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<div id="projectname">Templates -- Meow
 <span id="projectnumber">1.1.4</span>
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<div id="projectbrief">A C++ template which is unable and also not allowed to compile to obj-file first.</div>
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<div class="title">BundleAdjustment_LM.h</div> </div>
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<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> <span class="preprocessor">#include "<a class="code" href="Eye_8h.html">Eye.h</a>"</span></div>
<div class="line"><a name="l00005"></a><span class="lineno"> 5</span> </div>
<div class="line"><a name="l00006"></a><span class="lineno"> 6</span> <span class="preprocessor">#include "<a class="code" href="BundleAdjustment_8h.html">BundleAdjustment.h</a>"</span></div>
<div class="line"><a name="l00007"></a><span class="lineno"> 7</span> </div>
<div class="line"><a name="l00008"></a><span class="lineno"> 8</span> <span class="preprocessor">#include "../math/methods.h"</span></div>
<div class="line"><a name="l00009"></a><span class="lineno"> 9</span> <span class="preprocessor">#include "../math/Vector.h"</span></div>
<div class="line"><a name="l00010"></a><span class="lineno"> 10</span> <span class="preprocessor">#include "../math/Matrix.h"</span></div>
<div class="line"><a name="l00011"></a><span class="lineno"> 11</span> <span class="preprocessor">#include "../math/utility.h"</span></div>
<div class="line"><a name="l00012"></a><span class="lineno"> 12</span> </div>
<div class="line"><a name="l00013"></a><span class="lineno"> 13</span> <span class="preprocessor">#include "../oo/ObjBase.h"</span></div>
<div class="line"><a name="l00014"></a><span class="lineno"> 14</span> </div>
<div class="line"><a name="l00015"></a><span class="lineno"> 15</span> <span class="preprocessor">#include <algorithm></span></div>
<div class="line"><a name="l00016"></a><span class="lineno"> 16</span> </div>
<div class="line"><a name="l00017"></a><span class="lineno"> 17</span> <span class="keyword">namespace </span>meow {</div>
<div class="line"><a name="l00018"></a><span class="lineno"> 18</span> </div>
<div class="line"><a name="l00019"></a><span class="lineno"> 19</span> <span class="keyword">template</span><<span class="keyword">class</span> Pixel></div>
<div class="line"><a name="l00020"></a><span class="lineno"><a class="line" href="classmeow_1_1BundleAdjustment__LM.html"> 20</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="l00021"></a><span class="lineno"> 21</span> <span class="keyword">private</span>:</div>
<div class="line"><a name="l00022"></a><span class="lineno"> 22</span>  <span class="keyword">struct </span>MatchPair {</div>
<div class="line"><a name="l00023"></a><span class="lineno"> 23</span>  <span class="keywordtype">size_t</span> from_i;</div>
<div class="line"><a name="l00024"></a><span class="lineno"> 24</span>  <a class="code" href="classmeow_1_1Matrix.html">Matrix<double></a> from_m;</div>
<div class="line"><a name="l00025"></a><span class="lineno"> 25</span>  <span class="keywordtype">size_t</span> to_i;</div>
<div class="line"><a name="l00026"></a><span class="lineno"> 26</span>  <a class="code" href="classmeow_1_1Matrix.html">Matrix<double></a> to_m;</div>
<div class="line"><a name="l00027"></a><span class="lineno"> 27</span>  };</div>
<div class="line"><a name="l00028"></a><span class="lineno"> 28</span>  </div>
<div class="line"><a name="l00029"></a><span class="lineno"> 29</span>  <span class="keyword">class </span>NoOffsetController {</div>
<div class="line"><a name="l00030"></a><span class="lineno"> 30</span>  <span class="keyword">private</span>:</div>
<div class="line"><a name="l00031"></a><span class="lineno"> 31</span>  std::vector<MatchPair >* pairs_;</div>
