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diff --git a/doc/html/BundleAdjustment__LM_8h_source.html b/doc/html/BundleAdjustment__LM_8h_source.html deleted file mode 100644 index 50e2aa7..0000000 --- a/doc/html/BundleAdjustment__LM_8h_source.html +++ /dev/null @@ -1,474 +0,0 @@ -<!-- HTML header for doxygen 1.8.3.1--> -<!DOCTYPE html PUBLIC "-//W3C//DTD XHTML 1.0 Transitional//EN" "http://www.w3.org/TR/xhtml1/DTD/xhtml1-transitional.dtd"> -<html xmlns="http://www.w3.org/1999/xhtml"> -<head> -<meta http-equiv="Content-Type" content="text/xhtml;charset=UTF-8"/> -<meta http-equiv="X-UA-Compatible" content="IE=9"/> -<meta name="generator" content="Doxygen 1.8.6"/> -<title>Templates -- Meow: meowpp/gra/BundleAdjustment_LM.h Source File</title> -<link href="tabs.css" rel="stylesheet" type="text/css"/> -<script type="text/javascript" src="jquery.js"></script> -<script type="text/javascript" src="dynsections.js"></script> -<link href="navtree.css" rel="stylesheet" type="text/css"/> -<script type="text/javascript" src="resize.js"></script> -<script type="text/javascript" src="navtree.js"></script> -<script type="text/javascript"> - $(document).ready(initResizable); - $(window).load(resizeHeight); -</script> -<link href="stylesheet.css" rel="stylesheet" type="text/css" /> -<link href="custom.css" rel="stylesheet" type="text/css"/> -</head> -<body> -<div id="top"><!-- do not remove this div, it is closed by doxygen! --> -<div id="titlearea"> -<table cellspacing="0" cellpadding="0"> - <tbody> - <tr style="height: 56px;"> - <td id="projectlogo"><img alt="Logo" src="logo.png"/></td> - <td style="padding-left: 0.5em;"> - <div id="projectname">Templates -- Meow -  <span id="projectnumber">1.2.11</span> - </div> - <div id="projectbrief">A C++ template contains kinds of interesting classes and functions</div> - </td> - </tr> - </tbody> -</table> -</div> -<!-- end header part --> -<!-- Generated by Doxygen 1.8.6 --> -</div><!-- top --> -<div id="side-nav" class="ui-resizable side-nav-resizable"> - <div id="nav-tree"> - <div id="nav-tree-contents"> - <div id="nav-sync" class="sync"></div> - </div> - </div> - <div id="splitbar" style="-moz-user-select:none;" - class="ui-resizable-handle"> - </div> -</div> -<script type="text/javascript"> -$(document).ready(function(){initNavTree('BundleAdjustment__LM_8h_source.html','');}); -</script> -<div id="doc-content"> -<div class="header"> - <div class="headertitle"> -<div class="title">BundleAdjustment_LM.h</div> </div> -</div><!--header--> -<div class="contents"> -<a href="BundleAdjustment__LM_8h.html">Go to the documentation of this file.</a><div class="fragment"><div class="line"><a name="l00001"></a><span class="lineno"> 1</span> <span class="preprocessor">#ifndef BundleAdjustment_LM_H__</span></div> -<div class="line"><a name="l00002"></a><span class="lineno"> 2</span> <span class="preprocessor"></span><span class="preprocessor">#define BundleAdjustment_LM_H__</span></div> -<div class="line"><a name="l00003"></a><span class="lineno"> 3</span> <span class="preprocessor"></span></div> -<div class="line"><a name="l00004"></a><span class="lineno"> 4</span> </div> -<div class="line"><a name="l00005"></a><span class="lineno"> 5</span> <span class="preprocessor">#include "<a class="code" href="BundleAdjustment_8h.html">BundleAdjustment.h</a>"</span></div> -<div class="line"><a name="l00006"></a><span class="lineno"> 6</span> </div> -<div class="line"><a name="l00007"></a><span class="lineno"> 7</span> <span class="preprocessor">#include "<a class="code" href="Eye_8h.html">Eye.h</a>"</span></div> -<div class="line"><a name="l00008"></a><span class="lineno"> 8</span> </div> -<div class="line"><a name="l00009"></a><span class="lineno"> 9</span> <span class="preprocessor">#include "../math/methods.h"</span></div> -<div class="line"><a name="l00010"></a><span class="lineno"> 10</span> <span class="preprocessor">#include "../math/Vector.h"</span></div> -<div class="line"><a name="l00011"></a><span class="lineno"> 11</span> <span class="preprocessor">#include "../math/Matrix.h"</span></div> -<div class="line"><a name="l00012"></a><span class="lineno"> 12</span> <span class="preprocessor">#include "../math/utility.h"</span></div> -<div class="line"><a name="l00013"></a><span class="lineno"> 13</span> </div> -<div class="line"><a name="l00014"></a><span class="lineno"> 14</span> <span class="preprocessor">#include "../oo/ObjBase.h"</span></div> -<div class="line"><a name="l00015"></a><span class="lineno"> 15</span> </div> -<div class="line"><a name="l00016"></a><span class="lineno"> 16</span> <span class="preprocessor">#include <algorithm></span></div> -<div class="line"><a name="l00017"></a><span class="lineno"> 17</span> </div> -<div class="line"><a name="l00018"></a><span class="lineno"> 18</span> <span class="keyword">namespace </span>meow {</div> -<div class="line"><a name="l00019"></a><span class="lineno"> 19</span> </div> -<div class="line"><a name="l00025"></a><span class="lineno"> 25</span> <span class="keyword">template</span><<span class="keyword">class</span> Pixel></div> -<div class="line"><a name="l00026"></a><span class="lineno"><a class="line" href="classmeow_1_1BundleAdjustment__LM.html"> 26</a></span> <span class="keyword">class </span><a class="code" href="classmeow_1_1BundleAdjustment__LM.html">BundleAdjustment_LM</a>: <span class="keyword">public</span> <a class="code" href="classmeow_1_1BundleAdjustment.html">BundleAdjustment</a><Pixel> {</div> -<div class="line"><a name="l00027"></a><span class="lineno"> 27</span> <span class="keyword">private</span>:</div> -<div class="line"><a name="l00028"></a><span class="lineno"> 28</span>  <span class="comment">/*</span></div> -<div class="line"><a name="l00029"></a><span class="lineno"> 29</span> <span class="comment"> struct MatchPair {</span></div> -<div class="line"><a name="l00030"></a><span class="lineno"> 30</span> <span class="comment"> size_t from_i;</span></div> -<div class="line"><a name="l00031"></a><span class="lineno"> 31</span> <span class="comment"> Matrix<double> from_m;</span></div> -<div class="line"><a name="l00032"></a><span class="lineno"> 32</span> <span class="comment"> size_t to_i;</span></div> -<div class="line"><a name="l00033"></a><span class="lineno"> 33</span> <span class="comment"> Matrix<double> to_m;</span></div> -<div class="line"><a name="l00034"></a><span class="lineno"> 34</span> <span class="comment"> };</span></div> -<div class="line"><a name="l00035"></a><span class="lineno"> 35</span> <span class="comment"></span></div> -<div class="line"><a name="l00036"></a><span class="lineno"> 36</span> <span class="comment"> class NoOffsetController {</span></div> -<div class="line"><a name="l00037"></a><span class="lineno"> 37</span> <span class="comment"> private:</span></div> -<div class="line"><a name="l00038"></a><span class="lineno"> 38</span> <span class="comment"> std::vector<MatchPair >* pairs_;</span></div> -<div class="line"><a name="l00039"></a><span class="lineno"> 39</span> <span class="comment"> std::vector<Rotation3D <double> >* rot_;</span></div> -<div class="line"><a name="l00040"></a><span class="lineno"> 40</span> <span class="comment"> std::vector<PhotoProjection<double> >* pho_;</span></div> -<div class="line"><a name="l00041"></a><span class="lineno"> 41</span> <span class="comment"> BallProjection<double> bll_;</span></div> -<div class="line"><a name="l00042"></a><span class="lineno"> 42</span> <span class="comment"> bool flag;</span></div> -<div class="line"><a name="l00043"></a><span class="lineno"> 43</span> <span class="comment"> public:</span></div> -<div class="line"><a name="l00044"></a><span class="lineno"> 44</span> <span class="comment"> NoOffsetController(std::vector<MatchPair >* pairs,</span></div> -<div class="line"><a name="l00045"></a><span class="lineno"> 45</span> <span class="comment"> std::vector<Rotation3D<double> >* rot,</span></div> -<div class="line"><a name="l00046"></a><span class="lineno"> 46</span> <span class="comment"> std::vector<PhotoProjection<double> >* pho,</span></div> -<div class="line"><a name="l00047"></a><span class="lineno"> 47</span> <span class="comment"> bool fg):</span></div> -<div class="line"><a name="l00048"></a><span class="lineno"> 48</span> <span class="comment"> pairs_(pairs), rot_(rot), pho_(pho), bll_(3.0, 1.0), flag(fg) {</span></div> -<div class="line"><a name="l00049"></a><span class="lineno"> 49</span> <span class="comment"> }</span></div> -<div class="line"><a name="l00050"></a><span class="lineno"> 50</span> <span