diff --git a/internal/ceres/fake_bundle_adjustment_jacobian.cc b/internal/ceres/fake_bundle_adjustment_jacobian.cc index efe4d8d7..22f34059 100644 --- a/internal/ceres/fake_bundle_adjustment_jacobian.cc +++ b/internal/ceres/fake_bundle_adjustment_jacobian.cc @@ -96,25 +96,4 @@ std::unique_ptr CreateFakeBundleAdjustmentJacobian( return jacobian; } -std::pair< - std::unique_ptr>, - std::unique_ptr> -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(options, *block_sparse_matrix); - return std::make_pair(std::move(partitioned_view), - std::move(block_sparse_matrix)); -} - } // namespace ceres::internal diff --git a/internal/ceres/fake_bundle_adjustment_jacobian.h b/internal/ceres/fake_bundle_adjustment_jacobian.h index ced1b161..0448dbf3 100644 --- a/internal/ceres/fake_bundle_adjustment_jacobian.h +++ b/internal/ceres/fake_bundle_adjustment_jacobian.h @@ -47,32 +47,6 @@ std::unique_ptr CreateFakeBundleAdjustmentJacobian( double visibility, std::mt19937& prng); -template -std::pair>, - std::unique_ptr> -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(*block_sparse_matrix, num_points); - return std::make_pair(std::move(partitioned_view), - std::move(block_sparse_matrix)); -} - -std::pair< - std::unique_ptr>, - std::unique_ptr> -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