#include <sparse_optimizer.h>

Inheritance diagram for g2o::SparseOptimizer:

[legend]

Collaboration diagram for g2o::SparseOptimizer:

[legend]

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::set< HyperGraphAction * >	HyperGraphActionSet
typedef std::vector< OptimizableGraph::Vertex * >	VertexContainer
	vector container for vertices
typedef std::vector< OptimizableGraph::Edge * >	EdgeContainer
	vector container for edges
Public Types inherited from g2o::HyperGraph
typedef std::bitset< HyperGraph::HGET_NUM_ELEMS >	GraphElemBitset
typedef std::set< Edge * >	EdgeSet
typedef std::set< Vertex * >	VertexSet
typedef std::unordered_map< int, Vertex * >	VertexIDMap
typedef std::vector< Vertex * >	VertexContainer

Public Member Functions
	SparseOptimizer ()
virtual	~SparseOptimizer ()
virtual bool	initializeOptimization (HyperGraph::EdgeSet &eset)
virtual bool	initializeOptimization (HyperGraph::VertexSet &vset, int level=0)
virtual bool	initializeOptimization (int level=0)
virtual bool	updateInitialization (HyperGraph::VertexSet &vset, HyperGraph::EdgeSet &eset)
virtual void	computeInitialGuess ()
virtual void	computeInitialGuess (EstimatePropagatorCost &propagator)
virtual void	setToOrigin ()
int	optimize (int iterations, bool online=false)
bool	computeMarginals (SparseBlockMatrix< MatrixX > &spinv, const std::vector< std::pair< int, int > > &blockIndices)
bool	computeMarginals (SparseBlockMatrix< MatrixX > &spinv, const Vertex *vertex)
bool	computeMarginals (SparseBlockMatrix< MatrixX > &spinv, const VertexContainer &vertices)
virtual Vertex *	findGauge ()
	finds a gauge in the graph to remove the undefined dof.
bool	gaugeFreedom ()
double	activeChi2 () const
double	activeRobustChi2 () const
bool	verbose () const
	verbose information during optimization
void	setVerbose (bool verbose)
void	setForceStopFlag (bool *flag)
bool *	forceStopFlag () const
bool	terminate ()
	if external stop flag is given, return its state. False otherwise
const VertexContainer &	indexMapping () const
	the index mapping of the vertices
const VertexContainer &	activeVertices () const
	the vertices active in the current optimization
const EdgeContainer &	activeEdges () const
	the edges active in the current optimization
virtual bool	removeVertex (HyperGraph::Vertex *v, bool detach=false)
VertexContainer::const_iterator	findActiveVertex (const OptimizableGraph::Vertex *v) const
EdgeContainer::const_iterator	findActiveEdge (const OptimizableGraph::Edge *e) const
const OptimizationAlgorithm *	algorithm () const
	the solver used by the optimizer
OptimizationAlgorithm *	solver ()
void	setAlgorithm (OptimizationAlgorithm *algorithm)
void	push (SparseOptimizer::VertexContainer &vlist)
	push the estimate of a subset of the variables onto a stack
void	push (HyperGraph::VertexSet &vlist)
	push the estimate of a subset of the variables onto a stack
void	push ()
	push all the active vertices onto a stack
void	pop (SparseOptimizer::VertexContainer &vlist)
	pop (restore) the estimate a subset of the variables from the stack
void	pop (HyperGraph::VertexSet &vlist)
	pop (restore) the estimate a subset of the variables from the stack
void	pop ()
	pop (restore) the estimate of the active vertices from the stack
void	discardTop (SparseOptimizer::VertexContainer &vlist)
void	discardTop ()
	same as above, but for the active vertices
virtual void	clear ()
void	computeActiveErrors ()
	G2O_ATTRIBUTE_DEPRECATED (void linearizeSystem())
void	update (const double *update)
const BatchStatisticsContainer &	batchStatistics () const
BatchStatisticsContainer &	batchStatistics ()
void	setComputeBatchStatistics (bool computeBatchStatistics)
bool	computeBatchStatistics () const
bool	addComputeErrorAction (HyperGraphAction *action)
	add an action to be executed before the error vectors are computed
