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<li class="navelem"><a class="el" href="dir_04d49acea3c42cab2afcd35cb2f2a48f.html">corelib</a></li><li class="navelem"><a class="el" href="dir_e996b11fd4b3a747423759b16a8ba4a6.html">include</a></li><li class="navelem"><a class="el" href="dir_ff01f7bc5399ccf9ff1cc91d1f45726a.html">rtabmap</a></li><li class="navelem"><a class="el" href="dir_884419f21456e80aa47bc1d0c2ab0140.html">core</a></li><li class="navelem"><a class="el" href="dir_3587399b7774227770d0fd39c2d22121.html">optimizer</a></li> </ul>
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<div class="headertitle"><div class="title">OptimizerG2O.h</div></div>
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<div class="contents">
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<div class="fragment"><div class="line"><a id="l00001" name="l00001"></a><span class="lineno"> 1</span><span class="comment">/*</span></div>
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<div class="line"><a id="l00002" name="l00002"></a><span class="lineno"> 2</span><span class="comment">Copyright (c) 2010-2016, Mathieu Labbe - IntRoLab - Universite de Sherbrooke</span></div>
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<div class="line"><a id="l00003" name="l00003"></a><span class="lineno"> 3</span><span class="comment">All rights reserved.</span></div>
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<div class="line"><a id="l00004" name="l00004"></a><span class="lineno"> 4</span><span class="comment"></span> </div>
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<div class="line"><a id="l00005" name="l00005"></a><span class="lineno"> 5</span><span class="comment">Redistribution and use in source and binary forms, with or without</span></div>
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<div class="line"><a id="l00006" name="l00006"></a><span class="lineno"> 6</span><span class="comment">modification, are permitted provided that the following conditions are met:</span></div>
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<div class="line"><a id="l00007" name="l00007"></a><span class="lineno"> 7</span><span class="comment"> * Redistributions of source code must retain the above copyright</span></div>
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<div class="line"><a id="l00008" name="l00008"></a><span class="lineno"> 8</span><span class="comment"> notice, this list of conditions and the following disclaimer.</span></div>
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<div class="line"><a id="l00009" name="l00009"></a><span class="lineno"> 9</span><span class="comment"> * Redistributions in binary form must reproduce the above copyright</span></div>
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<div class="line"><a id="l00010" name="l00010"></a><span class="lineno"> 10</span><span class="comment"> notice, this list of conditions and the following disclaimer in the</span></div>
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||||
<div class="line"><a id="l00011" name="l00011"></a><span class="lineno"> 11</span><span class="comment"> documentation and/or other materials provided with the distribution.</span></div>
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<div class="line"><a id="l00012" name="l00012"></a><span class="lineno"> 12</span><span class="comment"> * Neither the name of the Universite de Sherbrooke nor the</span></div>
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<div class="line"><a id="l00013" name="l00013"></a><span class="lineno"> 13</span><span class="comment"> names of its contributors may be used to endorse or promote products</span></div>
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<div class="line"><a id="l00014" name="l00014"></a><span class="lineno"> 14</span><span class="comment"> derived from this software without specific prior written permission.</span></div>
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<div class="line"><a id="l00015" name="l00015"></a><span class="lineno"> 15</span><span class="comment"></span> </div>
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<div class="line"><a id="l00016" name="l00016"></a><span class="lineno"> 16</span><span class="comment">THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND</span></div>
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<div class="line"><a id="l00017" name="l00017"></a><span class="lineno"> 17</span><span class="comment">ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED</span></div>
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<div class="line"><a id="l00018" name="l00018"></a><span class="lineno"> 18</span><span class="comment">WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE</span></div>
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<div class="line"><a id="l00019" name="l00019"></a><span class="lineno"> 19</span><span class="comment">DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY</span></div>
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<div class="line"><a id="l00020" name="l00020"></a><span class="lineno"> 20</span><span class="comment">DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES</span></div>
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||||
<div class="line"><a id="l00021" name="l00021"></a><span class="lineno"> 21</span><span class="comment">(INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;</span></div>
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||||
