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g2o
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statistics about the optimization More...
#include <batch_stats.h>
Public Member Functions | |
| G2OBatchStatistics () | |
Static Public Member Functions | |
| static G2OBatchStatistics * | globalStats () |
| static void | setGlobalStats (G2OBatchStatistics *b) |
Public Attributes | |
| int | iteration |
| which iteration More... | |
| int | numVertices |
| how many vertices are involved More... | |
| int | numEdges |
| how many edges More... | |
| double | chi2 |
| total chi2 More... | |
| double | timeResiduals |
| residuals More... | |
| double | timeLinearize |
| jacobians More... | |
| double | timeQuadraticForm |
| construct the quadratic form in the graph More... | |
| int | levenbergIterations |
| number of iterations performed by LM More... | |
| double | timeSchurComplement |
| compute schur complement (0 if not done) More... | |
| double | timeSymbolicDecomposition |
| symbolic decomposition (0 if not done) More... | |
| double | timeNumericDecomposition |
| numeric decomposition (0 if not done) More... | |
| double | timeLinearSolution |
| total time for solving Ax=b (including detup for schur) More... | |
| double | timeLinearSolver |
| time for solving, excluding Schur setup More... | |
| int | iterationsLinearSolver |
| iterations of PCG, (0 if not used, i.e., Cholesky) More... | |
| double | timeUpdate |
| time to apply the update More... | |
| double | timeIteration |
| total time; More... | |
| double | timeMarginals |
| computing the inverse elements (solve blocks) and thus the marginal covariances More... | |
| size_t | hessianDimension |
| rows / cols of the Hessian More... | |
| size_t | hessianPoseDimension |
| dimension of the pose matrix in Schur More... | |
| size_t | hessianLandmarkDimension |
| dimension of the landmark matrix in Schur More... | |
| size_t | choleskyNNZ |
| number of non-zeros in the cholesky factor More... | |
Static Protected Attributes | |
| static G2OBatchStatistics * | _globalStats =0 |
statistics about the optimization
Definition at line 40 of file batch_stats.h.
| g2o::G2OBatchStatistics::G2OBatchStatistics | ( | ) |
Definition at line 40 of file batch_stats.cpp.
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inlinestatic |
Definition at line 73 of file batch_stats.h.
Referenced by g2o::BlockSolver< Traits >::computeMarginals(), g2o::LinearSolverEigen< MatrixType >::computeSymbolicDecomposition(), g2o::LinearSolverCholmodOnline< MatrixType >::computeSymbolicDecomposition(), g2o::LinearSolverCSparse< MatrixType >::computeSymbolicDecomposition(), g2o::LinearSolverCholmod< MatrixType >::computeSymbolicDecomposition(), g2o::OptimizationAlgorithmGaussNewton::solve(), g2o::OptimizationAlgorithmLevenberg::solve(), g2o::OptimizationAlgorithmDogleg::solve(), g2o::LinearSolverCholmodOnline< MatrixType >::solve(), g2o::LinearSolverEigen< MatrixType >::solve(), g2o::LinearSolverCSparse< MatrixType >::solve(), g2o::LinearSolverCholmod< MatrixType >::solve(), g2o::BlockSolver< Traits >::solve(), g2o::LinearSolverCSparse< MatrixType >::solveBlocks(), g2o::LinearSolverCholmod< MatrixType >::solveBlocks(), g2o::LinearSolverCSparse< MatrixType >::solvePattern(), and g2o::LinearSolverCholmod< MatrixType >::solvePattern().
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static |
Definition at line 85 of file batch_stats.cpp.
Referenced by g2o::SparseOptimizer::optimize(), g2o::SparseOptimizer::setComputeBatchStatistics(), and g2o::SparseOptimizer::~SparseOptimizer().
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staticprotected |
Definition at line 76 of file batch_stats.h.
| double g2o::G2OBatchStatistics::chi2 |
total chi2
Definition at line 45 of file batch_stats.h.
| size_t g2o::G2OBatchStatistics::choleskyNNZ |
number of non-zeros in the cholesky factor
Definition at line 71 of file batch_stats.h.
