本文整理汇总了C++中SparseOptimizer::setComputeBatchStatistics方法的典型用法代码示例。如果您正苦于以下问题：C++ SparseOptimizer::setComputeBatchStatistics方法的具体用法？C++ SparseOptimizer::setComputeBatchStatistics怎么用？C++ SparseOptimizer::setComputeBatchStatistics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::setComputeBatchStatistics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.........
dumpEdges(cout, optimizer);
lastVisUpdateVertexCount = vertexCount;
}
}
}
if (! verbose)
cerr << ".";
}
} // for all edges
if (! freshlyOptimized) {
double ts = get_monotonic_time();
int currentIt=optimizer.optimize(incIterations, !firstRound);
double dts = get_monotonic_time() - ts;
cumTime += dts;
//optimizer->setOptimizationTime(cumTime);
if (verbose) {
double chi2 = optimizer.chi2();
cerr << "nodes= " << optimizer.vertices().size() << "\t edges= " << optimizer.edges().size() << "\t chi2= " << chi2
<< "\t time= " << dts << "\t iterations= " << currentIt << "\t cumTime= " << cumTime << endl;
}
}
} else {
// BATCH optimization
if (statsFile!=""){
// allocate buffer for statistics;
optimizer.setComputeBatchStatistics(true);
}
optimizer.initializeOptimization();
optimizer.computeActiveErrors();
double loadChi = optimizer.chi2();
cerr << "Initial chi2 = " << FIXED(loadChi) << endl;
if (initialGuess) {
optimizer.computeInitialGuess();
} else if (initialGuessOdometry) {
EstimatePropagatorCostOdometry costFunction(&optimizer);
optimizer.computeInitialGuess(costFunction);
}
double initChi = optimizer.chi2();
signal(SIGINT, sigquit_handler);
int result=optimizer.optimize(maxIterations);
if (maxIterations > 0 && result==OptimizationAlgorithm::Fail){
cerr << "Cholesky failed, result might be invalid" << endl;
} else if (computeMarginals){
std::vector<std::pair<int, int> > blockIndices;
for (size_t i=0; i<optimizer.activeVertices().size(); i++){
OptimizableGraph::Vertex* v=optimizer.activeVertices()[i];
if (v->hessianIndex()>=0){
blockIndices.push_back(make_pair(v->hessianIndex(), v->hessianIndex()));
}
if (v->hessianIndex()>0){
blockIndices.push_back(make_pair(v->hessianIndex()-1, v->hessianIndex()));
}
}
SparseBlockMatrix<MatrixXd> spinv;
if (optimizer.computeMarginals(spinv, blockIndices)) {
for (size_t i=0; i<optimizer.activeVertices().size(); i++){