a class for bundle adjustment with fixed intrinsic parameters. More...

#include <vpgl_ba_fixed_k_lsqr.h>

Inheritance diagram for vpgl_ba_fixed_k_lsqr:

Public Types
enum	UseGradient

enum	UseWeights

Public Member Functions
	vpgl_ba_fixed_k_lsqr (std::vector< vpgl_calibration_matrix< double > > K, const std::vector< vgl_point_2d< double > > &image_points, const std::vector< std::vector< bool > > &mask)
	Constructor. More...

	vpgl_ba_fixed_k_lsqr (std::vector< vpgl_calibration_matrix< double > > K, const std::vector< vgl_point_2d< double > > &image_points, const std::vector< vnl_matrix< double > > &inv_covars, const std::vector< std::vector< bool > > &mask)
	Constructor. More...

	~vpgl_ba_fixed_k_lsqr () override=default

void	jac_Aij (unsigned int i, unsigned int j, vnl_double_3x4 const &Pi, vnl_vector< double > const &ai, vnl_vector< double > const &bj, vnl_vector< double > const &c, vnl_matrix< double > &Aij) override
	compute the Jacobian Aij. More...

void	jac_Bij (unsigned int i, unsigned int j, vnl_double_3x4 const &Pi, vnl_vector< double > const &ai, vnl_vector< double > const &bj, vnl_vector< double > const &c, vnl_matrix< double > &Bij) override
	compute the Jacobian Bij. More...

void	jac_Cij (unsigned int i, unsigned int j, vnl_double_3x4 const &Pi, vnl_vector< double > const &ai, vnl_vector< double > const &bj, vnl_vector< double > const &c, vnl_matrix< double > &Cij) override
	compute the Jacobian Cij. More...

vgl_homg_point_3d< double >	param_to_point (int j, const double *bj, const vnl_vector< double > &c) const override
	construct the More...

vnl_vector_fixed< double, 4 >	param_to_pt_vector (int j, const double *bj, const vnl_vector< double > &c) const override
	construct the More...

vpgl_perspective_camera< double >	param_to_cam (int i, const double *ai, const vnl_vector< double > &c) const override
	construct the More...

vnl_double_3x4	param_to_cam_matrix (int i, const double *ai, const vnl_vector< double > &c) const override
	compute a 3x4 camera matrix of camera More...

void	f (vnl_vector< double > const &a, vnl_vector< double > const &b, vnl_vector< double > const &c, vnl_vector< double > &e) override
	Compute all the reprojection errors. More...

void	fij (int i, int j, vnl_vector< double > const &ai, vnl_vector< double > const &bj, vnl_vector< double > const &c, vnl_vector< double > &fij) override
	Compute the residuals from the ith component of a, the jth component of b, and all of c. More...

void	jac_blocks (vnl_vector< double > const &a, vnl_vector< double > const &b, vnl_vector< double > const &c, std::vector< vnl_matrix< double > > &A, std::vector< vnl_matrix< double > > &B, std::vector< vnl_matrix< double > > &C) override
	Compute the sparse Jacobian in block form. More...

virtual void	jac_Aij (unsigned int i, unsigned int j, vnl_vector< double > const &ai, vnl_vector< double > const &bj, vnl_vector< double > const &c, vnl_matrix< double > &Aij)

virtual void	jac_Aij (unsigned int i, unsigned int j, vnl_vector< double > const &ai, vnl_vector< double > const &bj, vnl_vector< double > const &c, vnl_matrix< double > &Aij)

virtual void	jac_Bij (unsigned int i, unsigned int j, vnl_vector< double > const &ai, vnl_vector< double > const &bj, vnl_vector< double > const &c, vnl_matrix< double > &Bij)

virtual void	jac_Bij (unsigned int i, unsigned int j, vnl_vector< double > const &ai, vnl_vector< double > const &bj, vnl_vector< double > const &c, vnl_matrix< double > &Bij)

virtual void	jac_Cij (unsigned int i, unsigned int j, vnl_vector< double > const &ai, vnl_vector< double > const &bj, vnl_vector< double > const &c, vnl_matrix< double > &Cij)

virtual void	jac_Cij (unsigned int i, unsigned int j, vnl_vector< double > const &ai, vnl_vector< double > const &bj, vnl_vector< double > const &c, vnl_matrix< double > &Cij)

void	compute_weight_ij (int i, int j, vnl_vector< double > const &ai, vnl_vector< double > const &bj, vnl_vector< double > const &c, vnl_vector< double > const &fij, double &weight) override
	Use an M-estimator to compute weights. More...

