base class to represent an edge connecting an arbitrary number of nodes More...

#include <base_variable_sized_edge.h>

Inheritance diagram for g2o::BaseVariableSizedEdge< D, E >:

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Collaboration diagram for g2o::BaseVariableSizedEdge< D, E >:

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Classes
struct	HessianHelper
	helper for mapping the Hessian memory of the upper triangular block More...

Public Types
typedef BaseEdge< D, E >::Measurement	Measurement

typedef MatrixX::MapType	JacobianType

typedef BaseEdge< D, E >::ErrorVector	ErrorVector

typedef BaseEdge< D, E >::InformationType	InformationType

typedef Eigen::Map< MatrixX, MatrixX::Flags &Eigen::PacketAccessBit ? Eigen::Aligned :Eigen::Unaligned >	HessianBlockType

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
	BaseVariableSizedEdge ()

virtual void	linearizeOplus (JacobianWorkspace &jacobianWorkspace)

virtual void	linearizeOplus ()

virtual void	resize (size_t size)

virtual bool	allVerticesFixed () const

virtual void	constructQuadraticForm ()

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

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 Attributes
static constexpr int	Dimension = BaseEdge<D, E>::Dimension

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

Protected Member Functions
void	computeQuadraticForm (const InformationType &omega, const ErrorVector &weightedError)

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 ()

Protected Attributes
std::vector< HessianHelper >	_hessian

std::vector< JacobianType >	_jacobianOplus
	jacobians of the edge (w.r.t. oplus)

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

Detailed Description

template<int D, typename E>
class g2o::BaseVariableSizedEdge< D, E >

base class to represent an edge connecting an arbitrary number of nodes

D - Dimension of the measurement E - type to represent the measurement

Definition at line 50 of file base_variable_sized_edge.h.

Member Typedef Documentation

◆ ErrorVector

template<int D, typename E >

typedef BaseEdge<D,E>::ErrorVector g2o::BaseVariableSizedEdge< D, E >::ErrorVector

Definition at line 65 of file base_variable_sized_edge.h.

◆ HessianBlockType

template<int D, typename E >

typedef Eigen::Map<MatrixX, MatrixX::Flags & Eigen::PacketAccessBit ? Eigen::Aligned : Eigen::Unaligned> g2o::BaseVariableSizedEdge< D, E >::HessianBlockType

Definition at line 70 of file base_variable_sized_edge.h.

◆ InformationType

template<int D, typename E >

typedef BaseEdge<D,E>::InformationType g2o::BaseVariableSizedEdge< D, E >::InformationType

Definition at line 66 of file base_variable_sized_edge.h.

◆ JacobianType

template<int D, typename E >

typedef MatrixX::MapType g2o::BaseVariableSizedEdge< D, E >::JacobianType

Definition at line 64 of file base_variable_sized_edge.h.

◆ Measurement

template<int D, typename E >

typedef BaseEdge<D,E>::Measurement g2o::BaseVariableSizedEdge< D, E >::Measurement

Definition at line 63 of file base_variable_sized_edge.h.

Constructor & Destructor Documentation

◆ BaseVariableSizedEdge()

template<int D, typename E >

g2o::BaseVariableSizedEdge< D, E >::BaseVariableSizedEdge ( )

inline

Definition at line 72 of file base_variable_sized_edge.h.

72: BaseEdge<D, E>() {}

Member Function Documentation

◆ allVerticesFixed()

template<int D, typename E >

bool BaseVariableSizedEdge::allVerticesFixed ( ) const

virtual

Implements g2o::OptimizableGraph::Edge.

Definition at line 147 of file base_variable_sized_edge.hpp.

                                                         {
  for (size_t i = 0; i < _vertices.size(); ++i) {
    if (!static_cast<const OptimizableGraph::Vertex*>(_vertices[i])->fixed()) {
      return false;
    }
  }
  return true;
}

◆ computeQuadraticForm()

template<int D, typename E >

void BaseVariableSizedEdge::computeQuadraticForm	(	const InformationType &	omega,
		const ErrorVector &	weightedError
	)

protected

Definition at line 157 of file base_variable_sized_edge.hpp.