<div class="line"><a name="l00032"></a><span class="lineno"> 32</span>  std::vector<Rotation3D <double> >* rot_;</div>
<div class="line"><a name="l00033"></a><span class="lineno"> 33</span>  std::vector<PhotoProjection<double> >* pho_;</div>
<div class="line"><a name="l00034"></a><span class="lineno"> 34</span>  <a class="code" href="classmeow_1_1BallProjection.html">BallProjection<double></a> bll_;</div>
<div class="line"><a name="l00035"></a><span class="lineno"> 35</span>  <span class="keywordtype">bool</span> flag;</div>
<div class="line"><a name="l00036"></a><span class="lineno"> 36</span>  <span class="keyword">public</span>:</div>
<div class="line"><a name="l00037"></a><span class="lineno"> 37</span>  NoOffsetController(std::vector<MatchPair >* pairs,</div>
<div class="line"><a name="l00038"></a><span class="lineno"> 38</span>  std::vector<<a class="code" href="classmeow_1_1Rotation3D.html">Rotation3D<double></a> >* rot,</div>
<div class="line"><a name="l00039"></a><span class="lineno"> 39</span>  std::vector<<a class="code" href="classmeow_1_1PhotoProjection.html">PhotoProjection<double></a> >* pho,</div>
<div class="line"><a name="l00040"></a><span class="lineno"> 40</span>  <span class="keywordtype">bool</span> fg):</div>
<div class="line"><a name="l00041"></a><span class="lineno"> 41</span>  pairs_(pairs), rot_(rot), pho_(pho), bll_(3.0, 1.0), flag(fg) {</div>
<div class="line"><a name="l00042"></a><span class="lineno"> 42</span>  }</div>
<div class="line"><a name="l00043"></a><span class="lineno"> 43</span>  <a class="code" href="classmeow_1_1Vector.html">Vector<double></a> init() {</div>
<div class="line"><a name="l00044"></a><span class="lineno"> 44</span>  <span class="keywordflow">if</span> (flag == <span class="keyword">false</span>) {</div>
<div class="line"><a name="l00045"></a><span class="lineno"> 45</span>  <a class="code" href="classmeow_1_1Vector.html">Vector<double></a> v(4, 0.0);</div>
<div class="line"><a name="l00046"></a><span class="lineno"> 46</span>  <span class="keywordtype">int</span> i = (*pho_).size() - 1, n = 0;</div>
<div class="line"><a name="l00047"></a><span class="lineno"> 47</span>  v.<a class="code" href="classmeow_1_1Vector.html#af5ecb8d9cc811a2d56e1725c4bfd30e8">entry</a>(n++, (*pho_)[i].focal());</div>
<div class="line"><a name="l00048"></a><span class="lineno"> 48</span>  v.<a class="code" href="classmeow_1_1Vector.html#af5ecb8d9cc811a2d56e1725c4bfd30e8">entry</a>(n++, (*rot_)[i].theta(0));</div>
<div class="line"><a name="l00049"></a><span class="lineno"> 49</span>  v.<a class="code" href="classmeow_1_1Vector.html#af5ecb8d9cc811a2d56e1725c4bfd30e8">entry</a>(n++, (*rot_)[i].theta(1));</div>
<div class="line"><a name="l00050"></a><span class="lineno"> 50</span>  v.<a class="code" href="classmeow_1_1Vector.html#af5ecb8d9cc811a2d56e1725c4bfd30e8">entry</a>(n++, (*rot_)[i].theta(2));</div>
<div class="line"><a name="l00051"></a><span class="lineno"> 51</span>  <span class="keywordflow">return</span> v;</div>
<div class="line"><a name="l00052"></a><span class="lineno"> 52</span>  }</div>
<div class="line"><a name="l00053"></a><span class="lineno"> 53</span>  <a class="code" href="classmeow_1_1Vector.html">Vector<double></a> v((*rot_).size() * 4, 0.0);</div>
<div class="line"><a name="l00054"></a><span class="lineno"> 54</span>  <span class="keywordflow">for</span> (<span class="keywordtype">size_t</span> n = 0, i = 0, I = (*rot_).size(); i < I; ++i) {</div>
<div class="line"><a name="l00055"></a><span class="lineno"> 55</span>  v.<a class="code" href="classmeow_1_1Vector.html#af5ecb8d9cc811a2d56e1725c4bfd30e8">entry</a>(n++, (*pho_)[i].focal());</div>
<div class="line"><a name="l00056"></a><span class="lineno"> 56</span>  v.<a class="code" href="classmeow_1_1Vector.html#af5ecb8d9cc811a2d56e1725c4bfd30e8">entry</a>(n++, (*rot_)[i].theta(0));</div>
