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release/4.3a0
Varun Agrawal 2023-06-21 09:55:52 -04:00
parent 62fe1a9379
commit fbf155d91e
2 changed files with 9 additions and 25 deletions
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20
gtsam_unstable/linear/LP.h
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@ -81,23 +81,9 @@ public:
if (!cachedConstrainedKeyDimMap_.empty())
return cachedConstrainedKeyDimMap_;
// Collect key-dim map of all variables in the constraints
//TODO(Varun) seems like the templated function is causing the multiple symbols error on Windows
// cachedConstrainedKeyDimMap_ = collectKeyDim(equalities);
// KeyDimMap keysDim2 = collectKeyDim(inequalities);
// cachedConstrainedKeyDimMap_.insert(keysDim2.begin(), keysDim2.end());
cachedConstrainedKeyDimMap_.clear();
for (auto&& factor : equalities) {
if (!factor) continue;
for (Key key : factor->keys()) {
cachedConstrainedKeyDimMap_[key] = factor->getDim(factor->find(key));
}
}
for (auto&& factor : inequalities) {
if (!factor) continue;
for (Key key : factor->keys()) {
cachedConstrainedKeyDimMap_[key] = factor->getDim(factor->find(key));
}
}
cachedConstrainedKeyDimMap_ = collectKeyDim(equalities);
KeyDimMap keysDim2 = collectKeyDim(inequalities);
cachedConstrainedKeyDimMap_.insert(keysDim2.begin(), keysDim2.end());
return cachedConstrainedKeyDimMap_;
}

14
gtsam_unstable/slam/SmartStereoProjectionFactorPP.h
View File

@ -252,15 +252,13 @@ class GTSAM_UNSTABLE_EXPORT SmartStereoProjectionFactorPP
nonuniqueKeys.push_back(body_P_cam_keys_.at(i));
}
// but we need to get the augumented hessian wrt the unique keys in key_
//TODO(Varun) SchurComplementAndRearrangeBlocks is causing the multiply defined symbol error
// SymmetricBlockMatrix augmentedHessianUniqueKeys =
// Base::Cameras::template SchurComplementAndRearrangeBlocks<3, DimBlock,
// DimPose>(
// Fs, E, P, b, nonuniqueKeys, keys_);
SymmetricBlockMatrix augmentedHessianUniqueKeys =
Base::Cameras::template SchurComplementAndRearrangeBlocks<3, DimBlock,
DimPose>(
Fs, E, P, b, nonuniqueKeys, keys_);
// return std::make_shared<RegularHessianFactor<DimPose>>(
// keys_, augmentedHessianUniqueKeys);
return nullptr;
return std::make_shared<RegularHessianFactor<DimPose>>(
keys_, augmentedHessianUniqueKeys);
}
/**