#include <star.h>
Public Member Functions | |
| Star (int level, SparseOptimizer *optimizer) | |
| bool | labelStarEdges (int iterations, EdgeLabeler *labeler) |
| int | level () const |
| returns the level of the lower edges in the star | |
| SparseOptimizer * | optimizer () |
| returns the optimizer | |
| HyperGraph::EdgeSet & | lowLevelEdges () |
| low level edge set | |
| HyperGraph::EdgeSet & | starEdges () |
| high level edge set | |
| HyperGraph::EdgeSet & | starFrontierEdges () |
| edges in the high level that lead to some node owned by a different star | |
| HyperGraph::VertexSet & | gauge () |
| set of nodes to keep fixed in the optimization | |
| HyperGraph::VertexSet & | lowLevelVertices () |
| set of all vertices in the low level | |
Public Attributes | |
| int | _level |
| level of the star | |
| SparseOptimizer * | _optimizer |
| optimizer | |
| HyperGraph::EdgeSet | _lowLevelEdges |
| edges in the lower level | |
| HyperGraph::EdgeSet | _starEdges |
| edges in the star | |
| HyperGraph::EdgeSet | _starFrontierEdges |
| edges in the star that lead to some other star | |
| HyperGraph::VertexSet | _gauge |
| vertices that are fixed (center of the star) | |
| HyperGraph::VertexSet | _lowLevelVertices |
| vertices that are fixed (center of the star) | |
Detailed Description
Class that represents a subgraph in the hierarchical optimization. The subgraph is consisting of
- a set of "central" nodes forming the gauge
- a set of edges and vertices in the lower (denser) level
- a set of edges in the higher level, each one going from the gauge to one of the vertices in the lower level These edges form the "star" view at the higher level
Additionally, a star provides a function to compute the parameters for each of the edges in the higher level, based on the actual configuration of the state variables. It does so by using an EdgeLabeler class.
Constructor & Destructor Documentation
◆ Star()
| g2o::Star::Star | ( | int | level, |
| SparseOptimizer * | optimizer ) |
constructs a star at level l in the graph of the sparse optimizer passed as argument
- Parameters
-
level the (higher) level of the star optimizer the optimizer
Definition at line 34 of file star.cpp.
References _level, _optimizer, level(), and optimizer().
Member Function Documentation
◆ gauge()
|
inline |
set of nodes to keep fixed in the optimization
Definition at line 78 of file star.h.
References _gauge.
Referenced by g2o::computeBorder(), g2o::computeSimpleStars(), and main().
◆ labelStarEdges()
| bool g2o::Star::labelStarEdges | ( | int | iterations, |
| EdgeLabeler * | labeler ) |
labels the edges in the star by first optimizing the low level edges, then by calling the labelEdge of the labeler.
- Parameters
-
iterations the number of iterations of the optimizer labeler the labeler
Definition at line 37 of file star.cpp.
References _gauge, _lowLevelEdges, _optimizer, _starEdges, g2o::OptimizationAlgorithmWithHessian::buildLinearStructure(), g2o::SparseOptimizer::computeActiveErrors(), g2o::OptimizableGraph::Vertex::hessianIndex(), g2o::HyperGraph::Vertex::id(), g2o::OptimizationAlgorithm::init(), g2o::SparseOptimizer::initializeOptimization(), g2o::EdgeLabeler::labelEdges(), optimizer(), g2o::OptimizableGraph::Vertex::pop(), g2o::OptimizableGraph::Vertex::push(), g2o::OptimizableGraph::Vertex::setFixed(), g2o::SparseOptimizer::solver(), g2o::OptimizationAlgorithmWithHessian::updateLinearSystem(), and g2o::HyperGraph::Edge::vertices().
Referenced by g2o::assignHierarchicalEdges(), and g2o::computeSimpleStars().
◆ level()
|
inline |
◆ lowLevelEdges()
|
inline |
low level edge set
Definition at line 72 of file star.h.
References _lowLevelEdges.
Referenced by g2o::assignHierarchicalEdges(), g2o::computeSimpleStars(), and g2o::constructEdgeStarMap().
◆ lowLevelVertices()
|
inline |
set of all vertices in the low level
Definition at line 80 of file star.h.
References _lowLevelVertices.
Referenced by g2o::assignHierarchicalEdges().
◆ optimizer()
|
inline |
returns the optimizer
Definition at line 70 of file star.h.
References _optimizer.
Referenced by g2o::computeSimpleStars(), labelStarEdges(), and Star().
◆ starEdges()
|
inline |
high level edge set
Definition at line 74 of file star.h.
References _starEdges.
Referenced by g2o::constructEdgeStarMap().
◆ starFrontierEdges()
|
inline |
edges in the high level that lead to some node owned by a different star
Definition at line 76 of file star.h.
References _starFrontierEdges.
Referenced by g2o::computeBorder(), and main().
Member Data Documentation
◆ _gauge
| HyperGraph::VertexSet g2o::Star::_gauge |
vertices that are fixed (center of the star)
Definition at line 93 of file star.h.
Referenced by g2o::assignHierarchicalEdges(), g2o::computeSimpleStars(), gauge(), labelStarEdges(), and g2o::BackBoneTreeAction::perform().
◆ _level
| int g2o::Star::_level |
◆ _lowLevelEdges
| HyperGraph::EdgeSet g2o::Star::_lowLevelEdges |
edges in the lower level
Definition at line 87 of file star.h.
Referenced by g2o::computeSimpleStars(), g2o::BackBoneTreeAction::fillStar(), labelStarEdges(), and lowLevelEdges().
◆ _lowLevelVertices
| HyperGraph::VertexSet g2o::Star::_lowLevelVertices |
vertices that are fixed (center of the star)
Definition at line 95 of file star.h.
Referenced by g2o::BackBoneTreeAction::addToMap(), g2o::assignHierarchicalEdges(), g2o::computeSimpleStars(), g2o::BackBoneTreeAction::fillStar(), and lowLevelVertices().
◆ _optimizer
| SparseOptimizer* g2o::Star::_optimizer |
optimizer
Definition at line 85 of file star.h.
Referenced by labelStarEdges(), optimizer(), and Star().
◆ _starEdges
| HyperGraph::EdgeSet g2o::Star::_starEdges |
edges in the star
Definition at line 89 of file star.h.
Referenced by g2o::assignHierarchicalEdges(), g2o::computeBorder(), g2o::computeSimpleStars(), labelStarEdges(), main(), and starEdges().
◆ _starFrontierEdges
| HyperGraph::EdgeSet g2o::Star::_starFrontierEdges |
edges in the star that lead to some other star
Definition at line 91 of file star.h.
Referenced by starFrontierEdges().
The documentation for this struct was generated from the following files:
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