The Map class. This keeps track of how parameter blocks are connected to residual blocks. In essence, it encapsulates the ceres::Problem. This way, we can easily manipulate the optimisation problem. You could argue why not use cere's internal mechanisms to do that. We found that our implementation was faster... More...

#include <Map.hpp>

Classes
struct	ResidualBlockSpec
	Struct to store some infos about a residual. More...

Public Types
enum	Parameterization { HomogeneousPoint, Pose6d, Pose3d, Pose4d, Pose2d, Trivial }
	The Parameterisation enum. More...

typedef std::pair< uint64_t, std::shared_ptr < okvis::ceres::ParameterBlock > >	ParameterBlockSpec

typedef std::vector < ResidualBlockSpec >	ResidualBlockCollection

typedef std::vector < ParameterBlockSpec >	ParameterBlockCollection

typedef std::unordered_map < uint64_t, std::shared_ptr < okvis::ceres::ParameterBlock > >	Id2ParameterBlock_Map
	The actual map from Id to parameter block pointer. More...

typedef std::unordered_map < ::ceres::ResidualBlockId, ResidualBlockSpec >	ResidualBlockId2ResidualBlockSpec_Map
	The actual map from Id to residual block specs. More...

Public Member Functions
	Map ()
	Constructor. More...

bool	parameterBlockExists (uint64_t parameterBlockId) const
	Check whether a certain parameter block is part of the map. More...

void	getLhs (uint64_t parameterBlockId, Eigen::MatrixXd &H)
	Obtain the Hessian block for a specific parameter block. More...

bool	isJacobianCorrect (::ceres::ResidualBlockId residualBlockId, double relTol=1e-6) const
	Check a Jacobian with numeric differences. More...

const Id2ParameterBlock_Map &	id2parameterBlockMap () const
	Get map connecting parameter block IDs to parameter blocks. More...

const ResidualBlockId2ResidualBlockSpec_Map &	residualBlockId2ResidualBlockSpecMap () const
	Get the actual map from Id to residual block specs. More...

void	solve ()
	Solve the optimization problem. More...

Print info
void	printParameterBlockInfo (uint64_t parameterBlockId) const
	Log information on a parameter block. More...

void	printResidualBlockInfo (::ceres::ResidualBlockId residualBlockId) const
	Log information on a residual block. More...

add/remove
bool	addParameterBlock (std::shared_ptr< okvis::ceres::ParameterBlock > parameterBlock, int parameterization=Parameterization::Trivial, const int group=-1)
	Add a parameter block to the map. More...

bool	removeParameterBlock (uint64_t parameterBlockId)
	Remove a parameter block from the map. More...

bool	removeParameterBlock (std::shared_ptr< okvis::ceres::ParameterBlock > parameterBlock)
	Remove a parameter block from the map. More...

::ceres::ResidualBlockId	addResidualBlock (std::shared_ptr< ::ceres::CostFunction > cost_function,::ceres::LossFunction *loss_function, std::vector< std::shared_ptr< okvis::ceres::ParameterBlock > > &parameterBlockPtrs)
	Adds a residual block. More...

void	resetResidualBlock (::ceres::ResidualBlockId residualBlockId, std::vector< std::shared_ptr< okvis::ceres::ParameterBlock > > &parameterBlockPtrs)
	Replace the parameters connected to a residual block ID. More...

