vslam::G2OGraphBuilder< G > Class Template Reference

Interface for building g2o graph. More...

#include <graph_opt.h>

Inheritance diagram for vslam::G2OGraphBuilder< G >:

List of all members.

Public Types
typedef graph_traits< G > ::vertex_descriptor	VDT
Public Member Functions
	G2OGraphBuilder (int _first_landmark_id, double _max_error)
void	operator() (g2o::SparseOptimizer &optimizer, G &g, Points< G > &points, VDT startv)
Public Attributes
const int	first_landmark_id
const double	max_error
Private Member Functions
virtual void	buildGraphImpl (g2o::SparseOptimizer &optimizer, G &g, Points< G > &points, VDT startv)=0

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Detailed Description

template<class G>
class vslam::G2OGraphBuilder< G >

Interface for building g2o graph.

This in effect determine what is optimized and how. G2ORunner2 is just a shall that does g2o stuff that is independet of the g2o optimalization graph.

Definition at line 70 of file graph_opt.h.

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Member Typedef Documentation

template<class G>

typedef graph_traits<G>::vertex_descriptor vslam::G2OGraphBuilder< G >::VDT

Definition at line 72 of file graph_opt.h.

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Constructor & Destructor Documentation

template<class G>

vslam::G2OGraphBuilder< G >::G2OGraphBuilder	(	int	_first_landmark_id,
		double	_max_error
	)		[inline]

Parameters:

_first_landmark_id	Determines maximum number of poses and landmarks in the g2o graph. There can be _first_landmark_id poses and (MAX_INT - first_landmark_id) landmarks.
_max_error	Maximum reprojection error allowed to add a landmark. If exceeded a warning is issued.

Definition at line 85 of file graph_opt.h.

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Member Function Documentation

template<class G>

virtual void vslam::G2OGraphBuilder< G >::buildGraphImpl	(	g2o::SparseOptimizer &	optimizer,
		G &	g,
		Points< G > &	points,
		VDT	startv
	)		[private, pure virtual]

Implemented in vslam::G2OConstActiveDistanceBuilder< G >.

template<class G>

void vslam::G2OGraphBuilder< G >::operator()	(	g2o::SparseOptimizer &	optimizer,
		G &	g,
		Points< G > &	points,
		VDT	startv
	)		[inline]

Parameters:

[in,out]

optimizer

g2o graph representation.

Precondition:

this is intended to be called only from G2ORunner2 ( 'optimizer' has to be initialized).

Definition at line 96 of file graph_opt.h.

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Member Data Documentation

template<class G>

const int vslam::G2OGraphBuilder< G >::first_landmark_id

Definition at line 74 of file graph_opt.h.

template<class G>

const double vslam::G2OGraphBuilder< G >::max_error

Definition at line 75 of file graph_opt.h.

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

• graph_opt.h