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Classes | Functions
sfm::ba Namespace Reference

Classes

class  BundleAdjustment
 A simple bundle adjustment optimization implementation. More...
 
struct  Camera
 Camera representation for bundle adjustment. More...
 
class  CGBasicMatrixFunctor
 
class  ConjugateGradient
 
class  DenseVector
 
class  LinearSolver
 
struct  Observation
 Observation of a 3D point for a camera. More...
 
struct  Point3D
 3D point representation for bundle adjustment. More...
 
class  SparseMatrix
 Sparse matrix class in Yale format for column-major matrices. More...
 

Functions

template<typename T >
void cholesky_decomposition (T const *A, int const cols, T *L)
 Cholesky decomposition of the symmetric, positive definite matrix A = L * L^T.
 
template<typename T >
void cholesky_invert (T const *A, int const cols, T *A_inv)
 Invert symmetric, positive definite matrix A using Cholesky decomposition and inversion of the triangular matrix: A^-1 = (L^-1)^T * (L^-1).
 
template<typename T >
void cholesky_invert_inplace (T *A, int const cols)
 Invert symmetric, positive definite matrix A inplace using Cholesky.
 
template<typename T >
void invert_lower_diagonal (T const *A, int const cols, T *A_inv)
 Invert a lower-triangular matrix (e.g.
 

Function Documentation

◆ cholesky_decomposition()

template<typename T >
void sfm::ba::cholesky_decomposition ( T const *  A,
int const  cols,
T *  L 
)

Cholesky decomposition of the symmetric, positive definite matrix A = L * L^T.

The resulting matrix L is a lower-triangular matrix. If A and L are the same matrix, the decomposition is performed in-place.

Definition at line 72 of file ba_cholesky.h.

◆ cholesky_invert()

template<typename T >
void sfm::ba::cholesky_invert ( T const *  A,
int const  cols,
T *  A_inv 
)

Invert symmetric, positive definite matrix A using Cholesky decomposition and inversion of the triangular matrix: A^-1 = (L^-1)^T * (L^-1).

Definition at line 50 of file ba_cholesky.h.

◆ cholesky_invert_inplace()

template<typename T >
void sfm::ba::cholesky_invert_inplace ( T *  A,
int const  cols 
)

Invert symmetric, positive definite matrix A inplace using Cholesky.

Definition at line 61 of file ba_cholesky.h.

◆ invert_lower_diagonal()

template<typename T >
void sfm::ba::invert_lower_diagonal ( T const *  A,
int const  cols,
T *  A_inv 
)

Invert a lower-triangular matrix (e.g.

obtained by Cholesky decomposition). The inversion cannot be computed in-place.

Definition at line 105 of file ba_cholesky.h.