<div class="line"><a name="l00057"></a><span class="lineno"> 57</span>  v.<a class="code" href="classmeow_1_1Vector.html#af5ecb8d9cc811a2d56e1725c4bfd30e8">entry</a>(n++, (*rot_)[i].theta(1));</div>
<div class="line"><a name="l00058"></a><span class="lineno"> 58</span>  v.<a class="code" href="classmeow_1_1Vector.html#af5ecb8d9cc811a2d56e1725c4bfd30e8">entry</a>(n++, (*rot_)[i].theta(2));</div>
<div class="line"><a name="l00059"></a><span class="lineno"> 59</span>  }</div>
<div class="line"><a name="l00060"></a><span class="lineno"> 60</span>  <span class="keywordflow">return</span> v;</div>
<div class="line"><a name="l00061"></a><span class="lineno"> 61</span>  }</div>
<div class="line"><a name="l00062"></a><span class="lineno"> 62</span>  <a class="code" href="classmeow_1_1Vector.html">Vector<double></a> residure(<a class="code" href="classmeow_1_1Vector.html">Vector<double></a> <span class="keyword">const</span>& v) {</div>
<div class="line"><a name="l00063"></a><span class="lineno"> 63</span>  <span class="keywordflow">for</span> (<span class="keywordtype">size_t</span> n = 0, i = 0, I = (*rot_).size(); i < I; ++i) {</div>
<div class="line"><a name="l00064"></a><span class="lineno"> 64</span>  <span class="keywordflow">if</span> (flag == <span class="keyword">false</span> && i != I - 1) <span class="keywordflow">continue</span>;</div>
<div class="line"><a name="l00065"></a><span class="lineno"> 65</span>  (*pho_)[i].focal(v(n++));</div>
<div class="line"><a name="l00066"></a><span class="lineno"> 66</span>  (*rot_)[i].theta(0, v(n++));</div>
<div class="line"><a name="l00067"></a><span class="lineno"> 67</span>  (*rot_)[i].theta(1, v(n++));</div>
<div class="line"><a name="l00068"></a><span class="lineno"> 68</span>  (*rot_)[i].theta(2, v(n++));</div>
<div class="line"><a name="l00069"></a><span class="lineno"> 69</span>  }</div>
<div class="line"><a name="l00070"></a><span class="lineno"> 70</span>  <span class="keywordflow">for</span> (<span class="keyword">typename</span> std::vector<MatchPair>::iterator</div>
<div class="line"><a name="l00071"></a><span class="lineno"> 71</span>  it = (*pairs_).begin(), ed = (*pairs_).end(); it != ed; ++it) {</div>
<div class="line"><a name="l00072"></a><span class="lineno"> 72</span>  (*it).from_m.<a class="code" href="classmeow_1_1Vector.html#af5ecb8d9cc811a2d56e1725c4bfd30e8">entry</a>(2, 0, -(*pho_)[(*it).from_i].focal());</div>
<div class="line"><a name="l00073"></a><span class="lineno"> 73</span>  (*it). to_m.entry(2, 0, -(*pho_)[(*it). to_i].focal());</div>
<div class="line"><a name="l00074"></a><span class="lineno"> 74</span>  }</div>
<div class="line"><a name="l00075"></a><span class="lineno"> 75</span>  <span class="comment">//</span></div>
<div class="line"><a name="l00076"></a><span class="lineno"> 76</span>  <a class="code" href="classmeow_1_1Vector.html">Vector<double></a> ret((*pairs_).size() * 2, 0.0);</div>
<div class="line"><a name="l00077"></a><span class="lineno"> 77</span>  <span class="keywordtype">size_t</span> n = 0;</div>
<div class="line"><a name="l00078"></a><span class="lineno"> 78</span>  <span class="keywordflow">for</span> (<span class="keyword">typename</span> std::vector<MatchPair>::iterator</div>
<div class="line"><a name="l00079"></a><span class="lineno"> 79</span>  it = (*pairs_).begin(), ed = (*pairs_).end(); it != ed; ++it, ++n) {</div>
<div class="line"><a name="l00080"></a><span class="lineno"> 80</span>  <a class="code" href="classmeow_1_1Matrix.html">Matrix<double></a> tr(</div>
<div class="line"><a name="l00081"></a><span class="lineno"> 81</span>  (*it).to_m</div>
<div class="line"><a name="l00082"></a><span class="lineno"> 82</span>  -</div>
<div class="line"><a name="l00083"></a><span class="lineno"> 83</span>  (*pho_)[(*it).to_i].transformate(</div>
<div class="line"><a name="l00084"></a><span class="lineno"> 84</span>  (*rot_)[(*it).to_i].transformate(</div>
