mrpt::srba::RbaEngine< KF2KF_POSE_TYPE, LM_TYPE, OBS_TYPE, RBA_OPTIONS >::TOptimizeExtraOutputInfo Struct Reference

Detailed Description

template<class KF2KF_POSE_TYPE, class LM_TYPE, class OBS_TYPE, class RBA_OPTIONS = RBA_OPTIONS_DEFAULT>
struct mrpt::srba::RbaEngine< KF2KF_POSE_TYPE, LM_TYPE, OBS_TYPE, RBA_OPTIONS >::TOptimizeExtraOutputInfo

All the information returned by the local area optimizer.

See also

define_new_keyframe()

Definition at line 117 of file RbaEngine.h.

#include <mrpt/srba/RbaEngine.h>

Public Member Functions
	TOptimizeExtraOutputInfo ()
void	clear ()

Public Attributes
size_t	num_observations
	Number of individual feature observations taken into account in the optimization. More...
size_t	num_jacobians
	Number of Jacobian blocks which had been to be evaluated for each relinearization step. More...
size_t	num_kf2kf_edges_optimized
	Number of solved unknowns of type "kf-to-kf edge". More...
size_t	num_kf2lm_edges_optimized
	Number of solved unknowns of type "kf-to-landmark". More...
size_t	num_total_scalar_optimized
	The total number of dimensions (scalar values) in all the optimized unknowns. More...
size_t	num_span_tree_numeric_updates
	Number of poses updated in the spanning tree numeric-update stage. More...
double	obs_rmse
	RMSE for each observation after optimization. More...
double	total_sqr_error_init
double	total_sqr_error_final
	Initial and final total squared error for all the observations. More...
double	HAp_condition_number
	To be computed only if enabled in parameters.compute_condition_number. More...
std::vector< size_t >	optimized_k2k_edge_indices
	The 0-based indices of all kf-to-kf edges which were considered in the optimization. More...
std::vector< size_t >	optimized_landmark_indices
	The 0-based indices of all landmarks whose relative positions were considered as unknowns in the optimization. More...
RBA_OPTIONS::solver_t::extra_results_t	extra_results
	Other solver-specific output information. More...

Constructor & Destructor Documentation

template<class KF2KF_POSE_TYPE , class LM_TYPE , class OBS_TYPE , class RBA_OPTIONS = RBA_OPTIONS_DEFAULT>

mrpt::srba::RbaEngine< KF2KF_POSE_TYPE, LM_TYPE, OBS_TYPE, RBA_OPTIONS >::TOptimizeExtraOutputInfo::TOptimizeExtraOutputInfo ( )

inline

Definition at line 119 of file RbaEngine.h.

References mrpt::srba::RbaEngine< KF2KF_POSE_TYPE, LM_TYPE, OBS_TYPE, RBA_OPTIONS >::TOptimizeExtraOutputInfo::clear().

Member Function Documentation

template<class KF2KF_POSE_TYPE , class LM_TYPE , class OBS_TYPE , class RBA_OPTIONS = RBA_OPTIONS_DEFAULT>

void mrpt::srba::RbaEngine< KF2KF_POSE_TYPE, LM_TYPE, OBS_TYPE, RBA_OPTIONS >::TOptimizeExtraOutputInfo::clear ( void  )

inline

Definition at line 140 of file RbaEngine.h.

Referenced by mrpt::srba::RbaEngine< KF2KF_POSE_TYPE, LM_TYPE, OBS_TYPE, RBA_OPTIONS >::TNewKeyFrameInfo::clear(), and mrpt::srba::RbaEngine< KF2KF_POSE_TYPE, LM_TYPE, OBS_TYPE, RBA_OPTIONS >::TOptimizeExtraOutputInfo::TOptimizeExtraOutputInfo().

Member Data Documentation

template<class KF2KF_POSE_TYPE , class LM_TYPE , class OBS_TYPE , class RBA_OPTIONS = RBA_OPTIONS_DEFAULT>

RBA_OPTIONS::solver_t::extra_results_t mrpt::srba::RbaEngine< KF2KF_POSE_TYPE, LM_TYPE, OBS_TYPE, RBA_OPTIONS >::TOptimizeExtraOutputInfo::extra_results

Other solver-specific output information.

