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vio第五讲-单目BA(2)--边缘化测试
vio课程代码,个人备忘
TestMarginalize()
对前面所举的例子进行代码:
void Problem::TestMarginalize() {
// Add marg test
int idx = 1; // marg 中间那个变量
int dim = 1; // marg 变量的维度
int reserve_size = 3; // 总共变量的维度
double delta1 = 0.1 * 0.1;
double delta2 = 0.2 * 0.2;
double delta3 = 0.3 * 0.3;
int cols = 3;
MatXX H_marg(MatXX::Zero(cols, cols));//H阵
H_marg << 1./delta1, -1./delta1, 0,
-1./delta1, 1./delta1 + 1./delta2 + 1./delta3, -1./delta3,
0., -1./delta3, 1/delta3;
std::cout << "---------- TEST Marg: before marg------------"<< std::endl;
std::cout << H_marg << std::endl;
// TODO:: home work. 将变量移动到右下角
/// 准备工作: move the marg pose to the Hmm bottown right
// 将 row i 移动矩阵最下面
Eigen::MatrixXd temp_rows = H_marg.block(idx, 0, dim, reserve_size);//第二行
Eigen::MatrixXd temp_botRows = H_marg.block(idx + dim, 0, reserve_size - idx - dim, reserve_size);//第三行
// H_marg.block(?,?,?,?) = temp_botRows;
// H_marg.block(?,?,?,?) = temp_rows;
H_marg.block(idx, 0, dim, reserve_size) = temp_botRows;//2-3行做交换
H_marg.block(idx + dim, 0, reserve_size - idx - dim, reserve_size) = temp_rows;
// 将 col i 移动矩阵最右边 2-3两列交换
Eigen::MatrixXd temp_cols = H_marg.block(0, idx, reserve_size, dim);
Eigen::MatrixXd temp_rightCols = H_marg.block(0, idx + dim, reserve_size, reserve_size - idx - dim);
H_marg.block(0, idx, reserve_size, reserve_size - idx - dim) = temp_rightCols;
H_marg.block(0, reserve_size - dim, reserve_size, dim) = temp_cols;
std::cout << "---------- TEST Marg: 将变量移动到右下角------------"<< std::endl;
std::cout<< H_marg <<std::endl;//上面的操作就是将第二个的协防差的逆给移到右下角,方便舒尔补的操作
/// 开始 marg : schur
double eps = 1e-8;
int m2 = dim;
int n2 = reserve_size - dim; // 剩余变量的维度
Eigen::MatrixXd Amm = 0.5 * (H_marg.block(n2, n2, m2, m2) + H_marg.block(n2, n2, m2, m2).transpose());
Eigen::SelfAdjointEigenSolver<Eigen::MatrixXd> saes(Amm);
Eigen::MatrixXd Amm_inv = saes.eigenvectors() * Eigen::VectorXd(
(saes.eigenvalues().array() > eps).select(saes.eigenvalues().array().inverse(), 0)).asDiagonal() *
saes.eigenvectors().transpose();
// TODO:: home work. 完成舒尔补操作
//Eigen::MatrixXd Arm = H_marg.block(?,?,?,?);
//Eigen::MatrixXd Amr = H_marg.block(?,?,?,?);
//Eigen::MatrixXd Arr = H_marg.block(?,?,?,?);
Eigen::MatrixXd Arm = H_marg.block(0,n2,n2,m2);
Eigen::MatrixXd Amr = H_marg.block(n2,0,m2,n2);
Eigen::MatrixXd Arr = H_marg.block(0,0,n2,n2);
Eigen::MatrixXd tempB = Arm * Amm_inv;
Eigen::MatrixXd H_prior = Arr - tempB * Amr;
std::cout << "---------- TEST Marg: after marg------------"<< std::endl;
std::cout << H_prior << std::endl;
}
}
}