Detailed Description

Sparse solver for GMRF (Gaussian Markov Random Fields) graphical models.

The design of this class is optimized for large problems (e.g. >1e3 nodes, >1e4 constrainst) by leaving to the user/caller the responsibility of allocating all "nodes" and constraints. This class can be seen as an intermediary solution between current methods in mrpt::graphslam and the well-known G2O library:

Assumptions/limitations:

Linear error functions (for now).
Scalar (1-dim) error functions.
Gaussian factors.
Solver: Eigen SparseQR.

Usage:

Call initialize() to set the number of nodes.
Call addConstraints() to insert constraints. This may be called more than once.
Call updateEstimation() to run one step of the linear SparseQR solver.

Note: [New in MRPT 1.5.0] Requires Eigen>=3.1

Definition at line 41 of file ScalarFactorGraph.h.

#include <mrpt/graphs/ScalarFactorGraph.h>

Inheritance diagram for mrpt::graphs::ScalarFactorGraph:

Classes
struct	BinaryFactorVirtualBase
	Simple, scalar (1-dim) constraint (edge) for a GMRF. More...

struct	FactorBase

struct	UnaryFactorVirtualBase
	Simple, scalar (1-dim) constraint (edge) for a GMRF. More...

Public Member Functions
	ScalarFactorGraph ()

void	clear ()
	Reset state: remove all constraints and nodes. More...

void	initialize (const size_t nodeCount)
	Initialize the GMRF internal state and copy the prior factors. More...

void	addConstraint (const UnaryFactorVirtualBase &listOfConstraints)
	Insert constraints into the GMRF problem. More...

void	addConstraint (const BinaryFactorVirtualBase &listOfConstraints)

bool	eraseConstraint (const FactorBase &c)
	Removes a constraint. More...

void	clearAllConstraintsByType_Unary ()

void	clearAllConstraintsByType_Binary ()

void	updateEstimation (mrpt::math::CVectorDouble &solved_x_inc, mrpt::math::CVectorDouble *solved_variances=nullptr)

bool	isProfilerEnabled () const

void	enableProfiler (bool enable=true)

Static Public Member Functions
static std::array< mrpt::system::TConsoleColor, NUMBER_OF_VERBOSITY_LEVELS > &	logging_levels_to_colors ()
	Map from VerbosityLevels to their corresponding mrpt::system::TConsoleColor. More...

static std::array< std::string, NUMBER_OF_VERBOSITY_LEVELS > &	logging_levels_to_names ()
	Map from VerbosityLevels to their corresponding names. More...

Protected Attributes
VerbosityLevel	m_min_verbosity_level {LVL_INFO}
	Provided messages with VerbosityLevel smaller than this value shall be ignored. More...

Private Attributes
size_t	m_numNodes = 0
	number of nodes in the graph More...

std::deque< const UnaryFactorVirtualBase * >	m_factors_unary

std::deque< const BinaryFactorVirtualBase * >	m_factors_binary

mrpt::system::CTimeLogger	m_timelogger

bool	m_enable_profiler {false}

Logging methods
void	logStr (const VerbosityLevel level, std::string_view msg_str) const
	Main method to add the specified message string to the logger. More...

void	logFmt (const VerbosityLevel level, const char *fmt,...) const MRPT_printf_format_check(3
	Alternative logging method, which mimics the printf behavior. More...

void void	logCond (const VerbosityLevel level, bool cond, const std::string &msg_str) const
	Log the given message only if the condition is satisfied. More...

void	setLoggerName (const std::string &name)
	Set the name of the COutputLogger instance. More...

std::string	getLoggerName () const
	Return the name of the COutputLogger instance. More...

void	setMinLoggingLevel (const VerbosityLevel level)
	Set the minimum logging level for which the incoming logs are going to be taken into account. More...

void	setVerbosityLevel (const VerbosityLevel level)
	alias of setMinLoggingLevel() More...

