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release/4.3a0
Fan Jiang 2020-06-02 16:17:28 -04:00
parent 50ffeb7dcd
commit 15fda68c1a
1 changed files with 18 additions and 9 deletions
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27
gtsam/linear/JacobianFactor.cpp
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@ -552,18 +552,27 @@ VectorValues JacobianFactor::hessianDiagonal() const {
void JacobianFactor::hessianDiagonalAdd(VectorValues& d) const {
for (size_t pos = 0; pos < size(); ++pos) {
Key j = keys_[pos];
size_t nj = Ab_(pos).cols();
Vector dj(nj);
for (size_t k = 0; k < nj; ++k) {
Vector column_k = Ab_(pos).col(k);
if (model_)
model_->whitenInPlace(column_k);
dj(k) = dot(column_k, column_k);
}
auto item = d.find(j);
if(item != d.end()) {
item->second += dj;
size_t nj = Ab_(pos).cols();
Vector& dj = item->second;
for (size_t k = 0; k < nj; ++k) {
Vector column_k = Ab_(pos).col(k);
if (model_)
model_->whitenInPlace(column_k);
dj(k) += dot(column_k, column_k);
}
} else {
size_t nj = Ab_(pos).cols();
Vector dj(nj);
for (size_t k = 0; k < nj; ++k) {
Vector column_k = Ab_(pos).col(k);
if (model_)
model_->whitenInPlace(column_k);
dj(k) = dot(column_k, column_k);
}
d.emplace(j, dj);
}
}