrtabmap_1_1Optimizer.html">rtabmap::Optimizer</a>)</td><td class="entry"><a class="el" href="classrtabmap_1_1Optimizer.html">rtabmap::Optimizer</a></td><td class="entry"><span class="mlabel">protected</span></td></tr> <tr bgcolor="#f0f0f0" class="even"><td class="entry"><b>Optimizer</b>(const ParametersMap &amp;parameters) (defined in <a class="el" href="classrtabmap_1_1Optimizer.html">rtabmap::Optimizer</a>)</td><td class="entry"><a class="el" href="classrtabmap_1_1Optimizer.html">rtabmap::Optimizer</a></td><td class="entry"><span class="mlabel">protected</span></td></tr>
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@@ -140,9 +140,9 @@ Public Member Functions</h2></td></tr>
<tr class="memitem:a9400bdf57331af310cf6b02e661d0a03" id="r_a9400bdf57331af310cf6b02e661d0a03"><td class="memItemLeft" align="right" valign="top">virtual std::map&lt; int, <a class="el" href="classrtabmap_1_1Transform.html">Transform</a> &gt;&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classrtabmap_1_1OptimizerG2O.html#a9400bdf57331af310cf6b02e661d0a03">optimize</a> (int rootId, const std::map&lt; int, <a class="el" href="classrtabmap_1_1Transform.html">Transform</a> &gt; &amp;poses, const std::multimap&lt; int, <a class="el" href="classrtabmap_1_1Link.html">Link</a> &gt; &amp;edgeConstraints, cv::Mat &amp;outputCovariance, std::list&lt; std::map&lt; int, <a class="el" href="classrtabmap_1_1Transform.html">Transform</a> &gt; &gt; *intermediateGraphes=0, double *finalError=0, int *iterationsDone=0)</td></tr> <tr class="memitem:a9400bdf57331af310cf6b02e661d0a03" id="r_a9400bdf57331af310cf6b02e661d0a03"><td class="memItemLeft" align="right" valign="top">virtual std::map&lt; int, <a class="el" href="classrtabmap_1_1Transform.html">Transform</a> &gt;&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classrtabmap_1_1OptimizerG2O.html#a9400bdf57331af310cf6b02e661d0a03">optimize</a> (int rootId, const std::map&lt; int, <a class="el" href="classrtabmap_1_1Transform.html">Transform</a> &gt; &amp;poses, const std::multimap&lt; int, <a class="el" href="classrtabmap_1_1Link.html">Link</a> &gt; &amp;edgeConstraints, cv::Mat &amp;outputCovariance, std::list&lt; std::map&lt; int, <a class="el" href="classrtabmap_1_1Transform.html">Transform</a> &gt; &gt; *intermediateGraphes=0, double *finalError=0, int *iterationsDone=0)</td></tr>
<tr class="memdesc:a9400bdf57331af310cf6b02e661d0a03"><td class="mdescLeft">&#160;</td><td class="mdescRight">Pose-graph optimization with marginal covariance of <code>rootId</code>. <br /></td></tr> <tr class="memdesc:a9400bdf57331af310cf6b02e661d0a03"><td class="mdescLeft">&#160;</td><td class="mdescRight">Pose-graph optimization with marginal covariance of <code>rootId</code>. <br /></td></tr>
<tr class="separator:a9400bdf57331af310cf6b02e661d0a03"><td class="memSeparator" colspan="2">&#160;</td></tr> <tr class="separator:a9400bdf57331af310cf6b02e661d0a03"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a17edfbaeee93d32153782f61212a88f0" id="r_a17edfbaeee93d32153782f61212a88f0"><td class="memItemLeft" align="right" valign="top">virtual std::map&lt; int, <a class="el" href="classrtabmap_1_1Transform.html">Transform</a> &gt;&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classrtabmap_1_1OptimizerG2O.html#a17edfbaeee93d32153782f61212a88f0">optimizeBA</a> (int rootId, const std::map&lt; int, <a class="el" href="classrtabmap_1_1Transform.html">Transform</a> &gt; &amp;poses, const std::multimap&lt; int, <a class="el" href="classrtabmap_1_1Link.html">Link</a> &gt; &amp;links, const std::map&lt; int, std::vector&lt; <a class="el" href="classrtabmap_1_1CameraModel.html">CameraModel</a> &gt; &gt; &amp;models, std::map&lt; int, cv::Point3f &gt; &amp;points3DMap, const std::map&lt; int, std::map&lt; int, <a class="el" href="classrtabmap_1_1FeatureBA.html">FeatureBA</a> &gt; &gt; &amp;wordReferences, std::set&lt; int &gt; *outliers=0)</td></tr> <tr class="memitem:af808c77c716d30691670c18955f08f61" id="r_af808c77c716d30691670c18955f08f61"><td class="memItemLeft" align="right" valign="top">virtual std::map&lt; int, <a class="el" href="classrtabmap_1_1Transform.html">Transform</a> &gt;&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classrtabmap_1_1OptimizerG2O.html#af808c77c716d30691670c18955f08f61">optimizeBA</a> (int rootId, const std::map&lt; int, <a class="el" href="classrtabmap_1_1Transform.html">Transform</a> &gt; &amp;poses, const std::multimap&lt; int, <a class="el" href="classrtabmap_1_1Link.html">Link</a> &gt; &amp;links, const std::map&lt; int, std::vector&lt; <a class="el" href="classrtabmap_1_1CameraModel.html">CameraModel</a> &gt; &gt; &amp;models, std::map&lt; int, cv::Point3f &gt; &amp;points3DMap, const std::map&lt; int, std::map&lt; int, <a class="el" href="classrtabmap_1_1FeatureBA.html">FeatureBA</a> &gt; &gt; &amp;wordReferences, BAOutliers *outliers=0)</td></tr>
<tr class="memdesc:a17edfbaeee93d32153782f61212a88f0"><td class="mdescLeft">&#160;</td><td class="mdescRight">Bundle adjustment: jointly refine poses and 3D points (back-end-level entry point). <br /></td></tr> <tr class="memdesc:af808c77c716d30691670c18955f08f61"><td class="mdescLeft">&#160;</td><td class="mdescRight">Bundle adjustment: jointly refine poses and 3D points (back-end-level entry point). <br /></td></tr>
<tr class="separator:a17edfbaeee93d32153782f61212a88f0"><td class="memSeparator" colspan="2">&#160;</td></tr> <tr class="separator:af808c77c716d30691670c18955f08f61"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a95bdf1f9c400e81365030da40b105383" id="r_a95bdf1f9c400e81365030da40b105383"><td class="memItemLeft" align="right" valign="top"><a id="a95bdf1f9c400e81365030da40b105383" name="a95bdf1f9c400e81365030da40b105383"></a> <tr class="memitem:a95bdf1f9c400e81365030da40b105383" id="r_a95bdf1f9c400e81365030da40b105383"><td class="memItemLeft" align="right" valign="top"><a id="a95bdf1f9c400e81365030da40b105383" name="a95bdf1f9c400e81365030da40b105383"></a>
bool&#160;</td><td class="memItemRight" valign="bottom"><b>saveGraph</b> (const std::string &amp;fileName, const std::map&lt; int, <a class="el" href="classrtabmap_1_1Transform.html">Transform</a> &gt; &amp;poses, const std::multimap&lt; int, <a class="el" href="classrtabmap_1_1Link.html">Link</a> &gt; &amp;edgeConstraints)</td></tr> bool&#160;</td><td class="memItemRight" valign="bottom"><b>saveGraph</b> (const std::string &amp;fileName, const std::map&lt; int, <a class="el" href="classrtabmap_1_1Transform.html">Transform</a> &gt; &amp;poses, const std::multimap&lt; int, <a class="el" href="classrtabmap_1_1Link.html">Link</a> &gt; &amp;edgeConstraints)</td></tr>
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@@ -163,9 +163,9 @@ bool&#160;</td><td class="memItemRight" valign="bottom"><b>saveGraph</b> (const
std::map&lt; int, <a class="el" href="classrtabmap_1_1Transform.html">Transform</a> &gt;&#160;</td><td class="memItemRight" valign="bottom"><b>optimizeBA</b> (int rootId, const std::map&lt; int, <a class="el" href="classrtabmap_1_1Transform.html">Transform</a> &gt; &amp;poses, const std::multimap&lt; int, <a class="el" href="classrtabmap_1_1Link.html">Link</a> &gt; &amp;links, const std::map&lt; int, <a class="el" href="classrtabmap_1_1Signature.html">Signature</a> &gt; &amp;signatures, bool rematchFeatures=false, const <a class="el" href="namespacertabmap.html#ad08b6f1796a27dd7316c99c385e2cc55">ParametersMap</a> &amp;registrationParameters=<a class="el" href="namespacertabmap.html#ad08b6f1796a27dd7316c99c385e2cc55">ParametersMap</a>())</td></tr> std::map&lt; int, <a class="el" href="classrtabmap_1_1Transform.html">Transform</a> &gt;&#160;</td><td class="memItemRight" valign="bottom"><b>optimizeBA</b> (int rootId, const std::map&lt; int, <a class="el" href="classrtabmap_1_1Transform.html">Transform</a> &gt; &amp;poses, const std::multimap&lt; int, <a class="el" href="classrtabmap_1_1Link.html">Link</a> &gt; &amp;links, const std::map&lt; int, <a class="el" href="classrtabmap_1_1Signature.html">Signature</a> &gt; &amp;signatures, bool rematchFeatures=false, const <a class="el" href="namespacertabmap.html#ad08b6f1796a27dd7316c99c385e2cc55">ParametersMap</a> &amp;registrationParameters=<a class="el" href="namespacertabmap.html#ad08b6f1796a27dd7316c99c385e2cc55">ParametersMap</a>())</td></tr>
<tr class="memdesc:aab99f045516162944ad68fdabacb53dc inherit pub_methods_classrtabmap_1_1Optimizer"><td class="mdescLeft">&#160;</td><td class="mdescRight">BA convenience wrapper: like the overload above but ignores the refined 3D points and observation map. <br /></td></tr> <tr class="memdesc:aab99f045516162944ad68fdabacb53dc inherit pub_methods_classrtabmap_1_1Optimizer"><td class="mdescLeft">&#160;</td><td class="mdescRight">BA convenience wrapper: like the overload above but ignores the refined 3D points and observation map. <br /></td></tr>
<tr class="separator:aab99f045516162944ad68fdabacb53dc inherit pub_methods_classrtabmap_1_1Optimizer"><td class="memSeparator" colspan="2">&#160;</td></tr> <tr class="separator:aab99f045516162944ad68fdabacb53dc inherit pub_methods_classrtabmap_1_1Optimizer"><td class="memSeparator" colspan="2">&#160;</td></tr>
<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>&#160;</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> &amp;link, const <a class="el" href="classrtabmap_1_1CameraModel.html">CameraModel</a> &amp;model, std::map&lt; int, cv::Point3f &gt; &amp;points3DMap, const std::map&lt; int, std::map&lt; int, <a class="el" href="classrtabmap_1_1FeatureBA.html">FeatureBA</a> &gt; &gt; &amp;wordReferences, std::set&lt; int &gt; *outliers=0)</td></tr> <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>&#160;</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> &amp;link, const <a class="el" href="classrtabmap_1_1CameraModel.html">CameraModel</a> &amp;model, std::map&lt; int, cv::Point3f &gt; &amp;points3DMap, const std::map&lt; int, std::map&lt; int, <a class="el" href="classrtabmap_1_1FeatureBA.html">FeatureBA</a> &gt; &gt; &amp;wordReferences, BAOutliers *outliers=0)</td></tr>