Definition at line 138 of file RbaEngine.h.

Referenced by mrpt::srba::RbaEngine< KF2KF_POSE_TYPE, LM_TYPE, OBS_TYPE, RBA_OPTIONS >::optimize_edges().

template<class KF2KF_POSE_TYPE , class LM_TYPE , class OBS_TYPE , class RBA_OPTIONS = RBA_OPTIONS_DEFAULT>

double mrpt::srba::RbaEngine< KF2KF_POSE_TYPE, LM_TYPE, OBS_TYPE, RBA_OPTIONS >::TOptimizeExtraOutputInfo::HAp_condition_number

To be computed only if enabled in parameters.compute_condition_number.

Definition at line 132 of file RbaEngine.h.

Referenced by mrpt::srba::RbaEngine< KF2KF_POSE_TYPE, LM_TYPE, OBS_TYPE, RBA_OPTIONS >::optimize_edges().

template<class KF2KF_POSE_TYPE , class LM_TYPE , class OBS_TYPE , class RBA_OPTIONS = RBA_OPTIONS_DEFAULT>

size_t mrpt::srba::RbaEngine< KF2KF_POSE_TYPE, LM_TYPE, OBS_TYPE, RBA_OPTIONS >::TOptimizeExtraOutputInfo::num_jacobians

Number of Jacobian blocks which had been to be evaluated for each relinearization step.

Definition at line 125 of file RbaEngine.h.

Referenced by mrpt::srba::RbaEngine< KF2KF_POSE_TYPE, LM_TYPE, OBS_TYPE, RBA_OPTIONS >::optimize_edges().

template<class KF2KF_POSE_TYPE , class LM_TYPE , class OBS_TYPE , class RBA_OPTIONS = RBA_OPTIONS_DEFAULT>

size_t mrpt::srba::RbaEngine< KF2KF_POSE_TYPE, LM_TYPE, OBS_TYPE, RBA_OPTIONS >::TOptimizeExtraOutputInfo::num_kf2kf_edges_optimized

Number of solved unknowns of type "kf-to-kf edge".

Definition at line 126 of file RbaEngine.h.

Referenced by mrpt::srba::RbaEngine< KF2KF_POSE_TYPE, LM_TYPE, OBS_TYPE, RBA_OPTIONS >::optimize_edges().

template<class KF2KF_POSE_TYPE , class LM_TYPE , class OBS_TYPE , class RBA_OPTIONS = RBA_OPTIONS_DEFAULT>

size_t mrpt::srba::RbaEngine< KF2KF_POSE_TYPE, LM_TYPE, OBS_TYPE, RBA_OPTIONS >::TOptimizeExtraOutputInfo::num_kf2lm_edges_optimized

Number of solved unknowns of type "kf-to-landmark".

Definition at line 127 of file RbaEngine.h.

Referenced by mrpt::srba::RbaEngine< KF2KF_POSE_TYPE, LM_TYPE, OBS_TYPE, RBA_OPTIONS >::optimize_edges().

template<class KF2KF_POSE_TYPE , class LM_TYPE , class OBS_TYPE , class RBA_OPTIONS = RBA_OPTIONS_DEFAULT>

size_t mrpt::srba::RbaEngine< KF2KF_POSE_TYPE, LM_TYPE, OBS_TYPE, RBA_OPTIONS >::TOptimizeExtraOutputInfo::num_observations

Number of individual feature observations taken into account in the optimization.

Definition at line 124 of file RbaEngine.h.

Referenced by mrpt::srba::RbaEngine< KF2KF_POSE_TYPE, LM_TYPE, OBS_TYPE, RBA_OPTIONS >::optimize_edges().

template<class KF2KF_POSE_TYPE , class LM_TYPE , class OBS_TYPE , class RBA_OPTIONS = RBA_OPTIONS_DEFAULT>

size_t mrpt::srba::RbaEngine< KF2KF_POSE_TYPE, LM_TYPE, OBS_TYPE, RBA_OPTIONS >::TOptimizeExtraOutputInfo::num_span_tree_numeric_updates

Number of poses updated in the spanning tree numeric-update stage.

Definition at line 129 of file RbaEngine.h.

