RbaEngine.h File Reference

This file exposes the public API and data types of libmrpt-srba (it requires also including srba/models/{*.h} to have a complete SLAM/RBA system) More...

Detailed Description

This file exposes the public API and data types of libmrpt-srba (it requires also including srba/models/{*.h} to have a complete SLAM/RBA system)

Definition in file RbaEngine.h.

#include <mrpt/utils/CTimeLogger.h>
#include <mrpt/utils/CLoadableOptions.h>
#include <mrpt/opengl/CSetOfObjects.h>
#include <mrpt/graphs/CNetworkOfPoses.h>
#include "srba_types.h"
#include "srba_options.h"
#include "landmark_jacob_families.h"
#include "impl/add-observations.h"
#include "impl/alloc_keyframe.h"
#include "impl/alloc_kf2kf_edge.h"
#include "impl/create_kf2kf_edge.h"
#include "impl/define_new_keyframe.h"
#include "impl/jacobians.h"
#include "impl/rba_problem_common.h"
#include "impl/schur.h"
#include "impl/sparse_hessian_build_symbolic.h"
#include "impl/sparse_hessian_update_numeric.h"
#include "impl/spantree_create_complete.h"
#include "impl/spantree_update_symbolic.h"
#include "impl/spantree_update_numeric.h"
#include "impl/spantree_misc.h"
#include "impl/export_opengl.h"
#include "impl/export_dot.h"
#include "impl/get_global_graphslam_problem.h"
#include "impl/eval_overall_error.h"
#include "impl/determine_kf2kf_edges_to_create.h"
#include "impl/edge_creation_policy.h"
#include "impl/reprojection_residuals.h"
#include "impl/compute_minus_gradient.h"
#include "impl/optimize_edges.h"
#include "impl/lev-marq_solvers.h"
#include "impl/bfs_visitor.h"
#include "impl/optimize_local_area.h"

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Classes
struct	mrpt::srba::RBA_OPTIONS_DEFAULT
	The set of default settings for RbaEngine. More...
class	mrpt::srba::RbaEngine< KF2KF_POSE_TYPE, LM_TYPE, OBS_TYPE, RBA_OPTIONS >
	The main class for the mrpt-srba: it defines a Relative Bundle-Adjustment (RBA) problem with (optionally, partially known) landmarks, the methods to update it with new observations and to optimize the relative poses with least squares optimizers. More...
struct	mrpt::srba::RbaEngine< KF2KF_POSE_TYPE, LM_TYPE, OBS_TYPE, RBA_OPTIONS >::TOptimizeExtraOutputInfo
	All the information returned by the local area optimizer. More...
struct	mrpt::srba::RbaEngine< KF2KF_POSE_TYPE, LM_TYPE, OBS_TYPE, RBA_OPTIONS >::TNewKeyFrameInfo
	Information returned by RbaEngine::define_new_keyframe() More...
struct	mrpt::srba::RbaEngine< KF2KF_POSE_TYPE, LM_TYPE, OBS_TYPE, RBA_OPTIONS >::TOptimizeLocalAreaParams
	Parameters for optimize_local_area() More...
struct	mrpt::srba::RbaEngine< KF2KF_POSE_TYPE, LM_TYPE, OBS_TYPE, RBA_OPTIONS >::TOpenGLRepresentationOptions
struct	mrpt::srba::RbaEngine< KF2KF_POSE_TYPE, LM_TYPE, OBS_TYPE, RBA_OPTIONS >::ExportGraphSLAM_Params
struct	mrpt::srba::RbaEngine< KF2KF_POSE_TYPE, LM_TYPE, OBS_TYPE, RBA_OPTIONS >::TSRBAParameters
	Different parameters for the SRBA methods. More...
struct	mrpt::srba::RbaEngine< KF2KF_POSE_TYPE, LM_TYPE, OBS_TYPE, RBA_OPTIONS >::TAllParameters
	The unique struct which hold all the parameters from the different SRBA modules (sensors, optional features, optimizers,...) More...
struct	mrpt::srba::RbaEngine< KF2KF_POSE_TYPE, LM_TYPE, OBS_TYPE, RBA_OPTIONS >::VisitorOptimizeLocalArea
	Aux visitor struct, used in optimize_local_area() More...
struct	mrpt::srba::RbaEngine< KF2KF_POSE_TYPE, LM_TYPE, OBS_TYPE, RBA_OPTIONS >::TBFSEntryEdges
	Private aux structure for BFS searches. More...
struct	mrpt::srba::RbaEngine< KF2KF_POSE_TYPE, LM_TYPE, OBS_TYPE, RBA_OPTIONS >::TNumeric_dh_dAp_params
struct	mrpt::srba::RbaEngine< KF2KF_POSE_TYPE, LM_TYPE, OBS_TYPE, RBA_OPTIONS >::TNumeric_dh_df_params
struct	mrpt::srba::RbaEngine< KF2KF_POSE_TYPE, LM_TYPE, OBS_TYPE, RBA_OPTIONS >::TObsUsed
	Each of the observations used during the optimization. More...

Namespaces
	mrpt
	This is the global namespace for all Mobile Robot Programming Toolkit (MRPT) libraries.
	mrpt::srba
	An heavily template-based implementation of Relative Bundle Adjustment (RBA) - See [mrpt-srba].

Macros
#define	VERBOSE_LEVEL(_LEVEL)   if (m_verbose_level>=_LEVEL) std::cout

Macro Definition Documentation

#define VERBOSE_LEVEL

(

_LEVEL

)

if (m_verbose_level>=_LEVEL) std::cout

Definition at line 25 of file RbaEngine.h.

Referenced by mrpt::srba::RbaEngine< KF2KF_POSE_TYPE, LM_TYPE, OBS_TYPE, RBA_OPTIONS >::define_new_keyframe(), mrpt::srba::RbaEngine< KF2KF_POSE_TYPE, LM_TYPE, OBS_TYPE, RBA_OPTIONS >::edge_creation_policy(), mrpt::srba::RbaEngine< KF2KF_POSE_TYPE, LM_TYPE, OBS_TYPE, RBA_OPTIONS >::optimize_edges(), mrpt::srba::internal::solver_engine< true, false, RBA_ENGINE >::solve(), and mrpt::srba::internal::solver_engine< true, true, RBA_ENGINE >::solve().