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Namespaces | Functions
ba_cholesky.h File Reference
#include <stdexcept>
#include <cmath>
#include "math/defines.h"
#include "math/matrix_tools.h"
#include "sfm/defines.h"
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Namespaces

namespace  sfm
 Structure-from-Motion library.
 
namespace  sfm::ba
 

Functions

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.
 
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).
 
template<typename T >
void sfm::ba::cholesky_invert_inplace (T *A, int const cols)
 Invert symmetric, positive definite matrix A inplace using Cholesky.
 
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.