#include "Optimizer.h"
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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) |
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static void | GlobalBundleAdjustemnt (Map *pMap, int nIterations=5, bool *pbStopFlag=NULL, const unsigned long nLoopKF=0, const bool bRobust=true) |
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static void | LocalBundleAdjustment (KeyFrame *pKF, bool *pbStopFlag, Map *pMap) |
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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) |
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static int | OptimizeSim3 (KeyFrame *pKF1, KeyFrame *pKF2, std::vector< MapPoint *> &vpMatches1, g2o::Sim3 &g2oS12, const float th2, const bool bFixScale) |
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static int | PoseOptimization (Frame *pFrame) |
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◆ BundleAdjustment()
static void ORB_SLAM2::Optimizer::BundleAdjustment |
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const std::vector< KeyFrame *> & |
vpKF, |
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const std::vector< MapPoint *> & |
vpMP, |
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int |
nIterations = 5 , |
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bool * |
pbStopFlag = NULL , |
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const unsigned long |
nLoopKF = 0 , |
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const bool |
bRobust = true |
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) |
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◆ GlobalBundleAdjustemnt()
static void ORB_SLAM2::Optimizer::GlobalBundleAdjustemnt |
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Map * |
pMap, |
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int |
nIterations = 5 , |
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bool * |
pbStopFlag = NULL , |
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const unsigned long |
nLoopKF = 0 , |
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const bool |
bRobust = true |
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) |
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◆ LocalBundleAdjustment()
static void ORB_SLAM2::Optimizer::LocalBundleAdjustment |
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KeyFrame * |
pKF, |
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bool * |
pbStopFlag, |
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Map * |
pMap |
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) |
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◆ OptimizeEssentialGraph()
◆ OptimizeSim3()
static int ORB_SLAM2::Optimizer::OptimizeSim3 |
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KeyFrame * |
pKF1, |
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KeyFrame * |
pKF2, |
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std::vector< MapPoint *> & |
vpMatches1, |
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g2o::Sim3 & |
g2oS12, |
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const float |
th2, |
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const bool |
bFixScale |
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) |
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◆ PoseOptimization()
static int ORB_SLAM2::Optimizer::PoseOptimization |
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Frame * |
pFrame | ) |
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static |
The documentation for this class was generated from the following file: