MVE - Multi-View Environment mve-devel
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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. | |
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.
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.
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.
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.