env/ceres-solver/internal/ceres/fake_bundle_adjustment_jacobian.h

// Ceres Solver - A fast non-linear least squares minimizer
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// Author: sameeragarwal@google.com (Sameer Agarwal)

#ifndef CERES_INTERNAL_FAKE_BUNDLE_ADJUSTMENT_JACOBIAN
#define CERES_INTERNAL_FAKE_BUNDLE_ADJUSTMENT_JACOBIAN

#include <memory>
#include <random>

#include "ceres/block_sparse_matrix.h"
#include "ceres/partitioned_matrix_view.h"

namespace ceres::internal {
std::unique_ptr<BlockSparseMatrix> CreateFakeBundleAdjustmentJacobian(
    int num_cameras,
    int num_points,
    int camera_size,
    int point_size,
    double visibility,
    std::mt19937& prng);

template <int kEBlockSize = 3, int kFBlockSize = 6>
std::pair<std::unique_ptr<PartitionedMatrixView<2, kEBlockSize, kFBlockSize>>,
          std::unique_ptr<BlockSparseMatrix>>
CreateFakeBundleAdjustmentPartitionedJacobian(int num_cameras,
                                              int num_points,
                                              double visibility,
                                              std::mt19937& rng) {
  using PartitionedView = PartitionedMatrixView<2, kEBlockSize, kFBlockSize>;
  auto block_sparse_matrix = CreateFakeBundleAdjustmentJacobian(
      num_cameras, num_points, kFBlockSize, kEBlockSize, visibility, rng);
  auto partitioned_view =
      std::make_unique<PartitionedView>(*block_sparse_matrix, num_points);
  return std::make_pair(std::move(partitioned_view),
                        std::move(block_sparse_matrix));
}

std::pair<
    std::unique_ptr<PartitionedMatrixView<2, Eigen::Dynamic, Eigen::Dynamic>>,
    std::unique_ptr<BlockSparseMatrix>>
CreateFakeBundleAdjustmentPartitionedJacobian(int num_cameras,
                                              int num_points,
                                              int camera_size,
                                              int landmark_size,
                                              double visibility,
                                              std::mt19937& rng);

}  // namespace ceres::internal

#endif  // CERES_INTERNAL_FAKE_BUNDLE_ADJUSTMENT_JACOBIAN