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<div id="projectname">RTAB-Map<span id="projectnumber">&#160;0.23.11</span>
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<div id="projectbrief">Real-Time Appearance-Based Mapping</div>
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<div class="headertitle"><div class="title">rtabmap::OptimizerG2O Member List</div></div>
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<p>This is the complete list of members for <a class="el" href="classrtabmap_1_1OptimizerG2O.html">rtabmap::OptimizerG2O</a>, including all inherited members.</p>
<table class="directory">
<tr bgcolor="#f0f0f0" class="even"><td class="entry"><b>available</b>() (defined in <a class="el" href="classrtabmap_1_1OptimizerG2O.html">rtabmap::OptimizerG2O</a>)</td><td class="entry"><a class="el" href="classrtabmap_1_1OptimizerG2O.html">rtabmap::OptimizerG2O</a></td><td class="entry"><span class="mlabel">static</span></td></tr>
<tr class="odd"><td class="entry"><a class="el" href="classrtabmap_1_1Optimizer.html#a93fb09dac068e64de000f692bcb8216f">computeBACorrespondences</a>(const std::map&lt; int, Transform &gt; &amp;poses, const std::multimap&lt; int, Link &gt; &amp;links, const std::map&lt; int, Signature &gt; &amp;signatures, std::map&lt; int, cv::Point3f &gt; &amp;points3DMap, std::map&lt; int, std::map&lt; int, FeatureBA &gt; &gt; &amp;wordReferences, bool rematchFeatures=false, bool useLinkTransformAsGuess=false, ParametersMap registrationParameters=ParametersMap())</td><td class="entry"><a class="el" href="classrtabmap_1_1Optimizer.html">rtabmap::Optimizer</a></td><td class="entry"></td></tr>
<tr class="even"><td class="entry"><a class="el" href="classrtabmap_1_1Optimizer.html#a78b457bec2cdb7bdd320e2bfcca759df">create</a>(const ParametersMap &amp;parameters)</td><td class="entry"><a class="el" href="classrtabmap_1_1Optimizer.html">rtabmap::Optimizer</a></td><td class="entry"><span class="mlabel">static</span></td></tr>
<tr class="odd"><td class="entry"><a class="el" href="classrtabmap_1_1Optimizer.html#aeff86117cf69fdae3c25e5bc327a142d">create</a>(Optimizer::Type type, const ParametersMap &amp;parameters=ParametersMap())</td><td class="entry"><a class="el" href="classrtabmap_1_1Optimizer.html">rtabmap::Optimizer</a></td><td class="entry"><span class="mlabel">static</span></td></tr>
<tr class="even"><td class="entry"><a class="el" href="classrtabmap_1_1Optimizer.html#a3bca4e3df1048f8bbad9b3b9473924a2">epsilon</a>() const</td><td class="entry"><a class="el" href="classrtabmap_1_1Optimizer.html">rtabmap::Optimizer</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
<tr class="odd"><td class="entry"><a class="el" href="classrtabmap_1_1Optimizer.html#a4477c9a5b6651729944726465b5eba7f">getConnectedGraph</a>(int fromId, const std::map&lt; int, Transform &gt; &amp;posesIn, const std::multimap&lt; int, Link &gt; &amp;linksIn, std::map&lt; int, Transform &gt; &amp;posesOut, std::multimap&lt; int, Link &gt; &amp;linksOut) const</td><td class="entry"><a class="el" href="classrtabmap_1_1Optimizer.html">rtabmap::Optimizer</a></td><td class="entry"></td></tr>
<tr class="even"><td class="entry"><a class="el" href="classrtabmap_1_1Optimizer.html#aceb68e0f692b81c4a978e46f804515d7">gravitySigma</a>() const</td><td class="entry"><a class="el" href="classrtabmap_1_1Optimizer.html">rtabmap::Optimizer</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
<tr class="odd"><td class="entry"><a class="el" href="classrtabmap_1_1Optimizer.html#afe0381a3b42926b7634027e522766eb1">isAvailable</a>(Optimizer::Type type)</td><td class="entry"><a class="el" href="classrtabmap_1_1Optimizer.html">rtabmap::Optimizer</a></td><td class="entry"><span class="mlabel">static</span></td></tr>
