#include <optimizable_graph.h>

Inheritance diagram for g2o::OptimizableGraph:

Classes
class	Data
	data packet for a vertex. Extend this class to store in the vertices the potential additional information you need (e.g. images, laser scans, ...). More...

class	Edge

struct	EdgeIDCompare
	order edges based on the internal ID, which is assigned to the edge in addEdge() More...

class	Vertex
	A general case Vertex for optimization. More...

struct	VertexIDCompare
	order vertices based on their ID More...

Public Types
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
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 ()
	discard the last backup of the estimate for all variables by removing it from the stack More...

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...

virtual int	optimize (int iterations, bool online=false)

Parameter *	parameter (int id)

virtual void	pop ()
	pop (restore) the estimate of all variables from the stack More...

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

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...

virtual void	push ()
	push the estimate of all variables onto a stack More...

virtual void	push (HyperGraph::VertexSet &vset)
	push the estimate of a subset of the variables onto a stack 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)

virtual void	clear ()
	clears the graph and empties all structures. More...

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...

virtual bool	removeVertex (Vertex *v)
	removes a vertex from the graph. Returns true on success (vertex 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...

Static Public Member Functions
static bool	initMultiThreading ()

Protected Attributes
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

Detailed Description

This is an abstract class that represents one optimization problem. It specializes the general graph to contain special vertices and edges. The vertices represent parameters that can be optimized, while the edges represent constraints. This class also provides basic functionalities to handle the backup/restore of portions of the vertices.

Definition at line 64 of file optimizable_graph.h.

Member Typedef Documentation

typedef std::vector<OptimizableGraph::Edge*> g2o::OptimizableGraph::EdgeContainer

vector container for edges

Definition at line 122 of file optimizable_graph.h.

typedef std::set<HyperGraphAction*> g2o::OptimizableGraph::HyperGraphActionSet

Definition at line 71 of file optimizable_graph.h.

typedef std::vector<OptimizableGraph::Vertex*> g2o::OptimizableGraph::VertexContainer

vector container for vertices

Definition at line 120 of file optimizable_graph.h.

Member Enumeration Documentation

enum g2o::OptimizableGraph::ActionType

Enumerator
AT_PREITERATION
AT_POSTITERATION
AT_NUM_ELEMENTS

Definition at line 66 of file optimizable_graph.h.

Constructor & Destructor Documentation

g2o::OptimizableGraph::OptimizableGraph ( )

empty constructor

Definition at line 231 of file optimizable_graph.cpp.

g2o::OptimizableGraph::~OptimizableGraph ( )

virtual

Definition at line 237 of file optimizable_graph.cpp.

Member Function Documentation

bool g2o::OptimizableGraph::addEdge ( HyperGraph::Edge * e )

virtual

adds a new edge. The edge should point to the vertices that it is connecting (setFrom/setTo).

Returns: false if the insertion does not work (incompatible types of the vertices/missing vertex). true otherwise.

Reimplemented from g2o::HyperGraph.

Definition at line 264 of file optimizable_graph.cpp.

void g2o::OptimizableGraph::addGraph ( OptimizableGraph * g )

adds all edges and vertices of the graph g to this graph.

Definition at line 681 of file optimizable_graph.cpp.

bool g2o::OptimizableGraph::addParameter ( Parameter * p )

inline

Definition at line 637 of file optimizable_graph.h.

bool g2o::OptimizableGraph::addPostIterationAction ( HyperGraphAction * action )

add an action to be executed after each iteration

Definition at line 795 of file optimizable_graph.cpp.

bool g2o::OptimizableGraph::addPreIterationAction ( HyperGraphAction * action )

add an action to be executed before each iteration

Definition at line 801 of file optimizable_graph.cpp.

bool g2o::OptimizableGraph::addVertex	(	HyperGraph::Vertex *	v,
		Data *	userData
	)

virtual

adds a new vertex. The new vertex is then "taken".

Returns: false if a vertex with the same id as v is already in the graph, true otherwise.

Definition at line 243 of file optimizable_graph.cpp.

virtual bool g2o::OptimizableGraph::addVertex ( HyperGraph::Vertex * v )

inlinevirtual

adds a vertex to the graph. The id of the vertex should be set before invoking this function. the function fails if another vertex with the same id is already in the graph. returns true, on success, or false on failure.

