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Public Member Functions | Static Public Member Functions | Public Attributes | Static Protected Attributes | List of all members
g2o::G2OBatchStatistics Struct Reference

statistics about the optimization More...

#include <batch_stats.h>

Collaboration diagram for g2o::G2OBatchStatistics:
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Public Member Functions

 G2OBatchStatistics ()
 

Static Public Member Functions

static G2OBatchStatistics * globalStats ()
 
static void setGlobalStats (G2OBatchStatistics *b)
 

Public Attributes

int iteration
 which iteration
 
int numVertices
 how many vertices are involved
 
int numEdges
 how many edges
 
double chi2
 total chi2
 
double timeResiduals
 residuals
 
double timeLinearize
 jacobians
 
double timeQuadraticForm
 construct the quadratic form in the graph
 
int levenbergIterations
 number of iterations performed by LM
 
double timeSchurComplement
 compute schur complement (0 if not done)
 
double timeSymbolicDecomposition
 symbolic decomposition (0 if not done)
 
double timeNumericDecomposition
 numeric decomposition (0 if not done)
 
double timeLinearSolution
 
double timeLinearSolver
 time for solving, excluding Schur setup
 
int iterationsLinearSolver
 
double timeUpdate
 time to apply the update
 
double timeIteration
 total time;
 
double timeMarginals
 
size_t hessianDimension
 rows / cols of the Hessian
 
size_t hessianPoseDimension
 dimension of the pose matrix in Schur
 
size_t hessianLandmarkDimension
 dimension of the landmark matrix in Schur
 
size_t choleskyNNZ
 number of non-zeros in the cholesky factor
 

Static Protected Attributes

static G2OBatchStatistics * _globalStats = 0
 

Detailed Description

statistics about the optimization

Definition at line 40 of file batch_stats.h.

Constructor & Destructor Documentation

◆ G2OBatchStatistics()

g2o::G2OBatchStatistics::G2OBatchStatistics ( )

Definition at line 40 of file batch_stats.cpp.

40 {
41 // zero all.
42 memset(this, 0, sizeof(G2OBatchStatistics));
43
44 // set the iteration to -1 to show that it isn't valid
45 iteration = -1;
46}
g2o::G2OBatchStatistics::iteration
int iteration
which iteration
Definition batch_stats.h:42

References iteration.

Member Function Documentation

◆ globalStats()

static G2OBatchStatistics * g2o::G2OBatchStatistics::globalStats ( )
inlinestatic

Definition at line 77 of file batch_stats.h.

77{ return _globalStats; }
g2o::G2OBatchStatistics::_globalStats
static G2OBatchStatistics * _globalStats
Definition batch_stats.h:81

Referenced by g2o::BlockSolver< Traits >::computeMarginals(), g2o::LinearSolverCholmodOnline< MatrixType >::computeSymbolicDecomposition(), g2o::LinearSolverCholmod< MatrixType >::computeSymbolicDecomposition(), g2o::LinearSolverCSparse< MatrixType >::computeSymbolicDecomposition(), g2o::LinearSolverEigen< MatrixType >::computeSymbolicDecomposition(), g2o::BlockSolver< Traits >::solve(), g2o::LinearSolverCholmodOnline< MatrixType >::solve(), g2o::LinearSolverCholmod< MatrixType >::solve(), g2o::LinearSolverCSparse< MatrixType >::solve(), g2o::LinearSolverEigen< MatrixType >::solve(), g2o::OptimizationAlgorithmDogleg::solve(), g2o::OptimizationAlgorithmGaussNewton::solve(), g2o::OptimizationAlgorithmLevenberg::solve(), g2o::LinearSolverCholmod< MatrixType >::solveBlocks_impl(), g2o::LinearSolverCSparse< MatrixType >::solveBlocks_impl(), and g2o::LinearSolverEigen< MatrixType >::solveBlocks_impl().

◆ setGlobalStats()

void g2o::G2OBatchStatistics::setGlobalStats ( G2OBatchStatistics *  b)
static

Definition at line 87 of file batch_stats.cpp.

87 {
88 _globalStats = b;
89}

References _globalStats.

Referenced by g2o::SparseOptimizer::optimize(), g2o::SparseOptimizer::setComputeBatchStatistics(), and g2o::SparseOptimizer::~SparseOptimizer().

Member Data Documentation

◆ _globalStats

G2OBatchStatistics * g2o::G2OBatchStatistics::_globalStats = 0
staticprotected

Definition at line 81 of file batch_stats.h.

Referenced by setGlobalStats().

◆ chi2

double g2o::G2OBatchStatistics::chi2

total chi2

Definition at line 45 of file batch_stats.h.

◆ choleskyNNZ

size_t g2o::G2OBatchStatistics::choleskyNNZ

number of non-zeros in the cholesky factor

Definition at line 75 of file batch_stats.h.

Referenced by g2o::LinearSolverCholmodOnline< MatrixType >::solve(), g2o::LinearSolverCholmod< MatrixType >::solve(), g2o::LinearSolverCSparse< MatrixType >::solve(), g2o::LinearSolverEigen< MatrixType >::solve(), g2o::LinearSolverCholmod< MatrixType >::solveBlocks_impl(), g2o::LinearSolverCSparse< MatrixType >::solveBlocks_impl(), and g2o::LinearSolverEigen< MatrixType >::solveBlocks_impl().

