MVE - Multi-View Environment mve-devel
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#include <ba_linear_solver.h>
Classes | |
struct | Options |
struct | Status |
Public Types | |
typedef DenseVector< double > | DenseVectorType |
typedef SparseMatrix< double > | SparseMatrixType |
Public Member Functions | |
LinearSolver (Options const &options) | |
Status | solve (SparseMatrixType const &jac_cams, SparseMatrixType const &jac_points, DenseVectorType const &vector_f, DenseVectorType *delta_x) |
Solve the system J^T J x = -J^T f based on the bundle adjustment mode. | |
Definition at line 22 of file ba_linear_solver.h.
typedef DenseVector<double> sfm::ba::LinearSolver::DenseVectorType |
Definition at line 44 of file ba_linear_solver.h.
typedef SparseMatrix<double> sfm::ba::LinearSolver::SparseMatrixType |
Definition at line 43 of file ba_linear_solver.h.
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inline |
Definition at line 105 of file ba_linear_solver.h.
LinearSolver::Status sfm::ba::LinearSolver::solve | ( | SparseMatrixType const & | jac_cams, |
SparseMatrixType const & | jac_points, | ||
DenseVectorType const & | vector_f, | ||
DenseVectorType * | delta_x | ||
) |
Solve the system J^T J x = -J^T f based on the bundle adjustment mode.
If the Jacobian for cameras is empty, only points are optimized. If the Jacobian for points is empty, only cameras are optimized. If both, Jacobian for cams and points is given, the Schur complement trick is used to solve the linear system.
Definition at line 121 of file ba_linear_solver.cc.