g2o使用记录

几元边就有几个Jacobian
例如g2o定义的二元边就有_jacobianOplusXi和_jacobianOplusXj

源码中BaseEdge定义如下：D决定了误差的维度

  template <int D, typename E>
  class BaseEdge : public OptimizableGraph::Edge
  {
    public:

      static const int Dimension = D;
      typedef E Measurement;
      typedef Eigen::Matrix<number_t, D, 1, Eigen::ColMajor> ErrorVector;
      typedef Eigen::Matrix<number_t, D, D, Eigen::ColMajor> InformationType;

一个具体例子：

class VertexPose : public g2o::BaseVertex<6, Sophus::SE3d> {
class EdgeProjection : public g2o::BaseUnaryEdge<2, Eigen::Vector2d, VertexPose> {
    _jacobianOplusXi
      << -fx / Z, 0, fx * X / Z2, fx * X * Y / Z2, -fx - fx * X * X / Z2, fx * Y / Z,
      0, -fy / Z, fy * Y / (Z * Z), fy + fy * Y * Y / Z2, -fy * X * Y / Z2, -fy * X / Z;
  typedef g2o::BlockSolver<g2o::BlockSolverTraits<6, 3>> BlockSolverType;  // pose is 6, landmark is 3

class CurveFittingVertex : public g2o::BaseVertex<3, Eigen::Vector3d> {
class CurveFittingEdge : public g2o::BaseUnaryEdge<1, double, CurveFittingVertex> {
    double y = exp(abc[0] * _x * _x + abc[1] * _x + abc[2]);
    _jacobianOplusXi[0] = -_x * _x * y;
    _jacobianOplusXi[1] = -_x * y;
    _jacobianOplusXi[2] = -y;
      typedef g2o::BlockSolver<g2o::BlockSolverTraits<3, 1>> BlockSolverType;  // 每个误差项优化变量维度为3，误差值维度为1

  class BaseBinaryEdge : public BaseEdge<D, E>
  {
    public:

      typedef VertexXi VertexXiType;
      typedef VertexXj VertexXjType;

      static const int Di = VertexXiType::Dimension;
      static const int Dj = VertexXjType::Dimension;

      static const int Dimension = BaseEdge<D, E>::Dimension;
      typedef typename BaseEdge<D,E>::Measurement Measurement;
      typedef typename Eigen::Matrix<number_t, D, Di, D==1?Eigen::RowMajor:Eigen::ColMajor>::AlignedMapType JacobianXiOplusType;
      typedef typename Eigen::Matrix<number_t, D, Dj, D==1?Eigen::RowMajor:Eigen::ColMajor>::AlignedMapType JacobianXjOplusType;
      typedef typename BaseEdge<D,E>::ErrorVector ErrorVector;
      typedef typename BaseEdge<D,E>::InformationType InformationType;

D决定了误差的维度，从映射的角度讲，三维情况下就是2维的，二维的情况下是1维的；然后E是measurement的类型，也就是测量值是什么类型的，这里E就是什么类型的（一般都是Eigen::VectorN表示的，N是自然数）