<tr class="memdesc:ad6b32a9697837f03941773f6a5bbf91c inherit pub_methods_classrtabmap_1_1Optimizer"><td class="mdescLeft">&#160;</td><td class="mdescRight">Refine a single two-frame link via BA. <br /></td></tr> <tr class="memdesc:aedaeb7cc371f3685f8595d9a151f6605 inherit pub_methods_classrtabmap_1_1Optimizer"><td class="mdescLeft">&#160;</td><td class="mdescRight">Refine a single two-frame link via BA. <br /></td></tr>
<tr class="separator:ad6b32a9697837f03941773f6a5bbf91c inherit pub_methods_classrtabmap_1_1Optimizer"><td class="memSeparator" colspan="2">&#160;</td></tr> <tr class="separator:aedaeb7cc371f3685f8595d9a151f6605 inherit pub_methods_classrtabmap_1_1Optimizer"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a93fb09dac068e64de000f692bcb8216f inherit pub_methods_classrtabmap_1_1Optimizer" id="r_a93fb09dac068e64de000f692bcb8216f"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classrtabmap_1_1Optimizer.html#a93fb09dac068e64de000f692bcb8216f">computeBACorrespondences</a> (const std::map&lt; int, <a class="el" href="classrtabmap_1_1Transform.html">Transform</a> &gt; &amp;poses, const std::multimap&lt; int, <a class="el" href="classrtabmap_1_1Link.html">Link</a> &gt; &amp;links, const std::map&lt; int, <a class="el" href="classrtabmap_1_1Signature.html">Signature</a> &gt; &amp;signatures, std::map&lt; int, cv::Point3f &gt; &amp;points3DMap, std::map&lt; int, std::map&lt; int, <a class="el" href="classrtabmap_1_1FeatureBA.html">FeatureBA</a> &gt; &gt; &amp;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> <tr class="memitem:a93fb09dac068e64de000f692bcb8216f inherit pub_methods_classrtabmap_1_1Optimizer" id="r_a93fb09dac068e64de000f692bcb8216f"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classrtabmap_1_1Optimizer.html#a93fb09dac068e64de000f692bcb8216f">computeBACorrespondences</a> (const std::map&lt; int, <a class="el" href="classrtabmap_1_1Transform.html">Transform</a> &gt; &amp;poses, const std::multimap&lt; int, <a class="el" href="classrtabmap_1_1Link.html">Link</a> &gt; &amp;links, const std::map&lt; int, <a class="el" href="classrtabmap_1_1Signature.html">Signature</a> &gt; &amp;signatures, std::map&lt; int, cv::Point3f &gt; &amp;points3DMap, std::map&lt; int, std::map&lt; int, <a class="el" href="classrtabmap_1_1FeatureBA.html">FeatureBA</a> &gt; &gt; &amp;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>
<tr class="memdesc:a93fb09dac068e64de000f692bcb8216f inherit pub_methods_classrtabmap_1_1Optimizer"><td class="mdescLeft">&#160;</td><td class="mdescRight">Build BA correspondences (3D points + per-frame observations) from signatures. <br /></td></tr> <tr class="memdesc:a93fb09dac068e64de000f692bcb8216f inherit pub_methods_classrtabmap_1_1Optimizer"><td class="mdescLeft">&#160;</td><td class="mdescRight">Build BA correspondences (3D points + per-frame observations) from signatures. <br /></td></tr>
<tr class="separator:a93fb09dac068e64de000f692bcb8216f inherit pub_methods_classrtabmap_1_1Optimizer"><td class="memSeparator" colspan="2">&#160;</td></tr> <tr class="separator:a93fb09dac068e64de000f692bcb8216f inherit pub_methods_classrtabmap_1_1Optimizer"><td class="memSeparator" colspan="2">&#160;</td></tr>
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<h2 class="memtitle"><span class="permalink"><a href="#a17edfbaeee93d32153782f61212a88f0">&#9670;&#160;</a></span>optimizeBA()</h2> <h2 class="memtitle"><span class="permalink"><a href="#af808c77c716d30691670c18955f08f61">&#9670;&#160;</a></span>optimizeBA()</h2>
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<td class="paramkey"></td> <td class="paramkey"></td>
<td></td> <td></td>
<td class="paramtype">std::set&lt; int &gt; *&#160;</td> <td class="paramtype">BAOutliers *&#160;</td>
<td class="paramname"><em>outliers</em> = <code>0</code>&#160;</td> <td class="paramname"><em>outliers</em> = <code>0</code>&#160;</td>
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<p>Bundle adjustment: jointly refine poses and 3D points (back-end-level entry point). </p> <p>Bundle adjustment: jointly refine poses and 3D points (back-end-level entry point). </p>
<p>Concrete subclasses (g2o, Ceres, cvsba) override this; the base implementation errors out. The other <a class="el" href="classrtabmap_1_1OptimizerG2O.html#a17edfbaeee93d32153782f61212a88f0">optimizeBA()</a> overloads ultimately funnel here.</p> <p>Concrete subclasses (g2o, Ceres, cvsba) override this; the base implementation errors out. The other <a class="el" href="classrtabmap_1_1OptimizerG2O.html#af808c77c716d30691670c18955f08f61">optimizeBA()</a> overloads ultimately funnel here.</p>
<dl class="params"><dt>Parameters</dt><dd> <dl class="params"><dt>Parameters</dt><dd>
<table class="params"> <table class="params">
<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> <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>
@@ -517,7 +517,7 @@ Additional Inherited Members</h2></td></tr>
</dl> </dl>
<dl class="section return"><dt>Returns</dt><dd>Refined poses, or empty on failure. </dd></dl> <dl class="section return"><dt>Returns</dt><dd>Refined poses, or empty on failure. </dd></dl>
<p>Reimplemented from <a class="el" href="classrtabmap_1_1Optimizer.html#a038e8df970ab744f6f4ba7027f62b263">rtabmap::Optimizer</a>.</p> <p>Reimplemented from <a class="el" href="classrtabmap_1_1Optimizer.html#a1122f017f10105f7e6c14039d41709e5">rtabmap::Optimizer</a>.</p>
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</div> </div>
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api/latest/classrtabmap_1_1OptimizerGTSAM-members.html
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@@ -125,10 +125,10 @@ $(document).ready(function(){initNavTree('classrtabmap_1_1OptimizerGTSAM.html','
<tr class="even"><td class="entry"><a class="el" href="classrtabmap_1_1Optimizer.html#a32f53d408ef0372c5c196ee89ff5ad79">landmarksIgnored</a>() const</td><td class="entry"><a class="el" href="classrtabmap_1_1Optimizer.html">rtabmap::Optimizer</a></td><td class="entry"><span class="mlabel">inline</span></td></tr> <tr class="even"><td class="entry"><a class="el" href="classrtabmap_1_1Optimizer.html#a32f53d408ef0372c5c196ee89ff5ad79">landmarksIgnored</a>() const</td><td class="entry"><a class="el" href="classrtabmap_1_1Optimizer.html">rtabmap::Optimizer</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
<tr class="odd"><td class="entry"><a class="el" href="classrtabmap_1_1OptimizerGTSAM.html#a4905d84cfc59516eef21ea89064c31ba">optimize</a>(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)</td><td class="entry"><a class="el" href="classrtabmap_1_1OptimizerGTSAM.html">rtabmap::OptimizerGTSAM</a></td><td class="entry"><span class="mlabel">virtual</span></td></tr> <tr class="odd"><td class="entry"><a class="el" href="classrtabmap_1_1OptimizerGTSAM.html#a4905d84cfc59516eef21ea89064c31ba">optimize</a>(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)</td><td class="entry"><a class="el" href="classrtabmap_1_1OptimizerGTSAM.html">rtabmap::OptimizerGTSAM</a></td><td class="entry"><span class="mlabel">virtual</span></td></tr>
<tr class="even"><td class="entry"><a class="el" href="classrtabmap_1_1Optimizer.html#a7e3aff943e77603493a358ff522fa2dc">rtabmap::Optimizer::optimize</a>(int rootId, const std::map&lt; int, Transform &gt; &amp;poses, const std::multimap&lt; int, Link &gt; &amp;constraints, std::list&lt; std::map&lt; int, Transform &gt; &gt; *intermediateGraphes=0, double *finalError=0, int *iterationsDone=0)</td><td class="entry"><a class="el" href="classrtabmap_1_1Optimizer.html">rtabmap::Optimizer</a></td><td class="entry"></td></tr> <tr class="even"><td class="entry"><a class="el" href="classrtabmap_1_1Optimizer.html#a7e3aff943e77603493a358ff522fa2dc">rtabmap::Optimizer::optimize</a>(int rootId, const std::map&lt; int, Transform &gt; &amp;poses, const std::multimap&lt; int, Link &gt; &amp;constraints, std::list&lt; std::map&lt; int, Transform &gt; &gt; *intermediateGraphes=0, double *finalError=0, int *iterationsDone=0)</td><td class="entry"><a class="el" href="classrtabmap_1_1Optimizer.html">rtabmap::Optimizer</a></td><td class="entry"></td></tr>
<tr class="odd"><td class="entry"><a class="el" href="classrtabmap_1_1OptimizerGTSAM.html#a7a2033a466505f8c2191b8329b5b342c">optimizeBA</a>(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)</td><td class="entry"><a class="el" href="classrtabmap_1_1OptimizerGTSAM.html">rtabmap::OptimizerGTSAM</a></td><td class="entry"><span class="mlabel">virtual</span></td></tr> <tr class="odd"><td class="entry"><a class="el" href="classrtabmap_1_1OptimizerGTSAM.html#a8009ace7ad9f50214bc359421546a54b">optimizeBA</a>(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)</td><td class="entry"><a class="el" href="classrtabmap_1_1OptimizerGTSAM.html">rtabmap::OptimizerGTSAM</a></td><td class="entry"><span class="mlabel">virtual</span></td></tr>
