g2o::EdgeLabeler Struct Reference

#include <edge_labeler.h>

Collaboration diagram for g2o::EdgeLabeler:

Public Member Functions
	EdgeLabeler (SparseOptimizer *optimizer)
int	labelEdges (std::set< OptimizableGraph::Edge * > &edges)

Protected Member Functions
void	augmentSparsePattern (std::set< std::pair< int, int > > &pattern, OptimizableGraph::Edge *e)
bool	computePartialInverse (SparseBlockMatrix< Eigen::MatrixXd > &spinv, const std::set< std::pair< int, int > > &pattern)
bool	labelEdge (const SparseBlockMatrix< Eigen::MatrixXd > &spinv, OptimizableGraph::Edge *e)

Protected Attributes
SparseOptimizer *	_optimizer

Detailed Description

This class implements the functions to label an edge (measurement) based on the actual configuration of the nodes. It does so by

• computing the expected mean of the measurement (_measurement) based on the state variables
• computing the joint covariance matrix of all sstate variables on which the measurement depends.
• extracting the sigma points from this covariance matrix (which is in the space if the increments used by \oplus
• projecting the sigma points in the error space, and thus computing the information matrix of the labeled edge

Definition at line 46 of file edge_labeler.h.

Constructor & Destructor Documentation

EdgeLabeler()

g2o::EdgeLabeler::EdgeLabeler

(

SparseOptimizer *

optimizer

)

constructs an edge labeler that operates on the optimizer passed as argument

Parameters

optimizer

the optimizer

Definition at line 41 of file edge_labeler.cpp.

References _optimizer.

Member Function Documentation

augmentSparsePattern()

void g2o::EdgeLabeler::augmentSparsePattern ( std::set< std::pair< int, int > > & pattern, OptimizableGraph::Edge * e )

protected

helper function that augments the sparse pattern of the inverse based on an edge

Parameters

pattern	the blocks of the inverse covered by the edge
e	the edge

Definition at line 69 of file edge_labeler.cpp.

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

Referenced by labelEdges().

computePartialInverse()

bool g2o::EdgeLabeler::computePartialInverse ( SparseBlockMatrix< Eigen::MatrixXd > & spinv, const std::set< std::pair< int, int > > & pattern )

protected

helper function that computes the inverse based on the sparse pattenrn

Parameters

spinv	the output block inverse
pattern	the blocks of the inverse covered by the edge

Returns

true on successm, false on failure, .

Definition at line 87 of file edge_labeler.cpp.

References _optimizer.

Referenced by labelEdges().

labelEdge()

bool g2o::EdgeLabeler::labelEdge ( const SparseBlockMatrix< Eigen::MatrixXd > & spinv, OptimizableGraph::Edge * e )

protected

helper function that labes a specific edge based on the marginals in the sparse block inverse

Returns

true on success, false on failure

Definition at line 105 of file edge_labeler.cpp.

References g2o::SparseBlockMatrix< MatrixType >::block(), g2o::OptimizableGraph::Edge::computeError(), g2o::OptimizableGraph::Edge::dimension(), g2o::OptimizableGraph::Edge::errorData(), g2o::OptimizableGraph::Vertex::hessianIndex(), g2o::OptimizableGraph::Edge::informationData(), g2o::OptimizableGraph::Vertex::minimalEstimateDimension(), g2o::OptimizableGraph::Vertex::oplus(), g2o::OptimizableGraph::Vertex::pop(), g2o::OptimizableGraph::Vertex::push(), g2o::reconstructGaussian(), g2o::sampleUnscented(), g2o::OptimizableGraph::Edge::setMeasurementFromState(), and g2o::HyperGraph::Edge::vertices().

Referenced by labelEdges().

labelEdges()

int g2o::EdgeLabeler::labelEdges

(

std::set< OptimizableGraph::Edge * > &

edges

)

Labels the set of edges passed as argument. It computes the cholesky information matrix. This method only woorks aftec having called an optimize(...) in the connected optimizer. The labeling is performed based on the actual configuration of the nodes in the optimized subgraph.

Parameters

edges

the edges to label

Returns

-1 if the inverse cholesky cannot be computed, otherwise the number of edges where the labeling was successful

Definition at line 43 of file edge_labeler.cpp.

References augmentSparsePattern(), computePartialInverse(), and labelEdge().

Referenced by g2o::Star::labelStarEdges().

Member Data Documentation

_optimizer

SparseOptimizer* g2o::EdgeLabeler::_optimizer

protected

Definition at line 81 of file edge_labeler.h.

Referenced by computePartialInverse(), and EdgeLabeler().

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

• /build/reproducible-path/g2o-0~20230806/g2o/examples/g2o_hierarchical/edge_labeler.h
• /build/reproducible-path/g2o-0~20230806/g2o/examples/g2o_hierarchical/edge_labeler.cpp