12345qiupeng
/
gtsam
1
0
Fork 0
Code Issues Pull Requests Packages Projects Releases Wiki Activity

Got rid of SchurComplementAndRearrangeBlocks_3_12_6

release/4.3a0
Frank Dellaert 2021-08-28 17:19:53 -04:00
parent 0c622294d2
commit 2b3709ec73
3 changed files with 3 additions and 17 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

13
gtsam/geometry/CameraSet.h
View File

@ -286,19 +286,6 @@ public:
return augmentedHessianUniqueKeys; 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 * Do Schur complement, given Jacobian as Fs,E,P, return SymmetricBlockMatrix
* G = F' * F - F' * E * P * E' * F * G = F' * F - F' * E * P * E' * F

5
gtsam/geometry/tests/testCameraSet.cpp
View File

@ -185,9 +185,8 @@ TEST(CameraSet, SchurComplementAndRearrangeBlocks) {
// Actual // Actual
SymmetricBlockMatrix augmentedHessianBM = SymmetricBlockMatrix augmentedHessianBM =
Set::SchurComplementAndRearrangeBlocks_3_12_6(Fs, E, P, b, Set::SchurComplementAndRearrangeBlocks<3, 12, 6>(
nonuniqueKeys, Fs, E, P, b, nonuniqueKeys, uniqueKeys);
uniqueKeys);
Matrix actualAugmentedHessian = augmentedHessianBM.selfadjointView(); Matrix actualAugmentedHessian = augmentedHessianBM.selfadjointView();
// Expected // Expected

2
gtsam_unstable/slam/SmartProjectionPoseFactorRollingShutter.h
View File

@ -363,7 +363,7 @@ class SmartProjectionPoseFactorRollingShutter : public SmartProjectionFactor<CAM
// Build augmented Hessian (with last row/column being the information vector) // 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_ // Note: we need to get the augumented hessian wrt the unique keys in key_
SymmetricBlockMatrix augmentedHessianUniqueKeys = SymmetricBlockMatrix augmentedHessianUniqueKeys =
Base::Cameras::SchurComplementAndRearrangeBlocks_3_12_6( Base::Cameras::template SchurComplementAndRearrangeBlocks<3, 12, 6>(
Fs, E, P, b, nonuniqueKeys, this->keys_); Fs, E, P, b, nonuniqueKeys, this->keys_);
return boost::make_shared < RegularHessianFactor<DimPose> return boost::make_shared < RegularHessianFactor<DimPose>