#include <base_fixed_sized_edge.h>

Inheritance diagram for g2o::BaseFixedSizedEdge< D, E, VertexTypes >:

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Collaboration diagram for g2o::BaseFixedSizedEdge< D, E, VertexTypes >:

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Classes
struct	HessianTupleType

struct	HessianTupleType< std::index_sequence< Ints... > >

Public Types
template<int N, typename... Types>
using	NthType = typename std::tuple_element< N, std::tuple< Types... > >::type

template<int VertexN>
using	VertexXnType = NthType< VertexN, VertexTypes... >
	The type of the N-th vertex.

typedef BaseEdge< D, E >::Measurement	Measurement

typedef BaseEdge< D, E >::ErrorVector	ErrorVector

typedef BaseEdge< D, E >::InformationType	InformationType

template<int EdgeDimension, int VertexDimension>
using	JacobianType = typename Eigen::Matrix< double, EdgeDimension, VertexDimension, EdgeDimension==1 ? Eigen::RowMajor :Eigen::ColMajor >::AlignedMapType

template<int DN, int DM>
using	HessianBlockType = Eigen::Map< Eigen::Matrix< double, DN, DM, DN==1 ? Eigen::RowMajor :Eigen::ColMajor >, Eigen::Matrix< double, DN, DM, DN==1 ? Eigen::RowMajor :Eigen::ColMajor >::Flags &Eigen::PacketAccessBit ? Eigen::Aligned :Eigen::Unaligned >
	it requires quite some ugly code to get the type of hessians...

template<int K>
using	HessianBlockTypeK = HessianBlockType< VertexXnType< internal::index_to_pair(K).first >::Dimension, VertexXnType< internal::index_to_pair(K).second >::Dimension >

template<int K>
using	HessianBlockTypeKTransposed = HessianBlockType< VertexXnType< internal::index_to_pair(K).second >::Dimension, VertexXnType< internal::index_to_pair(K).first >::Dimension >

using	HessianTuple = typename HessianTupleType< std::make_index_sequence< _nr_of_vertex_pairs > >::type

using	HessianTupleTransposed = typename HessianTupleType< std::make_index_sequence< _nr_of_vertex_pairs > >::typeTransposed

using	HessianRowMajorStorage = std::array< bool, _nr_of_vertex_pairs >

Public Types inherited from g2o::BaseEdge< D, E >
typedef E	Measurement

typedef internal::BaseEdgeTraits< D >::ErrorVector	ErrorVector

typedef internal::BaseEdgeTraits< D >::InformationType	InformationType

Public Member Functions
template<int VertexN>
constexpr std::enable_if< VertexXnType< VertexN >::Dimension!=-1, int >::type	vertexDimension () const

template<int VertexN>
std::enable_if< VertexXnType< VertexN >::Dimension==-1, int >::type	vertexDimension () const

template<int VertexN>
const VertexXnType< VertexN > *	vertexXn () const

template<int VertexN>
VertexXnType< VertexN > *	vertexXn ()

	BaseFixedSizedEdge ()

template<typename... CtorArgs>
OptimizableGraph::Vertex *	createVertex (int i, CtorArgs... args)
	create an instance of the Nth VertexType

virtual void	resize (size_t size)

template<std::size_t... Ints>
bool	allVerticesFixedNs (std::index_sequence< Ints... >) const

virtual bool	allVerticesFixed () const

virtual void	linearizeOplus (JacobianWorkspace &jacobianWorkspace)

template<std::size_t... Ints>
void	linearizeOplus_allocate (JacobianWorkspace &jacobianWorkspace, std::index_sequence< Ints... >)

virtual void	linearizeOplus ()

template<std::size_t... Ints>
void	linearizeOplusNs (std::index_sequence< Ints... >)

template<int N>
void	linearizeOplusN ()

template<int N>
const std::tuple_element< N, std::tuple< JacobianType< D, VertexTypes::Dimension >... > >::type &	jacobianOplusXn () const

template<int N>
std::tuple_element< N, std::tuple< JacobianType< D, VertexTypes::Dimension >... > >::type &	jacobianOplusXn ()

virtual void	constructQuadraticForm ()

template<std::size_t... Ints>
void	constructQuadraticFormNs (const InformationType &omega, const ErrorVector &weightedError, std::index_sequence< Ints... >)

template<int N>
void	constructQuadraticFormN (const InformationType &omega, const ErrorVector &weightedError)

template<int N, typename AtOType >
void	constructOffDiagonalQuadraticFormMs (const AtOType &, std::index_sequence<>)

template<int N, std::size_t... Ints, typename AtOType >
void	constructOffDiagonalQuadraticFormMs (const AtOType &AtO, std::index_sequence< Ints... >)

template<int N, int M, typename AtOType >
void	constructOffDiagonalQuadraticFormM (const AtOType &AtO)

virtual void	mapHessianMemory (double *d, int i, int j, bool rowMajor)

template<std::size_t... Ints>
bool	allVerticesFixedNs (std::index_sequence< Ints... >) const

template<std::size_t... Ints>
void	constructQuadraticFormNs (const InformationType &omega, const ErrorVector &weightedError, std::index_sequence< Ints... >)

template<int N, typename AtOType >
void	constructOffDiagonalQuadraticFormMs (const AtOType &, std::index_sequence<>)

template<int N, std::size_t... Ints, typename AtOType >
void	constructOffDiagonalQuadraticFormMs (const AtOType &AtO, std::index_sequence< Ints... >)

template<int N, int M, typename AtOType >
void	constructOffDiagonalQuadraticFormM (const AtOType &AtO)

template<int N>
void	constructQuadraticFormN (const InformationType &omega, const ErrorVector &weightedError)

template<std::size_t... Ints>
void	linearizeOplus_allocate (JacobianWorkspace &jacobianWorkspace, std::index_sequence< Ints... >)

template<int N>
void	linearizeOplusN ()

template<std::size_t... Ints>
void	linearizeOplusNs (std::index_sequence< Ints... >)