void	set_residual_scale (double scale)
	set the residual scale for the robust estimation. More...

vgl_homg_point_3d< double >	param_to_point (int j, const vnl_vector< double > &b, const vnl_vector< double > &c) const
	construct the More...

vnl_vector_fixed< double, 4 >	param_to_pt_vector (int j, const vnl_vector< double > &b, const vnl_vector< double > &c) const
	construct the More...

vpgl_perspective_camera< double >	param_to_cam (int i, const vnl_vector< double > &a, const vnl_vector< double > &c) const
	construct the More...

vnl_double_3x4	param_to_cam_matrix (int i, const vnl_vector< double > &a, const vnl_vector< double > &c) const
	construct the More...

void	reset ()
	reset the weights. More...

void	throw_failure ()

void	clear_failure ()

virtual void	fd_jac_blocks (vnl_vector< double > const &a, vnl_vector< double > const &b, vnl_vector< double > const &c, std::vector< vnl_matrix< double > > &A, std::vector< vnl_matrix< double > > &B, std::vector< vnl_matrix< double > > &C, double stepsize)

virtual void	compute_weights (vnl_vector< double > const &a, vnl_vector< double > const &b, vnl_vector< double > const &c, vnl_vector< double > const &f, vnl_vector< double > &weights)

virtual void	apply_weights (vnl_vector< double > const &weights, vnl_vector< double > &f)

virtual void	apply_weights (vnl_vector< double > const &weights, std::vector< vnl_matrix< double > > &A, std::vector< vnl_matrix< double > > &B, std::vector< vnl_matrix< double > > &C)

void	fd_jac_Aij (int i, int j, vnl_vector< double > const &ai, vnl_vector< double > const &bj, vnl_vector< double > const &c, vnl_matrix< double > &Aij, double stepsize)

void	fd_jac_Bij (int i, int j, vnl_vector< double > const &ai, vnl_vector< double > const &bj, vnl_vector< double > const &c, vnl_matrix< double > &Bij, double stepsize)

void	fd_jac_Cij (int i, int j, vnl_vector< double > const &ai, vnl_vector< double > const &bj, vnl_vector< double > const &c, vnl_matrix< double > &Cij, double stepsize)

virtual void	apply_weight_ij (int i, int j, double const &weight, vnl_vector< double > &fij)

virtual void	apply_weight_ij (int i, int j, double const &weight, vnl_matrix< double > &Aij, vnl_matrix< double > &Bij, vnl_matrix< double > &Cij)

virtual void	trace (int iteration, vnl_vector< double > const &a, vnl_vector< double > const &b, vnl_vector< double > const &c, vnl_vector< double > const &e)

unsigned int	number_of_params_a (int i) const

unsigned int	number_of_params_b (int j) const

unsigned int	number_of_params_c () const

unsigned int	number_of_residuals (int k) const

unsigned int	number_of_residuals (int i, int j) const

unsigned int	index_a (int i) const

unsigned int	index_b (int j) const

unsigned int	index_e (int k) const

unsigned int	number_of_a () const

unsigned int	number_of_b () const

unsigned int	number_of_e () const

bool	has_gradient () const

bool	has_weights () const

const vnl_crs_index &	residual_indices () const

Static Public Member Functions
static vnl_vector< double >	create_param_vector (const std::vector< vpgl_perspective_camera< double > > &cameras)
	Create the parameter vector `a` from a vector of cameras. More...

static vnl_vector< double >	create_param_vector (const std::vector< vgl_point_3d< double > > &world_points)
	Create the parameter vector `b` from a vector of 3D points. More...

static vnl_double_3x3	rod_to_matrix (vnl_vector< double > const &r)
	Fast conversion of rotation from Rodrigues vector to matrix. More...

static void	jac_inhomg_3d_point (vnl_double_3x4 const &P, vnl_vector< double > const &pt, vnl_matrix< double > &J)
	compute the 2x3 Jacobian of camera projection with respect to point location df/dpt where $f(pt) = P*pt$. More...

static void	jac_camera_center (vnl_double_3x3 const &M, vnl_vector< double > const &C, vnl_vector< double > const &pt, vnl_matrix< double > &J)
	compute the 2x3 Jacobian of camera projection with respect to camera center df/dC where $f(C) = [M \| -MC]pt$. More...

static void	jac_camera_rotation (vnl_double_3x3 const &K, vnl_vector< double > const &C, vnl_vector< double > const &r, vnl_vector< double > const &pt, vnl_matrix< double > &J)
	compute the 2x3 Jacobian of camera projection with respect to camera rotation df/dr where $f(r) = Krod_to_matrix(r)[I \| -C]*pt$. More...