class="comment"> Vector<double> init() {</span></div> -<div class="line"><a name="l00051"></a><span class="lineno"> 51</span> <span class="comment"> if (flag == false) {</span></div> -<div class="line"><a name="l00052"></a><span class="lineno"> 52</span> <span class="comment"> Vector<double> v(4, 0.0);</span></div> -<div class="line"><a name="l00053"></a><span class="lineno"> 53</span> <span class="comment"> int i = (*pho_).size() - 1, n = 0;</span></div> -<div class="line"><a name="l00054"></a><span class="lineno"> 54</span> <span class="comment"> v.scalar(n++, (*pho_)[i].focal());</span></div> -<div class="line"><a name="l00055"></a><span class="lineno"> 55</span> <span class="comment"> v.scalar(n++, (*rot_)[i].theta(0));</span></div> -<div class="line"><a name="l00056"></a><span class="lineno"> 56</span> <span class="comment"> v.scalar(n++, (*rot_)[i].theta(1));</span></div> -<div class="line"><a name="l00057"></a><span class="lineno"> 57</span> <span class="comment"> v.scalar(n++, (*rot_)[i].theta(2));</span></div> -<div class="line"><a name="l00058"></a><span class="lineno"> 58</span> <span class="comment"> return v;</span></div> -<div class="line"><a name="l00059"></a><span class="lineno"> 59</span> <span class="comment"> }</span></div> -<div class="line"><a name="l00060"></a><span class="lineno"> 60</span> <span class="comment"> Vector<double> v((*rot_).size() * 4, 0.0);</span></div> -<div class="line"><a name="l00061"></a><span class="lineno"> 61</span> <span class="comment"> for (size_t n = 0, i = 0, I = (*rot_).size(); i < I; ++i) {</span></div> -<div class="line"><a name="l00062"></a><span class="lineno"> 62</span> <span class="comment"> v.scalar(n++, (*pho_)[i].focal());</span></div> -<div class="line"><a name="l00063"></a><span class="lineno"> 63</span> <span class="comment"> v.scalar(n++, (*rot_)[i].theta(0));</span></div> -<div class="line"><a name="l00064"></a><span class="lineno"> 64</span> <span class="comment"> v.scalar(n++, (*rot_)[i].theta(1));</span></div> -<div class="line"><a name="l00065"></a><span class="lineno"> 65</span> <span class="comment"> v.scalar(n++, (*rot_)[i].theta(2));</span></div> -<div class="line"><a name="l00066"></a><span class="lineno"> 66</span> <span class="comment"> }</span></div> -<div class="line"><a name="l00067"></a><span class="lineno"> 67</span> <span class="comment"> return v;</span></div> -<div class="line"><a name="l00068"></a><span class="lineno"> 68</span> <span class="comment"> }</span></div> -<div class="line"><a name="l00069"></a><span class="lineno"> 69</span> <span class="comment"> Vector<double> residure(Vector<double> const& v) {</span></div> -<div class="line"><a name="l00070"></a><span class="lineno"> 70</span> <span class="comment"> for (size_t n = 0, i = 0, I = (*rot_).size(); i < I; ++i) {</span></div> -<div class="line"><a name="l00071"></a><span class="lineno"> 71</span> <span class="comment"> if (flag == false && i != I - 1) continue;</span></div> -<div class="line"><a name="l00072"></a><span class="lineno"> 72</span> <span class="comment"> (*pho_)[i].focal(v(n++));</span></div> -<div class="line"><a name="l00073"></a><span class="lineno"> 73</span> <span class="comment"> (*rot_)[i].theta(0, v(n++));</span></div> -<div class="line"><a name="l00074"></a><span class="lineno"> 74</span> <span class="comment"> (*rot_)[i].theta(1, v(n++));</span></div> -<div class="line"><a name="l00075"></a><span class="lineno"> 75</span> <span class="comment"> (*rot_)[i].theta(2, v(n++));</span></div> -<div class="line"><a name="l00076"></a><span class="lineno"> 76</span> <span class="comment"> }</span></div> -<div class="line"><a name="l00077"></a><span class="lineno"> 77</span> <span class="comment"> for (typename std::vector<MatchPair>::iterator</span></div> -<div class="line"><a name="l00078"></a><span class="lineno"> 78</span> <span class="comment"> it = (*pairs_).begin(), ed = (*pairs_).end(); it != ed; ++it) {</span></div> -<div class="line"><a name="l00079"></a><span class="lineno"> 79</span> <span class="comment"> (*it).from_m.entry(2, 0, -(*pho_)[(*it).from_i].focal());</span></div> -<div class="line"><a name="l00080"></a><span class="lineno"> 80</span> <span class="comment"> (*it). to_m.entry(2, 0, -(*pho_)[(*it). to_i].focal());</span></div> -<div class="line"><a name="l00081"></a><span class="lineno"> 81</span> <span class="comment"> }</span></div> -<div class="line"><a name="l00082"></a><span class="lineno"> 82</span> <span class="comment"> //</span></div> -<div class="line"><a name="l00083"></a><span class="lineno"> 83</span> <span class="comment"> Vector<double> ret((*pairs_).size() * 2, 0.0);</span></div> -<div class="line"><a name="l00084"></a><span class="lineno"> 84</span> <span class="comment"> size_t n = 0;</span></div> -<div class="line"><a name="l00085"></a><span class="lineno"> 85</span> <span class="comment"> for (typename std::vector<MatchPair>::iterator</span></div> -<div class="line"><a name="l00086"></a><span class="lineno"> 86</span> <span class="comment"> it = (*pairs_).begin(), ed = (*pairs_).end(); it != ed; ++it, ++n) {</span></div> -<div class="line"><a name="l00087"></a><span class="lineno"> 87</span> <span class="comment"> Matrix<double> tr(</span></div> -<div class="line"><a name="l00088"></a><span class="lineno"> 88</span> <span class="comment"> (*it).to_m</span></div> -<div class="line"><a name="l00089"></a><span class="lineno"> 89</span> <span class="comment"> -</span></div> -<div class="line"><a name="l00090"></a><span class="lineno"> 90</span> <span class="comment"> (*pho_)[(*it).to_i].transformate(</span></div> -<div class="line"><a name="l00091"></a><span class="lineno"> 91</span> <span class="comment"> (*rot_)[(*it).to_i].transformate(</span></div> -<div class="line"><a name="l00092"></a><span class="lineno"> 92</span> <span class="comment"> (*rot_)[(*it).from_i].transformateInv(</span></div> -<div class="line"><a name="l00093"></a><span class="lineno"> 93</span> <span class="comment"> bll_.transformate(</span></div> -<div class="line"><a name="l00094"></a><span class="lineno"> 94</span> <span class="comment"> (*it).from_m</span></div> -<div class="line"><a name="l00095"></a><span class="lineno"> 95</span> <span class="comment"> )</span></div> -<div class="line"><a name="l00096"></a><span class="lineno"> 96</span> <span class="comment"> )</span></div> -<div class="line"><a name="l00097"></a><span class="lineno"> 97</span> <span class="comment"> )</span></div> -<div class="line"><a name="l00098"></a><span class="lineno"> 98</span> <span class="comment"> )</span></div> -<div class="line"><a name="l00099"></a><span class="lineno"> 99</span> <span class="comment"> );</span></div> -<div class="line"><a name="l00100"></a><span class="lineno"> 100</span> <span class="comment"> ret.scalar(n * 2 , tr(0, 0));</span></div> -<div class="line"><a name="l00101"></a><span class="lineno"> 101</span> <span class="comment"> ret.scalar(n * 2 + 1, tr(1, 0));</span></div> -<div class="line"><a name="l00102"></a><span class="lineno"> 102</span> <span class="comment"> }</span></div> -<div class="line"><a name="l00103"></a><span class="lineno"> 103</span> <span class="comment"> //*</span></div> -<div class="line"><a name="l00104"></a><span class="lineno"> 104</span> <span class="comment"> //for (size_t i = 0; i < ret.dimension(); i++) {</span></div> -<div class="line"><a name="l00105"></a><span class="lineno"> 105</span> <span class="comment"> // printf("(%-9.1f ", ret(i));</span></div> -<div class="line"><a name="l00106"></a><span class="lineno"> 106</span> <span class="comment"> // if (i % 8 == 7) printf("\n");</span></div> -<div class="line"><a name="l00107"></a><span class="lineno"> 107</span> <span class="comment"> //}</span></div> -<div class="line"><a name="l00108"></a><span class="lineno"> 108</span> <span class="comment"> //printf("\n");</span></div> -<div class="line"><a name="l00109"></a><span class="lineno"> 109</span> <span class="comment"> printf("re = %20.5f ?? %f\n", ret.length2(), 25.0 * (*pairs_).size());</span></div> -<div class="line"><a name="l00110"></a><span class="lineno"> 110</span> <span class="comment"> // */</span></div> -<div class="line"><a name="l00111"></a><span class="lineno"> 111</span>  <span class="keywordflow">return</span> ret;</div> -<div class="line"><a name="l00112"></a><span class="lineno"> 112</span>  }</div> -<div class="line"><a name="l00113"></a><span class="lineno"> 113</span>  <a class="code" href="classmeow_1_1Matrix.html">Matrix<double></a> jacobian()<span class="keyword"> const </span>{</div> -<div class="line"><a name="l00114"></a><span class="lineno"> 114</span>  <a class="code" href="classmeow_1_1Matrix.html">Matrix<double></a> ret;</div> -<div class="line"><a name="l00115"></a><span class="lineno"> 115</span>  <span class="keywordflow">if</span> (flag == <span class="keyword">false</span>) {</div> -<div class="line"><a name="l00116"></a><span class="lineno"> 116</span>  ret.