<div class="line"><a name="l00085"></a><span class="lineno"> 85</span>  (*rot_)[(*it).from_i].transformateInv(</div>
<div class="line"><a name="l00086"></a><span class="lineno"> 86</span>  bll_.transformate(</div>
<div class="line"><a name="l00087"></a><span class="lineno"> 87</span>  (*it).from_m</div>
<div class="line"><a name="l00088"></a><span class="lineno"> 88</span>  )</div>
<div class="line"><a name="l00089"></a><span class="lineno"> 89</span>  )</div>
<div class="line"><a name="l00090"></a><span class="lineno"> 90</span>  )</div>
<div class="line"><a name="l00091"></a><span class="lineno"> 91</span>  )</div>
<div class="line"><a name="l00092"></a><span class="lineno"> 92</span>  );</div>
<div class="line"><a name="l00093"></a><span class="lineno"> 93</span>  ret.<a class="code" href="classmeow_1_1Vector.html#af5ecb8d9cc811a2d56e1725c4bfd30e8">entry</a>(n * 2 , tr(0, 0));</div>
<div class="line"><a name="l00094"></a><span class="lineno"> 94</span>  ret.<a class="code" href="classmeow_1_1Vector.html#af5ecb8d9cc811a2d56e1725c4bfd30e8">entry</a>(n * 2 + 1, tr(1, 0));</div>
<div class="line"><a name="l00095"></a><span class="lineno"> 95</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">//for (size_t i = 0; i < ret.dimension(); i++) {</span></div>
<div class="line"><a name="l00098"></a><span class="lineno"> 98</span>  <span class="comment">// printf("(%-9.1f ", ret(i));</span></div>
<div class="line"><a name="l00099"></a><span class="lineno"> 99</span>  <span class="comment">// if (i % 8 == 7) printf("\n");</span></div>
<div class="line"><a name="l00100"></a><span class="lineno"> 100</span>  <span class="comment">//}</span></div>
<div class="line"><a name="l00101"></a><span class="lineno"> 101</span>  <span class="comment">//printf("\n");</span></div>
<div class="line"><a name="l00102"></a><span class="lineno"> 102</span>  printf(<span class="stringliteral">"re = %20.5f ?? %f\n"</span>, ret.<a class="code" href="classmeow_1_1Vector.html#a71b56938e01de730490e722824f4b53e">length2</a>(), 25.0 * (*pairs_).size());</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="keywordflow">return</span> ret;</div>
<div class="line"><a name="l00105"></a><span class="lineno"> 105</span>  }</div>
<div class="line"><a name="l00106"></a><span class="lineno"> 106</span>  <a class="code" href="classmeow_1_1Matrix.html">Matrix<double></a> jacobian()<span class="keyword"> const </span>{</div>
<div class="line"><a name="l00107"></a><span class="lineno"> 107</span>  <a class="code" href="classmeow_1_1Matrix.html">Matrix<double></a> ret;</div>
<div class="line"><a name="l00108"></a><span class="lineno"> 108</span>  <span class="keywordflow">if</span> (flag == <span class="keyword">false</span>) {</div>
<div class="line"><a name="l00109"></a><span class="lineno"> 109</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="l00110"></a><span class="lineno"> 110</span>  }</div>
<div class="line"><a name="l00111"></a><span class="lineno"> 111</span>  <span class="keywordflow">else</span> {</div>
<div class="line"><a name="l00112"></a><span class="lineno"> 112</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="l00113"></a><span class="lineno"> 113</span>  }</div>
<div class="line"><a name="l00114"></a><span class="lineno"> 114</span>  <span class="keywordtype">size_t</span> n = 0;</div>
<div class="line"><a name="l00115"></a><span class="lineno"> 115</span>  <span class="keywordflow">for</span> (<span class="keyword">typename</span> std::vector<MatchPair>::iterator</div>
<div class="line"><a name="l00116"></a><span class="lineno"> 116</span>  it = (*pairs_).begin(), ed = (*pairs_).end(); it != ed; ++it, ++n) {</div>
<div class="line"><a name="l00117"></a><span class="lineno"> 117</span>  <a class="code" href="classmeow_1_1Matrix.html">Matrix<double></a> tr_A( bll_ .transformate((*it).from_m));</div>