bool	removeComputeErrorAction (HyperGraphAction *action)
virtual void	discardTop (HyperGraph::VertexSet &vset)
Public Member Functions inherited from g2o::OptimizableGraph
Vertex *	vertex (int id)
	returns the vertex number id appropriately casted
const Vertex *	vertex (int id) const
	returns the vertex number id appropriately casted
	OptimizableGraph ()
	empty constructor
virtual	~OptimizableGraph ()
virtual bool	addVertex (HyperGraph::Vertex v, Data userData)
virtual bool	addVertex (HyperGraph::Vertex *v)
bool	addVertex (OptimizableGraph::Vertex v, Data userData)
bool	addVertex (OptimizableGraph::Vertex *v)
virtual bool	addEdge (HyperGraph::Edge *e)
bool	addEdge (OptimizableGraph::Edge *e)
virtual bool	setEdgeVertex (HyperGraph::Edge e, int pos, HyperGraph::Vertex v)
double	chi2 () const
	returns the chi2 of the current configuration
int	maxDimension () const
	return the maximum dimension of all vertices in the graph
void	recomputeJacobianWorkspaceSize ()
std::set< int >	dimensions () const
virtual void	preIteration (int)
virtual void	postIteration (int)
bool	addPreIterationAction (HyperGraphAction *action)
	add an action to be executed before each iteration
bool	addPostIterationAction (HyperGraphAction *action)
	add an action to be executed after each iteration
bool	removePreIterationAction (HyperGraphAction *action)
	remove an action that should no longer be executed before each iteration
bool	removePostIterationAction (HyperGraphAction *action)
	remove an action that should no longer be executed after each iteration
virtual bool	load (std::istream &is)
bool	load (const char *filename)
virtual bool	save (std::ostream &os, int level=0) const
	save the graph to a stream. Again uses the Factory system.
bool	save (const char *filename, int level=0) const
	function provided for convenience, see save() above
bool	saveSubset (std::ostream &os, HyperGraph::VertexSet &vset, int level=0)
	save a subgraph to a stream. Again uses the Factory system.
bool	saveSubset (std::ostream &os, HyperGraph::EdgeSet &eset)
	save a subgraph to a stream. Again uses the Factory system.
virtual void	setFixed (HyperGraph::VertexSet &vset, bool fixed)
	fixes/releases a set of vertices
void	setRenamedTypesFromString (const std::string &types)
bool	isSolverSuitable (const OptimizationAlgorithmProperty &solverProperty, const std::set< int > &vertDims=std::set< int >()) const
virtual void	clearParameters ()
bool	addParameter (Parameter *p)
Parameter *	parameter (int id)
bool	verifyInformationMatrices (bool verbose=false) const
bool	saveVertex (std::ostream &os, Vertex *v) const
bool	saveParameter (std::ostream &os, Parameter *v) const
bool	saveEdge (std::ostream &os, Edge *e) const
bool	saveUserData (std::ostream &os, HyperGraph::Data *v) const
JacobianWorkspace &	jacobianWorkspace ()
	the workspace for storing the Jacobians of the graph
const JacobianWorkspace &	jacobianWorkspace () const
ParameterContainer &	parameters ()
const ParameterContainer &	parameters () const
void	forEachVertex (std::function< void(OptimizableGraph::Vertex *)> fn)
	apply a unary function to all vertices
void	forEachVertex (HyperGraph::VertexSet &vset, std::function< void(OptimizableGraph::Vertex *)> fn)
	apply a unary function to the vertices in vset
Public Member Functions inherited from g2o::HyperGraph
	HyperGraph ()
	constructs an empty hyper graph
virtual	~HyperGraph ()
	destroys the hyper-graph and all the vertices of the graph
Vertex *	vertex (int id)
const Vertex *	vertex (int id) const
virtual bool	removeEdge (Edge *e)
const VertexIDMap &	vertices () const
VertexIDMap &	vertices ()
const EdgeSet &	edges () const
EdgeSet &	edges ()
virtual bool	mergeVertices (Vertex vBig, Vertex vSmall, bool erase)
virtual bool	detachVertex (Vertex *v)
virtual bool	changeId (Vertex *v, int newId)

