SparseEigen.h
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1 /* ----------------------------------------------------------------------------
2 
3  * GTSAM Copyright 2010, Georgia Tech Research Corporation,
4  * Atlanta, Georgia 30332-0415
5  * All Rights Reserved
6  * Authors: Frank Dellaert, et al. (see THANKS for the full author list)
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8  * See LICENSE for the license information
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10  * -------------------------------------------------------------------------- */
11 
24 #pragma once
25 
28 
29 #include <Eigen/Sparse>
30 
31 namespace gtsam {
32 
36 
39  const GaussianFactorGraph &gfg, const Ordering &ordering) {
40  gttic_(SparseEigen_sparseJacobianEigen);
41  // intermediate `entries` vector is kind of unavoidable due to how expensive
42  // factor->rows() is, which prevents us from populating SparseEigen directly.
43  size_t nrows, ncols;
44  auto entries = gfg.sparseJacobian(ordering, nrows, ncols);
45  // declare sparse matrix
46  SparseEigen Ab(nrows, ncols);
47  // See Eigen::set_from_triplets. This is about 5% faster.
48  // pass 1: count the nnz per inner-vector
49  std::vector<int> nnz(ncols, 0);
50  for (const auto &entry : entries) nnz[std::get<1>(entry)]++;
51  Ab.reserve(nnz);
52  // pass 2: insert the elements
53  for (const auto &entry : entries)
54  Ab.insert(std::get<0>(entry), std::get<1>(entry)) = std::get<2>(entry);
55  return Ab;
56 }
57 
59  gttic_(SparseEigen_sparseJacobianEigen_defaultOrdering);
60  return sparseJacobianEigen(gfg, Ordering(gfg.keys()));
61 }
62 
63 } // namespace gtsam
GaussianFactorGraph.h
Linear Factor Graph where all factors are Gaussians.
Eigen::SparseMatrix
A versatible sparse matrix representation.
Definition: SparseMatrix.h:96
gtsam::GaussianFactorGraph::keys
Keys keys() const
Definition: GaussianFactorGraph.cpp:48
gtsam::SparseEigen
Eigen::SparseMatrix< double, Eigen::ColMajor, int > SparseEigen
Definition: SparseEigen.h:35
gtsam::GaussianFactorGraph
Definition: GaussianFactorGraph.h:73
gttic_
#define gttic_(label)
Definition: timing.h:245
VectorValues.h
Factor Graph Values.
ordering
static enum @1096 ordering
gtsam
traits
Definition: SFMdata.h:40
exampleQR::Ab
Matrix Ab
Definition: testNoiseModel.cpp:207
gtsam::GaussianFactorGraph::sparseJacobian
std::vector< std::tuple< int, int, double > > sparseJacobian(const Ordering &ordering, size_t &nrows, size_t &ncols) const
Definition: GaussianFactorGraph.cpp:119
gtsam::Ordering
Definition: inference/Ordering.h:33
gtsam::sparseJacobianEigen
SparseEigen sparseJacobianEigen(const GaussianFactorGraph &gfg, const Ordering &ordering)
Constructs an Eigen-format SparseMatrix of a GaussianFactorGraph.
Definition: SparseEigen.h:38


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