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isolated schur complement!

release/4.3a0
lcarlone 2021-03-13 21:51:39 -05:00
parent 0161047427
commit dbc10ff227
3 changed files with 66 additions and 48 deletions
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18
gtsam/geometry/CameraSet.h
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@ -145,7 +145,7 @@ public:
* g = F' * (b - E * P * E' * b)
* Fixed size version
*/
template<int N> // N = 2 or 3
template<int N, int ND> // N = 2 or 3, ND is the camera dimension
static SymmetricBlockMatrix SchurComplement(const FBlocks& Fs,
const Matrix& E, const Eigen::Matrix<double, N, N>& P, const Vector& b) {
@ -153,9 +153,9 @@ public:
size_t m = Fs.size();
// Create a SymmetricBlockMatrix
size_t M1 = D * m + 1;
size_t M1 = ND * m + 1;
std::vector<DenseIndex> dims(m + 1); // this also includes the b term
std::fill(dims.begin(), dims.end() - 1, D);
std::fill(dims.begin(), dims.end() - 1, ND);
dims.back() = 1;
SymmetricBlockMatrix augmentedHessian(dims, Matrix::Zero(M1, M1));
@ -189,6 +189,18 @@ public:
return augmentedHessian;
}
/**
* Do Schur complement, given Jacobian as Fs,E,P, return SymmetricBlockMatrix
* G = F' * F - F' * E * P * E' * F
* g = F' * (b - E * P * E' * b)
* Fixed size version
*/
template<int N> // N = 2 or 3
static SymmetricBlockMatrix SchurComplement(const FBlocks& Fs,
const Matrix& E, const Eigen::Matrix<double, N, N>& P, const Vector& b) {
return SchurComplement<N,D>(Fs, E, P, b);
}
/// Computes Point Covariance P, with lambda parameter
template<int N> // N = 2 or 3
static void ComputePointCovariance(Eigen::Matrix<double, N, N>& P,

6
gtsam_unstable/slam/SmartStereoProjectionFactorPP.h
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@ -154,6 +154,12 @@ class SmartStereoProjectionFactorPP : public SmartStereoProjectionFactor {
if (!result_) {
throw ("computeJacobiansWithTriangulatedPoint");
} else {
// Matrix H0, H02;
// PinholeCamera<CALIBRATION> camera(pose.compose(transform, H0, H02), *K_);
// Point2 reprojectionError(camera.project(point, H1, H3, boost::none) - measured_);
// *H2 = *H1 * H02;
// *H1 = *H1 * H0;
// valid result: compute jacobians
// const Pose3 sensor_P_body = body_P_sensor_->inverse();
// constexpr int camera_dim = traits<CAMERA>::dimension;

18
gtsam_unstable/slam/tests/testSmartStereoProjectionFactorPP.cpp
View File

@ -462,15 +462,15 @@ TEST( SmartStereoProjectionFactorPP, 3poses_smart_projection_factor ) {
Point3 landmark2_smart = *smartFactor2->point();
Point3 landmark3_smart = *smartFactor3->point();
Values result;
gttic_(SmartStereoProjectionFactorPP);
LevenbergMarquardtOptimizer optimizer(graph, values, lm_params);
result = optimizer.optimize();
gttoc_(SmartStereoProjectionFactorPP);
tictoc_finishedIteration_();
// cout << std::setprecision(10) << "SmartStereoFactor graph optimized error: " << graph.error(result) << endl;
EXPECT_DOUBLES_EQUAL(0, graph.error(result), 1e-5);
// Values result;
// gttic_(SmartStereoProjectionFactorPP);
// LevenbergMarquardtOptimizer optimizer(graph, values, lm_params);
// result = optimizer.optimize();
// gttoc_(SmartStereoProjectionFactorPP);
// tictoc_finishedIteration_();
//
// // cout << std::setprecision(10) << "SmartStereoFactor graph optimized error: " << graph.error(result) << endl;
// EXPECT_DOUBLES_EQUAL(0, graph.error(result), 1e-5);
// GaussianFactorGraph::shared_ptr GFG = graph.linearize(result);
// VectorValues delta = GFG->optimize();