#include <sparse_optimizer.h>

Inheritance diagram for g2o::SparseOptimizer:

Public Types
enum	{ AT_COMPUTEACTIVERROR = OptimizableGraph::AT_NUM_ELEMENTS, AT_NUM_ELEMENTS }

Public Types inherited from g2o::OptimizableGraph
enum	ActionType { AT_PREITERATION, AT_POSTITERATION, AT_NUM_ELEMENTS }

typedef std::vector< OptimizableGraph::Edge * >	EdgeContainer
	vector container for edges More...

typedef std::set< HyperGraphAction * >	HyperGraphActionSet

typedef std::vector< OptimizableGraph::Vertex * >	VertexContainer
	vector container for vertices More...

Public Types inherited from g2o::HyperGraph
typedef std::set< Edge * >	EdgeSet

typedef std::bitset< HyperGraph::HGET_NUM_ELEMS >	GraphElemBitset

enum	HyperGraphElementType { HGET_VERTEX, HGET_EDGE, HGET_PARAMETER, HGET_CACHE, HGET_DATA, HGET_NUM_ELEMS }
	enum of all the types we have in our graphs More...

typedef std::vector< Vertex * >	VertexContainer

typedef std::tr1::unordered_map< int, Vertex * >	VertexIDMap

typedef std::set< Vertex * >	VertexSet

Public Member Functions
double	activeChi2 () const

const EdgeContainer &	activeEdges () const
	the edges active in the current optimization More...

double	activeRobustChi2 () const

const VertexContainer &	activeVertices () const
	the vertices active in the current optimization More...

bool	addComputeErrorAction (HyperGraphAction *action)
	add an action to be executed before the error vectors are computed More...

const OptimizationAlgorithm *	algorithm () const
	the solver used by the optimizer More...

const BatchStatisticsContainer &	batchStatistics () const

BatchStatisticsContainer &	batchStatistics ()

virtual void	clear ()

void	computeActiveErrors ()

bool	computeBatchStatistics () const

virtual void	computeInitialGuess ()

virtual void	computeInitialGuess (EstimatePropagatorCost &propagator)

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

bool	computeMarginals (SparseBlockMatrix< MatrixXd > &spinv, const Vertex *vertex)

bool	computeMarginals (SparseBlockMatrix< MatrixXd > &spinv, const VertexContainer &vertices)

void	discardTop (SparseOptimizer::VertexContainer &vlist)
	ignore the latest stored element on the stack, remove it from the stack but do not restore the estimate More...

void	discardTop ()
	same as above, but for the active vertices More...

EdgeContainer::const_iterator	findActiveEdge (const OptimizableGraph::Edge *e) const

VertexContainer::const_iterator	findActiveVertex (const OptimizableGraph::Vertex *v) const

virtual Vertex *	findGauge ()
	finds a gauge in the graph to remove the undefined dof. More...

bool *	forceStopFlag () const

bool	gaugeFreedom ()

const VertexContainer &	indexMapping () const
	the index mapping of the vertices More...

virtual bool	initializeOptimization (HyperGraph::EdgeSet &eset)

virtual bool	initializeOptimization (HyperGraph::VertexSet &vset, int level=0)

virtual bool	initializeOptimization (int level=0)

int	optimize (int iterations, bool online=false)

void	pop (SparseOptimizer::VertexContainer &vlist)
	pop (restore) the estimate a subset of the variables from the stack More...

void	pop (HyperGraph::VertexSet &vlist)
	pop (restore) the estimate a subset of the variables from the stack More...

void	pop ()
	pop (restore) the estimate of the active vertices from the stack More...

void	push (SparseOptimizer::VertexContainer &vlist)
	push the estimate of a subset of the variables onto a stack More...

void	push (HyperGraph::VertexSet &vlist)
	push the estimate of a subset of the variables onto a stack More...

void	push ()
	push all the active vertices onto a stack More...

bool	removeComputeErrorAction (HyperGraphAction *action)
	remove an action that should no longer be execured before computing the error vectors More...

