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

Moved to less intrusive spot

release/4.3a0
dellaert 2015-02-26 14:19:22 +01:00
parent f639ae0d7c
commit be26d99f1e
1 changed files with 10 additions and 10 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

20
gtsam/slam/SmartFactorBase.h
View File

@ -307,16 +307,6 @@ public:
return f;
}
/// Create BIG block-diagonal matrix F from Fblocks
static void FillDiagonalF(const std::vector<KeyMatrix2D>& Fblocks,
Matrix& F) {
size_t m = Fblocks.size();
F.resize(ZDim * m, Dim * m);
F.setZero();
for (size_t i = 0; i < m; ++i)
F.block<This::ZDim, Dim>(This::ZDim * i, Dim * i) = Fblocks.at(i).second;
}
/// SVD version
double computeJacobiansSVD(std::vector<KeyMatrix2D>& Fblocks, Matrix& Enull,
Vector& b, const Cameras& cameras, const Point3& point) const {
@ -549,6 +539,16 @@ public:
return boost::make_shared<JacobianFactorSVD<Dim, ZDim> >(F, E0, b, n);
}
/// Create BIG block-diagonal matrix F from Fblocks
static void FillDiagonalF(const std::vector<KeyMatrix2D>& Fblocks,
Matrix& F) {
size_t m = Fblocks.size();
F.resize(ZDim * m, Dim * m);
F.setZero();
for (size_t i = 0; i < m; ++i)
F.block<This::ZDim, Dim>(This::ZDim * i, Dim * i) = Fblocks.at(i).second;
}
private:
/// Serialization function