<div class="line"><a name="l00118"></a><span class="lineno"> 118</span>  <a class="code" href="classmeow_1_1Matrix.html">Matrix<double></a> tr_B((*rot_)[(*it).from_i].transformateInv(tr_A));</div>
<div class="line"><a name="l00119"></a><span class="lineno"> 119</span>  <a class="code" href="classmeow_1_1Matrix.html">Matrix<double></a> tr_C((*rot_)[(*it). to_i].transformate (tr_B));</div>
<div class="line"><a name="l00120"></a><span class="lineno"> 120</span>  <a class="code" href="classmeow_1_1Matrix.html">Matrix<double></a> ja_A((*pho_)[(*it). to_i].jacobian (tr_C));</div>
<div class="line"><a name="l00121"></a><span class="lineno"> 121</span>  <a class="code" href="classmeow_1_1Matrix.html">Matrix<double></a> ja_B((*rot_)[(*it). to_i].jacobian (tr_B));</div>
<div class="line"><a name="l00122"></a><span class="lineno"> 122</span>  <a class="code" href="classmeow_1_1Matrix.html">Matrix<double></a> ja_C((*rot_)[(*it).from_i].jacobianInv(tr_A));</div>
<div class="line"><a name="l00123"></a><span class="lineno"> 123</span>  <a class="code" href="classmeow_1_1Matrix.html">Matrix<double></a> m;</div>
<div class="line"><a name="l00124"></a><span class="lineno"> 124</span>  <span class="keywordtype">int</span> fr = (flag == <span class="keyword">false</span> ? 0 : (*it).from_i);</div>
<div class="line"><a name="l00125"></a><span class="lineno"> 125</span>  <span class="keywordtype">int</span> to = (flag == <span class="keyword">false</span> ? 0 : (*it). to_i);</div>
<div class="line"><a name="l00126"></a><span class="lineno"> 126</span>  <span class="keywordflow">if</span> (flag != <span class="keyword">false</span> || (*it).from_i == (*rot_).size() - 1) {</div>
<div class="line"><a name="l00127"></a><span class="lineno"> 127</span>  m = ja_A * ja_B * ja_C * bll_.jacobian((*it).from_m).<a class="code" href="classmeow_1_1Matrix.html#a9dfef448574df55fc34528665183c6c2">col</a>(2);</div>
<div class="line"><a name="l00128"></a><span class="lineno"> 128</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="l00129"></a><span class="lineno"> 129</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="l00130"></a><span class="lineno"> 130</span>  <span class="keywordflow">for</span> (<span class="keywordtype">size_t</span> k = 0; k < 3; ++k) {</div>
<div class="line"><a name="l00131"></a><span class="lineno"> 131</span>  m = ja_A * ja_B * (*rot_)[(*it).from_i].jacobianInv(tr_A, k);</div>
<div class="line"><a name="l00132"></a><span class="lineno"> 132</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="l00133"></a><span class="lineno"> 133</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="l00134"></a><span class="lineno"> 134</span>  }</div>
<div class="line"><a name="l00135"></a><span class="lineno"> 135</span>  }</div>
<div class="line"><a name="l00136"></a><span class="lineno"> 136</span>  <span class="keywordflow">if</span> (flag != <span class="keyword">false</span> || (*it).to_i == (*rot_).size() - 1) {</div>
<div class="line"><a name="l00137"></a><span class="lineno"> 137</span>  m = (*pho_)[(*it).to_i].jacobian(tr_C, 0);</div>
<div class="line"><a name="l00138"></a><span class="lineno"> 138</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="l00139"></a><span class="lineno"> 139</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="l00140"></a><span class="lineno"> 140</span>  <span class="keywordflow">for</span> (<span class="keywordtype">size_t</span> k = 0; k < 3; ++k) {</div>
<div class="line"><a name="l00141"></a><span class="lineno"> 141</span>  m = ja_A * (*rot_)[(*it).to_i].jacobian(tr_B, k);</div>
<div class="line"><a name="l00142"></a><span class="lineno"> 142</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="l00143"></a><span class="lineno"> 143</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="l00144"></a><span class="lineno"> 144</span>  }</div>