<div class="line"><a id="l00022" name="l00022"></a><span class="lineno"> 22</span><span class="comment">LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND</span></div>
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||||
<div class="line"><a id="l00023" name="l00023"></a><span class="lineno"> 23</span><span class="comment">ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT</span></div>
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||||
<div class="line"><a id="l00024" name="l00024"></a><span class="lineno"> 24</span><span class="comment">(INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS</span></div>
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<div class="line"><a id="l00025" name="l00025"></a><span class="lineno"> 25</span><span class="comment">SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.</span></div>
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<div class="line"><a id="l00026" name="l00026"></a><span class="lineno"> 26</span><span class="comment">*/</span></div>
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<div class="line"><a id="l00027" name="l00027"></a><span class="lineno"> 27</span> </div>
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<div class="line"><a id="l00028" name="l00028"></a><span class="lineno"> 28</span><span class="preprocessor">#ifndef OPTIMIZERG2O_H_</span></div>
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<div class="line"><a id="l00029" name="l00029"></a><span class="lineno"> 29</span><span class="preprocessor">#define OPTIMIZERG2O_H_</span></div>
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<div class="line"><a id="l00030" name="l00030"></a><span class="lineno"> 30</span> </div>
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<div class="line"><a id="l00031" name="l00031"></a><span class="lineno"> 31</span><span class="preprocessor">#include "rtabmap/core/rtabmap_core_export.h"</span> <span class="comment">// DLL export/import defines</span></div>
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<div class="line"><a id="l00032" name="l00032"></a><span class="lineno"> 32</span> </div>
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<div class="line"><a id="l00033" name="l00033"></a><span class="lineno"> 33</span><span class="preprocessor">#include <rtabmap/core/Optimizer.h></span></div>
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<div class="line"><a id="l00034" name="l00034"></a><span class="lineno"> 34</span> </div>
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<div class="line"><a id="l00035" name="l00035"></a><span class="lineno"> 35</span><span class="keyword">namespace </span><a class="code hl_namespace" href="namespacertabmap.html">rtabmap</a> {</div>
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<div class="line"><a id="l00036" name="l00036"></a><span class="lineno"> 36</span> </div>
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<div class="foldopen" id="foldopen00037" data-start="{" data-end="};">
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<div class="line"><a id="l00037" name="l00037"></a><span class="lineno"><a class="line" href="classrtabmap_1_1OptimizerG2O.html"> 37</a></span><span class="keyword">class </span>RTABMAP_CORE_EXPORT <a class="code hl_class" href="classrtabmap_1_1OptimizerG2O.html">OptimizerG2O</a> : <span class="keyword">public</span> <a class="code hl_class" href="classrtabmap_1_1Optimizer.html">Optimizer</a></div>
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<div class="line"><a id="l00038" name="l00038"></a><span class="lineno"> 38</span>{</div>
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<div class="line"><a id="l00039" name="l00039"></a><span class="lineno"> 39</span><span class="keyword">public</span>:</div>
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<div class="line"><a id="l00040" name="l00040"></a><span class="lineno"> 40</span> <span class="keyword">static</span> <span class="keywordtype">bool</span> available();</div>
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<div class="line"><a id="l00041" name="l00041"></a><span class="lineno"> 41</span> <span class="keyword">static</span> <span class="keywordtype">bool</span> isCSparseAvailable();</div>
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<div class="line"><a id="l00042" name="l00042"></a><span class="lineno"> 42</span> <span class="keyword">static</span> <span class="keywordtype">bool</span> isCholmodAvailable();</div>
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<div class="line"><a id="l00043" name="l00043"></a><span class="lineno"> 43</span> </div>
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<div class="line"><a id="l00044" name="l00044"></a><span class="lineno"> 44</span><span class="keyword">public</span>:</div>
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<div class="line"><a id="l00045" name="l00045"></a><span class="lineno"> 45</span> <span class="keyword">static</span> <span class="keywordtype">bool</span> loadGraph(</div>
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<div class="line"><a id="l00046" name="l00046"></a><span class="lineno"> 46</span> <span class="keyword">const</span> std::string & fileName,</div>
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<div class="line"><a id="l00047" name="l00047"></a><span class="lineno"> 47</span> std::map<int, Transform> & poses,</div>
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<div class="line"><a id="l00048" name="l00048"></a><span class="lineno"> 48</span> std::multimap<int, Link> & edgeConstraints);</div>
