MRPT  1.9.9
mrpt::graphs::ScalarFactorGraph Class Reference

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
 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, const std::string &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
listOfConstraintsList 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 200 of file system/COutputLogger.h.

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

Referenced by mrpt::maps::CRandomFieldGridMap2D::isEnabledVerbose(), and mrpt::slam::CMetricMapBuilderRBPF::processActionObservation().

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◆ initialize()

void ScalarFactorGraph::initialize ( const size_t  nodeCount)

Initialize the GMRF internal state and copy the prior factors.

Parameters
nodeCountNumber 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 201 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

◆ 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,
const std::string 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(), and mrpt::graphslam::CWindowManager::initCWindowManager().

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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(), mrpt::hwdrivers::CHokuyoURG::initialize(), and mrpt::graphslam::deciders::CICPCriteriaNRD< GRAPH_T >::loadParams().

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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(), and mrpt::math::ransac_detect_2D_lines().

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◆ updateEstimation()

void ScalarFactorGraph::updateEstimation ( mrpt::math::CVectorDouble solved_x_inc,
mrpt::math::CVectorDouble solved_variances = nullptr 
)
Parameters
solved_x_incOutput increment of the current estimate. Caller must add this vector to current state vector to obtain the optimal estimation.
solved_variancesIf !=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 239 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 242 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

◆ m_factors_unary

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

◆ 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 252 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
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().




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