marginal_covariance_cholesky.h
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1 // g2o - General Graph Optimization
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26 
27 #ifndef G2O_MARGINAL_COVARIANCE_CHOLESKY_H
28 #define G2O_MARGINAL_COVARIANCE_CHOLESKY_H
29 
30 #include "optimizable_graph.h"
31 #include "sparse_block_matrix.h"
32 
33 #include <cassert>
34 #include <vector>
35 
36 #ifdef _MSC_VER
37 #include <unordered_map>
38 #else
39 #include <tr1/unordered_map>
40 #endif
41 
42 
43 namespace g2o {
44 
49  protected:
53  typedef std::tr1::unordered_map<int, double> LookupMap;
54 
55  public:
58 
63  void computeCovariance(double** covBlocks, const std::vector<int>& blockIndices);
64 
65 
69  void computeCovariance(SparseBlockMatrix<MatrixXd>& spinv, const std::vector<int>& rowBlockIndices, const std::vector< std::pair<int, int> >& blockIndices);
70 
71 
79  void setCholeskyFactor(int n, int* Lp, int* Li, double* Lx, int* permInv);
80 
81  protected:
82  // information about the cholesky factor (lower triangle)
83  int _n;
84  int* _Ap;
85  int* _Ai;
86  double* _Ax;
87  int* _perm;
88 
89  LookupMap _map;
90  std::vector<double> _diag;
91 
93  int computeIndex(int r, int c) const { /*assert(r <= c);*/ return r*_n + c;}
98  double computeEntry(int r, int c);
99  };
100 
101 }
102 
103 #endif
LookupMap _map
hash look up table for the already computed entries
std::tr1::unordered_map< int, double > LookupMap
void setCholeskyFactor(int n, int *Lp, int *Li, double *Lx, int *permInv)
computing the marginal covariance given a cholesky factor (lower triangle of the factor) ...
int * _Ai
row indices of the CCS storage
int * _Ap
column pointer of the CCS storage
void computeCovariance(double **covBlocks, const std::vector< int > &blockIndices)
double * _Ax
values of the cholesky factor
int * _perm
permutation of the cholesky factor. Variable re-ordering for better fill-in
std::vector< double > _diag
cache 1 / H_ii to avoid recalculations
Sparse matrix which uses blocks.
int computeIndex(int r, int c) const
compute the index used for hashing


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