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<div class="line"><a id="l00049" name="l00049"></a><span class="lineno"> 49</span> </div>
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<div class="line"><a id="l00050" name="l00050"></a><span class="lineno"> 50</span><span class="keyword">public</span>:</div>
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<div class="line"><a id="l00051" name="l00051"></a><span class="lineno"> 51</span> <a class="code hl_class" href="classrtabmap_1_1OptimizerG2O.html">OptimizerG2O</a>(<span class="keyword">const</span> ParametersMap & parameters = ParametersMap());</div>
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<div class="line"><a id="l00052" name="l00052"></a><span class="lineno"> 52</span> <span class="keyword">virtual</span> <a class="code hl_class" href="classrtabmap_1_1OptimizerG2O.html">~OptimizerG2O</a>() {}</div>
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<div class="line"><a id="l00053" name="l00053"></a><span class="lineno"> 53</span> </div>
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<div class="line"><a id="l00054" name="l00054"></a><span class="lineno"><a class="line" href="classrtabmap_1_1OptimizerG2O.html#af69edaad65a7f7f936fa99f8c617e10b"> 54</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_1OptimizerG2O.html#af69edaad65a7f7f936fa99f8c617e10b">type</a>()<span class="keyword"> const </span>{<span class="keywordflow">return</span> kTypeG2O;}</div>
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||||
<div class="line"><a id="l00055" name="l00055"></a><span class="lineno"> 55</span> </div>
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<div class="line"><a id="l00056" name="l00056"></a><span class="lineno"><a class="line" href="classrtabmap_1_1OptimizerG2O.html#a07b598444b99584b6f2bed6baca5e8bb"> 56</a></span> <span class="keyword">virtual</span> <span class="keywordtype">void</span> <a class="code hl_function" href="classrtabmap_1_1OptimizerG2O.html#a07b598444b99584b6f2bed6baca5e8bb">parseParameters</a>(<span class="keyword">const</span> ParametersMap & parameters);</div>
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<div class="line"><a id="l00057" name="l00057"></a><span class="lineno"> 57</span> </div>
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<div class="line"><a id="l00058" name="l00058"></a><span class="lineno"><a class="line" href="classrtabmap_1_1OptimizerG2O.html#a9400bdf57331af310cf6b02e661d0a03"> 58</a></span> <span class="keyword">virtual</span> std::map<int, Transform> <a class="code hl_function" href="classrtabmap_1_1OptimizerG2O.html#a9400bdf57331af310cf6b02e661d0a03">optimize</a>(</div>
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<div class="line"><a id="l00059" name="l00059"></a><span class="lineno"> 59</span> <span class="keywordtype">int</span> rootId,</div>
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<div class="line"><a id="l00060" name="l00060"></a><span class="lineno"> 60</span> <span class="keyword">const</span> std::map<int, Transform> & poses,</div>
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<div class="line"><a id="l00061" name="l00061"></a><span class="lineno"> 61</span> <span class="keyword">const</span> std::multimap<int, Link> & edgeConstraints,</div>
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<div class="line"><a id="l00062" name="l00062"></a><span class="lineno"> 62</span> cv::Mat & outputCovariance,</div>
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<div class="line"><a id="l00063" name="l00063"></a><span class="lineno"> 63</span> std::list<std::map<int, Transform> > * intermediateGraphes = 0,</div>
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||||
<div class="line"><a id="l00064" name="l00064"></a><span class="lineno"> 64</span> <span class="keywordtype">double</span> * finalError = 0,</div>
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||||
<div class="line"><a id="l00065" name="l00065"></a><span class="lineno"> 65</span> <span class="keywordtype">int</span> * iterationsDone = 0);</div>
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||||
<div class="line"><a id="l00066" name="l00066"></a><span class="lineno"> 66</span> </div>
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||||
<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<int, Transform> <a class="code hl_function" href="classrtabmap_1_1OptimizerG2O.html#a17edfbaeee93d32153782f61212a88f0">optimizeBA</a>(</div>
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||||
<div class="line"><a id="l00068" name="l00068"></a><span class="lineno"> 68</span> <span class="keywordtype">int</span> rootId,</div>
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<div class="line"><a id="l00069" name="l00069"></a><span class="lineno"> 69</span> <span class="keyword">const</span> std::map<int, Transform> & poses,</div>
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<div class="line"><a id="l00070" name="l00070"></a><span class="lineno"> 70</span> <span class="keyword">const</span> std::multimap<int, Link> & links,</div>
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||||
<div class="line"><a id="l00071" name="l00071"></a><span class="lineno"> 71</span> <span class="keyword">const</span> std::map<<span class="keywordtype">int</span>, std::vector<CameraModel> > & models, <span class="comment">// in case of stereo, Tx should be set</span></div>
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||||
<div class="line"><a id="l00072" name="l00072"></a><span class="lineno"> 72</span> std::map<int, cv::Point3f> & points3DMap,</div>
