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Very small improvement

release/4.3a0
dellaert 2016-02-26 08:46:08 -08:00
parent 4c8ba55d0e
commit 2762a40f25
1 changed files with 2 additions and 4 deletions
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6
gtsam/geometry/CameraSet.h
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@ -220,17 +220,15 @@ public:
static SymmetricBlockMatrix SchurComplement(const FBlocks& Fblocks, static SymmetricBlockMatrix SchurComplement(const FBlocks& Fblocks,
const Matrix& E, const Vector& b, const double lambda = 0.0, const Matrix& E, const Vector& b, const double lambda = 0.0,
bool diagonalDamping = false) { bool diagonalDamping = false) {
SymmetricBlockMatrix augmentedHessian;
if (E.cols() == 2) { if (E.cols() == 2) {
Matrix2 P; Matrix2 P;
ComputePointCovariance(P, E, lambda, diagonalDamping); ComputePointCovariance(P, E, lambda, diagonalDamping);
augmentedHessian = SchurComplement(Fblocks, E, P, b); return SchurComplement(Fblocks, E, P, b);
} else { } else {
Matrix3 P; Matrix3 P;
ComputePointCovariance(P, E, lambda, diagonalDamping); ComputePointCovariance(P, E, lambda, diagonalDamping);
augmentedHessian = SchurComplement(Fblocks, E, P, b); return SchurComplement(Fblocks, E, P, b);
} }
return augmentedHessian;
} }
/** /**