Inheritance diagram for rtabmap::OptimizerCeres:

Collaboration diagram for rtabmap::OptimizerCeres:

Public Member Functions
	OptimizerCeres (int iterations=Parameters::defaultOptimizerIterations(), bool slam2d=Parameters::defaultRegForce3DoF(), bool covarianceIgnored=Parameters::defaultOptimizerVarianceIgnored(), double epsilon=Parameters::defaultOptimizerEpsilon())

	OptimizerCeres (const ParametersMap &parameters)

virtual Type	type () const
	Returns the concrete back-end identifier (one of Type).

virtual void	parseParameters (const ParametersMap &parameters)
	Reads shared knobs from `parameters` and applies them to this instance.

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)
	Pose-graph optimization with marginal covariance of `rootId`.

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, BAOutliers *outliers=0)
	Bundle adjustment: jointly refine poses and 3D points (back-end-level entry point).

Public Member Functions inherited from rtabmap::Optimizer
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
	Extracts the connected component reachable from `fromId`.

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)
	Pose-graph optimization that grows the graph one node at a time.

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)
	Pose-graph optimization (single shot).

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())
	BA wrapper that derives camera models and correspondences from signatures.

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())
	BA convenience wrapper: like the overload above but ignores the refined 3D points and observation map.

Transform	optimizeBA (const Link &link, const CameraModel &model, std::map< int, cv::Point3f > &points3DMap, const std::map< int, std::map< int, FeatureBA > > &wordReferences, BAOutliers *outliers=0)
	Refine a single two-frame link via BA.

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())
	Build BA correspondences (3D points + per-frame observations) from signatures.

int	iterations () const
	Max solver iterations.

bool	isSlam2d () const
	True if optimizing in SE(2) instead of SE(3).

bool	isCovarianceIgnored () const
	If true, all edges share an identity information matrix.

double	epsilon () const
	Convergence threshold on cost decrease.

bool	isRobust () const
	If true, use a robust kernel / switchable factors against bad loop closures.

bool	priorsIgnored () const
	If true, unary priors on poses are dropped.

bool	landmarksIgnored () const
	If true, landmark/marker observations are dropped.

float	gravitySigma () const
	Std-dev (rad) of the gravity prior on roll/pitch; 0 disables it.

void	setIterations (int iterations)

void	setSlam2d (bool enabled)

void	setCovarianceIgnored (bool enabled)

void	setEpsilon (double epsilon)

void	setRobust (bool enabled)

void	setPriorsIgnored (bool enabled)

void	setLandmarksIgnored (bool enabled)

void	setGravitySigma (float value)

Static Public Member Functions
static bool	available ()

Static Public Member Functions inherited from rtabmap::Optimizer
static bool	isAvailable (Optimizer::Type type)
	Returns whether `type` was compiled in (its third-party dependency was found).

static Optimizer *	create (const ParametersMap &parameters)
	Factory: build an optimizer from a ParametersMap.

static Optimizer *	create (Optimizer::Type type, const ParametersMap &parameters=ParametersMap())
	Factory: build an optimizer of a specific `type`. Caller owns the result.

Additional Inherited Members
Public Types inherited from rtabmap::Optimizer
enum	Type { kTypeUndef = -1 , kTypeTORO = 0 , kTypeG2O = 1 , kTypeGTSAM = 2 , kTypeCeres = 3 , kTypeCVSBA = 4 }
	Graph-optimizer back-end identifier. More...

Protected Member Functions inherited from rtabmap::Optimizer
	Optimizer (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())

	Optimizer (const ParametersMap &parameters)

Detailed Description

Definition at line 35 of file OptimizerCeres.h.

Constructor & Destructor Documentation

◆ OptimizerCeres()

rtabmap::OptimizerCeres::OptimizerCeres	(	int	iterations = `Parameters::defaultOptimizerIterations()`,
		bool	slam2d = `Parameters::defaultRegForce3DoF()`,
		bool	covarianceIgnored = `Parameters::defaultOptimizerVarianceIgnored()`,
		double	epsilon = `Parameters::defaultOptimizerEpsilon()`
	)

inline

Definition at line 41 of file OptimizerCeres.h.

◆ ~OptimizerCeres()

virtual rtabmap::OptimizerCeres::~OptimizerCeres ( )

inlinevirtual

Definition at line 52 of file OptimizerCeres.h.

Member Function Documentation

◆ type()

virtual Type rtabmap::OptimizerCeres::type ( ) const

inlinevirtual

Returns the concrete back-end identifier (one of Type).

Implements rtabmap::Optimizer.

Definition at line 54 of file OptimizerCeres.h.

◆ parseParameters()

virtual void rtabmap::OptimizerCeres::parseParameters ( const ParametersMap & parameters )

virtual

Reads shared knobs from parameters and applies them to this instance.

Subclasses override to additionally read back-end-specific keys (e.g. g2o/Solver, GTSAM/Optimizer); they should call this base implementation first.

Reimplemented from rtabmap::Optimizer.

◆ optimize()

virtual std::map< int, Transform > rtabmap::OptimizerCeres::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`
	)

virtual

Pose-graph optimization with marginal covariance of rootId.

This is the primary back-end entry point — concrete subclasses override it. The base implementation just emits an error.

Parameters

rootId	Pose to hold fixed during optimization.
poses	Initial pose estimates.
constraints	Relative-pose constraints between pose ids (and optionally to landmarks).
outputCovariance	Output: 6x6 covariance of the last optimized pose w.r.t. `rootId` (3x3 for 2D mode). Filled only if the back-end supports it.
intermediateGraphes	Optional: appended at each iteration for debug/visualization.
finalError	Optional: written with the solver's final cost.
iterationsDone	Optional: written with the solver's actual iteration count.

Returns: Refined poses, or empty on failure.

Reimplemented from rtabmap::Optimizer.

◆ optimizeBA()

virtual std::map< int, Transform > rtabmap::OptimizerCeres::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,
		BAOutliers *	outliers = `0`
	)

virtual

Bundle adjustment: jointly refine poses and 3D points (back-end-level entry point).

Concrete subclasses (g2o, Ceres, cvsba) override this; the base implementation errors out. The other optimizeBA() overloads ultimately funnel here.

Parameters

rootId	Pose to hold fixed. If negative, ALL poses other than the (positive) lowest id are held fixed.
poses	Initial pose estimates keyed by frame id.
links	Edges used to define the BA problem topology.
models	Camera model(s) per frame; for stereo, `Tx` must be set on the model (= -baseline*fx). Multi-camera rigs have multiple entries per frame.
points3DMap	In/out: world 3D points keyed by word id; refined on return.
wordReferences	Observations: `<wordId, <frameId, FeatureBA>>`. See FeatureBA.
outliers	Optional output: word ids dropped by the back-end's outlier rejection.

Returns: Refined poses, or empty on failure.

Reimplemented from rtabmap::Optimizer.

The documentation for this class was generated from the following file:

corelib/include/rtabmap/core/optimizer/OptimizerCeres.h

Public Member Functions

Static Public Member Functions

Additional Inherited Members

Detailed Description

Constructor & Destructor Documentation

◆ OptimizerCeres()

◆ ~OptimizerCeres()

Member Function Documentation

◆ type()

◆ parseParameters()

◆ optimize()

◆ optimizeBA()