Public Attributes
	no_gradient

	use_gradient

	no_weights

	use_weights

bool	failure

Protected Attributes
std::vector< vpgl_calibration_matrix< double > >	K_
	The fixed internal camera calibration. More...

std::vector< vnl_double_3x3 >	Km_
	The fixed internal camera calibration in matrix form. More...

std::vector< vgl_point_2d< double > >	image_points_
	The corresponding points in the image. More...

std::vector< vnl_matrix< double > >	factored_inv_covars_
	The Cholesky factored inverse covariances for each image point. More...

bool	use_covars_
	Flag to enable covariance weighted errors. More...

double	scale2_
	The square of the scale of the robust estimator. More...

int	iteration_count_

vnl_crs_index	residual_indices_

std::vector< unsigned int >	indices_a_

std::vector< unsigned int >	indices_b_

unsigned int	num_params_c_

std::vector< unsigned int >	indices_e_

bool	use_gradient_

bool	use_weights_

Detailed Description

a class for bundle adjustment with fixed intrinsic parameters.

Definition at line 18 of file vpgl_ba_fixed_k_lsqr.h.

Constructor & Destructor Documentation

◆ vpgl_ba_fixed_k_lsqr() [1/2]

vpgl_ba_fixed_k_lsqr::vpgl_ba_fixed_k_lsqr	(	std::vector< vpgl_calibration_matrix< double > >	K,
		const std::vector< vgl_point_2d< double > > &	image_points,
		const std::vector< std::vector< bool > > &	mask
	)

Constructor.

Note: image points are not homogeneous because they require finite points to measure projection error

Definition at line 14 of file vpgl_ba_fixed_k_lsqr.cxx.

◆ vpgl_ba_fixed_k_lsqr() [2/2]

vpgl_ba_fixed_k_lsqr::vpgl_ba_fixed_k_lsqr	(	std::vector< vpgl_calibration_matrix< double > >	K,
		const std::vector< vgl_point_2d< double > > &	image_points,
		const std::vector< vnl_matrix< double > > &	inv_covars,
		const std::vector< std::vector< bool > > &	mask
	)

Constructor.

Each image point is assigned an inverse covariance (error projector) matrix

Note: image points are not homogeneous because they require finite points to measure projection error

Definition at line 29 of file vpgl_ba_fixed_k_lsqr.cxx.

◆ ~vpgl_ba_fixed_k_lsqr()

vpgl_ba_fixed_k_lsqr::~vpgl_ba_fixed_k_lsqr ( )

overridedefault

Member Function Documentation

◆ compute_weight_ij()

void vpgl_bundle_adjust_lsqr::compute_weight_ij	(	int	i,
		int	j,
		vnl_vector< double > const &	ai,
		vnl_vector< double > const &	bj,
		vnl_vector< double > const &	c,
		vnl_vector< double > const &	fij,
		double &	weight
	)

overridevirtualinherited

Use an M-estimator to compute weights.

Reimplemented from vnl_sparse_lst_sqr_function.

Definition at line 199 of file vpgl_bundle_adjust_lsqr.cxx.

◆ create_param_vector() [1/2]

vnl_vector< double > vpgl_ba_fixed_k_lsqr::create_param_vector ( const std::vector< vpgl_perspective_camera< double > > & cameras )

static

Create the parameter vector a from a vector of cameras.

Definition at line 138 of file vpgl_ba_fixed_k_lsqr.cxx.

◆ create_param_vector() [2/2]

vnl_vector< double > vpgl_ba_fixed_k_lsqr::create_param_vector ( const std::vector< vgl_point_3d< double > > & world_points )

static

Create the parameter vector b from a vector of 3D points.

Definition at line 160 of file vpgl_ba_fixed_k_lsqr.cxx.

◆ f()

void vpgl_bundle_adjust_lsqr::f	(	vnl_vector< double > const &	a,
		vnl_vector< double > const &	b,
		vnl_vector< double > const &	c,
		vnl_vector< double > &	e
	)

overridevirtualinherited

Compute all the reprojection errors.

Given the parameter vectors a, b, and c, compute the vector of residuals e. e has been sized appropriately before the call. The parameters in for each camera are in a. The 3D point parameters are in b. Global parameters are in c.

