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<div id="projectbrief">Real-Time Appearance-Based Mapping</div>
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<div class="headertitle"><div class="title">Optimizer.h</div></div>
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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 OPTIMIZER_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 OPTIMIZER_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 <map></span></div>
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<div class="line"><a id="l00034" name="l00034"></a><span class="lineno"> 34</span><span class="preprocessor">#include <list></span></div>
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<div class="line"><a id="l00035" name="l00035"></a><span class="lineno"> 35</span><span class="preprocessor">#include <rtabmap/core/Link.h></span></div>
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<div class="line"><a id="l00036" name="l00036"></a><span class="lineno"> 36</span><span class="preprocessor">#include <rtabmap/core/Parameters.h></span></div>
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<div class="line"><a id="l00037" name="l00037"></a><span class="lineno"> 37</span><span class="preprocessor">#include <rtabmap/core/Signature.h></span></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">namespace </span><a class="code hl_namespace" href="namespacertabmap.html">rtabmap</a> {</div>
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<div class="line"><a id="l00040" name="l00040"></a><span class="lineno"> 40</span> </div>
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<div class="foldopen" id="foldopen00050" data-start="{" data-end="};">
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<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>
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<div class="line"><a id="l00051" name="l00051"></a><span class="lineno"> 51</span>{</div>
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<div class="line"><a id="l00052" name="l00052"></a><span class="lineno"> 52</span><span class="keyword">public</span>:</div>
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<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 & kptIn, <span class="keyword">const</span> <span class="keywordtype">float</span> & depthIn = 0.0f, <span class="keyword">const</span> cv::Mat & descriptorIn = cv::Mat(), <span class="keywordtype">int</span> cameraIndexIn = 0):</div>
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<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>
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<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>
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<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>
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<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>
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<div class="line"><a id="l00058" name="l00058"></a><span class="lineno"> 58</span> {</div>
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<div class="line"><a id="l00059" name="l00059"></a><span class="lineno"> 59</span> <span class="comment">//UDEBUG("kpt=(%f,%f) depth=%f, camIndex=%d", kpt.pt.x, kpt.pt.y, depth, cameraIndex);</span></div>
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<div class="line"><a id="l00060" name="l00060"></a><span class="lineno"> 60</span> }</div>
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<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>
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<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>
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<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>
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<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>
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<div class="line"><a id="l00065" name="l00065"></a><span class="lineno"> 65</span>};</div>
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</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="foldopen" id="foldopen00087" data-start="{" data-end="};">
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<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>
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<div class="line"><a id="l00088" name="l00088"></a><span class="lineno"> 88</span>{</div>
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<div class="line"><a id="l00089" name="l00089"></a><span class="lineno"> 89</span><span class="keyword">public</span>:</div>
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<div class="foldopen" id="foldopen00091" data-start="{" data-end="};">
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<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>
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<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>
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<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>
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<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>
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<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>
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<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>
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<div class="line"><a id="l00097" name="l00097"></a><span class="lineno"> 97</span> kTypeCVSBA = 4 </div>
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<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>
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</div>
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<div class="line"><a id="l00099" name="l00099"></a><span class="lineno"> 99</span> </div>
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<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>
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<div class="line"><a id="l00107" name="l00107"></a><span class="lineno"> 107</span> </div>