Public Member Functions inherited from g2o::BaseEdge< D, E >
	BaseEdge ()

BaseEdge &	operator= (const BaseEdge &)=delete

	BaseEdge (const BaseEdge &)=delete

virtual	~BaseEdge ()

virtual double	chi2 () const

virtual const double *	errorData () const
	returns the error vector cached after calling the computeError;

virtual double *	errorData ()

const ErrorVector &	error () const

ErrorVector &	error ()

EIGEN_STRONG_INLINE const InformationType &	information () const
	information matrix of the constraint

EIGEN_STRONG_INLINE InformationType &	information ()

void	setInformation (const InformationType &information)

virtual const double *	informationData () const

virtual double *	informationData ()

EIGEN_STRONG_INLINE const Measurement &	measurement () const
	accessor functions for the measurement represented by the edge

virtual void	setMeasurement (const Measurement &m)

virtual int	rank () const

virtual void	initialEstimate (const OptimizableGraph::VertexSet &, OptimizableGraph::Vertex *)

template<int Dim = D>
std::enable_if< Dim==-1, void >::type	setDimension (int dim)

Public Member Functions inherited from g2o::OptimizableGraph::Edge
	Edge ()

virtual	~Edge ()

virtual void	computeError ()=0

virtual bool	setMeasurementData (const double *m)

virtual bool	getMeasurementData (double *m) const

virtual int	measurementDimension () const

virtual bool	setMeasurementFromState ()

RobustKernel *	robustKernel () const
	if NOT NULL, error of this edge will be robustifed with the kernel

void	setRobustKernel (RobustKernel *ptr)

virtual double	initialEstimatePossible (const OptimizableGraph::VertexSet &from, OptimizableGraph::Vertex *to)

int	level () const
	returns the level of the edge

void	setLevel (int l)
	sets the level of the edge

int	dimension () const
	returns the dimensions of the error function

	G2O_ATTRIBUTE_DEPRECATED (virtual Vertex *createFrom())

	G2O_ATTRIBUTE_DEPRECATED (virtual Vertex *createTo())

virtual Vertex *	createVertex (int)

virtual bool	read (std::istream &is)=0
	read the vertex from a stream, i.e., the internal state of the vertex

virtual bool	write (std::ostream &os) const =0
	write the vertex to a stream

long long	internalId () const
	the internal ID of the edge

OptimizableGraph *	graph ()

const OptimizableGraph *	graph () const

bool	setParameterId (int argNum, int paramId)

const Parameter *	parameter (int argNo) const

size_t	numParameters () const

void	resizeParameters (size_t newSize)

Public Member Functions inherited from g2o::HyperGraph::Edge
	Edge (int id=InvalidId)
	creates and empty edge with no vertices

const VertexContainer &	vertices () const

VertexContainer &	vertices ()

const Vertex *	vertex (size_t i) const

Vertex *	vertex (size_t i)

void	setVertex (size_t i, Vertex *v)

int	id () const

void	setId (int id)

virtual HyperGraphElementType	elementType () const

int	numUndefinedVertices () const

Public Member Functions inherited from g2o::HyperGraph::HyperGraphElement
virtual	~HyperGraphElement ()

Public Member Functions inherited from g2o::HyperGraph::DataContainer
	DataContainer ()

virtual	~DataContainer ()

const Data *	userData () const
	the user data associated with this vertex

Data *	userData ()

void	setUserData (Data *obs)

void	addUserData (Data *obs)

Static Public Member Functions
template<int VertexN>
static constexpr int	VertexDimension ()
	Size of the N-th vertex at compile time.

Static Public Attributes
static const int	Dimension = BaseEdge<D, E>::Dimension

static const std::size_t	_nr_of_vertices = sizeof...(VertexTypes)

static const std::size_t	_nr_of_vertex_pairs

Static Public Attributes inherited from g2o::BaseEdge< D, E >
static constexpr int	Dimension = internal::BaseEdgeTraits<D>::Dimension

Protected Attributes
HessianRowMajorStorage	_hessianRowMajor

HessianTuple	_hessianTuple

HessianTupleTransposed	_hessianTupleTransposed

std::tuple< JacobianType< D, VertexTypes::Dimension >... >	_jacobianOplus

Protected Attributes inherited from g2o::BaseEdge< D, E >
Measurement	_measurement
	the measurement of the edge