Protected Member Functions
void	sortVectorContainers ()
bool	buildIndexMapping (SparseOptimizer::VertexContainer &vlist)
void	clearIndexMapping ()
Protected Member Functions inherited from g2o::OptimizableGraph
void	performActions (int iter, HyperGraphActionSet &actions)

Protected Attributes
bool *	_forceStopFlag
bool	_verbose
VertexContainer	_ivMap
VertexContainer	_activeVertices
	sorted according to VertexIDCompare
EdgeContainer	_activeEdges
	sorted according to EdgeIDCompare
OptimizationAlgorithm *	_algorithm
BatchStatisticsContainer	_batchStatistics
bool	_computeBatchStatistics
Protected Attributes inherited from g2o::OptimizableGraph
std::map< std::string, std::string >	_renamedTypesLookup
long long	_nextEdgeId
std::vector< HyperGraphActionSet >	_graphActions
ParameterContainer	_parameters
JacobianWorkspace	_jacobianWorkspace
Protected Attributes inherited from g2o::HyperGraph
VertexIDMap	_vertices
EdgeSet	_edges

Friends
class	ActivePathCostFunction

Additional Inherited Members
Static Public Member Functions inherited from g2o::OptimizableGraph
static bool	initMultiThreading ()
Public Attributes inherited from g2o::OptimizableGraph
class G2O_CORE_API	Vertex
class G2O_CORE_API	Edge
Public Attributes inherited from g2o::HyperGraph
class G2O_CORE_API	Data
class G2O_CORE_API	DataContainer
class G2O_CORE_API	Vertex
class G2O_CORE_API	Edge
Static Public Attributes inherited from g2o::HyperGraph
static const int	UnassignedId = -1
static const int	InvalidId = -2

Detailed Description

Definition at line 42 of file sparse_optimizer.h.

Member Enumeration Documentation

◆ anonymous enum

anonymous enum

Enumerator
AT_COMPUTEACTIVERROR
AT_NUM_ELEMENTS

Definition at line 44 of file sparse_optimizer.h.

Constructor & Destructor Documentation

◆ SparseOptimizer()

g2o::SparseOptimizer::SparseOptimizer ( )

Definition at line 52 of file sparse_optimizer.cpp.

References _algorithm, _computeBatchStatistics, _forceStopFlag, g2o::OptimizableGraph::_graphActions, _verbose, and AT_NUM_ELEMENTS.

Referenced by ActivePathCostFunction, and g2o::SparseOptimizerOnline::SparseOptimizerOnline().

◆ ~SparseOptimizer()

g2o::SparseOptimizer::~SparseOptimizer ( )

virtual

Definition at line 60 of file sparse_optimizer.cpp.

References _algorithm, g2o::release(), and g2o::G2OBatchStatistics::setGlobalStats().

Member Function Documentation

◆ activeChi2()

double g2o::SparseOptimizer::activeChi2 ( ) const

returns the cached chi2 of the active portion of the graph

Definition at line 94 of file sparse_optimizer.cpp.

References _activeEdges, and g2o::OptimizableGraph::Edge::chi2().

Referenced by ActivePathCostFunction, computeInitialGuess(), main(), g2o::SparseOptimizerIncremental::optimize(), and g2o::SparseOptimizerOnline::optimize().

◆ activeEdges()

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

inline

the edges active in the current optimization

Definition at line 190 of file sparse_optimizer.h.

References _activeEdges.

Referenced by g2o::activeVertexChi().

◆ activeRobustChi2()

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 104 of file sparse_optimizer.cpp.

References _activeEdges, g2o::OptimizableGraph::Edge::chi2(), g2o::RobustKernel::robustify(), and g2o::OptimizableGraph::Edge::robustKernel().

Referenced by ActivePathCostFunction, g2o::SparseOptimizerTerminateAction::operator()(), and optimize().

◆ activeVertices()

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

inline

the vertices active in the current optimization

Definition at line 188 of file sparse_optimizer.h.

References _activeVertices.

Referenced by g2o::StructureOnlySolver< PointDoF >::init(), main(), and testMarginals().

◆ addComputeErrorAction()

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

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

Definition at line 615 of file sparse_optimizer.cpp.

