#include <optimizable_graph.h>

Inheritance diagram for g2o::OptimizableGraph::Edge:

Public Member Functions
virtual double	chi2 () const =0
	computes the chi2 based on the cached error value, only valid after computeError has been called.
virtual Edge *	clone () const
virtual void	computeError ()=0
virtual void	constructQuadraticForm ()=0
virtual Vertex *	createFrom ()
virtual Vertex *	createTo ()
int	dimension () const
	returns the dimensions of the error function
	Edge ()
virtual const double *	errorData () const =0
	returns the error vector cached after calling the computeError;
virtual double *	errorData ()=0
virtual bool	getMeasurementData (double *m) const
double	huberWidth () const
	width of the robust huber kernel
virtual const double *	informationData () const =0
	returns the memory of the information matrix, usable for example with a Eigen::Map<MatrixXd>
virtual double *	informationData ()=0
virtual void	initialEstimate (const OptimizableGraph::VertexSet &from, OptimizableGraph::Vertex *to)=0
virtual double	initialEstimatePossible (const OptimizableGraph::VertexSet &from, OptimizableGraph::Vertex *to)
long long	internalId () const
	the internal ID of the edge
int	level () const
	returns the level of the edge
virtual void	linearizeOplus ()=0
virtual void	mapHessianMemory (double *d, int i, int j, bool rowMajor)=0
virtual int	measurementDimension () const
virtual bool	read (std::istream &is)=0
	read the vertex from a stream, i.e., the internal state of the vertex
virtual void	robustifyError ()=0
bool	robustKernel () const
	if true, error will be robustifed (not for computing Jacobians)
void	setHuberWidth (double hw)
void	setLevel (int l)
	sets the level of the edge
virtual bool	setMeasurementData (const double *m)
virtual bool	setMeasurementFromState ()
void	setRobustKernel (bool rk)
virtual bool	write (std::ostream &os) const =0
	write the vertex to a stream
Protected Member Functions
double	sqrtOfHuberByNrm (double delta, double b) const
Protected Attributes
int	_dimension
double	_huberWidth
long long	_internalId
int	_level
bool	_robustKernel
Friends
struct	OptimizableGraph

Detailed Description

Definition at line 264 of file optimizable_graph.h.

Constructor & Destructor Documentation

g2o::OptimizableGraph::Edge::Edge ( )

Definition at line 89 of file optimizable_graph.cpp.

Member Function Documentation

virtual double g2o::OptimizableGraph::Edge::chi2 ( ) const [pure virtual]

computes the chi2 based on the cached error value, only valid after computeError has been called.

Implemented in g2o::BaseEdge< D, E >, g2o::BaseEdge< D, SE3Quat >, g2o::BaseEdge< D, double >, g2o::BaseEdge< D, Vector2d >, g2o::BaseEdge< D, Vector3d >, g2o::BaseEdge< D, EdgeGICP >, g2o::BaseEdge< D, Sim3 >, g2o::BaseEdge< D, SE2 >, and g2o::BaseEdge< D, Eigen::Vector2d >.

OptimizableGraph::Edge * g2o::OptimizableGraph::Edge::clone ( void ) const [virtual]

Definition at line 115 of file optimizable_graph.cpp.

virtual void g2o::OptimizableGraph::Edge::constructQuadraticForm ( ) [pure virtual]

Linearizes the constraint in the edge. Makes side effect on the vertices of the graph by changing the parameter vector b and the hessian blocks ii and jj. The off diagoinal block is accesed via _hessian.

virtual Vertex* g2o::OptimizableGraph::Edge::createFrom ( ) [inline, virtual]

Definition at line 359 of file optimizable_graph.h.

virtual Vertex* g2o::OptimizableGraph::Edge::createTo ( ) [inline, virtual]

Definition at line 360 of file optimizable_graph.h.

int g2o::OptimizableGraph::Edge::dimension ( ) const [inline]

returns the dimensions of the error function

Definition at line 357 of file optimizable_graph.h.

