Merge pull request #19 from taku0625/fix_vgicp_factor_gpu

delete unnesessary constructor of vgicp
koide3 · Jul 26, 2024 · d587ee9 · d587ee9
2 parents f62b24d + 4039371
commit d587ee9
Show file tree

Hide file tree

Showing 2 changed files with 0 additions and 14 deletions.
diff --git a/include/gtsam_points/factors/integrated_vgicp_factor_gpu.hpp b/include/gtsam_points/factors/integrated_vgicp_factor_gpu.hpp
@@ -63,13 +63,6 @@ class IntegratedVGICPFactorGPU : public gtsam_points::NonlinearFactorGPU {
     CUstream_st* stream = nullptr,
     std::shared_ptr<TempBufferManager> temp_buffer = nullptr);
 
-  /// Create a unary VGICP_GPU factor between a fixed target pose and an active source pose.
-  IntegratedVGICPFactorGPU(
-    const gtsam::Pose3& fixed_target_pose,
-    gtsam::Key source_key,
-    const GaussianVoxelMap::ConstPtr& target,
-    const PointCloud::ConstPtr& source);
-
   virtual ~IntegratedVGICPFactorGPU() override;
 
   /// @brief Enable or disable surface orientation validation for correspondence search

diff --git a/src/gtsam_points/factors/integrated_vgicp_factor_gpu.cu b/src/gtsam_points/factors/integrated_vgicp_factor_gpu.cu
@@ -12,13 +12,6 @@
 
 namespace gtsam_points {
 
-IntegratedVGICPFactorGPU::IntegratedVGICPFactorGPU(
-  const gtsam::Pose3& fixed_target_pose,
-  gtsam::Key source_key,
-  const GaussianVoxelMap::ConstPtr& target,
-  const PointCloud::ConstPtr& source)
-: IntegratedVGICPFactorGPU(fixed_target_pose, source_key, target, source, nullptr, nullptr) {}
-
 IntegratedVGICPFactorGPU::IntegratedVGICPFactorGPU(
   gtsam::Key target_key,
   gtsam::Key source_key,