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||||
<div class="line"><a id="l00073" name="l00073"></a><span class="lineno"> 73</span> <span class="keyword">const</span> std::map<<span class="keywordtype">int</span>, std::map<int, FeatureBA> > & wordReferences, <span class="comment">// <ID words, IDs frames + keypoint(x,y,depth)></span></div>
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||||
<div class="line"><a id="l00074" name="l00074"></a><span class="lineno"> 74</span> std::set<int> * outliers = 0);</div>
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<div class="line"><a id="l00075" name="l00075"></a><span class="lineno"> 75</span> </div>
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<div class="line"><a id="l00076" name="l00076"></a><span class="lineno"> 76</span> <span class="keywordtype">bool</span> saveGraph(</div>
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<div class="line"><a id="l00077" name="l00077"></a><span class="lineno"> 77</span> <span class="keyword">const</span> std::string & fileName,</div>
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||||
<div class="line"><a id="l00078" name="l00078"></a><span class="lineno"> 78</span> <span class="keyword">const</span> std::map<int, Transform> & poses,</div>
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||||
<div class="line"><a id="l00079" name="l00079"></a><span class="lineno"> 79</span> <span class="keyword">const</span> std::multimap<int, Link> & edgeConstraints);</div>
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||||
<div class="line"><a id="l00080" name="l00080"></a><span class="lineno"> 80</span> </div>
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<div class="line"><a id="l00081" name="l00081"></a><span class="lineno"> 81</span><span class="keyword">private</span>:</div>
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<div class="line"><a id="l00082" name="l00082"></a><span class="lineno"> 82</span> <span class="keywordtype">int</span> solver_;</div>
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<div class="line"><a id="l00083" name="l00083"></a><span class="lineno"> 83</span> <span class="keywordtype">int</span> optimizer_;</div>
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<div class="line"><a id="l00084" name="l00084"></a><span class="lineno"> 84</span> <span class="keywordtype">double</span> pixelVariance_;</div>
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<div class="line"><a id="l00085" name="l00085"></a><span class="lineno"> 85</span> <span class="keywordtype">double</span> disparityVariance_;</div>
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<div class="line"><a id="l00086" name="l00086"></a><span class="lineno"> 86</span> <span class="keywordtype">double</span> robustKernelDelta_;</div>
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<div class="line"><a id="l00087" name="l00087"></a><span class="lineno"> 87</span> <span class="keywordtype">double</span> baseline_;</div>
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<div class="line"><a id="l00088" name="l00088"></a><span class="lineno"> 88</span>};</div>
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</div>
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<div class="line"><a id="l00089" name="l00089"></a><span class="lineno"> 89</span> </div>
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<div class="line"><a id="l00090" name="l00090"></a><span class="lineno"> 90</span>} <span class="comment">/* namespace rtabmap */</span></div>
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<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>
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<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>
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<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 &parameters)</div><div class="ttdoc">Reads shared knobs from parameters and applies them to this instance.</div></div>
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<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< int, Transform > optimizeBA(int rootId, const std::map< int, Transform > &poses, const std::multimap< int, Link > &links, const std::map< int, std::vector< CameraModel > > &models, std::map< int, cv::Point3f > &points3DMap, const std::map< int, std::map< int, FeatureBA > > &wordReferences, std::set< int > *outliers=0)</div><div class="ttdoc">Bundle adjustment: jointly refine poses and 3D points (back-end-level entry point).</div></div>
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||||
<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< int, Transform > optimize(int rootId, const std::map< int, Transform > &poses, const std::multimap< int, Link > &edgeConstraints, cv::Mat &outputCovariance, std::list< std::map< int, Transform > > *intermediateGraphes=0, double *finalError=0, int *iterationsDone=0)</div><div class="ttdoc">Pose-graph optimization with marginal covariance of rootId.</div></div>
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||||
<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>
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||||
<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>
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<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>
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||||
<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>
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