45 lines
1.3 KiB
C++
45 lines
1.3 KiB
C++
/*
|
|
* @file JacobianFactorSVD.h
|
|
* @date Oct 27, 2013
|
|
* @uthor Frank Dellaert
|
|
*/
|
|
|
|
#pragma once
|
|
#include "gtsam_unstable/slam/JacobianSchurFactor.h"
|
|
|
|
namespace gtsam {
|
|
/**
|
|
* JacobianFactor for Schur complement that uses Q noise model
|
|
*/
|
|
template<size_t D>
|
|
class JacobianFactorSVD: public JacobianSchurFactor<D> {
|
|
|
|
public:
|
|
|
|
typedef Eigen::Matrix<double, 2, D> Matrix2D;
|
|
typedef std::pair<Key, Matrix2D> KeyMatrix2D;
|
|
|
|
/// Default constructor
|
|
JacobianFactorSVD() {}
|
|
|
|
/// Constructor
|
|
JacobianFactorSVD(const std::vector<KeyMatrix2D>& Fblocks, const Matrix& Enull, const Vector& b,
|
|
const SharedDiagonal& model = SharedDiagonal()) : JacobianSchurFactor<D>() {
|
|
size_t numKeys = Enull.rows() / 2;
|
|
size_t j = 0, m2 = 2*numKeys-3;
|
|
// PLAIN NULL SPACE TRICK
|
|
// Matrix Q = Enull * Enull.transpose();
|
|
// BOOST_FOREACH(const KeyMatrix2D& it, Fblocks)
|
|
// QF.push_back(KeyMatrix(it.first, Q.block(0, 2 * j++, m2, 2) * it.second));
|
|
// JacobianFactor factor(QF, Q * b);
|
|
typedef std::pair<Key, Matrix> KeyMatrix;
|
|
std::vector<KeyMatrix> QF;
|
|
QF.reserve(numKeys);
|
|
BOOST_FOREACH(const KeyMatrix2D& it, Fblocks)
|
|
QF.push_back(KeyMatrix(it.first, (Enull.transpose()).block(0, 2 * j++, m2, 2) * it.second));
|
|
JacobianFactor::fillTerms(QF, Enull.transpose() * b, model);
|
|
}
|
|
};
|
|
|
|
}
|