Detailed Description

template<class KF2KF_POSE_TYPE, class LM_TYPE, class OBS_TYPE, class RBA_OPTIONS>
struct mrpt::srba::TRBA_Problem_state< KF2KF_POSE_TYPE, LM_TYPE, OBS_TYPE, RBA_OPTIONS >::TSpanningTree

Definition at line 499 of file srba_types.h.

#include <mrpt/srba/srba_types.h>

Classes
struct	TSpanningTreeSym
	The "symbolic" part of the spanning tree. More...

Public Types
typedef mrpt::utils::map_as_vector< TKeyFrameID, std::map< TKeyFrameID, TSpanTreeEntry >, std::deque< std::pair< TKeyFrameID, std::map< TKeyFrameID, TSpanTreeEntry > > > >	next_edge_maps_t
	The definition seems complex but behaves just like: std::map< TKeyFrameID, std::map<TKeyFrameID,TSpanTreeEntry> > More...

typedef mrpt::utils::map_as_vector< TKeyFrameID, std::map< TKeyFrameID, k2k_edge_vector_t >, std::deque< std::pair< TKeyFrameID, std::map< TKeyFrameID, k2k_edge_vector_t > > > >	all_edges_maps_t
	The definition seems complex but behaves just like: std::map< TKeyFrameID, std::map<TKeyFrameID, k2k_edge_vector_t> > More...

Public Member Functions
Spanning tree main operations
void	clear ()
	Empty all sym & num data. More...

void	update_symbolic_new_node (const TKeyFrameID new_node_id, const TPairKeyFrameID &new_edge, const topo_dist_t max_depth, const bool check_all_obs_are_connected=false, const new_kf_observations_t *obs=NULL)
	Incremental update of spanning trees after the insertion of ONE new node and ONE OR MORE edges. More...

size_t	update_numeric (bool skip_marked_as_uptodate=false)
	Updates all the numeric SE(3) poses from ALL the sym.all_edges. More...

size_t	update_numeric (const std::set< TKeyFrameID > &kfs_to_update, bool skip_marked_as_uptodate=false)
	idem, for the set of edges that have as "from" node any of the IDs in the passed set. More...

size_t	update_numeric_only_all_from_node (const typename all_edges_maps_t::const_iterator &it, bool skip_marked_as_uptodate=false)
	Updates all the numeric SE(3) poses from a given entry from sym.all_edges[i]. More...

Spanning tree misc. operations
void	dump_as_text (std::string &s) const
	Useful for debugging. More...

bool	dump_as_text_to_file (const std::string &sFileName) const
	Useful for debugging. More...

bool	save_as_dot_file (const std::string &sFileName, const std::vector< TKeyFrameID > &kf_roots_to_save=std::vector< TKeyFrameID >()) const
	Saves all (or a subset of all) the spanning trees If kf_roots_to_save is left empty, all STs are saved. More...

void	get_stats (size_t &num_nodes_min, size_t &num_nodes_max, double &num_nodes_mean, double &num_nodes_std) const
	Returns min/max and mean/std stats on the number of nodes found on all the spanning trees. More...

Public Attributes
const TRBA_Problem_state< KF2KF_POSE_TYPE, LM_TYPE, OBS_TYPE, RBA_OPTIONS > *	m_parent

Data structures
struct mrpt::srba::TRBA_Problem_state::TSpanningTree::TSpanningTreeSym	sym

kf2kf_pose_traits< KF2KF_POSE_TYPE >::TRelativePosesForEachTarget	num
	"Numeric" spanning tree: the SE(3) pose of each node wrt to any other: num[SOURCE] \|–> map[TARGET] = CPose3D of TARGET as seen from SOURCE (typ: SOURCE is the observing KF, TARGET is the reference base of the observed landmark) More...

Member Typedef Documentation

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

typedef mrpt::utils::map_as_vector< TKeyFrameID, std::map<TKeyFrameID, k2k_edge_vector_t>, std::deque<std::pair<TKeyFrameID,std::map<TKeyFrameID, k2k_edge_vector_t > > > > mrpt::srba::TRBA_Problem_state< KF2KF_POSE_TYPE, LM_TYPE, OBS_TYPE, RBA_OPTIONS >::TSpanningTree::all_edges_maps_t

The definition seems complex but behaves just like: std::map< TKeyFrameID, std::map<TKeyFrameID, k2k_edge_vector_t> >

Definition at line 513 of file srba_types.h.

