graphite Namespace Reference

The top-level namespace for Graphite. More...

Namespaces
namespace	ops
	Operations for Graphite.
namespace	optimizer
	Optimization algorithms for Graphite.

Classes
class	BaseFactorDescriptor
	Base class for factor descriptors. More...
class	BaseVertexDescriptor
struct	BlockCoordColMajorLess
class	BlockCoordinates
class	BlockJacobiPreconditioner
class	BlockJacobiSchurPreconditioner
	Block Jacobi preconditioner for PCG with the Schur complement. More...
struct	CameraTraits
struct	CircleFactorTraits
class	CSCMatrix
class	cudssSchurSolver
class	cudssSolver
class	cudssSolverOptions
class	Decomp
class	DefaultLoss
struct	DifferentiationMode
struct	Dual
class	EigenLDLTSolver
class	EigenLDLTSolverImpl
class	EigenLDLTWrapper
class	EigenSchurLDLTSolver
struct	Empty
class	FactorDescriptor
	Represents a group of factors which will be processed together on the GPU. More...
struct	get_State_or
struct	get_State_or< T, Fallback, std::void_t< typename T::State > >
struct	get_vertex_pointer_pointer_type
struct	get_vertex_pointer_type
struct	get_vertex_type
struct	GlobalToLocalEntry
class	Graph
	Graph class which stores references to vertex and factor descriptors, and provides methods for optimization. More...
class	HandleManager
struct	has_type_alias_State
struct	has_type_alias_State< T, std::void_t< typename T::State > >
class	Hessian
class	HessianBlocks
class	HuberLoss
class	IdentityPreconditioner
struct	is_half_or_bfloat16
struct	is_half_or_bfloat16< __half >
struct	is_half_or_bfloat16< __nv_bfloat16 >
class	JacobianStorage
	Storage class for Jacobians of a factor. More...
class	Loss
class	managed_vector
struct	PairCountFromPoseCount
class	PCGSchurSolver
	PCG solver using the Schur complement. More...
class	PCGSolver
	Preconditioned Conjugate Gradient (PCG) solver. More...
struct	PointTraits
class	Preconditioner
struct	ProductDim
struct	ReprojectionErrorTraits
class	SchurComplement
	Class for computing the explicit Schur complement. More...
class	SchurPreconditioner
	Base class for Schur complement preconditioners. More...
class	Solver
	Linear solver interface. Implement this for your own linear solvers. More...
class	StreamPool
struct	transform_tuple
struct	transform_tuple< std::tuple< Ts... >, MetaFunc >
struct	uninitialized_allocator
struct	vec2_type
struct	vec2_type< __half >
struct	vec2_type< __nv_bfloat16 >
struct	vec2_type< double >
struct	vec2_type< float >
class	VertexDescriptor
	Represents a collection of optimizable variables to be processed together on the GPU. More...

Typedefs
using	BlockDimension = BlockCoordinates
template<typename T , typename Fallback >
using	get_State_or_t = typename get_State_or< T, Fallback >::type
using	MatVecDim = BlockDimension
template<typename T >
using	VecMap = Eigen::Map< Eigen::Matrix< T, Eigen::Dynamic, Eigen::Dynamic > >
template<typename T >
using	is_low_precision = is_half_or_bfloat16< T >
template<typename T , typename S >
using	InvP = std::conditional_t< is_low_precision< S >::value, T, S >
template<typename T >
using	Point = Eigen::Matrix< T, 3, 1 >
template<typename T >
using	Camera = Eigen::Matrix< T, 9, 1 >
template<typename T , typename S >
using	PointDescriptor = VertexDescriptor< T, S, PointTraits< T > >
template<typename T , typename S >
using	CameraDescriptor = VertexDescriptor< T, S, CameraTraits< T > >
template<typename T , typename S >
using	ReprojectionError = FactorDescriptor< T, S, ReprojectionErrorTraits< T, S > >
template<typename T , typename S >
using	CircleFactor = FactorDescriptor< T, S, CircleFactorTraits< T, S > >

