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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:

Usage:

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

Definition at line 43 of file ScalarFactorGraph.h.

#include <mrpt/graphs/ScalarFactorGraph.h>

Inheritance diagram for mrpt::graphs::ScalarFactorGraph:
Inheritance graph

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 (Eigen::VectorXd &solved_x_inc, Eigen::VectorXd *solved_variances=nullptr)
 
bool isProfilerEnabled () const
 
void enableProfiler (bool enable=true)
 

Static Public Attributes

static mrpt::system::TConsoleColor logging_levels_to_colors [NUMBER_OF_VERBOSITY_LEVELS]
 Map from VerbosityLevels to their corresponding mrpt::system::TConsoleColor. More...
 
static std::string logging_levels_to_names [NUMBER_OF_VERBOSITY_LEVELS]
 Map from VerbosityLevels to their corresponding names. More...
 

Protected Attributes

VerbosityLevel m_min_verbosity_level
 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
 

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

Constructor & Destructor Documentation

◆ ScalarFactorGraph()

ScalarFactorGraph::ScalarFactorGraph ( )

Definition at line 25 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 46 of file ScalarFactorGraph.cpp.

References m_factors_unary.

Referenced by mrpt::maps::CRandomFieldGridMap3D::insertIndividualReading(), and mrpt::maps::CRandomFieldGridMap2D::insertObservation_GMRF().

◆ addConstraint() [2/2]

void ScalarFactorGraph::addConstraint ( const BinaryFactorVirtualBase listOfConstraints)

Definition at line 50 of file ScalarFactorGraph.cpp.

References m_factors_binary.

◆ clear()

void ScalarFactorGraph::clear ( )

Reset state: remove all constraints and nodes.

Definition at line 30 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 95 of file ScalarFactorGraph.h.

References m_factors_binary.

◆ clearAllConstraintsByType_Unary()

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

Definition at line 94 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 179 of file COutputLogger.cpp.

◆ enableProfiler()

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

Definition at line 104 of file ScalarFactorGraph.h.

References m_enable_profiler.

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

◆ eraseConstraint()

bool ScalarFactorGraph::eraseConstraint ( const FactorBase c)

Removes a constraint.

Return true if found and deleted correctly.

Definition at line 55 of file ScalarFactorGraph.cpp.

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

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

◆ 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 143 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 148 of file COutputLogger.cpp.

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

◆ getLoggerLastMsg() [1/2]

std::string COutputLogger::getLoggerLastMsg ( ) const
inherited

Return the last Tmsg instance registered in the logger history.

Definition at line 184 of file COutputLogger.cpp.

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

◆ 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 190 of file COutputLogger.cpp.

◆ getLoggerName()

std::string COutputLogger::getLoggerName ( ) const
inherited

Return the name of the COutputLogger instance.

See also
setLoggerName

Definition at line 132 of file COutputLogger.cpp.

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

◆ getMinLoggingLevel()

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

◆ 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 39 of file ScalarFactorGraph.cpp.

References m_numNodes, and MRPT_LOG_DEBUG_STREAM.

◆ isLoggingLevelVisible()

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

◆ isProfilerEnabled()

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

◆ 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 120 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 287 of file COutputLogger.cpp.

References getAddress().

◆ 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 195 of file COutputLogger.cpp.

References mrpt::system::LVL_INFO.

◆ logRegisterCallback()

void COutputLogger::logRegisterCallback ( output_logger_callback_t  userFunc)
inherited

Definition at line 274 of file COutputLogger.cpp.

◆ logStr()

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

◆ setLoggerName()

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

◆ 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 133 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().

◆ setVerbosityLevel()

void COutputLogger::setVerbosityLevel ( const VerbosityLevel  level)
inherited

◆ updateEstimation()

void ScalarFactorGraph::updateEstimation ( Eigen::VectorXd &  solved_x_inc,
Eigen::VectorXd *  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 84 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::sum(), and THROW_EXCEPTION.

Referenced by mrpt::maps::CRandomFieldGridMap3D::updateMapEstimation(), and mrpt::maps::CRandomFieldGridMap2D::updateMapEstimation_GMRF().

◆ writeLogToFile()

void COutputLogger::writeLogToFile ( const std::string fname_in = NULL) 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 154 of file COutputLogger.cpp.

References ASSERTMSG_, and mrpt::format().

Member Data Documentation

◆ logging_enable_console_output

bool mrpt::system::COutputLogger::logging_enable_console_output
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
inherited

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

See also
writeLogToFile, getLogAsString

Definition at line 242 of file system/COutputLogger.h.

◆ logging_levels_to_colors

mrpt::system::TConsoleColor COutputLogger::logging_levels_to_colors
staticinherited
Initial value:

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

Implementation file for the COutputLogger header class.

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

Definition at line 124 of file system/COutputLogger.h.

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

◆ logging_levels_to_names

std::string COutputLogger::logging_levels_to_names
staticinherited
Initial value:
=
{
"DEBUG",
"INFO ",
"WARN ",
"ERROR"
}

Map from VerbosityLevels to their corresponding names.

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

Definition at line 129 of file system/COutputLogger.h.

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

◆ m_enable_profiler

bool mrpt::graphs::ScalarFactorGraph::m_enable_profiler
private

Definition at line 113 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
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 107 of file ScalarFactorGraph.h.

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

◆ m_timelogger

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

Definition at line 112 of file ScalarFactorGraph.h.

Referenced by updateEstimation().




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