InformationType	_information

ErrorVector	_error

Protected Attributes inherited from g2o::OptimizableGraph::Edge
int	_dimension

int	_level

RobustKernel *	_robustKernel

long long	_internalId

std::vector< int >	_cacheIds

std::vector< std::string >	_parameterTypes

std::vector< Parameter ** >	_parameters

std::vector< int >	_parameterIds

Protected Attributes inherited from g2o::HyperGraph::Edge
VertexContainer	_vertices

int	_id
	unique id

Protected Attributes inherited from g2o::HyperGraph::DataContainer
Data *	_userData

Additional Inherited Members
Protected Member Functions inherited from g2o::BaseEdge< D, E >
InformationType	robustInformation (const Vector3 &rho) const

bool	writeInformationMatrix (std::ostream &os) const
	write the upper trinagular part of the information matrix into the stream

bool	readInformationMatrix (std::istream &is)

bool	writeParamIds (std::ostream &os) const
	write the param IDs that are potentially used by the edge

bool	readParamIds (std::istream &is)
	reads the param IDs from the stream

Protected Member Functions inherited from g2o::OptimizableGraph::Edge
template<typename ParameterType >
bool	installParameter (ParameterType *&p, size_t argNo, int paramId=-1)

template<typename CacheType >
void	resolveCache (CacheType &cache, OptimizableGraph::Vertex , const std::string &_type, const ParameterVector &parameters)

bool	resolveParameters ()

virtual bool	resolveCaches ()

Detailed Description

template<int D, typename E, typename... VertexTypes>
class g2o::BaseFixedSizedEdge< D, E, VertexTypes >

Definition at line 125 of file base_fixed_sized_edge.h.

Member Typedef Documentation

◆ ErrorVector

template<int D, typename E , typename... VertexTypes>

typedef BaseEdge<D,E>::ErrorVector g2o::BaseFixedSizedEdge< D, E, VertexTypes >::ErrorVector

Definition at line 166 of file base_fixed_sized_edge.h.

◆ HessianBlockType

template<int D, typename E , typename... VertexTypes>

template<int DN, int DM>

using g2o::BaseFixedSizedEdge< D, E, VertexTypes >::HessianBlockType = Eigen::Map< Eigen::Matrix<double, DN, DM, DN == 1 ? Eigen::RowMajor : Eigen::ColMajor>, Eigen::Matrix<double, DN, DM, DN == 1 ? Eigen::RowMajor : Eigen::ColMajor>::Flags & Eigen::PacketAccessBit ? Eigen::Aligned : Eigen::Unaligned>

it requires quite some ugly code to get the type of hessians...

Definition at line 176 of file base_fixed_sized_edge.h.

◆ HessianBlockTypeK

template<int D, typename E , typename... VertexTypes>

template<int K>

using g2o::BaseFixedSizedEdge< D, E, VertexTypes >::HessianBlockTypeK = HessianBlockType< VertexXnType<internal::index_to_pair(K).first>::Dimension, VertexXnType<internal::index_to_pair(K).second>::Dimension>

Definition at line 185 of file base_fixed_sized_edge.h.

◆ HessianBlockTypeKTransposed

template<int D, typename E , typename... VertexTypes>

template<int K>

using g2o::BaseFixedSizedEdge< D, E, VertexTypes >::HessianBlockTypeKTransposed = HessianBlockType< VertexXnType<internal::index_to_pair(K).second>::Dimension, VertexXnType<internal::index_to_pair(K).first>::Dimension>

Definition at line 189 of file base_fixed_sized_edge.h.

◆ HessianRowMajorStorage

template<int D, typename E , typename... VertexTypes>

using g2o::BaseFixedSizedEdge< D, E, VertexTypes >::HessianRowMajorStorage = std::array<bool, _nr_of_vertex_pairs>

Definition at line 206 of file base_fixed_sized_edge.h.

◆ HessianTuple

template<int D, typename E , typename... VertexTypes>

using g2o::BaseFixedSizedEdge< D, E, VertexTypes >::HessianTuple = typename HessianTupleType< std::make_index_sequence<_nr_of_vertex_pairs> >::type

Definition at line 202 of file base_fixed_sized_edge.h.

◆ HessianTupleTransposed

template<int D, typename E , typename... VertexTypes>

using g2o::BaseFixedSizedEdge< D, E, VertexTypes >::HessianTupleTransposed = typename HessianTupleType< std::make_index_sequence<_nr_of_vertex_pairs> >::typeTransposed

Definition at line 204 of file base_fixed_sized_edge.h.

◆ InformationType

template<int D, typename E , typename... VertexTypes>

typedef BaseEdge<D,E>::InformationType g2o::BaseFixedSizedEdge< D, E, VertexTypes >::InformationType

Definition at line 167 of file base_fixed_sized_edge.h.

◆ JacobianType

template<int D, typename E , typename... VertexTypes>

template<int EdgeDimension, int VertexDimension>

using g2o::BaseFixedSizedEdge< D, E, VertexTypes >::JacobianType = typename Eigen::Matrix< double, EdgeDimension, VertexDimension, EdgeDimension == 1 ? Eigen::RowMajor : Eigen::ColMajor>::AlignedMapType

Definition at line 170 of file base_fixed_sized_edge.h.

◆ Measurement

template<int D, typename E , typename... VertexTypes>

typedef BaseEdge<D,E>::Measurement g2o::BaseFixedSizedEdge< D, E, VertexTypes >::Measurement

Definition at line 165 of file base_fixed_sized_edge.h.