                                                                    {
  for (size_t i = 0; i < _vertices.size(); ++i) {
    OptimizableGraph::Vertex* from =
        static_cast<OptimizableGraph::Vertex*>(_vertices[i]);
    bool istatus = !(from->fixed());
 
    if (istatus) {
      const JacobianType& A = _jacobianOplus[i];
 
      MatrixX AtO = A.transpose() * omega;
      int fromDim = from->dimension();
      assert(fromDim >= 0);
      Eigen::Map<MatrixX> fromMap(from->hessianData(), fromDim, fromDim);
      Eigen::Map<VectorX> fromB(from->bData(), fromDim);
 
      // ii block in the hessian
      {
        internal::QuadraticFormLock lck(*from);
        fromMap.noalias() += AtO * A;
        fromB.noalias() += A.transpose() * weightedError;
      }
 
      // compute the off-diagonal blocks ij for all j
      for (size_t j = i + 1; j < _vertices.size(); ++j) {
        OptimizableGraph::Vertex* to =
            static_cast<OptimizableGraph::Vertex*>(_vertices[j]);
 
        bool jstatus = !(to->fixed());
        if (jstatus) {
          internal::QuadraticFormLock lck(*to);
          const JacobianType& B = _jacobianOplus[j];
          int idx = internal::computeUpperTriangleIndex(i, j);
          assert(idx < (int)_hessian.size());
          HessianHelper& hhelper = _hessian[idx];
          if (hhelper
                  .transposed) {  // we have to write to the block as transposed
            hhelper.matrix.noalias() += B.transpose() * AtO.transpose();
          } else {
            hhelper.matrix.noalias() += AtO * B;
          }
        }
      }
    }
  }
}

References g2o::OptimizableGraph::Vertex::bData(), internal::computeUpperTriangleIndex(), g2o::OptimizableGraph::Vertex::dimension(), g2o::OptimizableGraph::Vertex::fixed(), g2o::OptimizableGraph::Vertex::hessianData(), and g2o::BaseVariableSizedEdge< D, E >::HessianHelper::matrix.

◆ constructQuadraticForm()

template<int D, typename E >

void BaseVariableSizedEdge::constructQuadraticForm ( )

virtual

Linearizes the constraint in the edge. Makes side effect on the vertices of the graph by changing the parameter vector b and the hessian blocks ii and jj. The off diagoinal block is accessed via _hessian.

Implements g2o::OptimizableGraph::Edge.

Definition at line 37 of file base_variable_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];
    computeQuadraticForm(this->robustInformation(rho), omega_r);
  } else {
    computeQuadraticForm(_information, -_information * _error);
  }
}

◆ linearizeOplus() [1/2]

template<int D, typename E >

void BaseVariableSizedEdge::linearizeOplus ( )

virtual

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

Reimplemented in g2o::EdgeSE2LotsOfXY, and g2o::EdgeSE3LotsOfXYZ.

Definition at line 66 of file base_variable_sized_edge.hpp.

                                                 {
  const double delta = cst(1e-9);
  const double scalar = 1 / (2 * delta);
  ErrorVector errorBak;
  ErrorVector errorBeforeNumeric = _error;
 
  for (size_t i = 0; i < _vertices.size(); ++i) {
    // Xi - estimate the jacobian numerically
    OptimizableGraph::Vertex* vi =
        static_cast<OptimizableGraph::Vertex*>(_vertices[i]);
 
    if (vi->fixed()) {
      continue;
    }
 
    internal::QuadraticFormLock lck(*vi);
    const int vi_dim = vi->dimension();
    assert(vi_dim >= 0);
 
    assert(_dimension >= 0);
    assert(_jacobianOplus[i].rows() == _dimension &&
           _jacobianOplus[i].cols() == vi_dim &&
           "jacobian cache dimension does not match");
    _jacobianOplus[i].resize(_dimension, vi_dim);
    // add small step along the unit vector in each dimension
    ceres::internal::FixedArray<double> add_vi(vi_dim);
    add_vi.fill(0.);
    for (int d = 0; d < vi_dim; ++d) {
      vi->push();
      add_vi[d] = delta;
      vi->oplus(add_vi.data());
      computeError();
      errorBak = _error;
      vi->pop();
      vi->push();
      add_vi[d] = -delta;
      vi->oplus(add_vi.data());
      computeError();
      errorBak -= _error;
      vi->pop();
      add_vi[d] = 0.0;
 
      _jacobianOplus[i].col(d) = scalar * errorBak;
    }  // end dimension
    _error = errorBeforeNumeric;
  }
}

References g2o::cst().