References g2o::OptimizableGraph::_graphActions, and AT_COMPUTEACTIVERROR.

◆ algorithm()

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

inline

the solver used by the optimizer

Definition at line 214 of file sparse_optimizer.h.

References _algorithm.

Referenced by setAlgorithm().

◆ batchStatistics() [1/2]

BatchStatisticsContainer & g2o::SparseOptimizer::batchStatistics ( )

inline

returns the set of batch statistics about the optimisation

Definition at line 274 of file sparse_optimizer.h.

References _batchStatistics.

◆ batchStatistics() [2/2]

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

inline

returns the set of batch statistics about the optimisation

Definition at line 268 of file sparse_optimizer.h.

References _batchStatistics.

Referenced by main().

◆ buildIndexMapping()

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 162 of file sparse_optimizer.cpp.

References _ivMap, g2o::OptimizableGraph::Vertex::fixed(), g2o::OptimizableGraph::Vertex::marginalized(), and g2o::OptimizableGraph::Vertex::setHessianIndex().

Referenced by initializeOptimization(), and initializeOptimization().

◆ clear()

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 514 of file sparse_optimizer.cpp.

References _activeEdges, _activeVertices, _ivMap, and g2o::HyperGraph::clear().

Referenced by main(), main(), and g2o::Gm2dlIO::readGm2dl().

◆ clearIndexMapping()

void g2o::SparseOptimizer::clearIndexMapping ( )

protected

Definition at line 189 of file sparse_optimizer.cpp.

References _ivMap.

Referenced by initializeOptimization(), initializeOptimization(), and removeVertex().

◆ computeActiveErrors()

void g2o::SparseOptimizer::computeActiveErrors ( )

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

Definition at line 65 of file sparse_optimizer.cpp.

References _activeEdges, g2o::OptimizableGraph::_graphActions, g2o::arrayHasNaN(), AT_COMPUTEACTIVERROR, g2o::OptimizableGraph::Edge::computeError(), g2o::OptimizableGraph::Edge::dimension(), g2o::OptimizableGraph::Edge::errorData(), and G2O_WARN.

Referenced by computeInitialGuess(), g2o::computeSimpleStars(), g2o::Star::labelStarEdges(), main(), main(), optimize(), g2o::SparseOptimizerIncremental::optimize(), and g2o::SparseOptimizerOnline::optimize().

◆ computeBatchStatistics()

bool g2o::SparseOptimizer::computeBatchStatistics ( ) const

inline

Definition at line 278 of file sparse_optimizer.h.

References _computeBatchStatistics.

Referenced by setComputeBatchStatistics().

◆ computeInitialGuess() [1/2]

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 @patam maxDistance: the distance where to stop the search

Definition at line 320 of file sparse_optimizer.cpp.

References computeInitialGuess().

Referenced by ActivePathCostFunction, computeInitialGuess(), g2o::computeSimpleStars(), and main().

◆ computeInitialGuess() [2/2]

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

virtual

Same as above but using a specific propagator

Definition at line 325 of file sparse_optimizer.cpp.

References _activeEdges, activeChi2(), computeActiveErrors(), g2o::HyperGraph::Vertex::edges(), g2o::OptimizableGraph::Vertex::fixed(), g2o::OptimizableGraph::Vertex::hessianIndex(), g2o::OptimizableGraph::Edge::initialEstimate(), g2o::OptimizableGraph::Edge::initialEstimatePossible(), g2o::EstimatePropagatorCost::name(), g2o::EstimatePropagator::propagate(), g2o::OptimizableGraph::Vertex::push(), verbose(), g2o::HyperGraph::Edge::vertex(), and g2o::HyperGraph::Edge::vertices().

◆ computeMarginals() [1/3]

bool g2o::SparseOptimizer::computeMarginals	(	SparseBlockMatrix< MatrixX > &	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 577 of file sparse_optimizer.cpp.

References _algorithm.

Referenced by ActivePathCostFunction, computeMarginals(), computeMarginals(), main(), main(), and testMarginals().

◆ computeMarginals() [2/3]

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

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 583 of file sparse_optimizer.cpp.

References computeMarginals(), and g2o::OptimizableGraph::vertex().

