Optimalization of poses and landmarks.
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#include "utils.h"#include "pose_graph.h"#include "g2o_types/vertex_pose.h"#include "g2o_types/vertex_landmark.h"#include "g2o_types/edge_pose_landmark.h"#include <g2o/core/sparse_optimizer.h>#include <g2o/core/block_solver.h>#include <g2o/core/factory.h>#include <g2o/core/optimization_algorithm_factory.h>#include <g2o/core/optimization_algorithm_gauss_newton.h>#include <g2o/core/optimization_algorithm_levenberg.h>#include <g2o/solvers/csparse/linear_solver_csparse.h>#include <g2o/solvers/pcg/linear_solver_pcg.h>#include "g2o/solvers/dense/linear_solver_dense.h"#include <boost/graph/dijkstra_shortest_paths.hpp>#include <iostream>#include <cmath>#include <tr1/functional>
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Classes | |
| class | vslam::G2OConstActiveDistanceBuilder< G > |
| Optimizes all poses in fixed distance from a given vertex and all landmarks that are visible from the optimized poses. More... | |
| class | vslam::G2OGraphBuilder< G > |
| Interface for building g2o graph. More... | |
| class | vslam::G2ORunner2< G > |
| Interfaces g2o representation with our representation and runs BA. More... | |
| struct | vslam::G2OConstActiveDistanceBuilder< G >::Instance |
| Maintains state of g2o graph building. It is destroyed ater the graph is built. More... | |
| class | vslam::G2OConstActiveDistanceBuilder< G >::PoseAgeCompare |
| Defines ordering on graph verticies given by vertex addition time. More... | |
Namespaces | |
| namespace | vslam |
Namespace containing implementation of visual odometry. | |
| namespace | vslam::g2o_types |
types that for g2o framework that are specific to our task. | |
Optimalization of poses and landmarks.
Definition in file graph_opt.h.