g2o::AutoDifferentiation< Edge, EstimateAccess > Class Template Reference

Implementation of Automatic Differentiation for edges in g2o. More...

#include <auto_differentiation.h>

Public Types
template<int EdgeDimension, int VertexDimension>
using	ADJacobianType = typename Eigen::Matrix< double, EdgeDimension, VertexDimension, Eigen::RowMajor >
	type for the Jacobians during AD

Static Public Member Functions
static void	computeError (Edge *that)
	helper for computing the error based on the functor in the edge
static void	linearize (Edge *that)

Static Protected Member Functions
template<std::size_t... Ints>
static void	computeErrorNs (Edge *that, std::index_sequence< Ints... >)
	packed version to call the functor that evaluates the error function
template<std::size_t... Ints>
static void	linearizeOplusNs (Edge *that, std::index_sequence< Ints... >)
template<typename A , typename B >
static EIGEN_STRONG_INLINE void	assign (const Eigen::MatrixBase< A > &a, const Eigen::MatrixBase< B > &b)
	helper function to perform a = b

Detailed Description

template<typename Edge, typename EstimateAccess = EstimateAccessor<Edge>>
class g2o::AutoDifferentiation< Edge, EstimateAccess >

Implementation of Automatic Differentiation for edges in g2o.

This class implements an interface to Automatic Differentiation, see, for example, https://en.wikipedia.org/wiki/Automatic_differentiation for the idea behind it.

Pre-condition: Your estimate type in your vertices provides a method called data() which returns a raw pointer to the data representing the estimate. This can, for example, be achieved by using Eigen's vector underneath as the container for the data. An SE2 vertex might look as follows

class VertexFlatSE2 : public g2o::BaseVertex<3, g2o::Vector3> { public: virtual void setToOriginImpl() { _estimate.setZero(); } virtual void oplusImpl(const double* update) { _estimate += Eigen::Map<const g2o::Vector3>(update); _estimate(2) = g2o::normalize_theta(_estimate(2)); } virtual bool read(std::istream&) { return false; } virtual bool write(std::ostream&) const { return false; } };

If this is not the case for your edge, then you can provide a functor object as second template argument which does this conversion for you. See EstimateAccessor above. Such a functor has to provide a templatized function data(Edge*) that returns the raw-pointer to the underlying data. The raw-pointer should point to memory that is either owned by the functor itself or is owned by the edge, the vertex, or sth else. It has to to be valid throughout the lifetime of the functor object. See, for example, the functor EstimateAccessorGet which uses the potentially implemented method getEstimateData() on vertices to obtain the estimate in a raw array. This array is then buffered and passed on to compute the error or its Jacobian.

To use automatic differentiation on your own edge you need to implement the following steps:

1. Implement an operator() that computes your error function: The function is required to have the following declaration template <typename T> bool operator()(const T* v1Estimate, const T* v2Estimate, T* error) const {} The example above assumes a binary edge. If your edge has more or less vertices, the number of vEstimate parameters differs. Let's assume that your edge connects N vertices, then your operator() will consume N+1 pointers. Whereas the last pointer is the output of your error function. Note the template on the operator(). This is required to be able to evaluate your error function with double pointer, i.e., to purely evaluate the error. But also we will pass a more complex class to it during the numerical computation of the Jacobian.
2. Integrate the operator(): To this end, we provide the macro "G2O_MAKE_AUTO_AD_FUNCTIONS" which you can include into the public section of your edge class. See below for the macro. If you use the macro, you do not need to implement computeError() and linearizeOPlus() in your edge. Both methods will be ready for integration into the g2o framework. You may, however, decide against the macro and provide the implementation on your own if this suits your edge class better.

Example integration: g2o/examples/bal/bal_example.cpp This provides a self-contained example for integration of AD into an optimization problem.

Further documentation on the underlying implementation: Jet: EXTERNAL/ceres/jet.h AutoDiff: EXTERNAL/ceres/autodiff.h

Definition at line 155 of file auto_differentiation.h.

Member Typedef Documentation

ADJacobianType

template<typename Edge , typename EstimateAccess = EstimateAccessor<Edge>>

template<int EdgeDimension, int VertexDimension>

using g2o::AutoDifferentiation< Edge, EstimateAccess >::ADJacobianType = typename Eigen::Matrix<double, EdgeDimension, VertexDimension, Eigen::RowMajor>

type for the Jacobians during AD

Definition at line 159 of file auto_differentiation.h.

Member Function Documentation

assign()

template<typename Edge , typename EstimateAccess = EstimateAccessor<Edge>>

template<typename A , typename B >

static EIGEN_STRONG_INLINE void g2o::AutoDifferentiation< Edge, EstimateAccess >::assign ( const Eigen::MatrixBase< A > &  a, const Eigen::MatrixBase< B > &  b  )

inlinestaticprotected

helper function to perform a = b

Definition at line 253 of file auto_differentiation.h.