::ceres::ResidualBlockId	addResidualBlock (std::shared_ptr< ::ceres::CostFunction > cost_function,::ceres::LossFunction *loss_function, std::shared_ptr< okvis::ceres::ParameterBlock > x0, std::shared_ptr< okvis::ceres::ParameterBlock > x1=std::shared_ptr< okvis::ceres::ParameterBlock >(), std::shared_ptr< okvis::ceres::ParameterBlock > x2=std::shared_ptr< okvis::ceres::ParameterBlock >(), std::shared_ptr< okvis::ceres::ParameterBlock > x3=std::shared_ptr< okvis::ceres::ParameterBlock >(), std::shared_ptr< okvis::ceres::ParameterBlock > x4=std::shared_ptr< okvis::ceres::ParameterBlock >(), std::shared_ptr< okvis::ceres::ParameterBlock > x5=std::shared_ptr< okvis::ceres::ParameterBlock >(), std::shared_ptr< okvis::ceres::ParameterBlock > x6=std::shared_ptr< okvis::ceres::ParameterBlock >(), std::shared_ptr< okvis::ceres::ParameterBlock > x7=std::shared_ptr< okvis::ceres::ParameterBlock >(), std::shared_ptr< okvis::ceres::ParameterBlock > x8=std::shared_ptr< okvis::ceres::ParameterBlock >(), std::shared_ptr< okvis::ceres::ParameterBlock > x9=std::shared_ptr< okvis::ceres::ParameterBlock >())
	Add a residual block. See respective ceres docu. If more are needed, see other interface. More...

bool	removeResidualBlock (::ceres::ResidualBlockId id)
	Remove a residual block. More...

Set constant/variable/local parameterization
bool	setParameterBlockConstant (uint64_t parameterBlockId)
	Do not optimise a certain parameter block. More...

bool	setParameterBlockVariable (uint64_t parameterBlockId)
	Optimise a certain parameter block (this is the default). More...

bool	setParameterBlockConstant (std::shared_ptr< okvis::ceres::ParameterBlock > parameterBlock)
	Do not optimise a certain parameter block. More...

bool	setParameterBlockVariable (std::shared_ptr< okvis::ceres::ParameterBlock > parameterBlock)
	Optimise a certain parameter block (this is the default). More...

bool	resetParameterization (uint64_t parameterBlockId, int parameterization)
	Reset the (local) parameterisation of a parameter block. More...

bool	setParameterization (uint64_t parameterBlockId,::ceres::LocalParameterization *local_parameterization)
	Set the (local) parameterisation of a parameter block. More...

bool	setParameterization (std::shared_ptr< okvis::ceres::ParameterBlock > parameterBlock,::ceres::LocalParameterization *local_parameterization)
	Set the (local) parameterisation of a parameter block. More...

Getters
std::shared_ptr < okvis::ceres::ParameterBlock >	parameterBlockPtr (uint64_t parameterBlockId)
	Get a shared pointer to a parameter block. More...

std::shared_ptr< const okvis::ceres::ParameterBlock >	parameterBlockPtr (uint64_t parameterBlockId) const
	Get a shared pointer to a parameter block. More...

std::shared_ptr < okvis::ceres::ErrorInterface >	errorInterfacePtr (::ceres::ResidualBlockId residualBlockId)
	Get a shared pointer to an error term. More...

std::shared_ptr< const okvis::ceres::ErrorInterface >	errorInterfacePtr (::ceres::ResidualBlockId residualBlockId) const
	Get a shared pointer to an error term. More...

ResidualBlockCollection	residuals (uint64_t parameterBlockId) const
	Get the residual blocks of a parameter block. More...

ParameterBlockCollection	parameters (::ceres::ResidualBlockId residualBlockId) const
	Get the parameters of a residual block. More...

Public Attributes
::ceres::Solver::Options	options
	Ceres options. More...

::ceres::Solver::Summary	summary
	Ceres optimization summary. More...

Protected Types
typedef std::unordered_multimap < uint64_t, ResidualBlockSpec >	Id2ResidualBlock_Multimap
	Go from Id to residual block pointer. More...

typedef std::unordered_map < ::ceres::ResidualBlockId, ParameterBlockCollection >	ResidualBlockId2ParameterBlockCollection_Map
	Go from residual block id to its parameter blocks. More...

Protected Attributes
uint64_t	residualCounter_
	count the inserted residual blocks. More...

std::shared_ptr< ::ceres::Problem >	problem_
	The ceres problem. More...