<a class="code" href="classmeow_1_1Matrix.html#ac17251cb984beb1f74558724a22a0120">reset</a>((*pairs_).size() * 2, 4, 0.0);</div> -<div class="line"><a name="l00117"></a><span class="lineno"> 117</span>  }</div> -<div class="line"><a name="l00118"></a><span class="lineno"> 118</span>  <span class="keywordflow">else</span> {</div> -<div class="line"><a name="l00119"></a><span class="lineno"> 119</span>  ret.<a class="code" href="classmeow_1_1Matrix.html#ac17251cb984beb1f74558724a22a0120">reset</a>((*pairs_).size() * 2, (*rot_).size() * 4, 0.0);</div> -<div class="line"><a name="l00120"></a><span class="lineno"> 120</span>  }</div> -<div class="line"><a name="l00121"></a><span class="lineno"> 121</span>  <span class="keywordtype">size_t</span> n = 0;</div> -<div class="line"><a name="l00122"></a><span class="lineno"> 122</span>  <span class="keywordflow">for</span> (<span class="keyword">typename</span> std::vector<MatchPair>::iterator</div> -<div class="line"><a name="l00123"></a><span class="lineno"> 123</span>  it = (*pairs_).begin(), ed = (*pairs_).end(); it != ed; ++it, ++n) {</div> -<div class="line"><a name="l00124"></a><span class="lineno"> 124</span>  Matrix<double> tr_A( bll_ .transformate((*it).from_m));</div> -<div class="line"><a name="l00125"></a><span class="lineno"> 125</span>  Matrix<double> tr_B((*rot_)[(*it).from_i].transformateInv(tr_A));</div> -<div class="line"><a name="l00126"></a><span class="lineno"> 126</span>  Matrix<double> tr_C((*rot_)[(*it). to_i].transformate (tr_B));</div> -<div class="line"><a name="l00127"></a><span class="lineno"> 127</span>  Matrix<double> ja_A((*pho_)[(*it). to_i].jacobian (tr_C));</div> -<div class="line"><a name="l00128"></a><span class="lineno"> 128</span>  Matrix<double> ja_B((*rot_)[(*it). to_i].jacobian (tr_B));</div> -<div class="line"><a name="l00129"></a><span class="lineno"> 129</span>  Matrix<double> ja_C((*rot_)[(*it).from_i].jacobianInv(tr_A));</div> -<div class="line"><a name="l00130"></a><span class="lineno"> 130</span>  Matrix<double> m;</div> -<div class="line"><a name="l00131"></a><span class="lineno"> 131</span>  <span class="keywordtype">int</span> fr = (flag == <span class="keyword">false</span> ? 0 : (*it).from_i);</div> -<div class="line"><a name="l00132"></a><span class="lineno"> 132</span>  <span class="keywordtype">int</span> to = (flag == <span class="keyword">false</span> ? 0 : (*it). to_i);</div> -<div class="line"><a name="l00133"></a><span class="lineno"> 133</span>  <span class="keywordflow">if</span> (flag != <span class="keyword">false</span> || (*it).from_i == (*rot_).size() - 1) {</div> -<div class="line"><a name="l00134"></a><span class="lineno"> 134</span>  m = ja_A * ja_B * ja_C * bll_.jacobian((*it).from_m).col(2);</div> -<div class="line"><a name="l00135"></a><span class="lineno"> 135</span>  ret.<a class="code" href="classmeow_1_1Matrix.html#a46a12f45237e654e0140387d7290eb8b">entry</a>(n * 2 , fr * 4, m(0, 0));</div> -<div class="line"><a name="l00136"></a><span class="lineno"> 136</span>  ret.<a class="code" href="classmeow_1_1Matrix.html#a46a12f45237e654e0140387d7290eb8b">entry</a>(n * 2 + 1, fr * 4, m(1, 0));</div> -<div class="line"><a name="l00137"></a><span class="lineno"> 137</span>  <span class="keywordflow">for</span> (<span class="keywordtype">size_t</span> k = 0; k < 3; ++k) {</div> -<div class="line"><a name="l00138"></a><span class="lineno"> 138</span>  m = ja_A * ja_B * (*rot_)[(*it).from_i].jacobianInv(tr_A, k);</div> -<div class="line"><a name="l00139"></a><span class="lineno"> 139</span>  ret.<a class="code" href="classmeow_1_1Matrix.html#a46a12f45237e654e0140387d7290eb8b">entry</a>(n * 2 , fr * 4 + 1 + k, m(0, 0));</div> -<div class="line"><a name="l00140"></a><span class="lineno"> 140</span>  ret.<a class="code" href="classmeow_1_1Matrix.html#a46a12f45237e654e0140387d7290eb8b">entry</a>(n * 2 + 1, fr * 4 + 1 + k, m(1, 0));</div> -<div class="line"><a name="l00141"></a><span class="lineno"> 141</span>  }</div> -<div class="line"><a name="l00142"></a><span class="lineno"> 142</span>  }</div> -<div class="line"><a name="l00143"></a><span class="lineno"> 143</span>  <span class="keywordflow">if</span> (flag != <span class="keyword">false</span> || (*it).to_i == (*rot_).size() - 1) {</div> -<div class="line"><a name="l00144"></a><span class="lineno"> 144</span>  m = (*pho_)[(*it).to_i].jacobian(tr_C, 0);</div> -<div class="line"><a name="l00145"></a><span class="lineno"> 145</span>  ret.<a class="code" href="classmeow_1_1Matrix.html#a46a12f45237e654e0140387d7290eb8b">entry</a>(n * 2 , to * 4, m(0, 0));</div> -<div class="line"><a name="l00146"></a><span class="lineno"> 146</span>  ret.<a class="code" href="classmeow_1_1Matrix.html#a46a12f45237e654e0140387d7290eb8b">entry</a>(n * 2 + 1, to * 4, m(1, 0));</div> -<div class="line"><a name="l00147"></a><span class="lineno"> 147</span>  <span class="keywordflow">for</span> (<span class="keywordtype">size_t</span> k = 0; k < 3; ++k) {</div> -<div class="line"><a name="l00148"></a><span class="lineno"> 148</span>  m = ja_A * (*rot_)[(*it).to_i].jacobian(tr_B, k);</div> -<div class="line"><a name="l00149"></a><span class="lineno"> 149</span>  ret.<a class="code" href="classmeow_1_1Matrix.html#a46a12f45237e654e0140387d7290eb8b">entry</a>(n * 2 , to * 4 + 1 + k, m(0, 0));</div> -<div class="line"><a name="l00150"></a><span class="lineno"> 150</span>  ret.<a class="code" href="classmeow_1_1Matrix.html#a46a12f45237e654e0140387d7290eb8b">entry</a>(n * 2 + 1, to * 4 + 1 + k, m(1, 0));</div> -<div class="line"><a name="l00151"></a><span class="lineno"> 151</span>  }</div> -<div class="line"><a name="l00152"></a><span class="lineno"> 152</span>  }</div> -<div class="line"><a name="l00153"></a><span class="lineno"> 153</span>  }</div> -<div class="line"><a name="l00154"></a><span class="lineno"> 154</span>  <span class="keywordflow">return</span> ret;</div> -<div class="line"><a name="l00155"></a><span class="lineno"> 155</span>  }</div> -<div class="line"><a name="l00156"></a><span class="lineno"> 156</span>  Matrix<double> identity()<span class="keyword"> const </span>{</div> -<div class="line"><a name="l00157"></a><span class="lineno"> 157</span>  <span class="keywordflow">if</span> (flag == <span class="keyword">false</span>) {</div> -<div class="line"><a name="l00158"></a><span class="lineno"> 158</span>  Matrix<double> ret(4, 4, 0.0);</div> -<div class="line"><a name="l00159"></a><span class="lineno"> 159</span>  ret.<a class="code" href="classmeow_1_1Matrix.html#abc6f5c824ee47cb15094729ca91f2e7c">identitied</a>();</div> -<div class="line"><a name="l00160"></a><span class="lineno"> 160</span>  <span class="keywordflow">return</span> ret;</div> -<div class="line"><a name="l00161"></a><span class="lineno"> 161</span>  }</div> -<div class="line"><a name="l00162"></a><span class="lineno"> 162</span>  Matrix<double> ret((*rot_).size() * 4, (*rot_).size() * 4, 0.0);</div> -<div class="line"><a name="l00163"></a><span class="lineno"> 163</span>  ret.