g2o::SparseOptimizerIncremental Class Reference

#include <graph_optimizer_sparse_incremental.h>

Inheritance diagram for g2o::SparseOptimizerIncremental:

Collaboration diagram for g2o::SparseOptimizerIncremental:

Public Member Functions
	SparseOptimizerIncremental ()
	~SparseOptimizerIncremental ()
int	optimize (int iterations, bool online=false)
virtual bool	updateInitialization (HyperGraph::VertexSet &vset, HyperGraph::EdgeSet &eset)
virtual bool	initSolver (int dimension, int batchEveryN)
Public Member Functions inherited from g2o::SparseOptimizerOnline
	SparseOptimizerOnline (bool pcg=false)
virtual	~SparseOptimizerOnline ()
int	optimize (int iterations, bool online=false)
void	update (double *update)
virtual void	gnuplotVisualization ()
Public Member Functions inherited from g2o::SparseOptimizer
	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 void	computeInitialGuess ()
virtual void	computeInitialGuess (EstimatePropagatorCost &propagator)
virtual void	setToOrigin ()
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
bool	computeCholeskyUpdate ()
void	convertTripletUpdateToSparse ()
Protected Member Functions inherited from g2o::SparseOptimizer
void	sortVectorContainers ()
bool	buildIndexMapping (SparseOptimizer::VertexContainer &vlist)
void	clearIndexMapping ()
Protected Member Functions inherited from g2o::OptimizableGraph
void	performActions (int iter, HyperGraphActionSet &actions)

Protected Attributes
SparseBlockMatrix< Eigen::MatrixXd >	_updateMat
cholmod_common	_cholmodCommon
cholmod::CholmodExt *	_cholmodSparse
cholmod_factor *	_cholmodFactor
cholmod_triplet *	_permutedUpdate
cholmod_factor *	_L
LinearSolverCholmodOnlineInterface *	_solverInterface
HyperGraph::VertexSet	_touchedVertices
Eigen::VectorXi	_perm
Eigen::VectorXi	_cmember
Eigen::VectorXi	_tripletWorkspace
cholmod::CholmodExt *	_permutedUpdateAsSparse
Protected Attributes inherited from g2o::SparseOptimizerOnline
FILE *	_gnuplot
bool	_usePcg
Solver *	_underlyingSolver
Protected Attributes inherited from g2o::SparseOptimizer
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

Additional Inherited Members
Public Types inherited from g2o::SparseOptimizer
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
Static Public Member Functions inherited from g2o::OptimizableGraph
static bool	initMultiThreading ()
Public Attributes inherited from g2o::SparseOptimizerOnline
int	slamDimension
HyperGraph::EdgeSet *	newEdges
bool	batchStep
bool	vizWithGnuplot
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 31 of file graph_optimizer_sparse_incremental.h.

Constructor & Destructor Documentation

SparseOptimizerIncremental()

g2o::SparseOptimizerIncremental::SparseOptimizerIncremental

(

)

Definition at line 57 of file graph_optimizer_sparse_incremental.cpp.

References _cholmodCommon, _cholmodFactor, _cholmodSparse, _L, _permutedUpdate, _permutedUpdateAsSparse, and _solverInterface.

~SparseOptimizerIncremental()

g2o::SparseOptimizerIncremental::~SparseOptimizerIncremental

(

)

Definition at line 77 of file graph_optimizer_sparse_incremental.cpp.

References _cholmodCommon, _cholmodFactor, _cholmodSparse, _permutedUpdate, _permutedUpdateAsSparse, and _updateMat.

Member Function Documentation

computeCholeskyUpdate()

bool g2o::SparseOptimizerIncremental::computeCholeskyUpdate ( )

protected

Definition at line 400 of file graph_optimizer_sparse_incremental.cpp.

References _cholmodCommon, _cholmodFactor, _cholmodSparse, _updateMat, g2o::SparseBlockMatrix< MatrixType >::cols(), g2o::SparseBlockMatrix< MatrixType >::fillCCS(), g2o::SparseBlockMatrix< MatrixType >::nonZeros(), and g2o::SparseBlockMatrix< MatrixType >::rows().

Referenced by updateInitialization().

convertTripletUpdateToSparse()

void g2o::SparseOptimizerIncremental::convertTripletUpdateToSparse ( )

protected

Definition at line 530 of file graph_optimizer_sparse_incremental.cpp.

References _permutedUpdate, _permutedUpdateAsSparse, and _tripletWorkspace.

Referenced by updateInitialization().

initSolver()

bool g2o::SparseOptimizerIncremental::initSolver ( int dimension, int batchEveryN )

virtual

Reimplemented from g2o::SparseOptimizerOnline.

Definition at line 485 of file graph_optimizer_sparse_incremental.cpp.

References _cmember, _solverInterface, g2o::SparseOptimizerOnline::_underlyingSolver, g2o::createSolver(), g2o::BlockSolver< Traits >::linearSolver(), g2o::Solver::setAdditionalVectorSpace(), g2o::SparseOptimizer::setAlgorithm(), g2o::BlockSolver< Traits >::setSchur(), g2o::SparseOptimizerOnline::slamDimension, g2o::OptimizationAlgorithmWithHessian::solver(), and g2o::SparseOptimizer::solver().

optimize()

int g2o::SparseOptimizerIncremental::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::SparseOptimizer.

Definition at line 89 of file graph_optimizer_sparse_incremental.cpp.

References __PRETTY_FUNCTION__, g2o::SparseOptimizer::_activeEdges, g2o::SparseOptimizer::_algorithm, _cmember, g2o::SparseOptimizer::_ivMap, _L, _perm, _solverInterface, _touchedVertices, g2o::SparseOptimizerOnline::_underlyingSolver, g2o::SparseOptimizer::activeChi2(), g2o::SparseOptimizerOnline::batchStep, g2o::OptimizableGraph::Vertex::colInHessian(), g2o::SparseOptimizer::computeActiveErrors(), g2o::OptimizableGraph::Vertex::copyB(), g2o::SparseOptimizerOnline::gnuplotVisualization(), g2o::OptimizableGraph::Vertex::hessianIndex(), g2o::SparseOptimizer::indexMapping(), g2o::BaseVertex< D, T >::setEstimate(), g2o::SparseOptimizerOnline::slamDimension, g2o::SparseOptimizer::solver(), g2o::SparseOptimizerOnline::update(), g2o::OnlineVertexSE2::updatedEstimate, g2o::OnlineVertexSE3::updatedEstimate, g2o::SparseOptimizer::verbose(), g2o::HyperGraph::Edge::vertices(), g2o::HyperGraph::vertices(), and g2o::SparseOptimizerOnline::vizWithGnuplot.

updateInitialization()

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

virtual

HACK updating the internal structures for online processing

Reimplemented from g2o::SparseOptimizerOnline.

Definition at line 182 of file graph_optimizer_sparse_incremental.cpp.

References g2o::SparseOptimizer::_activeEdges, g2o::SparseOptimizer::_activeVertices, g2o::SparseOptimizer::_algorithm, _cholmodCommon, _cholmodFactor, g2o::SparseOptimizer::_ivMap, _L, _perm, _permutedUpdate, _permutedUpdateAsSparse, _solverInterface, _touchedVertices, _updateMat, g2o::SparseOptimizerOnline::batchStep, g2o::OptimizableGraph::Vertex::clearQuadraticForm(), computeCholeskyUpdate(), g2o::OptimizableGraph::Edge::computeError(), g2o::OptimizableGraph::Edge::constructQuadraticForm(), convertTripletUpdateToSparse(), g2o::OptimizableGraph::Vertex::dimension(), g2o::OptimizableGraph::Vertex::fixed(), g2o::OptimizableGraph::Vertex::hessianData(), g2o::OptimizableGraph::Vertex::hessianIndex(), g2o::OptimizableGraph::jacobianWorkspace(), g2o::OptimizableGraph::Edge::linearizeOplus(), g2o::OptimizableGraph::Edge::mapHessianMemory(), g2o::OptimizableGraph::Vertex::mapHessianMemory(), g2o::OptimizableGraph::Vertex::marginalized(), g2o::OptimizableGraph::Vertex::setHessianIndex(), g2o::SparseOptimizerOnline::slamDimension, g2o::SparseOptimizerOnline::updateInitialization(), and g2o::HyperGraph::Edge::vertices().