Given the parameter vectors a, b, and c, compute the vector of residuals e. e has been sized appropriately before the call. The parameters in a for each camera are {wx, wy, wz, tx, ty, tz} where w is the Rodrigues vector of the rotation and t is the translation. The parameters in b for each 3D point are {px, py, pz} the non-homogeneous position.

Construct the ith camera.

Reimplemented from vnl_sparse_lst_sqr_function.

Definition at line 88 of file vpgl_bundle_adjust_lsqr.cxx.

◆ fij()

void vpgl_bundle_adjust_lsqr::fij	(	int	i,
		int	j,
		vnl_vector< double > const &	ai,
		vnl_vector< double > const &	bj,
		vnl_vector< double > const &	c,
		vnl_vector< double > &	fij
	)

overridevirtualinherited

Compute the residuals from the ith component of a, the jth component of b, and all of c.

Compute the residuals from the ith component of a and the jth component of b.

This function is not normally used because f() has a self-contained efficient implementation. It is used for finite-differencing if the gradient is marked as unavailable

This is not normally used because f() has a self-contained efficient implementation It is used for finite-differencing if the gradient is marked as unavailable

Construct the ith camera.

Reimplemented from vnl_sparse_lst_sqr_function.

Definition at line 129 of file vpgl_bundle_adjust_lsqr.cxx.

◆ jac_Aij() [1/2]

void vpgl_ba_fixed_k_lsqr::jac_Aij	(	unsigned int	i,
		unsigned int	j,
		vnl_double_3x4 const &	Pi,
		vnl_vector< double > const &	ai,
		vnl_vector< double > const &	bj,
		vnl_vector< double > const &	c,
		vnl_matrix< double > &	Aij
	)

overridevirtual

compute the Jacobian Aij.

Implements vpgl_bundle_adjust_lsqr.

Definition at line 42 of file vpgl_ba_fixed_k_lsqr.cxx.

◆ jac_Aij() [2/2]

virtual void vnl_sparse_lst_sqr_function::jac_Aij

inherited

◆ jac_Bij() [1/2]

void vpgl_ba_fixed_k_lsqr::jac_Bij	(	unsigned int	i,
		unsigned int	j,
		vnl_double_3x4 const &	Pi,
		vnl_vector< double > const &	ai,
		vnl_vector< double > const &	bj,
		vnl_vector< double > const &	c,
		vnl_matrix< double > &	Bij
	)

overridevirtual

compute the Jacobian Bij.

Implements vpgl_bundle_adjust_lsqr.

Definition at line 68 of file vpgl_ba_fixed_k_lsqr.cxx.

◆ jac_Bij() [2/2]

virtual void vnl_sparse_lst_sqr_function::jac_Bij

inherited

◆ jac_blocks()

void vpgl_bundle_adjust_lsqr::jac_blocks	(	vnl_vector< double > const &	a,
		vnl_vector< double > const &	b,
		vnl_vector< double > const &	c,
		std::vector< vnl_matrix< double > > &	A,
		std::vector< vnl_matrix< double > > &	B,
		std::vector< vnl_matrix< double > > &	C
	)

overridevirtualinherited

Compute the sparse Jacobian in block form.

Construct the ith camera.

Reimplemented from vnl_sparse_lst_sqr_function.

Definition at line 159 of file vpgl_bundle_adjust_lsqr.cxx.

◆ jac_camera_center()

void vpgl_bundle_adjust_lsqr::jac_camera_center	(	vnl_double_3x3 const &	M,
		vnl_vector< double > const &	C,
		vnl_vector< double > const &	pt,
		vnl_matrix< double > &	J
	)

staticinherited

compute the 2x3 Jacobian of camera projection with respect to camera center df/dC where $f(C) = [M | -M*C]*pt$.

Definition at line 250 of file vpgl_bundle_adjust_lsqr.cxx.

◆ jac_camera_rotation()

void vpgl_bundle_adjust_lsqr::jac_camera_rotation	(	vnl_double_3x3 const &	K,
		vnl_vector< double > const &	C,
		vnl_vector< double > const &	r,
		vnl_vector< double > const &	pt,
		vnl_matrix< double > &	J
	)

staticinherited

compute the 2x3 Jacobian of camera projection with respect to camera rotation df/dr where $f(r) = K*rod_to_matrix(r)*[I | -C]*pt$.

Here r is a Rodrigues vector, K is an upper triangular calibration matrix

Definition at line 266 of file vpgl_bundle_adjust_lsqr.cxx.

◆ jac_Cij() [1/2]

void vpgl_ba_fixed_k_lsqr::jac_Cij	(	unsigned int	i,
		unsigned int	j,
		vnl_double_3x4 const &	Pi,
		vnl_vector< double > const &	ai,
		vnl_vector< double > const &	bj,
		vnl_vector< double > const &	c,
		vnl_matrix< double > &	Cij
	)

overridevirtual

compute the Jacobian Cij.

Implements vpgl_bundle_adjust_lsqr.

Definition at line 80 of file vpgl_ba_fixed_k_lsqr.cxx.

◆ jac_Cij() [2/2]

virtual void vnl_sparse_lst_sqr_function::jac_Cij

inherited

◆ jac_inhomg_3d_point()

void vpgl_bundle_adjust_lsqr::jac_inhomg_3d_point	(	vnl_double_3x4 const &	P,
		vnl_vector< double > const &	pt,
		vnl_matrix< double > &	J
	)

staticinherited

compute the 2x3 Jacobian of camera projection with respect to point location df/dpt where $f(pt) = P*pt$.

Definition at line 218 of file vpgl_bundle_adjust_lsqr.cxx.

◆ param_to_cam() [1/2]

vpgl_perspective_camera< double > vpgl_ba_fixed_k_lsqr::param_to_cam	(	int	i,
		const double *	ai,
		const vnl_vector< double > &	c
	)		const

overridevirtual

construct the

Parameters

i-th	perspective camera from a pointer to the i-th parameters of
a	and parameters
c.

Implements vpgl_bundle_adjust_lsqr.

Definition at line 111 of file vpgl_ba_fixed_k_lsqr.cxx.

◆ param_to_cam() [2/2]

vpgl_perspective_camera<double> vpgl_bundle_adjust_lsqr::param_to_cam	(	int	i,
		const vnl_vector< double > &	a,
		const vnl_vector< double > &	c
	)		const

inlineinherited

construct the

Parameters

i-th	perspective camera from parameter vector
a.

Definition at line 162 of file vpgl_bundle_adjust_lsqr.h.

◆ param_to_cam_matrix() [1/2]

vnl_double_3x4 vpgl_ba_fixed_k_lsqr::param_to_cam_matrix	(	int	i,
		const double *	ai,
		const vnl_vector< double > &	c
	)		const

overridevirtual

compute a 3x4 camera matrix of camera

Parameters

i	from a pointer to the i-th parameters of
a	and parameters
c.

Implements vpgl_bundle_adjust_lsqr.

Definition at line 122 of file vpgl_ba_fixed_k_lsqr.cxx.

◆ param_to_cam_matrix() [2/2]

vnl_double_3x4 vpgl_bundle_adjust_lsqr::param_to_cam_matrix	(	int	i,
		const vnl_vector< double > &	a,
		const vnl_vector< double > &	c
	)		const

inlineinherited

construct the

Parameters

i-th	perspective camera matrix from parameter vectors
a	and
c.

Definition at line 176 of file vpgl_bundle_adjust_lsqr.h.

◆ param_to_point() [1/2]

vgl_homg_point_3d< double > vpgl_ba_fixed_k_lsqr::param_to_point	(	int	j,
		const double *	bj,
		const vnl_vector< double > &	c
	)		const

overridevirtual

construct the

Parameters

j-th	perspective camera from a pointer to the j-th parameters of
b	and parameters
c.

Implements vpgl_bundle_adjust_lsqr.

Definition at line 93 of file vpgl_ba_fixed_k_lsqr.cxx.

◆ param_to_point() [2/2]

vgl_homg_point_3d<double> vpgl_bundle_adjust_lsqr::param_to_point	(	int	j,
		const vnl_vector< double > &	b,
		const vnl_vector< double > &	c
	)		const

inlineinherited

construct the

Parameters

j-th	3D point from parameter vector
b	and
c.

Definition at line 132 of file vpgl_bundle_adjust_lsqr.h.

◆ param_to_pt_vector() [1/2]

vnl_vector_fixed< double, 4 > vpgl_ba_fixed_k_lsqr::param_to_pt_vector	(	int	j,
		const double *	bj,
		const vnl_vector< double > &	c
	)		const

overridevirtual

construct the

Parameters

j-th	perspective camera from a pointer to the j-th parameters of
b	and parameters
c.

Implements vpgl_bundle_adjust_lsqr.

Definition at line 102 of file vpgl_ba_fixed_k_lsqr.cxx.