<a class="code" href="classmeow_1_1Matrix.html#abc6f5c824ee47cb15094729ca91f2e7c">identitied</a>();</div> -<div class="line"><a name="l00164"></a><span class="lineno"> 164</span>  <span class="keywordflow">return</span> ret;</div> -<div class="line"><a name="l00165"></a><span class="lineno"> 165</span>  }</div> -<div class="line"><a name="l00166"></a><span class="lineno"> 166</span>  };</div> -<div class="line"><a name="l00167"></a><span class="lineno"> 167</span>  <span class="comment">// */</span></div> -<div class="line"><a name="l00168"></a><span class="lineno"> 168</span> </div> -<div class="line"><a name="l00169"></a><span class="lineno"> 169</span>  <span class="keyword">struct </span>Myself {</div> -<div class="line"><a name="l00170"></a><span class="lineno"> 170</span>  <span class="keywordtype">double</span> t_;</div> -<div class="line"><a name="l00171"></a><span class="lineno"> 171</span> </div> -<div class="line"><a name="l00172"></a><span class="lineno"> 172</span>  Myself(): t_(5.0) {</div> -<div class="line"><a name="l00173"></a><span class="lineno"> 173</span>  }</div> -<div class="line"><a name="l00174"></a><span class="lineno"> 174</span> </div> -<div class="line"><a name="l00175"></a><span class="lineno"> 175</span>  Myself(Myself <span class="keyword">const</span>& m): t_(m.t_) {</div> -<div class="line"><a name="l00176"></a><span class="lineno"> 176</span>  }</div> -<div class="line"><a name="l00177"></a><span class="lineno"> 177</span> </div> -<div class="line"><a name="l00178"></a><span class="lineno"> 178</span>  ~Myself() {</div> -<div class="line"><a name="l00179"></a><span class="lineno"> 179</span>  }</div> -<div class="line"><a name="l00180"></a><span class="lineno"> 180</span>  };</div> -<div class="line"><a name="l00181"></a><span class="lineno"> 181</span> </div> -<div class="line"><a name="l00182"></a><span class="lineno"> 182</span>  Self<Myself> <span class="keyword">const</span> <span class="keyword">self</span>;</div> -<div class="line"><a name="l00183"></a><span class="lineno"> 183</span> </div> -<div class="line"><a name="l00184"></a><span class="lineno"> 184</span> <span class="keyword">public</span>:</div> -<div class="line"><a name="l00185"></a><span class="lineno"><a class="line" href="classmeow_1_1BundleAdjustment__LM.html#a148b68165e216782bc6deec2f277eeaa"> 185</a></span>  <a class="code" href="classmeow_1_1BundleAdjustment__LM.html#a148b68165e216782bc6deec2f277eeaa">BundleAdjustment_LM</a>(): self() {</div> -<div class="line"><a name="l00186"></a><span class="lineno"> 186</span>  }</div> -<div class="line"><a name="l00187"></a><span class="lineno"> 187</span> </div> -<div class="line"><a name="l00188"></a><span class="lineno"><a class="line" href="classmeow_1_1BundleAdjustment__LM.html#a9ec1dc73dadf73d89fdb0020361a6ea0"> 188</a></span>  <a class="code" href="classmeow_1_1BundleAdjustment__LM.html#a9ec1dc73dadf73d89fdb0020361a6ea0">BundleAdjustment_LM</a>(<a class="code" href="classmeow_1_1BundleAdjustment__LM.html">BundleAdjustment_LM</a> <span class="keyword">const</span>& b):</div> -<div class="line"><a name="l00189"></a><span class="lineno"> 189</span>  self(b.self, <a class="code" href="classmeow_1_1Self.html">Self</a><Myself>::COPY_FROM) {</div> -<div class="line"><a name="l00190"></a><span class="lineno"> 190</span>  }</div> -<div class="line"><a name="l00191"></a><span class="lineno"> 191</span> </div> -<div class="line"><a name="l00192"></a><span class="lineno"><a class="line" href="classmeow_1_1BundleAdjustment__LM.html#adcd14db10f10637da44d22287814a4b8"> 192</a></span>  <a class="code" href="classmeow_1_1BundleAdjustment__LM.html#adcd14db10f10637da44d22287814a4b8">~BundleAdjustment_LM</a>() {</div> -<div class="line"><a name="l00193"></a><span class="lineno"> 193</span>  }</div> -<div class="line"><a name="l00194"></a><span class="lineno"> 194</span> </div> -<div class="line"><a name="l00195"></a><span class="lineno"><a class="line" href="classmeow_1_1BundleAdjustment__LM.html#a45b5ae5619eb5baf9c47f625daba99ca"> 195</a></span>  <a class="code" href="classmeow_1_1BundleAdjustment__LM.html">BundleAdjustment_LM</a>& <a class="code" href="classmeow_1_1BundleAdjustment__LM.html#a45b5ae5619eb5baf9c47f625daba99ca">copyFrom</a>(<a class="code" href="classmeow_1_1BundleAdjustment__LM.html">BundleAdjustment_LM</a> <span class="keyword">const</span>& b) {</div> -<div class="line"><a name="l00196"></a><span class="lineno"> 196</span>  <span class="keyword">self</span>().copyFrom(b.self);</div> -<div class="line"><a name="l00197"></a><span class="lineno"> 197</span>  <span class="keywordflow">return</span> *<span class="keyword">this</span>;</div> -<div class="line"><a name="l00198"></a><span class="lineno"> 198</span>  }</div> -<div class="line"><a name="l00199"></a><span class="lineno"> 199</span> </div> -<div class="line"><a name="l00200"></a><span class="lineno"><a class="line" href="classmeow_1_1BundleAdjustment__LM.html#a4e3d8f8970460b0a6eafc3a31ea2304b"> 200</a></span>  <a class="code" href="classmeow_1_1BundleAdjustment__LM.html">BundleAdjustment_LM</a>& <a class="code" href="classmeow_1_1BundleAdjustment__LM.html#a4e3d8f8970460b0a6eafc3a31ea2304b">referenceFrom</a>(<a class="code" href="classmeow_1_1BundleAdjustment__LM.html">BundleAdjustment_LM</a> <span class="keyword">const</span>& b) {</div> -<div class="line"><a name="l00201"></a><span class="lineno"> 201</span>  <span class="keyword">self</span>().referenceFrom(b.self);</div> -<div class="line"><a name="l00202"></a><span class="lineno"> 202</span>  <span class="keywordflow">return</span> *<span class="keyword">this</span>;</div> -<div class="line"><a name="l00203"></a><span class="lineno"> 203</span>  }</div> -<div class="line"><a name="l00204"></a><span class="lineno"> 204</span> </div> -<div class="line"><a name="l00205"></a><span class="lineno"><a class="line" href="classmeow_1_1BundleAdjustment__LM.html#a043f883c384ce247d1d137231601a456"> 205</a></span>  <span class="keywordtype">double</span> <a class="code" href="classmeow_1_1BundleAdjustment__LM.html#a043f883c384ce247d1d137231601a456">threshold</a>()<span class="keyword"> const </span>{</div> -<div class="line"><a name="l00206"></a><span class="lineno"> 206</span>  <span class="keywordflow">return</span> <span class="keyword">self</span>->t_;</div> -<div class="line"><a name="l00207"></a><span class="lineno"> 207</span>  }</div> -<div class="line"><a name="l00208"></a><span class="lineno"> 208</span> </div> -<div class="line"><a name="l00209"></a><span class="lineno"><a class="line" href="classmeow_1_1BundleAdjustment__LM.html#a8c66f63ad1184b95b33dab2a495da10d"> 209</a></span>  <span class="keywordtype">double</span> <a class="code" href="classmeow_1_1BundleAdjustment__LM.html#a8c66f63ad1184b95b33dab2a495da10d">threshold</a>(<span class="keywordtype">double</span> t) {</div> -<div class="line"><a name="l00210"></a><span class="lineno"> 210</span>  <span class="keyword">self</span>()->t_ = t;</div> -<div class="line"><a name="l00211"></a><span class="lineno"> 211</span>  <span class="keywordflow">return</span> threshold();</div> -<div class="line"><a name="l00212"></a><span class="lineno"> 212</span>  }</div> -<div class="line"><a name="l00213"></a><span class="lineno"> 213</span> </div> -<div class="line"><a name="l00214"></a><span class="lineno"><a class="line" href="classmeow_1_1BundleAdjustment__LM.html#a5df5c7d40033249548f90e796f4fb46b"> 214</a></span>  <span class="keywordtype">bool</span> <a class="code" href="classmeow_1_1BundleAdjustment__LM.html#a5df5c7d40033249548f90e796f4fb46b">adjustEyes</a>(std::vector<<a class="code" href="structmeow_1_1EyesReferenceInfo.html">EyesReferenceInfo<Pixel></a> > seq)<span class="keyword"> const </span>{</div> -<div class="line"><a name="l00215"></a><span class="lineno"> 215</span>  <span class="comment">// check</span></div> -<div class="line"><a name="l00216"></a><span class="lineno"> 216</span>  <span class="keywordtype">size_t</span> N = seq.size();</div> -<div class="line"><a name="l00217"></a><span class="lineno"> 217</span>  <span class="keywordflow">for</span> (<span class="keywordtype">size_t</span> i = 0; i < N; ++i) {</div> -<div class="line"><a name="l00218"></a><span class="lineno"> 218</span>  <span class="keywordflow">if</span> ( seq[i].flag & <a class="code" href="namespacemeow.html#a62736f7790a097fc54e0a6a608dfe690aa91dfed3c139ca574cc320b6e938fbba">CAN_OFFSET</a> ) <span class="keywordflow">return</span> <span class="keyword">false</span>;</div> -<div class="line"><a name="l00219"></a><span class="lineno"> 219</span>  <span class="keywordflow">if</span> (!(seq[i].flag & <a class="code" href="namespacemeow.html#a62736f7790a097fc54e0a6a608dfe690aad583589f041b1648b1e21205ff15b5e">CAN_ROTATE</a>)) <span class="keywordflow">return</span> <span class="keyword">false</span>;</div> -<div class="line"><a name="l00220"></a><span class="lineno"> 220</span>  <span class="keywordflow">if</span> (!