Implementation of a solver operating on the blocks of the Hessian. More...

#include <block_solver.h>

Inheritance diagram for g2o::BlockSolver< Traits >:

Public Types
typedef Traits::LandmarkHessianType	LandmarkHessianType

typedef Traits::LandmarkMatrixType	LandmarkMatrixType

typedef Traits::LandmarkVectorType	LandmarkVectorType

typedef Traits::LinearSolverType	LinearSolverType

typedef Traits::PoseHessianType	PoseHessianType

typedef Traits::PoseLandmarkHessianType	PoseLandmarkHessianType

typedef Traits::PoseLandmarkMatrixType	PoseLandmarkMatrixType

typedef Traits::PoseMatrixType	PoseMatrixType

typedef Traits::PoseVectorType	PoseVectorType

Public Member Functions
	BlockSolver (LinearSolverType *linearSolver)

virtual bool	buildStructure (bool zeroBlocks=false)

virtual bool	buildSystem ()

virtual bool	computeMarginals (SparseBlockMatrix< MatrixXd > &spinv, const std::vector< std::pair< int, int > > &blockIndices)

virtual bool	init (SparseOptimizer *optmizer, bool online=false)

LinearSolver< PoseMatrixType > *	linearSolver () const

virtual void	multiplyHessian (double dest, const double src) const

virtual void	restoreDiagonal ()

virtual bool	saveHessian (const std::string &fileName) const
	write the hessian to disk using the specified file name More...

virtual bool	schur ()
	should the solver perform the schur complement or not More...

virtual bool	setLambda (double lambda, bool backup=false)

virtual void	setSchur (bool s)

virtual void	setWriteDebug (bool writeDebug)

virtual bool	solve ()

virtual bool	supportsSchur ()

virtual bool	updateStructure (const std::vector< HyperGraph::Vertex * > &vset, const HyperGraph::EdgeSet &edges)

virtual bool	writeDebug () const

	~BlockSolver ()

Public Member Functions inherited from g2o::BlockSolverBase
virtual	~BlockSolverBase ()

Public Member Functions inherited from g2o::Solver
size_t	additionalVectorSpace () const

double *	b ()
	return b, the right hand side of the system More...

const double *	b () const

bool	levenberg () const
	the system is Levenberg-Marquardt More...

SparseOptimizer *	optimizer () const
	the optimizer (graph) on which the solver works More...

void	setAdditionalVectorSpace (size_t s)

void	setLevenberg (bool levenberg)

void	setOptimizer (SparseOptimizer *optimizer)

	Solver ()

size_t	vectorSize () const
	return the size of the solution vector (x) and b More...

double *	x ()
	return x, the solution vector More...

const double *	x () const

virtual	~Solver ()

Static Public Attributes
static const int	LandmarkDim = Traits::LandmarkDim

static const int	PoseDim = Traits::PoseDim

Protected Member Functions
void	deallocate ()

void	resize (int blockPoseIndices, int numPoseBlocks, int blockLandmarkIndices, int numLandmarkBlocks, int totalDim)

Protected Member Functions inherited from g2o::Solver
void	resizeVector (size_t sx)

Protected Attributes
double *	_bschur

double *	_coefficients

std::vector< LandmarkVectorType, Eigen::aligned_allocator< LandmarkVectorType > >	_diagonalBackupLandmark

std::vector< PoseVectorType, Eigen::aligned_allocator< PoseVectorType > >	_diagonalBackupPose

SparseBlockMatrixDiagonal< LandmarkMatrixType > *	_DInvSchur

bool	_doSchur

SparseBlockMatrix< LandmarkMatrixType > *	_Hll

SparseBlockMatrix< PoseLandmarkMatrixType > *	_Hpl

SparseBlockMatrixCCS< PoseLandmarkMatrixType > *	_HplCCS

SparseBlockMatrix< PoseMatrixType > *	_Hpp

SparseBlockMatrix< PoseMatrixType > *	_Hschur

SparseBlockMatrixCCS< PoseMatrixType > *	_HschurTransposedCCS

LinearSolver< PoseMatrixType > *	_linearSolver

int	_numLandmarks

int	_numPoses

int	_sizeLandmarks

int	_sizePoses

Protected Attributes inherited from g2o::Solver
size_t	_additionalVectorSpace

double *	_b

bool	_isLevenberg
	the system we gonna solve is a Levenberg-Marquardt system More...

size_t	_maxXSize

SparseOptimizer *	_optimizer

double *	_x

size_t	_xSize

Detailed Description

template<typename Traits>
class g2o::BlockSolver< Traits >

Implementation of a solver operating on the blocks of the Hessian.

Definition at line 97 of file block_solver.h.