<div class="line"><a name="l00145"></a><span class="lineno"> 145</span>  }</div>
<div class="line"><a name="l00146"></a><span class="lineno"> 146</span>  }</div>
<div class="line"><a name="l00147"></a><span class="lineno"> 147</span>  <span class="keywordflow">return</span> ret;</div>
<div class="line"><a name="l00148"></a><span class="lineno"> 148</span>  }</div>
<div class="line"><a name="l00149"></a><span class="lineno"> 149</span>  <a class="code" href="classmeow_1_1Matrix.html">Matrix<double></a> identity()<span class="keyword"> const </span>{</div>
<div class="line"><a name="l00150"></a><span class="lineno"> 150</span>  <span class="keywordflow">if</span> (flag == <span class="keyword">false</span>) {</div>
<div class="line"><a name="l00151"></a><span class="lineno"> 151</span>  <a class="code" href="classmeow_1_1Matrix.html">Matrix<double></a> ret(4, 4, 0.0);</div>
<div class="line"><a name="l00152"></a><span class="lineno"> 152</span>  ret.<a class="code" href="classmeow_1_1Matrix.html#abc6f5c824ee47cb15094729ca91f2e7c">identitied</a>();</div>
<div class="line"><a name="l00153"></a><span class="lineno"> 153</span>  <span class="keywordflow">return</span> ret;</div>
<div class="line"><a name="l00154"></a><span class="lineno"> 154</span>  }</div>
<div class="line"><a name="l00155"></a><span class="lineno"> 155</span>  <a class="code" href="classmeow_1_1Matrix.html">Matrix<double></a> ret((*rot_).size() * 4, (*rot_).size() * 4, 0.0);</div>
<div class="line"><a name="l00156"></a><span class="lineno"> 156</span>  ret.<a class="code" href="classmeow_1_1Matrix.html#abc6f5c824ee47cb15094729ca91f2e7c">identitied</a>();</div>
<div class="line"><a name="l00157"></a><span class="lineno"> 157</span>  <span class="keywordflow">return</span> ret;</div>
<div class="line"><a name="l00158"></a><span class="lineno"> 158</span>  }</div>
<div class="line"><a name="l00159"></a><span class="lineno"> 159</span>  };</div>
<div class="line"><a name="l00160"></a><span class="lineno"> 160</span> </div>
<div class="line"><a name="l00161"></a><span class="lineno"> 161</span>  <span class="keyword">struct </span>Myself {</div>
<div class="line"><a name="l00162"></a><span class="lineno"> 162</span>  <span class="keywordtype">double</span> t_;</div>
<div class="line"><a name="l00163"></a><span class="lineno"> 163</span> </div>
<div class="line"><a name="l00164"></a><span class="lineno"> 164</span>  Myself(): t_(5.0) {</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>  Myself(Myself <span class="keyword">const</span>& m): t_(m.t_) {</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> </div>
<div class="line"><a name="l00170"></a><span class="lineno"> 170</span>  ~Myself() {</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>  };</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>  <a class="code" href="classmeow_1_1Self.html">Self<Myself></a> <span class="keyword">const</span> <span class="keyword">self</span>;</div>
<div class="line"><a name="l00175"></a><span class="lineno"> 175</span> </div>
<div class="line"><a name="l00176"></a><span class="lineno"> 176</span> <span class="keyword">public</span>:</div>
<div class="line"><a name="l00177"></a><span class="lineno"><a class="line" href="classmeow_1_1BundleAdjustment__LM.html#a148b68165e216782bc6deec2f277eeaa"> 177</a></span>  <a class="code" href="classmeow_1_1BundleAdjustment__LM.html#a148b68165e216782bc6deec2f277eeaa">BundleAdjustment_LM</a>(): self() {</div>
<div class="line"><a name="l00178"></a><span class="lineno"> 178</span>  }</div>
<div class="line"><a name="l00179"></a><span class="lineno"> 179</span> </div>
<div class="line"><a name="l00180"></a><span class="lineno"><a class="line" href="classmeow_1_1BundleAdjustment__LM.html#a9ec1dc73dadf73d89fdb0020361a6ea0"> 180</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="l00181"></a><span class="lineno"> 181</span>  self(b.self, <a class="code" href="classmeow_1_1Self.html">Self</a><Myself>::COPY_FROM) {</div>