(seq[i].flag & <a class="code" href="namespacemeow.html#a62736f7790a097fc54e0a6a608dfe690a6e34cdff1ccf772a88749ce39658a9e3">CAN_ZOOM</a> )) <span class="keywordflow">return</span> <span class="keyword">false</span>;</div> -<div class="line"><a name="l00221"></a><span class="lineno"> 221</span>  <span class="keywordflow">if</span> (i > 0 && seq[i - 1].eye.offset() != seq[i].eye.offset()) <span class="keywordflow">return</span> <span class="keyword">false</span>;</div> -<div class="line"><a name="l00222"></a><span class="lineno"> 222</span>  }</div> -<div class="line"><a name="l00223"></a><span class="lineno"> 223</span>  <span class="keywordflow">return</span> <span class="keyword">false</span>;</div> -<div class="line"><a name="l00224"></a><span class="lineno"> 224</span> </div> -<div class="line"><a name="l00225"></a><span class="lineno"> 225</span>  <span class="comment">/*</span></div> -<div class="line"><a name="l00226"></a><span class="lineno"> 226</span> <span class="comment"> std::vector<std::vector<Vector3D<double> > > points;</span></div> -<div class="line"><a name="l00227"></a><span class="lineno"> 227</span> <span class="comment"> // reference</span></div> -<div class="line"><a name="l00228"></a><span class="lineno"> 228</span> <span class="comment"> std::vector<Rotation3D <double> > rots(N);</span></div> -<div class="line"><a name="l00229"></a><span class="lineno"> 229</span> <span class="comment"> std::vector<PhotoProjection<double> > phos(N, PhotoProjection<double>(3));</span></div> -<div class="line"><a name="l00230"></a><span class="lineno"> 230</span> <span class="comment"> for (size_t i = 0; i < N; ++i) {</span></div> -<div class="line"><a name="l00231"></a><span class="lineno"> 231</span> <span class="comment"> rots[i].referenceFrom(seq[i].eye.cameraGet().rotationGet());</span></div> -<div class="line"><a name="l00232"></a><span class="lineno"> 232</span> <span class="comment"> phos[i].referenceFrom(seq[i].eye.cameraGet().photoGet().projectionGet());</span></div> -<div class="line"><a name="l00233"></a><span class="lineno"> 233</span> <span class="comment"> }</span></div> -<div class="line"><a name="l00234"></a><span class="lineno"> 234</span> <span class="comment"></span></div> -<div class="line"><a name="l00235"></a><span class="lineno"> 235</span> <span class="comment"> // get all pairs</span></div> -<div class="line"><a name="l00236"></a><span class="lineno"> 236</span> <span class="comment"> typedef typename Camera<Pixel>::FixedPoints2D::IdentityPointsMapIterK FPS_K;</span></div> -<div class="line"><a name="l00237"></a><span class="lineno"> 237</span> <span class="comment"> std::vector<FPS_K> beg(N), end(N);</span></div> -<div class="line"><a name="l00238"></a><span class="lineno"> 238</span> <span class="comment"> for (size_t i = 0; i < N; ++i) {</span></div> -<div class="line"><a name="l00239"></a><span class="lineno"> 239</span> <span class="comment"> beg[i] = seq[i].eye.cameraGet().fixedPoints2DGet().pointsGet().begin();</span></div> -<div class="line"><a name="l00240"></a><span class="lineno"> 240</span> <span class="comment"> end[i] = seq[i].eye.cameraGet().fixedPoints2DGet().pointsGet().end ();</span></div> -<div class="line"><a name="l00241"></a><span class="lineno"> 241</span> <span class="comment"> }</span></div> -<div class="line"><a name="l00242"></a><span class="lineno"> 242</span> <span class="comment"></span></div> -<div class="line"><a name="l00243"></a><span class="lineno"> 243</span> <span class="comment"> FPS_K it1, it2;</span></div> -<div class="line"><a name="l00244"></a><span class="lineno"> 244</span> <span class="comment"> std::vector<std::vector<std::vector<MatchPair> > > all_pairs(N);</span></div> -<div class="line"><a name="l00245"></a><span class="lineno"> 245</span> <span class="comment"> for (size_t i = 0; i < N; ++i) {</span></div> -<div class="line"><a name="l00246"></a><span class="lineno"> 246</span> <span class="comment"> all_pairs[i].resize(N);</span></div> -<div class="line"><a name="l00247"></a><span class="lineno"> 247</span> <span class="comment"> for (size_t j = 0; j < N; ++j) {</span></div> -<div class="line"><a name="l00248"></a><span class="lineno"> 248</span> <span class="comment"> if (i == j) continue;</span></div> -<div class="line"><a name="l00249"></a><span class="lineno"> 249</span> <span class="comment"> for (it1 = beg[i], it2 = beg[j]; it1 != end[i] && it2 != end[j]; ) {</span></div> -<div class="line"><a name="l00250"></a><span class="lineno"> 250</span> <span class="comment"> if (it1->first < it2->first) ++it1;</span></div> -<div class="line"><a name="l00251"></a><span class="lineno"> 251</span> <span class="comment"> else if(it1->first > it2->first) ++it2;</span></div> -<div class="line"><a name="l00252"></a><span class="lineno"> 252</span> <span class="comment"> else {</span></div> -<div class="line"><a name="l00253"></a><span class="lineno"> 253</span> <span class="comment"> MatchPair tmp;</span></div> -<div class="line"><a name="l00254"></a><span class="lineno"> 254</span> <span class="comment"> tmp.from_i = i;</span></div> -<div class="line"><a name="l00255"></a><span class="lineno"> 255</span> <span class="comment"> tmp.from_m = it1->second.matrix();</span></div> -<div class="line"><a name="l00256"></a><span class="lineno"> 256</span> <span class="comment"> tmp.from_m.rows(3, -seq[i].eye.camera().photo().focal());</span></div> -<div class="line"><a name="l00257"></a><span class="lineno"> 257</span> <span class="comment"> tmp. to_i = j;</span></div> -<div class="line"><a name="l00258"></a><span class="lineno"> 258</span> <span class="comment"> tmp. to_m = it2->second.matrix();</span></div> -<div class="line"><a name="l00259"></a><span class="lineno"> 259</span> <span class="comment"> tmp. to_m.rows(3, -seq[j].eye.camera().photo().focal());</span></div> -<div class="line"><a name="l00260"></a><span class="lineno"> 260</span> <span class="comment"> all_pairs[i][j].push_back(tmp);</span></div> -<div class="line"><a name="l00261"></a><span class="lineno"> 261</span> <span class="comment"> ++it1;</span></div> -<div class="line"><a name="l00262"></a><span class="lineno"> 262</span> <span class="comment"> ++it2;</span></div> -<div class="line"><a name="l00263"></a><span class="lineno"> 263</span> <span class="comment"> }</span></div> -<div class="line"><a name="l00264"></a><span class="lineno"> 264</span> <span class="comment"> }</span></div> -<div class="line"><a name="l00265"></a><span class="lineno"> 265</span> <span class="comment"> }</span></div> -<div class="line"><a name="l00266"></a><span class="lineno"> 266</span> <span class="comment"> }</span></div> -<div class="line"><a name="l00267"></a><span class="lineno"> 267</span> <span class="comment"> //</span></div> -<div class="line"><a name="l00268"></a><span class="lineno"> 268</span> <span class="comment"> std::vector<MatchPair > pairs;</span></div> -<div class="line"><a name="l00269"></a><span class="lineno"> 269</span> <span class="comment"> std::vector<Rotation3D <double> > rot;</span></div> -<div class="line"><a name="l00270"></a><span class="lineno"> 270</span> <span class="comment"> std::vector<PhotoProjection<double> > pho;</span></div> -<div class="line"><a name="l00271"></a><span class="lineno"> 271</span> <span class="comment"> std::vector<int > sum (N, 0);</span></div> -<div class="line"><a name="l00272"></a><span class="lineno"> 272</span> <span class="comment"> std::vector<int > big (N, 0);</span></div> -<div class="line"><a name="l00273"></a><span class="lineno"> 273</span> <span class="comment"> std::vector<int > real(N);</span></div> -<div class="line"><a name="l00274"></a><span class="lineno"> 274</span> <span class="comment"> std::vector<int > rev (N);</span></div> -<div class="line"><a name="l00275"></a><span class="lineno"> 275</span> <span class="comment"> // first!!</span></div> -<div class="line"><a name="l00276"></a><span class="lineno"> 276</span> <span class="comment"> int best = -1, best_ct = -1;</span></div> -<div class="line"><a name="l00277"></a><span class="lineno"> 277</span> <span class="comment"> for (size_t i = 0; i < N; ++i) {</span></div> -<div class="line"><a name="l00278"></a><span class="lineno"> 278</span> <span class="comment"> int d = 0;</span></div> -<div class="line"><a name="l00279"></a><span class="lineno"> 279</span> <span class="comment"> for (size_t j = 0; j < N; ++j) {</span></div> -<div class="line"><a name="l00280"></a><span class="lineno"> 280</span> <span class="comment"> d += all_pairs[i][j].size();</span></div> -<div class="line"><a name="l00281"></a><span class="lineno"> 281</span> <span class="comment"> }</span></div> -<div class="line"><a name="l00282"></a><span class="lineno"> 282</span> <span class="comment"> if (best_ct < d) {</span></div> -<div class="line"><a name="l00283"></a><span class="lineno"> 283</span> <span class="comment"> best_ct = d;</span></div> -<div class="line"><a name="l00284"></a><span class="lineno"> 284</span> <span class="comment"> best = i;</span></div> -<div class="line"><a name="l00285"></a><span class="lineno"> 285</span> <span class="comment"> }</span></div> -<div class="line"><a name="l00286"></a><span class="lineno"> 286</span> <span class="comment"> real[i] = i;</span></div> -<div class="line"><a name="l00287"></a><span class="lineno"> 287</span> <span class="comment"> big [i] = i;</span></div> -<div class="line"><a name="l00288"></a><span