C++ Vertex::hessianData方法代码示例

void BaseMultiEdge<D, E>::constructQuadraticForm()
{
  const InformationType& omega = _information;
  Matrix<double, D, 1> omega_r = - omega * _error;

  for (size_t i = 0; i < _vertices.size(); ++i) {
    OptimizableGraph::Vertex* from = static_cast<OptimizableGraph::Vertex*>(_vertices[i]);
    bool istatus = !(from->fixed());

    if (istatus) {
      const MatrixXd& A = _jacobianOplus[i];

      MatrixXd AtO = A.transpose() * omega;
      int fromDim = from->dimension();
      Map<MatrixXd> fromMap(from->hessianData(), fromDim, fromDim);
      Map<VectorXd> fromB(from->bData(), fromDim);

      // ii block in the hessian
#ifdef G2O_OPENMP
      from->lockQuadraticForm();
#endif
      fromMap.noalias() += AtO * A;
      fromB.noalias() += A.transpose() * omega_r;

      // compute the off-diagonal blocks ij for all j
      for (size_t j = i+1; j < _vertices.size(); ++j) {
        OptimizableGraph::Vertex* to = static_cast<OptimizableGraph::Vertex*>(_vertices[j]);
#ifdef G2O_OPENMP
        to->lockQuadraticForm();
#endif
        bool jstatus = !(to->fixed());
        if (jstatus) {
          const MatrixXd& B = _jacobianOplus[j];
          int idx = computeUpperTriangleIndex(i, j);
          assert(idx < (int)_hessian.size());
          HessianHelper& hhelper = _hessian[idx];
          if (hhelper.transposed) { // we have to write to the block as transposed
            hhelper.matrix.noalias() += B.transpose() * AtO.transpose();
          } else {
            hhelper.matrix.noalias() += AtO * B;
          }
        }
#ifdef G2O_OPENMP
        to->unlockQuadraticForm();
#endif
      }

#ifdef G2O_OPENMP
      from->unlockQuadraticForm();
#endif
    }

  }

}

  bool SparseOptimizerIncremental::updateInitialization(HyperGraph::VertexSet& vset, HyperGraph::EdgeSet& eset)
  {
    if (batchStep) {
      return SparseOptimizerOnline::updateInitialization(vset, eset);
    }

    for (HyperGraph::VertexSet::iterator it = vset.begin(); it != vset.end(); ++it) {
      OptimizableGraph::Vertex* v = static_cast<OptimizableGraph::Vertex*>(*it);
      v->clearQuadraticForm(); // be sure that b is zero for this vertex
    }

    // get the touched vertices
    _touchedVertices.clear();
    for (HyperGraph::EdgeSet::iterator it = eset.begin(); it != eset.end(); ++it) {
      OptimizableGraph::Edge* e = static_cast<OptimizableGraph::Edge*>(*it);
      OptimizableGraph::Vertex* v1 = static_cast<OptimizableGraph::Vertex*>(e->vertices()[0]);
      OptimizableGraph::Vertex* v2 = static_cast<OptimizableGraph::Vertex*>(e->vertices()[1]);
      if (! v1->fixed())
        _touchedVertices.insert(v1);
      if (! v2->fixed())
        _touchedVertices.insert(v2);
    }
    //cerr << PVAR(_touchedVertices.size()) << endl;

    // updating the internal structures
    std::vector<HyperGraph::Vertex*> newVertices;
    newVertices.reserve(vset.size());
    _activeVertices.reserve(_activeVertices.size() + vset.size());
    _activeEdges.reserve(_activeEdges.size() + eset.size());
    for (HyperGraph::EdgeSet::iterator it = eset.begin(); it != eset.end(); ++it)
      _activeEdges.push_back(static_cast<OptimizableGraph::Edge*>(*it));
    //cerr << "updating internal done." << endl;

    // update the index mapping
    size_t next = _ivMap.size();
    for (HyperGraph::VertexSet::iterator it = vset.begin(); it != vset.end(); ++it) {
      OptimizableGraph::Vertex* v=static_cast<OptimizableGraph::Vertex*>(*it);
      if (! v->fixed()){
        if (! v->marginalized()){
          v->setHessianIndex(next);
          _ivMap.push_back(v);
          newVertices.push_back(v);
          _activeVertices.push_back(v);
          next++;
        } 
        else // not supported right now
          abort();
      }
      else {
        v->setHessianIndex(-1);
      }
    }
    //cerr << "updating index mapping done." << endl;

    // backup the tempindex and prepare sorting structure
    VertexBackup backupIdx[_touchedVertices.size()];
    memset(backupIdx, 0, sizeof(VertexBackup) * _touchedVertices.size());
    int idx = 0;
    for (HyperGraph::VertexSet::iterator it = _touchedVertices.begin(); it != _touchedVertices.end(); ++it) {
      OptimizableGraph::Vertex* v = static_cast<OptimizableGraph::Vertex*>(*it);
      backupIdx[idx].hessianIndex = v->hessianIndex();
      backupIdx[idx].vertex = v;
      backupIdx[idx].hessianData = v->hessianData();
      ++idx;
    }
    sort(backupIdx, backupIdx + _touchedVertices.size()); // sort according to the hessianIndex which is the same order as used later by the optimizer
    for (int i = 0; i < idx; ++i) {
      backupIdx[i].vertex->setHessianIndex(i);
    }
    //cerr << "backup tempindex done." << endl;

    // building the structure of the update
    _updateMat.clear(true); // get rid of the old matrix structure
    _updateMat.rowBlockIndices().clear();
    _updateMat.colBlockIndices().clear();
    _updateMat.blockCols().clear();

    // placing the current stuff in _updateMat
    MatrixXd* lastBlock = 0;
    int sizePoses = 0;
    for (int i = 0; i < idx; ++i) {
      OptimizableGraph::Vertex* v = backupIdx[i].vertex;
      int dim = v->dimension();
      sizePoses+=dim;
      _updateMat.rowBlockIndices().push_back(sizePoses);
      _updateMat.colBlockIndices().push_back(sizePoses);
      _updateMat.blockCols().push_back(SparseBlockMatrix<MatrixXd>::IntBlockMap());
      int ind = v->hessianIndex();
      //cerr << PVAR(ind) << endl;
      if (ind >= 0) {
        MatrixXd* m = _updateMat.block(ind, ind, true);
        v->mapHessianMemory(m->data());
        lastBlock = m;
      }
    }
    lastBlock->diagonal().array() += 1e-6; // HACK to get Eigen value > 0


    for (HyperGraph::EdgeSet::const_iterator it = eset.begin(); it != eset.end(); ++it) {
      OptimizableGraph::Edge* e = static_cast<OptimizableGraph::Edge*>(*it);
//.........这里部分代码省略.........