Provides graph optimization routines for the ORB-SLAM system. More...

Collaboration diagram for Optimizer:

Public Types
typedef std::pair< Set< KeyFrame * >, int >	ConsistentGroup
	A group of keyframes with a consistency count.
typedef std::map< KeyFrame , Sim3, std::less< KeyFrame >, Eigen::aligned_allocator< std::pair< KeyFrame *const, Sim3 > > >	KeyFrameAndPose
	Map from keyframe to Sim3 pose.

Detailed Description

Provides graph optimization routines for the ORB-SLAM system.

Implements bundle adjustment (local and global), pose optimization, essential graph optimization, inertial optimization, and Sim3 optimization using g2o-style graph solvers.

Definition at line 33 of file Optimizer.h.

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

OrbSLAM/Headers/Optimizer.h

Public Types

Detailed Description