class="lineno"> 288</span> <span class="comment"> }</span></div> -<div class="line"><a name="l00289"></a><span class="lineno"> 289</span> <span class="comment"> for (size_t i = 0; i < N; ++i) {</span></div> -<div class="line"><a name="l00290"></a><span class="lineno"> 290</span> <span class="comment"> // update else</span></div> -<div class="line"><a name="l00291"></a><span class="lineno"> 291</span> <span class="comment"> real[i] = best;</span></div> -<div class="line"><a name="l00292"></a><span class="lineno"> 292</span> <span class="comment"> rev[best] = i;</span></div> -<div class="line"><a name="l00293"></a><span class="lineno"> 293</span> <span class="comment"> for (size_t j = 0; j < N; ++j) {</span></div> -<div class="line"><a name="l00294"></a><span class="lineno"> 294</span> <span class="comment"> if ((int)j == best) {</span></div> -<div class="line"><a name="l00295"></a><span class="lineno"> 295</span> <span class="comment"> sum[j] = -1;</span></div> -<div class="line"><a name="l00296"></a><span class="lineno"> 296</span> <span class="comment"> continue;</span></div> -<div class="line"><a name="l00297"></a><span class="lineno"> 297</span> <span class="comment"> }</span></div> -<div class="line"><a name="l00298"></a><span class="lineno"> 298</span> <span class="comment"> if (sum[j] < 0) continue;</span></div> -<div class="line"><a name="l00299"></a><span class="lineno"> 299</span> <span class="comment"> sum[j] += all_pairs[best][j].size();</span></div> -<div class="line"><a name="l00300"></a><span class="lineno"> 300</span> <span class="comment"> if (all_pairs[j][big[j]].size() < all_pairs[j][best].size())</span></div> -<div class="line"><a name="l00301"></a><span class="lineno"> 301</span> <span class="comment"> big[j] = best;</span></div> -<div class="line"><a name="l00302"></a><span class="lineno"> 302</span> <span class="comment"> }</span></div> -<div class="line"><a name="l00303"></a><span class="lineno"> 303</span> <span class="comment"> // add me</span></div> -<div class="line"><a name="l00304"></a><span class="lineno"> 304</span> <span class="comment"> printf("%d same as %d\n", best, big[best]);</span></div> -<div class="line"><a name="l00305"></a><span class="lineno"> 305</span> <span class="comment"> if (big[best] == best) {</span></div> -<div class="line"><a name="l00306"></a><span class="lineno"> 306</span> <span class="comment"> rot.push_back((*seq)[big[best]].eye->camera() .rotation());</span></div> -<div class="line"><a name="l00307"></a><span class="lineno"> 307</span> <span class="comment"> pho.push_back((*seq)[big[best]].eye->camera().photo().projection());</span></div> -<div class="line"><a name="l00308"></a><span class="lineno"> 308</span> <span class="comment"> }</span></div> -<div class="line"><a name="l00309"></a><span class="lineno"> 309</span> <span class="comment"> else {</span></div> -<div class="line"><a name="l00310"></a><span class="lineno"> 310</span> <span class="comment"> rot.push_back(rot[rev[big[best]]]);</span></div> -<div class="line"><a name="l00311"></a><span class="lineno"> 311</span> <span class="comment"> pho.push_back(pho[rev[big[best]]]);</span></div> -<div class="line"><a name="l00312"></a><span class="lineno"> 312</span> <span class="comment"> }</span></div> -<div class="line"><a name="l00313"></a><span class="lineno"> 313</span> <span class="comment"> for (size_t j = 0; j < N; ++j) {</span></div> -<div class="line"><a name="l00314"></a><span class="lineno"> 314</span> <span class="comment"> if (sum[j] >= 0) continue;</span></div> -<div class="line"><a name="l00315"></a><span class="lineno"> 315</span> <span class="comment"> for (size_t k = 0, K = all_pairs[best][j].size(); k < K; ++k) {</span></div> -<div class="line"><a name="l00316"></a><span class="lineno"> 316</span> <span class="comment"> all_pairs[best][j][k].from_i = rev[all_pairs[best][j][k].from_i];</span></div> -<div class="line"><a name="l00317"></a><span class="lineno"> 317</span> <span class="comment"> all_pairs[best][j][k]. to_i = rev[all_pairs[best][j][k]. to_i];</span></div> -<div class="line"><a name="l00318"></a><span class="lineno"> 318</span> <span class="comment"> pairs.push_back(all_pairs[best][j][k]);</span></div> -<div class="line"><a name="l00319"></a><span class="lineno"> 319</span> <span class="comment"> }</span></div> -<div class="line"><a name="l00320"></a><span class="lineno"> 320</span> <span class="comment"> for (size_t k = 0, K = all_pairs[j][best].size(); k < K; ++k) {</span></div> -<div class="line"><a name="l00321"></a><span class="lineno"> 321</span> <span class="comment"> all_pairs[j][best][k].from_i = rev[all_pairs[j][best][k].from_i];</span></div> -<div class="line"><a name="l00322"></a><span class="lineno"> 322</span> <span class="comment"> all_pairs[j][best][k]. to_i = rev[all_pairs[j][best][k]. to_i];</span></div> -<div class="line"><a name="l00323"></a><span class="lineno"> 323</span> <span class="comment"> pairs.push_back(all_pairs[j][best][k]);</span></div> -<div class="line"><a name="l00324"></a><span class="lineno"> 324</span> <span class="comment"> }</span></div> -<div class="line"><a name="l00325"></a><span class="lineno"> 325</span> <span class="comment"> }</span></div> -<div class="line"><a name="l00326"></a><span class="lineno"> 326</span> <span class="comment"> if (i > 0) {</span></div> -<div class="line"><a name="l00327"></a><span class="lineno"> 327</span> <span class="comment"> NoOffsetController ct1(&pairs, &rot, &pho, false);</span></div> -<div class="line"><a name="l00328"></a><span class="lineno"> 328</span> <span class="comment"> ct1.residure(levenbergMarquardtTraining(ct1, ct1.init(),</span></div> -<div class="line"><a name="l00329"></a><span class="lineno"> 329</span> <span class="comment"> 7.3, 1.0,</span></div> -<div class="line"><a name="l00330"></a><span class="lineno"> 330</span> <span class="comment"> squ(threshold()) * pairs.size(),</span></div> -<div class="line"><a name="l00331"></a><span class="lineno"> 331</span> <span class="comment"> 7, 1000));</span></div> -<div class="line"><a name="l00332"></a><span class="lineno"> 332</span> <span class="comment"> }</span></div> -<div class="line"><a name="l00333"></a><span class="lineno"> 333</span> <span class="comment"> best_ct = 0;</span></div> -<div class="line"><a name="l00334"></a><span class="lineno"> 334</span> <span class="comment"> for (size_t j = 0; j < N; ++j) {</span></div> -<div class="line"><a name="l00335"></a><span class="lineno"> 335</span> <span class="comment"> if (best_ct < sum[j]) {</span></div> -<div class="line"><a name="l00336"></a><span class="lineno"> 336</span> <span class="comment"> best = j;</span></div> -<div class="line"><a name="l00337"></a><span class="lineno"> 337</span> <span class="comment"> best_ct = sum[j];</span></div> -<div class="line"><a name="l00338"></a><span class="lineno"> 338</span> <span class="comment"> }</span></div> -<div class="line"><a name="l00339"></a><span class="lineno"> 339</span> <span class="comment"> }</span></div> -<div class="line"><a name="l00340"></a><span class="lineno"> 340</span> <span class="comment"> }</span></div> -<div class="line"><a name="l00341"></a><span class="lineno"> 341</span> <span class="comment"> return true;</span></div> -<div class="line"><a name="l00342"></a><span class="lineno"> 342</span> <span class="comment"> // */</span></div> -<div class="line"><a name="l00343"></a><span class="lineno"> 343</span>  }</div> -<div class="line"><a name="l00344"></a><span class="lineno"> 344</span> </div> -<div class="line"><a name="l00345"></a><span class="lineno"><a class="line" href="classmeow_1_1BundleAdjustment__LM.html#a0736989903225322c43c4d95c9c31c10"> 345</a></span>  <span class="keywordtype">bool</span> <a class="code" href="classmeow_1_1BundleAdjustment__LM.html#a0736989903225322c43c4d95c9c31c10">adjustFixedPoints</a>(std::vector<<a class="code" href="structmeow_1_1EyesReferenceInfo.html">EyesReferenceInfo<Pixel></a> > seq)<span class="keyword"> const </span>{</div> -<div class="line"><a name="l00346"></a><span class="lineno"> 346</span>  <span class="keywordflow">return</span> <span class="keyword">false</span>;</div> -<div class="line"><a name="l00347"></a><span class="lineno"> 347</span>  }</div> -<div class="line"><a name="l00348"></a><span class="lineno"> 348</span> </div> -<div class="line"><a name="l00349"></a><span class="lineno"><a class="line" href="classmeow_1_1BundleAdjustment__LM.html#a9d19b404967305fd9aa67749ec8c7717"> 349</a></span>  <span class="keywordtype">bool</span> <a