◆ computeMarginals() [3/3]

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

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 593 of file sparse_optimizer.cpp.

References computeMarginals(), and g2o::HyperGraph::vertices().

◆ discardTop() [1/3]

void g2o::SparseOptimizer::discardTop ( )

virtual

same as above, but for the active vertices

Reimplemented from g2o::OptimizableGraph.

Definition at line 629 of file sparse_optimizer.cpp.

References _activeVertices, and discardTop().

Referenced by discardTop().

◆ discardTop() [2/3]

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

Reimplemented from g2o::OptimizableGraph.

Definition at line 688 of file optimizable_graph.cpp.

◆ discardTop() [3/3]

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 557 of file sparse_optimizer.cpp.

◆ findActiveEdge()

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 530 of file sparse_optimizer.cpp.

References _activeEdges.

Referenced by g2o::activeVertexChi().

◆ findActiveVertex()

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 522 of file sparse_optimizer.cpp.

References _activeVertices.

◆ findGauge()

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

virtual

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

Definition at line 119 of file sparse_optimizer.cpp.

References g2o::OptimizableGraph::Vertex::dimension(), g2o::OptimizableGraph::maxDimension(), and g2o::HyperGraph::vertices().

Referenced by ActivePathCostFunction, and main().

◆ forceStopFlag()

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

inline

Definition at line 180 of file sparse_optimizer.h.

References _forceStopFlag.

Referenced by g2o::SparseOptimizerTerminateAction::setOptimizerStopFlag().

◆ G2O_ATTRIBUTE_DEPRECATED()

g2o::SparseOptimizer::G2O_ATTRIBUTE_DEPRECATED ( void linearizeSystem() )

inline

Linearizes the system by computing the Jacobians for the nodes and edges in the graph

Definition at line 254 of file sparse_optimizer.h.

◆ gaugeFreedom()

bool g2o::SparseOptimizer::gaugeFreedom ( )

Definition at line 137 of file sparse_optimizer.cpp.

References g2o::OptimizableGraph::Edge::dimension(), g2o::OptimizableGraph::Vertex::dimension(), g2o::HyperGraph::Vertex::edges(), g2o::OptimizableGraph::Vertex::fixed(), g2o::OptimizableGraph::maxDimension(), g2o::HyperGraph::Edge::vertices(), and g2o::HyperGraph::vertices().

Referenced by ActivePathCostFunction, and main().

◆ indexMapping()

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

inline

the index mapping of the vertices

Definition at line 186 of file sparse_optimizer.h.

References _ivMap.

Referenced by g2o::SparseOptimizerIncremental::optimize(), and g2o::SparseOptimizerOnline::optimize().

◆ initializeOptimization() [1/3]

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 277 of file sparse_optimizer.cpp.

References _activeEdges, _activeVertices, g2o::OptimizableGraph::_jacobianWorkspace, buildIndexMapping(), clearIndexMapping(), g2o::HyperGraph::Edge::numUndefinedVertices(), g2o::OptimizableGraph::postIteration(), g2o::OptimizableGraph::preIteration(), sortVectorContainers(), and g2o::HyperGraph::Edge::vertices().

Referenced by ActivePathCostFunction, g2o::computeSimpleStars(), initializeOptimization(), g2o::Star::labelStarEdges(), main(), main(), main(), and MainWindow::prepare().

◆ initializeOptimization() [2/3]

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 204 of file sparse_optimizer.cpp.

References __PRETTY_FUNCTION__, _activeEdges, _activeVertices, g2o::OptimizableGraph::_jacobianWorkspace, g2o::OptimizableGraph::Edge::allVerticesFixed(), g2o::arrayHasNaN(), buildIndexMapping(), clearIndexMapping(), g2o::HyperGraph::edges(), g2o::HyperGraph::Vertex::edges(), g2o::OptimizableGraph::Vertex::estimateDimension(), G2O_WARN, g2o::OptimizableGraph::Vertex::getEstimateData(), g2o::HyperGraph::Vertex::id(), g2o::OptimizableGraph::postIteration(), g2o::OptimizableGraph::preIteration(), sortVectorContainers(), and g2o::HyperGraph::Edge::vertices().

