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				|  | @ -597,10 +597,6 @@ public: | |||
|           + Fi1.transpose() * b.segment<2>(2 * i1) // F' * b
 | ||||
|       - Fi1.transpose() * (Ei1_P * (E.transpose() * b)); // D = (Dx2) * (2x3) * (3*2m) * (2m x 1)
 | ||||
| 
 | ||||
|       vectorBlock = augmentedHessian(aug_i1, aug_numKeys).knownOffDiagonal(); | ||||
|       if(debug) std::cout <<  "(after) augmentedHessian(" << aug_i1 << "," <<  aug_numKeys << ")= \n" << | ||||
|           vectorBlock << std::endl; | ||||
| 
 | ||||
|       // (DxD) = (Dx2) * ( (2xD) - (2x3) * (3x2) * (2xD) )
 | ||||
|       // main block diagonal - store previous block
 | ||||
|       matrixBlock = augmentedHessian(aug_i1, aug_i1); | ||||
|  | @ -612,10 +608,6 @@ public: | |||
|           + Fi1.transpose() | ||||
|               * (Fi1 - Ei1_P * E.block<2, 3>(2 * i1, 0).transpose() * Fi1); | ||||
| 
 | ||||
|       matrixBlock = augmentedHessian(aug_i1, aug_i1); | ||||
|       if(debug) std::cout <<  "(after) augmentedHessian(" << aug_i1 << "," <<  aug_i1 << ")= \n" << | ||||
|           matrixBlock << std::endl; | ||||
| 
 | ||||
|       // upper triangular part of the hessian
 | ||||
|       for (size_t i2 = i1 + 1; i2 < numKeys; i2++) { // for each camera
 | ||||
|         const Matrix2D& Fi2 = Fblocks.at(i2).second; | ||||
|  | @ -635,13 +627,6 @@ public: | |||
|         augmentedHessian(aug_i1, aug_i2) = matrixBlock | ||||
|             - Fi1.transpose() | ||||
|                 * (Ei1_P * E.block<2, 3>(2 * i2, 0).transpose() * Fi2); | ||||
| 
 | ||||
|         if(debug) std::cout <<  "(after) augmentedHessian(" << aug_i1 << "," <<  aug_i2 << ")= \n" << | ||||
|             augmentedHessian(aug_i1, aug_i2).knownOffDiagonal() << std::endl; | ||||
| 
 | ||||
|         matrixBlock = augmentedHessian(aug_i1, aug_i2).knownOffDiagonal(); | ||||
|         if(debug) std::cout <<  "(after, after) augmentedHessian(" << aug_i1 << "," <<  aug_i2 << ")= \n" << | ||||
|             matrixBlock<< std::endl; | ||||
|       } | ||||
|     } // end of for over cameras
 | ||||
| 
 | ||||
|  |  | |||
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