◆ NthType

template<int D, typename E , typename... VertexTypes>

template<int N, typename... Types>

using g2o::BaseFixedSizedEdge< D, E, VertexTypes >::NthType = typename std::tuple_element<N, std::tuple<Types...> >::type

Definition at line 128 of file base_fixed_sized_edge.h.

◆ VertexXnType

template<int D, typename E , typename... VertexTypes>

template<int VertexN>

using g2o::BaseFixedSizedEdge< D, E, VertexTypes >::VertexXnType = NthType<VertexN, VertexTypes...>

The type of the N-th vertex.

Definition at line 131 of file base_fixed_sized_edge.h.

Constructor & Destructor Documentation

◆ BaseFixedSizedEdge()

template<int D, typename E , typename... VertexTypes>

g2o::BaseFixedSizedEdge< D, E, VertexTypes >::BaseFixedSizedEdge ( )

inline

Definition at line 208 of file base_fixed_sized_edge.h.

      : BaseEdge<D, E>(),
        _hessianRowMajor(internal::createBoolArray<_nr_of_vertex_pairs>()),
        _hessianTuple(internal::createHessianMaps(_hessianTuple)),
        _hessianTupleTransposed(
            internal::createHessianMaps(_hessianTupleTransposed)),
        _jacobianOplus({nullptr, D, VertexTypes::Dimension}...) {
    _vertices.resize(_nr_of_vertices, nullptr);
  }

Member Function Documentation

◆ allVerticesFixed()

template<int D, typename E , typename... VertexTypes>

bool BaseFixedSizedEdge::allVerticesFixed ( ) const

virtual

Implements g2o::OptimizableGraph::Edge.

Definition at line 44 of file base_fixed_sized_edge.hpp.

                                                                      {
  return allVerticesFixedNs(std::make_index_sequence<_nr_of_vertices>());
}

◆ allVerticesFixedNs() [1/2]

template<int D, typename E , typename... VertexTypes>

template<std::size_t... Ints>

bool g2o::BaseFixedSizedEdge< D, E, VertexTypes >::allVerticesFixedNs ( std::index_sequence< Ints... > ) const

◆ allVerticesFixedNs() [2/2]

template<int D, typename E , typename... VertexTypes>

template<std::size_t... Ints>

bool g2o::BaseFixedSizedEdge< D, E, VertexTypes >::allVerticesFixedNs ( std::index_sequence< Ints... > ) const

Definition at line 38 of file base_fixed_sized_edge.hpp.

                                      {
  return (... && vertexXn<Ints>()->fixed());
}

◆ constructOffDiagonalQuadraticFormM() [1/2]

template<int D, typename E , typename... VertexTypes>

template<int N, int M, typename AtOType >

void g2o::BaseFixedSizedEdge< D, E, VertexTypes >::constructOffDiagonalQuadraticFormM ( const AtOType & AtO )

◆ constructOffDiagonalQuadraticFormM() [2/2]

template<int D, typename E , typename... VertexTypes>

template<int N, int M, typename AtOType >

void g2o::BaseFixedSizedEdge< D, E, VertexTypes >::constructOffDiagonalQuadraticFormM ( const AtOType & AtO )

Definition at line 91 of file base_fixed_sized_edge.hpp.

                                                           {
  constexpr auto fromId = N;
  constexpr auto toId = N + M + 1;
  assert(fromId < toId && "Index mixed up");
  auto to = vertexXn<toId>();
  if (!to->fixed()) {
    const auto& B = std::get<toId>(_jacobianOplus);
    constexpr auto K = internal::pair_to_index(fromId, toId);
    internal::QuadraticFormLock lck(*to);
    (void)lck;
    if (_hessianRowMajor[K]) {  // we have to write to the block as transposed
      auto& hessianTransposed = std::get<K>(_hessianTupleTransposed);
      hessianTransposed.noalias() += B.transpose() * AtO.transpose();
    } else {
      auto& hessian = std::get<K>(_hessianTuple);
      hessian.noalias() += AtO * B;
    }
  }
}

◆ constructOffDiagonalQuadraticFormMs() [1/4]

template<int D, typename E , typename... VertexTypes>

template<int N, typename AtOType >

void g2o::BaseFixedSizedEdge< D, E, VertexTypes >::constructOffDiagonalQuadraticFormMs	(	const AtOType &	,
		std::index_sequence<>
	)

◆ constructOffDiagonalQuadraticFormMs() [2/4]

template<int D, typename E , typename... VertexTypes>

template<int N, typename AtOType >

void g2o::BaseFixedSizedEdge< D, E, VertexTypes >::constructOffDiagonalQuadraticFormMs	(	const AtOType &	,
		std::index_sequence<>
	)

Definition at line 77 of file base_fixed_sized_edge.hpp.