<tr bgcolor="#f0f0f0" class="even"><td class="entry"><b>isCholmodAvailable</b>() (defined in <a class="el" href="classrtabmap_1_1OptimizerG2O.html">rtabmap::OptimizerG2O</a>)</td><td class="entry"><a class="el" href="classrtabmap_1_1OptimizerG2O.html">rtabmap::OptimizerG2O</a></td><td class="entry"><span class="mlabel">static</span></td></tr>
<tr class="odd"><td class="entry"><a class="el" href="classrtabmap_1_1Optimizer.html#a8bb6372ce4c67fd9b8d54f692ac34238">isCovarianceIgnored</a>() const</td><td class="entry"><a class="el" href="classrtabmap_1_1Optimizer.html">rtabmap::Optimizer</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
<tr bgcolor="#f0f0f0" class="even"><td class="entry"><b>isCSparseAvailable</b>() (defined in <a class="el" href="classrtabmap_1_1OptimizerG2O.html">rtabmap::OptimizerG2O</a>)</td><td class="entry"><a class="el" href="classrtabmap_1_1OptimizerG2O.html">rtabmap::OptimizerG2O</a></td><td class="entry"><span class="mlabel">static</span></td></tr>
<tr class="odd"><td class="entry"><a class="el" href="classrtabmap_1_1Optimizer.html#a29ba07e1e829ae616d82756977161c9f">isRobust</a>() const</td><td class="entry"><a class="el" href="classrtabmap_1_1Optimizer.html">rtabmap::Optimizer</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
<tr class="even"><td class="entry"><a class="el" href="classrtabmap_1_1Optimizer.html#a51485674608bbf910922ecee43cc13aa">isSlam2d</a>() const</td><td class="entry"><a class="el" href="classrtabmap_1_1Optimizer.html">rtabmap::Optimizer</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
<tr class="odd"><td class="entry"><a class="el" href="classrtabmap_1_1Optimizer.html#a178bb719b0e22863e29add12c85e14a5">iterations</a>() const</td><td class="entry"><a class="el" href="classrtabmap_1_1Optimizer.html">rtabmap::Optimizer</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
<tr class="even"><td class="entry"><a class="el" href="classrtabmap_1_1Optimizer.html#a18ae8ac76346d1adc68ab176a5b02d16a891b6c7cbbe5e149e583ac1fc14fc91d">kTypeCeres</a> enum value</td><td class="entry"><a class="el" href="classrtabmap_1_1Optimizer.html">rtabmap::Optimizer</a></td><td class="entry"></td></tr>
<tr class="odd"><td class="entry"><a class="el" href="classrtabmap_1_1Optimizer.html#a18ae8ac76346d1adc68ab176a5b02d16a53545e83af9618cb4d39cf0420b3cd54">kTypeCVSBA</a> enum value</td><td class="entry"><a class="el" href="classrtabmap_1_1Optimizer.html">rtabmap::Optimizer</a></td><td class="entry"></td></tr>
<tr class="even"><td class="entry"><a class="el" href="classrtabmap_1_1Optimizer.html#a18ae8ac76346d1adc68ab176a5b02d16aa4d070fe00ba5e81adbc958bad18d853">kTypeG2O</a> enum value</td><td class="entry"><a class="el" href="classrtabmap_1_1Optimizer.html">rtabmap::Optimizer</a></td><td class="entry"></td></tr>
<tr class="odd"><td class="entry"><a class="el" href="classrtabmap_1_1Optimizer.html#a18ae8ac76346d1adc68ab176a5b02d16ab71c83617497f5da0607a47ab162630f">kTypeGTSAM</a> enum value</td><td class="entry"><a class="el" href="classrtabmap_1_1Optimizer.html">rtabmap::Optimizer</a></td><td class="entry"></td></tr>
<tr class="even"><td class="entry"><a class="el" href="classrtabmap_1_1Optimizer.html#a18ae8ac76346d1adc68ab176a5b02d16a6065bdb6e49c0f5ffc98d5f2f6b0d5ab">kTypeTORO</a> enum value</td><td class="entry"><a class="el" href="classrtabmap_1_1Optimizer.html">rtabmap::Optimizer</a></td><td class="entry"></td></tr>
<tr class="odd"><td class="entry"><a class="el" href="classrtabmap_1_1Optimizer.html#a18ae8ac76346d1adc68ab176a5b02d16abae75975865bff7e12e82d2f5295e0db">kTypeUndef</a> enum value</td><td class="entry"><a class="el" href="classrtabmap_1_1Optimizer.html">rtabmap::Optimizer</a></td><td class="entry"></td></tr>