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<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> & parameters);</div>
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<div class="line"><a id="l00115" name="l00115"></a><span class="lineno"> 115</span> </div>
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<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> & parameters = <a class="code hl_typedef" href="namespacertabmap.html#ad08b6f1796a27dd7316c99c385e2cc55">ParametersMap</a>());</div>
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<div class="line"><a id="l00118" name="l00118"></a><span class="lineno"> 118</span> </div>
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<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>
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<div class="line"><a id="l00128" name="l00128"></a><span class="lineno"> 128</span> <span class="keywordtype">int</span> fromId,</div>
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<div class="line"><a id="l00129" name="l00129"></a><span class="lineno"> 129</span> <span class="keyword">const</span> std::map<int, Transform> & posesIn,</div>
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<div class="line"><a id="l00130" name="l00130"></a><span class="lineno"> 130</span> <span class="keyword">const</span> std::multimap<int, Link> & linksIn,</div>
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<div class="line"><a id="l00131" name="l00131"></a><span class="lineno"> 131</span> std::map<int, Transform> & posesOut,</div>
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<div class="line"><a id="l00132" name="l00132"></a><span class="lineno"> 132</span> std::multimap<int, Link> & linksOut) <span class="keyword">const</span>;</div>
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<div class="line"><a id="l00133" name="l00133"></a><span class="lineno"> 133</span> </div>
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<div class="line"><a id="l00134" name="l00134"></a><span class="lineno"> 134</span><span class="keyword">public</span>:</div>
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<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>
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<div class="line"><a id="l00136" name="l00136"></a><span class="lineno"> 136</span> </div>
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<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>
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<div class="line"><a id="l00139" name="l00139"></a><span class="lineno"> 139</span> </div>
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<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>
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<div class="foldopen" id="foldopen00143" data-start="{" data-end="}">
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<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>
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<div class="foldopen" id="foldopen00144" data-start="{" data-end="}">
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<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>
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<div class="foldopen" id="foldopen00145" data-start="{" data-end="}">
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<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>
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<div class="foldopen" id="foldopen00146" data-start="{" data-end="}">
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<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>
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<div class="foldopen" id="foldopen00147" data-start="{" data-end="}">
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<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>
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<div class="foldopen" id="foldopen00148" data-start="{" data-end="}">
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<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>
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<div class="foldopen" id="foldopen00149" data-start="{" data-end="}">
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<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>
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<div class="line"><a id="l00151" name="l00151"></a><span class="lineno"> 151</span> </div>
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<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>
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<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>
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<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>
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<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>
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<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>
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<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>
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<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>
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<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>
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<div class="line"><a id="l00163" name="l00163"></a><span class="lineno"> 163</span> </div>
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<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> & parameters);</div>
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<div class="line"><a id="l00171" name="l00171"></a><span class="lineno"> 171</span> </div>
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<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<int, Transform> <a class="code hl_function" href="classrtabmap_1_1Optimizer.html#a278f42e0d250085ac6fe9ed425627acf">optimizeIncremental</a>(</div>