78 {

79}

◆ constructOffDiagonalQuadraticFormMs() [3/4]

template<int D, typename E , typename... VertexTypes>

template<int N, std::size_t... Ints, typename AtOType >

void g2o::BaseFixedSizedEdge< D, E, VertexTypes >::constructOffDiagonalQuadraticFormMs	(	const AtOType &	AtO,
		std::index_sequence< Ints... >
	)

◆ constructOffDiagonalQuadraticFormMs() [4/4]

template<int D, typename E , typename... VertexTypes>

template<int N, std::size_t... Ints, typename AtOType >

void g2o::BaseFixedSizedEdge< D, E, VertexTypes >::constructOffDiagonalQuadraticFormMs	(	const AtOType &	AtO,
		std::index_sequence< Ints... >
	)

Definition at line 83 of file base_fixed_sized_edge.hpp.

                                                                    {
  (void(constructOffDiagonalQuadraticFormM<N, Ints, AtOType>(AtO)), ...);
}

◆ constructQuadraticForm()

template<int D, typename E , typename... VertexTypes>

void BaseFixedSizedEdge::constructQuadraticForm ( )

virtual

computes the (block) elements of the Hessian matrix of the linearized least squares.

Implements g2o::OptimizableGraph::Edge.

Definition at line 49 of file base_fixed_sized_edge.hpp.

                                                                      {
  if (this->robustKernel()) {
    double error = this->chi2();
    Vector3 rho;
    this->robustKernel()->robustify(error, rho);
    Eigen::Matrix<double, D, 1, Eigen::ColMajor> omega_r =
        -_information * _error;
    omega_r *= rho[1];
    constructQuadraticFormNs(this->robustInformation(rho), omega_r,
                             std::make_index_sequence<_nr_of_vertices>());
  } else {
    constructQuadraticFormNs(_information, -_information * _error,
                             std::make_index_sequence<_nr_of_vertices>());
  }
}

◆ constructQuadraticFormN() [1/2]

template<int D, typename E , typename... VertexTypes>

template<int N>

void g2o::BaseFixedSizedEdge< D, E, VertexTypes >::constructQuadraticFormN	(	const InformationType &	omega,
		const ErrorVector &	weightedError
	)

◆ constructQuadraticFormN() [2/2]

template<int D, typename E , typename... VertexTypes>

template<int N>

void g2o::BaseFixedSizedEdge< D, E, VertexTypes >::constructQuadraticFormN	(	const InformationType &	omega,
		const ErrorVector &	weightedError
	)

Definition at line 114 of file base_fixed_sized_edge.hpp.

                                                                    {
  auto from = vertexXn<N>();
  const auto& A = std::get<N>(_jacobianOplus);
 
  if (!(from->fixed())) {
    const auto AtO = A.transpose() * omega;
    {
      internal::QuadraticFormLock lck(*from);
      (void)lck;
      from->b().noalias() += A.transpose() * weightedError;
      from->A().noalias() += AtO * A;
    }
    constructOffDiagonalQuadraticFormMs<N>(
        AtO, std::make_index_sequence<_nr_of_vertices - N - 1>());
  }
};

◆ constructQuadraticFormNs() [1/2]

template<int D, typename E , typename... VertexTypes>

template<std::size_t... Ints>

void g2o::BaseFixedSizedEdge< D, E, VertexTypes >::constructQuadraticFormNs	(	const InformationType &	omega,
		const ErrorVector &	weightedError,
		std::index_sequence< Ints... >
	)

◆ constructQuadraticFormNs() [2/2]

template<int D, typename E , typename... VertexTypes>

template<std::size_t... Ints>

void g2o::BaseFixedSizedEdge< D, E, VertexTypes >::constructQuadraticFormNs	(	const InformationType &	omega,
		const ErrorVector &	weightedError,
		std::index_sequence< Ints... >
	)

Definition at line 67 of file base_fixed_sized_edge.hpp.

                                {
  (void(constructQuadraticFormN<Ints>(omega, weightedError)), ...);
}

◆ createVertex()

template<int D, typename E , typename... VertexTypes>

template<typename... CtorArgs>

OptimizableGraph::Vertex * g2o::BaseFixedSizedEdge< D, E, VertexTypes >::createVertex	(	int	i,
		CtorArgs...	args
	)

inline

create an instance of the Nth VertexType

Definition at line 220 of file base_fixed_sized_edge.h.

                                                                {
    if (i < 0) return nullptr;
    return internal::createNthVertexType<
        sizeof...(VertexTypes) - 1,
        typename std::remove_reference<decltype(*this)>::type, CtorArgs...>(
        i, *this, args...);
  };

References g2o::internal::createNthVertexType().

◆ jacobianOplusXn() [1/2]

template<int D, typename E , typename... VertexTypes>

template<int N>

std::tuple_element< N, std::tuple< JacobianType< D, VertexTypes::Dimension >... > >::type & g2o::BaseFixedSizedEdge< D, E, VertexTypes >::jacobianOplusXn ( )

inline

returns the result of the linearization in the manifold space for the nodes xn

Definition at line 262 of file base_fixed_sized_edge.h.

                    {
    return std::get<N>(_jacobianOplus);
  }

References g2o::BaseFixedSizedEdge< D, E, VertexTypes >::_jacobianOplus.

◆ jacobianOplusXn() [2/2]

template<int D, typename E , typename... VertexTypes>

template<int N>

const std::tuple_element< N, std::tuple< JacobianType< D, VertexTypes::Dimension >... > >::type & g2o::BaseFixedSizedEdge< D, E, VertexTypes >::jacobianOplusXn ( ) const

inline

returns the result of the linearization in the manifold space for the nodes xn

Definition at line 254 of file base_fixed_sized_edge.h.