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

typedef mrpt::utils::map_as_vector< TKeyFrameID, std::map<TKeyFrameID,TSpanTreeEntry>, std::deque<std::pair<TKeyFrameID,std::map<TKeyFrameID,TSpanTreeEntry> > > > mrpt::srba::TRBA_Problem_state< KF2KF_POSE_TYPE, LM_TYPE, OBS_TYPE, RBA_OPTIONS >::TSpanningTree::next_edge_maps_t

The definition seems complex but behaves just like: std::map< TKeyFrameID, std::map<TKeyFrameID,TSpanTreeEntry> >

Definition at line 506 of file srba_types.h.

Member Function Documentation

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

void mrpt::srba::TRBA_Problem_state< KF2KF_POSE_TYPE, LM_TYPE, OBS_TYPE, RBA_OPTIONS >::TSpanningTree::clear ( void )

Empty all sym & num data.

Definition at line 19 of file spantree_misc.h.

References mrpt::srba::TRBA_Problem_state< KF2KF_POSE_TYPE, LM_TYPE, OBS_TYPE, RBA_OPTIONS >::TSpanningTree::TSpanningTreeSym::all_edges, mrpt::utils::map_as_vector< KEY, VALUE, VECTOR_T >::clear(), mrpt::srba::TRBA_Problem_state< KF2KF_POSE_TYPE, LM_TYPE, OBS_TYPE, RBA_OPTIONS >::TSpanningTree::TSpanningTreeSym::next_edge, mrpt::srba::TRBA_Problem_state< KF2KF_POSE_TYPE, LM_TYPE, OBS_TYPE, RBA_OPTIONS >::TSpanningTree::num, and mrpt::srba::TRBA_Problem_state< KF2KF_POSE_TYPE, LM_TYPE, OBS_TYPE, RBA_OPTIONS >::TSpanningTree::sym.

Referenced by mrpt::srba::TRBA_Problem_state< KF2KF_POSE_TYPE, LM_TYPE, OBS_TYPE, RBA_OPTIONS >::clear().

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

void mrpt::srba::TRBA_Problem_state< KF2KF_POSE_TYPE, LM_TYPE, OBS_TYPE, RBA_OPTIONS >::TSpanningTree::dump_as_text ( std::string & s ) const

Useful for debugging.

Definition at line 28 of file spantree_misc.h.

References mrpt::format(), and mrpt::mrpt::format().

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

bool mrpt::srba::TRBA_Problem_state< KF2KF_POSE_TYPE, LM_TYPE, OBS_TYPE, RBA_OPTIONS >::TSpanningTree::dump_as_text_to_file ( const std::string & sFileName ) const

Useful for debugging.

Returns: false on error

Definition at line 71 of file spantree_misc.h.

Referenced by mrpt::srba::TRBA_Problem_state< KF2KF_POSE_TYPE, LM_TYPE, OBS_TYPE, RBA_OPTIONS >::TSpanningTree::update_symbolic_new_node().

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

void mrpt::srba::TRBA_Problem_state< KF2KF_POSE_TYPE, LM_TYPE, OBS_TYPE, RBA_OPTIONS >::TSpanningTree::get_stats	(	size_t &	num_nodes_min,
		size_t &	num_nodes_max,
		double &	num_nodes_mean,
		double &	num_nodes_std
	)		const

Returns min/max and mean/std stats on the number of nodes found on all the spanning trees.

Runs in O(N), N=number of keyframes.

Definition at line 258 of file spantree_misc.h.

References mrpt::math::meanAndStd(), and mrpt::math::minimum_maximum().

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

bool mrpt::srba::TRBA_Problem_state< KF2KF_POSE_TYPE, LM_TYPE, OBS_TYPE, RBA_OPTIONS >::TSpanningTree::save_as_dot_file	(	const std::string &	sFileName,
		const std::vector< TKeyFrameID > &	kf_roots_to_save = `std::vector<TKeyFrameID>()`
	)		const

Saves all (or a subset of all) the spanning trees If kf_roots_to_save is left empty, all STs are saved.

