void CFullRelPose::writeEdge(std::ostream & toroGraphFile, const bool b2d) const { if(IS_DEBUG) CHECK(!hasPosition(), "Node is disconnected?? Or too bad"); const double dLength = length(); //double dVar = sqr(dLength/4);// scale.scaleVarHacked(); double dVar = variance(); dVar = std::max<double>(1e-5, dVar); normalisedPose.scale(dLength).write(toroGraphFile, b2d); Vector3d t, x_axis; x_axis.setZero(); normalisedPose.t.asVector(t); if(b2d) { //double inf_ff, inf_fs, inf_ss, inf_rr, inf_fr, inf_sr; Vector2d t2d(t(0), t(2)); Vector2d t2d_perp(t(2), -t(0)); Matrix2d Q, LAMBDA; LAMBDA.setZero(); Q << t2d, t2d_perp; LAMBDA(0,0) = dVar; //dVar may be zero LAMBDA(1,1) = dVar * sqr(normalisedPose.SD.cameraMotionAngleSD()); CHECK(isnan(LAMBDA.sum()), "writeEdge: nan") const Matrix2d C = Q * LAMBDA * Q.transpose(); const Matrix2d & I = C.inverse(); //cout << I << endl; //THROW("Not complete...") double dRotInf = 1.0/sqr(normalisedPose.SD.relOrientationSD()); toroGraphFile << I(0,0) << ' ' << I(1,0) << ' ' << I(1,1) << ' ' << dRotInf << " 0 0"; return; } if(t(0) < 0.9) //check t isn't x axis aligned (x is arbitrary) x_axis(0) = 1; else x_axis(1) = 1; Matrix3d Q; if(t.sum() == 0) //Pure rotation. Should be arbitrary { Q.setIdentity(); } else { Vector3d tperp1 = t.cross(x_axis); tperp1.normalize(); Vector3d tperp2 = tperp1.cross(t); Q << t, tperp1, tperp2; } CHECK(isnan(Q.sum()), "writeEdge: nan") Matrix3d LAMBDA; LAMBDA.setZero(); LAMBDA(0,0) = dVar; //dVar may be zero LAMBDA(1,1) = LAMBDA(2,2) = dVar * sqr(normalisedPose.SD.cameraMotionAngleSD()); CHECK(isnan(LAMBDA.sum()), "writeEdge: nan") const Matrix3d C = Q * LAMBDA * Q.transpose(); //std::cout << "Covariance: " << std::endl << C << std::endl; CHECK(isnan(C.sum()), "writeEdge: nan") Matrix3d Crpy; Crpy.setZero(); Crpy.diagonal().setConstant(sqr(normalisedPose.SD.relOrientationSD())); Matrix<double, 6, 6> Cfull; Cfull << C, Matrix3d::Zero(), Matrix3d::Zero(), Crpy; CHECK(isnan(Cfull.sum()), "writeEdge: nan") if(Cfull.trace() < 0.0001) { std::cout << "Warning: Covariance matrix near-singular, adjusting diagonal\n"; Cfull.diagonal().array() += 0.0001; } const Matrix<double, 6, 6> & Ifull = Cfull.inverse(); //std::cout << "Information: " << std::endl << Ifull << std::endl; //cout << "Warning: Not inverting information matrix\n"; Yes the information mat does work a little better. //Possibly ok for 1 edge...if(IS_DEBUG) CHECK(Cfull.determinant()<0.0001, "CFullRelPose::writeEdge: Singular covariance matrix"); CHECK(isnan(Ifull.sum()), "writeEdge: nan") for (int nRow = 0; nRow <6; nRow++) { for(int nCol = nRow; nCol < 6; nCol++) toroGraphFile << Ifull(nRow, nCol) << ' '; } }