Optimizer Class Reference

Public Member Functions
	Optimizer (OptimzeConfig config=OptimzeConfig())
virtual bool	optimizePose (std::vector< std::pair< CameraAnchor, CameraAnchor > > &matches, std::vector< IdepthEstimation > &firstIDepth, GSLAM::SE3 &relativePose, KeyFrameEstimzationDOF dof=UPDATE_KF_SE3, double *information=NULL)
virtual bool	optimizePnP (const std::vector< std::pair< GSLAM::Point3d, CameraAnchor > > &matches, GSLAM::SE3 &pose, KeyFrameEstimzationDOF dof=UPDATE_KF_SE3, double *information=NULL)
virtual bool	optimizeICP (const std::vector< std::pair< GSLAM::Point3d, GSLAM::Point3d > > &matches, GSLAM::SIM3 &pose, KeyFrameEstimzationDOF dof=UPDATE_KF_SE3, double *information=NULL)
virtual bool	fitSim3 (const std::vector< std::pair< GSLAM::SE3, GSLAM::SE3 > > &matches, GSLAM::SIM3 &sim3, KeyFrameEstimzationDOF dof=UPDATE_KF_SIM3, double *information=NULL)
virtual bool	optimize (BundleGraph &graph)
virtual bool	magin (BundleGraph &graph)

Static Public Member Functions
static std::shared_ptr< Optimizer >	create (std::string pluginName="")
static funcCreateOptimizerInstance &	buildin ()

Public Attributes
OptimzeConfig	_config