◆ param_to_pt_vector() [2/2]

vnl_vector_fixed<double,4> vpgl_bundle_adjust_lsqr::param_to_pt_vector	(	int	j,
		const vnl_vector< double > &	b,
		const vnl_vector< double > &	c
	)		const

inlineinherited

construct the

Parameters

j-th	3D point from parameter vector
b	and
c.

Definition at line 147 of file vpgl_bundle_adjust_lsqr.h.

◆ reset()

void vpgl_bundle_adjust_lsqr::reset ( )

inlineinherited

reset the weights.

Definition at line 189 of file vpgl_bundle_adjust_lsqr.h.

◆ rod_to_matrix()

vnl_double_3x3 vpgl_bundle_adjust_lsqr::rod_to_matrix ( vnl_vector< double > const & r )

staticinherited

Fast conversion of rotation from Rodrigues vector to matrix.

Definition at line 360 of file vpgl_bundle_adjust_lsqr.cxx.

◆ set_residual_scale()

void vpgl_bundle_adjust_lsqr::set_residual_scale ( double scale )

inlineinherited

set the residual scale for the robust estimation.

Definition at line 127 of file vpgl_bundle_adjust_lsqr.h.

Member Data Documentation

◆ factored_inv_covars_

std::vector<vnl_matrix<double> > vpgl_bundle_adjust_lsqr::factored_inv_covars_

protectedinherited

The Cholesky factored inverse covariances for each image point.

Definition at line 225 of file vpgl_bundle_adjust_lsqr.h.

◆ image_points_

std::vector<vgl_point_2d<double> > vpgl_bundle_adjust_lsqr::image_points_

protectedinherited

The corresponding points in the image.

Definition at line 223 of file vpgl_bundle_adjust_lsqr.h.

◆ iteration_count_

int vpgl_bundle_adjust_lsqr::iteration_count_

protectedinherited

Definition at line 231 of file vpgl_bundle_adjust_lsqr.h.

◆ K_

std::vector<vpgl_calibration_matrix<double> > vpgl_ba_fixed_k_lsqr::K_

protected

The fixed internal camera calibration.

Definition at line 105 of file vpgl_ba_fixed_k_lsqr.h.

◆ Km_

std::vector<vnl_double_3x3> vpgl_ba_fixed_k_lsqr::Km_

protected

The fixed internal camera calibration in matrix form.

Definition at line 107 of file vpgl_ba_fixed_k_lsqr.h.

◆ scale2_

double vpgl_bundle_adjust_lsqr::scale2_

protectedinherited

The square of the scale of the robust estimator.

Definition at line 229 of file vpgl_bundle_adjust_lsqr.h.

◆ use_covars_

bool vpgl_bundle_adjust_lsqr::use_covars_

protectedinherited

Flag to enable covariance weighted errors.

Definition at line 227 of file vpgl_bundle_adjust_lsqr.h.

The documentation for this class was generated from the following files:

core/vpgl/algo/vpgl_ba_fixed_k_lsqr.h
core/vpgl/algo/vpgl_ba_fixed_k_lsqr.cxx

Public Types

Public Member Functions

Static Public Member Functions

Public Attributes

Protected Attributes

Detailed Description

Constructor & Destructor Documentation

◆ vpgl_ba_fixed_k_lsqr() [1/2]

◆ vpgl_ba_fixed_k_lsqr() [2/2]

◆ ~vpgl_ba_fixed_k_lsqr()

Member Function Documentation

◆ compute_weight_ij()

◆ create_param_vector() [1/2]

◆ create_param_vector() [2/2]

◆ f()

◆ fij()

◆ jac_Aij() [1/2]

◆ jac_Aij() [2/2]

◆ jac_Bij() [1/2]

◆ jac_Bij() [2/2]

◆ jac_blocks()

◆ jac_camera_center()

◆ jac_camera_rotation()

◆ jac_Cij() [1/2]

◆ jac_Cij() [2/2]

◆ jac_inhomg_3d_point()

◆ param_to_cam() [1/2]

◆ param_to_cam() [2/2]

◆ param_to_cam_matrix() [1/2]

◆ param_to_cam_matrix() [2/2]

◆ param_to_point() [1/2]

◆ param_to_point() [2/2]

◆ param_to_pt_vector() [1/2]

◆ param_to_pt_vector() [2/2]

◆ reset()

◆ rod_to_matrix()

◆ set_residual_scale()

Member Data Documentation

◆ factored_inv_covars_

◆ image_points_

◆ iteration_count_

◆ K_

◆ Km_

◆ scale2_

◆ use_covars_