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<div class="line"><a id="l00190" name="l00190"></a><span class="lineno"> 190</span> <span class="keywordtype">int</span> rootId,</div>
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<div class="line"><a id="l00191" name="l00191"></a><span class="lineno"> 191</span> <span class="keyword">const</span> std::map<int, Transform> & poses,</div>
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<div class="line"><a id="l00192" name="l00192"></a><span class="lineno"> 192</span> <span class="keyword">const</span> std::multimap<int, Link> & constraints,</div>
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<div class="line"><a id="l00193" name="l00193"></a><span class="lineno"> 193</span> std::list<std::map<int, Transform> > * intermediateGraphes = 0,</div>
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<div class="line"><a id="l00194" name="l00194"></a><span class="lineno"> 194</span> <span class="keywordtype">double</span> * finalError = 0,</div>
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<div class="line"><a id="l00195" name="l00195"></a><span class="lineno"> 195</span> <span class="keywordtype">int</span> * iterationsDone = 0);</div>
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<div class="line"><a id="l00196" name="l00196"></a><span class="lineno"> 196</span> </div>
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<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<int, Transform> <a class="code hl_function" href="classrtabmap_1_1Optimizer.html#a7e3aff943e77603493a358ff522fa2dc">optimize</a>(</div>
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<div class="line"><a id="l00204" name="l00204"></a><span class="lineno"> 204</span> <span class="keywordtype">int</span> rootId,</div>
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<div class="line"><a id="l00205" name="l00205"></a><span class="lineno"> 205</span> <span class="keyword">const</span> std::map<int, Transform> & poses,</div>
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<div class="line"><a id="l00206" name="l00206"></a><span class="lineno"> 206</span> <span class="keyword">const</span> std::multimap<int, Link> & constraints,</div>
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<div class="line"><a id="l00207" name="l00207"></a><span class="lineno"> 207</span> std::list<std::map<int, Transform> > * intermediateGraphes = 0,</div>
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<div class="line"><a id="l00208" name="l00208"></a><span class="lineno"> 208</span> <span class="keywordtype">double</span> * finalError = 0,</div>
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<div class="line"><a id="l00209" name="l00209"></a><span class="lineno"> 209</span> <span class="keywordtype">int</span> * iterationsDone = 0);</div>
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<div class="line"><a id="l00210" name="l00210"></a><span class="lineno"> 210</span> </div>
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<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<int, Transform> <a class="code hl_function" href="classrtabmap_1_1Optimizer.html#af59c8340394268f9a1eb76fd5709f2c3">optimize</a>(</div>
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<div class="line"><a id="l00228" name="l00228"></a><span class="lineno"> 228</span> <span class="keywordtype">int</span> rootId,</div>
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<div class="line"><a id="l00229" name="l00229"></a><span class="lineno"> 229</span> <span class="keyword">const</span> std::map<int, Transform> & poses,</div>
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<div class="line"><a id="l00230" name="l00230"></a><span class="lineno"> 230</span> <span class="keyword">const</span> std::multimap<int, Link> & constraints,</div>
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<div class="line"><a id="l00231" name="l00231"></a><span class="lineno"> 231</span> cv::Mat & outputCovariance,</div>
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<div class="line"><a id="l00232" name="l00232"></a><span class="lineno"> 232</span> std::list<std::map<int, Transform> > * intermediateGraphes = 0,</div>
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<div class="line"><a id="l00233" name="l00233"></a><span class="lineno"> 233</span> <span class="keywordtype">double</span> * finalError = 0,</div>
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<div class="line"><a id="l00234" name="l00234"></a><span class="lineno"> 234</span> <span class="keywordtype">int</span> * iterationsDone = 0);</div>
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<div class="line"><a id="l00235" name="l00235"></a><span class="lineno"> 235</span> </div>
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<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<int, Transform> <a class="code hl_function" href="classrtabmap_1_1Optimizer.html#a038e8df970ab744f6f4ba7027f62b263">optimizeBA</a>(</div>
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<div class="line"><a id="l00254" name="l00254"></a><span class="lineno"> 254</span> <span class="keywordtype">int</span> rootId,</div>
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<div class="line"><a id="l00255" name="l00255"></a><span class="lineno"> 255</span> <span class="keyword">const</span> std::map<int, Transform> & poses,</div>
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<div class="line"><a id="l00256" name="l00256"></a><span class="lineno"> 256</span> <span class="keyword">const</span> std::multimap<int, Link> & links,</div>
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<div class="line"><a id="l00257" name="l00257"></a><span class="lineno"> 257</span> <span class="keyword">const</span> std::map<<span class="keywordtype">int</span>, std::vector<CameraModel> > & models,</div>
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<div class="line"><a id="l00258" name="l00258"></a><span class="lineno"> 258</span> std::map<int, cv::Point3f> & points3DMap,</div>
