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43 #include "ceres/graph.h"
76 Graph<int>* CreateSchurComplementGraph(const vector<set<int> >& visibility) {
122   Graph<int>* graph = new Graph<int>();
129     graph->AddVertex(i);
130     graph->AddEdge(i, i, kSelfEdgeWeight);
146     graph->AddEdge(camera1, camera2, weight);
149   VLOG(2) << "Schur complement graph time: " << (time(NULL) - start_time);
150   return graph;