virtual const double* g2o::OptimizableGraph::Edge::errorData ( ) const [pure virtual]

returns the error vector cached after calling the computeError;

Implemented in g2o::BaseEdge< D, E >, g2o::BaseEdge< D, SE3Quat >, g2o::BaseEdge< D, double >, g2o::BaseEdge< D, Vector2d >, g2o::BaseEdge< D, Vector3d >, g2o::BaseEdge< D, EdgeGICP >, g2o::BaseEdge< D, Sim3 >, g2o::BaseEdge< D, SE2 >, and g2o::BaseEdge< D, Eigen::Vector2d >.

virtual double* g2o::OptimizableGraph::Edge::errorData ( ) [pure virtual]

Implemented in g2o::BaseEdge< D, E >, g2o::BaseEdge< D, SE3Quat >, g2o::BaseEdge< D, double >, g2o::BaseEdge< D, Vector2d >, g2o::BaseEdge< D, Vector3d >, g2o::BaseEdge< D, EdgeGICP >, g2o::BaseEdge< D, Sim3 >, g2o::BaseEdge< D, SE2 >, and g2o::BaseEdge< D, Eigen::Vector2d >.

bool g2o::OptimizableGraph::Edge::getMeasurementData ( double * m ) const [virtual]

writes the measurement to an array of double

Returns:: true on success

Reimplemented in g2o::EdgeSE3, g2o::EdgeSE2, g2o::EdgeSE2PointXY, g2o::EdgeSE2PointXYBearing, and g2o::EdgeSE2Prior.

Definition at line 100 of file optimizable_graph.cpp.

double g2o::OptimizableGraph::Edge::huberWidth ( ) const [inline]

width of the robust huber kernel

Definition at line 303 of file optimizable_graph.h.

virtual const double* g2o::OptimizableGraph::Edge::informationData ( ) const [pure virtual]

returns the memory of the information matrix, usable for example with a Eigen::Map<MatrixXd>

Implemented in g2o::BaseEdge< D, E >, g2o::BaseEdge< D, SE3Quat >, g2o::BaseEdge< D, double >, g2o::BaseEdge< D, Vector2d >, g2o::BaseEdge< D, Vector3d >, g2o::BaseEdge< D, EdgeGICP >, g2o::BaseEdge< D, Sim3 >, g2o::BaseEdge< D, SE2 >, and g2o::BaseEdge< D, Eigen::Vector2d >.

virtual double* g2o::OptimizableGraph::Edge::informationData ( ) [pure virtual]

Implemented in g2o::BaseEdge< D, E >, g2o::BaseEdge< D, SE3Quat >, g2o::BaseEdge< D, double >, g2o::BaseEdge< D, Vector2d >, g2o::BaseEdge< D, Vector3d >, g2o::BaseEdge< D, EdgeGICP >, g2o::BaseEdge< D, Sim3 >, g2o::BaseEdge< D, SE2 >, and g2o::BaseEdge< D, Eigen::Vector2d >.

virtual void g2o::OptimizableGraph::Edge::initialEstimate	(	const OptimizableGraph::VertexSet &	from,
		OptimizableGraph::Vertex *	to
	)		`[pure virtual]`

set the estimate of the to vertex, based on the estimate of the from vertices in the edge.

Implemented in g2o::EdgeSBAScale, g2o::EdgeSBACam, g2o::EdgeSim3, g2o::BaseEdge< D, E >, g2o::BaseEdge< D, SE3Quat >, g2o::BaseEdge< D, double >, g2o::BaseEdge< D, Vector2d >, g2o::BaseEdge< D, Vector3d >, g2o::BaseEdge< D, EdgeGICP >, g2o::BaseEdge< D, Sim3 >, g2o::BaseEdge< D, SE2 >, g2o::BaseEdge< D, Eigen::Vector2d >, g2o::EdgeSE3, g2o::EdgeSE2, g2o::EdgeSE2PointXYBearing, g2o::EdgeSE2PointXY, g2o::EdgeSE2Prior, g2o::BaseUnaryEdge< D, E, VertexXi >, g2o::BaseUnaryEdge< 3, SE2, VertexSE2 >, g2o::OnlineEdgeSE3, g2o::OnlineEdgeSE2, and g2o::EdgeSE2PointXYCalib.

