| 2990 | /////////////////////////////////////////////////// |
| 2991 | template <class Float> |
| 2992 | void SparseBundleCPU<Float>::PrepareJacobianNormalization() { |
| 2993 | if (!_cuVectorSJ.size()) return; |
| 2994 | |
| 2995 | if ((__jc_store_transpose || __jc_store_original) && |
| 2996 | _cuJacobianPoint.size() && !__bundle_current_mode) { |
| 2997 | VectorF null; |
| 2998 | null.swap(_cuVectorSJ); |
| 2999 | EvaluateJacobians(); |
| 3000 | null.swap(_cuVectorSJ); |
| 3001 | ComputeDiagonal(_cuVectorSJ); |
| 3002 | ComputeSQRT(_cuVectorSJ); |
| 3003 | } else { |
| 3004 | VectorF null; |
| 3005 | null.swap(_cuVectorSJ); |
| 3006 | EvaluateJacobians(); |
| 3007 | ComputeBlockPC(0, true); |
| 3008 | null.swap(_cuVectorSJ); |
| 3009 | _cuVectorJJ.swap(_cuVectorSJ); |
| 3010 | ComputeRSQRT(_cuVectorSJ); |
| 3011 | } |
| 3012 | } |
| 3013 | |
| 3014 | template <class Float> |
| 3015 | void SparseBundleCPU<Float>::EvaluateJacobians() { |
nothing calls this directly
no test coverage detected