ORB_SLAM2::Optimizer Class Reference

#include "Optimizer.h"

Static Public Member Functions
static void	BundleAdjustment (const std::vector< KeyFrame *> &vpKF, const std::vector< MapPoint *> &vpMP, int nIterations=5, bool *pbStopFlag=NULL, const unsigned long nLoopKF=0, const bool bRobust=true)
static void	GlobalBundleAdjustemnt (Map *pMap, int nIterations=5, bool *pbStopFlag=NULL, const unsigned long nLoopKF=0, const bool bRobust=true)
static void	LocalBundleAdjustment (KeyFrame *pKF, bool *pbStopFlag, Map *pMap)
static void	OptimizeEssentialGraph (Map *pMap, KeyFrame *pLoopKF, KeyFrame *pCurKF, const LoopClosing::KeyFrameAndPose &NonCorrectedSim3, const LoopClosing::KeyFrameAndPose &CorrectedSim3, const map< KeyFrame *, set< KeyFrame *> > &LoopConnections, const bool &bFixScale)
static int	OptimizeSim3 (KeyFrame *pKF1, KeyFrame *pKF2, std::vector< MapPoint *> &vpMatches1, g2o::Sim3 &g2oS12, const float th2, const bool bFixScale)
static int	PoseOptimization (Frame *pFrame)

Member Function Documentation

BundleAdjustment()

static void ORB_SLAM2::Optimizer::BundleAdjustment ( const std::vector< KeyFrame *> &  vpKF, const std::vector< MapPoint *> &  vpMP, int  nIterations = 5, bool *  pbStopFlag = NULL, const unsigned long  nLoopKF = 0, const bool  bRobust = true  )

static

GlobalBundleAdjustemnt()

static void ORB_SLAM2::Optimizer::GlobalBundleAdjustemnt ( Map *  pMap, int  nIterations = 5, bool *  pbStopFlag = NULL, const unsigned long  nLoopKF = 0, const bool  bRobust = true  )

static

LocalBundleAdjustment()

static void ORB_SLAM2::Optimizer::LocalBundleAdjustment ( KeyFrame *  pKF, bool *  pbStopFlag, Map *  pMap  )

static

OptimizeEssentialGraph()

static void ORB_SLAM2::Optimizer::OptimizeEssentialGraph ( Map *  pMap, KeyFrame *  pLoopKF, KeyFrame *  pCurKF, const LoopClosing::KeyFrameAndPose &  NonCorrectedSim3, const LoopClosing::KeyFrameAndPose &  CorrectedSim3, const map< KeyFrame *, set< KeyFrame *> > &  LoopConnections, const bool &  bFixScale  )

static

OptimizeSim3()

static int ORB_SLAM2::Optimizer::OptimizeSim3 ( KeyFrame *  pKF1, KeyFrame *  pKF2, std::vector< MapPoint *> &  vpMatches1, g2o::Sim3 &  g2oS12, const float  th2, const bool  bFixScale  )

static

PoseOptimization()

static int ORB_SLAM2::Optimizer::PoseOptimization ( Frame *  pFrame )

static

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

• orbslam2/include/Optimizer.h