batch_stats.h

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// g2o - General Graph Optimization
// Copyright (C) 2011 R. Kuemmerle, G. Grisetti, W. Burgard
// All rights reserved.
//
// Redistribution and use in source and binary forms, with or without
// modification, are permitted provided that the following conditions are
// met:
//
// * Redistributions of source code must retain the above copyright notice,
//   this list of conditions and the following disclaimer.
// * Redistributions in binary form must reproduce the above copyright
//   notice, this list of conditions and the following disclaimer in the
//   documentation and/or other materials provided with the distribution.
//
// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS
// IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED
// TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A
// PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT
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#ifndef G2O_BATCH_STATS_H_
#define G2O_BATCH_STATS_H_
 
#include <iostream>
#include <vector>
 
#include "g2o_core_api.h"
 
namespace g2o {

struct G2O_CORE_API G2OBatchStatistics {
  G2OBatchStatistics();
  int iteration;    
  int numVertices;  
  int numEdges;     
  double chi2;      

  // nonlinear part
  double timeResiduals;      
  double timeLinearize;      
  double timeQuadraticForm;  
  int levenbergIterations;   
  // block_solver (constructs Ax=b, plus maybe schur)
  double timeSchurComplement;  
 
  // linear solver (computes Ax=b);
  double timeSymbolicDecomposition;  
  double timeNumericDecomposition;   
  double timeLinearSolution;         
  double timeLinearSolver;     
  int iterationsLinearSolver;  
  double timeUpdate;           
  double timeIteration;        
 
  double timeMarginals;  
 
  // information about the Hessian matrix
  size_t hessianDimension;      
  size_t hessianPoseDimension;  
  size_t
      hessianLandmarkDimension;  
  size_t choleskyNNZ;            
 
  static G2OBatchStatistics* globalStats() { return _globalStats; }
  static void setGlobalStats(G2OBatchStatistics* b);
 
 protected:
  static G2OBatchStatistics* _globalStats;
};
 
G2O_CORE_API std::ostream& operator<<(std::ostream&, const G2OBatchStatistics&);
 
typedef std::vector<G2OBatchStatistics> BatchStatisticsContainer;
}  // namespace g2o
 
#endif