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.