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NDEVR
API Documentation
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NDEVR
API Documentation
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Base class for edges with a fixed-size error vector and measurement type. More...
Public Member Functions | |
| BaseEdge () | |
| Default constructor. | |
| g_type | chi2 () const final override |
| Computes the chi-squared error: e^T * Omega * e. | |
| virtual sint04 | dimension () const final override |
| Returns the dimension of the error vector. | |
| const ErrorVector & | error () const |
| Returns a const reference to the error vector. | |
| const InformationType & | information () const |
| Returns a const reference to the information matrix. | |
| const g_type * | informationData () const final override |
| Returns a const pointer to the raw information matrix data. | |
| g_type * | informationData () final override |
| Returns a mutable pointer to the raw information matrix data. | |
| const Measurement & | measurement () const |
| accessor functions for the measurement represented by the edge | |
| int | rank () const |
| Returns the rank (dimension) of the error. | |
| g_type | scalerInformation () const |
| information matrix of the constraint | |
| void | setInformation (const InformationType &information) |
| Sets the information matrix. | |
| void | setInformation (g_type information) |
| Sets the information matrix to a scaled identity. | |
| void | setMeasurement (const Measurement &m) |
| Sets the measurement for this edge. | |
| Public Member Functions inherited from OptimizableGraph::OGEdge | |
| OGEdge () | |
| Default constructor. | |
| virtual bool | allVerticesFixed () const =0 |
| Returns true if all vertices connected to this edge are fixed. | |
| void | clearRobustKernel () |
| Removes the robust kernel from this edge. | |
| virtual void | computeError ()=0 |
| Computes the error of the edge and stores it internally. | |
| long long | internalId () const |
| the internal ID of the edge | |
| int | level () const |
| returns the level of the edge | |
| virtual void | linearizeOplusAndConstructQuadraticForm (JacobianWorkspace &jacobianWorkspace)=0 |
| Linearizes the constraint in the edge in the manifold space, and store the result in the given workspace and Linearizes the constraint in the edge. | |
| virtual void | mapHessianMemory (g_type *d, int i, int j, bool rowMajor)=0 |
| maps the internal matrix to some external memory location, you need to provide the memory before calling constructQuadraticForm | |
| RobustKernel * | robustKernel () const |
| if NOT NULL, error of this edge will be robustifed with the kernel | |
| void | setLevel (int l) |
| sets the level of the edge | |
| void | setRobustKernel (RobustKernel &ptr) |
| specify the robust kernel to be used in this edge | |
| Public Member Functions inherited from HyperGraph::HGEdge | |
| HGEdge (int id=-1) | |
| creates and empty edge with no vertices | |
| int | id () const |
| returns the id of this edge | |
| void | setId (int id) |
| sets the id of this edge | |
| virtual void | setVertex (uint04 i, HGVertex *v)=0 |
| Sets the i-th vertex of this edge. | |
| virtual const HGVertex * | vertex (uint04 i) const =0 |
| Returns a const pointer to the i-th vertex. | |
| virtual HGVertex * | vertex (uint04 i)=0 |
| Returns a mutable pointer to the i-th vertex. | |
| virtual uint04 | vertexCount () const =0 |
| Returns the number of vertices connected by this edge. | |
Static Public Attributes | |
| static constexpr sint04 | Dimension = t_dims |
| Compile-time dimension of the error vector. | |
Protected Member Functions | |
| InformationType | robustInformation (const Eigen::Vector3< g_type > &rho) const |
| calculate the robust information matrix by updating the information matrix of the error | |
Protected Attributes | |
| ErrorVector | _error |
| The current error vector. | |
| InformationType | _information |
| The information (inverse covariance) matrix. | |
| Measurement | _measurement |
| The stored measurement for this edge. | |
| Protected Attributes inherited from OptimizableGraph::OGEdge | |
| int | _internalId = 0 |
| Internal sequential id assigned on insertion. | |
| int | _level = 0 |
| Optimization level for multi-level optimization. | |
| RobustKernel * | _robustKernel = nullptr |
| Optional robust kernel for this edge. | |
| Protected Attributes inherited from HyperGraph::HGEdge | |
| int | _id |
| unique id | |
Base class for edges with a fixed-size error vector and measurement type.
| t_dims | The dimension of the error / measurement space. |
| E | The measurement type. |
Definition at line 16 of file base_edge.h.
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inlinefinaloverridevirtual |
Computes the chi-squared error: e^T * Omega * e.
Implements OptimizableGraph::OGEdge.
Definition at line 37 of file base_edge.h.
Referenced by BaseMultiEdge< t_dims, E >::constructQuadraticForm(), and BaseUnaryEdge< t_dims, E, VertexXi >::constructQuadraticForm().
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inlinefinaloverridevirtual |
Returns the dimension of the error vector.
Implements OptimizableGraph::OGEdge.
Definition at line 30 of file base_edge.h.
Returns the rank (dimension) of the error.
Definition at line 71 of file base_edge.h.
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information matrix of the constraint
Returns the first element of the information matrix as a scalar.
Definition at line 48 of file base_edge.h.
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Sets the information matrix.
| [in] | information | The new information matrix. |
Definition at line 53 of file base_edge.h.
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Sets the information matrix to a scaled identity.
| [in] | information | The scalar weight for the identity matrix. |
Definition at line 56 of file base_edge.h.
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Sets the measurement for this edge.
| [in] | m | The measurement to store. |
Definition at line 67 of file base_edge.h.