                                                                      {
    Eigen::MatrixBase<A>& aux = const_cast<Eigen::MatrixBase<A>&>(a);
    aux = b;
  }

Referenced by g2o::AutoDifferentiation< Edge, EstimateAccess >::linearizeOplusNs().

computeError()

template<typename Edge , typename EstimateAccess = EstimateAccessor<Edge>>

static void g2o::AutoDifferentiation< Edge, EstimateAccess >::computeError ( Edge *  that )

inlinestatic

helper for computing the error based on the functor in the edge

Definition at line 164 of file auto_differentiation.h.

                                       {
    static_assert(Edge::Dimension > 0,
                  "Dynamically sized edges are not supported");
    computeErrorNs(that, std::make_index_sequence<Edge::_nr_of_vertices>());
  }

References g2o::AutoDifferentiation< Edge, EstimateAccess >::computeErrorNs().

computeErrorNs()

template<typename Edge , typename EstimateAccess = EstimateAccessor<Edge>>

template<std::size_t... Ints>

static void g2o::AutoDifferentiation< Edge, EstimateAccess >::computeErrorNs ( Edge *  that, std::index_sequence< Ints... >    )

inlinestaticprotected

packed version to call the functor that evaluates the error function

Definition at line 186 of file auto_differentiation.h.

                                                                     {
    static_assert(
        std::min({Edge::template VertexXnType<Ints>::Dimension...}) > 0,
        "Dynamically sized vertices are not supported");
    EstimateAccess estimateAccess;
    (*that)(estimateAccess.template data<Ints>(that)..., that->errorData());
  }

Referenced by g2o::AutoDifferentiation< Edge, EstimateAccess >::computeError().

linearize()

template<typename Edge , typename EstimateAccess = EstimateAccessor<Edge>>

static void g2o::AutoDifferentiation< Edge, EstimateAccess >::linearize ( Edge *  that )

inlinestatic

Linearize (compute the Jacobians) for the given edge. Stores the Jacobians in the members of the edge. A vertex that is fixed will obtain a Jacobian with all elements set to zero. In the particular case that all vertices are fixed, we terminate early and do not start evaluation of the Jacobian.

Definition at line 177 of file auto_differentiation.h.

                                    {
    static_assert(Edge::Dimension > 0,
                  "Dynamically sized edges are not supported");
    linearizeOplusNs(that, std::make_index_sequence<Edge::_nr_of_vertices>());
  }

References g2o::AutoDifferentiation< Edge, EstimateAccess >::linearizeOplusNs().

linearizeOplusNs()

template<typename Edge , typename EstimateAccess = EstimateAccessor<Edge>>

template<std::size_t... Ints>

static void g2o::AutoDifferentiation< Edge, EstimateAccess >::linearizeOplusNs ( Edge *  that, std::index_sequence< Ints... >    )

inlinestaticprotected

packed version of the code to linearize using AD

Definition at line 198 of file auto_differentiation.h.

                                                                       {
    static_assert(
        std::min({Edge::template VertexXnType<Ints>::Dimension...}) > 0,
        "Dynamically sized vertices are not supported");
    // all vertices are fixed, no need to compute anything here
    if (that->allVerticesFixed()) {
      (void(that->template jacobianOplusXn<Ints>().setZero()), ...);
      return;
    }
 
    // tuple containing the Jacobians
    std::tuple<ADJacobianType<Edge::Dimension,
                              Edge::template VertexXnType<Ints>::Dimension>...>
        ad_jacobians;
 
    // setting up the pointer to the parameters and the Jacobians for calling
    // AD.
    EstimateAccess estimateAccess;
    double* parameters[] = {estimateAccess.template data<Ints>(that)...};
    // double* parameters[] = { /* trivial case would be */
    //     const_cast<double*>(that->template
    //     vertexXn<Ints>()->estimate().data())...};
 
    // pointers to the Jacobians, set to NULL if vertex is fixed to skip
    // computation
    double* jacobians[] = {
        that->template vertexXn<Ints>()->fixed()
            ? nullptr
            : const_cast<double*>(std::get<Ints>(ad_jacobians).data())...};
    // Calls the automatic differentiation for evaluation of the Jacobians.
    double errorValue[Edge::Dimension];
    using AutoDiffDims = ceres::internal::StaticParameterDims<
        Edge::template VertexXnType<Ints>::Dimension...>;
    bool diffState =
        ceres::internal::AutoDifferentiate<Edge::Dimension, AutoDiffDims, Edge,
                                           double>(
            *that, parameters, Edge::Dimension, errorValue, jacobians);
 
    assert(diffState && "Error during Automatic Differentiation");
    if (!diffState) {  // something went wrong during AD
      (void(std::get<Ints>(ad_jacobians).setZero()), ...);
      return;
    }
    // copy over the Jacobians (convert row-major -> column-major) for non-fixed
    // vertices
    (void(that->template vertexXn<Ints>()->fixed()
              ? (that->template jacobianOplusXn<Ints>().setZero(), 0)
              : (assign(that->template jacobianOplusXn<Ints>(),
                        std::get<Ints>(ad_jacobians)),
                 0)),
     ...);
  }

References g2o::AutoDifferentiation< Edge, EstimateAccess >::assign(), and g2o::ceres::internal::AutoDifferentiate().

Referenced by g2o::AutoDifferentiation< Edge, EstimateAccess >::linearize().

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

• /build/reproducible-path/g2o-0~20230806/g2o/core/auto_differentiation.h