<div class="line"><a name="l00182"></a><span class="lineno"> 182</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"><a class="line" href="classmeow_1_1BundleAdjustment__LM.html#adcd14db10f10637da44d22287814a4b8"> 184</a></span>  <a class="code" href="classmeow_1_1BundleAdjustment__LM.html#adcd14db10f10637da44d22287814a4b8">~BundleAdjustment_LM</a>() {</div>
<div class="line"><a name="l00185"></a><span class="lineno"> 185</span>  }</div>
<div class="line"><a name="l00186"></a><span class="lineno"> 186</span> </div>
<div class="line"><a name="l00187"></a><span class="lineno"><a class="line" href="classmeow_1_1BundleAdjustment__LM.html#a45b5ae5619eb5baf9c47f625daba99ca"> 187</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="l00188"></a><span class="lineno"> 188</span>  <span class="keyword">self</span>().<a class="code" href="classmeow_1_1BundleAdjustment__LM.html#a45b5ae5619eb5baf9c47f625daba99ca">copyFrom</a>(b.self);</div>
<div class="line"><a name="l00189"></a><span class="lineno"> 189</span>  <span class="keywordflow">return</span> *<span class="keyword">this</span>;</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#a4e3d8f8970460b0a6eafc3a31ea2304b"> 192</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="l00193"></a><span class="lineno"> 193</span>  <span class="keyword">self</span>().<a class="code" href="classmeow_1_1BundleAdjustment__LM.html#a4e3d8f8970460b0a6eafc3a31ea2304b">referenceFrom</a>(b.self);</div>
<div class="line"><a name="l00194"></a><span class="lineno"> 194</span>  <span class="keywordflow">return</span> *<span class="keyword">this</span>;</div>
<div class="line"><a name="l00195"></a><span class="lineno"> 195</span>  }</div>
<div class="line"><a name="l00196"></a><span class="lineno"> 196</span> </div>
<div class="line"><a name="l00197"></a><span class="lineno"><a class="line" href="classmeow_1_1BundleAdjustment__LM.html#a043f883c384ce247d1d137231601a456"> 197</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="l00198"></a><span class="lineno"> 198</span>  <span class="keywordflow">return</span> <span class="keyword">self</span>->t_;</div>
<div class="line"><a name="l00199"></a><span class="lineno"> 199</span>  }</div>
<div class="line"><a name="l00200"></a><span class="lineno"> 200</span> </div>
<div class="line"><a name="l00201"></a><span class="lineno"><a class="line" href="classmeow_1_1BundleAdjustment__LM.html#a8c66f63ad1184b95b33dab2a495da10d"> 201</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="l00202"></a><span class="lineno"> 202</span>  <span class="keyword">self</span>()->t_ = t;</div>
<div class="line"><a name="l00203"></a><span class="lineno"> 203</span>  <span class="keywordflow">return</span> <a class="code" href="classmeow_1_1BundleAdjustment__LM.html#a043f883c384ce247d1d137231601a456">threshold</a>();</div>
<div class="line"><a name="l00204"></a><span class="lineno"> 204</span>  }</div>
<div class="line"><a name="l00205"></a><span class="lineno"> 205</span> </div>
<div class="line"><a name="l00206"></a><span class="lineno"><a class="line" href="classmeow_1_1BundleAdjustment__LM.html#a9613486426ebea085ec733887167273f"> 206</a></span>  <span class="keywordtype">bool</span> <a class="code" href="classmeow_1_1BundleAdjustment__LM.html#a9613486426ebea085ec733887167273f">adjustEye</a>(std::vector<<a class="code" href="structmeow_1_1SceneInfo.html">SceneInfo<Pixel></a> >* seq)<span class="keyword"> const </span>{</div>
<div class="line"><a name="l00207"></a><span class="lineno"> 207</span>  <span class="comment">// check</span></div>
<div class="line"><a name="l00208"></a><span class="lineno"> 208</span>  <span class="keywordtype">size_t</span> N = (*seq).size();</div>