Id2ParameterBlock_Map	id2ParameterBlock_Map_
	The map connecting parameter block ID's and parameter blocks. More...

ResidualBlockId2ResidualBlockSpec_Map	residualBlockId2ResidualBlockSpec_Map_
	Go from residual ID to specs. More...

Id2ResidualBlock_Multimap	id2ResidualBlock_Multimap_
	Go from Id to residual block pointer. More...

ResidualBlockId2ParameterBlockCollection_Map	residualBlockId2ParameterBlockCollection_Map_
	Go from residual block id to its parameter blocks. More...

okvis::ceres::HomogeneousPointLocalParameterization	homogeneousPointLocalParameterization_
	Store parameterisation locally. More...

okvis::ceres::PoseLocalParameterization	poseLocalParameterization_
	Store parameterisation locally. More...

okvis::ceres::PoseLocalParameterization2d	poseLocalParameterization2d_
	Store parameterisation locally. More...

okvis::ceres::PoseLocalParameterization3d	poseLocalParameterization3d_
	Store parameterisation locally. More...

okvis::ceres::PoseLocalParameterization4d	poseLocalParameterization4d_
	Store parameterisation locally. More...

Detailed Description

The Map class. This keeps track of how parameter blocks are connected to residual blocks. In essence, it encapsulates the ceres::Problem. This way, we can easily manipulate the optimisation problem. You could argue why not use cere's internal mechanisms to do that. We found that our implementation was faster...

Member Typedef Documentation

typedef std::unordered_map<uint64_t, std::shared_ptr<okvis::ceres::ParameterBlock> > okvis::ceres::Map::Id2ParameterBlock_Map

The actual map from Id to parameter block pointer.

typedef std::unordered_multimap<uint64_t, ResidualBlockSpec> okvis::ceres::Map::Id2ResidualBlock_Multimap

protected

Go from Id to residual block pointer.

typedef std::vector<ParameterBlockSpec> okvis::ceres::Map::ParameterBlockCollection

typedef std::pair<uint64_t, std::shared_ptr<okvis::ceres::ParameterBlock> > okvis::ceres::Map::ParameterBlockSpec

typedef std::vector<ResidualBlockSpec> okvis::ceres::Map::ResidualBlockCollection

typedef std::unordered_map< ::ceres::ResidualBlockId, ParameterBlockCollection> okvis::ceres::Map::ResidualBlockId2ParameterBlockCollection_Map

protected

Go from residual block id to its parameter blocks.

typedef std::unordered_map< ::ceres::ResidualBlockId, ResidualBlockSpec> okvis::ceres::Map::ResidualBlockId2ResidualBlockSpec_Map

The actual map from Id to residual block specs.

Member Enumeration Documentation

enum okvis::ceres::Map::Parameterization

The Parameterisation enum.

Enumerator
HomogeneousPoint	Use okvis::ceres::HomogeneousPointLocalParameterization.
Pose6d	Use okvis::ceres::PoseLocalParameterization.
Pose3d	Use okvis::ceres::PoseLocalParameterization3d (orientation varying).
Pose4d	Use okvis::ceres::PoseLocalParameterization4d (position and yaw varying).
Pose2d	Use okvis::ceres::PoseLocalParameterization2d (roll/pitch varying).
Trivial	No local parameterisation.

Constructor & Destructor Documentation

okvis::ceres::Map::Map ( )

Constructor.

Member Function Documentation

bool okvis::ceres::Map::addParameterBlock	(	std::shared_ptr< okvis::ceres::ParameterBlock >	parameterBlock,
		int	parameterization = `Parameterization::Trivial`,
		const int	group = `-1`
	)

Add a parameter block to the map.

Parameters

parameterBlock	Parameter block to insert.
parameterization	okvis::ceres::Parameterization to tell how to do the local parameterisation.
group	Schur elimination group – currently unused.