virtual double g2o::OptimizableGraph::Edge::initialEstimatePossible	(	const OptimizableGraph::VertexSet &	from,
		OptimizableGraph::Vertex *	to
	)		`[inline, virtual]`

override in your class if it's possible to initialize the vertices in certain combinations. The return value may correspond to the cost for initiliaizng the vertex but should be positive if the initialization is possible and negative if not possible.

Reimplemented in g2o::EdgeSBAScale, g2o::EdgeSBACam, g2o::EdgeSim3, g2o::EdgeSE3, g2o::EdgeSE2, g2o::EdgeSE2PointXY, g2o::EdgeSE2PointXYBearing, g2o::EdgeSE2Prior, and g2o::EdgeSE2PointXYCalib.

Definition at line 349 of file optimizable_graph.h.

long long g2o::OptimizableGraph::Edge::internalId ( ) const [inline]

the internal ID of the edge

Definition at line 368 of file optimizable_graph.h.

int g2o::OptimizableGraph::Edge::level ( ) const [inline]

returns the level of the edge

Definition at line 352 of file optimizable_graph.h.

virtual void g2o::OptimizableGraph::Edge::linearizeOplus ( ) [pure virtual]

Linearizes the constraint in the edge in the manifold space, and stores the result in temporary variables _jacobianOplusXi and _jacobianOplusXj (see base_edge).

virtual void g2o::OptimizableGraph::Edge::mapHessianMemory	(	double *	d,
		int	i,
		int	j,
		bool	rowMajor
	)		`[pure virtual]`

maps the internal matrix to some external memory location, you need to provide the memory before calling constructQuadraticForm

Parameters:

d	the memory location to which we map
i	index of the vertex i
j	index of the vertex j (j > i, upper triangular fashion)
rowMajor	if true, will write in rowMajor order to the block. Since EIGEN is columnMajor by default, this results in writing the transposed

int g2o::OptimizableGraph::Edge::measurementDimension ( ) const [virtual]

returns the dimension of the measurement in the extended representation which is used by get/setMeasurement;

Reimplemented in g2o::EdgeSE3, g2o::EdgeSE2, g2o::EdgeSE2Prior, g2o::EdgeSE2PointXY, and g2o::EdgeSE2PointXYBearing.

Definition at line 105 of file optimizable_graph.cpp.

virtual bool g2o::OptimizableGraph::Edge::read ( std::istream & is ) [pure virtual]

read the vertex from a stream, i.e., the internal state of the vertex

Implemented in g2o::EdgeProjectXYZ2UV, g2o::EdgeProjectXYZ2UV, g2o::Edge_XYZ_VSC, g2o::EdgeSBAScale, g2o::EdgeSBACam, g2o::EdgeProjectP2MC_Intrinsics, g2o::EdgeProjectXYZ2UVU, g2o::EdgeProjectP2SC, g2o::EdgeProjectXYZ2UVQ, g2o::EdgeProjectXYZ2UV, g2o::Edge_V_V_GICP, g2o::EdgeProjectP2MC, g2o::EdgeSE3Expmap, g2o::EdgeSim3ProjectXYZ, g2o::EdgeSim3, g2o::EdgeSE3, g2o::EdgeSE2PointXY, g2o::EdgeSE2PointXYBearing, g2o::EdgeSE2Prior, g2o::tutorial::EdgeSE2, g2o::EdgeSE2PointXYCalib, g2o::tutorial::EdgeSE2PointXY, g2o::EdgeSE2, and g2o::EdgeSE2Multi.