virtual bool	removeVertex (HyperGraph::Vertex *v)

void	setAlgorithm (OptimizationAlgorithm *algorithm)

void	setComputeBatchStatistics (bool computeBatchStatistics)

void	setForceStopFlag (bool *flag)

virtual void	setToOrigin ()

void	setVerbose (bool verbose)

OptimizationAlgorithm *	solver ()

	SparseOptimizer ()

bool	terminate ()
	if external stop flag is given, return its state. False otherwise More...

virtual bool	updateInitialization (HyperGraph::VertexSet &vset, HyperGraph::EdgeSet &eset)

bool	verbose () const
	verbose information during optimization More...

virtual	~SparseOptimizer ()

Public Member Functions inherited from g2o::OptimizableGraph
virtual bool	addEdge (HyperGraph::Edge *e)

void	addGraph (OptimizableGraph *g)
	adds all edges and vertices of the graph g to this graph. More...

bool	addParameter (Parameter *p)

bool	addPostIterationAction (HyperGraphAction *action)
	add an action to be executed after each iteration More...

bool	addPreIterationAction (HyperGraphAction *action)
	add an action to be executed before each iteration More...

virtual bool	addVertex (HyperGraph::Vertex v, Data userData)

virtual bool	addVertex (HyperGraph::Vertex *v)

double	chi2 () const
	returns the chi2 of the current configuration More...

virtual void	clearParameters ()

std::set< int >	dimensions () const

virtual void	discardTop (HyperGraph::VertexSet &vset)
	ignore the latest stored element on the stack, remove it from the stack but do not restore the estimate More...

bool	isSolverSuitable (const OptimizationAlgorithmProperty &solverProperty, const std::set< int > &vertDims=std::set< int >()) const

JacobianWorkspace &	jacobianWorkspace ()
	the workspace for storing the Jacobians of the graph More...

const JacobianWorkspace &	jacobianWorkspace () const

virtual bool	load (std::istream &is, bool createEdges=true)
	load the graph from a stream. Uses the Factory singleton for creating the vertices and edges. More...

bool	load (const char *filename, bool createEdges=true)

int	maxDimension () const
	return the maximum dimension of all vertices in the graph More...

	OptimizableGraph ()
	empty constructor More...

Parameter *	parameter (int id)

virtual void	postIteration (int)
	called at the end of an iteration (argument is the number of the iteration) More...

virtual void	preIteration (int)
	called at the beginning of an iteration (argument is the number of the iteration) More...

bool	removePostIterationAction (HyperGraphAction *action)
	remove an action that should no longer be execured after each iteration More...

bool	removePreIterationAction (HyperGraphAction *action)
	remove an action that should no longer be execured before each iteration More...

virtual bool	save (std::ostream &os, int level=0) const
	save the graph to a stream. Again uses the Factory system. More...

bool	save (const char *filename, int level=0) const
	function provided for convenience, see save() above More...

bool	saveEdge (std::ostream &os, Edge *e) const

bool	saveSubset (std::ostream &os, HyperGraph::VertexSet &vset, int level=0)
	save a subgraph to a stream. Again uses the Factory system. More...

bool	saveSubset (std::ostream &os, HyperGraph::EdgeSet &eset)
	save a subgraph to a stream. Again uses the Factory system. More...

bool	saveVertex (std::ostream &os, Vertex *v) const

virtual void	setFixed (HyperGraph::VertexSet &vset, bool fixed)
	fixes/releases a set of vertices More...

void	setRenamedTypesFromString (const std::string &types)

bool	verifyInformationMatrices (bool verbose=false) const

Vertex *	vertex (int id)
	returns the vertex number id appropriately casted More...

const Vertex *	vertex (int id) const
	returns the vertex number id appropriately casted More...

virtual	~OptimizableGraph ()

Public Member Functions inherited from g2o::HyperGraph
virtual bool	changeId (Vertex *v, int newId)

const EdgeSet &	edges () const

EdgeSet &	edges ()

	HyperGraph ()
	constructs an empty hyper graph More...

virtual bool	removeEdge (Edge *e)
	removes a vertex from the graph. Returns true on success (edge was present) More...