◆ linearizeOplus() [2/2]

template<int D, typename E >

void BaseVariableSizedEdge::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 52 of file base_variable_sized_edge.hpp.

                                          {
  for (size_t i = 0; i < _vertices.size(); ++i) {
    OptimizableGraph::Vertex* v =
        static_cast<OptimizableGraph::Vertex*>(_vertices[i]);
    assert(v->dimension() >= 0);
    new (&_jacobianOplus[i])
        JacobianType(jacobianWorkspace.workspaceForVertex(i),
                     D < 0 ? _dimension : D, v->dimension());
  }
  linearizeOplus();
}

References g2o::OptimizableGraph::Vertex::dimension(), and g2o::JacobianWorkspace::workspaceForVertex().

◆ mapHessianMemory()

template<int D, typename E >

void BaseVariableSizedEdge::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 115 of file base_variable_sized_edge.hpp.

                                                                  {
  int idx = internal::computeUpperTriangleIndex(i, j);
  assert(idx < (int)_hessian.size());
  OptimizableGraph::Vertex* vi =
      static_cast<OptimizableGraph::Vertex*>(HyperGraph::Edge::vertex(i));
  OptimizableGraph::Vertex* vj =
      static_cast<OptimizableGraph::Vertex*>(HyperGraph::Edge::vertex(j));
  assert(vi->dimension() >= 0);
  assert(vj->dimension() >= 0);
  HessianHelper& h = _hessian[idx];
  if (rowMajor) {
    if (h.matrix.data() != d || h.transposed != rowMajor)
      new (&h.matrix) HessianBlockType(d, vj->dimension(), vi->dimension());
  } else {
    if (h.matrix.data() != d || h.transposed != rowMajor)
      new (&h.matrix) HessianBlockType(d, vi->dimension(), vj->dimension());
  }
  h.transposed = rowMajor;
}

References internal::computeUpperTriangleIndex(), g2o::OptimizableGraph::Vertex::dimension(), g2o::BaseVariableSizedEdge< D, E >::HessianHelper::matrix, and g2o::BaseVariableSizedEdge< D, E >::HessianHelper::transposed.

◆ resize()

template<int D, typename E >

void BaseVariableSizedEdge::resize ( size_t size )

virtual

resizes the number of vertices connected by this edge

Reimplemented from g2o::HyperGraph::Edge.

Definition at line 137 of file base_variable_sized_edge.hpp.

                                                    {
  BaseEdge<D, E>::resize(size);
  int n = (int)_vertices.size();
  int maxIdx = (n * (n - 1)) / 2;
  assert(maxIdx >= 0);
  _hessian.resize(maxIdx);
  _jacobianOplus.resize(size, JacobianType(0, 0, 0));
}

Member Data Documentation

◆ _hessian

template<int D, typename E >

std::vector<HessianHelper> g2o::BaseVariableSizedEdge< D, E >::_hessian

protected

Definition at line 99 of file base_variable_sized_edge.h.

◆ _jacobianOplus

template<int D, typename E >

std::vector<JacobianType> g2o::BaseVariableSizedEdge< D, E >::_jacobianOplus

protected

jacobians of the edge (w.r.t. oplus)

Definition at line 101 of file base_variable_sized_edge.h.

◆ Dimension

template<int D, typename E >

constexpr int g2o::BaseVariableSizedEdge< D, E >::Dimension = BaseEdge<D, E>::Dimension

staticconstexpr

Definition at line 62 of file base_variable_sized_edge.h.

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

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

Classes

Public Types

Public Member Functions

Static Public Attributes

Protected Member Functions

Protected Attributes

Detailed Description

Member Typedef Documentation

◆ ErrorVector

◆ HessianBlockType

◆ InformationType

◆ JacobianType

◆ Measurement

Constructor & Destructor Documentation

◆ BaseVariableSizedEdge()

Member Function Documentation

◆ allVerticesFixed()

◆ computeQuadraticForm()

◆ constructQuadraticForm()

◆ linearizeOplus() [1/2]

◆ linearizeOplus() [2/2]

◆ mapHessianMemory()

◆ resize()

Member Data Documentation

◆ _hessian

◆ _jacobianOplus

◆ Dimension