VerbosityLevel	getMinLoggingLevel () const

bool	isLoggingLevelVisible (VerbosityLevel level) const

void	getLogAsString (std::string &log_contents) const
	Fill the provided string with the contents of the logger's history in std::string representation. More...

std::string	getLogAsString () const
	Get the history of COutputLogger instance in a string representation. More...

void	writeLogToFile (const std::string *fname_in=nullptr) const
	Write the contents of the COutputLogger instance to an external file. More...

void	dumpLogToConsole () const
	Dump the current contents of the COutputLogger instance in the terminal window. More...

std::string	getLoggerLastMsg () const
	Return the last Tmsg instance registered in the logger history. More...

void	getLoggerLastMsg (std::string &msg_str) const
	Fill inputtted string with the contents of the last message in history. More...

void	loggerReset ()
	Reset the contents of the logger instance. More...

void	logRegisterCallback (output_logger_callback_t userFunc)

bool	logDeregisterCallback (output_logger_callback_t userFunc)

bool	logging_enable_console_output {true}
	[Default=true] Set it to false in case you don't want the logged messages to be dumped to the output automatically. More...

bool	logging_enable_keep_record {false}
	[Default=false] Enables storing all messages into an internal list. More...

Constructor & Destructor Documentation

◆ ScalarFactorGraph()

ScalarFactorGraph::ScalarFactorGraph ( )

Definition at line 26 of file ScalarFactorGraph.cpp.

Member Function Documentation

◆ addConstraint() [1/2]

void ScalarFactorGraph::addConstraint ( const UnaryFactorVirtualBase & listOfConstraints )

Insert constraints into the GMRF problem.

Parameters

listOfConstraints List of user-implemented constraints. A pointer to the passed object is kept, but memory ownship REMAINS being responsability of the caller. This is done such that arrays/vectors of constraints can be more efficiently allocated if their type is known at build time.

Definition at line 43 of file ScalarFactorGraph.cpp.

References m_factors_unary.

Referenced by mrpt::maps::CRandomFieldGridMap2D::insertObservation_GMRF().

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◆ addConstraint() [2/2]

void ScalarFactorGraph::addConstraint ( const BinaryFactorVirtualBase & listOfConstraints )

Definition at line 47 of file ScalarFactorGraph.cpp.

References m_factors_binary.

◆ clear()

void ScalarFactorGraph::clear ( )

Reset state: remove all constraints and nodes.

Definition at line 27 of file ScalarFactorGraph.cpp.

References m_factors_binary, m_factors_unary, m_numNodes, and MRPT_LOG_DEBUG.

◆ clearAllConstraintsByType_Binary()

void mrpt::graphs::ScalarFactorGraph::clearAllConstraintsByType_Binary ( )

inline

Definition at line 93 of file ScalarFactorGraph.h.

References m_factors_binary.

◆ clearAllConstraintsByType_Unary()

void mrpt::graphs::ScalarFactorGraph::clearAllConstraintsByType_Unary ( )

inline

Definition at line 92 of file ScalarFactorGraph.h.

References m_factors_unary.

◆ dumpLogToConsole()

void COutputLogger::dumpLogToConsole ( ) const

inherited

Dump the current contents of the COutputLogger instance in the terminal window.

See also: writeToFile

Definition at line 190 of file COutputLogger.cpp.

◆ enableProfiler()

void mrpt::graphs::ScalarFactorGraph::enableProfiler ( bool enable = true )

inline

Definition at line 102 of file ScalarFactorGraph.h.

References m_enable_profiler.

Referenced by mrpt::maps::CRandomFieldGridMap2D::enableProfiler().

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◆ eraseConstraint()

bool ScalarFactorGraph::eraseConstraint ( const FactorBase & c )

Removes a constraint.

Return true if found and deleted correctly.

Definition at line 52 of file ScalarFactorGraph.cpp.

References mrpt::containers::find(), m_factors_binary, and m_factors_unary.

Referenced by mrpt::maps::CRandomFieldGridMap2D::updateMapEstimation_GMRF().

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◆ getLogAsString() [1/2]

void COutputLogger::getLogAsString ( std::string & log_contents ) const

inherited

Fill the provided string with the contents of the logger's history in std::string representation.

Definition at line 154 of file COutputLogger.cpp.

◆ getLogAsString() [2/2]

std::string COutputLogger::getLogAsString ( ) const

inherited

Get the history of COutputLogger instance in a string representation.