<tr class="even"><td class="entry"><a class="el" href="classrtabmap_1_1Optimizer.html#a32f53d408ef0372c5c196ee89ff5ad79">landmarksIgnored</a>() const</td><td class="entry"><a class="el" href="classrtabmap_1_1Optimizer.html">rtabmap::Optimizer</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
<tr bgcolor="#f0f0f0" class="odd"><td class="entry"><b>loadGraph</b>(const std::string &amp;fileName, std::map&lt; int, Transform &gt; &amp;poses, std::multimap&lt; int, Link &gt; &amp;edgeConstraints) (defined in <a class="el" href="classrtabmap_1_1OptimizerG2O.html">rtabmap::OptimizerG2O</a>)</td><td class="entry"><a class="el" href="classrtabmap_1_1OptimizerG2O.html">rtabmap::OptimizerG2O</a></td><td class="entry"><span class="mlabel">static</span></td></tr>
<tr class="even"><td class="entry"><a class="el" href="classrtabmap_1_1OptimizerG2O.html#a9400bdf57331af310cf6b02e661d0a03">optimize</a>(int rootId, const std::map&lt; int, Transform &gt; &amp;poses, const std::multimap&lt; int, Link &gt; &amp;edgeConstraints, cv::Mat &amp;outputCovariance, std::list&lt; std::map&lt; int, Transform &gt; &gt; *intermediateGraphes=0, double *finalError=0, int *iterationsDone=0)</td><td class="entry"><a class="el" href="classrtabmap_1_1OptimizerG2O.html">rtabmap::OptimizerG2O</a></td><td class="entry"><span class="mlabel">virtual</span></td></tr>
<tr class="odd"><td class="entry"><a class="el" href="classrtabmap_1_1Optimizer.html#a7e3aff943e77603493a358ff522fa2dc">rtabmap::Optimizer::optimize</a>(int rootId, const std::map&lt; int, Transform &gt; &amp;poses, const std::multimap&lt; int, Link &gt; &amp;constraints, std::list&lt; std::map&lt; int, Transform &gt; &gt; *intermediateGraphes=0, double *finalError=0, int *iterationsDone=0)</td><td class="entry"><a class="el" href="classrtabmap_1_1Optimizer.html">rtabmap::Optimizer</a></td><td class="entry"></td></tr>
<tr class="even"><td class="entry"><a class="el" href="classrtabmap_1_1OptimizerG2O.html#af808c77c716d30691670c18955f08f61">optimizeBA</a>(int rootId, const std::map&lt; int, Transform &gt; &amp;poses, const std::multimap&lt; int, Link &gt; &amp;links, const std::map&lt; int, std::vector&lt; CameraModel &gt; &gt; &amp;models, std::map&lt; int, cv::Point3f &gt; &amp;points3DMap, const std::map&lt; int, std::map&lt; int, FeatureBA &gt; &gt; &amp;wordReferences, BAOutliers *outliers=0)</td><td class="entry"><a class="el" href="classrtabmap_1_1OptimizerG2O.html">rtabmap::OptimizerG2O</a></td><td class="entry"><span class="mlabel">virtual</span></td></tr>
<tr class="odd"><td class="entry"><a class="el" href="classrtabmap_1_1Optimizer.html#a2f7cbdebed9787ffa6b0b30536dfa1a0">rtabmap::Optimizer::optimizeBA</a>(int rootId, const std::map&lt; int, Transform &gt; &amp;poses, const std::multimap&lt; int, Link &gt; &amp;links, const std::map&lt; int, Signature &gt; &amp;signatures, std::map&lt; int, cv::Point3f &gt; &amp;points3DMap, std::map&lt; int, std::map&lt; int, FeatureBA &gt; &gt; &amp;wordReferences, bool rematchFeatures=false, const ParametersMap &amp;registrationParameters=ParametersMap())</td><td class="entry"><a class="el" href="classrtabmap_1_1Optimizer.html">rtabmap::Optimizer</a></td><td class="entry"></td></tr>
<tr class="even"><td class="entry"><a class="el" href="classrtabmap_1_1Optimizer.html#aab99f045516162944ad68fdabacb53dc">rtabmap::Optimizer::optimizeBA</a>(int rootId, const std::map&lt; int, Transform &gt; &amp;poses, const std::multimap&lt; int, Link &gt; &amp;links, const std::map&lt; int, Signature &gt; &amp;signatures, bool rematchFeatures=false, const ParametersMap &amp;registrationParameters=ParametersMap())</td><td class="entry"><a class="el" href="classrtabmap_1_1Optimizer.html">rtabmap::Optimizer</a></td><td class="entry"></td></tr>
<tr class="odd"><td class="entry"><a class="el" href="classrtabmap_1_1Optimizer.html#aedaeb7cc371f3685f8595d9a151f6605">rtabmap::Optimizer::optimizeBA</a>(const Link &amp;link, const CameraModel &amp;model, std::map&lt; int, cv::Point3f &gt; &amp;points3DMap, const std::map&lt; int, std::map&lt; int, FeatureBA &gt; &gt; &amp;wordReferences, BAOutliers *outliers=0)</td><td class="entry"><a class="el" href="classrtabmap_1_1Optimizer.html">rtabmap::Optimizer</a></td><td class="entry"></td></tr>
<tr class="even"><td class="entry"><a class="el" href="classrtabmap_1_1Optimizer.html#a278f42e0d250085ac6fe9ed425627acf">optimizeIncremental</a>(int rootId, const std::map&lt; int, Transform &gt; &amp;poses, const std::multimap&lt; int, Link &gt; &amp;constraints, std::list&lt; std::map&lt; int, Transform &gt; &gt; *intermediateGraphes=0, double *finalError=0, int *iterationsDone=0)</td><td class="entry"><a class="el" href="classrtabmap_1_1Optimizer.html">rtabmap::Optimizer</a></td><td class="entry"></td></tr>
<tr bgcolor="#f0f0f0" class="odd"><td class="entry"><b>Optimizer</b>(int iterations=Parameters::defaultOptimizerIterations(), bool slam2d=Parameters::defaultRegForce3DoF(), bool covarianceIgnored=Parameters::defaultOptimizerVarianceIgnored(), double epsilon=Parameters::defaultOptimizerEpsilon(), bool robust=Parameters::defaultOptimizerRobust(), bool priorsIgnored=Parameters::defaultOptimizerPriorsIgnored(), bool landmarksIgnored=Parameters::defaultOptimizerLandmarksIgnored(), float gravitySigma=Parameters::defaultOptimizerGravitySigma()) (defined in <a class="el" href="classrtabmap_1_1Optimizer.html">rtabmap::Optimizer</a>)</td><td class="entry"><a class="el" href="classrtabmap_1_1Optimizer.html">rtabmap::Optimizer</a></td><td class="entry"><span class="mlabel">protected</span></td></tr>
<tr bgcolor="#f0f0f0" class="even"><td class="entry"><b>Optimizer</b>(const ParametersMap &amp;parameters) (defined in <a class="el" href="classrtabmap_1_1Optimizer.html">rtabmap::Optimizer</a>)</td><td class="entry"><a class="el" href="classrtabmap_1_1Optimizer.html">rtabmap::Optimizer</a></td><td class="entry"><span class="mlabel">protected</span></td></tr>
<tr bgcolor="#f0f0f0" class="odd"><td class="entry"><b>OptimizerG2O</b>(const ParametersMap &amp;parameters=ParametersMap()) (defined in <a class="el" href="classrtabmap_1_1OptimizerG2O.html">rtabmap::OptimizerG2O</a>)</td><td class="entry"><a class="el" href="classrtabmap_1_1OptimizerG2O.html">rtabmap::OptimizerG2O</a></td><td class="entry"></td></tr>
<tr class="even"><td class="entry"><a class="el" href="classrtabmap_1_1OptimizerG2O.html#a07b598444b99584b6f2bed6baca5e8bb">parseParameters</a>(const ParametersMap &amp;parameters)</td><td class="entry"><a class="el" href="classrtabmap_1_1OptimizerG2O.html">rtabmap::OptimizerG2O</a></td><td class="entry"><span class="mlabel">virtual</span></td></tr>
<tr class="odd"><td class="entry"><a class="el" href="classrtabmap_1_1Optimizer.html#aeebd0d5575ab7e9f492b095c05ddb237">priorsIgnored</a>() const</td><td class="entry"><a class="el" href="classrtabmap_1_1Optimizer.html">rtabmap::Optimizer</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
<tr bgcolor="#f0f0f0" class="even"><td class="entry"><b>saveGraph</b>(const std::string &amp;fileName, const std::map&lt; int, Transform &gt; &amp;poses, const std::multimap&lt; int, Link &gt; &amp;edgeConstraints) (defined in <a class="el" href="classrtabmap_1_1OptimizerG2O.html">rtabmap::OptimizerG2O</a>)</td><td class="entry"><a class="el" href="classrtabmap_1_1OptimizerG2O.html">rtabmap::OptimizerG2O</a></td><td class="entry"></td></tr>
<tr bgcolor="#f0f0f0" class="odd"><td class="entry"><b>setCovarianceIgnored</b>(bool enabled) (defined in <a class="el" href="classrtabmap_1_1Optimizer.html">rtabmap::Optimizer</a>)</td><td class="entry"><a class="el" href="classrtabmap_1_1Optimizer.html">rtabmap::Optimizer</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
<tr bgcolor="#f0f0f0" class="even"><td class="entry"><b>setEpsilon</b>(double epsilon) (defined in <a class="el" href="classrtabmap_1_1Optimizer.html">rtabmap::Optimizer</a>)</td><td class="entry"><a class="el" href="classrtabmap_1_1Optimizer.html">rtabmap::Optimizer</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
<tr bgcolor="#f0f0f0" class="odd"><td class="entry"><b>setGravitySigma</b>(float value) (defined in <a class="el" href="classrtabmap_1_1Optimizer.html">rtabmap::Optimizer</a>)</td><td class="entry"><a class="el" href="classrtabmap_1_1Optimizer.html">rtabmap::Optimizer</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
<tr bgcolor="#f0f0f0" class="even"><td class="entry"><b>setIterations</b>(int iterations) (defined in <a class="el" href="classrtabmap_1_1Optimizer.html">rtabmap::Optimizer</a>)</td><td class="entry"><a class="el" href="classrtabmap_1_1Optimizer.html">rtabmap::Optimizer</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
<tr bgcolor="#f0f0f0" class="odd"><td class="entry"><b>setLandmarksIgnored</b>(bool enabled) (defined in <a class="el" href="classrtabmap_1_1Optimizer.html">rtabmap::Optimizer</a>)</td><td class="entry"><a class="el" href="classrtabmap_1_1Optimizer.html">rtabmap::Optimizer</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
<tr bgcolor="#f0f0f0" class="even"><td class="entry"><b>setPriorsIgnored</b>(bool enabled) (defined in <a class="el" href="classrtabmap_1_1Optimizer.html">rtabmap::Optimizer</a>)</td><td class="entry"><a class="el" href="classrtabmap_1_1Optimizer.html">rtabmap::Optimizer</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
<tr bgcolor="#f0f0f0" class="odd"><td class="entry"><b>setRobust</b>(bool enabled) (defined in <a class="el" href="classrtabmap_1_1Optimizer.html">rtabmap::Optimizer</a>)</td><td class="entry"><a class="el" href="classrtabmap_1_1Optimizer.html">rtabmap::Optimizer</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
<tr bgcolor="#f0f0f0" class="even"><td class="entry"><b>setSlam2d</b>(bool enabled) (defined in <a class="el" href="classrtabmap_1_1Optimizer.html">rtabmap::Optimizer</a>)</td><td class="entry"><a class="el" href="classrtabmap_1_1Optimizer.html">rtabmap::Optimizer</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
<tr class="odd"><td class="entry"><a class="el" href="classrtabmap_1_1OptimizerG2O.html#af69edaad65a7f7f936fa99f8c617e10b">type</a>() const</td><td class="entry"><a class="el" href="classrtabmap_1_1OptimizerG2O.html">rtabmap::OptimizerG2O</a></td><td class="entry"><span class="mlabel">inline</span><span class="mlabel">virtual</span></td></tr>
<tr class="even"><td class="entry"><a class="el" href="classrtabmap_1_1Optimizer.html#a18ae8ac76346d1adc68ab176a5b02d16">Type</a> enum name</td><td class="entry"><a class="el" href="classrtabmap_1_1Optimizer.html">rtabmap::Optimizer</a></td><td class="entry"></td></tr>
<tr bgcolor="#f0f0f0" class="odd"><td class="entry"><b>~Optimizer</b>() (defined in <a class="el" href="classrtabmap_1_1Optimizer.html">rtabmap::Optimizer</a>)</td><td class="entry"><a class="el" href="classrtabmap_1_1Optimizer.html">rtabmap::Optimizer</a></td><td class="entry"><span class="mlabel">inline</span><span class="mlabel">virtual</span></td></tr>
<tr bgcolor="#f0f0f0" class="even"><td class="entry"><b>~OptimizerG2O</b>() (defined in <a class="el" href="classrtabmap_1_1OptimizerG2O.html">rtabmap::OptimizerG2O</a>)</td><td class="entry"><a class="el" href="classrtabmap_1_1OptimizerG2O.html">rtabmap::OptimizerG2O</a></td><td class="entry"><span class="mlabel">inline</span><span class="mlabel">virtual</span></td></tr>
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