g2o::G2OBatchStatistics Struct Reference

statistics about the optimization More...

#include <batch_stats.h>

List of all members.

Public Member Functions
	G2OBatchStatistics ()
Public Attributes
double	chi2
	total chi2
size_t	choleskyNNZ
	number of non-zeros in the cholesky factor
size_t	hessianDimension
	rows / cols of the Hessian
size_t	hessianLandmarkDimension
	dimension of the landmark matrix in Schur
size_t	hessianPoseDimension
	dimension of the pose matrix in Schur
int	iteration
	which iteration
int	iterationsLinearSolver
	iterations of PCG, (0 if not used, i.e., Cholesky)
int	levenbergIterations
	number of iterations performed by LM
int	numEdges
	how many edges
int	numVertices
	how many vertices are involved
double	timeIteration
	total time;
double	timeLinearize
	jacobians
double	timeLinearSolution
	total time for solving Ax=b (including detup for schur)
double	timeLinearSolver
	time for solving, excluding Schur setup
double	timeMarginals
	computing the inverse elements (solve blocks) and thus the marginal covariances
double	timeNumericDecomposition
	numeric decomposition (0 if not done)
double	timeQuadraticForm
	construct the quadratic form in the graph
double	timeResiduals
	residuals
double	timeSchurrComplement
	compute schurr complement (0 if not done)
double	timeSymbolicDecomposition
	symbolic decomposition (0 if not done)
double	timeUpdate
	time to apply the update

---

Detailed Description

statistics about the optimization

Definition at line 27 of file batch_stats.h.

---

Constructor & Destructor Documentation

g2o::G2OBatchStatistics::G2OBatchStatistics

(

)

Definition at line 30 of file batch_stats.cpp.

---

Member Data Documentation

double g2o::G2OBatchStatistics::chi2

total chi2

Definition at line 32 of file batch_stats.h.

size_t g2o::G2OBatchStatistics::choleskyNNZ

number of non-zeros in the cholesky factor

Definition at line 58 of file batch_stats.h.

size_t g2o::G2OBatchStatistics::hessianDimension

rows / cols of the Hessian

Definition at line 55 of file batch_stats.h.

size_t g2o::G2OBatchStatistics::hessianLandmarkDimension

dimension of the landmark matrix in Schur

Definition at line 57 of file batch_stats.h.

size_t g2o::G2OBatchStatistics::hessianPoseDimension

dimension of the pose matrix in Schur

Definition at line 56 of file batch_stats.h.

int g2o::G2OBatchStatistics::iteration

which iteration

Definition at line 29 of file batch_stats.h.

int g2o::G2OBatchStatistics::iterationsLinearSolver

iterations of PCG, (0 if not used, i.e., Cholesky)

Definition at line 48 of file batch_stats.h.

int g2o::G2OBatchStatistics::levenbergIterations

number of iterations performed by LM

Definition at line 39 of file batch_stats.h.

int g2o::G2OBatchStatistics::numEdges

how many edges

Definition at line 31 of file batch_stats.h.

int g2o::G2OBatchStatistics::numVertices

how many vertices are involved

Definition at line 30 of file batch_stats.h.

double g2o::G2OBatchStatistics::timeIteration

total time;

Definition at line 50 of file batch_stats.h.

double g2o::G2OBatchStatistics::timeLinearize

jacobians

Definition at line 37 of file batch_stats.h.

double g2o::G2OBatchStatistics::timeLinearSolution

total time for solving Ax=b (including detup for schur)

Definition at line 46 of file batch_stats.h.

double g2o::G2OBatchStatistics::timeLinearSolver

time for solving, excluding Schur setup

Definition at line 47 of file batch_stats.h.

double g2o::G2OBatchStatistics::timeMarginals

computing the inverse elements (solve blocks) and thus the marginal covariances

Definition at line 52 of file batch_stats.h.

double g2o::G2OBatchStatistics::timeNumericDecomposition

numeric decomposition (0 if not done)

Definition at line 45 of file batch_stats.h.

double g2o::G2OBatchStatistics::timeQuadraticForm

construct the quadratic form in the graph

Definition at line 38 of file batch_stats.h.

double g2o::G2OBatchStatistics::timeResiduals

residuals

timings

Definition at line 36 of file batch_stats.h.

double g2o::G2OBatchStatistics::timeSchurrComplement

compute schurr complement (0 if not done)

Definition at line 41 of file batch_stats.h.

double g2o::G2OBatchStatistics::timeSymbolicDecomposition

symbolic decomposition (0 if not done)

Definition at line 44 of file batch_stats.h.

double g2o::G2OBatchStatistics::timeUpdate

time to apply the update

Definition at line 49 of file batch_stats.h.

---

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

• batch_stats.h
• batch_stats.cpp