Member Data Documentation

_cholmodCommon

cholmod_common g2o::SparseOptimizerIncremental::_cholmodCommon

protected

Definition at line 46 of file graph_optimizer_sparse_incremental.h.

Referenced by computeCholeskyUpdate(), SparseOptimizerIncremental(), updateInitialization(), and ~SparseOptimizerIncremental().

_cholmodFactor

cholmod_factor* g2o::SparseOptimizerIncremental::_cholmodFactor

protected

Definition at line 48 of file graph_optimizer_sparse_incremental.h.

Referenced by computeCholeskyUpdate(), SparseOptimizerIncremental(), updateInitialization(), and ~SparseOptimizerIncremental().

_cholmodSparse

cholmod::CholmodExt* g2o::SparseOptimizerIncremental::_cholmodSparse

protected

Definition at line 47 of file graph_optimizer_sparse_incremental.h.

Referenced by computeCholeskyUpdate(), SparseOptimizerIncremental(), and ~SparseOptimizerIncremental().

_cmember

Eigen::VectorXi g2o::SparseOptimizerIncremental::_cmember

protected

Definition at line 55 of file graph_optimizer_sparse_incremental.h.

Referenced by initSolver(), and optimize().

_L

cholmod_factor* g2o::SparseOptimizerIncremental::_L

protected

Definition at line 50 of file graph_optimizer_sparse_incremental.h.

Referenced by optimize(), SparseOptimizerIncremental(), and updateInitialization().

_perm

Eigen::VectorXi g2o::SparseOptimizerIncremental::_perm

protected

Definition at line 54 of file graph_optimizer_sparse_incremental.h.

Referenced by optimize(), and updateInitialization().

_permutedUpdate

cholmod_triplet* g2o::SparseOptimizerIncremental::_permutedUpdate

protected

Definition at line 49 of file graph_optimizer_sparse_incremental.h.

Referenced by convertTripletUpdateToSparse(), SparseOptimizerIncremental(), updateInitialization(), and ~SparseOptimizerIncremental().

_permutedUpdateAsSparse

cholmod::CholmodExt* g2o::SparseOptimizerIncremental::_permutedUpdateAsSparse

protected

Definition at line 58 of file graph_optimizer_sparse_incremental.h.

Referenced by convertTripletUpdateToSparse(), SparseOptimizerIncremental(), updateInitialization(), and ~SparseOptimizerIncremental().

_solverInterface

LinearSolverCholmodOnlineInterface* g2o::SparseOptimizerIncremental::_solverInterface

protected

Definition at line 51 of file graph_optimizer_sparse_incremental.h.

Referenced by initSolver(), optimize(), SparseOptimizerIncremental(), and updateInitialization().

_touchedVertices

HyperGraph::VertexSet g2o::SparseOptimizerIncremental::_touchedVertices

protected

Definition at line 53 of file graph_optimizer_sparse_incremental.h.

Referenced by optimize(), and updateInitialization().

_tripletWorkspace

Eigen::VectorXi g2o::SparseOptimizerIncremental::_tripletWorkspace

protected

Definition at line 57 of file graph_optimizer_sparse_incremental.h.

Referenced by convertTripletUpdateToSparse().

_updateMat

SparseBlockMatrix<Eigen::MatrixXd> g2o::SparseOptimizerIncremental::_updateMat

protected

Definition at line 45 of file graph_optimizer_sparse_incremental.h.

Referenced by computeCholeskyUpdate(), updateInitialization(), and ~SparseOptimizerIncremental().

---

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

• /build/reproducible-path/g2o-0~20230806/g2o/examples/interactive_slam/g2o_incremental/graph_optimizer_sparse_incremental.h
• /build/reproducible-path/g2o-0~20230806/g2o/examples/interactive_slam/g2o_incremental/graph_optimizer_sparse_incremental.cpp