Returns: True if successful.

ceres::ResidualBlockId okvis::ceres::Map::addResidualBlock	(	std::shared_ptr< ::ceres::CostFunction >	cost_function,
		::ceres::LossFunction *	loss_function,
		std::vector< std::shared_ptr< okvis::ceres::ParameterBlock > > &	parameterBlockPtrs
	)

Adds a residual block.

Parameters

[in]	cost_function	The error term to be used.
[in]	loss_function	Use an m-estimator? NULL, if not needed.
[in]	parameterBlockPtrs	A vector that contains all the parameter blocks the error term relates to.

Returns

ceres::ResidualBlockId okvis::ceres::Map::addResidualBlock	(	std::shared_ptr< ::ceres::CostFunction >	cost_function,
		::ceres::LossFunction *	loss_function,
		std::shared_ptr< okvis::ceres::ParameterBlock >	x0,
		std::shared_ptr< okvis::ceres::ParameterBlock >	x1 = `std::shared_ptr< okvis::ceres::ParameterBlock>()`,
		std::shared_ptr< okvis::ceres::ParameterBlock >	x2 = `std::shared_ptr< okvis::ceres::ParameterBlock>()`,
		std::shared_ptr< okvis::ceres::ParameterBlock >	x3 = `std::shared_ptr< okvis::ceres::ParameterBlock>()`,
		std::shared_ptr< okvis::ceres::ParameterBlock >	x4 = `std::shared_ptr< okvis::ceres::ParameterBlock>()`,
		std::shared_ptr< okvis::ceres::ParameterBlock >	x5 = `std::shared_ptr< okvis::ceres::ParameterBlock>()`,
		std::shared_ptr< okvis::ceres::ParameterBlock >	x6 = `std::shared_ptr< okvis::ceres::ParameterBlock>()`,
		std::shared_ptr< okvis::ceres::ParameterBlock >	x7 = `std::shared_ptr< okvis::ceres::ParameterBlock>()`,
		std::shared_ptr< okvis::ceres::ParameterBlock >	x8 = `std::shared_ptr< okvis::ceres::ParameterBlock>()`,
		std::shared_ptr< okvis::ceres::ParameterBlock >	x9 = `std::shared_ptr< okvis::ceres::ParameterBlock>()`
	)

Add a residual block. See respective ceres docu. If more are needed, see other interface.

Parameters

[in]	cost_function	The error term to be used.
[in]	loss_function	Use an m-estimator? NULL, if not needed.
[in]	x0	The first parameter block.
[in]	x1	The second parameter block (if existent).
[in]	x2	The third parameter block (if existent).
[in]	x3	The 4th parameter block (if existent).
[in]	x4	The 5th parameter block (if existent).
[in]	x5	The 6th parameter block (if existent).
[in]	x6	The 7th parameter block (if existent).
[in]	x7	The 8th parameter block (if existent).
[in]	x8	The 9th parameter block (if existent).
[in]	x9	The 10th parameter block (if existent).

Returns: The residual block ID, i.e. what cost_function points to.

std::shared_ptr< okvis::ceres::ErrorInterface > okvis::ceres::Map::errorInterfacePtr ( ::ceres::ResidualBlockId residualBlockId )

Get a shared pointer to an error term.

std::shared_ptr< const okvis::ceres::ErrorInterface > okvis::ceres::Map::errorInterfacePtr ( ::ceres::ResidualBlockId residualBlockId ) const

Get a shared pointer to an error term.

void okvis::ceres::Map::getLhs	(	uint64_t	parameterBlockId,
		Eigen::MatrixXd &	H
	)

Obtain the Hessian block for a specific parameter block.

