From 48a7afa46369ef81dd430022869d328b2976f729 Mon Sep 17 00:00:00 2001 From: lcarlone Date: Thu, 22 Jul 2021 22:35:21 -0400 Subject: [PATCH] removed comments. Code is complete now. Need few more unit tests and we are good to go --- .../slam/SmartProjectionPoseFactorRollingShutter.h | 10 ---------- 1 file changed, 10 deletions(-) diff --git a/gtsam_unstable/slam/SmartProjectionPoseFactorRollingShutter.h b/gtsam_unstable/slam/SmartProjectionPoseFactorRollingShutter.h index c35beb0e2..c5b63250b 100644 --- a/gtsam_unstable/slam/SmartProjectionPoseFactorRollingShutter.h +++ b/gtsam_unstable/slam/SmartProjectionPoseFactorRollingShutter.h @@ -332,10 +332,6 @@ PinholePose > { Fs[i] = this->noiseModel_->Whiten(Fs[i]); Matrix3 P = Base::Cameras::PointCov(E, lambda, diagonalDamping); - // the following unfortunately does not seem to work and causes - // an "reference to overloaded function could not be resolved; did you mean to call it?" error - // Matrix3 P; - // Base::Cameras::ComputePointCovariance<3>(P, E, lambda, diagonalDamping); // build augmented Hessian (with last row/column being the information vector) // these are the keys that correspond to the blocks in augmentedHessian (output of SchurComplement) @@ -349,12 +345,6 @@ PinholePose > { Base::Cameras::SchurComplementAndRearrangeBlocks_3_12_6( Fs, E, P, b, nonuniqueKeys, this->keys_); - // the following unfortunately does not seem to work and causes - // an "reference to overloaded function could not be resolved; did you mean to call it?" error - // SymmetricBlockMatrix augmentedHessianUniqueKeys = - // Base::Cameras::SchurComplementAndRearrangeBlocks<3, DimBlock, DimPose>( - // Fs, E, P, b, nonuniqueKeys, keys_); - return boost::make_shared < RegularHessianFactor > (this->keys_, augmentedHessianUniqueKeys); }