                          {
    return std::get<N>(_jacobianOplus);
  }

References g2o::BaseFixedSizedEdge< D, E, VertexTypes >::_jacobianOplus.

◆ linearizeOplus() [1/2]

template<int D, typename E , typename... VertexTypes>

void BaseFixedSizedEdge::linearizeOplus ( )

virtual

Linearizes the oplus operator in the vertex, and stores the result in temporary variables _jacobianOplus

Reimplemented in g2o::Edge_V_V_GICP, g2o::EdgeProjectP2MC, g2o::EdgeProjectP2SC, g2o::EdgeProjectPSI2UV, g2o::EdgeStereoSE3ProjectXYZ, g2o::EdgeStereoSE3ProjectXYZOnlyPose, g2o::EdgeSE3ProjectXYZ, g2o::EdgeProjectXYZ2UV, g2o::EdgeSE3ProjectXYZOnlyPose, g2o::EdgeSE3Expmap, g2o::EdgePointXY, g2o::EdgeSE2, g2o::EdgeSE2PointXY, g2o::EdgeSE2PointXYOffset, g2o::EdgeSE2Prior, g2o::EdgeSE2XYPrior, g2o::EdgeXYPrior, g2o::EdgeLine2D, g2o::EdgePointXYZ, g2o::EdgeSE3, g2o::EdgeSE3Offset, g2o::EdgeSE3PointXYZ, g2o::EdgeSE3PointXYZDepth, g2o::EdgeSE3PointXYZDisparity, g2o::EdgeSE3Prior, g2o::EdgeSE3XYZPrior, and g2o::EdgeXYZPrior.

Definition at line 204 of file base_fixed_sized_edge.hpp.

                                                              {
  if (allVerticesFixed()) return;
  ErrorVector errorBeforeNumeric = _error;
  linearizeOplusNs(std::make_index_sequence<_nr_of_vertices>());
  _error = errorBeforeNumeric;
}

◆ linearizeOplus() [2/2]

template<int D, typename E , typename... VertexTypes>

void BaseFixedSizedEdge::linearizeOplus ( JacobianWorkspace & jacobianWorkspace )

virtual

Linearizes the constraint in the edge in the manifold space, and store the result in the given workspace

Implements g2o::OptimizableGraph::Edge.

Definition at line 133 of file base_fixed_sized_edge.hpp.

                                          {
  linearizeOplus_allocate(jacobianWorkspace,
                          std::make_index_sequence<_nr_of_vertices>());
  linearizeOplus();
}

◆ linearizeOplus_allocate() [1/2]

template<int D, typename E , typename... VertexTypes>

template<std::size_t... Ints>

void g2o::BaseFixedSizedEdge< D, E, VertexTypes >::linearizeOplus_allocate	(	JacobianWorkspace &	jacobianWorkspace,
		std::index_sequence< Ints... >
	)

◆ linearizeOplus_allocate() [2/2]

template<int D, typename E , typename... VertexTypes>

template<std::size_t... Ints>

void g2o::BaseFixedSizedEdge< D, E, VertexTypes >::linearizeOplus_allocate	(	JacobianWorkspace &	jacobianWorkspace,
		std::index_sequence< Ints... >
	)

Definition at line 142 of file base_fixed_sized_edge.hpp.

                                                                      {
  (new (&std::get<Ints>(_jacobianOplus))
       JacobianType<D, VertexDimension<Ints>()>(
           jacobianWorkspace.workspaceForVertex(Ints), D < 0 ? _dimension : D,
           VertexDimension<Ints>() < 0 ? vertexXn<Ints>()->dimension()
                                       : VertexDimension<Ints>()),
   ...);
}

References g2o::JacobianWorkspace::workspaceForVertex().

◆ linearizeOplusN() [1/2]

template<int D, typename E , typename... VertexTypes>

template<int N>

void g2o::BaseFixedSizedEdge< D, E, VertexTypes >::linearizeOplusN ( )

◆ linearizeOplusN() [2/2]

template<int D, typename E , typename... VertexTypes>

template<int N>

void g2o::BaseFixedSizedEdge< D, E, VertexTypes >::linearizeOplusN ( )

Definition at line 154 of file base_fixed_sized_edge.hpp.

                                                               {
  auto vertex = vertexXn<N>();
 
  if (vertex->fixed()) return;
 
  auto& jacobianOplus = std::get<N>(_jacobianOplus);
 
  constexpr double delta = cst(1e-9);
  constexpr double scalar = 1 / (2 * delta);
 
  internal::QuadraticFormLock lck(*vertex);
  (void)lck;
 
  typedef typename std::conditional<
      VertexXnType<N>::Dimension == -1, ceres::internal::FixedArray<double>,
      ceres::internal::FixedArray<
          double, static_cast<size_t>(VertexXnType<N>::Dimension)> >::type
      FixedArray;
  FixedArray add_vertex(vertexDimension<N>());
  add_vertex.fill(0.);
 
  // estimate the jacobian numerically
  // add small step along the unit vector in each dimension
  for (int d = 0; d < vertexDimension<N>(); ++d) {
    vertex->push();
    add_vertex[d] = delta;
    vertex->oplus(add_vertex.data());
    computeError();
    auto errorBak = this->error();
    vertex->pop();
    vertex->push();
    add_vertex[d] = -delta;
    vertex->oplus(add_vertex.data());
    computeError();
    errorBak -= this->error();
    vertex->pop();
    add_vertex[d] = 0.0;
 
    jacobianOplus.col(d) = scalar * errorBak;
  }  // end dimension
}

References g2o::cst(), g2o::ceres::internal::FixedArray< T, N, A >::data(), and g2o::ceres::internal::FixedArray< T, N, A >::fill().

