本文整理汇总了C++中SparseOptimizer::batchStatistics方法的典型用法代码示例。如果您正苦于以下问题：C++ SparseOptimizer::batchStatistics方法的具体用法？C++ SparseOptimizer::batchStatistics怎么用？C++ SparseOptimizer::batchStatistics使用的例子？那么, 这里精选的方法代码示例或许可以为您提供帮助。您也可以进一步了解该方法所在类SparseOptimizer的用法示例。
在下文中一共展示了SparseOptimizer::batchStatistics方法的1个代码示例，这些例子默认根据受欢迎程度排序。您可以为喜欢或者感觉有用的代码点赞，您的评价将有助于系统推荐出更棒的C++代码示例。
示例1: main
//.........这里部分代码省略.........
for (size_t i=0; i<optimizer.activeVertices().size(); i++){
OptimizableGraph::Vertex* v=optimizer.activeVertices()[i];
cerr << "Vertex id:" << v->id() << endl;
if (v->hessianIndex()>=0){
cerr << "inv block :" << v->hessianIndex() << ", " << v->hessianIndex()<< endl;
cerr << *(spinv.block(v->hessianIndex(), v->hessianIndex()));
cerr << endl;
}
if (v->hessianIndex()>0){
cerr << "inv block :" << v->hessianIndex()-1 << ", " << v->hessianIndex()<< endl;
cerr << *(spinv.block(v->hessianIndex()-1, v->hessianIndex()));
cerr << endl;
}
}
}
}
optimizer.computeActiveErrors();
double finalChi=optimizer.chi2();
if (summaryFile!="") {
PropertyMap summary;
summary.makeProperty<StringProperty>("filename", inputFilename);
summary.makeProperty<IntProperty>("n_vertices", optimizer.vertices().size());
summary.makeProperty<IntProperty>("n_edges", optimizer.edges().size());
int nLandmarks=0;
int nPoses=0;
int maxDim = *vertexDimensions.rbegin();
for (HyperGraph::VertexIDMap::iterator it=optimizer.vertices().begin(); it!=optimizer.vertices().end(); it++){
OptimizableGraph::Vertex* v=static_cast<OptimizableGraph::Vertex*>(it->second);
if (v->dimension() != maxDim) {
nLandmarks++;
} else
nPoses++;
}
set<string> edgeTypes;
for (HyperGraph::EdgeSet::iterator it=optimizer.edges().begin(); it!=optimizer.edges().end(); it++){
edgeTypes.insert(Factory::instance()->tag(*it));
}
stringstream edgeTypesString;
for (std::set<string>::iterator it=edgeTypes.begin(); it!=edgeTypes.end(); it++){
edgeTypesString << *it << " ";
}
summary.makeProperty<IntProperty>("n_poses", nPoses);
summary.makeProperty<IntProperty>("n_landmarks", nLandmarks);
summary.makeProperty<StringProperty>("edge_types", edgeTypesString.str());
summary.makeProperty<DoubleProperty>("load_chi", loadChi);
summary.makeProperty<StringProperty>("solver", strSolver);
summary.makeProperty<BoolProperty>("robustKernel", robustKernel.size() > 0);
summary.makeProperty<DoubleProperty>("init_chi", initChi);
summary.makeProperty<DoubleProperty>("final_chi", finalChi);
summary.makeProperty<IntProperty>("maxIterations", maxIterations);
summary.makeProperty<IntProperty>("realIterations", result);
ofstream os;
os.open(summaryFile.c_str(), ios::app);
summary.writeToCSV(os);
}
if (statsFile!=""){
cerr << "writing stats to file \"" << statsFile << "\" ... ";
ofstream os(statsFile.c_str());
const BatchStatisticsContainer& bsc = optimizer.batchStatistics();
for (int i=0; i<maxIterations; i++) {
os << bsc[i] << endl;
}
cerr << "done." << endl;
}
}
// saving again
if (gnudump.size() > 0) {
bool gnuPlotStatus = saveGnuplot(gnudump, optimizer);
if (! gnuPlotStatus) {
cerr << "Error while writing gnuplot files" << endl;
}
}
if (outputfilename.size() > 0) {
if (outputfilename == "-") {
cerr << "saving to stdout";
optimizer.save(cout);
} else {
cerr << "saving " << outputfilename << " ... ";
optimizer.save(outputfilename.c_str());
}
cerr << "done." << endl;
}
// destroy all the singletons
//Factory::destroy();
//OptimizationAlgorithmFactory::destroy();
//HyperGraphActionLibrary::destroy();
return 0;
}