73 lines
2.1 KiB
C++
73 lines
2.1 KiB
C++
/*
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* @file JacobianFactorSVD.h
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* @date Oct 27, 2013
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* @uthor Frank Dellaert
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*/
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#pragma once
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#include <gtsam/linear/RegularJacobianFactor.h>
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namespace gtsam {
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/**
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* JacobianFactor for Schur complement
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*/
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template<size_t D, size_t ZDim>
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class JacobianFactorSVD: public RegularJacobianFactor<D> {
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typedef RegularJacobianFactor<D> Base;
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typedef Eigen::Matrix<double, ZDim, D> MatrixZD; // e.g 2 x 6 with Z=Point2
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typedef std::pair<Key, Matrix> KeyMatrix;
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public:
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/// Default constructor
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JacobianFactorSVD() {
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}
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/// Empty constructor with keys
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JacobianFactorSVD(const FastVector<Key>& keys, //
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const SharedDiagonal& model = SharedDiagonal()) :
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Base() {
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Matrix zeroMatrix = Matrix::Zero(0, D);
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Vector zeroVector = Vector::Zero(0);
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std::vector<KeyMatrix> QF;
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QF.reserve(keys.size());
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BOOST_FOREACH(const Key& key, keys)
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QF.push_back(KeyMatrix(key, zeroMatrix));
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JacobianFactor::fillTerms(QF, zeroVector, model);
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}
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/**
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* @brief Constructor
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* Takes the CameraSet derivatives (as ZDim*D blocks of block-diagonal F)
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* and a reduced point derivative, Enull
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* and creates a reduced-rank Jacobian factor on the CameraSet
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*
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* @Fblocks:
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*/
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JacobianFactorSVD(const FastVector<Key>& keys,
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const std::vector<MatrixZD>& Fblocks, const Matrix& Enull,
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const Vector& b, //
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const SharedDiagonal& model = SharedDiagonal()) :
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Base() {
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size_t numKeys = Enull.rows() / ZDim;
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size_t m2 = ZDim * numKeys - 3;
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// PLAIN NULL SPACE TRICK
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// Matrix Q = Enull * Enull.transpose();
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// BOOST_FOREACH(const KeyMatrixZD& it, Fblocks)
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// QF.push_back(KeyMatrix(it.first, Q.block(0, 2 * j++, m2, 2) * it.second));
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// JacobianFactor factor(QF, Q * b);
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std::vector<KeyMatrix> QF;
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QF.reserve(numKeys);
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for (size_t k = 0; k < Fblocks.size(); ++k) {
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Key key = keys[k];
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QF.push_back(
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KeyMatrix(key,
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(Enull.transpose()).block(0, ZDim * k, m2, ZDim) * Fblocks[k]));
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}
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JacobianFactor::fillTerms(QF, -Enull.transpose() * b, model);
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}
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};
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}
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