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4a4b6702f1
Co-authored-by: Billy Robert O'Neal III <bion@microsoft.com> Co-authored-by: Kai Pastor <dg0yt@darc.de>
68 lines
3.3 KiB
Diff
68 lines
3.3 KiB
Diff
diff --git a/internal/ceres/fake_bundle_adjustment_jacobian.cc b/internal/ceres/fake_bundle_adjustment_jacobian.cc
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index efe4d8d7..22f34059 100644
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--- a/internal/ceres/fake_bundle_adjustment_jacobian.cc
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+++ b/internal/ceres/fake_bundle_adjustment_jacobian.cc
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@@ -96,25 +96,4 @@ std::unique_ptr<BlockSparseMatrix> CreateFakeBundleAdjustmentJacobian(
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return jacobian;
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}
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-std::pair<
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- std::unique_ptr<PartitionedMatrixView<2, Eigen::Dynamic, Eigen::Dynamic>>,
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- std::unique_ptr<BlockSparseMatrix>>
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-CreateFakeBundleAdjustmentPartitionedJacobian(int num_cameras,
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- int num_points,
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- int camera_size,
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- int landmark_size,
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- double visibility,
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- std::mt19937& rng) {
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- using PartitionedView =
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- PartitionedMatrixView<2, Eigen::Dynamic, Eigen::Dynamic>;
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- auto block_sparse_matrix = CreateFakeBundleAdjustmentJacobian(
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- num_cameras, num_points, camera_size, landmark_size, visibility, rng);
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- LinearSolver::Options options;
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- options.elimination_groups.push_back(num_points);
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- auto partitioned_view =
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- std::make_unique<PartitionedView>(options, *block_sparse_matrix);
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- return std::make_pair(std::move(partitioned_view),
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- std::move(block_sparse_matrix));
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-}
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-
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} // namespace ceres::internal
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diff --git a/internal/ceres/fake_bundle_adjustment_jacobian.h b/internal/ceres/fake_bundle_adjustment_jacobian.h
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index ced1b161..0448dbf3 100644
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--- a/internal/ceres/fake_bundle_adjustment_jacobian.h
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+++ b/internal/ceres/fake_bundle_adjustment_jacobian.h
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@@ -47,32 +47,6 @@ std::unique_ptr<BlockSparseMatrix> CreateFakeBundleAdjustmentJacobian(
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double visibility,
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std::mt19937& prng);
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-template <int kEBlockSize = 3, int kFBlockSize = 6>
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-std::pair<std::unique_ptr<PartitionedMatrixView<2, kEBlockSize, kFBlockSize>>,
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- std::unique_ptr<BlockSparseMatrix>>
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-CreateFakeBundleAdjustmentPartitionedJacobian(int num_cameras,
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- int num_points,
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- double visibility,
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- std::mt19937& rng) {
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- using PartitionedView = PartitionedMatrixView<2, kEBlockSize, kFBlockSize>;
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- auto block_sparse_matrix = CreateFakeBundleAdjustmentJacobian(
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- num_cameras, num_points, kFBlockSize, kEBlockSize, visibility, rng);
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- auto partitioned_view =
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- std::make_unique<PartitionedView>(*block_sparse_matrix, num_points);
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- return std::make_pair(std::move(partitioned_view),
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- std::move(block_sparse_matrix));
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-}
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-
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-std::pair<
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- std::unique_ptr<PartitionedMatrixView<2, Eigen::Dynamic, Eigen::Dynamic>>,
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- std::unique_ptr<BlockSparseMatrix>>
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-CreateFakeBundleAdjustmentPartitionedJacobian(int num_cameras,
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- int num_points,
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- int camera_size,
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- int landmark_size,
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- double visibility,
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- std::mt19937& rng);
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-
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} // namespace ceres::internal
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#endif // CERES_INTERNAL_FAKE_BUNDLE_ADJUSTMENT_JACOBIAN
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