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// Ceres Solver - A fast non-linear least squares minimizer
// Copyright 2015 Google Inc. All rights reserved.
// http://ceres-solver.org/
//
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// modification, are permitted provided that the following conditions are met:
//
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// this list of conditions and the following disclaimer.
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// this list of conditions and the following disclaimer in the documentation
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// Author: sameeragarwal@google.com (Sameer Agarwal)
#ifndef CERES_INTERNAL_FAKE_BUNDLE_ADJUSTMENT_JACOBIAN
#define CERES_INTERNAL_FAKE_BUNDLE_ADJUSTMENT_JACOBIAN
#include <memory>
#include <random>
#include "ceres/block_sparse_matrix.h"
#include "ceres/partitioned_matrix_view.h"
namespace ceres::internal {
std::unique_ptr<BlockSparseMatrix> CreateFakeBundleAdjustmentJacobian(
int num_cameras,
int num_points,
int camera_size,
int point_size,
double visibility,
std::mt19937& prng);
template <int kEBlockSize = 3, int kFBlockSize = 6>
std::pair<std::unique_ptr<PartitionedMatrixView<2, kEBlockSize, kFBlockSize>>,
std::unique_ptr<BlockSparseMatrix>>
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<PartitionedView>(*block_sparse_matrix, num_points);
return std::make_pair(std::move(partitioned_view),
std::move(block_sparse_matrix));
}
std::pair<
std::unique_ptr<PartitionedMatrixView<2, Eigen::Dynamic, Eigen::Dynamic>>,
std::unique_ptr<BlockSparseMatrix>>
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