◆ hessianDimension

size_t g2o::G2OBatchStatistics::hessianDimension

rows / cols of the Hessian

Definition at line 71 of file batch_stats.h.

Referenced by g2o::BlockSolver< Traits >::solve().

◆ hessianLandmarkDimension

size_t g2o::G2OBatchStatistics::hessianLandmarkDimension

dimension of the landmark matrix in Schur

Definition at line 74 of file batch_stats.h.

Referenced by g2o::BlockSolver< Traits >::solve().

◆ hessianPoseDimension

size_t g2o::G2OBatchStatistics::hessianPoseDimension

dimension of the pose matrix in Schur

Definition at line 72 of file batch_stats.h.

Referenced by g2o::BlockSolver< Traits >::solve().

◆ iteration

int g2o::G2OBatchStatistics::iteration

which iteration

Definition at line 42 of file batch_stats.h.

Referenced by G2OBatchStatistics(), and g2o::SparseOptimizer::optimize().

◆ iterationsLinearSolver

int g2o::G2OBatchStatistics::iterationsLinearSolver

iterations of PCG, (0 if not used, i.e., Cholesky)

Definition at line 62 of file batch_stats.h.

Referenced by g2o::LinearSolverPCG< MatrixType >::solve().

◆ levenbergIterations

int g2o::G2OBatchStatistics::levenbergIterations

number of iterations performed by LM

Definition at line 52 of file batch_stats.h.

Referenced by g2o::OptimizationAlgorithmLevenberg::solve().

◆ numEdges

int g2o::G2OBatchStatistics::numEdges

how many edges

Definition at line 44 of file batch_stats.h.

Referenced by g2o::SparseOptimizer::optimize().

◆ numVertices

int g2o::G2OBatchStatistics::numVertices

how many vertices are involved

Definition at line 43 of file batch_stats.h.

Referenced by g2o::SparseOptimizer::optimize().

◆ timeIteration

double g2o::G2OBatchStatistics::timeIteration

total time;

Definition at line 65 of file batch_stats.h.

◆ timeLinearize

double g2o::G2OBatchStatistics::timeLinearize

jacobians

Definition at line 50 of file batch_stats.h.

◆ timeLinearSolution

double g2o::G2OBatchStatistics::timeLinearSolution

total time for solving Ax=b (including detup for schur)

Definition at line 59 of file batch_stats.h.

Referenced by g2o::OptimizationAlgorithmGaussNewton::solve(), and g2o::OptimizationAlgorithmLevenberg::solve().

◆ timeLinearSolver

double g2o::G2OBatchStatistics::timeLinearSolver

time for solving, excluding Schur setup

Definition at line 61 of file batch_stats.h.

Referenced by g2o::BlockSolver< Traits >::solve().

◆ timeMarginals

double g2o::G2OBatchStatistics::timeMarginals

computing the inverse elements (solve blocks) and thus the marginal covariances

Definition at line 67 of file batch_stats.h.

Referenced by g2o::BlockSolver< Traits >::computeMarginals().

◆ timeNumericDecomposition

double g2o::G2OBatchStatistics::timeNumericDecomposition

numeric decomposition (0 if not done)

Definition at line 58 of file batch_stats.h.

Referenced by g2o::LinearSolverCholmodOnline< MatrixType >::solve(), g2o::LinearSolverCholmod< MatrixType >::solve(), g2o::LinearSolverCSparse< MatrixType >::solve(), and g2o::LinearSolverEigen< MatrixType >::solve().

◆ timeQuadraticForm

double g2o::G2OBatchStatistics::timeQuadraticForm

construct the quadratic form in the graph

Definition at line 51 of file batch_stats.h.

Referenced by g2o::OptimizationAlgorithmDogleg::solve(), g2o::OptimizationAlgorithmGaussNewton::solve(), and g2o::OptimizationAlgorithmLevenberg::solve().

◆ timeResiduals

double g2o::G2OBatchStatistics::timeResiduals

residuals

timings

Definition at line 49 of file batch_stats.h.

Referenced by g2o::OptimizationAlgorithmDogleg::solve(), g2o::OptimizationAlgorithmGaussNewton::solve(), and g2o::OptimizationAlgorithmLevenberg::solve().

◆ timeSchurComplement

double g2o::G2OBatchStatistics::timeSchurComplement

compute schur complement (0 if not done)

Definition at line 54 of file batch_stats.h.

Referenced by g2o::BlockSolver< Traits >::solve().

◆ timeSymbolicDecomposition

double g2o::G2OBatchStatistics::timeSymbolicDecomposition

symbolic decomposition (0 if not done)

Definition at line 57 of file batch_stats.h.

Referenced by g2o::LinearSolverCholmodOnline< MatrixType >::computeSymbolicDecomposition(), g2o::LinearSolverCholmod< MatrixType >::computeSymbolicDecomposition(), g2o::LinearSolverCSparse< MatrixType >::computeSymbolicDecomposition(), and g2o::LinearSolverEigen< MatrixType >::computeSymbolicDecomposition().

◆ timeUpdate

double g2o::G2OBatchStatistics::timeUpdate

time to apply the update

Definition at line 64 of file batch_stats.h.

Referenced by g2o::OptimizationAlgorithmGaussNewton::solve(), and g2o::OptimizationAlgorithmLevenberg::solve().

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