◆ initializeOptimization() [3/3]

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 196 of file sparse_optimizer.cpp.

References initializeOptimization(), and g2o::HyperGraph::vertices().

◆ optimize()

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.

Reimplemented in g2o::SparseOptimizerIncremental, and g2o::SparseOptimizerOnline.

Definition at line 381 of file sparse_optimizer.cpp.

References __PRETTY_FUNCTION__, _activeEdges, _activeVertices, _algorithm, _batchStatistics, _computeBatchStatistics, _ivMap, activeRobustChi2(), computeActiveErrors(), G2O_ERROR, G2O_WARN, g2o::get_monotonic_time(), g2o::G2OBatchStatistics::iteration, g2o::G2OBatchStatistics::numEdges, g2o::G2OBatchStatistics::numVertices, g2o::OptimizableGraph::postIteration(), g2o::OptimizableGraph::preIteration(), g2o::G2OBatchStatistics::setGlobalStats(), terminate(), and verbose().

Referenced by ActivePathCostFunction, g2o::computeSimpleStars(), main(), main(), and main().

◆ pop() [1/3]

void g2o::SparseOptimizer::pop ( )

virtual

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

Reimplemented from g2o::OptimizableGraph.

Definition at line 627 of file sparse_optimizer.cpp.

References _activeVertices, and pop().

Referenced by pop().

◆ pop() [2/3]

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 553 of file sparse_optimizer.cpp.

References g2o::OptimizableGraph::pop().

◆ pop() [3/3]

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

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

Definition at line 544 of file sparse_optimizer.cpp.

Referenced by g2o::computeSimpleStars().

◆ push() [1/3]

void g2o::SparseOptimizer::push ( )

virtual

push all the active vertices onto a stack

Reimplemented from g2o::OptimizableGraph.

Definition at line 625 of file sparse_optimizer.cpp.

References _activeVertices, and push().

Referenced by push().

◆ push() [2/3]

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 549 of file sparse_optimizer.cpp.

References g2o::OptimizableGraph::push().

◆ push() [3/3]

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

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

Definition at line 539 of file sparse_optimizer.cpp.

Referenced by g2o::computeSimpleStars().

◆ removeComputeErrorAction()

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

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

Definition at line 621 of file sparse_optimizer.cpp.

References g2o::OptimizableGraph::_graphActions, and AT_COMPUTEACTIVERROR.

◆ removeVertex()

bool g2o::SparseOptimizer::removeVertex	(	HyperGraph::Vertex *	v,
		bool	detach = false )

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 606 of file sparse_optimizer.cpp.

References _ivMap, clearIndexMapping(), g2o::OptimizableGraph::Vertex::hessianIndex(), and g2o::HyperGraph::removeVertex().

◆ setAlgorithm()

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

Definition at line 564 of file sparse_optimizer.cpp.

References _algorithm, algorithm(), and g2o::release().

Referenced by g2o::allocateSolverForSclam(), g2o::SparseOptimizerIncremental::initSolver(), g2o::SparseOptimizerOnline::initSolver(), main(), main(), and main().

◆ setComputeBatchStatistics()

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

Definition at line 461 of file sparse_optimizer.cpp.

References _batchStatistics, _computeBatchStatistics, computeBatchStatistics(), and g2o::G2OBatchStatistics::setGlobalStats().

Referenced by main().

◆ setForceStopFlag()

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 604 of file sparse_optimizer.cpp.

References _forceStopFlag.

Referenced by main().

◆ setToOrigin()

void g2o::SparseOptimizer::setToOrigin ( )

virtual

sets all vertices to their origin.

Definition at line 311 of file sparse_optimizer.cpp.

References g2o::OptimizableGraph::Vertex::setToOrigin(), and g2o::HyperGraph::vertices().

Referenced by ActivePathCostFunction.

◆ setVerbose()

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

Definition at line 562 of file sparse_optimizer.cpp.

References _verbose, and verbose().

Referenced by main(), main(), and main().

◆ solver()

OptimizationAlgorithm * g2o::SparseOptimizer::solver ( )

inline

Definition at line 215 of file sparse_optimizer.h.

References _algorithm.

