saberbud/ceres-solver
1
0
Fork 0
mirror of https://github.com/ceres-solver/ceres-solver.git synced 2026-08-29 08:34:37 +08:00
Code Issues Packages Projects Releases Wiki Activity

Remove CreateFakeBundleAdjustmentPartitionedJacobian

Browse Source 
This function is not used and is not written correctly to
deal with the case wherre Schur specialization is disabled.

Change-Id: I48509317e6df5f9cdc37c81e879fad425bb2d037
This commit is contained in:
Sameer Agarwal
2024-01-26 11:56:14 -08:00
parent 85b2c418a6
commit da34da3da2
2 changed files with 0 additions and 47 deletions
Download Patch File Download Diff File Expand all files Collapse all files
internal/ceres/fake_bundle_adjustment_jacobian.cc
-21
View File
@@ -96,25 +96,4 @@ std::unique_ptr<BlockSparseMatrix> CreateFakeBundleAdjustmentJacobian(
return jacobian;
}
std::pair<
std::unique_ptr<PartitionedMatrixView<2, Eigen::Dynamic, Eigen::Dynamic>>,
std::unique_ptr<BlockSparseMatrix>>
CreateFakeBundleAdjustmentPartitionedJacobian(int num_cameras,
int num_points,
int camera_size,
int landmark_size,
double visibility,
std::mt19937& rng) {
using PartitionedView =
PartitionedMatrixView<2, Eigen::Dynamic, Eigen::Dynamic>;
auto block_sparse_matrix = CreateFakeBundleAdjustmentJacobian(
num_cameras, num_points, camera_size, landmark_size, visibility, rng);
LinearSolver::Options options;
options.elimination_groups.push_back(num_points);
auto partitioned_view =
std::make_unique<PartitionedView>(options, *block_sparse_matrix);
return std::make_pair(std::move(partitioned_view),
std::move(block_sparse_matrix));
}
} // namespace ceres::internal
internal/ceres/fake_bundle_adjustment_jacobian.h
-26
View File
@@ -47,32 +47,6 @@ std::unique_ptr<BlockSparseMatrix> CreateFakeBundleAdjustmentJacobian(
double visibility,
std::mt19937& prng);
template <int kEBlockSize = 3, int kFBlockSize = 6>
std::pair<std::unique_ptr<PartitionedMatrixView<2, kEBlockSize, kFBlockSize>>,
std::unique_ptr<BlockSparseMatrix>>
CreateFakeBundleAdjustmentPartitionedJacobian(int num_cameras,
int num_points,
double visibility,
std::mt19937& rng) {
using PartitionedView = PartitionedMatrixView<2, kEBlockSize, kFBlockSize>;
auto block_sparse_matrix = CreateFakeBundleAdjustmentJacobian(
num_cameras, num_points, kFBlockSize, kEBlockSize, visibility, rng);
auto partitioned_view =
std::make_unique<PartitionedView>(*block_sparse_matrix, num_points);
return std::make_pair(std::move(partitioned_view),
std::move(block_sparse_matrix));
}
std::pair<
std::unique_ptr<PartitionedMatrixView<2, Eigen::Dynamic, Eigen::Dynamic>>,
std::unique_ptr<BlockSparseMatrix>>
CreateFakeBundleAdjustmentPartitionedJacobian(int num_cameras,
int num_points,
int camera_size,
int landmark_size,
double visibility,
std::mt19937& rng);
} // namespace ceres::internal
#endif // CERES_INTERNAL_FAKE_BUNDLE_ADJUSTMENT_JACOBIAN