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<div class="line"><a id="l00259" name="l00259"></a><span class="lineno"> 259</span> <span class="keyword">const</span> std::map<<span class="keywordtype">int</span>, std::map<int, FeatureBA> > & wordReferences,</div>
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<div class="line"><a id="l00260" name="l00260"></a><span class="lineno"> 260</span> std::set<int> * outliers = 0);</div>
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<div class="line"><a id="l00261" name="l00261"></a><span class="lineno"> 261</span> </div>
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<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<int, Transform> <a class="code hl_function" href="classrtabmap_1_1Optimizer.html#a2f7cbdebed9787ffa6b0b30536dfa1a0">optimizeBA</a>(</div>
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<div class="line"><a id="l00275" name="l00275"></a><span class="lineno"> 275</span> <span class="keywordtype">int</span> rootId,</div>
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<div class="line"><a id="l00276" name="l00276"></a><span class="lineno"> 276</span> <span class="keyword">const</span> std::map<int, Transform> & poses,</div>
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<div class="line"><a id="l00277" name="l00277"></a><span class="lineno"> 277</span> <span class="keyword">const</span> std::multimap<int, Link> & links,</div>
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<div class="line"><a id="l00278" name="l00278"></a><span class="lineno"> 278</span> <span class="keyword">const</span> std::map<int, Signature> & signatures,</div>
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<div class="line"><a id="l00279" name="l00279"></a><span class="lineno"> 279</span> std::map<int, cv::Point3f> & points3DMap,</div>
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<div class="line"><a id="l00280" name="l00280"></a><span class="lineno"> 280</span> std::map<<span class="keywordtype">int</span>, std::map<int, FeatureBA> > & wordReferences,</div>
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<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>
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<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> & registrationParameters = <a class="code hl_typedef" href="namespacertabmap.html#ad08b6f1796a27dd7316c99c385e2cc55">ParametersMap</a>());</div>
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<div class="line"><a id="l00283" name="l00283"></a><span class="lineno"> 283</span> </div>
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<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<int, Transform> <a class="code hl_function" href="classrtabmap_1_1Optimizer.html#aab99f045516162944ad68fdabacb53dc">optimizeBA</a>(</div>
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<div class="line"><a id="l00287" name="l00287"></a><span class="lineno"> 287</span> <span class="keywordtype">int</span> rootId,</div>
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<div class="line"><a id="l00288" name="l00288"></a><span class="lineno"> 288</span> <span class="keyword">const</span> std::map<int, Transform> & poses,</div>
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<div class="line"><a id="l00289" name="l00289"></a><span class="lineno"> 289</span> <span class="keyword">const</span> std::multimap<int, Link> & links,</div>
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<div class="line"><a id="l00290" name="l00290"></a><span class="lineno"> 290</span> <span class="keyword">const</span> std::map<int, Signature> & signatures,</div>
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<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>
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<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> & registrationParameters = <a class="code hl_typedef" href="namespacertabmap.html#ad08b6f1796a27dd7316c99c385e2cc55">ParametersMap</a>());</div>
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<div class="line"><a id="l00293" name="l00293"></a><span class="lineno"> 293</span> </div>
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<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>
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<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> & link,</div>
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<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> & model,</div>
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<div class="line"><a id="l00304" name="l00304"></a><span class="lineno"> 304</span> std::map<int, cv::Point3f> & points3DMap,</div>
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<div class="line"><a id="l00305" name="l00305"></a><span class="lineno"> 305</span> <span class="keyword">const</span> std::map<<span class="keywordtype">int</span>, std::map<int, FeatureBA> > & wordReferences,</div>
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<div class="line"><a id="l00306" name="l00306"></a><span class="lineno"> 306</span> std::set<int> * outliers = 0);</div>
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<div class="line"><a id="l00307" name="l00307"></a><span class="lineno"> 307</span> </div>
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<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>
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<div class="line"><a id="l00324" name="l00324"></a><span class="lineno"> 324</span> <span class="keyword">const</span> std::map<int, Transform> & poses,</div>
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<div class="line"><a id="l00325" name="l00325"></a><span class="lineno"> 325</span> <span class="keyword">const</span> std::multimap<int, Link> & links,</div>
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<div class="line"><a id="l00326" name="l00326"></a><span class="lineno"> 326</span> <span class="keyword">const</span> std::map<int, Signature> & signatures,</div>
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<div class="line"><a id="l00327" name="l00327"></a><span class="lineno"> 327</span> std::map<int, cv::Point3f> & points3DMap,</div>