<tr class="even"><td class="entry"><a class="el" href="classrtabmap_1_1Optimizer.html#a2f7cbdebed9787ffa6b0b30536dfa1a0">rtabmap::Optimizer::optimizeBA</a>(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, Signature &gt; &amp;signatures, std::map&lt; int, cv::Point3f &gt; &amp;points3DMap, std::map&lt; int, std::map&lt; int, FeatureBA &gt; &gt; &amp;wordReferences, bool rematchFeatures=false, const ParametersMap &amp;registrationParameters=ParametersMap())</td><td class="entry"><a class="el" href="classrtabmap_1_1Optimizer.html">rtabmap::Optimizer</a></td><td class="entry"></td></tr> <tr class="even"><td class="entry"><a class="el" href="classrtabmap_1_1Optimizer.html#a2f7cbdebed9787ffa6b0b30536dfa1a0">rtabmap::Optimizer::optimizeBA</a>(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, Signature &gt; &amp;signatures, std::map&lt; int, cv::Point3f &gt; &amp;points3DMap, std::map&lt; int, std::map&lt; int, FeatureBA &gt; &gt; &amp;wordReferences, bool rematchFeatures=false, const ParametersMap &amp;registrationParameters=ParametersMap())</td><td class="entry"><a class="el" href="classrtabmap_1_1Optimizer.html">rtabmap::Optimizer</a></td><td class="entry"></td></tr>
<tr class="odd"><td class="entry"><a class="el" href="classrtabmap_1_1Optimizer.html#aab99f045516162944ad68fdabacb53dc">rtabmap::Optimizer::optimizeBA</a>(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, Signature &gt; &amp;signatures, bool rematchFeatures=false, const ParametersMap &amp;registrationParameters=ParametersMap())</td><td class="entry"><a class="el" href="classrtabmap_1_1Optimizer.html">rtabmap::Optimizer</a></td><td class="entry"></td></tr> <tr class="odd"><td class="entry"><a class="el" href="classrtabmap_1_1Optimizer.html#aab99f045516162944ad68fdabacb53dc">rtabmap::Optimizer::optimizeBA</a>(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, Signature &gt; &amp;signatures, bool rematchFeatures=false, const ParametersMap &amp;registrationParameters=ParametersMap())</td><td class="entry"><a class="el" href="classrtabmap_1_1Optimizer.html">rtabmap::Optimizer</a></td><td class="entry"></td></tr>
<tr class="even"><td class="entry"><a class="el" href="classrtabmap_1_1Optimizer.html#ad6b32a9697837f03941773f6a5bbf91c">rtabmap::Optimizer::optimizeBA</a>(const Link &amp;link, const CameraModel &amp;model, 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)</td><td class="entry"><a class="el" href="classrtabmap_1_1Optimizer.html">rtabmap::Optimizer</a></td><td class="entry"></td></tr> <tr class="even"><td class="entry"><a class="el" href="classrtabmap_1_1Optimizer.html#aedaeb7cc371f3685f8595d9a151f6605">rtabmap::Optimizer::optimizeBA</a>(const Link &amp;link, const CameraModel &amp;model, 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)</td><td class="entry"><a class="el" href="classrtabmap_1_1Optimizer.html">rtabmap::Optimizer</a></td><td class="entry"></td></tr>
<tr class="odd"><td class="entry"><a class="el" href="classrtabmap_1_1Optimizer.html#a278f42e0d250085ac6fe9ed425627acf">optimizeIncremental</a>(int rootId, const std::map&lt; int, Transform &gt; &amp;poses, const std::multimap&lt; int, Link &gt; &amp;constraints, std::list&lt; std::map&lt; int, Transform &gt; &gt; *intermediateGraphes=0, double *finalError=0, int *iterationsDone=0)</td><td class="entry"><a class="el" href="classrtabmap_1_1Optimizer.html">rtabmap::Optimizer</a></td><td class="entry"></td></tr> <tr class="odd"><td class="entry"><a class="el" href="classrtabmap_1_1Optimizer.html#a278f42e0d250085ac6fe9ed425627acf">optimizeIncremental</a>(int rootId, const std::map&lt; int, Transform &gt; &amp;poses, const std::multimap&lt; int, Link &gt; &amp;constraints, std::list&lt; std::map&lt; int, Transform &gt; &gt; *intermediateGraphes=0, double *finalError=0, int *iterationsDone=0)</td><td class="entry"><a class="el" href="classrtabmap_1_1Optimizer.html">rtabmap::Optimizer</a></td><td class="entry"></td></tr>
<tr bgcolor="#f0f0f0" class="even"><td class="entry"><b>Optimizer</b>(int iterations=Parameters::defaultOptimizerIterations(), bool slam2d=Parameters::defaultRegForce3DoF(), bool covarianceIgnored=Parameters::defaultOptimizerVarianceIgnored(), double epsilon=Parameters::defaultOptimizerEpsilon(), bool robust=Parameters::defaultOptimizerRobust(), bool priorsIgnored=Parameters::defaultOptimizerPriorsIgnored(), bool landmarksIgnored=Parameters::defaultOptimizerLandmarksIgnored(), float gravitySigma=Parameters::defaultOptimizerGravitySigma()) (defined in <a class="el" href="classrtabmap_1_1Optimizer.html">rtabmap::Optimizer</a>)</td><td class="entry"><a class="el" href="classrtabmap_1_1Optimizer.html">rtabmap::Optimizer</a></td><td class="entry"><span class="mlabel">protected</span></td></tr> <tr bgcolor="#f0f0f0" class="even"><td class="entry"><b>Optimizer</b>(int iterations=Parameters::defaultOptimizerIterations(), bool slam2d=Parameters::defaultRegForce3DoF(), bool covarianceIgnored=Parameters::defaultOptimizerVarianceIgnored(), double epsilon=Parameters::defaultOptimizerEpsilon(), bool robust=Parameters::defaultOptimizerRobust(), bool priorsIgnored=Parameters::defaultOptimizerPriorsIgnored(), bool landmarksIgnored=Parameters::defaultOptimizerLandmarksIgnored(), float gravitySigma=Parameters::defaultOptimizerGravitySigma()) (defined in <a class="el" href="classrtabmap_1_1Optimizer.html">rtabmap::Optimizer</a>)</td><td class="entry"><a class="el" href="classrtabmap_1_1Optimizer.html">rtabmap::Optimizer</a></td><td class="entry"><span class="mlabel">protected</span></td></tr>
<tr bgcolor="#f0f0f0" class="odd"><td class="entry"><b>Optimizer</b>(const ParametersMap &amp;parameters) (defined in <a class="el" href="classrtabmap_1_1Optimizer.html">rtabmap::Optimizer</a>)</td><td class="entry"><a class="el" href="classrtabmap_1_1Optimizer.html">rtabmap::Optimizer</a></td><td class="entry"><span class="mlabel">protected</span></td></tr> <tr bgcolor="#f0f0f0" class="odd"><td class="entry"><b>Optimizer</b>(const ParametersMap &amp;parameters) (defined in <a class="el" href="classrtabmap_1_1Optimizer.html">rtabmap::Optimizer</a>)</td><td class="entry"><a class="el" href="classrtabmap_1_1Optimizer.html">rtabmap::Optimizer</a></td><td class="entry"><span class="mlabel">protected</span></td></tr>
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@@ -141,9 +141,9 @@ Public Member Functions</h2></td></tr>
<tr class="memitem:a4905d84cfc59516eef21ea89064c31ba" id="r_a4905d84cfc59516eef21ea89064c31ba"><td class="memItemLeft" align="right" valign="top">virtual std::map&lt; int, <a class="el" href="classrtabmap_1_1Transform.html">Transform</a> &gt;&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classrtabmap_1_1OptimizerGTSAM.html#a4905d84cfc59516eef21ea89064c31ba">optimize</a> (int rootId, const std::map&lt; int, <a class="el" href="classrtabmap_1_1Transform.html">Transform</a> &gt; &amp;poses, const std::multimap&lt; int, <a class="el" href="classrtabmap_1_1Link.html">Link</a> &gt; &amp;edgeConstraints, cv::Mat &amp;outputCovariance, std::list&lt; std::map&lt; int, <a class="el" href="classrtabmap_1_1Transform.html">Transform</a> &gt; &gt; *intermediateGraphes=0, double *finalError=0, int *iterationsDone=0)</td></tr> <tr class="memitem:a4905d84cfc59516eef21ea89064c31ba" id="r_a4905d84cfc59516eef21ea89064c31ba"><td class="memItemLeft" align="right" valign="top">virtual std::map&lt; int, <a class="el" href="classrtabmap_1_1Transform.html">Transform</a> &gt;&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classrtabmap_1_1OptimizerGTSAM.html#a4905d84cfc59516eef21ea89064c31ba">optimize</a> (int rootId, const std::map&lt; int, <a class="el" href="classrtabmap_1_1Transform.html">Transform</a> &gt; &amp;poses, const std::multimap&lt; int, <a class="el" href="classrtabmap_1_1Link.html">Link</a> &gt; &amp;edgeConstraints, cv::Mat &amp;outputCovariance, std::list&lt; std::map&lt; int, <a class="el" href="classrtabmap_1_1Transform.html">Transform</a> &gt; &gt; *intermediateGraphes=0, double *finalError=0, int *iterationsDone=0)</td></tr>
<tr class="memdesc:a4905d84cfc59516eef21ea89064c31ba"><td class="mdescLeft">&#160;</td><td class="mdescRight">Pose-graph optimization with marginal covariance of <code>rootId</code>. <br /></td></tr> <tr class="memdesc:a4905d84cfc59516eef21ea89064c31ba"><td class="mdescLeft">&#160;</td><td class="mdescRight">Pose-graph optimization with marginal covariance of <code>rootId</code>. <br /></td></tr>
<tr class="separator:a4905d84cfc59516eef21ea89064c31ba"><td class="memSeparator" colspan="2">&#160;</td></tr> <tr class="separator:a4905d84cfc59516eef21ea89064c31ba"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a7a2033a466505f8c2191b8329b5b342c" id="r_a7a2033a466505f8c2191b8329b5b342c"><td class="memItemLeft" align="right" valign="top">virtual std::map&lt; int, <a class="el" href="classrtabmap_1_1Transform.html">Transform</a> &gt;&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classrtabmap_1_1OptimizerGTSAM.html#a7a2033a466505f8c2191b8329b5b342c">optimizeBA</a> (int rootId, const std::map&lt; int, <a class="el" href="classrtabmap_1_1Transform.html">Transform</a> &gt; &amp;poses, const std::multimap&lt; int, <a class="el" href="classrtabmap_1_1Link.html">Link</a> &gt; &amp;links, const std::map&lt; int, std::vector&lt; <a class="el" href="classrtabmap_1_1CameraModel.html">CameraModel</a> &gt; &gt; &amp;models, std::map&lt; int, cv::Point3f &gt; &amp;points3DMap, const std::map&lt; int, std::map&lt; int, <a class="el" href="classrtabmap_1_1FeatureBA.html">FeatureBA</a> &gt; &gt; &amp;wordReferences, std::set&lt; int &gt; *outliers=0)</td></tr> <tr class="memitem:a8009ace7ad9f50214bc359421546a54b" id="r_a8009ace7ad9f50214bc359421546a54b"><td class="memItemLeft" align="right" valign="top">virtual std::map&lt; int, <a class="el" href="classrtabmap_1_1Transform.html">Transform</a> &gt;&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classrtabmap_1_1OptimizerGTSAM.html#a8009ace7ad9f50214bc359421546a54b">optimizeBA</a> (int rootId, const std::map&lt; int, <a class="el" href="classrtabmap_1_1Transform.html">Transform</a> &gt; &amp;poses, const std::multimap&lt; int, <a class="el" href="classrtabmap_1_1Link.html">Link</a> &gt; &amp;links, const std::map&lt; int, std::vector&lt; <a class="el" href="classrtabmap_1_1CameraModel.html">CameraModel</a> &gt; &gt; &amp;models, std::map&lt; int, cv::Point3f &gt; &amp;points3DMap, const std::map&lt; int, std::map&lt; int, <a class="el" href="classrtabmap_1_1FeatureBA.html">FeatureBA</a> &gt; &gt; &amp;wordReferences, BAOutliers *outliers=0)</td></tr>
