removed debug bloks
parent
dc7b5d58c0
commit
4bdefc3f70
|
@ -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
|
||||
|
||||
|
|
Loading…
Reference in New Issue