Otherwise, only those with the given roots.

Returns: false on error

Definition at line 122 of file spantree_misc.h.

References ASSERT_, mrpt::format(), and mrpt::mrpt::format().

Referenced by mrpt::srba::TRBA_Problem_state< KF2KF_POSE_TYPE, LM_TYPE, OBS_TYPE, RBA_OPTIONS >::TSpanningTree::update_symbolic_new_node().

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

size_t mrpt::srba::TRBA_Problem_state< KF2KF_POSE_TYPE, LM_TYPE, OBS_TYPE, RBA_OPTIONS >::TSpanningTree::update_numeric ( bool skip_marked_as_uptodate = false )

Updates all the numeric SE(3) poses from ALL the sym.all_edges.

Returns: The number of updated poses.

Definition at line 99 of file spantree_update_numeric.h.

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

size_t mrpt::srba::TRBA_Problem_state< KF2KF_POSE_TYPE, LM_TYPE, OBS_TYPE, RBA_OPTIONS >::TSpanningTree::update_numeric	(	const std::set< TKeyFrameID > &	kfs_to_update,
		bool	skip_marked_as_uptodate = `false`
	)

idem, for the set of edges that have as "from" node any of the IDs in the passed set.

Definition at line 111 of file spantree_update_numeric.h.

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

size_t mrpt::srba::TRBA_Problem_state< KF2KF_POSE_TYPE, LM_TYPE, OBS_TYPE, RBA_OPTIONS >::TSpanningTree::update_numeric_only_all_from_node	(	const typename all_edges_maps_t::const_iterator &	it,
		bool	skip_marked_as_uptodate = `false`
	)

Updates all the numeric SE(3) poses from a given entry from sym.all_edges[i].

Returns: The number of updated poses.

Definition at line 19 of file spantree_update_numeric.h.

References mrpt::srba::TRBA_Problem_state< KF2KF_POSE_TYPE, LM_TYPE, OBS_TYPE, RBA_OPTIONS >::TSpanningTree::num.

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

void mrpt::srba::TRBA_Problem_state< KF2KF_POSE_TYPE, LM_TYPE, OBS_TYPE, RBA_OPTIONS >::TSpanningTree::update_symbolic_new_node	(	const TKeyFrameID	new_node_id,
		const TPairKeyFrameID &	new_edge,
		const topo_dist_t	max_depth,
		const bool	check_all_obs_are_connected = `false`,
		const new_kf_observations_t *	obs = `NULL`
	)

Incremental update of spanning trees after the insertion of ONE new node and ONE OR MORE edges.

Parameters

[in] max_distance Is the maximum distance at which a neighbor can be so we store the shortest path to it.

Definition at line 19 of file spantree_update_symbolic.h.

References mrpt::srba::TRBA_Problem_state< KF2KF_POSE_TYPE, LM_TYPE, OBS_TYPE, RBA_OPTIONS >::TSpanningTree::TSpanningTreeSym::all_edges, ASSERT_, ASSERT_NOT_EQUAL_, ASSERTDEB_, mrpt::utils::map_as_vector< KEY, VALUE, VECTOR_T >::begin(), mrpt::srba::TSpanTreeEntry::distance, mrpt::srba::TRBA_Problem_state< KF2KF_POSE_TYPE, LM_TYPE, OBS_TYPE, RBA_OPTIONS >::TSpanningTree::dump_as_text_to_file(), mrpt::utils::map_as_vector< KEY, VALUE, VECTOR_T >::end(), mrpt::srba::observation_traits< OBS_TRAITS >::observation_t::feat_id, mrpt::mrpt::format(), mrpt::srba::getTheOtherFromPair(), mrpt::srba::TRBA_Problem_state< KF2KF_POSE_TYPE, LM_TYPE, OBS_TYPE, RBA_OPTIONS >::TSpanningTree::m_parent, mrpt::srba::TSpanTreeEntry::next, mrpt::srba::TRBA_Problem_state< KF2KF_POSE_TYPE, LM_TYPE, OBS_TYPE, RBA_OPTIONS >::TSpanningTree::TSpanningTreeSym::next_edge, mrpt::srba::rba_joint_parameterization_traits_t< KF2KF_POSE_TYPE, LM_TYPE, OBS_TYPE >::new_kf_observation_t::obs, mrpt::srba::TRBA_Problem_state< KF2KF_POSE_TYPE, LM_TYPE, OBS_TYPE, RBA_OPTIONS >::TSpanningTree::save_as_dot_file(), mrpt::srba::TRBA_Problem_state< KF2KF_POSE_TYPE, LM_TYPE, OBS_TYPE, RBA_OPTIONS >::TSpanningTree::sym, and THROW_EXCEPTION.

