Remove CreateFakeBundleAdjustmentPartitionedJacobian
This function is not used and is not written correctly to
deal with the case wherre Schur specialization is disabled.
Change-Id: I48509317e6df5f9cdc37c81e879fad425bb2d037
diff --git a/internal/ceres/fake_bundle_adjustment_jacobian.cc b/internal/ceres/fake_bundle_adjustment_jacobian.cc
index efe4d8d..22f3405 100644
--- a/internal/ceres/fake_bundle_adjustment_jacobian.cc
+++ b/internal/ceres/fake_bundle_adjustment_jacobian.cc
@@ -96,25 +96,4 @@
return jacobian;
}
-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) {
- using PartitionedView =
- PartitionedMatrixView<2, Eigen::Dynamic, Eigen::Dynamic>;
- auto block_sparse_matrix = CreateFakeBundleAdjustmentJacobian(
- num_cameras, num_points, camera_size, landmark_size, visibility, rng);
- LinearSolver::Options options;
- options.elimination_groups.push_back(num_points);
- auto partitioned_view =
- std::make_unique<PartitionedView>(options, *block_sparse_matrix);
- return std::make_pair(std::move(partitioned_view),
- std::move(block_sparse_matrix));
-}
-
} // namespace ceres::internal
diff --git a/internal/ceres/fake_bundle_adjustment_jacobian.h b/internal/ceres/fake_bundle_adjustment_jacobian.h
index ced1b16..0448dbf 100644
--- a/internal/ceres/fake_bundle_adjustment_jacobian.h
+++ b/internal/ceres/fake_bundle_adjustment_jacobian.h
@@ -47,32 +47,6 @@
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
