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change TODO to note since calling .eval() in Eigen is valid

release/4.3a0
Varun Agrawal 2023-09-18 22:54:45 -04:00
parent 84b42ed392
commit bef76b50f9
1 changed files with 1 additions and 2 deletions
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gtsam/geometry/CameraSet.h
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@ -438,8 +438,7 @@ class CameraSet : public std::vector<CAMERA, Eigen::aligned_allocator<CAMERA>> {
// (DxD) += (DxZDim) * ( (ZDimxD) - (ZDimx3) * (3xZDim) * (ZDimxD) ) // (DxD) += (DxZDim) * ( (ZDimxD) - (ZDimx3) * (3xZDim) * (ZDimxD) )
// add contribution of current factor // add contribution of current factor
// TODO(gareth): Eigen doesn't let us pass the expression. Call eval() for // Eigen doesn't let us pass the expression so we call eval()
// now...
augmentedHessian.updateDiagonalBlock( augmentedHessian.updateDiagonalBlock(
aug_i, aug_i,
((FiT * ((FiT *