Class OptimizationProblem

Class Documentation

class map_optimization::OptimizationProblem

Public Functions

OptimizationProblem(vi_map::VIMap *vi_map, const vi_map::MissionIdSet &mission_ids)
void applyGaugeFixesForInitialVertices(const std::vector<MissionClusterGaugeFixes> &new_cluster_fixes)
inline const std::vector<MissionClusterGaugeFixes> *getAppliedGaugeFixesForInitialVertices() const
inline const std::vector<vi_map::MissionIdSet> &getMissionCoobservationClusters() const
inline ceres_error_terms::ProblemInformation *getProblemInformationMutable()
inline OptimizationStateBuffer *getOptimizationStateBufferMutable()
inline vi_map::VIMap *getMapMutable() const
inline const vi_map::MissionIdSet &getMissionIds() const
inline const LocalParameterizations &getLocalParameterizations() const
inline ProblemBookkeeping *getProblemBookkeepingMutable()

Public Members

OptimizationProblem
struct LocalParameterizations

Public Members

std::shared_ptr<ceres::LocalParameterization> pose_parameterization
std::shared_ptr<ceres::LocalParameterization> baseframe_parameterization
std::shared_ptr<ceres::LocalParameterization> quaternion_parameterization
struct ProblemBookkeeping

Public Members

std::unique_ptr<std::vector<MissionClusterGaugeFixes>> cluster_gauge_fixes_initial_vertex
std::unordered_set<pose_graph::VertexId> keyframes_in_problem
std::unordered_multimap<vi_map::LandmarkId, ceres::CostFunction*> landmarks_in_problem