Member Data Documentation

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

const TRBA_Problem_state<KF2KF_POSE_TYPE,LM_TYPE,OBS_TYPE,RBA_OPTIONS>* mrpt::srba::TRBA_Problem_state< KF2KF_POSE_TYPE, LM_TYPE, OBS_TYPE, RBA_OPTIONS >::TSpanningTree::m_parent

Definition at line 515 of file srba_types.h.

Referenced by mrpt::srba::TRBA_Problem_state< KF2KF_POSE_TYPE, LM_TYPE, OBS_TYPE, RBA_OPTIONS >::TRBA_Problem_state(), and mrpt::srba::TRBA_Problem_state< KF2KF_POSE_TYPE, LM_TYPE, OBS_TYPE, RBA_OPTIONS >::TSpanningTree::update_symbolic_new_node().

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

kf2kf_pose_traits<KF2KF_POSE_TYPE>::TRelativePosesForEachTarget mrpt::srba::TRBA_Problem_state< KF2KF_POSE_TYPE, LM_TYPE, OBS_TYPE, RBA_OPTIONS >::TSpanningTree::num

"Numeric" spanning tree: the SE(3) pose of each node wrt to any other: num[SOURCE] |–> map[TARGET] = CPose3D of TARGET as seen from SOURCE (typ: SOURCE is the observing KF, TARGET is the reference base of the observed landmark)

Numeric poses are valid after calling update_numeric()

NOTE: Both symmetric poses, e.g. (i,j) and also (j,i), are stored for convenience of being able to get references/pointers to them.

Definition at line 550 of file srba_types.h.

Referenced by mrpt::srba::TRBA_Problem_state< KF2KF_POSE_TYPE, LM_TYPE, OBS_TYPE, RBA_OPTIONS >::TSpanningTree::clear(), and mrpt::srba::TRBA_Problem_state< KF2KF_POSE_TYPE, LM_TYPE, OBS_TYPE, RBA_OPTIONS >::TSpanningTree::update_numeric_only_all_from_node().

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

struct mrpt::srba::TRBA_Problem_state::TSpanningTree::TSpanningTreeSym mrpt::srba::TRBA_Problem_state< KF2KF_POSE_TYPE, LM_TYPE, OBS_TYPE, RBA_OPTIONS >::TSpanningTree::sym

Referenced by mrpt::srba::TRBA_Problem_state< KF2KF_POSE_TYPE, LM_TYPE, OBS_TYPE, RBA_OPTIONS >::TSpanningTree::clear(), and mrpt::srba::TRBA_Problem_state< KF2KF_POSE_TYPE, LM_TYPE, OBS_TYPE, RBA_OPTIONS >::TSpanningTree::update_symbolic_new_node().

Detailed Description

template<class KF2KF_POSE_TYPE, class LM_TYPE, class OBS_TYPE, class RBA_OPTIONS> struct mrpt::srba::TRBA_Problem_state< KF2KF_POSE_TYPE, LM_TYPE, OBS_TYPE, RBA_OPTIONS >::TSpanningTree

Classes

Public Types

Public Member Functions

Public Attributes

Member Typedef Documentation

Member Function Documentation

Member Data Documentation

template<class KF2KF_POSE_TYPE, class LM_TYPE, class OBS_TYPE, class RBA_OPTIONS>
struct mrpt::srba::TRBA_Problem_state< KF2KF_POSE_TYPE, LM_TYPE, OBS_TYPE, RBA_OPTIONS >::TSpanningTree