Functions
template<>
EigenLDLTSolverImpl< double, int32_t > *	create_eigen_ldlt_solver< EigenLDLTSolverImpl< double, int32_t > > ()
template<>
EigenLDLTSolverImpl< float, int32_t > *	create_eigen_ldlt_solver< EigenLDLTSolverImpl< float, int32_t > > ()
template<>
EigenLDLTSolverImpl< double, int64_t > *	create_eigen_ldlt_solver< EigenLDLTSolverImpl< double, int64_t > > ()
template<>
EigenLDLTSolverImpl< float, int64_t > *	create_eigen_ldlt_solver< EigenLDLTSolverImpl< float, int64_t > > ()
template<>
void	destroy_eigen_ldlt_solver< EigenLDLTSolverImpl< double, int32_t > > (EigenLDLTSolverImpl< double, int32_t > *solver)
template<>
void	destroy_eigen_ldlt_solver< EigenLDLTSolverImpl< float, int32_t > > (EigenLDLTSolverImpl< float, int32_t > *solver)
template<>
void	destroy_eigen_ldlt_solver< EigenLDLTSolverImpl< double, int64_t > > (EigenLDLTSolverImpl< double, int64_t > *solver)
template<>
void	destroy_eigen_ldlt_solver< EigenLDLTSolverImpl< float, int64_t > > (EigenLDLTSolverImpl< float, int64_t > *solver)
__host__ __device__ __forceinline__ bool	is_factor_active (const uint8_t active_val, const uint8_t level)
__host__ __device__ __forceinline__ bool	is_vertex_active (const uint8_t *active_state, const size_t vertex_id)
size_t	build_active_indices (const thrust::device_vector< uint8_t > &active, thrust::device_vector< size_t > &active_indices, const size_t count, const uint8_t level)
template<typename DiffMode >
constexpr bool	use_autodiff_impl ()
template<typename F >
constexpr bool	is_analytical ()
template<>
constexpr bool	use_autodiff_impl< DifferentiationMode::Auto > ()
__device__ __forceinline__ size_t	get_thread_id ()
template<typename T , size_t I, size_t N, typename M , size_t E, typename F , typename VT , std::size_t... Is>
__device__ void	compute_Jblock (T *jacobian, const size_t factor_id, const size_t vertex_id, const M *obs, const typename F::ConstraintDataType *constraint_data, const size_t *ids, const size_t *hessian_ids, VT args, std::index_sequence< Is... >)
template<typename T >
cudaDataType_t	get_cuda_data_type ()
template<>
cudaDataType_t	get_cuda_data_type< double > ()
template<>
cudaDataType_t	get_cuda_data_type< float > ()
template<typename Index >
cudaDataType_t	get_cuda_index_type ()
template<typename Solver >
Solver *	create_eigen_ldlt_solver ()
template<typename Solver >
void	destroy_eigen_ldlt_solver (Solver *solver)
template<>
EigenLDLTSolverImpl< double, int32_t > *	create_eigen_ldlt_solver< EigenLDLTSolverImpl< double, int32_t > > ()
template<>
EigenLDLTSolverImpl< float, int32_t > *	create_eigen_ldlt_solver< EigenLDLTSolverImpl< float, int32_t > > ()
template<>
EigenLDLTSolverImpl< double, int64_t > *	create_eigen_ldlt_solver< EigenLDLTSolverImpl< double, int64_t > > ()
template<>
EigenLDLTSolverImpl< float, int64_t > *	create_eigen_ldlt_solver< EigenLDLTSolverImpl< float, int64_t > > ()
template<>
void	destroy_eigen_ldlt_solver< EigenLDLTSolverImpl< double, int32_t > > (EigenLDLTSolverImpl< double, int32_t > *solver)
template<>
void	destroy_eigen_ldlt_solver< EigenLDLTSolverImpl< float, int32_t > > (EigenLDLTSolverImpl< float, int32_t > *solver)
template<>
void	destroy_eigen_ldlt_solver< EigenLDLTSolverImpl< double, int64_t > > (EigenLDLTSolverImpl< double, int64_t > *solver)
template<>
void	destroy_eigen_ldlt_solver< EigenLDLTSolverImpl< float, int64_t > > (EigenLDLTSolverImpl< float, int64_t > *solver)
template<typename hp , typename lp >
__device__ lp	convert_to_low_precision (const hp &value)
template<typename T >
void	prefetch_vector_on_device_async (const thrust::universal_vector< T > &vec, int device_id, cudaStream_t stream)
template<typename T >
void	prefetch_vector_on_device_async (const managed_vector< T > &vec, int device_id, cudaStream_t stream)
template<typename T >
void	prefetch_vector_on_host (const thrust::universal_vector< T > &vec, cudaStream_t stream)
template<typename T >
void	prefetch_vector_on_host (const managed_vector< T > &vec, cudaStream_t stream)
template<typename T >
void	print_device_vector (const thrust::device_vector< T > &vec)
template<typename T >
void	print_device_vector (const T *vec, size_t size)

Detailed Description

The top-level namespace for Graphite.