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<div class="line"><a id="l00328" name="l00328"></a><span class="lineno"> 328</span> std::map<<span class="keywordtype">int</span>, std::map<int, FeatureBA > > & wordReferences,</div>
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<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>
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<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>
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<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>
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<div class="line"><a id="l00332" name="l00332"></a><span class="lineno"> 332</span> </div>
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<div class="line"><a id="l00333" name="l00333"></a><span class="lineno"> 333</span><span class="keyword">protected</span>:</div>
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<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>
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<div class="line"><a id="l00335" name="l00335"></a><span class="lineno"> 335</span> <span class="keywordtype">int</span> iterations = Parameters::defaultOptimizerIterations(),</div>
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<div class="line"><a id="l00336" name="l00336"></a><span class="lineno"> 336</span> <span class="keywordtype">bool</span> slam2d = Parameters::defaultRegForce3DoF(),</div>
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<div class="line"><a id="l00337" name="l00337"></a><span class="lineno"> 337</span> <span class="keywordtype">bool</span> covarianceIgnored = Parameters::defaultOptimizerVarianceIgnored(),</div>
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<div class="line"><a id="l00338" name="l00338"></a><span class="lineno"> 338</span> <span class="keywordtype">double</span> epsilon = Parameters::defaultOptimizerEpsilon(),</div>
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<div class="line"><a id="l00339" name="l00339"></a><span class="lineno"> 339</span> <span class="keywordtype">bool</span> robust = Parameters::defaultOptimizerRobust(),</div>
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<div class="line"><a id="l00340" name="l00340"></a><span class="lineno"> 340</span> <span class="keywordtype">bool</span> priorsIgnored = Parameters::defaultOptimizerPriorsIgnored(),</div>
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<div class="line"><a id="l00341" name="l00341"></a><span class="lineno"> 341</span> <span class="keywordtype">bool</span> landmarksIgnored = Parameters::defaultOptimizerLandmarksIgnored(),</div>
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<div class="line"><a id="l00342" name="l00342"></a><span class="lineno"> 342</span> <span class="keywordtype">float</span> gravitySigma = Parameters::defaultOptimizerGravitySigma());</div>
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<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> & parameters);</div>
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<div class="line"><a id="l00344" name="l00344"></a><span class="lineno"> 344</span> </div>
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<div class="line"><a id="l00345" name="l00345"></a><span class="lineno"> 345</span><span class="keyword">private</span>:</div>
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<div class="line"><a id="l00346" name="l00346"></a><span class="lineno"> 346</span> <span class="keywordtype">int</span> iterations_;</div>
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<div class="line"><a id="l00347" name="l00347"></a><span class="lineno"> 347</span> <span class="keywordtype">bool</span> slam2d_;</div>
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<div class="line"><a id="l00348" name="l00348"></a><span class="lineno"> 348</span> <span class="keywordtype">bool</span> covarianceIgnored_;</div>
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<div class="line"><a id="l00349" name="l00349"></a><span class="lineno"> 349</span> <span class="keywordtype">double</span> epsilon_;</div>
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<div class="line"><a id="l00350" name="l00350"></a><span class="lineno"> 350</span> <span class="keywordtype">bool</span> robust_;</div>
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<div class="line"><a id="l00351" name="l00351"></a><span class="lineno"> 351</span> <span class="keywordtype">bool</span> priorsIgnored_;</div>
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<div class="line"><a id="l00352" name="l00352"></a><span class="lineno"> 352</span> <span class="keywordtype">bool</span> landmarksIgnored_;</div>
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<div class="line"><a id="l00353" name="l00353"></a><span class="lineno"> 353</span> <span class="keywordtype">float</span> gravitySigma_;</div>
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<div class="line"><a id="l00354" name="l00354"></a><span class="lineno"> 354</span>};</div>
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<div class="line"><a id="l00355" name="l00355"></a><span class="lineno"> 355</span> </div>
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<div class="line"><a id="l00356" name="l00356"></a><span class="lineno"> 356</span>} <span class="comment">/* namespace rtabmap */</span></div>
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<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>
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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>
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<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>
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<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>
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<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>
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<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>