virtual void g2o::OptimizableGraph::Edge::robustifyError ( ) [pure virtual]

robustify the error of the edge using an robust kernel/M-estimator this is only called if robustKernel==true

Implemented in g2o::BaseEdge< D, E >, g2o::BaseEdge< D, SE3Quat >, g2o::BaseEdge< D, double >, g2o::BaseEdge< D, Vector2d >, g2o::BaseEdge< D, Vector3d >, g2o::BaseEdge< D, EdgeGICP >, g2o::BaseEdge< D, Sim3 >, g2o::BaseEdge< D, SE2 >, and g2o::BaseEdge< D, Eigen::Vector2d >.

bool g2o::OptimizableGraph::Edge::robustKernel ( ) const [inline]

if true, error will be robustifed (not for computing Jacobians)

Definition at line 299 of file optimizable_graph.h.

void g2o::OptimizableGraph::Edge::setHuberWidth ( double hw ) [inline]

Definition at line 304 of file optimizable_graph.h.

void g2o::OptimizableGraph::Edge::setLevel ( int l ) [inline]

sets the level of the edge

Definition at line 354 of file optimizable_graph.h.

bool g2o::OptimizableGraph::Edge::setMeasurementData ( const double * m ) [virtual]

sets the measurement from an array of double

Returns:: true on success

Reimplemented in g2o::EdgeSE3, g2o::EdgeSE2, g2o::EdgeSE2PointXYBearing, g2o::EdgeSE2Prior, and g2o::EdgeSE2PointXY.

Definition at line 95 of file optimizable_graph.cpp.

bool g2o::OptimizableGraph::Edge::setMeasurementFromState ( ) [virtual]

sets the estimate to have a zero error, based on the current value of the state variables returns false if not supported.

Reimplemented in g2o::EdgeSE3, g2o::EdgeSE2, g2o::EdgeSE2PointXY, and g2o::EdgeSE2PointXYBearing.

Definition at line 110 of file optimizable_graph.cpp.

void g2o::OptimizableGraph::Edge::setRobustKernel ( bool rk ) [inline]

Definition at line 300 of file optimizable_graph.h.

double g2o::OptimizableGraph::Edge::sqrtOfHuberByNrm	(	double	delta,
		double	b
	)		const `[inline, protected]`

Square root of huber cost function devided by delta

Let delta be the generalized 2-norm of the error e, thus delta = sqrt(e*Omega*e).

Let rho be the Huber cost function, rho(x) = if |x|<b : x^2 | else: 2b|x|-b^2 (Thus, b is the "width" of the quadratic component.)

This function computes "sqrt(rho(delta))/delta" which can be used as a weight to robustify the error e.

For details: See Hartley, Zisserman: "Multiple View Geometry in Computer Vision", 2nd edition, 2003, pp.616.

Definition at line 393 of file optimizable_graph.h.

virtual bool g2o::OptimizableGraph::Edge::write ( std::ostream & os ) const [pure virtual]

Friends And Related Function Documentation

friend struct OptimizableGraph [friend]

Definition at line 266 of file optimizable_graph.h.

Member Data Documentation

int g2o::OptimizableGraph::Edge::_dimension [protected]

Definition at line 371 of file optimizable_graph.h.

double g2o::OptimizableGraph::Edge::_huberWidth [protected]

Definition at line 374 of file optimizable_graph.h.

long long g2o::OptimizableGraph::Edge::_internalId [protected]

Definition at line 375 of file optimizable_graph.h.

int g2o::OptimizableGraph::Edge::_level [protected]

Definition at line 372 of file optimizable_graph.h.

bool g2o::OptimizableGraph::Edge::_robustKernel [protected]

Definition at line 373 of file optimizable_graph.h.

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

Public Member Functions

Protected Member Functions

Protected Attributes

Friends

Detailed Description

Constructor & Destructor Documentation

Member Function Documentation

Friends And Related Function Documentation

Member Data Documentation