Referenced by g2o::computeSimpleStars(), g2o::SparseOptimizerIncremental::initSolver(), g2o::SparseOptimizerOnline::initSolver(), g2o::Star::labelStarEdges(), main(), g2o::SparseOptimizerIncremental::optimize(), and g2o::SparseOptimizerOnline::optimize().

◆ sortVectorContainers()

void g2o::SparseOptimizer::sortVectorContainers ( )

protected

Definition at line 508 of file sparse_optimizer.cpp.

References _activeEdges, and _activeVertices.

Referenced by initializeOptimization(), and initializeOptimization().

◆ terminate()

bool g2o::SparseOptimizer::terminate ( )

inline

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

Definition at line 183 of file sparse_optimizer.h.

References _forceStopFlag.

Referenced by optimize().

◆ update()

void g2o::SparseOptimizer::update ( const double * update )

update the estimate of the active vertices

Parameters

update the double vector containing the stacked elements of the increments on the vertices.

Definition at line 446 of file sparse_optimizer.cpp.

References __PRETTY_FUNCTION__, _ivMap, g2o::arrayHasNaN(), g2o::OptimizableGraph::Vertex::dimension(), G2O_WARN, g2o::HyperGraph::Vertex::id(), g2o::OptimizableGraph::Vertex::oplus(), and update().

Referenced by update().

◆ updateInitialization()

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

virtual

HACK updating the internal structures for online processing

Reimplemented in g2o::SparseOptimizerIncremental, and g2o::SparseOptimizerOnline.

Definition at line 469 of file sparse_optimizer.cpp.

References __PRETTY_FUNCTION__, _activeEdges, _activeVertices, _algorithm, _ivMap, g2o::OptimizableGraph::Edge::allVerticesFixed(), g2o::OptimizableGraph::Vertex::fixed(), G2O_ERROR, g2o::OptimizableGraph::Vertex::marginalized(), and g2o::OptimizableGraph::Vertex::setHessianIndex().

Referenced by ActivePathCostFunction, main(), and g2o::SparseOptimizerOnline::updateInitialization().

◆ verbose()

bool g2o::SparseOptimizer::verbose ( ) const

inline

verbose information during optimization

Definition at line 172 of file sparse_optimizer.h.

References _verbose.

Referenced by computeInitialGuess(), main(), optimize(), g2o::SparseOptimizerIncremental::optimize(), g2o::SparseOptimizerOnline::optimize(), and setVerbose().

◆ ActivePathCostFunction

friend class ActivePathCostFunction

friend

Definition at line 49 of file sparse_optimizer.h.

References activeChi2(), ActivePathCostFunction, activeRobustChi2(), computeInitialGuess(), computeMarginals(), findGauge(), gaugeFreedom(), initializeOptimization(), optimize(), setToOrigin(), SparseOptimizer(), updateInitialization(), g2o::OptimizableGraph::vertex(), and g2o::HyperGraph::vertices().

Referenced by ActivePathCostFunction.

Member Data Documentation

◆ _activeEdges

EdgeContainer g2o::SparseOptimizer::_activeEdges

protected

sorted according to EdgeIDCompare

Definition at line 293 of file sparse_optimizer.h.

Referenced by activeChi2(), activeEdges(), activeRobustChi2(), clear(), computeActiveErrors(), computeInitialGuess(), findActiveEdge(), initializeOptimization(), initializeOptimization(), optimize(), g2o::SparseOptimizerIncremental::optimize(), g2o::SparseOptimizerOnline::optimize(), sortVectorContainers(), updateInitialization(), and g2o::SparseOptimizerIncremental::updateInitialization().

◆ _activeVertices

VertexContainer g2o::SparseOptimizer::_activeVertices

protected

sorted according to VertexIDCompare

Definition at line 292 of file sparse_optimizer.h.

Referenced by activeVertices(), clear(), discardTop(), findActiveVertex(), initializeOptimization(), initializeOptimization(), optimize(), pop(), push(), sortVectorContainers(), updateInitialization(), and g2o::SparseOptimizerIncremental::updateInitialization().

◆ _algorithm

OptimizationAlgorithm* g2o::SparseOptimizer::_algorithm

protected

Definition at line 297 of file sparse_optimizer.h.

