From 2b3709ec73496f74e98b11b26024ccfc2a35fede Mon Sep 17 00:00:00 2001
From: Frank Dellaert <dellaert@gmail.com>
Date: Sat, 28 Aug 2021 17:19:53 -0400
Subject: [PATCH] Got rid of SchurComplementAndRearrangeBlocks_3_12_6

---
 gtsam/geometry/CameraSet.h                          | 13 -------------
 gtsam/geometry/tests/testCameraSet.cpp              |  5 ++---
 .../slam/SmartProjectionPoseFactorRollingShutter.h  |  2 +-
 3 files changed, 3 insertions(+), 17 deletions(-)

diff --git a/gtsam/geometry/CameraSet.h b/gtsam/geometry/CameraSet.h
index b8fbb4200..58122e33e 100644
--- a/gtsam/geometry/CameraSet.h
+++ b/gtsam/geometry/CameraSet.h
@@ -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
diff --git a/gtsam/geometry/tests/testCameraSet.cpp b/gtsam/geometry/tests/testCameraSet.cpp
index e583c0e80..144f28314 100644
--- a/gtsam/geometry/tests/testCameraSet.cpp
+++ b/gtsam/geometry/tests/testCameraSet.cpp
@@ -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
diff --git a/gtsam_unstable/slam/SmartProjectionPoseFactorRollingShutter.h b/gtsam_unstable/slam/SmartProjectionPoseFactorRollingShutter.h
index 3624e3f8e..236ae6c95 100644
--- a/gtsam_unstable/slam/SmartProjectionPoseFactorRollingShutter.h
+++ b/gtsam_unstable/slam/SmartProjectionPoseFactorRollingShutter.h
@@ -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>