Vertex *	vertex (int id)
	returns a vertex id in the hyper-graph, or 0 if the vertex id is not present More...

const Vertex *	vertex (int id) const
	returns a vertex id in the hyper-graph, or 0 if the vertex id is not present More...

const VertexIDMap &	vertices () const

VertexIDMap &	vertices ()

virtual	~HyperGraph ()
	destroys the hyper-graph and all the vertices of the graph More...

Protected Member Functions
bool	buildIndexMapping (SparseOptimizer::VertexContainer &vlist)

void	clearIndexMapping ()

void	sortVectorContainers ()

Protected Attributes
EdgeContainer	_activeEdges
	sorted according to EdgeIDCompare More...

VertexContainer	_activeVertices
	sorted according to VertexIDCompare More...

OptimizationAlgorithm *	_algorithm

BatchStatisticsContainer	_batchStatistics
	global statistics of the optimizer, e.g., timing, num-non-zeros More...

bool	_computeBatchStatistics

bool *	_forceStopFlag

VertexContainer	_ivMap

bool	_verbose

Protected Attributes inherited from g2o::OptimizableGraph
bool	_edge_has_id

std::vector< HyperGraphActionSet >	_graphActions

JacobianWorkspace	_jacobianWorkspace

long long	_nextEdgeId

ParameterContainer	_parameters

std::map< std::string, std::string >	_renamedTypesLookup

Protected Attributes inherited from g2o::HyperGraph
EdgeSet	_edges

VertexIDMap	_vertices

Friends
class	ActivePathCostFunction

Additional Inherited Members
Static Public Member Functions inherited from g2o::OptimizableGraph
static bool	initMultiThreading ()

Detailed Description

Definition at line 45 of file sparse_optimizer.h.

Member Enumeration Documentation

anonymous enum

Enumerator
AT_COMPUTEACTIVERROR
AT_NUM_ELEMENTS

Definition at line 48 of file sparse_optimizer.h.

Constructor & Destructor Documentation

g2o::SparseOptimizer::SparseOptimizer ( )

Definition at line 50 of file sparse_optimizer.cpp.

g2o::SparseOptimizer::~SparseOptimizer ( )

virtual

Definition at line 56 of file sparse_optimizer.cpp.

Member Function Documentation

double g2o::SparseOptimizer::activeChi2 ( ) const

returns the cached chi2 of the active portion of the graph

Definition at line 90 of file sparse_optimizer.cpp.

const EdgeContainer& g2o::SparseOptimizer::activeEdges ( ) const

inline

the edges active in the current optimization

Definition at line 195 of file sparse_optimizer.h.

double g2o::SparseOptimizer::activeRobustChi2 ( ) const

returns the cached chi2 of the active portion of the graph. In contrast to activeChi2() this functions considers the weighting of the error according to the robustification of the error functions.

Definition at line 100 of file sparse_optimizer.cpp.

const VertexContainer& g2o::SparseOptimizer::activeVertices ( ) const

inline

the vertices active in the current optimization

Definition at line 193 of file sparse_optimizer.h.

bool g2o::SparseOptimizer::addComputeErrorAction ( HyperGraphAction * action )

add an action to be executed before the error vectors are computed

Definition at line 589 of file sparse_optimizer.cpp.

const OptimizationAlgorithm* g2o::SparseOptimizer::algorithm ( ) const

inline

the solver used by the optimizer

Definition at line 217 of file sparse_optimizer.h.

const BatchStatisticsContainer& g2o::SparseOptimizer::batchStatistics ( ) const

inline

Linearizes the system by computing the Jacobians for the nodes and edges in the graph returns the set of batch statistics about the optimisation

Definition at line 271 of file sparse_optimizer.h.

