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fix lm regularizer in backend #234

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fix lm regularizer in backend #234

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54 changes: 24 additions & 30 deletions src/OptimizationBackend/EnergyFunctional.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -806,48 +806,42 @@ void EnergyFunctional::solveSystemF(int iteration, double lambda, CalibHessian*
MatXX HFinal_top;
VecX bFinal_top;

if(setting_solverMode & SOLVER_ORTHOGONALIZE_SYSTEM)
{
// have a look if prior is there.
bool haveFirstFrame = false;
for(EFFrame* f : frames) if(f->frameID==0) haveFirstFrame=true;
if (setting_solverMode & SOLVER_ORTHOGONALIZE_SYSTEM) {
// have a look if prior is there.
bool haveFirstFrame = false;
for (EFFrame *f : frames) if (f->frameID == 0) haveFirstFrame = true;


MatXX HT_act = HL_top + HA_top - H_sc;
VecX bT_act = bL_top + bA_top - b_sc;


MatXX HT_act = HL_top + HA_top - H_sc;
VecX bT_act = bL_top + bA_top - b_sc;
if (!haveFirstFrame)
orthogonalize(&bT_act, &HT_act);

lastHS = HT_act + HM;
lastbS = bT_act + bM_top;

if(!haveFirstFrame)
orthogonalize(&bT_act, &HT_act);

HFinal_top = HT_act + HM;
bFinal_top = bT_act + bM_top;

HFinal_top = HL_top + HA_top;
bFinal_top = bL_top + bA_top;

for (int i = 0; i < 8 * nFrames + CPARS; i++) HFinal_top(i, i) *= (1 + lambda);
HFinal_top += (HM - H_sc) * (1.0f / (1 + lambda));
bFinal_top += (bM_top - b_sc) * (1.0f / (1 + lambda));

} else {

lastHS = HL_top + HM + HA_top - H_sc;
lastbS = bL_top + bM_top + bA_top - b_sc;

lastHS = HFinal_top;
lastbS = bFinal_top;
HFinal_top = HL_top + HA_top;
bFinal_top = bL_top + bA_top;

for(int i=0;i<8*nFrames+CPARS;i++) HFinal_top(i,i) *= (1+lambda);

}
else
{


HFinal_top = HL_top + HM + HA_top;
bFinal_top = bL_top + bM_top + bA_top - b_sc;

lastHS = HFinal_top - H_sc;
lastbS = bFinal_top;

for(int i=0;i<8*nFrames+CPARS;i++) HFinal_top(i,i) *= (1+lambda);
HFinal_top -= H_sc * (1.0f/(1+lambda));
}
for (int i = 0; i < 8 * nFrames + CPARS; i++) HFinal_top(i, i) *= (1 + lambda);
HFinal_top += (HM - H_sc) * (1.0f / (1 + lambda));
bFinal_top += (bM_top - b_sc) * (1.0f / (1 + lambda));
}



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