Got rid of SchurComplementAndRearrangeBlocks_3_12_6
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				|  | @ -286,19 +286,6 @@ public: | |||
|     return augmentedHessianUniqueKeys; | ||||
|   } | ||||
| 
 | ||||
|   /**
 | ||||
|    * non-templated version of function above | ||||
|    */ | ||||
|   static SymmetricBlockMatrix SchurComplementAndRearrangeBlocks_3_12_6( | ||||
|       const std::vector<Eigen::Matrix<double,ZDim, 12>, | ||||
|           Eigen::aligned_allocator<Eigen::Matrix<double,ZDim,12> > >& Fs, | ||||
|       const Matrix& E, const Eigen::Matrix<double,3,3>& P, const Vector& b, | ||||
|       const KeyVector jacobianKeys, const KeyVector hessianKeys) { | ||||
|     return SchurComplementAndRearrangeBlocks<3,12,6>(Fs, E, P, b, | ||||
|                                                        jacobianKeys, | ||||
|                                                        hessianKeys); | ||||
|   } | ||||
| 
 | ||||
|   /**
 | ||||
|    * Do Schur complement, given Jacobian as Fs,E,P, return SymmetricBlockMatrix | ||||
|    * G = F' * F - F' * E * P * E' * F | ||||
|  |  | |||
|  | @ -185,9 +185,8 @@ TEST(CameraSet, SchurComplementAndRearrangeBlocks) { | |||
| 
 | ||||
|     // Actual
 | ||||
|     SymmetricBlockMatrix augmentedHessianBM = | ||||
|         Set::SchurComplementAndRearrangeBlocks_3_12_6(Fs, E, P, b, | ||||
|                                                          nonuniqueKeys, | ||||
|                                                          uniqueKeys); | ||||
|         Set::SchurComplementAndRearrangeBlocks<3, 12, 6>( | ||||
|             Fs, E, P, b, nonuniqueKeys, uniqueKeys); | ||||
|     Matrix actualAugmentedHessian = augmentedHessianBM.selfadjointView(); | ||||
| 
 | ||||
|     // Expected
 | ||||
|  |  | |||
|  | @ -363,7 +363,7 @@ class SmartProjectionPoseFactorRollingShutter : public SmartProjectionFactor<CAM | |||
|     // Build augmented Hessian (with last row/column being the information vector)
 | ||||
|     // Note: we need to get the augumented hessian wrt the unique keys in key_
 | ||||
|     SymmetricBlockMatrix augmentedHessianUniqueKeys = | ||||
|         Base::Cameras::SchurComplementAndRearrangeBlocks_3_12_6( | ||||
|         Base::Cameras::template SchurComplementAndRearrangeBlocks<3, 12, 6>( | ||||
|             Fs, E, P, b, nonuniqueKeys, this->keys_); | ||||
| 
 | ||||
|     return boost::make_shared < RegularHessianFactor<DimPose> | ||||
|  |  | |||
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