BatchStatisticsContainer& g2o::SparseOptimizer::batchStatistics ( )

inline

returns the set of batch statistics about the optimisation

Definition at line 275 of file sparse_optimizer.h.

bool g2o::SparseOptimizer::buildIndexMapping ( SparseOptimizer::VertexContainer & vlist )

protected

builds the mapping of the active vertices to the (block) row / column in the Hessian

Definition at line 166 of file sparse_optimizer.cpp.

void g2o::SparseOptimizer::clear ( )

virtual

clears the graph, and polishes some intermediate structures Note that this only removes nodes / edges. Parameters can be removed with clearParameters().

Reimplemented from g2o::HyperGraph.

Definition at line 489 of file sparse_optimizer.cpp.

void g2o::SparseOptimizer::clearIndexMapping ( )

protected

Definition at line 192 of file sparse_optimizer.cpp.

void g2o::SparseOptimizer::computeActiveErrors ( )

computes the error vectors of all edges in the activeSet, and caches them

Definition at line 61 of file sparse_optimizer.cpp.

bool g2o::SparseOptimizer::computeBatchStatistics ( ) const

inline

Definition at line 279 of file sparse_optimizer.h.

void g2o::SparseOptimizer::computeInitialGuess ( )

virtual

Propagates an initial guess from the vertex specified as origin. It should be called after initializeOptimization(...), as it relies on the _activeVertices/_edges structures. It constructs a set of trees starting from the nodes in the graph which are fixed and eligible for preforming optimization. The trees are constructed by utlizing a cost-function specified.

Parameters

costFunction the cost function used maxDistance: the distance where to stop the search

Definition at line 300 of file sparse_optimizer.cpp.

void g2o::SparseOptimizer::computeInitialGuess ( EstimatePropagatorCost & propagator )

virtual

Same as above but using a specific propagator

Definition at line 306 of file sparse_optimizer.cpp.

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

computes the blocks of the inverse of the specified pattern. the pattern is given via pairs <row, col> of the blocks in the hessian

Parameters

blockIndices	the pattern
spinv	the sparse block matrix with the result

Returns: false if the operation is not supported by the solver

Definition at line 570 of file sparse_optimizer.cpp.

bool g2o::SparseOptimizer::computeMarginals	(	SparseBlockMatrix< MatrixXd > &	spinv,
		const Vertex *	vertex
	)

inline

computes the inverse of the specified vertex.

Parameters

vertex	the vertex whose state is to be marginalised
spinv	the sparse block matrix with the result

Returns: false if the operation is not supported by the solver

Definition at line 138 of file sparse_optimizer.h.

bool g2o::SparseOptimizer::computeMarginals	(	SparseBlockMatrix< MatrixXd > &	spinv,
		const VertexContainer &	vertices
	)

inline

computes the inverse of the set specified vertices, assembled into a single covariance matrix.

Parameters

vertex	the pattern
spinv	the sparse block matrix with the result

Returns: false if the operation is not supported by the solver

Definition at line 153 of file sparse_optimizer.h.

void g2o::SparseOptimizer::discardTop ( SparseOptimizer::VertexContainer & vlist )

ignore the latest stored element on the stack, remove it from the stack but do not restore the estimate

Definition at line 550 of file sparse_optimizer.cpp.

void g2o::SparseOptimizer::discardTop ( )

virtual

same as above, but for the active vertices

Reimplemented from g2o::OptimizableGraph.

Definition at line 610 of file sparse_optimizer.cpp.

SparseOptimizer::EdgeContainer::const_iterator g2o::SparseOptimizer::findActiveEdge ( const OptimizableGraph::Edge * e ) const

search for an edge in _activeEdges and return the iterator pointing to it getActiveEdges().end() if not found

Definition at line 506 of file sparse_optimizer.cpp.