class="code" href="classmeow_1_1BundleAdjustment__LM.html#a9d19b404967305fd9aa67749ec8c7717">write</a>(FILE* f, <span class="keywordtype">bool</span> bin, <span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> fg)<span class="keyword"> const </span>{</div> -<div class="line"><a name="l00350"></a><span class="lineno"> 350</span>  <span class="keywordflow">return</span> <span class="keyword">false</span>;</div> -<div class="line"><a name="l00351"></a><span class="lineno"> 351</span>  }</div> -<div class="line"><a name="l00352"></a><span class="lineno"> 352</span> </div> -<div class="line"><a name="l00353"></a><span class="lineno"><a class="line" href="classmeow_1_1BundleAdjustment__LM.html#a804247733822b34b6405a5a36eda54df"> 353</a></span>  <span class="keywordtype">bool</span> <a class="code" href="classmeow_1_1BundleAdjustment__LM.html#a804247733822b34b6405a5a36eda54df">read</a>(FILE* f, <span class="keywordtype">bool</span> bin, <span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> fg)<span class="keyword"> const </span>{</div> -<div class="line"><a name="l00354"></a><span class="lineno"> 354</span>  <span class="keywordflow">return</span> <span class="keyword">false</span>;</div> -<div class="line"><a name="l00355"></a><span class="lineno"> 355</span>  }</div> -<div class="line"><a name="l00356"></a><span class="lineno"> 356</span> </div> -<div class="line"><a name="l00357"></a><span class="lineno"><a class="line" href="classmeow_1_1BundleAdjustment__LM.html#ac7da70e8db84d10b742fe0330a1652bb"> 357</a></span>  <a class="code" href="classmeow_1_1ObjBase.html">ObjBase</a>* <a class="code" href="classmeow_1_1BundleAdjustment__LM.html#ac7da70e8db84d10b742fe0330a1652bb">create</a>()<span class="keyword"> const </span>{</div> -<div class="line"><a name="l00358"></a><span class="lineno"> 358</span>  <span class="keywordflow">return</span> <span class="keyword">new</span> <a class="code" href="classmeow_1_1BundleAdjustment__LM.html">BundleAdjustment_LM</a>;</div> -<div class="line"><a name="l00359"></a><span class="lineno"> 359</span>  }</div> -<div class="line"><a name="l00360"></a><span class="lineno"> 360</span> </div> -<div class="line"><a name="l00361"></a><span class="lineno"><a class="line" href="classmeow_1_1BundleAdjustment__LM.html#a2aa8b8a53023ad43099ea51e126d9100"> 361</a></span>  <a class="code" href="classmeow_1_1ObjBase.html">ObjBase</a>* <a class="code" href="classmeow_1_1BundleAdjustment__LM.html#a2aa8b8a53023ad43099ea51e126d9100">copyFrom</a>(<a class="code" href="classmeow_1_1ObjBase.html">ObjBase</a> <span class="keyword">const</span>* o) {</div> -<div class="line"><a name="l00362"></a><span class="lineno"> 362</span>  <span class="keywordflow">return</span> &(copyFrom(*(<a class="code" href="classmeow_1_1BundleAdjustment__LM.html">BundleAdjustment_LM</a> <span class="keyword">const</span>*)o));</div> -<div class="line"><a name="l00363"></a><span class="lineno"> 363</span>  }</div> -<div class="line"><a name="l00364"></a><span class="lineno"> 364</span> </div> -<div class="line"><a name="l00365"></a><span class="lineno"><a class="line" href="classmeow_1_1BundleAdjustment__LM.html#a40ccbfa11601cfee579cb0e270e99582"> 365</a></span>  <span class="keywordtype">char</span> <span class="keyword">const</span>* <a class="code" href="classmeow_1_1BundleAdjustment__LM.html#a40ccbfa11601cfee579cb0e270e99582">ctype</a>()<span class="keyword"> const </span>{</div> -<div class="line"><a name="l00366"></a><span class="lineno"> 366</span>  <span class="keywordflow">return</span> <span class="keyword">typeid</span>(*this).name();</div> -<div class="line"><a name="l00367"></a><span class="lineno"> 367</span>  }</div> -<div class="line"><a name="l00368"></a><span class="lineno"> 368</span> </div> -<div class="line"><a name="l00369"></a><span class="lineno"><a class="line" href="classmeow_1_1BundleAdjustment__LM.html#a21d920c760fc786a77c9b95978a447d9"> 369</a></span>  std::string <a class="code" href="classmeow_1_1BundleAdjustment__LM.html#a21d920c760fc786a77c9b95978a447d9">type</a>()<span class="keyword"> const </span>{</div> -<div class="line"><a name="l00370"></a><span class="lineno"> 370</span>  <span class="keywordflow">return</span> std::string(ctype());</div> -<div class="line"><a name="l00371"></a><span class="lineno"> 371</span>  }</div> -<div class="line"><a name="l00372"></a><span class="lineno"> 372</span> };</div> -<div class="line"><a name="l00373"></a><span class="lineno"> 373</span> </div> -<div class="line"><a name="l00374"></a><span class="lineno"> 374</span> } <span class="comment">// meow</span></div> -<div class="line"><a name="l00375"></a><span class="lineno"> 375</span> </div> -<div class="line"><a name="l00376"></a><span class="lineno"> 376</span> <span class="preprocessor">#endif // BundleAdjustment_LM_H__</span></div> -<div class="ttc" id="classmeow_1_1BundleAdjustment_html"><div class="ttname"><a href="classmeow_1_1BundleAdjustment.html">meow::BundleAdjustment</a></div><div class="ttdoc">這邊定義Bundle-Adjustment就是利用一系列場景來反推算出相機資訊 (包含拍攝座標, 角度與焦距) 或是在已知相機資訊的情況下推算出底片中 物體如何移動. </div><div class="ttdef"><b>Definition:</b> <a href="BundleAdjustment_8h_source.html#l00070">BundleAdjustment.h:70</a></div></div> -<div class="ttc" id="namespacemeow_html_a62736f7790a097fc54e0a6a608dfe690aad583589f041b1648b1e21205ff15b5e"><div class="ttname"><a href="namespacemeow.html#a62736f7790a097fc54e0a6a608dfe690aad583589f041b1648b1e21205ff15b5e">meow::CAN_ROTATE</a></div><div class="ttdoc">旋轉 </div><div class="ttdef"><b>Definition:</b> <a href="BundleAdjustment_8h_source.html#l00015">BundleAdjustment.h:15</a></div></div> -<div class="ttc" id="classmeow_1_1BundleAdjustment__LM_html_a043f883c384ce247d1d137231601a456"><div class="ttname"><a href="classmeow_1_1BundleAdjustment__LM.html#a043f883c384ce247d1d137231601a456">meow::BundleAdjustment_LM::threshold</a></div><div class="ttdeci">double threshold() const </div><div class="ttdef"><b>Definition:</b> <a href="BundleAdjustment__LM_8h_source.html#l00205">BundleAdjustment_LM.h:205</a></div></div> -<div class="ttc" id="classmeow_1_1BundleAdjustment__LM_html_a148b68165e216782bc6deec2f277eeaa"><div class="ttname"><a href="classmeow_1_1BundleAdjustment__LM.html#a148b68165e216782bc6deec2f277eeaa">meow::BundleAdjustment_LM::BundleAdjustment_LM</a></div><div class="ttdeci">BundleAdjustment_LM()</div><div class="ttdef"><b>Definition:</b> <a href="BundleAdjustment__LM_8h_source.html#l00185">BundleAdjustment_LM.h:185</a></div></div> -<div class="ttc" id="classmeow_1_1BundleAdjustment__LM_html_a40ccbfa11601cfee579cb0e270e99582"><div class="ttname"><a href="classmeow_1_1BundleAdjustment__LM.html#a40ccbfa11601cfee579cb0e270e99582">meow::BundleAdjustment_LM::ctype</a></div><div class="ttdeci">char const * ctype() const </div><div class="ttdoc">用C-style string回傳這個class的type name </div><div class="ttdef"><b>Definition:</b> <a href="BundleAdjustment__LM_8h_source.html#l00365">BundleAdjustment_LM.h:365</a></div></div> -<div class="ttc" id="structmeow_1_1EyesReferenceInfo_html"><div class="ttname"><a href="structmeow_1_1EyesReferenceInfo.html">meow::EyesReferenceInfo</a></div><div class="ttdoc">記住每個 Eye 的reference以及Flag </div><div class="ttdef"><b>Definition:</b> <a href="BundleAdjustment_8h_source.html#l00023">BundleAdjustment.h:23</a></div></div> -<div class="ttc" id="classmeow_1_1BundleAdjustment__LM_html"><div class="ttname"><a href="classmeow_1_1BundleAdjustment__LM.html">meow::BundleAdjustment_LM</a></div><div class="ttdoc">利用 Levenberg-Marquardt Method去推估相機旋轉角度與焦距 </div><div class="ttdef"><b>Definition:</b> <a href="BundleAdjustment__LM_8h_source.html#l00026">BundleAdjustment_LM.h:26</a></div></div> -<div class="ttc" id="classmeow_1_1BundleAdjustment__LM_html_a21d920c760fc786a77c9b95978a447d9"><div class="ttname"><a href="classmeow_1_1BundleAdjustment__LM.html#a21d920c760fc786a77c9b95978a447d9">meow::BundleAdjustment_LM::type</a></div><div class="ttdeci">std::string type() const </div><div class="ttdoc">用std::string回傳這個class的type name </div><div class="ttdef"><b>Definition:</b> <a href="BundleAdjustment__LM_8h_source.html#l00369">BundleAdjustment_LM.h:369</a></div></div> -<div class="ttc" id="classmeow_1_1BundleAdjustment__LM_html_a9d19b404967305fd9aa67749ec8c7717"><div class="ttname"><a href="classmeow_1_1BundleAdjustment__LM.html#a9d19b404967305fd9aa67749ec8c7717">meow::BundleAdjustment_LM::write</a></div><div class="ttdeci">bool write(FILE *f, bool bin, unsigned int fg) const </div><div class="ttdoc">將物件寫入檔案, 預設implement為直接回傳 false </div><div class="ttdef"><b>Definition:</b> <a href="BundleAdjustment__LM_8h_source.html#l00349">BundleAdjustment_LM.h:349</a></div></div> -<div class="ttc" id="classmeow_1_1BundleAdjustment__LM_html_a4e3d8f8970460b0a6eafc3a31ea2304b"><div class="ttname"><a href="classmeow_1_1BundleAdjustment__LM.html#a4e3d8f8970460b0a6eafc3a31ea2304b">meow::BundleAdjustment_LM::referenceFrom</a></div><div class="ttdeci">BundleAdjustment_LM & referenceFrom(BundleAdjustment_LM const &b)</div><div class="ttdef"><b>Definition:</b> <a href="BundleAdjustment__LM_8h_source.html#l00200">BundleAdjustment_LM.h:200</a></div></div> -<div class="ttc" id="classmeow_1_1ObjBase_html"><div class="ttname"><a href="classmeow_1_1ObjBase.html">meow::ObjBase</a></div><div class="ttdoc">一切物件的Base, 並要求每個物件都要有read, write, create, ... 