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16 template<
typename CAMERA>
17 class DummyFactor:
public RegularImplicitSchurFactor<CAMERA> {
46 std::pair<VectorValues::iterator, bool> it =
y.tryInsert(
key,
empty);
47 Vector& yi = it.first->second;
void multiplyHessian(double alpha, const VectorValues &x, VectorValues &y) const
Dummy version to measure overhead of key access.
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bool empty() const
Whether the factor is empty (involves zero variables).
Eigen::Matrix< double, 2, CAMERA::dimension > Matrix2D
std::pair< Key, Matrix2D > KeyMatrix2D
const gtsam::Symbol key('X', 0)
The matrix class, also used for vectors and row-vectors.
A subclass of GaussianFactor specialized to structureless SFM.
std::uint64_t Key
Integer nonlinear key type.
DummyFactor(const std::vector< KeyMatrix2D > &Fblocks, const Matrix &E, const Matrix3 &P, const Vector &b)
gtsam
Author(s):
autogenerated on Fri Nov 1 2024 03:32:27