Referenced by g2o::LinearSolverCholmodOnline< MatrixType >::solve(), g2o::LinearSolverEigen< MatrixType >::solve(), g2o::LinearSolverCSparse< MatrixType >::solve(), g2o::LinearSolverCholmod< MatrixType >::solve(), g2o::LinearSolverCSparse< MatrixType >::solveBlocks(), g2o::LinearSolverCholmod< MatrixType >::solveBlocks(), g2o::LinearSolverCSparse< MatrixType >::solvePattern(), and g2o::LinearSolverCholmod< MatrixType >::solvePattern().
| size_t g2o::G2OBatchStatistics::hessianDimension |
rows / cols of the Hessian
Definition at line 68 of file batch_stats.h.
Referenced by g2o::BlockSolver< Traits >::solve().
| size_t g2o::G2OBatchStatistics::hessianLandmarkDimension |
dimension of the landmark matrix in Schur
Definition at line 70 of file batch_stats.h.
Referenced by g2o::BlockSolver< Traits >::solve().
| size_t g2o::G2OBatchStatistics::hessianPoseDimension |
dimension of the pose matrix in Schur
Definition at line 69 of file batch_stats.h.
Referenced by g2o::BlockSolver< Traits >::solve().
| int g2o::G2OBatchStatistics::iteration |
which iteration
Definition at line 42 of file batch_stats.h.
Referenced by g2o::SparseOptimizer::optimize().
| int g2o::G2OBatchStatistics::iterationsLinearSolver |
iterations of PCG, (0 if not used, i.e., Cholesky)
Definition at line 61 of file batch_stats.h.
| int g2o::G2OBatchStatistics::levenbergIterations |
number of iterations performed by LM
Definition at line 52 of file batch_stats.h.
Referenced by g2o::OptimizationAlgorithmLevenberg::solve().
| int g2o::G2OBatchStatistics::numEdges |
how many edges
Definition at line 44 of file batch_stats.h.
Referenced by g2o::SparseOptimizer::optimize().
| int g2o::G2OBatchStatistics::numVertices |
how many vertices are involved
Definition at line 43 of file batch_stats.h.
Referenced by g2o::SparseOptimizer::optimize().
| double g2o::G2OBatchStatistics::timeIteration |
total time;
Definition at line 63 of file batch_stats.h.
| double g2o::G2OBatchStatistics::timeLinearize |
jacobians
Definition at line 50 of file batch_stats.h.
| 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().
| double g2o::G2OBatchStatistics::timeLinearSolver |
time for solving, excluding Schur setup
Definition at line 60 of file batch_stats.h.
Referenced by g2o::BlockSolver< Traits >::solve().
| double g2o::G2OBatchStatistics::timeMarginals |
computing the inverse elements (solve blocks) and thus the marginal covariances
Definition at line 65 of file batch_stats.h.
Referenced by g2o::BlockSolver< Traits >::computeMarginals().
| 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::LinearSolverEigen< MatrixType >::solve(), g2o::LinearSolverCSparse< MatrixType >::solve(), and g2o::LinearSolverCholmod< MatrixType >::solve().
| double g2o::G2OBatchStatistics::timeQuadraticForm |
construct the quadratic form in the graph
Definition at line 51 of file batch_stats.h.
Referenced by g2o::OptimizationAlgorithmGaussNewton::solve(), g2o::OptimizationAlgorithmLevenberg::solve(), and g2o::OptimizationAlgorithmDogleg::solve().
| double g2o::G2OBatchStatistics::timeResiduals |
residuals
timings
Definition at line 49 of file batch_stats.h.
Referenced by g2o::OptimizationAlgorithmGaussNewton::solve(), g2o::OptimizationAlgorithmLevenberg::solve(), and g2o::OptimizationAlgorithmDogleg::solve().
| 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().
| double g2o::G2OBatchStatistics::timeSymbolicDecomposition |
symbolic decomposition (0 if not done)
Definition at line 57 of file batch_stats.h.
Referenced by g2o::LinearSolverEigen< MatrixType >::computeSymbolicDecomposition(), and g2o::LinearSolverCSparse< MatrixType >::computeSymbolicDecomposition().
| double g2o::G2OBatchStatistics::timeUpdate |
time to apply the update
Definition at line 62 of file batch_stats.h.
Referenced by g2o::OptimizationAlgorithmGaussNewton::solve(), and g2o::OptimizationAlgorithmLevenberg::solve().
1.8.11