Member Typedef Documentation

template<typename Traits >

typedef Traits::LandmarkHessianType g2o::BlockSolver< Traits >::LandmarkHessianType

Definition at line 109 of file block_solver.h.

template<typename Traits >

typedef Traits::LandmarkMatrixType g2o::BlockSolver< Traits >::LandmarkMatrixType

Definition at line 103 of file block_solver.h.

template<typename Traits >

typedef Traits::LandmarkVectorType g2o::BlockSolver< Traits >::LandmarkVectorType

Definition at line 106 of file block_solver.h.

template<typename Traits >

typedef Traits::LinearSolverType g2o::BlockSolver< Traits >::LinearSolverType

Definition at line 111 of file block_solver.h.

template<typename Traits >

typedef Traits::PoseHessianType g2o::BlockSolver< Traits >::PoseHessianType

Definition at line 108 of file block_solver.h.

template<typename Traits >

typedef Traits::PoseLandmarkHessianType g2o::BlockSolver< Traits >::PoseLandmarkHessianType

Definition at line 110 of file block_solver.h.

template<typename Traits >

typedef Traits::PoseLandmarkMatrixType g2o::BlockSolver< Traits >::PoseLandmarkMatrixType

Definition at line 104 of file block_solver.h.

template<typename Traits >

typedef Traits::PoseMatrixType g2o::BlockSolver< Traits >::PoseMatrixType

Definition at line 102 of file block_solver.h.

template<typename Traits >

typedef Traits::PoseVectorType g2o::BlockSolver< Traits >::PoseVectorType

Definition at line 105 of file block_solver.h.

Constructor & Destructor Documentation

template<typename Traits >

g2o::BlockSolver< Traits >::BlockSolver ( LinearSolverType * linearSolver )

allocate a block solver ontop of the underlying linear solver. NOTE: The BlockSolver assumes exclusive access to the linear solver and will therefore free the pointer in its destructor.

Definition at line 42 of file block_solver.hpp.

template<typename Traits >

g2o::BlockSolver< Traits >::~BlockSolver ( )

Definition at line 136 of file block_solver.hpp.

Member Function Documentation

template<typename Traits >

bool g2o::BlockSolver< Traits >::buildStructure ( bool zeroBlocks = false )

virtual

build the structure of the system

Implements g2o::Solver.

Definition at line 143 of file block_solver.hpp.

template<typename Traits >

bool g2o::BlockSolver< Traits >::buildSystem ( )

virtual

build the current system

Implements g2o::Solver.

Definition at line 502 of file block_solver.hpp.

template<typename Traits >

bool g2o::BlockSolver< Traits >::computeMarginals	(	SparseBlockMatrix< MatrixXd > &	spinv,
		const std::vector< std::pair< int, int > > &	blockIndices
	)

virtual

computes the block diagonal elements of the pattern specified in the input and stores them in given SparseBlockMatrix

Implements g2o::Solver.

Definition at line 490 of file block_solver.hpp.

template<typename Traits >

void g2o::BlockSolver< Traits >::deallocate ( )

protected

Definition at line 95 of file block_solver.hpp.

template<typename Traits >

bool g2o::BlockSolver< Traits >::init	(	SparseOptimizer *	optimizer,
		bool	online = `false`
	)

virtual

initialize the solver, called once before the first iteration

Implements g2o::Solver.

Definition at line 607 of file block_solver.hpp.

template<typename Traits >

LinearSolver<PoseMatrixType>* g2o::BlockSolver< Traits >::linearSolver ( ) const

inline

Definition at line 135 of file block_solver.h.

template<typename Traits >

virtual void g2o::BlockSolver< Traits >::multiplyHessian	(	double *	dest,
		const double *	src
	)		const

inlinevirtual

compute dest = H * src

Implements g2o::BlockSolverBase.

Definition at line 142 of file block_solver.h.

template<typename Traits >

void g2o::BlockSolver< Traits >::resize	(	int *	blockPoseIndices,
		int	numPoseBlocks,
		int *	blockLandmarkIndices,
		int	numLandmarkBlocks,
		int	totalDim
	)

protected

Definition at line 65 of file block_solver.hpp.

template<typename Traits >

void g2o::BlockSolver< Traits >::restoreDiagonal ( )

virtual

restore a previosly made backup of the diagonal

Implements g2o::Solver.

Definition at line 592 of file block_solver.hpp.

template<typename Traits >

bool g2o::BlockSolver< Traits >::saveHessian ( const std::string & ) const

virtual

write the hessian to disk using the specified file name

Implements g2o::Solver.

Definition at line 629 of file block_solver.hpp.

template<typename Traits >

virtual bool g2o::BlockSolver< Traits >::schur ( )

inlinevirtual

should the solver perform the schur complement or not

Implements g2o::Solver.

Definition at line 132 of file block_solver.h.

template<typename Traits >

bool g2o::BlockSolver< Traits >::setLambda	(	double	lambda,
		bool	backup = `false`
	)

virtual

update the system while performing Levenberg, i.e., modifying the diagonal components of A by doing += lambda along the main diagonal of the Matrix. Note that this function may be called with a positive and a negative lambda. The latter is used to undo a former modification. If backup is true, then the solver should store a backup of the diagonal, which can be restored by restoreDiagonal()

Implements g2o::Solver.

