batch_stats.h
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1 // g2o - General Graph Optimization
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26 
27 #ifndef G2O_BATCH_STATS_H_
28 #define G2O_BATCH_STATS_H_
29 
30 #include <iostream>
31 #include <vector>
32 
33 
34 namespace g2o {
35 
41  int iteration;
43  int numEdges;
44  double chi2;
45 
47  // nonlinear part
48  double timeResiduals;
49  double timeLinearize;
52  // block_solver (constructs Ax=b, plus maybe schur)
54 
55  // linear solver (computes Ax=b);
61  double timeUpdate;
62  double timeIteration;
63 
64  double timeMarginals;
65 
66  // information about the Hessian matrix
70  size_t choleskyNNZ;
71 
73  static void setGlobalStats(G2OBatchStatistics* b);
74  protected:
76  };
77 
78  std::ostream& operator<<(std::ostream&, const G2OBatchStatistics&);
79 
80  typedef std::vector<G2OBatchStatistics> BatchStatisticsContainer;
81 }
82 
83 #endif
statistics about the optimization
Definition: batch_stats.h:39
int numVertices
how many vertices are involved
Definition: batch_stats.h:42
static G2OBatchStatistics * _globalStats
Definition: batch_stats.h:75
double timeIteration
total time;
Definition: batch_stats.h:62
std::ostream & operator<<(std::ostream &os, const G2OBatchStatistics &st)
Definition: batch_stats.cpp:48
double timeResiduals
residuals
Definition: batch_stats.h:48
int levenbergIterations
number of iterations performed by LM
Definition: batch_stats.h:51
int iteration
which iteration
Definition: batch_stats.h:41
size_t choleskyNNZ
number of non-zeros in the cholesky factor
Definition: batch_stats.h:70
size_t hessianPoseDimension
dimension of the pose matrix in Schur
Definition: batch_stats.h:68
int iterationsLinearSolver
iterations of PCG, (0 if not used, i.e., Cholesky)
Definition: batch_stats.h:60
size_t hessianLandmarkDimension
dimension of the landmark matrix in Schur
Definition: batch_stats.h:69
int numEdges
how many edges
Definition: batch_stats.h:43
static G2OBatchStatistics * globalStats()
Definition: batch_stats.h:72
double timeNumericDecomposition
numeric decomposition (0 if not done)
Definition: batch_stats.h:57
double timeUpdate
time to apply the update
Definition: batch_stats.h:61
double chi2
total chi2
Definition: batch_stats.h:44
size_t hessianDimension
rows / cols of the Hessian
Definition: batch_stats.h:67
double timeSchurComplement
compute schur complement (0 if not done)
Definition: batch_stats.h:53
double timeSymbolicDecomposition
symbolic decomposition (0 if not done)
Definition: batch_stats.h:56
double timeQuadraticForm
construct the quadratic form in the graph
Definition: batch_stats.h:50
double timeLinearize
jacobians
Definition: batch_stats.h:49
double timeLinearSolution
total time for solving Ax=b (including detup for schur)
Definition: batch_stats.h:58
std::vector< G2OBatchStatistics > BatchStatisticsContainer
Definition: batch_stats.h:80
double timeLinearSolver
time for solving, excluding Schur setup
Definition: batch_stats.h:59
static void setGlobalStats(G2OBatchStatistics *b)
Definition: batch_stats.cpp:85
double timeMarginals
computing the inverse elements (solve blocks) and thus the marginal covariances
Definition: batch_stats.h:64


orb_slam2_with_maps_odom
Author(s): teng zhang
autogenerated on Fri Sep 25 2020 03:24:47