Definition at line 159 of file COutputLogger.cpp.

Referenced by mrpt::graphslam::deciders::CICPCriteriaNRD< GRAPH_T >::getDescriptiveReport().

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◆ getLoggerLastMsg() [1/2]

std::string COutputLogger::getLoggerLastMsg ( ) const

inherited

Return the last Tmsg instance registered in the logger history.

Definition at line 195 of file COutputLogger.cpp.

References mrpt::system::COutputLogger::TMsg::getAsString().

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◆ getLoggerLastMsg() [2/2]

void COutputLogger::getLoggerLastMsg ( std::string & msg_str ) const

inherited

Fill inputtted string with the contents of the last message in history.

Definition at line 201 of file COutputLogger.cpp.

◆ getLoggerName()

std::string COutputLogger::getLoggerName ( ) const

inherited

Return the name of the COutputLogger instance.

See also: setLoggerName

Definition at line 143 of file COutputLogger.cpp.

◆ getMinLoggingLevel()

VerbosityLevel mrpt::system::COutputLogger::getMinLoggingLevel ( ) const

inlineinherited

See also: setMinLoggingLevel

Definition at line 201 of file system/COutputLogger.h.

References mrpt::system::COutputLogger::m_min_verbosity_level.

Referenced by mrpt::apps::RawlogGrabberApp::dump_verbose_info(), mrpt::maps::CRandomFieldGridMap2D::isEnabledVerbose(), mrpt::slam::CMetricMapBuilderRBPF::processActionObservation(), mrpt::apps::CGridMapAlignerApp::run(), mrpt::apps::RBPF_SLAM_App_Base::run(), and mrpt::apps::ICP_SLAM_App_Base::run().

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◆ initialize()

void ScalarFactorGraph::initialize ( const size_t nodeCount )

Initialize the GMRF internal state and copy the prior factors.

Parameters

nodeCount Number of unknown nodes in the MRF graph

Definition at line 36 of file ScalarFactorGraph.cpp.

References m_numNodes, and MRPT_LOG_DEBUG_STREAM.

◆ isLoggingLevelVisible()

bool mrpt::system::COutputLogger::isLoggingLevelVisible ( VerbosityLevel level ) const

inlineinherited

Definition at line 202 of file system/COutputLogger.h.

References mrpt::system::COutputLogger::m_min_verbosity_level.

Referenced by mrpt::slam::CMetricMapBuilderRBPF::processActionObservation(), and mrpt::system::COutputLoggerStreamWrapper::~COutputLoggerStreamWrapper().

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◆ isProfilerEnabled()

bool mrpt::graphs::ScalarFactorGraph::isProfilerEnabled ( ) const

inline

Definition at line 101 of file ScalarFactorGraph.h.

References m_enable_profiler.

Referenced by mrpt::maps::CRandomFieldGridMap2D::isProfilerEnabled().

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◆ logCond()

void COutputLogger::logCond	(	const VerbosityLevel	level,
		bool	cond,
		const std::string &	msg_str
	)		const

inherited

Log the given message only if the condition is satisfied.

See also: log, logFmt

Definition at line 131 of file COutputLogger.cpp.

◆ logDeregisterCallback()

bool COutputLogger::logDeregisterCallback ( output_logger_callback_t userFunc )

inherited

Returns: true if an entry was found and deleted.

Definition at line 291 of file COutputLogger.cpp.

References getAddress(), and mrpt::system::COutputLogger::m_listCallbacks.

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◆ logFmt()

void COutputLogger::logFmt	(	const VerbosityLevel	level,
		const char *	fmt,
			...
	)		const

inherited

Alternative logging method, which mimics the printf behavior.

Handy for not having to first use mrpt::format to pass a std::string message to logStr

// instead of:
logStr(mrpt::format("Today is the %d of %s, %d", 15, "July", 2016));
// one can use:
logFmt("Today is the %d of %s, %d", 15, "July", 2016);

See also: logStr, logCond

Definition at line 91 of file COutputLogger.cpp.

