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Call dispatched SchurComplement, now in CameraSet

release/4.3a0
dellaert 2015-03-10 22:10:08 -07:00
parent 421ad49048
commit d924c11d41
1 changed files with 2 additions and 3 deletions
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5
gtsam/slam/SmartProjectionFactor.h
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@ -208,11 +208,10 @@ public:
Matrix E; Matrix E;
Vector b; Vector b;
computeJacobiansWithTriangulatedPoint(Fblocks, E, b, cameras); computeJacobiansWithTriangulatedPoint(Fblocks, E, b, cameras);
Matrix P = Base::PointCov(E, lambda, diagonalDamping);
// build augmented hessian // build augmented hessian
SymmetricBlockMatrix augmentedHessian = CameraSet<CAMERA>::SchurComplement( SymmetricBlockMatrix augmentedHessian = //
Fblocks, E, P, b); Cameras::SchurComplement(Fblocks, E, b, lambda, diagonalDamping);
return boost::make_shared<RegularHessianFactor<Base::Dim> >(this->keys_, return boost::make_shared<RegularHessianFactor<Base::Dim> >(this->keys_,
augmentedHessian); augmentedHessian);