Parameters

[in]	parameterBlockId	Parameter block ID of interest.
[out]	H	the output Hessian block.

const Id2ParameterBlock_Map& okvis::ceres::Map::id2parameterBlockMap ( ) const

inline

Get map connecting parameter block IDs to parameter blocks.

bool okvis::ceres::Map::isJacobianCorrect	(	::ceres::ResidualBlockId	residualBlockId,
		double	relTol = `1e-6`
	)		const

Check a Jacobian with numeric differences.

Warning: Checks the minimal version only.

Parameters

[in]	residualBlockId	The ID of the residual block to be checked.
[in]	relTol	Relative numeric tolerance.

Returns: True if correct.

bool okvis::ceres::Map::parameterBlockExists ( uint64_t parameterBlockId ) const

Check whether a certain parameter block is part of the map.

Parameters

parameterBlockId ID of parameter block to find.

Returns: True if parameter block is part of map.

std::shared_ptr< okvis::ceres::ParameterBlock > okvis::ceres::Map::parameterBlockPtr ( uint64_t parameterBlockId )

Get a shared pointer to a parameter block.

std::shared_ptr< const okvis::ceres::ParameterBlock > okvis::ceres::Map::parameterBlockPtr ( uint64_t parameterBlockId ) const

Get a shared pointer to a parameter block.

Map::ParameterBlockCollection okvis::ceres::Map::parameters ( ::ceres::ResidualBlockId residualBlockId ) const

Get the parameters of a residual block.

Parameters

[in] residualBlockId The ID of the residual block in question.

Returns: Infos about all the parameter blocks connected.

void okvis::ceres::Map::printParameterBlockInfo ( uint64_t parameterBlockId ) const

Log information on a parameter block.

void okvis::ceres::Map::printResidualBlockInfo ( ::ceres::ResidualBlockId residualBlockId ) const

Log information on a residual block.

bool okvis::ceres::Map::removeParameterBlock ( uint64_t parameterBlockId )

Remove a parameter block from the map.

Parameters

parameterBlockId ID of block to remove.

Returns: True if successful.

bool okvis::ceres::Map::removeParameterBlock ( std::shared_ptr< okvis::ceres::ParameterBlock > parameterBlock )

Remove a parameter block from the map.

Parameters

parameterBlock Pointer to the block to remove.

Returns: True if successful.

bool okvis::ceres::Map::removeResidualBlock ( ::ceres::ResidualBlockId id )

Remove a residual block.

Parameters

[in] id The residual block ID of the residual block to be removed.

Returns: True on success.

bool okvis::ceres::Map::resetParameterization	(	uint64_t	parameterBlockId,
		int	parameterization
	)

Reset the (local) parameterisation of a parameter block.

Parameters

[in]	parameterBlockId	The ID of the parameter block in question.
[in]	parameterization	okvis::ceres::Parameterization to tell how to do the local parameterisation.

Returns: True on success.

void okvis::ceres::Map::resetResidualBlock	(	::ceres::ResidualBlockId	residualBlockId,
		std::vector< std::shared_ptr< okvis::ceres::ParameterBlock > > &	parameterBlockPtrs
	)

Replace the parameters connected to a residual block ID.

Parameters

[in]	residualBlockId	The ID of the residual block the parameter blocks of which are to be to be replaced.
[in]	parameterBlockPtrs	A vector containing the parameter blocks to be replaced.

const ResidualBlockId2ResidualBlockSpec_Map& okvis::ceres::Map::residualBlockId2ResidualBlockSpecMap ( ) const

inline

Get the actual map from Id to residual block specs.

Map::ResidualBlockCollection okvis::ceres::Map::residuals ( uint64_t parameterBlockId ) const

Get the residual blocks of a parameter block.

Parameters

[in] parameterBlockId The ID of the parameter block in question.

Returns: Infos about all the residual blocks connected.

bool okvis::ceres::Map::setParameterBlockConstant ( uint64_t parameterBlockId )

Do not optimise a certain parameter block.

Parameters

[in] parameterBlockId The parameter block ID of the parameter block to set fixed.