SparseOptimizer::VertexContainer::const_iterator g2o::SparseOptimizer::findActiveVertex ( const OptimizableGraph::Vertex * v ) const

search for an edge in _activeVertices and return the iterator pointing to it getActiveVertices().end() if not found

Definition at line 496 of file sparse_optimizer.cpp.

OptimizableGraph::Vertex * g2o::SparseOptimizer::findGauge ( )

virtual

finds a gauge in the graph to remove the undefined dof.

Definition at line 116 of file sparse_optimizer.cpp.

bool* g2o::SparseOptimizer::forceStopFlag ( ) const

inline

Definition at line 185 of file sparse_optimizer.h.

bool g2o::SparseOptimizer::gaugeFreedom ( )

Definition at line 137 of file sparse_optimizer.cpp.

const VertexContainer& g2o::SparseOptimizer::indexMapping ( ) const

inline

the index mapping of the vertices

Definition at line 191 of file sparse_optimizer.h.

bool g2o::SparseOptimizer::initializeOptimization ( HyperGraph::EdgeSet & eset )

virtual

Initializes the structures for optimizing a portion of the graph specified by a subset of edges. Before calling it be sure to invoke marginalized() and fixed() to the vertices you want to include in the schur complement or to set as fixed during the optimization.

Parameters

eset	the subgraph to be optimized.

Returns: false if somethings goes wrong

Definition at line 269 of file sparse_optimizer.cpp.

bool g2o::SparseOptimizer::initializeOptimization	(	HyperGraph::VertexSet &	vset,
		int	level = `0`
	)

virtual

Initializes the structures for optimizing a portion of the graph specified by a subset of vertices. Before calling it be sure to invoke marginalized() and fixed() to the vertices you want to include in the schur complement or to set as fixed during the optimization.

Parameters

vset	the subgraph to be optimized.
level	is the level (in multilevel optimization)

Returns: false if somethings goes wrong

Definition at line 206 of file sparse_optimizer.cpp.

bool g2o::SparseOptimizer::initializeOptimization ( int level = 0 )

virtual

Initializes the structures for optimizing the whole graph. Before calling it be sure to invoke marginalized() and fixed() to the vertices you want to include in the schur complement or to set as fixed during the optimization.

Parameters

level is the level (in multilevel optimization)

Returns: false if somethings goes wrong

Definition at line 199 of file sparse_optimizer.cpp.

int g2o::SparseOptimizer::optimize	(	int	iterations,
		bool	online = `false`
	)

virtual

starts one optimization run given the current configuration of the graph, and the current settings stored in the class instance. It can be called only after initializeOptimization

Reimplemented from g2o::OptimizableGraph.

Definition at line 354 of file sparse_optimizer.cpp.

void g2o::SparseOptimizer::pop ( SparseOptimizer::VertexContainer & vlist )

pop (restore) the estimate a subset of the variables from the stack

Definition at line 522 of file sparse_optimizer.cpp.

void g2o::SparseOptimizer::pop ( HyperGraph::VertexSet & vlist )

virtual

pop (restore) the estimate a subset of the variables from the stack

Reimplemented from g2o::OptimizableGraph.

Definition at line 539 of file sparse_optimizer.cpp.

void g2o::SparseOptimizer::pop ( )

virtual

pop (restore) the estimate of the active vertices from the stack

Reimplemented from g2o::OptimizableGraph.

Definition at line 605 of file sparse_optimizer.cpp.

void g2o::SparseOptimizer::push ( SparseOptimizer::VertexContainer & vlist )

push the estimate of a subset of the variables onto a stack

Definition at line 516 of file sparse_optimizer.cpp.

void g2o::SparseOptimizer::push ( HyperGraph::VertexSet & vlist )

virtual

push the estimate of a subset of the variables onto a stack

Reimplemented from g2o::OptimizableGraph.

Definition at line 528 of file sparse_optimizer.cpp.

void g2o::SparseOptimizer::push ( )

virtual

push all the active vertices onto a stack

Reimplemented from g2o::OptimizableGraph.

