17 #include <gtsam_unstable/dllexport.h>
21 namespace gtsam {
namespace partition {
43 GenericFactor2D(
const size_t index1,
const char type1,
const size_t index2,
const char type2,
const int index_ = -1,
const int weight_ = 1)
54 const int minNrConstraintsPerCamera,
const int minNrConstraintsPerLandmark);
58 const std::vector<int>& dictionary,
GenericGraph2D& reducedGraph) {
59 throw std::runtime_error(
"reduceGenericGraph 2d not implemented");
64 WorkSpace& workspace,
const int minNrConstraintsPerCamera,
const int minNrConstraintsPerLandmark) {
return; }
102 const size_t minNrConstraintsPerCamera,
const size_t minNrConstraintsPerLandmark);
106 const std::vector<int>& dictionary,
GenericGraph3D& reducedGraph);
110 WorkSpace& workspace,
const size_t minNrConstraintsPerCamera,
const size_t minNrConstraintsPerLandmark);
136 inline bool hasCommonCamera(
const std::set<size_t>& cameras1,
const std::set<size_t>& cameras2) {
137 if (cameras1.empty() || cameras2.empty())
138 throw std::invalid_argument(
"hasCommonCamera: the input camera set is empty!");
139 std::set<size_t>::const_iterator it1 = cameras1.begin();
140 std::set<size_t>::const_iterator it2 = cameras2.begin();
141 while (it1 != cameras1.end() && it2 != cameras2.end()) {
144 else if (*it1 < *it2)