◆ linearizeOplusNs() [1/2]

template<int D, typename E , typename... VertexTypes>

template<std::size_t... Ints>

void g2o::BaseFixedSizedEdge< D, E, VertexTypes >::linearizeOplusNs ( std::index_sequence< Ints... > )

◆ linearizeOplusNs() [2/2]

template<int D, typename E , typename... VertexTypes>

template<std::size_t... Ints>

void g2o::BaseFixedSizedEdge< D, E, VertexTypes >::linearizeOplusNs ( std::index_sequence< Ints... > )

Definition at line 198 of file base_fixed_sized_edge.hpp.

                                {
  (void(linearizeOplusN<Ints>()), ...);
}

◆ mapHessianMemory()

template<int D, typename E , typename... VertexTypes>

void BaseFixedSizedEdge::mapHessianMemory	(	double *	d,
		int	i,
		int	j,
		bool	rowMajor
	)

virtual

maps the internal matrix to some external memory location, you need to provide the memory before calling constructQuadraticForm

Parameters

d	the memory location to which we map
i	index of the vertex i
j	index of the vertex j (j > i, upper triangular fashion)
rowMajor	if true, will write in rowMajor order to the block. Since EIGEN is columnMajor by default, this results in writing the transposed

Implements g2o::OptimizableGraph::Edge.

Definition at line 227 of file base_fixed_sized_edge.hpp.

                                                                               {
  assert(i < j && "index assumption violated");
  // get the size of the vertices
  int vi_dim =
      static_cast<OptimizableGraph::Vertex*>(HyperGraph::Edge::vertex(i))
          ->dimension();
  int vj_dim =
      static_cast<OptimizableGraph::Vertex*>(HyperGraph::Edge::vertex(j))
          ->dimension();
  int k = internal::pair_to_index(i, j);
  _hessianRowMajor[k] = rowMajor;
  if (rowMajor)
    tuple_apply_i(MapHessianMemoryK{d, vj_dim, vi_dim}, _hessianTupleTransposed,
                  k);
  else
    tuple_apply_i(MapHessianMemoryK{d, vi_dim, vj_dim}, _hessianTuple, k);
}

◆ resize()

template<int D, typename E , typename... VertexTypes>

void BaseFixedSizedEdge::resize ( size_t size )

virtual

resizes the number of vertices connected by this edge

Reimplemented from g2o::HyperGraph::Edge.

Definition at line 30 of file base_fixed_sized_edge.hpp.

                                                                 {
  assert(size == _nr_of_vertices &&
         "attempting to resize a constant size edge");
  BaseEdge<D, E>::resize(size);
}

Referenced by main().

◆ VertexDimension()

template<int D, typename E , typename... VertexTypes>

template<int VertexN>

static constexpr int g2o::BaseFixedSizedEdge< D, E, VertexTypes >::VertexDimension ( )

inlinestaticconstexpr

Size of the N-th vertex at compile time.

Definition at line 134 of file base_fixed_sized_edge.h.

                                         {
    return VertexXnType<VertexN>::Dimension;
  };

◆ vertexDimension() [1/2]

template<int D, typename E , typename... VertexTypes>

template<int VertexN>

constexpr std::enable_if< VertexXnType< VertexN >::Dimension!=-1, int >::type g2o::BaseFixedSizedEdge< D, E, VertexTypes >::vertexDimension ( ) const

inlineconstexpr

Get the size of a given Vertex. If the vertex dimension is static and by this known at compile time, we return this. Otherwise we get the size at runtime.

Definition at line 144 of file base_fixed_sized_edge.h.

                                                                                                         {
    return VertexXnType<VertexN>::Dimension;
  };

◆ vertexDimension() [2/2]

template<int D, typename E , typename... VertexTypes>

template<int VertexN>

std::enable_if< VertexXnType< VertexN >::Dimension==-1, int >::type g2o::BaseFixedSizedEdge< D, E, VertexTypes >::vertexDimension ( ) const

inline

Definition at line 148 of file base_fixed_sized_edge.h.

                                                                                               {
    return vertexXn<VertexN>()->dimension();
  };

◆ vertexXn() [1/2]

template<int D, typename E , typename... VertexTypes>

template<int VertexN>

VertexXnType< VertexN > * g2o::BaseFixedSizedEdge< D, E, VertexTypes >::vertexXn ( )

inline

Definition at line 160 of file base_fixed_sized_edge.h.

                                    {
    return static_cast<VertexXnType<VertexN>*>(_vertices[VertexN]);
  }

References g2o::HyperGraph::Edge::_vertices.