Returns: True on success.

bool okvis::ceres::Map::setParameterBlockConstant ( std::shared_ptr< okvis::ceres::ParameterBlock > parameterBlock )

inline

Do not optimise a certain parameter block.

Parameters

[in] parameterBlock Pointer to the parameter block that should be constant.

Returns: True on success.

bool okvis::ceres::Map::setParameterBlockVariable ( uint64_t parameterBlockId )

Optimise a certain parameter block (this is the default).

Parameters

[in] parameterBlockId The parameter block ID of the parameter block to set fixed.

Returns: True on success.

bool okvis::ceres::Map::setParameterBlockVariable ( std::shared_ptr< okvis::ceres::ParameterBlock > parameterBlock )

inline

Optimise a certain parameter block (this is the default).

Parameters

[in] parameterBlock Pointer to the parameter block that should be optimised.

Returns: True on success.

bool okvis::ceres::Map::setParameterization	(	uint64_t	parameterBlockId,
		::ceres::LocalParameterization *	local_parameterization
	)

Set the (local) parameterisation of a parameter block.

Parameters

[in]	parameterBlockId	The ID of the parameter block in question.
[in]	local_parameterization	Give it an actual local parameterisation object.

Returns: True on success.

bool okvis::ceres::Map::setParameterization	(	std::shared_ptr< okvis::ceres::ParameterBlock >	parameterBlock,
		::ceres::LocalParameterization *	local_parameterization
	)

inline

Set the (local) parameterisation of a parameter block.

Parameters

[in]	parameterBlock	The pointer to the parameter block in question.
[in]	local_parameterization	Give it an actual local parameterisation object.

Returns: True on success.

void okvis::ceres::Map::solve ( )

inline

Solve the optimization problem.

Member Data Documentation

okvis::ceres::HomogeneousPointLocalParameterization okvis::ceres::Map::homogeneousPointLocalParameterization_

protected

Store parameterisation locally.

Id2ParameterBlock_Map okvis::ceres::Map::id2ParameterBlock_Map_

protected

The map connecting parameter block ID's and parameter blocks.

Id2ResidualBlock_Multimap okvis::ceres::Map::id2ResidualBlock_Multimap_

protected

Go from Id to residual block pointer.

::ceres::Solver::Options okvis::ceres::Map::options

Ceres options.

okvis::ceres::PoseLocalParameterization2d okvis::ceres::Map::poseLocalParameterization2d_

protected

Store parameterisation locally.

okvis::ceres::PoseLocalParameterization3d okvis::ceres::Map::poseLocalParameterization3d_

protected

Store parameterisation locally.

okvis::ceres::PoseLocalParameterization4d okvis::ceres::Map::poseLocalParameterization4d_

protected

Store parameterisation locally.

okvis::ceres::PoseLocalParameterization okvis::ceres::Map::poseLocalParameterization_

protected

Store parameterisation locally.

std::shared_ptr< ::ceres::Problem> okvis::ceres::Map::problem_

protected

The ceres problem.

ResidualBlockId2ParameterBlockCollection_Map okvis::ceres::Map::residualBlockId2ParameterBlockCollection_Map_

protected

Go from residual block id to its parameter blocks.

ResidualBlockId2ResidualBlockSpec_Map okvis::ceres::Map::residualBlockId2ResidualBlockSpec_Map_

protected

Go from residual ID to specs.

uint64_t okvis::ceres::Map::residualCounter_

protected

count the inserted residual blocks.

::ceres::Solver::Summary okvis::ceres::Map::summary

Ceres optimization summary.

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

okvis/okvis_ceres/include/okvis/ceres/Map.hpp
okvis/okvis_ceres/src/Map.cpp

Classes

Public Types

Public Member Functions

Public Attributes

Protected Types

Protected Attributes

Detailed Description

Member Typedef Documentation

Member Enumeration Documentation

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation