Very small improvement
parent
4c8ba55d0e
commit
2762a40f25
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@ -220,17 +220,15 @@ public:
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static SymmetricBlockMatrix SchurComplement(const FBlocks& Fblocks,
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const Matrix& E, const Vector& b, const double lambda = 0.0,
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bool diagonalDamping = false) {
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SymmetricBlockMatrix augmentedHessian;
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if (E.cols() == 2) {
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Matrix2 P;
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ComputePointCovariance(P, E, lambda, diagonalDamping);
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augmentedHessian = SchurComplement(Fblocks, E, P, b);
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return SchurComplement(Fblocks, E, P, b);
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} else {
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Matrix3 P;
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ComputePointCovariance(P, E, lambda, diagonalDamping);
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augmentedHessian = SchurComplement(Fblocks, E, P, b);
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return SchurComplement(Fblocks, E, P, b);
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}
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return augmentedHessian;
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}
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/**
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