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Definition now in Matrix.h

release/4.3a0
dellaert 2014-10-07 00:30:24 +02:00
parent a38ac5a107
commit 885a9235a6
1 changed files with 1 additions and 2 deletions
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3
gtsam/slam/ImplicitSchurFactor.h
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@ -29,7 +29,6 @@ public:
protected: protected:
typedef Eigen::Matrix<double, 2, D> Matrix2D; ///< type of an F block typedef Eigen::Matrix<double, 2, D> Matrix2D; ///< type of an F block
typedef Eigen::Matrix<double, 2, 3> Matrix23;
typedef Eigen::Matrix<double, D, D> MatrixDD; ///< camera hessian typedef Eigen::Matrix<double, D, D> MatrixDD; ///< camera hessian
typedef std::pair<Key, Matrix2D> KeyMatrix2D; ///< named F block typedef std::pair<Key, Matrix2D> KeyMatrix2D; ///< named F block
@ -203,7 +202,7 @@ public:
// F'*(I - E*P*E')*F, TODO: this should work, but it does not :-( // F'*(I - E*P*E')*F, TODO: this should work, but it does not :-(
// static const Eigen::Matrix<double, 2, 2> I2 = eye(2); // static const Eigen::Matrix<double, 2, 2> I2 = eye(2);
// Eigen::Matrix<double, 2, 2> Q = // // Matrix2 Q = //
// I2 - E_.block<2, 3>(2 * pos, 0) * PointCovariance_ * E_.block<2, 3>(2 * pos, 0).transpose(); // I2 - E_.block<2, 3>(2 * pos, 0) * PointCovariance_ * E_.block<2, 3>(2 * pos, 0).transpose();
// blocks[j] = Fj.transpose() * Q * Fj; // blocks[j] = Fj.transpose() * Q * Fj;
} }