幾元邊就有幾個jacobian
例如g2o定義的二元邊就有_jacobianoplusxi和_jacobianoplusxj
原始碼中baseedge定義如下：d決定了誤差的維度
template
<
int d,
typename e>
class
baseedge
:public optimizablegraph::edge
{public
:static
const
int dimension = d;
typedef e measurement;
typedef eigen::matrix1, eigen::colmajor> errorvector;
typedef eigen::matrix informationtype;
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::blocksolver3>> blocksolvertype;
// pose is 6, landmark is 3
class
curvefittin**ertex
:public g2o::basevertex<
3, eigen::vector3d>
{class
curvefittingedge
:public g2o::baseunaryedge<1,
double
, curvefittin**ertex>
{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::blocksolver1>> blocksolvertype;
// 每個誤差項優化變數維度為3，誤差值維度為1
class
basebinaryedge
:public baseedge
{public
:typedef vertexxi vertexxitype;
typedef vertexxj vertexxjtype;
static
const
int di = vertexxitype::dimension;
static
const
int dj = vertexxjtype::dimension;
static
const
int dimension = baseedge
::dimension;
typedef
typename baseedge
::measurement measurement;
typedef
typename eigen::matrix1?eigen::rowmajor:eigen::colmajor>
::alignedmaptype jacobianxioplustype;
typedef
typename eigen::matrix1?eigen::rowmajor:eigen::colmajor>
::alignedmaptype jacobianxjoplustype;
typedef
typename baseedge
::errorvector errorvector;
typedef
typename baseedge
::informationtype informationtype;
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