| 3209 | |
| 3210 | template <class Float> |
| 3211 | void SparseBundleCPU<Float>::ComputeDiagonal(VectorF& JJ) { |
| 3212 | ConfigBA::TimerBA timer(this, TIMER_FUNCTION_DD, true); |
| 3213 | if (__no_jacobian_store) { |
| 3214 | } else if (__jc_store_transpose) { |
| 3215 | ProgramCPU::ComputeDiagonal( |
| 3216 | _cuJacobianCameraT, _cuCameraMeasurementMap, _cuJacobianPoint, |
| 3217 | _cuPointMeasurementMap, _cuCameraMeasurementList, |
| 3218 | _cuCameraQListW.begin(), JJ, true, __use_radial_distortion); |
| 3219 | } else if (__jc_store_original) { |
| 3220 | ProgramCPU::ComputeDiagonal( |
| 3221 | _cuJacobianCamera, _cuCameraMeasurementMap, _cuJacobianPoint, |
| 3222 | _cuPointMeasurementMap, _cuCameraMeasurementList, |
| 3223 | _cuCameraQListW.begin(), JJ, false, __use_radial_distortion); |
| 3224 | } |
| 3225 | } |
| 3226 | |
| 3227 | template <class Float> |
| 3228 | void SparseBundleCPU<Float>::NormalizeDataF() { |
nothing calls this directly
no test coverage detected