Referenced by mrpt::hmtslam::CHMTSLAM::areaAbstraction(), mrpt::graphslam::deciders::CICPCriteriaNRD< GRAPH_T >::CICPCriteriaNRD(), mrpt::hmtslam::CTopLCDetector_GridMatching::computeTopologicalObservationModel(), CGraphSlamHandler< GRAPH_T >::execute(), mrpt::math::CLevenbergMarquardtTempl< VECTORTYPE, USERPARAM >::execute(), CGraphSlamHandler< GRAPH_T >::initOutputDir(), CGraphSlamHandler< GRAPH_T >::initVisualization(), mrpt::nav::CNavigatorManualSequence::navigationStep(), mrpt::nav::CAbstractNavigator::performNavigationStepNavigating(), CGraphSlamHandler< GRAPH_T >::readConfigFname(), CGraphSlamHandler< GRAPH_T >::saveResults(), CGraphSlamHandler< GRAPH_T >::setResultsDirName(), mrpt::nav::CReactiveNavigationSystem::STEP1_InitPTGs(), mrpt::hmtslam::CHMTSLAM::thread_3D_viewer(), mrpt::hmtslam::CHMTSLAM::thread_LSLAM(), mrpt::hmtslam::CHMTSLAM::thread_TBI(), and CGraphSlamHandler< GRAPH_T >::~CGraphSlamHandler().

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◆ loggerReset()

void COutputLogger::loggerReset ( )

inherited

Reset the contents of the logger instance.

Called upon construction.

Definition at line 206 of file COutputLogger.cpp.

References mrpt::system::LVL_INFO.

◆ logging_levels_to_colors()

std::array< mrpt::system::TConsoleColor, NUMBER_OF_VERBOSITY_LEVELS > & COutputLogger::logging_levels_to_colors ( )

staticinherited

Map from VerbosityLevels to their corresponding mrpt::system::TConsoleColor.

Handy for coloring the input based on the verbosity of the message

Definition at line 47 of file COutputLogger.cpp.

References logging_levels_to_colors.

Referenced by mrpt::system::COutputLogger::TMsg::dumpToConsole().

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◆ logging_levels_to_names()

std::array< std::string, NUMBER_OF_VERBOSITY_LEVELS > & COutputLogger::logging_levels_to_names ( )

staticinherited

Map from VerbosityLevels to their corresponding names.

Handy for printing the current message VerbosityLevel along with the actual content

Definition at line 60 of file COutputLogger.cpp.

References logging_levels_to_names.

Referenced by mrpt::system::COutputLogger::TMsg::getAsString().

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◆ logRegisterCallback()

void COutputLogger::logRegisterCallback ( output_logger_callback_t userFunc )

inherited

Definition at line 278 of file COutputLogger.cpp.

References mrpt::system::COutputLogger::m_listCallbacks.

◆ logStr()

void COutputLogger::logStr	(	const VerbosityLevel	level,
		std::string_view	msg_str
	)		const

inherited

Main method to add the specified message string to the logger.

See also: logCond, logFmt

Definition at line 72 of file COutputLogger.cpp.

References mrpt::system::COutputLogger::TMsg::body, mrpt::system::COutputLogger::TMsg::dumpToConsole(), mrpt::system::COutputLogger::TMsg::level, mrpt::system::COutputLogger::TMsg::name, and mrpt::system::COutputLogger::TMsg::timestamp.

Referenced by mrpt::slam::PF_implementation< mrpt::math::TPose3D, CMonteCarloLocalization3D, mrpt::bayes::particle_storage_mode::VALUE >::PF_SLAM_implementation_pfAuxiliaryPFStandardAndOptimal(), mrpt::nav::CReactiveNavigationSystem::STEP1_InitPTGs(), mrpt::system::COutputLoggerStreamWrapper::~COutputLoggerStreamWrapper(), and mrpt::system::CTimeLoggerSaveAtDtor::~CTimeLoggerSaveAtDtor().

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◆ setLoggerName()

void COutputLogger::setLoggerName ( const std::string & name )

inherited

Set the name of the COutputLogger instance.

See also: getLoggerName

Definition at line 138 of file COutputLogger.cpp.

Referenced by mrpt::slam::CMetricMapBuilderICP::CMetricMapBuilderICP(), mrpt::slam::CMetricMapBuilderRBPF::CMetricMapBuilderRBPF(), mrpt::slam::CMonteCarloLocalization2D::CMonteCarloLocalization2D(), mrpt::slam::CMonteCarloLocalization3D::CMonteCarloLocalization3D(), mrpt::apps::ICP_SLAM_App_Base::ICP_SLAM_App_Base(), mrpt::apps::ICP_SLAM_App_Live::ICP_SLAM_App_Live(), mrpt::apps::ICP_SLAM_App_Rawlog::ICP_SLAM_App_Rawlog(), mrpt::graphslam::CWindowManager::initCWindowManager(), mrpt::apps::MonteCarloLocalization_Base::MonteCarloLocalization_Base(), mrpt::apps::RBPF_SLAM_App_Base::RBPF_SLAM_App_Base(), and mrpt::apps::RBPF_SLAM_App_Rawlog::RBPF_SLAM_App_Rawlog().

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◆ setMinLoggingLevel()

void COutputLogger::setMinLoggingLevel ( const VerbosityLevel level )

inherited

Set the minimum logging level for which the incoming logs are going to be taken into account.

String messages with specified VerbosityLevel smaller than the min, will not be outputted to the screen and neither will a record of them be stored in by the COutputLogger instance

Definition at line 144 of file COutputLogger.cpp.

Referenced by mrpt::maps::CRandomFieldGridMap2D::enableVerbose(), mrpt::math::CLevenbergMarquardtTempl< VECTORTYPE, USERPARAM >::execute(), generic_kf_slam_test(), generic_pf_test(), generic_rbpf_slam_test(), mrpt::apps::RawlogGrabberApp::initialize(), mrpt::hwdrivers::CHokuyoURG::initialize(), mrpt::graphslam::deciders::CICPCriteriaNRD< GRAPH_T >::loadParams(), mrpt::apps::CGridMapAlignerApp::run(), mrpt::apps::RBPF_SLAM_App_Base::run(), and mrpt::apps::ICP_SLAM_App_Base::run().

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◆ setVerbosityLevel()

void COutputLogger::setVerbosityLevel ( const VerbosityLevel level )

inherited

alias of setMinLoggingLevel()

Definition at line 149 of file COutputLogger.cpp.

Referenced by mrpt::nav::CAbstractNavigator::CAbstractNavigator(), mrpt::slam::CMetricMapBuilderRBPF::CMetricMapBuilderRBPF(), mrpt::comms::CServerTCPSocket::CServerTCPSocket(), mrpt::slam::CMetricMapBuilderRBPF::processActionObservation(), mrpt::math::ransac_detect_2D_lines(), and mrpt::apps::ICP_SLAM_App_Base::run().

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◆ updateEstimation()

void ScalarFactorGraph::updateEstimation	(	mrpt::math::CVectorDouble &	solved_x_inc,
		mrpt::math::CVectorDouble *	solved_variances = `nullptr`
	)

Parameters

solved_x_inc	Output increment of the current estimate. Caller must add this vector to current state vector to obtain the optimal estimation.
solved_variances	If !=nullptr, the variances of each estimate will be stored here.

Definition at line 81 of file ScalarFactorGraph.cpp.

References ASSERT_, ASSERTMSG_, mrpt::system::CTimeLogger::enable(), mrpt::system::CTimeLogger::enter(), mrpt::system::CTimeLogger::leave(), m_enable_profiler, m_factors_binary, m_factors_unary, m_numNodes, m_timelogger, MRPT_LOG_DEBUG_FMT, MRPT_TODO(), mrpt::math::CVectorDynamic< T >::resize(), mrpt::math::MatrixVectorBase< Scalar, Derived >::setZero(), mrpt::math::sum(), and THROW_EXCEPTION.

Referenced by mrpt::maps::CRandomFieldGridMap2D::updateMapEstimation_GMRF().

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◆ writeLogToFile()

void COutputLogger::writeLogToFile ( const std::string * fname_in = nullptr ) const

inherited

Write the contents of the COutputLogger instance to an external file.

