Got rid of SchurComplementAndRearrangeBlocks_3_12_6
parent
0c622294d2
commit
2b3709ec73
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@ -286,19 +286,6 @@ public:
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return augmentedHessianUniqueKeys;
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}
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/**
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* non-templated version of function above
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*/
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static SymmetricBlockMatrix SchurComplementAndRearrangeBlocks_3_12_6(
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const std::vector<Eigen::Matrix<double,ZDim, 12>,
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Eigen::aligned_allocator<Eigen::Matrix<double,ZDim,12> > >& Fs,
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const Matrix& E, const Eigen::Matrix<double,3,3>& P, const Vector& b,
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const KeyVector jacobianKeys, const KeyVector hessianKeys) {
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return SchurComplementAndRearrangeBlocks<3,12,6>(Fs, E, P, b,
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jacobianKeys,
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hessianKeys);
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}
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/**
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* Do Schur complement, given Jacobian as Fs,E,P, return SymmetricBlockMatrix
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* G = F' * F - F' * E * P * E' * F
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@ -185,9 +185,8 @@ TEST(CameraSet, SchurComplementAndRearrangeBlocks) {
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// Actual
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SymmetricBlockMatrix augmentedHessianBM =
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Set::SchurComplementAndRearrangeBlocks_3_12_6(Fs, E, P, b,
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nonuniqueKeys,
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uniqueKeys);
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Set::SchurComplementAndRearrangeBlocks<3, 12, 6>(
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Fs, E, P, b, nonuniqueKeys, uniqueKeys);
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Matrix actualAugmentedHessian = augmentedHessianBM.selfadjointView();
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// Expected
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@ -363,7 +363,7 @@ class SmartProjectionPoseFactorRollingShutter : public SmartProjectionFactor<CAM
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// Build augmented Hessian (with last row/column being the information vector)
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// Note: we need to get the augumented hessian wrt the unique keys in key_
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SymmetricBlockMatrix augmentedHessianUniqueKeys =
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Base::Cameras::SchurComplementAndRearrangeBlocks_3_12_6(
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Base::Cameras::template SchurComplementAndRearrangeBlocks<3, 12, 6>(
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Fs, E, P, b, nonuniqueKeys, this->keys_);
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return boost::make_shared < RegularHessianFactor<DimPose>
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