| 1102 | } |
| 1103 | |
| 1104 | void SparseBundleCU::ComputeBlockPC(float lambda, bool dampd) { |
| 1105 | ConfigBA::TimerBA timer(this, TIMER_FUNCTION_BC, true); |
| 1106 | |
| 1107 | bool use_diagonal_q = _cuCameraQListW.IsValid() && __bundle_current_mode != 2; |
| 1108 | if (use_diagonal_q) |
| 1109 | ComputeDiagonalQ(_cuCameraQListW, _cuVectorSJ, _cuVectorJJ); |
| 1110 | |
| 1111 | if (__no_jacobian_store || (!__jc_store_original && !__jc_store_transpose)) { |
| 1112 | ComputeDiagonalBlock_( |
| 1113 | lambda, dampd, _cuCameraData, _cuPointData, _cuMeasurements, |
| 1114 | _cuCameraMeasurementMap, _cuCameraMeasurementList, |
| 1115 | _cuPointMeasurementMap, _cuProjectionMap, _cuJacobianPoint, _cuVectorSJ, |
| 1116 | _cuVectorJJ, _cuBlockPC, __fixed_intrinsics, __use_radial_distortion, |
| 1117 | use_diagonal_q, __bundle_current_mode); |
| 1118 | } else if (__jc_store_transpose) { |
| 1119 | ComputeDiagonalBlock(lambda, dampd, _cuJacobianCameraT, |
| 1120 | _cuCameraMeasurementMap, _cuJacobianPoint, |
| 1121 | _cuPointMeasurementMap, _cuCameraMeasurementList, |
| 1122 | _cuVectorJJ, _cuBlockPC, __use_radial_distortion, true, |
| 1123 | use_diagonal_q, __bundle_current_mode); |
| 1124 | } else { |
| 1125 | ComputeDiagonalBlock(lambda, dampd, _cuJacobianCamera, |
| 1126 | _cuCameraMeasurementMap, _cuJacobianPoint, |
| 1127 | _cuPointMeasurementMap, _cuCameraMeasurementList, |
| 1128 | _cuVectorJJ, _cuBlockPC, __use_radial_distortion, |
| 1129 | false, use_diagonal_q, __bundle_current_mode); |
| 1130 | } |
| 1131 | } |
| 1132 | |
| 1133 | void SparseBundleCU::ApplyBlockPC(CuTexImage& v, CuTexImage& pv, int mode) { |
| 1134 | ConfigBA::TimerBA timer(this, TIMER_FUNCTION_MP, true); |
nothing calls this directly
no test coverage detected