Definition at line 564 of file block_solver.hpp.

template<typename Traits >

virtual void g2o::BlockSolver< Traits >::setSchur ( bool s )

inlinevirtual

Implements g2o::Solver.

Definition at line 133 of file block_solver.h.

template<typename Traits >

void g2o::BlockSolver< Traits >::setWriteDebug ( bool )

virtual

write debug output of the Hessian if system is not positive definite

Implements g2o::Solver.

Definition at line 623 of file block_solver.hpp.

template<typename Traits >

bool g2o::BlockSolver< Traits >::solve ( )

virtual

solve Ax = b

Implements g2o::Solver.

Definition at line 354 of file block_solver.hpp.

template<typename Traits >

virtual bool g2o::BlockSolver< Traits >::supportsSchur ( )

inlinevirtual

does this solver support the Schur complement for solving a system consisting of poses and landmarks. Re-implemement in a derived solver, if your solver supports it.

Reimplemented from g2o::Solver.

Definition at line 131 of file block_solver.h.

template<typename Traits >

bool g2o::BlockSolver< Traits >::updateStructure	(	const std::vector< HyperGraph::Vertex * > &	vset,
		const HyperGraph::EdgeSet &	edges
	)

virtual

update the structures for online processing

Implements g2o::Solver.

Definition at line 298 of file block_solver.hpp.

template<typename Traits >

virtual bool g2o::BlockSolver< Traits >::writeDebug ( ) const

inlinevirtual

Implements g2o::Solver.

Definition at line 138 of file block_solver.h.

Member Data Documentation

template<typename Traits >

double* g2o::BlockSolver< Traits >::_bschur

protected

Definition at line 172 of file block_solver.h.

template<typename Traits >

double* g2o::BlockSolver< Traits >::_coefficients

protected

Definition at line 171 of file block_solver.h.

template<typename Traits >

std::vector<LandmarkVectorType, Eigen::aligned_allocator<LandmarkVectorType> > g2o::BlockSolver< Traits >::_diagonalBackupLandmark

protected

Definition at line 163 of file block_solver.h.

template<typename Traits >

std::vector<PoseVectorType, Eigen::aligned_allocator<PoseVectorType> > g2o::BlockSolver< Traits >::_diagonalBackupPose

protected

Definition at line 162 of file block_solver.h.

template<typename Traits >

SparseBlockMatrixDiagonal<LandmarkMatrixType>* g2o::BlockSolver< Traits >::_DInvSchur

protected

Definition at line 155 of file block_solver.h.

template<typename Traits >

bool g2o::BlockSolver< Traits >::_doSchur

protected

Definition at line 169 of file block_solver.h.

template<typename Traits >

SparseBlockMatrix<LandmarkMatrixType>* g2o::BlockSolver< Traits >::_Hll

protected

Definition at line 151 of file block_solver.h.

template<typename Traits >

SparseBlockMatrix<PoseLandmarkMatrixType>* g2o::BlockSolver< Traits >::_Hpl

protected

Definition at line 152 of file block_solver.h.

template<typename Traits >

SparseBlockMatrixCCS<PoseLandmarkMatrixType>* g2o::BlockSolver< Traits >::_HplCCS

protected

Definition at line 157 of file block_solver.h.

template<typename Traits >

SparseBlockMatrix<PoseMatrixType>* g2o::BlockSolver< Traits >::_Hpp

protected

Definition at line 150 of file block_solver.h.

template<typename Traits >

SparseBlockMatrix<PoseMatrixType>* g2o::BlockSolver< Traits >::_Hschur

protected

Definition at line 154 of file block_solver.h.

template<typename Traits >

SparseBlockMatrixCCS<PoseMatrixType>* g2o::BlockSolver< Traits >::_HschurTransposedCCS

protected

Definition at line 158 of file block_solver.h.

template<typename Traits >

LinearSolver<PoseMatrixType>* g2o::BlockSolver< Traits >::_linearSolver

protected

Definition at line 160 of file block_solver.h.

template<typename Traits >

int g2o::BlockSolver< Traits >::_numLandmarks

protected

Definition at line 174 of file block_solver.h.

template<typename Traits >

int g2o::BlockSolver< Traits >::_numPoses

protected

Definition at line 174 of file block_solver.h.

template<typename Traits >

int g2o::BlockSolver< Traits >::_sizeLandmarks

protected

Definition at line 175 of file block_solver.h.

template<typename Traits >

int g2o::BlockSolver< Traits >::_sizePoses

protected

Definition at line 175 of file block_solver.h.

template<typename Traits >

const int g2o::BlockSolver< Traits >::LandmarkDim = Traits::LandmarkDim

static

Definition at line 101 of file block_solver.h.

template<typename Traits >

const int g2o::BlockSolver< Traits >::PoseDim = Traits::PoseDim

static

Definition at line 100 of file block_solver.h.

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

Public Types

Public Member Functions

Static Public Attributes

Protected Member Functions

Protected Attributes

Detailed Description

template<typename Traits> class g2o::BlockSolver< Traits >

Member Typedef Documentation

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation

template<typename Traits>
class g2o::BlockSolver< Traits >