Referenced by mrpt::srba::RbaEngine< KF2KF_POSE_TYPE, LM_TYPE, OBS_TYPE, RBA_OPTIONS >::optimize_edges().

template<class KF2KF_POSE_TYPE , class LM_TYPE , class OBS_TYPE , class RBA_OPTIONS = RBA_OPTIONS_DEFAULT>

size_t mrpt::srba::RbaEngine< KF2KF_POSE_TYPE, LM_TYPE, OBS_TYPE, RBA_OPTIONS >::TOptimizeExtraOutputInfo::num_total_scalar_optimized

The total number of dimensions (scalar values) in all the optimized unknowns.

Definition at line 128 of file RbaEngine.h.

Referenced by mrpt::srba::RbaEngine< KF2KF_POSE_TYPE, LM_TYPE, OBS_TYPE, RBA_OPTIONS >::optimize_edges().

template<class KF2KF_POSE_TYPE , class LM_TYPE , class OBS_TYPE , class RBA_OPTIONS = RBA_OPTIONS_DEFAULT>

double mrpt::srba::RbaEngine< KF2KF_POSE_TYPE, LM_TYPE, OBS_TYPE, RBA_OPTIONS >::TOptimizeExtraOutputInfo::obs_rmse

RMSE for each observation after optimization.

Definition at line 130 of file RbaEngine.h.

Referenced by mrpt::srba::RbaEngine< KF2KF_POSE_TYPE, LM_TYPE, OBS_TYPE, RBA_OPTIONS >::optimize_edges().

template<class KF2KF_POSE_TYPE , class LM_TYPE , class OBS_TYPE , class RBA_OPTIONS = RBA_OPTIONS_DEFAULT>

std::vector<size_t> mrpt::srba::RbaEngine< KF2KF_POSE_TYPE, LM_TYPE, OBS_TYPE, RBA_OPTIONS >::TOptimizeExtraOutputInfo::optimized_k2k_edge_indices

The 0-based indices of all kf-to-kf edges which were considered in the optimization.

Definition at line 134 of file RbaEngine.h.

Referenced by mrpt::srba::RbaEngine< KF2KF_POSE_TYPE, LM_TYPE, OBS_TYPE, RBA_OPTIONS >::optimize_edges().

template<class KF2KF_POSE_TYPE , class LM_TYPE , class OBS_TYPE , class RBA_OPTIONS = RBA_OPTIONS_DEFAULT>

std::vector<size_t> mrpt::srba::RbaEngine< KF2KF_POSE_TYPE, LM_TYPE, OBS_TYPE, RBA_OPTIONS >::TOptimizeExtraOutputInfo::optimized_landmark_indices

The 0-based indices of all landmarks whose relative positions were considered as unknowns in the optimization.

Definition at line 135 of file RbaEngine.h.

Referenced by mrpt::srba::RbaEngine< KF2KF_POSE_TYPE, LM_TYPE, OBS_TYPE, RBA_OPTIONS >::optimize_edges().

template<class KF2KF_POSE_TYPE , class LM_TYPE , class OBS_TYPE , class RBA_OPTIONS = RBA_OPTIONS_DEFAULT>

double mrpt::srba::RbaEngine< KF2KF_POSE_TYPE, LM_TYPE, OBS_TYPE, RBA_OPTIONS >::TOptimizeExtraOutputInfo::total_sqr_error_final

Initial and final total squared error for all the observations.

Definition at line 131 of file RbaEngine.h.

Referenced by mrpt::srba::RbaEngine< KF2KF_POSE_TYPE, LM_TYPE, OBS_TYPE, RBA_OPTIONS >::optimize_edges().

template<class KF2KF_POSE_TYPE , class LM_TYPE , class OBS_TYPE , class RBA_OPTIONS = RBA_OPTIONS_DEFAULT>

double mrpt::srba::RbaEngine< KF2KF_POSE_TYPE, LM_TYPE, OBS_TYPE, RBA_OPTIONS >::TOptimizeExtraOutputInfo::total_sqr_error_init

Definition at line 131 of file RbaEngine.h.

Referenced by mrpt::srba::RbaEngine< KF2KF_POSE_TYPE, LM_TYPE, OBS_TYPE, RBA_OPTIONS >::optimize_edges().