|
|
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 int | PoseOptimization (Frame *pFrame) |
| |
|
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) |
| |
The documentation for this class was generated from the following files:
- /home/yubao/data/catkin_ws/src/ORB_SLAM2/include/Optimizer.h
- /home/yubao/data/catkin_ws/src/ORB_SLAM2/src/Optimizer.cpp