Referenced by algorithm(), computeMarginals(), optimize(), g2o::SparseOptimizerIncremental::optimize(), g2o::SparseOptimizerOnline::optimize(), setAlgorithm(), solver(), SparseOptimizer(), updateInitialization(), g2o::SparseOptimizerIncremental::updateInitialization(), and ~SparseOptimizer().

◆ _batchStatistics

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.

Referenced by batchStatistics(), batchStatistics(), optimize(), and setComputeBatchStatistics().

◆ _computeBatchStatistics

bool g2o::SparseOptimizer::_computeBatchStatistics

protected

Definition at line 309 of file sparse_optimizer.h.

Referenced by computeBatchStatistics(), optimize(), setComputeBatchStatistics(), and SparseOptimizer().

◆ _forceStopFlag

bool* g2o::SparseOptimizer::_forceStopFlag

protected

Definition at line 288 of file sparse_optimizer.h.

Referenced by forceStopFlag(), setForceStopFlag(), SparseOptimizer(), and terminate().

◆ _ivMap

VertexContainer g2o::SparseOptimizer::_ivMap

protected

Definition at line 291 of file sparse_optimizer.h.

Referenced by buildIndexMapping(), clear(), clearIndexMapping(), indexMapping(), optimize(), g2o::SparseOptimizerIncremental::optimize(), removeVertex(), update(), g2o::SparseOptimizerOnline::update(), updateInitialization(), and g2o::SparseOptimizerIncremental::updateInitialization().

◆ _verbose

bool g2o::SparseOptimizer::_verbose

protected

Definition at line 289 of file sparse_optimizer.h.

Referenced by setVerbose(), SparseOptimizer(), and verbose().

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

/build/reproducible-path/g2o-0~20230806/g2o/core/sparse_optimizer.h
/build/reproducible-path/g2o-0~20230806/g2o/core/sparse_optimizer.cpp

Public Types

Public Member Functions

Protected Member Functions

Protected Attributes

Friends

Additional Inherited Members

Detailed Description

Member Enumeration Documentation

◆ anonymous enum

Constructor & Destructor Documentation

◆ SparseOptimizer()

◆ ~SparseOptimizer()

Member Function Documentation

◆ activeChi2()

◆ activeEdges()

◆ activeRobustChi2()

◆ activeVertices()

◆ addComputeErrorAction()

◆ algorithm()

◆ batchStatistics() [1/2]

◆ batchStatistics() [2/2]

◆ buildIndexMapping()

◆ clear()

◆ clearIndexMapping()

◆ computeActiveErrors()

◆ computeBatchStatistics()

◆ computeInitialGuess() [1/2]

◆ computeInitialGuess() [2/2]

◆ computeMarginals() [1/3]

◆ computeMarginals() [2/3]

◆ computeMarginals() [3/3]

◆ discardTop() [1/3]

◆ discardTop() [2/3]

◆ discardTop() [3/3]

◆ findActiveEdge()

◆ findActiveVertex()

◆ findGauge()

◆ forceStopFlag()

◆ G2O_ATTRIBUTE_DEPRECATED()

◆ gaugeFreedom()

◆ indexMapping()

◆ initializeOptimization() [1/3]

◆ initializeOptimization() [2/3]

◆ initializeOptimization() [3/3]

◆ optimize()

◆ pop() [1/3]

◆ pop() [2/3]

◆ pop() [3/3]

◆ push() [1/3]

◆ push() [2/3]

◆ push() [3/3]

◆ removeComputeErrorAction()

◆ removeVertex()

◆ setAlgorithm()

◆ setComputeBatchStatistics()

◆ setForceStopFlag()

◆ setToOrigin()

◆ setVerbose()

◆ solver()

◆ sortVectorContainers()

◆ terminate()

◆ update()

◆ updateInitialization()

◆ verbose()

Friends And Related Symbol Documentation

◆ ActivePathCostFunction

Member Data Documentation

◆ _activeEdges

◆ _activeVertices

◆ _algorithm

◆ _batchStatistics

◆ _computeBatchStatistics

◆ _forceStopFlag

◆ _ivMap

◆ _verbose