<tr class="memdesc:a7a2033a466505f8c2191b8329b5b342c"><td class="mdescLeft">&#160;</td><td class="mdescRight">Bundle adjustment: jointly refine poses and 3D points (back-end-level entry point). <br /></td></tr> <tr class="memdesc:a8009ace7ad9f50214bc359421546a54b"><td class="mdescLeft">&#160;</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="inherit_header pub_methods_classrtabmap_1_1Optimizer"><td colspan="2" onclick="javascript:toggleInherit('pub_methods_classrtabmap_1_1Optimizer')"><img src="closed.png" alt="-"/>&#160;Public Member Functions inherited from <a class="el" href="classrtabmap_1_1Optimizer.html">rtabmap::Optimizer</a></td></tr> <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="-"/>&#160;Public Member Functions inherited from <a class="el" href="classrtabmap_1_1Optimizer.html">rtabmap::Optimizer</a></td></tr>
<tr class="memitem:a4477c9a5b6651729944726465b5eba7f inherit pub_methods_classrtabmap_1_1Optimizer" id="r_a4477c9a5b6651729944726465b5eba7f"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classrtabmap_1_1Optimizer.html#a4477c9a5b6651729944726465b5eba7f">getConnectedGraph</a> (int fromId, const std::map&lt; int, <a class="el" href="classrtabmap_1_1Transform.html">Transform</a> &gt; &amp;posesIn, const std::multimap&lt; int, <a class="el" href="classrtabmap_1_1Link.html">Link</a> &gt; &amp;linksIn, std::map&lt; int, <a class="el" href="classrtabmap_1_1Transform.html">Transform</a> &gt; &amp;posesOut, std::multimap&lt; int, <a class="el" href="classrtabmap_1_1Link.html">Link</a> &gt; &amp;linksOut) const</td></tr> <tr class="memitem:a4477c9a5b6651729944726465b5eba7f inherit pub_methods_classrtabmap_1_1Optimizer" id="r_a4477c9a5b6651729944726465b5eba7f"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classrtabmap_1_1Optimizer.html#a4477c9a5b6651729944726465b5eba7f">getConnectedGraph</a> (int fromId, const std::map&lt; int, <a class="el" href="classrtabmap_1_1Transform.html">Transform</a> &gt; &amp;posesIn, const std::multimap&lt; int, <a class="el" href="classrtabmap_1_1Link.html">Link</a> &gt; &amp;linksIn, std::map&lt; int, <a class="el" href="classrtabmap_1_1Transform.html">Transform</a> &gt; &amp;posesOut, std::multimap&lt; int, <a class="el" href="classrtabmap_1_1Link.html">Link</a> &gt; &amp;linksOut) const</td></tr>
<tr class="memdesc:a4477c9a5b6651729944726465b5eba7f inherit pub_methods_classrtabmap_1_1Optimizer"><td class="mdescLeft">&#160;</td><td class="mdescRight">Extracts the connected component reachable from <code>fromId</code>. <br /></td></tr> <tr class="memdesc:a4477c9a5b6651729944726465b5eba7f inherit pub_methods_classrtabmap_1_1Optimizer"><td class="mdescLeft">&#160;</td><td class="mdescRight">Extracts the connected component reachable from <code>fromId</code>. <br /></td></tr>
@@ -161,9 +161,9 @@ Public Member Functions</h2></td></tr>
std::map&lt; int, <a class="el" href="classrtabmap_1_1Transform.html">Transform</a> &gt;&#160;</td><td class="memItemRight" valign="bottom"><b>optimizeBA</b> (int rootId, const std::map&lt; int, <a class="el" href="classrtabmap_1_1Transform.html">Transform</a> &gt; &amp;poses, const std::multimap&lt; int, <a class="el" href="classrtabmap_1_1Link.html">Link</a> &gt; &amp;links, const std::map&lt; int, <a class="el" href="classrtabmap_1_1Signature.html">Signature</a> &gt; &amp;signatures, bool rematchFeatures=false, const <a class="el" href="namespacertabmap.html#ad08b6f1796a27dd7316c99c385e2cc55">ParametersMap</a> &amp;registrationParameters=<a class="el" href="namespacertabmap.html#ad08b6f1796a27dd7316c99c385e2cc55">ParametersMap</a>())</td></tr> std::map&lt; int, <a class="el" href="classrtabmap_1_1Transform.html">Transform</a> &gt;&#160;</td><td class="memItemRight" valign="bottom"><b>optimizeBA</b> (int rootId, const std::map&lt; int, <a class="el" href="classrtabmap_1_1Transform.html">Transform</a> &gt; &amp;poses, const std::multimap&lt; int, <a class="el" href="classrtabmap_1_1Link.html">Link</a> &gt; &amp;links, const std::map&lt; int, <a class="el" href="classrtabmap_1_1Signature.html">Signature</a> &gt; &amp;signatures, bool rematchFeatures=false, const <a class="el" href="namespacertabmap.html#ad08b6f1796a27dd7316c99c385e2cc55">ParametersMap</a> &amp;registrationParameters=<a class="el" href="namespacertabmap.html#ad08b6f1796a27dd7316c99c385e2cc55">ParametersMap</a>())</td></tr>
<tr class="memdesc:aab99f045516162944ad68fdabacb53dc inherit pub_methods_classrtabmap_1_1Optimizer"><td class="mdescLeft">&#160;</td><td class="mdescRight">BA convenience wrapper: like the overload above but ignores the refined 3D points and observation map. <br /></td></tr> <tr class="memdesc:aab99f045516162944ad68fdabacb53dc inherit pub_methods_classrtabmap_1_1Optimizer"><td class="mdescLeft">&#160;</td><td class="mdescRight">BA convenience wrapper: like the overload above but ignores the refined 3D points and observation map. <br /></td></tr>
<tr class="separator:aab99f045516162944ad68fdabacb53dc inherit pub_methods_classrtabmap_1_1Optimizer"><td class="memSeparator" colspan="2">&#160;</td></tr> <tr class="separator:aab99f045516162944ad68fdabacb53dc inherit pub_methods_classrtabmap_1_1Optimizer"><td class="memSeparator" colspan="2">&#160;</td></tr>
<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>&#160;</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> &amp;link, const <a class="el" href="classrtabmap_1_1CameraModel.html">CameraModel</a> &amp;model, std::map&lt; int, cv::Point3f &gt; &amp;points3DMap, const std::map&lt; int, std::map&lt; int, <a class="el" href="classrtabmap_1_1FeatureBA.html">FeatureBA</a> &gt; &gt; &amp;wordReferences, std::set&lt; int &gt; *outliers=0)</td></tr> <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>&#160;</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> &amp;link, const <a class="el" href="classrtabmap_1_1CameraModel.html">CameraModel</a> &amp;model, std::map&lt; int, cv::Point3f &gt; &amp;points3DMap, const std::map&lt; int, std::map&lt; int, <a class="el" href="classrtabmap_1_1FeatureBA.html">FeatureBA</a> &gt; &gt; &amp;wordReferences, BAOutliers *outliers=0)</td></tr>
<tr class="memdesc:ad6b32a9697837f03941773f6a5bbf91c inherit pub_methods_classrtabmap_1_1Optimizer"><td class="mdescLeft">&#160;</td><td class="mdescRight">Refine a single two-frame link via BA. <br /></td></tr> <tr class="memdesc:aedaeb7cc371f3685f8595d9a151f6605 inherit pub_methods_classrtabmap_1_1Optimizer"><td class="mdescLeft">&#160;</td><td class="mdescRight">Refine a single two-frame link via BA. <br /></td></tr>
<tr class="separator:ad6b32a9697837f03941773f6a5bbf91c inherit pub_methods_classrtabmap_1_1Optimizer"><td class="memSeparator" colspan="2">&#160;</td></tr> <tr class="separator:aedaeb7cc371f3685f8595d9a151f6605 inherit pub_methods_classrtabmap_1_1Optimizer"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a93fb09dac068e64de000f692bcb8216f inherit pub_methods_classrtabmap_1_1Optimizer" id="r_a93fb09dac068e64de000f692bcb8216f"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classrtabmap_1_1Optimizer.html#a93fb09dac068e64de000f692bcb8216f">computeBACorrespondences</a> (const std::map&lt; int, <a class="el" href="classrtabmap_1_1Transform.html">Transform</a> &gt; &amp;poses, const std::multimap&lt; int, <a class="el" href="classrtabmap_1_1Link.html">Link</a> &gt; &amp;links, const std::map&lt; int, <a class="el" href="classrtabmap_1_1Signature.html">Signature</a> &gt; &amp;signatures, std::map&lt; int, cv::Point3f &gt; &amp;points3DMap, std::map&lt; int, std::map&lt; int, <a class="el" href="classrtabmap_1_1FeatureBA.html">FeatureBA</a> &gt; &gt; &amp;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> <tr class="memitem:a93fb09dac068e64de000f692bcb8216f inherit pub_methods_classrtabmap_1_1Optimizer" id="r_a93fb09dac068e64de000f692bcb8216f"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classrtabmap_1_1Optimizer.html#a93fb09dac068e64de000f692bcb8216f">computeBACorrespondences</a> (const std::map&lt; int, <a class="el" href="classrtabmap_1_1Transform.html">Transform</a> &gt; &amp;poses, const std::multimap&lt; int, <a class="el" href="classrtabmap_1_1Link.html">Link</a> &gt; &amp;links, const std::map&lt; int, <a class="el" href="classrtabmap_1_1Signature.html">Signature</a> &gt; &amp;signatures, std::map&lt; int, cv::Point3f &gt; &amp;points3DMap, std::map&lt; int, std::map&lt; int, <a class="el" href="classrtabmap_1_1FeatureBA.html">FeatureBA</a> &gt; &gt; &amp;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>
<tr class="memdesc:a93fb09dac068e64de000f692bcb8216f inherit pub_methods_classrtabmap_1_1Optimizer"><td class="mdescLeft">&#160;</td><td class="mdescRight">Build BA correspondences (3D points + per-frame observations) from signatures. <br /></td></tr> <tr class="memdesc:a93fb09dac068e64de000f692bcb8216f inherit pub_methods_classrtabmap_1_1Optimizer"><td class="mdescLeft">&#160;</td><td class="mdescRight">Build BA correspondences (3D points + per-frame observations) from signatures. <br /></td></tr>
<tr class="separator:a93fb09dac068e64de000f692bcb8216f inherit pub_methods_classrtabmap_1_1Optimizer"><td class="memSeparator" colspan="2">&#160;</td></tr> <tr class="separator:a93fb09dac068e64de000f692bcb8216f inherit pub_methods_classrtabmap_1_1Optimizer"><td class="memSeparator" colspan="2">&#160;</td></tr>
@@ -398,8 +398,8 @@ Additional Inherited Members</h2></td></tr>
</div> </div>
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<a id="a7a2033a466505f8c2191b8329b5b342c" name="a7a2033a466505f8c2191b8329b5b342c"></a> <a id="a8009ace7ad9f50214bc359421546a54b" name="a8009ace7ad9f50214bc359421546a54b"></a>
<h2 class="memtitle"><span class="permalink"><a href="#a7a2033a466505f8c2191b8329b5b342c">&#9670;&#160;</a></span>optimizeBA()</h2> <h2 class="memtitle"><span class="permalink"><a href="#a8009ace7ad9f50214bc359421546a54b">&#9670;&#160;</a></span>optimizeBA()</h2>
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<div class="memproto"> <div class="memproto">
@@ -446,7 +446,7 @@ Additional Inherited Members</h2></td></tr>
<tr> <tr>
<td class="paramkey"></td> <td class="paramkey"></td>
<td></td> <td></td>
<td class="paramtype">std::set&lt; int &gt; *&#160;</td> <td class="paramtype">BAOutliers *&#160;</td>
<td class="paramname"><em>outliers</em> = <code>0</code>&#160;</td> <td class="paramname"><em>outliers</em> = <code>0</code>&#160;</td>
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<tr> <tr>
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<p>Bundle adjustment: jointly refine poses and 3D points (back-end-level entry point). </p> <p>Bundle adjustment: jointly refine poses and 3D points (back-end-level entry point). </p>
<p>Concrete subclasses (g2o, Ceres, cvsba) override this; the base implementation errors out. The other <a class="el" href="classrtabmap_1_1OptimizerGTSAM.html#a7a2033a466505f8c2191b8329b5b342c">optimizeBA()</a> overloads ultimately funnel here.</p> <p>Concrete subclasses (g2o, Ceres, cvsba) override this; the base implementation errors out. The other <a class="el" href="classrtabmap_1_1OptimizerGTSAM.html#a8009ace7ad9f50214bc359421546a54b">optimizeBA()</a> overloads ultimately funnel here.</p>
<dl class="params"><dt>Parameters</dt><dd> <dl class="params"><dt>Parameters</dt><dd>
<table class="params"> <table class="params">
<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> <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>
@@ -478,7 +478,7 @@ Additional Inherited Members</h2></td></tr>
</dl> </dl>
<dl class="section return"><dt>Returns</dt><dd>Refined poses, or empty on failure. </dd></dl> <dl class="section return"><dt>Returns</dt><dd>Refined poses, or empty on failure. </dd></dl>
<p>Reimplemented from <a class="el" href="classrtabmap_1_1Optimizer.html#a038e8df970ab744f6f4ba7027f62b263">rtabmap::Optimizer</a>.</p> <p>Reimplemented from <a class="el" href="classrtabmap_1_1Optimizer.html#a1122f017f10105f7e6c14039d41709e5">rtabmap::Optimizer</a>.</p>
</div> </div>
</div> </div>
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api/latest/classrtabmap_1_1OptimizerTORO-members.html
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@@ -126,10 +126,10 @@ $(document).ready(function(){initNavTree('classrtabmap_1_1OptimizerTORO.html',''
<tr bgcolor="#f0f0f0" class="odd"><td class="entry"><b>loadGraph</b>(const std::string &amp;fileName, std::map&lt; int, Transform &gt; &amp;poses, std::multimap&lt; int, Link &gt; &amp;edgeConstraints) (defined in <a class="el" href="classrtabmap_1_1OptimizerTORO.html">rtabmap::OptimizerTORO</a>)</td><td class="entry"><a class="el" href="classrtabmap_1_1OptimizerTORO.html">rtabmap::OptimizerTORO</a></td><td class="entry"><span class="mlabel">static</span></td></tr> <tr bgcolor="#f0f0f0" class="odd"><td class="entry"><b>loadGraph</b>(const std::string &amp;fileName, std::map&lt; int, Transform &gt; &amp;poses, std::multimap&lt; int, Link &gt; &amp;edgeConstraints) (defined in <a class="el" href="classrtabmap_1_1OptimizerTORO.html">rtabmap::OptimizerTORO</a>)</td><td class="entry"><a class="el" href="classrtabmap_1_1OptimizerTORO.html">rtabmap::OptimizerTORO</a></td><td class="entry"><span class="mlabel">static</span></td></tr>
<tr class="even"><td class="entry"><a class="el" href="classrtabmap_1_1OptimizerTORO.html#a025b40902f0ea048bdbfee9ed4ebc0f3">optimize</a>(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)</td><td class="entry"><a class="el" href="classrtabmap_1_1OptimizerTORO.html">rtabmap::OptimizerTORO</a></td><td class="entry"><span class="mlabel">virtual</span></td></tr> <tr class="even"><td class="entry"><a class="el" href="classrtabmap_1_1OptimizerTORO.html#a025b40902f0ea048bdbfee9ed4ebc0f3">optimize</a>(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)</td><td class="entry"><a class="el" href="classrtabmap_1_1OptimizerTORO.html">rtabmap::OptimizerTORO</a></td><td class="entry"><span class="mlabel">virtual</span></td></tr>
<tr class="odd"><td class="entry"><a class="el" href="classrtabmap_1_1Optimizer.html#a7e3aff943e77603493a358ff522fa2dc">rtabmap::Optimizer::optimize</a>(int rootId, const std::map&lt; int, Transform &gt; &amp;poses, const std::multimap&lt; int, Link &gt; &amp;constraints, std::list&lt; std::map&lt; int, Transform &gt; &gt; *intermediateGraphes=0, double *finalError=0, int *iterationsDone=0)</td><td class="entry"><a class="el" href="classrtabmap_1_1Optimizer.html">rtabmap::Optimizer</a></td><td class="entry"></td></tr> <tr class="odd"><td class="entry"><a class="el" href="classrtabmap_1_1Optimizer.html#a7e3aff943e77603493a358ff522fa2dc">rtabmap::Optimizer::optimize</a>(int rootId, const std::map&lt; int, Transform &gt; &amp;poses, const std::multimap&lt; int, Link &gt; &amp;constraints, std::list&lt; std::map&lt; int, Transform &gt; &gt; *intermediateGraphes=0, double *finalError=0, int *iterationsDone=0)</td><td class="entry"><a class="el" href="classrtabmap_1_1Optimizer.html">rtabmap::Optimizer</a></td><td class="entry"></td></tr>
<tr class="even"><td class="entry"><a class="el" href="classrtabmap_1_1Optimizer.html#a038e8df970ab744f6f4ba7027f62b263">optimizeBA</a>(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)</td><td class="entry"><a class="el" href="classrtabmap_1_1Optimizer.html">rtabmap::Optimizer</a></td><td class="entry"><span class="mlabel">virtual</span></td></tr> <tr class="even"><td class="entry"><a class="el" href="classrtabmap_1_1Optimizer.html#a1122f017f10105f7e6c14039d41709e5">optimizeBA</a>(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)</td><td class="entry"><a class="el" href="classrtabmap_1_1Optimizer.html">rtabmap::Optimizer</a></td><td class="entry"><span class="mlabel">virtual</span></td></tr>
<tr class="odd"><td class="entry"><a class="el" href="classrtabmap_1_1Optimizer.html#a2f7cbdebed9787ffa6b0b30536dfa1a0">optimizeBA</a>(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, Signature &gt; &amp;signatures, std::map&lt; int, cv::Point3f &gt; &amp;points3DMap, std::map&lt; int, std::map&lt; int, FeatureBA &gt; &gt; &amp;wordReferences, bool rematchFeatures=false, const ParametersMap &amp;registrationParameters=ParametersMap())</td><td class="entry"><a class="el" href="classrtabmap_1_1Optimizer.html">rtabmap::Optimizer</a></td><td class="entry"></td></tr> <tr class="odd"><td class="entry"><a class="el" href="classrtabmap_1_1Optimizer.html#a2f7cbdebed9787ffa6b0b30536dfa1a0">optimizeBA</a>(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, Signature &gt; &amp;signatures, std::map&lt; int, cv::Point3f &gt; &amp;points3DMap, std::map&lt; int, std::map&lt; int, FeatureBA &gt; &gt; &amp;wordReferences, bool rematchFeatures=false, const ParametersMap &amp;registrationParameters=ParametersMap())</td><td class="entry"><a class="el" href="classrtabmap_1_1Optimizer.html">rtabmap::Optimizer</a></td><td class="entry"></td></tr>
<tr class="even"><td class="entry"><a class="el" href="classrtabmap_1_1Optimizer.html#aab99f045516162944ad68fdabacb53dc">optimizeBA</a>(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, Signature &gt; &amp;signatures, bool rematchFeatures=false, const ParametersMap &amp;registrationParameters=ParametersMap())</td><td class="entry"><a class="el" href="classrtabmap_1_1Optimizer.html">rtabmap::Optimizer</a></td><td class="entry"></td></tr> <tr class="even"><td class="entry"><a class="el" href="classrtabmap_1_1Optimizer.html#aab99f045516162944ad68fdabacb53dc">optimizeBA</a>(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, Signature &gt; &amp;signatures, bool rematchFeatures=false, const ParametersMap &amp;registrationParameters=ParametersMap())</td><td class="entry"><a class="el" href="classrtabmap_1_1Optimizer.html">rtabmap::Optimizer</a></td><td class="entry"></td></tr>
<tr class="odd"><td class="entry"><a class="el" href="classrtabmap_1_1Optimizer.html#ad6b32a9697837f03941773f6a5bbf91c">optimizeBA</a>(const Link &amp;link, const CameraModel &amp;model, 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)</td><td class="entry"><a class="el" href="classrtabmap_1_1Optimizer.html">rtabmap::Optimizer</a></td><td class="entry"></td></tr> <tr class="odd"><td class="entry"><a class="el" href="classrtabmap_1_1Optimizer.html#aedaeb7cc371f3685f8595d9a151f6605">optimizeBA</a>(const Link &amp;link, const CameraModel &amp;model, 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)</td><td class="entry"><a class="el" href="classrtabmap_1_1Optimizer.html">rtabmap::Optimizer</a></td><td class="entry"></td></tr>
<tr class="even"><td class="entry"><a class="el" href="classrtabmap_1_1Optimizer.html#a278f42e0d250085ac6fe9ed425627acf">optimizeIncremental</a>(int rootId, const std::map&lt; int, Transform &gt; &amp;poses, const std::multimap&lt; int, Link &gt; &amp;constraints, std::list&lt; std::map&lt; int, Transform &gt; &gt; *intermediateGraphes=0, double *finalError=0, int *iterationsDone=0)</td><td class="entry"><a class="el" href="classrtabmap_1_1Optimizer.html">rtabmap::Optimizer</a></td><td class="entry"></td></tr> <tr class="even"><td class="entry"><a class="el" href="classrtabmap_1_1Optimizer.html#a278f42e0d250085ac6fe9ed425627acf">optimizeIncremental</a>(int rootId, const std::map&lt; int, Transform &gt; &amp;poses, const std::multimap&lt; int, Link &gt; &amp;constraints, std::list&lt; std::map&lt; int, Transform &gt; &gt; *intermediateGraphes=0, double *finalError=0, int *iterationsDone=0)</td><td class="entry"><a class="el" href="classrtabmap_1_1Optimizer.html">rtabmap::Optimizer</a></td><td class="entry"></td></tr>
<tr bgcolor="#f0f0f0" class="odd"><td class="entry"><b>Optimizer</b>(int iterations=Parameters::defaultOptimizerIterations(), bool slam2d=Parameters::defaultRegForce3DoF(), bool covarianceIgnored=Parameters::defaultOptimizerVarianceIgnored(), double epsilon=Parameters::defaultOptimizerEpsilon(), bool robust=Parameters::defaultOptimizerRobust(), bool priorsIgnored=Parameters::defaultOptimizerPriorsIgnored(), bool landmarksIgnored=Parameters::defaultOptimizerLandmarksIgnored(), float gravitySigma=Parameters::defaultOptimizerGravitySigma()) (defined in <a class="el" href="classrtabmap_1_1Optimizer.html">rtabmap::Optimizer</a>)</td><td class="entry"><a class="el" href="classrtabmap_1_1Optimizer.html">rtabmap::Optimizer</a></td><td class="entry"><span class="mlabel">protected</span></td></tr> <tr bgcolor="#f0f0f0" class="odd"><td class="entry"><b>Optimizer</b>(int iterations=Parameters::defaultOptimizerIterations(), bool slam2d=Parameters::defaultRegForce3DoF(), bool covarianceIgnored=Parameters::defaultOptimizerVarianceIgnored(), double epsilon=Parameters::defaultOptimizerEpsilon(), bool robust=Parameters::defaultOptimizerRobust(), bool priorsIgnored=Parameters::defaultOptimizerPriorsIgnored(), bool landmarksIgnored=Parameters::defaultOptimizerLandmarksIgnored(), float gravitySigma=Parameters::defaultOptimizerGravitySigma()) (defined in <a class="el" href="classrtabmap_1_1Optimizer.html">rtabmap::Optimizer</a>)</td><td class="entry"><a class="el" href="classrtabmap_1_1Optimizer.html">rtabmap::Optimizer</a></td><td class="entry"><span class="mlabel">protected</span></td></tr>
<tr bgcolor="#f0f0f0" class="even"><td class="entry"><b>Optimizer</b>(const ParametersMap &amp;parameters) (defined in <a class="el" href="classrtabmap_1_1Optimizer.html">rtabmap::Optimizer</a>)</td><td class="entry"><a class="el" href="classrtabmap_1_1Optimizer.html">rtabmap::Optimizer</a></td><td class="entry"><span class="mlabel">protected</span></td></tr> <tr bgcolor="#f0f0f0" class="even"><td class="entry"><b>Optimizer</b>(const ParametersMap &amp;parameters) (defined in <a class="el" href="classrtabmap_1_1Optimizer.html">rtabmap::Optimizer</a>)</td><td class="entry"><a class="el" href="classrtabmap_1_1Optimizer.html">rtabmap::Optimizer</a></td><td class="entry"><span class="mlabel">protected</span></td></tr>
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@@ -154,9 +154,9 @@ bool&#160;</td><td class="memItemRight" valign="bottom"><b>saveGraph</b> (const
<tr class="memitem:a7e3aff943e77603493a358ff522fa2dc inherit pub_methods_classrtabmap_1_1Optimizer" id="r_a7e3aff943e77603493a358ff522fa2dc"><td class="memItemLeft" align="right" valign="top">std::map&lt; int, <a class="el" href="classrtabmap_1_1Transform.html">Transform</a> &gt;&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classrtabmap_1_1Optimizer.html#a7e3aff943e77603493a358ff522fa2dc">optimize</a> (int rootId, const std::map&lt; int, <a class="el" href="classrtabmap_1_1Transform.html">Transform</a> &gt; &amp;poses, const std::multimap&lt; int, <a class="el" href="classrtabmap_1_1Link.html">Link</a> &gt; &amp;constraints, std::list&lt; std::map&lt; int, <a class="el" href="classrtabmap_1_1Transform.html">Transform</a> &gt; &gt; *intermediateGraphes=0, double *finalError=0, int *iterationsDone=0)</td></tr> <tr class="memitem:a7e3aff943e77603493a358ff522fa2dc inherit pub_methods_classrtabmap_1_1Optimizer" id="r_a7e3aff943e77603493a358ff522fa2dc"><td class="memItemLeft" align="right" valign="top">std::map&lt; int, <a class="el" href="classrtabmap_1_1Transform.html">Transform</a> &gt;&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classrtabmap_1_1Optimizer.html#a7e3aff943e77603493a358ff522fa2dc">optimize</a> (int rootId, const std::map&lt; int, <a class="el" href="classrtabmap_1_1Transform.html">Transform</a> &gt; &amp;poses, const std::multimap&lt; int, <a class="el" href="classrtabmap_1_1Link.html">Link</a> &gt; &amp;constraints, std::list&lt; std::map&lt; int, <a class="el" href="classrtabmap_1_1Transform.html">Transform</a> &gt; &gt; *intermediateGraphes=0, double *finalError=0, int *iterationsDone=0)</td></tr>
<tr class="memdesc:a7e3aff943e77603493a358ff522fa2dc inherit pub_methods_classrtabmap_1_1Optimizer"><td class="mdescLeft">&#160;</td><td class="mdescRight">Pose-graph optimization (single shot). <br /></td></tr> <tr class="memdesc:a7e3aff943e77603493a358ff522fa2dc inherit pub_methods_classrtabmap_1_1Optimizer"><td class="mdescLeft">&#160;</td><td class="mdescRight">Pose-graph optimization (single shot). <br /></td></tr>
<tr class="separator:a7e3aff943e77603493a358ff522fa2dc inherit pub_methods_classrtabmap_1_1Optimizer"><td class="memSeparator" colspan="2">&#160;</td></tr> <tr class="separator:a7e3aff943e77603493a358ff522fa2dc inherit pub_methods_classrtabmap_1_1Optimizer"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a038e8df970ab744f6f4ba7027f62b263 inherit pub_methods_classrtabmap_1_1Optimizer" id="r_a038e8df970ab744f6f4ba7027f62b263"><td class="memItemLeft" align="right" valign="top">virtual std::map&lt; int, <a class="el" href="classrtabmap_1_1Transform.html">Transform</a> &gt;&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classrtabmap_1_1Optimizer.html#a038e8df970ab744f6f4ba7027f62b263">optimizeBA</a> (int rootId, const std::map&lt; int, <a class="el" href="classrtabmap_1_1Transform.html">Transform</a> &gt; &amp;poses, const std::multimap&lt; int, <a class="el" href="classrtabmap_1_1Link.html">Link</a> &gt; &amp;links, const std::map&lt; int, std::vector&lt; <a class="el" href="classrtabmap_1_1CameraModel.html">CameraModel</a> &gt; &gt; &amp;models, std::map&lt; int, cv::Point3f &gt; &amp;points3DMap, const std::map&lt; int, std::map&lt; int, <a class="el" href="classrtabmap_1_1FeatureBA.html">FeatureBA</a> &gt; &gt; &amp;wordReferences, std::set&lt; int &gt; *outliers=0)</td></tr> <tr class="memitem:a1122f017f10105f7e6c14039d41709e5 inherit pub_methods_classrtabmap_1_1Optimizer" id="r_a1122f017f10105f7e6c14039d41709e5"><td class="memItemLeft" align="right" valign="top">virtual std::map&lt; int, <a class="el" href="classrtabmap_1_1Transform.html">Transform</a> &gt;&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classrtabmap_1_1Optimizer.html#a1122f017f10105f7e6c14039d41709e5">optimizeBA</a> (int rootId, const std::map&lt; int, <a class="el" href="classrtabmap_1_1Transform.html">Transform</a> &gt; &amp;poses, const std::multimap&lt; int, <a class="el" href="classrtabmap_1_1Link.html">Link</a> &gt; &amp;links, const std::map&lt; int, std::vector&lt; <a class="el" href="classrtabmap_1_1CameraModel.html">CameraModel</a> &gt; &gt; &amp;models, std::map&lt; int, cv::Point3f &gt; &amp;points3DMap, const std::map&lt; int, std::map&lt; int, <a class="el" href="classrtabmap_1_1FeatureBA.html">FeatureBA</a> &gt; &gt; &amp;wordReferences, BAOutliers *outliers=0)</td></tr>
<tr class="memdesc:a038e8df970ab744f6f4ba7027f62b263 inherit pub_methods_classrtabmap_1_1Optimizer"><td class="mdescLeft">&#160;</td><td class="mdescRight">Bundle adjustment: jointly refine poses and 3D points (back-end-level entry point). <br /></td></tr> <tr class="memdesc:a1122f017f10105f7e6c14039d41709e5 inherit pub_methods_classrtabmap_1_1Optimizer"><td class="mdescLeft">&#160;</td><td class="mdescRight">Bundle adjustment: jointly refine poses and 3D points (back-end-level entry point). <br /></td></tr>
<tr class="separator:a038e8df970ab744f6f4ba7027f62b263 inherit pub_methods_classrtabmap_1_1Optimizer"><td class="memSeparator" colspan="2">&#160;</td></tr> <tr class="separator:a1122f017f10105f7e6c14039d41709e5 inherit pub_methods_classrtabmap_1_1Optimizer"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a2f7cbdebed9787ffa6b0b30536dfa1a0 inherit pub_methods_classrtabmap_1_1Optimizer" id="r_a2f7cbdebed9787ffa6b0b30536dfa1a0"><td class="memItemLeft" align="right" valign="top">std::map&lt; int, <a class="el" href="classrtabmap_1_1Transform.html">Transform</a> &gt;&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classrtabmap_1_1Optimizer.html#a2f7cbdebed9787ffa6b0b30536dfa1a0">optimizeBA</a> (int rootId, const std::map&lt; int, <a class="el" href="classrtabmap_1_1Transform.html">Transform</a> &gt; &amp;poses, const std::multimap&lt; int, <a class="el" href="classrtabmap_1_1Link.html">Link</a> &gt; &amp;links, const std::map&lt; int, <a class="el" href="classrtabmap_1_1Signature.html">Signature</a> &gt; &amp;signatures, std::map&lt; int, cv::Point3f &gt; &amp;points3DMap, std::map&lt; int, std::map&lt; int, <a class="el" href="classrtabmap_1_1FeatureBA.html">FeatureBA</a> &gt; &gt; &amp;wordReferences, bool rematchFeatures=false, const <a class="el" href="namespacertabmap.html#ad08b6f1796a27dd7316c99c385e2cc55">ParametersMap</a> &amp;registrationParameters=<a class="el" href="namespacertabmap.html#ad08b6f1796a27dd7316c99c385e2cc55">ParametersMap</a>())</td></tr> <tr class="memitem:a2f7cbdebed9787ffa6b0b30536dfa1a0 inherit pub_methods_classrtabmap_1_1Optimizer" id="r_a2f7cbdebed9787ffa6b0b30536dfa1a0"><td class="memItemLeft" align="right" valign="top">std::map&lt; int, <a class="el" href="classrtabmap_1_1Transform.html">Transform</a> &gt;&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classrtabmap_1_1Optimizer.html#a2f7cbdebed9787ffa6b0b30536dfa1a0">optimizeBA</a> (int rootId, const std::map&lt; int, <a class="el" href="classrtabmap_1_1Transform.html">Transform</a> &gt; &amp;poses, const std::multimap&lt; int, <a class="el" href="classrtabmap_1_1Link.html">Link</a> &gt; &amp;links, const std::map&lt; int, <a class="el" href="classrtabmap_1_1Signature.html">Signature</a> &gt; &amp;signatures, std::map&lt; int, cv::Point3f &gt; &amp;points3DMap, std::map&lt; int, std::map&lt; int, <a class="el" href="classrtabmap_1_1FeatureBA.html">FeatureBA</a> &gt; &gt; &amp;wordReferences, bool rematchFeatures=false, const <a class="el" href="namespacertabmap.html#ad08b6f1796a27dd7316c99c385e2cc55">ParametersMap</a> &amp;registrationParameters=<a class="el" href="namespacertabmap.html#ad08b6f1796a27dd7316c99c385e2cc55">ParametersMap</a>())</td></tr>
<tr class="memdesc:a2f7cbdebed9787ffa6b0b30536dfa1a0 inherit pub_methods_classrtabmap_1_1Optimizer"><td class="mdescLeft">&#160;</td><td class="mdescRight">BA wrapper that derives camera models and correspondences from signatures. <br /></td></tr> <tr class="memdesc:a2f7cbdebed9787ffa6b0b30536dfa1a0 inherit pub_methods_classrtabmap_1_1Optimizer"><td class="mdescLeft">&#160;</td><td class="mdescRight">BA wrapper that derives camera models and correspondences from signatures. <br /></td></tr>
<tr class="separator:a2f7cbdebed9787ffa6b0b30536dfa1a0 inherit pub_methods_classrtabmap_1_1Optimizer"><td class="memSeparator" colspan="2">&#160;</td></tr> <tr class="separator:a2f7cbdebed9787ffa6b0b30536dfa1a0 inherit pub_methods_classrtabmap_1_1Optimizer"><td class="memSeparator" colspan="2">&#160;</td></tr>
@@ -164,9 +164,9 @@ bool&#160;</td><td class="memItemRight" valign="bottom"><b>saveGraph</b> (const
std::map&lt; int, <a class="el" href="classrtabmap_1_1Transform.html">Transform</a> &gt;&#160;</td><td class="memItemRight" valign="bottom"><b>optimizeBA</b> (int rootId, const std::map&lt; int, <a class="el" href="classrtabmap_1_1Transform.html">Transform</a> &gt; &amp;poses, const std::multimap&lt; int, <a class="el" href="classrtabmap_1_1Link.html">Link</a> &gt; &amp;links, const std::map&lt; int, <a class="el" href="classrtabmap_1_1Signature.html">Signature</a> &gt; &amp;signatures, bool rematchFeatures=false, const <a class="el" href="namespacertabmap.html#ad08b6f1796a27dd7316c99c385e2cc55">ParametersMap</a> &amp;registrationParameters=<a class="el" href="namespacertabmap.html#ad08b6f1796a27dd7316c99c385e2cc55">ParametersMap</a>())</td></tr> std::map&lt; int, <a class="el" href="classrtabmap_1_1Transform.html">Transform</a> &gt;&#160;</td><td class="memItemRight" valign="bottom"><b>optimizeBA</b> (int rootId, const std::map&lt; int, <a class="el" href="classrtabmap_1_1Transform.html">Transform</a> &gt; &amp;poses, const std::multimap&lt; int, <a class="el" href="classrtabmap_1_1Link.html">Link</a> &gt; &amp;links, const std::map&lt; int, <a class="el" href="classrtabmap_1_1Signature.html">Signature</a> &gt; &amp;signatures, bool rematchFeatures=false, const <a class="el" href="namespacertabmap.html#ad08b6f1796a27dd7316c99c385e2cc55">ParametersMap</a> &amp;registrationParameters=<a class="el" href="namespacertabmap.html#ad08b6f1796a27dd7316c99c385e2cc55">ParametersMap</a>())</td></tr>
<tr class="memdesc:aab99f045516162944ad68fdabacb53dc inherit pub_methods_classrtabmap_1_1Optimizer"><td class="mdescLeft">&#160;</td><td class="mdescRight">BA convenience wrapper: like the overload above but ignores the refined 3D points and observation map. <br /></td></tr> <tr class="memdesc:aab99f045516162944ad68fdabacb53dc inherit pub_methods_classrtabmap_1_1Optimizer"><td class="mdescLeft">&#160;</td><td class="mdescRight">BA convenience wrapper: like the overload above but ignores the refined 3D points and observation map. <br /></td></tr>
<tr class="separator:aab99f045516162944ad68fdabacb53dc inherit pub_methods_classrtabmap_1_1Optimizer"><td class="memSeparator" colspan="2">&#160;</td></tr> <tr class="separator:aab99f045516162944ad68fdabacb53dc inherit pub_methods_classrtabmap_1_1Optimizer"><td class="memSeparator" colspan="2">&#160;</td></tr>
<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>&#160;</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> &amp;link, const <a class="el" href="classrtabmap_1_1CameraModel.html">CameraModel</a> &amp;model, std::map&lt; int, cv::Point3f &gt; &amp;points3DMap, const std::map&lt; int, std::map&lt; int, <a class="el" href="classrtabmap_1_1FeatureBA.html">FeatureBA</a> &gt; &gt; &amp;wordReferences, std::set&lt; int &gt; *outliers=0)</td></tr> <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>&#160;</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> &amp;link, const <a class="el" href="classrtabmap_1_1CameraModel.html">CameraModel</a> &amp;model, std::map&lt; int, cv::Point3f &gt; &amp;points3DMap, const std::map&lt; int, std::map&lt; int, <a class="el" href="classrtabmap_1_1FeatureBA.html">FeatureBA</a> &gt; &gt; &amp;wordReferences, BAOutliers *outliers=0)</td></tr>
<tr class="memdesc:ad6b32a9697837f03941773f6a5bbf91c inherit pub_methods_classrtabmap_1_1Optimizer"><td class="mdescLeft">&#160;</td><td class="mdescRight">Refine a single two-frame link via BA. <br /></td></tr> <tr class="memdesc:aedaeb7cc371f3685f8595d9a151f6605 inherit pub_methods_classrtabmap_1_1Optimizer"><td class="mdescLeft">&#160;</td><td class="mdescRight">Refine a single two-frame link via BA. <br /></td></tr>
<tr class="separator:ad6b32a9697837f03941773f6a5bbf91c inherit pub_methods_classrtabmap_1_1Optimizer"><td class="memSeparator" colspan="2">&#160;</td></tr> <tr class="separator:aedaeb7cc371f3685f8595d9a151f6605 inherit pub_methods_classrtabmap_1_1Optimizer"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a93fb09dac068e64de000f692bcb8216f inherit pub_methods_classrtabmap_1_1Optimizer" id="r_a93fb09dac068e64de000f692bcb8216f"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classrtabmap_1_1Optimizer.html#a93fb09dac068e64de000f692bcb8216f">computeBACorrespondences</a> (const std::map&lt; int, <a class="el" href="classrtabmap_1_1Transform.html">Transform</a> &gt; &amp;poses, const std::multimap&lt; int, <a class="el" href="classrtabmap_1_1Link.html">Link</a> &gt; &amp;links, const std::map&lt; int, <a class="el" href="classrtabmap_1_1Signature.html">Signature</a> &gt; &amp;signatures, std::map&lt; int, cv::Point3f &gt; &amp;points3DMap, std::map&lt; int, std::map&lt; int, <a class="el" href="classrtabmap_1_1FeatureBA.html">FeatureBA</a> &gt; &gt; &amp;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> <tr class="memitem:a93fb09dac068e64de000f692bcb8216f inherit pub_methods_classrtabmap_1_1Optimizer" id="r_a93fb09dac068e64de000f692bcb8216f"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classrtabmap_1_1Optimizer.html#a93fb09dac068e64de000f692bcb8216f">computeBACorrespondences</a> (const std::map&lt; int, <a class="el" href="classrtabmap_1_1Transform.html">Transform</a> &gt; &amp;poses, const std::multimap&lt; int, <a class="el" href="classrtabmap_1_1Link.html">Link</a> &gt; &amp;links, const std::map&lt; int, <a class="el" href="classrtabmap_1_1Signature.html">Signature</a> &gt; &amp;signatures, std::map&lt; int, cv::Point3f &gt; &amp;points3DMap, std::map&lt; int, std::map&lt; int, <a class="el" href="classrtabmap_1_1FeatureBA.html">FeatureBA</a> &gt; &gt; &amp;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>
<tr class="memdesc:a93fb09dac068e64de000f692bcb8216f inherit pub_methods_classrtabmap_1_1Optimizer"><td class="mdescLeft">&#160;</td><td class="mdescRight">Build BA correspondences (3D points + per-frame observations) from signatures. <br /></td></tr> <tr class="memdesc:a93fb09dac068e64de000f692bcb8216f inherit pub_methods_classrtabmap_1_1Optimizer"><td class="mdescLeft">&#160;</td><td class="mdescRight">Build BA correspondences (3D points + per-frame observations) from signatures. <br /></td></tr>
<tr class="separator:a93fb09dac068e64de000f692bcb8216f inherit pub_methods_classrtabmap_1_1Optimizer"><td class="memSeparator" colspan="2">&#160;</td></tr> <tr class="separator:a93fb09dac068e64de000f692bcb8216f inherit pub_methods_classrtabmap_1_1Optimizer"><td class="memSeparator" colspan="2">&#160;</td></tr>
api/latest/functions_func_o.html
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@@ -119,7 +119,7 @@ $(document).ready(function(){initNavTree('functions_func_o.html',''); initResiza
<li>operator+=()&#160;:&#160;<a class="el" href="classrtabmap_1_1LaserScan.html#af9f9a32f97cfbac321fc2509f0d1bd04">rtabmap::LaserScan</a></li> <li>operator+=()&#160;:&#160;<a class="el" href="classrtabmap_1_1LaserScan.html#af9f9a32f97cfbac321fc2509f0d1bd04">rtabmap::LaserScan</a></li>
<li>opticalRotation()&#160;:&#160;<a class="el" href="classrtabmap_1_1CameraModel.html#a0853af9d0117565311da4ffc3965f8d2">rtabmap::CameraModel</a></li> <li>opticalRotation()&#160;:&#160;<a class="el" href="classrtabmap_1_1CameraModel.html#a0853af9d0117565311da4ffc3965f8d2">rtabmap::CameraModel</a></li>