Definition at line 600 of file sparse_optimizer.cpp.

bool g2o::SparseOptimizer::removeComputeErrorAction ( HyperGraphAction * action )

remove an action that should no longer be execured before computing the error vectors

Definition at line 595 of file sparse_optimizer.cpp.

bool g2o::SparseOptimizer::removeVertex ( HyperGraph::Vertex * v )

virtual

Remove a vertex. If the vertex is contained in the currently active set of vertices, then the internal temporary structures are cleaned, e.g., the index mapping is erased. In case you need the index mapping for manipulating the graph, you have to store it in your own copy.

Reimplemented from g2o::HyperGraph.

Definition at line 579 of file sparse_optimizer.cpp.

void g2o::SparseOptimizer::setAlgorithm ( OptimizationAlgorithm * algorithm )

Definition at line 561 of file sparse_optimizer.cpp.

void g2o::SparseOptimizer::setComputeBatchStatistics ( bool computeBatchStatistics )

Definition at line 437 of file sparse_optimizer.cpp.

void g2o::SparseOptimizer::setForceStopFlag ( bool * flag )

sets a variable checked at every iteration to force a user stop. The iteration exits when the variable is true;

Definition at line 574 of file sparse_optimizer.cpp.

void g2o::SparseOptimizer::setToOrigin ( )

virtual

sets all vertices to their origin.

Definition at line 293 of file sparse_optimizer.cpp.

void g2o::SparseOptimizer::setVerbose ( bool verbose )

Definition at line 556 of file sparse_optimizer.cpp.

OptimizationAlgorithm* g2o::SparseOptimizer::solver ( )

inline

Definition at line 218 of file sparse_optimizer.h.

void g2o::SparseOptimizer::sortVectorContainers ( )

protected

Definition at line 482 of file sparse_optimizer.cpp.

bool g2o::SparseOptimizer::terminate ( )

inline

if external stop flag is given, return its state. False otherwise

Definition at line 188 of file sparse_optimizer.h.

bool g2o::SparseOptimizer::updateInitialization	(	HyperGraph::VertexSet &	vset,
		HyperGraph::EdgeSet &	eset
	)

virtual

HACK updating the internal structures for online processing

Definition at line 446 of file sparse_optimizer.cpp.

bool g2o::SparseOptimizer::verbose ( ) const

inline

verbose information during optimization

Definition at line 178 of file sparse_optimizer.h.

Friends And Related Function Documentation

friend class ActivePathCostFunction

friend

Definition at line 53 of file sparse_optimizer.h.

Member Data Documentation

EdgeContainer g2o::SparseOptimizer::_activeEdges

protected

sorted according to EdgeIDCompare

Definition at line 295 of file sparse_optimizer.h.

VertexContainer g2o::SparseOptimizer::_activeVertices

protected

sorted according to VertexIDCompare

Definition at line 294 of file sparse_optimizer.h.

OptimizationAlgorithm* g2o::SparseOptimizer::_algorithm

protected

Definition at line 299 of file sparse_optimizer.h.

BatchStatisticsContainer g2o::SparseOptimizer::_batchStatistics

protected

global statistics of the optimizer, e.g., timing, num-non-zeros

Definition at line 307 of file sparse_optimizer.h.

bool g2o::SparseOptimizer::_computeBatchStatistics

protected

Definition at line 308 of file sparse_optimizer.h.

bool* g2o::SparseOptimizer::_forceStopFlag

protected

Definition at line 290 of file sparse_optimizer.h.

VertexContainer g2o::SparseOptimizer::_ivMap

protected

Definition at line 293 of file sparse_optimizer.h.

bool g2o::SparseOptimizer::_verbose

protected

Definition at line 291 of file sparse_optimizer.h.

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

Public Types

Public Member Functions

Protected Member Functions

Protected Attributes

Friends

Additional Inherited Members

Detailed Description

Member Enumeration Documentation

Constructor & Destructor Documentation

Member Function Documentation

Friends And Related Function Documentation

Member Data Documentation