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Remove unused indices in batch step 

In the batch step (in recalculate) we need to remove the unused indices
from the variable index, otherwise the elimination would throw an
exception saying:

  "Requested to eliminate a key that is not in the factors"
release/4.3a0
Enrique Fernandez 2016-08-03 15:41:27 -04:00
parent 86d1d42c36
commit 2fdb6ce48f
1 changed files with 14 additions and 4 deletions
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18
gtsam/nonlinear/ISAM2.cpp
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@ -334,13 +334,23 @@ boost::shared_ptr<KeySet > ISAM2::recalculate(const KeySet& markedKeys, const Ke
gttic(add_keys);
br::copy(variableIndex_ | br::map_keys, std::inserter(*affectedKeysSet, affectedKeysSet->end()));
// Removed unused keys:
VariableIndex affectedFactorsVarIndex = variableIndex_;
affectedFactorsVarIndex.removeUnusedVariables(unusedIndices.begin(), unusedIndices.end());
for (const Key key: unusedIndices)
{
affectedKeysSet->erase(key);
}
gttoc(add_keys);
gttic(ordering);
Ordering order;
if(constrainKeys)
{
order = Ordering::ColamdConstrained(variableIndex_, *constrainKeys);
order = Ordering::ColamdConstrained(affectedFactorsVarIndex, *constrainKeys);
}
else
{
@ -350,11 +360,11 @@ boost::shared_ptr<KeySet > ISAM2::recalculate(const KeySet& markedKeys, const Ke
FastMap<Key, int> constraintGroups;
for(Key var: observedKeys)
constraintGroups[var] = 1;
order = Ordering::ColamdConstrained(variableIndex_, constraintGroups);
order = Ordering::ColamdConstrained(affectedFactorsVarIndex, constraintGroups);
}
else
{
order = Ordering::Colamd(variableIndex_);
order = Ordering::Colamd(affectedFactorsVarIndex);
}
}
gttoc(ordering);
@ -366,7 +376,7 @@ boost::shared_ptr<KeySet > ISAM2::recalculate(const KeySet& markedKeys, const Ke
gttoc(linearize);
gttic(eliminate);
ISAM2BayesTree::shared_ptr bayesTree = ISAM2JunctionTree(GaussianEliminationTree(linearized, variableIndex_, order))
ISAM2BayesTree::shared_ptr bayesTree = ISAM2JunctionTree(GaussianEliminationTree(linearized, affectedFactorsVarIndex, order))
.eliminate(params_.getEliminationFunction()).first;
gttoc(eliminate);