Reimplemented from g2o::HyperGraph.

Definition at line 545 of file optimizable_graph.h.

double g2o::OptimizableGraph::chi2 ( ) const

returns the chi2 of the current configuration

Definition at line 289 of file optimizable_graph.cpp.

void g2o::OptimizableGraph::clearParameters ( )

virtual

remove the parameters of the graph

Definition at line 862 of file optimizable_graph.cpp.

std::set< int > g2o::OptimizableGraph::dimensions ( ) const

iterates over all vertices and returns a set of all the vertex dimensions in the graph

Definition at line 763 of file optimizable_graph.cpp.

void g2o::OptimizableGraph::discardTop ( )

virtual

discard the last backup of the estimate for all variables by removing it from the stack

Reimplemented in g2o::SparseOptimizer.

Definition at line 315 of file optimizable_graph.cpp.

void g2o::OptimizableGraph::discardTop ( HyperGraph::VertexSet & vset )

virtual

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

Definition at line 339 of file optimizable_graph.cpp.

bool g2o::OptimizableGraph::initMultiThreading ( )

static

Eigen starting from version 3.1 requires that we call an initialize function, if we perform calls to Eigen from several threads. Currently, this function calls Eigen::initParallel if g2o is compiled with OpenMP support and Eigen's version is at least 3.1

Definition at line 901 of file optimizable_graph.cpp.

bool g2o::OptimizableGraph::isSolverSuitable	(	const OptimizationAlgorithmProperty &	solverProperty,
		const std::set< int > &	vertDims = `std::set<int>()`
	)		const

test whether a solver is suitable for optimizing this graph.

Parameters

solverProperty	the solver property to evaluate.
vertDims	should equal to the set returned by dimensions() to avoid re-evaluating.

Definition at line 740 of file optimizable_graph.cpp.

JacobianWorkspace& g2o::OptimizableGraph::jacobianWorkspace ( )

inline

the workspace for storing the Jacobians of the graph

Definition at line 659 of file optimizable_graph.h.

const JacobianWorkspace& g2o::OptimizableGraph::jacobianWorkspace ( ) const

inline

Definition at line 660 of file optimizable_graph.h.

virtual bool g2o::OptimizableGraph::load	(	std::istream &	is,
		bool	createEdges = `true`
	)

virtual

load the graph from a stream. Uses the Factory singleton for creating the vertices and edges.

bool g2o::OptimizableGraph::load	(	const char *	filename,
		bool	createEdges = `true`
	)

Definition at line 571 of file optimizable_graph.cpp.

int g2o::OptimizableGraph::maxDimension ( ) const

return the maximum dimension of all vertices in the graph

Definition at line 705 of file optimizable_graph.cpp.

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

virtual

carry out n iterations

Returns: the number of performed iterations

Reimplemented in g2o::SparseOptimizer.

Definition at line 287 of file optimizable_graph.cpp.

Parameter* g2o::OptimizableGraph::parameter ( int id )

inline

Definition at line 641 of file optimizable_graph.h.

void g2o::OptimizableGraph::pop ( )

virtual

pop (restore) the estimate of all variables from the stack

Reimplemented in g2o::SparseOptimizer.

Definition at line 307 of file optimizable_graph.cpp.

void g2o::OptimizableGraph::pop ( HyperGraph::VertexSet & vset )

virtual

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

Reimplemented in g2o::SparseOptimizer.

Definition at line 331 of file optimizable_graph.cpp.

void g2o::OptimizableGraph::postIteration ( int iter )

virtual

called at the end of an iteration (argument is the number of the iteration)

Definition at line 784 of file optimizable_graph.cpp.

void g2o::OptimizableGraph::preIteration ( int iter )

virtual

called at the beginning of an iteration (argument is the number of the iteration)

Definition at line 773 of file optimizable_graph.cpp.

void g2o::OptimizableGraph::push ( )

virtual

push the estimate of all variables onto a stack

Reimplemented in g2o::SparseOptimizer.

Definition at line 299 of file optimizable_graph.cpp.

void g2o::OptimizableGraph::push ( HyperGraph::VertexSet & vset )

virtual

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

Reimplemented in g2o::SparseOptimizer.

Definition at line 323 of file optimizable_graph.cpp.

bool g2o::OptimizableGraph::removePostIterationAction ( HyperGraphAction * action )

remove an action that should no longer be execured after each iteration

Definition at line 812 of file optimizable_graph.cpp.

bool g2o::OptimizableGraph::removePreIterationAction ( HyperGraphAction * action )

remove an action that should no longer be execured before each iteration

Definition at line 807 of file optimizable_graph.cpp.

virtual bool g2o::OptimizableGraph::save	(	std::ostream &	os,
		int	level = `0`
	)		const

virtual

save the graph to a stream. Again uses the Factory system.

bool g2o::OptimizableGraph::save	(	const char *	filename,
		int	level = `0`
	)		const

function provided for convenience, see save() above

Definition at line 581 of file optimizable_graph.cpp.

bool g2o::OptimizableGraph::saveEdge	(	std::ostream &	os,
		OptimizableGraph::Edge *	e
	)		const

Definition at line 843 of file optimizable_graph.cpp.

bool g2o::OptimizableGraph::saveSubset	(	std::ostream &	os,
		HyperGraph::VertexSet &	vset,
		int	level = `0`
	)

save a subgraph to a stream. Again uses the Factory system.

bool g2o::OptimizableGraph::saveSubset	(	std::ostream &	os,
		HyperGraph::EdgeSet &	eset
	)

save a subgraph to a stream. Again uses the Factory system.

bool g2o::OptimizableGraph::saveVertex	(	std::ostream &	os,
		OptimizableGraph::Vertex *	v
	)		const

Definition at line 817 of file optimizable_graph.cpp.

void g2o::OptimizableGraph::setFixed	(	HyperGraph::VertexSet &	vset,
		bool	fixed
	)

virtual

fixes/releases a set of vertices

Definition at line 347 of file optimizable_graph.cpp.

void g2o::OptimizableGraph::setRenamedTypesFromString ( const std::string & types )

set the renamed types lookup from a string, format is for example: VERTEX_CAM=VERTEX_SE3:EXPMAP,EDGE_PROJECT_P2MC=EDGE_PROJECT_XYZ:EXPMAP This will change the occurance of VERTEX_CAM in the file to VERTEX_SE3:EXPMAP

Definition at line 714 of file optimizable_graph.cpp.

bool g2o::OptimizableGraph::verifyInformationMatrices ( bool verbose = false ) const

verify that all the information of the edges are semi positive definite, i.e., all Eigenvalues are >= 0.

Parameters

verbose output edges with not PSD information matrix on cerr

Returns: true if all edges have PSD information matrix

Definition at line 867 of file optimizable_graph.cpp.

Vertex* g2o::OptimizableGraph::vertex ( int id )

inline

returns the vertex number id appropriately casted

Definition at line 528 of file optimizable_graph.h.

const Vertex* g2o::OptimizableGraph::vertex ( int id ) const

inline

returns the vertex number id appropriately casted

Definition at line 531 of file optimizable_graph.h.

Member Data Documentation

bool g2o::OptimizableGraph::_edge_has_id

protected

Definition at line 676 of file optimizable_graph.h.

std::vector<HyperGraphActionSet> g2o::OptimizableGraph::_graphActions

protected

Definition at line 673 of file optimizable_graph.h.

JacobianWorkspace g2o::OptimizableGraph::_jacobianWorkspace

protected

Definition at line 679 of file optimizable_graph.h.

long long g2o::OptimizableGraph::_nextEdgeId

protected

Definition at line 672 of file optimizable_graph.h.

ParameterContainer g2o::OptimizableGraph::_parameters

protected

Definition at line 678 of file optimizable_graph.h.

std::map<std::string, std::string> g2o::OptimizableGraph::_renamedTypesLookup

protected

Definition at line 671 of file optimizable_graph.h.

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

Classes

Public Types

Public Member Functions

Static Public Member Functions

Protected Attributes

Detailed Description

Member Typedef Documentation

Member Enumeration Documentation

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation