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removed comments. Code is complete now. Need few more unit tests and we are good to go

release/4.3a0
lcarlone 2021-07-22 22:35:21 -04:00
parent 91a6613d84
commit 48a7afa463
1 changed files with 0 additions and 10 deletions
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10
gtsam_unstable/slam/SmartProjectionPoseFactorRollingShutter.h
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@ -332,10 +332,6 @@ PinholePose<CALIBRATION> > {
Fs[i] = this->noiseModel_->Whiten(Fs[i]); Fs[i] = this->noiseModel_->Whiten(Fs[i]);
Matrix3 P = Base::Cameras::PointCov(E, lambda, diagonalDamping); 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) // 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) // these are the keys that correspond to the blocks in augmentedHessian (output of SchurComplement)
@ -349,12 +345,6 @@ PinholePose<CALIBRATION> > {
Base::Cameras::SchurComplementAndRearrangeBlocks_3_12_6( Base::Cameras::SchurComplementAndRearrangeBlocks_3_12_6(
Fs, E, P, b, nonuniqueKeys, this->keys_); 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<DimPose> return boost::make_shared < RegularHessianFactor<DimPose>
> (this->keys_, augmentedHessianUniqueKeys); > (this->keys_, augmentedHessianUniqueKeys);
} }