◆ vertexXn() [2/2]

template<int D, typename E , typename... VertexTypes>

template<int VertexN>

const VertexXnType< VertexN > * g2o::BaseFixedSizedEdge< D, E, VertexTypes >::vertexXn ( ) const

inline

Return a pointer to the N-th vertex, directly casted to the correct type

Definition at line 156 of file base_fixed_sized_edge.h.

                                                {
    return static_cast<const VertexXnType<VertexN>*>(_vertices[VertexN]);
  }

References g2o::HyperGraph::Edge::_vertices.

Member Data Documentation

◆ _hessianRowMajor

template<int D, typename E , typename... VertexTypes>

HessianRowMajorStorage g2o::BaseFixedSizedEdge< D, E, VertexTypes >::_hessianRowMajor

protected

Definition at line 301 of file base_fixed_sized_edge.h.

◆ _hessianTuple

template<int D, typename E , typename... VertexTypes>

HessianTuple g2o::BaseFixedSizedEdge< D, E, VertexTypes >::_hessianTuple

protected

Definition at line 302 of file base_fixed_sized_edge.h.

◆ _hessianTupleTransposed

template<int D, typename E , typename... VertexTypes>

HessianTupleTransposed g2o::BaseFixedSizedEdge< D, E, VertexTypes >::_hessianTupleTransposed

protected

Definition at line 303 of file base_fixed_sized_edge.h.

◆ _jacobianOplus

template<int D, typename E , typename... VertexTypes>

std::tuple<JacobianType<D, VertexTypes::Dimension>...> g2o::BaseFixedSizedEdge< D, E, VertexTypes >::_jacobianOplus

protected

Definition at line 304 of file base_fixed_sized_edge.h.

Referenced by g2o::BaseFixedSizedEdge< D, E, VertexTypes >::jacobianOplusXn(), and g2o::BaseFixedSizedEdge< D, E, VertexTypes >::jacobianOplusXn().

◆ _nr_of_vertex_pairs

template<int D, typename E , typename... VertexTypes>

const std::size_t g2o::BaseFixedSizedEdge< D, E, VertexTypes >::_nr_of_vertex_pairs

static

Initial value:

=

internal::pair_to_index(0, _nr_of_vertices)

Definition at line 200 of file base_fixed_sized_edge.h.

◆ _nr_of_vertices

template<int D, typename E , typename... VertexTypes>

const std::size_t g2o::BaseFixedSizedEdge< D, E, VertexTypes >::_nr_of_vertices = sizeof...(VertexTypes)

static

Definition at line 199 of file base_fixed_sized_edge.h.

◆ Dimension

template<int D, typename E , typename... VertexTypes>

const int g2o::BaseFixedSizedEdge< D, E, VertexTypes >::Dimension = BaseEdge<D, E>::Dimension

static

Definition at line 164 of file base_fixed_sized_edge.h.

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

/build/reproducible-path/g2o-0~20230806/g2o/core/base_fixed_sized_edge.h
/build/reproducible-path/g2o-0~20230806/g2o/core/base_fixed_sized_edge.hpp

Classes

Public Types

Public Member Functions

Static Public Member Functions

Static Public Attributes

Protected Attributes

Additional Inherited Members

Detailed Description

Member Typedef Documentation

◆ ErrorVector

◆ HessianBlockType

◆ HessianBlockTypeK

◆ HessianBlockTypeKTransposed

◆ HessianRowMajorStorage

◆ HessianTuple

◆ HessianTupleTransposed

◆ InformationType

◆ JacobianType

◆ Measurement

◆ NthType

◆ VertexXnType

Constructor & Destructor Documentation

◆ BaseFixedSizedEdge()

Member Function Documentation

◆ allVerticesFixed()

◆ allVerticesFixedNs() [1/2]

◆ allVerticesFixedNs() [2/2]

◆ constructOffDiagonalQuadraticFormM() [1/2]

◆ constructOffDiagonalQuadraticFormM() [2/2]

◆ constructOffDiagonalQuadraticFormMs() [1/4]

◆ constructOffDiagonalQuadraticFormMs() [2/4]

◆ constructOffDiagonalQuadraticFormMs() [3/4]

◆ constructOffDiagonalQuadraticFormMs() [4/4]

◆ constructQuadraticForm()

◆ constructQuadraticFormN() [1/2]

◆ constructQuadraticFormN() [2/2]

◆ constructQuadraticFormNs() [1/2]

◆ constructQuadraticFormNs() [2/2]

◆ createVertex()

◆ jacobianOplusXn() [1/2]

◆ jacobianOplusXn() [2/2]

◆ linearizeOplus() [1/2]

◆ linearizeOplus() [2/2]

◆ linearizeOplus_allocate() [1/2]

◆ linearizeOplus_allocate() [2/2]

◆ linearizeOplusN() [1/2]

◆ linearizeOplusN() [2/2]

◆ linearizeOplusNs() [1/2]

◆ linearizeOplusNs() [2/2]

◆ mapHessianMemory()

◆ resize()

◆ VertexDimension()

◆ vertexDimension() [1/2]

◆ vertexDimension() [2/2]

◆ vertexXn() [1/2]

◆ vertexXn() [2/2]

Member Data Documentation

◆ _hessianRowMajor

◆ _hessianTuple

◆ _hessianTupleTransposed

◆ _jacobianOplus

◆ _nr_of_vertex_pairs

◆ _nr_of_vertices

◆ Dimension