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<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>
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<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>
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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_a038e8df970ab744f6f4ba7027f62b263"><div class="ttname"><a href="classrtabmap_1_1Optimizer.html#a038e8df970ab744f6f4ba7027f62b263">rtabmap::Optimizer::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_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 &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_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>
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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="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< int, Transform > optimizeIncremental(int rootId, const std::map< int, Transform > &poses, const std::multimap< int, Link > &constraints, std::list< std::map< int, Transform > > *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>
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<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>
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<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< int, Transform > optimizeBA(int rootId, const std::map< int, Transform > &poses, const std::multimap< int, Link > &links, const std::map< int, Signature > &signatures, std::map< int, cv::Point3f > &points3DMap, std::map< int, std::map< int, FeatureBA > > &wordReferences, bool rematchFeatures=false, const ParametersMap &registrationParameters=ParametersMap())</div><div class="ttdoc">BA wrapper that derives camera models and correspondences from signatures.</div></div>
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<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>
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<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>
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<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< int, Transform > &posesIn, const std::multimap< int, Link > &linksIn, std::map< int, Transform > &posesOut, std::multimap< int, Link > &linksOut) const</div><div class="ttdoc">Extracts the connected component reachable from fromId.</div></div>
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<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>
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<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 &parameters)</div><div class="ttdoc">Factory: build an optimizer from a ParametersMap.</div></div>
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<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< int, Transform > optimize(int rootId, const std::map< int, Transform > &poses, const std::multimap< int, Link > &constraints, std::list< std::map< int, Transform > > *intermediateGraphes=0, double *finalError=0, int *iterationsDone=0)</div><div class="ttdoc">Pose-graph optimization (single shot).</div></div>
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<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>
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<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< int, Transform > &poses, const std::multimap< int, Link > &links, const std::map< int, Signature > &signatures, std::map< int, cv::Point3f > &points3DMap, std::map< int, std::map< int, FeatureBA > > &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>
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<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>
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<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< int, Transform > optimizeBA(int rootId, const std::map< int, Transform > &poses, const std::multimap< int, Link > &links, const std::map< int, Signature > &signatures, bool rematchFeatures=false, const ParametersMap &registrationParameters=ParametersMap())</div><div class="ttdoc">BA convenience wrapper: like the overload above but ignores the refined 3D points and observation map...</div></div>
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<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>
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<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 &link, const CameraModel &model, std::map< int, cv::Point3f > &points3DMap, const std::map< int, std::map< int, FeatureBA > > &wordReferences, std::set< int > *outliers=0)</div><div class="ttdoc">Refine a single two-frame link via BA.</div></div>
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<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>
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<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 &parameters=ParametersMap())</div><div class="ttdoc">Factory: build an optimizer of a specific type. Caller owns the result.</div></div>
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<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< int, Transform > optimize(int rootId, const std::map< int, Transform > &poses, const std::multimap< int, Link > &constraints, 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_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_1Transform_html"><div class="ttname"><a href="classrtabmap_1_1Transform.html">rtabmap::Transform</a></div><div class="ttdoc">Represents a 3D rigid body transformation (rotation + translation).</div><div class="ttdef"><b>Definition</b> <a href="Transform_8h_source.html#l00052">Transform.h:53</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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<div class="ttc" id="anamespacertabmap_html_ad08b6f1796a27dd7316c99c385e2cc55"><div class="ttname"><a href="namespacertabmap.html#ad08b6f1796a27dd7316c99c385e2cc55">rtabmap::ParametersMap</a></div><div class="ttdeci">std::map< std::string, std::string > 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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