等功能 </div><div class="ttdef"><b>Definition:</b> <a href="ObjBase_8h_source.html#l00015">ObjBase.h:15</a></div></div> -<div class="ttc" id="namespacemeow_html_a62736f7790a097fc54e0a6a608dfe690aa91dfed3c139ca574cc320b6e938fbba"><div class="ttname"><a href="namespacemeow.html#a62736f7790a097fc54e0a6a608dfe690aa91dfed3c139ca574cc320b6e938fbba">meow::CAN_OFFSET</a></div><div class="ttdoc">平移 </div><div class="ttdef"><b>Definition:</b> <a href="BundleAdjustment_8h_source.html#l00014">BundleAdjustment.h:14</a></div></div> -<div class="ttc" id="classmeow_1_1BundleAdjustment__LM_html_a0736989903225322c43c4d95c9c31c10"><div class="ttname"><a href="classmeow_1_1BundleAdjustment__LM.html#a0736989903225322c43c4d95c9c31c10">meow::BundleAdjustment_LM::adjustFixedPoints</a></div><div class="ttdeci">bool adjustFixedPoints(std::vector< EyesReferenceInfo< Pixel > > seq) const </div><div class="ttdoc">推算場景中的物體資訊 </div><div class="ttdef"><b>Definition:</b> <a href="BundleAdjustment__LM_8h_source.html#l00345">BundleAdjustment_LM.h:345</a></div></div> -<div class="ttc" id="Eye_8h_html"><div class="ttname"><a href="Eye_8h.html">Eye.h</a></div></div> -<div class="ttc" id="classmeow_1_1BundleAdjustment__LM_html_a2aa8b8a53023ad43099ea51e126d9100"><div class="ttname"><a href="classmeow_1_1BundleAdjustment__LM.html#a2aa8b8a53023ad43099ea51e126d9100">meow::BundleAdjustment_LM::copyFrom</a></div><div class="ttdeci">ObjBase * copyFrom(ObjBase const *o)</div><div class="ttdoc">複製, 預設使用operator= </div><div class="ttdef"><b>Definition:</b> <a href="BundleAdjustment__LM_8h_source.html#l00361">BundleAdjustment_LM.h:361</a></div></div> -<div class="ttc" id="classmeow_1_1BundleAdjustment__LM_html_a8c66f63ad1184b95b33dab2a495da10d"><div class="ttname"><a href="classmeow_1_1BundleAdjustment__LM.html#a8c66f63ad1184b95b33dab2a495da10d">meow::BundleAdjustment_LM::threshold</a></div><div class="ttdeci">double threshold(double t)</div><div class="ttdef"><b>Definition:</b> <a href="BundleAdjustment__LM_8h_source.html#l00209">BundleAdjustment_LM.h:209</a></div></div> -<div class="ttc" id="classmeow_1_1BundleAdjustment__LM_html_a9ec1dc73dadf73d89fdb0020361a6ea0"><div class="ttname"><a href="classmeow_1_1BundleAdjustment__LM.html#a9ec1dc73dadf73d89fdb0020361a6ea0">meow::BundleAdjustment_LM::BundleAdjustment_LM</a></div><div class="ttdeci">BundleAdjustment_LM(BundleAdjustment_LM const &b)</div><div class="ttdef"><b>Definition:</b> <a href="BundleAdjustment__LM_8h_source.html#l00188">BundleAdjustment_LM.h:188</a></div></div> -<div class="ttc" id="namespacemeow_html_a62736f7790a097fc54e0a6a608dfe690a6e34cdff1ccf772a88749ce39658a9e3"><div class="ttname"><a href="namespacemeow.html#a62736f7790a097fc54e0a6a608dfe690a6e34cdff1ccf772a88749ce39658a9e3">meow::CAN_ZOOM</a></div><div class="ttdoc">改變焦距 </div><div class="ttdef"><b>Definition:</b> <a href="BundleAdjustment_8h_source.html#l00016">BundleAdjustment.h:16</a></div></div> -<div class="ttc" id="classmeow_1_1BundleAdjustment__LM_html_a5df5c7d40033249548f90e796f4fb46b"><div class="ttname"><a href="classmeow_1_1BundleAdjustment__LM.html#a5df5c7d40033249548f90e796f4fb46b">meow::BundleAdjustment_LM::adjustEyes</a></div><div class="ttdeci">bool adjustEyes(std::vector< EyesReferenceInfo< Pixel > > seq) const </div><div class="ttdoc">推算相機資訊 </div><div class="ttdef"><b>Definition:</b> <a href="BundleAdjustment__LM_8h_source.html#l00214">BundleAdjustment_LM.h:214</a></div></div> -<div class="ttc" id="classmeow_1_1Matrix_html"><div class="ttname"><a href="classmeow_1_1Matrix.html">meow::Matrix< double ></a></div></div> -<div class="ttc" id="classmeow_1_1BundleAdjustment__LM_html_a804247733822b34b6405a5a36eda54df"><div class="ttname"><a href="classmeow_1_1BundleAdjustment__LM.html#a804247733822b34b6405a5a36eda54df">meow::BundleAdjustment_LM::read</a></div><div class="ttdeci">bool read(FILE *f, bool bin, unsigned int fg) const </div><div class="ttdef"><b>Definition:</b> <a href="BundleAdjustment__LM_8h_source.html#l00353">BundleAdjustment_LM.h:353</a></div></div> -<div class="ttc" id="classmeow_1_1Matrix_html_abc6f5c824ee47cb15094729ca91f2e7c"><div class="ttname"><a href="classmeow_1_1Matrix.html#abc6f5c824ee47cb15094729ca91f2e7c">meow::Matrix::identitied</a></div><div class="ttdeci">Matrix & identitied()</div><div class="ttdoc">Let itself be an identity matrix. </div><div class="ttdef"><b>Definition:</b> <a href="Matrix_8h_source.html#l00367">Matrix.h:367</a></div></div> -<div class="ttc" id="classmeow_1_1Matrix_html_a46a12f45237e654e0140387d7290eb8b"><div class="ttname"><a href="classmeow_1_1Matrix.html#a46a12f45237e654e0140387d7290eb8b">meow::Matrix::entry</a></div><div class="ttdeci">Entry entry(size_t r, size_t c) const </div><div class="ttdoc">Access the entry at r x c. </div><div class="ttdef"><b>Definition:</b> <a href="Matrix_8h_source.html#l00212">Matrix.h:212</a></div></div> -<div class="ttc" id="BundleAdjustment_8h_html"><div class="ttname"><a href="BundleAdjustment_8h.html">BundleAdjustment.h</a></div></div> -<div class="ttc" id="classmeow_1_1Self_html"><div class="ttname"><a href="classmeow_1_1Self.html">meow::Self</a></div><div class="ttdoc">For developer to pack the attributes of a class. </div><div class="ttdef"><b>Definition:</b> <a href="self_8h_source.html#l00110">self.h:110</a></div></div> -<div class="ttc" id="classmeow_1_1BundleAdjustment__LM_html_adcd14db10f10637da44d22287814a4b8"><div class="ttname"><a href="classmeow_1_1BundleAdjustment__LM.html#adcd14db10f10637da44d22287814a4b8">meow::BundleAdjustment_LM::~BundleAdjustment_LM</a></div><div class="ttdeci">~BundleAdjustment_LM()</div><div class="ttdef"><b>Definition:</b> <a href="BundleAdjustment__LM_8h_source.html#l00192">BundleAdjustment_LM.h:192</a></div></div> -<div class="ttc" id="classmeow_1_1Matrix_html_ac17251cb984beb1f74558724a22a0120"><div class="ttname"><a href="classmeow_1_1Matrix.html#ac17251cb984beb1f74558724a22a0120">meow::Matrix::reset</a></div><div class="ttdeci">void reset(size_t r, size_t c, Entry const &e)</div><div class="ttdoc">reset the size of the matrix to r x c with entry all be e </div><div class="ttdef"><b>Definition:</b> <a href="Matrix_8h_source.html#l00116">Matrix.h:116</a></div></div> -<div class="ttc" id="classmeow_1_1BundleAdjustment__LM_html_a45b5ae5619eb5baf9c47f625daba99ca"><div class="ttname"><a href="classmeow_1_1BundleAdjustment__LM.html#a45b5ae5619eb5baf9c47f625daba99ca">meow::BundleAdjustment_LM::copyFrom</a></div><div class="ttdeci">BundleAdjustment_LM & copyFrom(BundleAdjustment_LM const &b)</div><div class="ttdef"><b>Definition:</b> <a href="BundleAdjustment__LM_8h_source.html#l00195">BundleAdjustment_LM.h:195</a></div></div> -<div class="ttc" id="classmeow_1_1BundleAdjustment__LM_html_ac7da70e8db84d10b742fe0330a1652bb"><div class="ttname"><a href="classmeow_1_1BundleAdjustment__LM.html#ac7da70e8db84d10b742fe0330a1652bb">meow::BundleAdjustment_LM::create</a></div><div class="ttdeci">ObjBase * create() const </div><div class="ttdoc">回傳一個new出來的物件, 預設implement為直接回傳 NULL </div><div class="ttdef"><b>Definition:</b> <a href="BundleAdjustment__LM_8h_source.html#l00357">BundleAdjustment_LM.h:357</a></div></div> -</div><!-- fragment --></div><!-- contents --> -</div><!-- doc-content --> -<!-- HTML footer for doxygen 1.8.3.1--> -<!-- start footer part --> -<div id="nav-path" class="navpath"><!-- id is needed for treeview function! --> - <ul> - <li class="navelem"><a class="el" href="dir_92fecd8d02dd5e7a67429447fdf0f60f.html">meowpp</a></li><li class="navelem"><a class="el" href="dir_115d3279a93b9c99d8f569a34543848f.html">gra</a></li><li class="navelem"><a class="el" href="BundleAdjustment__LM_8h.html">BundleAdjustment_LM.h</a></li> - <li class="footer">Generated on Mon Sep 8 2014 21:25:40 for Templates -- Meow by - <a href="http://www.doxygen.org/index.html"> - <img class="footer" src="doxygen.png" alt="doxygen"/></a> 1.8.6 </li> - </ul> -</div> -</body> -</html> |