Removed unused bool CholeskyUT_NOSQR(); methods from BundleAdjust. (efc9425e) · Commits · aflab / astrogeology / ISIS3

isis/src/control/objs/BundleAdjust/BundleAdjust.cpp

+0 −187

Original line number	Diff line number	Diff line
		@@ -1811,193 +1811,6 @@ namespace Isis {
		}


		/**
		* Upper triangular, square-root free cholesky.
		*
		*/
		bool BundleAdjust::CholeskyUT_NOSQR() {
		int i, j, k;
		double sum, divisor;
		double den;
		double d1, d2;

		int nRows = m_Normals.size1();
		// comment here
		// for (i = 0; i < nRows; i++) {
		// for (j = i; j < nRows; j++) {
		// printf("%lf ",m_Normals(i,j));
		// }
		// printf("\n");
		// }
		// comment here
		for (i = 0; i < nRows; i++) {
		// printf("Cholesky Row %d of %d\n",i+1,nRows);
		sum = 0.0;

		for (j = 0; j < i; j++) {
		// sum += m_Normals(j,i-j) * m_Normals(j,i-j) * m_Normals(j,0); // old way

		d1 = m_Normals(j, i);
		if (d1 == 0.0)
		continue;
		sum += d1 * d1 * m_Normals(j, j); // new way
		}

		// m_Normals(i,0) -= sum; // old
		m_Normals(i, i) -= sum; // new

		// check for divide by 0
		// den = m_Normals(i,0); // old
		den = m_Normals(i, i); // new
		if (fabs(den) < 1e-100) {
		return false;
		}

		divisor = 1.0 / den;

		for (j = (i + 1); j < nRows; j++) {
		sum = 0.0;

		for (k = 0; k < i; k++) {
		// sum += m_Normals(k,j-k) * m_Normals(k,i-k) * m_Normals(k,0); // old

		d1 = m_Normals(k, j);
		if (d1 == 0.0)
		continue;

		d2 = m_Normals(k, i);
		if (d2 == 0.0)
		continue;

		sum += d1 * d2 * m_Normals(k, k); // new
		}

		// m_Normals(i,j-i) = (m_Normals(i,j-i) - sum) * divisor; // old
		m_Normals(i, j) = (m_Normals(i, j) - sum) * divisor; // new
		}

		// decompose right-hand side
		sum = 0.0;
		for (k = 0; k < i; k++) {
		d1 = m_nj(k);
		if (d1 == 0.0)
		continue;

		d2 = m_Normals(k, i);
		if (d2 == 0.0)
		continue;

		sum += d1 * d2 * m_Normals(k, k);
		}

		m_nj(i) = (m_nj(i) - sum) * divisor;
		}

		return true;
		}


		/**
		* Backsubstitution for above square-root free cholesky method.
		*
		*/
		bool BundleAdjust::CholeskyUT_NOSQR_BackSub(symmetric_matrix<double, upper, column_major> &m,
		vector<double> &s,
		vector<double> &rhs) {
		int i, j;
		double sum;
		double d1, d2;

		int nRows = m.size1();

		s(nRows - 1) = rhs(nRows - 1);

		for (i = nRows - 2; i >= 0; i--) {
		sum = 0.0;

		for (j = i + 1; j < nRows; j++) {
		d1 = m(i, j);
		if (d1 == 0.0) {
		continue;
		}

		d2 = s(j);
		if (d2 == 0.0) {
		continue;
		}

		sum += d1 * d2;
		}

		s(i) = rhs(i) - sum;
		}

		// std::cout << s << std::endl;

		return true;
		}


		/**
		* Compute inverse of normal equations matrix for above square-root free cholesky method.
		*
		*/
		bool BundleAdjust::CholeskyUT_NOSQR_Inverse() {
		int i, j, k;
		double div, sum;
		double colk, tmpkj, tmpkk;

		// create temporary copy, inverse will be stored in m_Normals
		boost::numeric::ublas::symmetric_matrix< double, upper, column_major > tmp = m_Normals;
		// symmetric_matrix<double,lower> tmp = m_Normals;

		// solution vector
		LinearAlgebra::Vector s(m_nRank);

		// initialize column vector
		LinearAlgebra::Vector column(m_nRank);
		column.clear();
		column(0) = 1.0;

		for (i = 0; i < m_nRank; i++) {
		// set current column of identity
		column.clear();
		column(i) = 1.0;

		// factorize current column of identity matrix
		for (j = 0; j < m_nRank; j++) {
		div = 1.0 / tmp(j, j);
		sum = 0.0;

		for (k = 0; k < j; k++) {
		colk = column(k);
		tmpkj = tmp(k, j);
		tmpkk = tmp(k, k);

		if (colk == 0.0 \|\| tmpkj == 0.0 \|\| tmpkk == 0.0)
		continue;

		sum += colk * tmpkj * tmpkk;
		}

		column(j) = (column(j) - sum) * div;
		}

		// back-substitution
		if (!CholeskyUT_NOSQR_BackSub(tmp, s, column))
		return false;

		// store solution in corresponding column of inverse (replacing column in
		// m_Normals)
		for (j = 0; j <= i; j++) {
		m_Normals(j, i) = s(j);
		}
		}

		return true;
		}


		/**
		* Compute inverse of normal equations matrix for CHOLMOD.
		*

isis/src/control/objs/BundleAdjust/BundleAdjust.h

+0 −10

Original line number	Diff line number	Diff line
		@@ -352,16 +352,6 @@ namespace Isis {

		bool errorPropagation_CHOLMOD();

		bool CholeskyUT_NOSQR();
		bool CholeskyUT_NOSQR_Inverse();
		bool CholeskyUT_NOSQR_BackSub(
		boost::numeric::ublas::symmetric_matrix<
		double,
		boost::numeric::ublas::upper,
		boost::numeric::ublas::column_major > &m,
		LinearAlgebra::Vector &s,
		LinearAlgebra::Vector &rhs);

		// bool computePartials_DC(LinearAlgebra::Matrix &coeff_image,
		// LinearAlgebra::Matrix &coeff_point3D,
		// LinearAlgebra::Vector &coeff_RHS,