bool MainWindow::prepare()
{
SparseOptimizer* optimizer = viewer->graph;
if (_currentOptimizationAlgorithmProperty.requiresMarginalize) {
cerr << "Marginalizing Landmarks" << endl;
for (SparseOptimizer::VertexIDMap::const_iterator it = optimizer->vertices().begin(); it != optimizer->vertices().end(); ++it) {
OptimizableGraph::Vertex* v = static_cast<OptimizableGraph::Vertex*>(it->second);
int vdim = v->dimension();
v->setMarginalized((vdim == _currentOptimizationAlgorithmProperty.landmarkDim));
}
}
else {
cerr << "Preparing (no marginalization of Landmarks)" << endl;
for (SparseOptimizer::VertexIDMap::const_iterator it = optimizer->vertices().begin(); it != optimizer->vertices().end(); ++it) {
OptimizableGraph::Vertex* v = static_cast<OptimizableGraph::Vertex*>(it->second);
v->setMarginalized(false);
}
}
viewer->graph->initializeOptimization();
return true;
}
