void BaseBinaryEdge<D, E, VertexXiType, VertexXjType>::constructQuadraticForm()
{
VertexXiType* from = static_cast<VertexXiType*>(_vertices[0]);
VertexXjType* to = static_cast<VertexXjType*>(_vertices[1]);
// get the Jacobian of the nodes in the manifold domain
const JacobianXiOplusType& A = jacobianOplusXi();
const JacobianXjOplusType& B = jacobianOplusXj();
const InformationType& omega = _information;
bool fromNotFixed = !(from->fixed());
bool toNotFixed = !(to->fixed());
if (fromNotFixed || toNotFixed) {
#ifdef G2O_OPENMP
from->lockQuadraticForm();
to->lockQuadraticForm();
#endif
Matrix<double, D, 1> omega_r = - omega * _error;
if (fromNotFixed) {
Matrix<double, VertexXiType::Dimension, D> AtO = A.transpose() * omega;
from->b().noalias() += A.transpose() * omega_r;
from->A().noalias() += AtO*A;
if (toNotFixed ) {
if (_hessianRowMajor) // we have to write to the block as transposed
_hessianTransposed.noalias() += B.transpose() * AtO.transpose();
else
_hessian.noalias() += AtO * B;
}
}
if (toNotFixed ) {
to->b().noalias() += B.transpose() * omega_r;
to->A().noalias() += B.transpose() * omega * B;
}
#ifdef G2O_OPENMP
to->unlockQuadraticForm();
from->unlockQuadraticForm();
#endif
}
}
void BaseBinaryEdge<D, E, VertexXiType, VertexXjType>::constructQuadraticForm()
{
VertexXiType* from = static_cast<VertexXiType*>(_vertices[0]);
VertexXjType* to = static_cast<VertexXjType*>(_vertices[1]);
// get the Jacobian of the nodes in the manifold domain
const JacobianXiOplusType& A = jacobianOplusXi();
const JacobianXjOplusType& B = jacobianOplusXj();
bool fromNotFixed = !(from->fixed());
bool toNotFixed = !(to->fixed());
if (fromNotFixed || toNotFixed) {
#ifdef G2O_OPENMP
from->lockQuadraticForm();
to->lockQuadraticForm();
#endif
const InformationType& omega = _information;
Eigen::Matrix<double, D, 1, Eigen::ColMajor> omega_r = - omega * _error;
if (this->robustKernel() == 0) {
if (fromNotFixed) {
Eigen::Matrix<double, VertexXiType::Dimension, D, Eigen::ColMajor> AtO = A.transpose() * omega;
from->b().noalias() += A.transpose() * omega_r;
from->A().noalias() += AtO*A;
if (toNotFixed ) {
if (_hessianRowMajor) // we have to write to the block as transposed
_hessianTransposed.noalias() += B.transpose() * AtO.transpose();
else
_hessian.noalias() += AtO * B;
}
}
if (toNotFixed) {
to->b().noalias() += B.transpose() * omega_r;
to->A().noalias() += B.transpose() * omega * B;
}
} else { // robust (weighted) error according to some kernel
double error = this->chi2();
Vector3D rho;
this->robustKernel()->robustify(error, rho);
InformationType weightedOmega = this->robustInformation(rho);
//std::cout << PVAR(rho.transpose()) << std::endl;
//std::cout << PVAR(weightedOmega) << std::endl;
omega_r *= rho[1];
if (fromNotFixed) {
from->b().noalias() += A.transpose() * omega_r;
from->A().noalias() += A.transpose() * weightedOmega * A;
if (toNotFixed ) {
if (_hessianRowMajor) // we have to write to the block as transposed
_hessianTransposed.noalias() += B.transpose() * weightedOmega * A;
else
_hessian.noalias() += A.transpose() * weightedOmega * B;
}
}
if (toNotFixed) {
to->b().noalias() += B.transpose() * omega_r;
to->A().noalias() += B.transpose() * weightedOmega * B;
}
}
#ifdef G2O_OPENMP
to->unlockQuadraticForm();
from->unlockQuadraticForm();
#endif
}
}