Upon call to this method, COutputLogger dumps the contents of all the logged commands so far to the specified external file. By default the filename is set to ${LOGGERNAME}.log except if the fname parameter is provided

See also: dumpToConsole, getAsString

Definition at line 165 of file COutputLogger.cpp.

References ASSERTMSG_, and mrpt::format().

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Member Data Documentation

◆ logging_enable_console_output

bool mrpt::system::COutputLogger::logging_enable_console_output {true}

inherited

[Default=true] Set it to false in case you don't want the logged messages to be dumped to the output automatically.

Definition at line 240 of file system/COutputLogger.h.

◆ logging_enable_keep_record

bool mrpt::system::COutputLogger::logging_enable_keep_record {false}

inherited

[Default=false] Enables storing all messages into an internal list.

See also: writeLogToFile, getLogAsString

Definition at line 243 of file system/COutputLogger.h.

◆ m_enable_profiler

bool mrpt::graphs::ScalarFactorGraph::m_enable_profiler {false}

private

Definition at line 112 of file ScalarFactorGraph.h.

Referenced by enableProfiler(), isProfilerEnabled(), and updateEstimation().

◆ m_factors_binary

std::deque<const BinaryFactorVirtualBase*> mrpt::graphs::ScalarFactorGraph::m_factors_binary

private

Definition at line 109 of file ScalarFactorGraph.h.

Referenced by addConstraint(), clear(), clearAllConstraintsByType_Binary(), eraseConstraint(), and updateEstimation().

◆ m_factors_unary

std::deque<const UnaryFactorVirtualBase*> mrpt::graphs::ScalarFactorGraph::m_factors_unary

private

Definition at line 108 of file ScalarFactorGraph.h.

Referenced by addConstraint(), clear(), clearAllConstraintsByType_Unary(), eraseConstraint(), and updateEstimation().

◆ m_min_verbosity_level

VerbosityLevel mrpt::system::COutputLogger::m_min_verbosity_level {LVL_INFO}

protectedinherited

Provided messages with VerbosityLevel smaller than this value shall be ignored.

Definition at line 253 of file system/COutputLogger.h.

Referenced by mrpt::system::COutputLogger::getMinLoggingLevel(), and mrpt::system::COutputLogger::isLoggingLevelVisible().

◆ m_numNodes

size_t mrpt::graphs::ScalarFactorGraph::m_numNodes = 0

private

number of nodes in the graph

Definition at line 106 of file ScalarFactorGraph.h.

Referenced by clear(), initialize(), and updateEstimation().

◆ m_timelogger

mrpt::system::CTimeLogger mrpt::graphs::ScalarFactorGraph::m_timelogger

private

Definition at line 111 of file ScalarFactorGraph.h.

Referenced by updateEstimation().

Detailed Description

Classes

Public Member Functions

Static Public Member Functions

Protected Attributes

Private Attributes

Logging methods

Constructor & Destructor Documentation

◆ ScalarFactorGraph()

Member Function Documentation

◆ addConstraint() [1/2]

◆ addConstraint() [2/2]

◆ clear()

◆ clearAllConstraintsByType_Binary()

◆ clearAllConstraintsByType_Unary()

◆ dumpLogToConsole()

◆ enableProfiler()

◆ eraseConstraint()

◆ getLogAsString() [1/2]

◆ getLogAsString() [2/2]

◆ getLoggerLastMsg() [1/2]

◆ getLoggerLastMsg() [2/2]

◆ getLoggerName()

◆ getMinLoggingLevel()

◆ initialize()

◆ isLoggingLevelVisible()

◆ isProfilerEnabled()

◆ logCond()

◆ logDeregisterCallback()

◆ logFmt()

◆ loggerReset()

◆ logging_levels_to_colors()

◆ logging_levels_to_names()

◆ logRegisterCallback()

◆ logStr()

◆ setLoggerName()

◆ setMinLoggingLevel()

◆ setVerbosityLevel()

◆ updateEstimation()

◆ writeLogToFile()

Member Data Documentation

◆ logging_enable_console_output

◆ logging_enable_keep_record

◆ m_enable_profiler

◆ m_factors_binary

◆ m_factors_unary

◆ m_min_verbosity_level

◆ m_numNodes

◆ m_timelogger