<li>optimize()&#160;:&#160;<a class="el" href="classrtabmap_1_1Optimizer.html#a7e3aff943e77603493a358ff522fa2dc">rtabmap::Optimizer</a>, <a class="el" href="classrtabmap_1_1OptimizerCeres.html#ab988decf55da4a8821931855ddaa1c1a">rtabmap::OptimizerCeres</a>, <a class="el" href="classrtabmap_1_1OptimizerG2O.html#a9400bdf57331af310cf6b02e661d0a03">rtabmap::OptimizerG2O</a>, <a class="el" href="classrtabmap_1_1OptimizerGTSAM.html#a4905d84cfc59516eef21ea89064c31ba">rtabmap::OptimizerGTSAM</a>, <a class="el" href="classrtabmap_1_1OptimizerTORO.html#a025b40902f0ea048bdbfee9ed4ebc0f3">rtabmap::OptimizerTORO</a></li> <li>optimize()&#160;:&#160;<a class="el" href="classrtabmap_1_1Optimizer.html#a7e3aff943e77603493a358ff522fa2dc">rtabmap::Optimizer</a>, <a class="el" href="classrtabmap_1_1OptimizerCeres.html#ab988decf55da4a8821931855ddaa1c1a">rtabmap::OptimizerCeres</a>, <a class="el" href="classrtabmap_1_1OptimizerG2O.html#a9400bdf57331af310cf6b02e661d0a03">rtabmap::OptimizerG2O</a>, <a class="el" href="classrtabmap_1_1OptimizerGTSAM.html#a4905d84cfc59516eef21ea89064c31ba">rtabmap::OptimizerGTSAM</a>, <a class="el" href="classrtabmap_1_1OptimizerTORO.html#a025b40902f0ea048bdbfee9ed4ebc0f3">rtabmap::OptimizerTORO</a></li>
<li>optimizeBA()&#160;:&#160;<a class="el" href="classrtabmap_1_1Optimizer.html#a038e8df970ab744f6f4ba7027f62b263">rtabmap::Optimizer</a>, <a class="el" href="classrtabmap_1_1OptimizerCeres.html#a5057dd09f74610f3092bb597f6af0413">rtabmap::OptimizerCeres</a>, <a class="el" href="classrtabmap_1_1OptimizerCVSBA.html#ad6ff3fec8e75ab76290da5763022a903">rtabmap::OptimizerCVSBA</a>, <a class="el" href="classrtabmap_1_1OptimizerG2O.html#a17edfbaeee93d32153782f61212a88f0">rtabmap::OptimizerG2O</a>, <a class="el" href="classrtabmap_1_1OptimizerGTSAM.html#a7a2033a466505f8c2191b8329b5b342c">rtabmap::OptimizerGTSAM</a></li> <li>optimizeBA()&#160;:&#160;<a class="el" href="classrtabmap_1_1Optimizer.html#a1122f017f10105f7e6c14039d41709e5">rtabmap::Optimizer</a>, <a class="el" href="classrtabmap_1_1OptimizerCeres.html#af5c6d465dc4fa7c9045cd241dae5d077">rtabmap::OptimizerCeres</a>, <a class="el" href="classrtabmap_1_1OptimizerCVSBA.html#a48fce33707a004a0d89db99c1c39d999">rtabmap::OptimizerCVSBA</a>, <a class="el" href="classrtabmap_1_1OptimizerG2O.html#af808c77c716d30691670c18955f08f61">rtabmap::OptimizerG2O</a>, <a class="el" href="classrtabmap_1_1OptimizerGTSAM.html#a8009ace7ad9f50214bc359421546a54b">rtabmap::OptimizerGTSAM</a></li>
<li>optimizeIncremental()&#160;:&#160;<a class="el" href="classrtabmap_1_1Optimizer.html#a278f42e0d250085ac6fe9ed425627acf">rtabmap::Optimizer</a></li> <li>optimizeIncremental()&#160;:&#160;<a class="el" href="classrtabmap_1_1Optimizer.html#a278f42e0d250085ac6fe9ed425627acf">rtabmap::Optimizer</a></li>
<li>orientation()&#160;:&#160;<a class="el" href="classrtabmap_1_1IMU.html#a2160e6d59e4f9e3ffc84a2b7d62bdabd">rtabmap::IMU</a></li> <li>orientation()&#160;:&#160;<a class="el" href="classrtabmap_1_1IMU.html#a2160e6d59e4f9e3ffc84a2b7d62bdabd">rtabmap::IMU</a></li>
<li>orientationCovariance()&#160;:&#160;<a class="el" href="classrtabmap_1_1IMU.html#ab7668040b92bfa5532c5e1c19ddbf429">rtabmap::IMU</a></li> <li>orientationCovariance()&#160;:&#160;<a class="el" href="classrtabmap_1_1IMU.html#ab7668040b92bfa5532c5e1c19ddbf429">rtabmap::IMU</a></li>
api/latest/functions_o.html
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@@ -123,7 +123,7 @@ $(document).ready(function(){initNavTree('functions_o.html',''); initResizable()
<li>operator+=()&#160;:&#160;<a class="el" href="classrtabmap_1_1LaserScan.html#af9f9a32f97cfbac321fc2509f0d1bd04">rtabmap::LaserScan</a></li> <li>operator+=()&#160;:&#160;<a class="el" href="classrtabmap_1_1LaserScan.html#af9f9a32f97cfbac321fc2509f0d1bd04">rtabmap::LaserScan</a></li>
<li>opticalRotation()&#160;:&#160;<a class="el" href="classrtabmap_1_1CameraModel.html#a0853af9d0117565311da4ffc3965f8d2">rtabmap::CameraModel</a></li> <li>opticalRotation()&#160;:&#160;<a class="el" href="classrtabmap_1_1CameraModel.html#a0853af9d0117565311da4ffc3965f8d2">rtabmap::CameraModel</a></li>
<li>optimize()&#160;:&#160;<a class="el" href="classrtabmap_1_1Optimizer.html#a7e3aff943e77603493a358ff522fa2dc">rtabmap::Optimizer</a>, <a class="el" href="classrtabmap_1_1OptimizerCeres.html#ab988decf55da4a8821931855ddaa1c1a">rtabmap::OptimizerCeres</a>, <a class="el" href="classrtabmap_1_1OptimizerG2O.html#a9400bdf57331af310cf6b02e661d0a03">rtabmap::OptimizerG2O</a>, <a class="el" href="classrtabmap_1_1OptimizerGTSAM.html#a4905d84cfc59516eef21ea89064c31ba">rtabmap::OptimizerGTSAM</a>, <a class="el" href="classrtabmap_1_1OptimizerTORO.html#a025b40902f0ea048bdbfee9ed4ebc0f3">rtabmap::OptimizerTORO</a></li> <li>optimize()&#160;:&#160;<a class="el" href="classrtabmap_1_1Optimizer.html#a7e3aff943e77603493a358ff522fa2dc">rtabmap::Optimizer</a>, <a class="el" href="classrtabmap_1_1OptimizerCeres.html#ab988decf55da4a8821931855ddaa1c1a">rtabmap::OptimizerCeres</a>, <a class="el" href="classrtabmap_1_1OptimizerG2O.html#a9400bdf57331af310cf6b02e661d0a03">rtabmap::OptimizerG2O</a>, <a class="el" href="classrtabmap_1_1OptimizerGTSAM.html#a4905d84cfc59516eef21ea89064c31ba">rtabmap::OptimizerGTSAM</a>, <a class="el" href="classrtabmap_1_1OptimizerTORO.html#a025b40902f0ea048bdbfee9ed4ebc0f3">rtabmap::OptimizerTORO</a></li>
<li>optimizeBA()&#160;:&#160;<a class="el" href="classrtabmap_1_1Optimizer.html#a038e8df970ab744f6f4ba7027f62b263">rtabmap::Optimizer</a>, <a class="el" href="classrtabmap_1_1OptimizerCeres.html#a5057dd09f74610f3092bb597f6af0413">rtabmap::OptimizerCeres</a>, <a class="el" href="classrtabmap_1_1OptimizerCVSBA.html#ad6ff3fec8e75ab76290da5763022a903">rtabmap::OptimizerCVSBA</a>, <a class="el" href="classrtabmap_1_1OptimizerG2O.html#a17edfbaeee93d32153782f61212a88f0">rtabmap::OptimizerG2O</a>, <a class="el" href="classrtabmap_1_1OptimizerGTSAM.html#a7a2033a466505f8c2191b8329b5b342c">rtabmap::OptimizerGTSAM</a></li> <li>optimizeBA()&#160;:&#160;<a class="el" href="classrtabmap_1_1Optimizer.html#a1122f017f10105f7e6c14039d41709e5">rtabmap::Optimizer</a>, <a class="el" href="classrtabmap_1_1OptimizerCeres.html#af5c6d465dc4fa7c9045cd241dae5d077">rtabmap::OptimizerCeres</a>, <a class="el" href="classrtabmap_1_1OptimizerCVSBA.html#a48fce33707a004a0d89db99c1c39d999">rtabmap::OptimizerCVSBA</a>, <a class="el" href="classrtabmap_1_1OptimizerG2O.html#af808c77c716d30691670c18955f08f61">rtabmap::OptimizerG2O</a>, <a class="el" href="classrtabmap_1_1OptimizerGTSAM.html#a8009ace7ad9f50214bc359421546a54b">rtabmap::OptimizerGTSAM</a></li>
<li>optimizeIncremental()&#160;:&#160;<a class="el" href="classrtabmap_1_1Optimizer.html#a278f42e0d250085ac6fe9ed425627acf">rtabmap::Optimizer</a></li> <li>optimizeIncremental()&#160;:&#160;<a class="el" href="classrtabmap_1_1Optimizer.html#a278f42e0d250085ac6fe9ed425627acf">rtabmap::Optimizer</a></li>
<li>orientation()&#160;:&#160;<a class="el" href="classrtabmap_1_1IMU.html#a2160e6d59e4f9e3ffc84a2b7d62bdabd">rtabmap::IMU</a></li> <li>orientation()&#160;:&#160;<a class="el" href="classrtabmap_1_1IMU.html#a2160e6d59e4f9e3ffc84a2b7d62bdabd">rtabmap::IMU</a></li>
<li>orientationCovariance()&#160;:&#160;<a class="el" href="classrtabmap_1_1IMU.html#ab7668040b92bfa5532c5e1c19ddbf429">rtabmap::IMU</a></li> <li>orientationCovariance()&#160;:&#160;<a class="el" href="classrtabmap_1_1IMU.html#ab7668040b92bfa5532c5e1c19ddbf429">rtabmap::IMU</a></li>
api/latest/namespacertabmap.html
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@@ -496,6 +496,8 @@ Typedefs</h2></td></tr>
<tr class="memitem:a12bbfd3e37121bf9f68a4047c8b4da86" id="r_a12bbfd3e37121bf9f68a4047c8b4da86"><td class="memItemLeft" align="right" valign="top">typedef std::map&lt; int, <a class="el" href="classrtabmap_1_1Landmark.html">Landmark</a> &gt;&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="namespacertabmap.html#a12bbfd3e37121bf9f68a4047c8b4da86">Landmarks</a></td></tr> <tr class="memitem:a12bbfd3e37121bf9f68a4047c8b4da86" id="r_a12bbfd3e37121bf9f68a4047c8b4da86"><td class="memItemLeft" align="right" valign="top">typedef std::map&lt; int, <a class="el" href="classrtabmap_1_1Landmark.html">Landmark</a> &gt;&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="namespacertabmap.html#a12bbfd3e37121bf9f68a4047c8b4da86">Landmarks</a></td></tr>
<tr class="memdesc:a12bbfd3e37121bf9f68a4047c8b4da86"><td class="mdescLeft">&#160;</td><td class="mdescRight">Map of landmark id → <a class="el" href="classrtabmap_1_1Landmark.html">Landmark</a> (typically positive keys). <br /></td></tr> <tr class="memdesc:a12bbfd3e37121bf9f68a4047c8b4da86"><td class="mdescLeft">&#160;</td><td class="mdescRight">Map of landmark id → <a class="el" href="classrtabmap_1_1Landmark.html">Landmark</a> (typically positive keys). <br /></td></tr>
<tr class="separator:a12bbfd3e37121bf9f68a4047c8b4da86"><td class="memSeparator" colspan="2">&#160;</td></tr> <tr class="separator:a12bbfd3e37121bf9f68a4047c8b4da86"><td class="memSeparator" colspan="2">&#160;</td></tr>
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<p class="definition">Definition at line <a class="el" href="Landmark_8h_source.html#l00113">113</a> of file <a class="el" href="Landmark_8h_source.html">Landmark.h</a>.</p> <p class="definition">Definition at line <a class="el" href="Landmark_8h_source.html#l00113">113</a> of file <a class="el" href="Landmark_8h_source.html">Landmark.h</a>.</p>
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<td class="memname">typedef std::map&lt;int, std::set&lt;int&gt; &gt; rtabmap::BAOutliers</td>
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<p class="definition">Definition at line <a class="el" href="Optimizer_8h_source.html#l00068">68</a> of file <a class="el" href="Optimizer_8h_source.html">Optimizer.h</a>.</p>
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