<div class="line"><a name="l00209"></a><span class="lineno"> 209</span>  <span class="keywordflow">for</span> (<span class="keywordtype">size_t</span> i = 0; i < N; ++i) {</div>
<div class="line"><a name="l00210"></a><span class="lineno"> 210</span>  <span class="keywordflow">if</span> ( (*seq)[i].flag & <a class="code" href="namespacemeow.html#a9c9cc5450926f108a0451d619be550c8aa91dfed3c139ca574cc320b6e938fbba">CAN_OFFSET</a> ) <span class="keywordflow">return</span> <span class="keyword">false</span>;</div>
<div class="line"><a name="l00211"></a><span class="lineno"> 211</span>  <span class="keywordflow">if</span> (!((*seq)[i].flag & <a class="code" href="namespacemeow.html#a9c9cc5450926f108a0451d619be550c8aad583589f041b1648b1e21205ff15b5e">CAN_ROTATE</a>)) <span class="keywordflow">return</span> <span class="keyword">false</span>;</div>
<div class="line"><a name="l00212"></a><span class="lineno"> 212</span>  <span class="keywordflow">if</span> (!((*seq)[i].flag & <a class="code" href="namespacemeow.html#a9c9cc5450926f108a0451d619be550c8a6e34cdff1ccf772a88749ce39658a9e3">CAN_ZOOM</a> )) <span class="keywordflow">return</span> <span class="keyword">false</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"> 214</span>  <span class="comment">// get all pairs</span></div>
<div class="line"><a name="l00215"></a><span class="lineno"> 215</span>  <span class="keyword">typedef</span> <span class="keyword">typename</span> <a class="code" href="classmeow_1_1IdentityPoints.html#a577f4fbc69ba3a99d2b0deabcdd1f72c">Camera<Pixel>::FixedPoints2D::IdentityPointsMapIterK</a> FPS_K;</div>
<div class="line"><a name="l00216"></a><span class="lineno"> 216</span>  std::vector<FPS_K> beg(N), end(N);</div>
<div class="line"><a name="l00217"></a><span class="lineno"> 217</span>  FPS_K it1, it2;</div>
<div class="line"><a name="l00218"></a><span class="lineno"> 218</span>  <span class="keywordflow">for</span> (<span class="keywordtype">size_t</span> i = 0; i < N; ++i) {</div>
<div class="line"><a name="l00219"></a><span class="lineno"> 219</span>  beg[i] = (*seq)[i].eye->camera().fixedPoints2D().identityPoints().begin();</div>
<div class="line"><a name="l00220"></a><span class="lineno"> 220</span>  end[i] = (*seq)[i].eye->camera().fixedPoints2D().identityPoints().end ();</div>
<div class="line"><a name="l00221"></a><span class="lineno"> 221</span>  }</div>
<div class="line"><a name="l00222"></a><span class="lineno"> 222</span>  std::vector<std::vector<std::vector<MatchPair> > > all_pairs(N);</div>
<div class="line"><a name="l00223"></a><span class="lineno"> 223</span>  <span class="keywordflow">for</span> (<span class="keywordtype">size_t</span> i = 0; i < N; ++i) {</div>
<div class="line"><a name="l00224"></a><span class="lineno"> 224</span>  all_pairs[i].resize(N);</div>
<div class="line"><a name="l00225"></a><span class="lineno"> 225</span>  <span class="keywordflow">for</span> (<span class="keywordtype">size_t</span> j = 0; j < N; ++j) {</div>
<div class="line"><a name="l00226"></a><span class="lineno"> 226</span>  <span class="keywordflow">if</span> (i == j) <span class="keywordflow">continue</span>;</div>
<div class="line"><a name="l00227"></a><span class="lineno"> 227</span>  <span class="keywordflow">for</span> (it1 = beg[i], it2 = beg[j]; it1 != end[i] && it2 != end[j]; ) {</div>
<div class="line"><a name="l00228"></a><span class="lineno"> 228</span>  <span class="keywordflow">if</span> (it1->first < it2->first) ++it1;</div>
<div class="line"><a name="l00229"></a><span class="lineno"> 229</span>  <span class="keywordflow">else</span> <span class="keywordflow">if</span>(it1->first > it2->first) ++it2;</div>
<div class="line"><a name="l00230"></a><span class="lineno"> 230</span>  <span class="keywordflow">else</span> {</div>
<div class="line"><a name="l00231"></a><span class="lineno"> 231</span>  MatchPair tmp;</div>
<div class="line"><a name="l00232"></a><span class="lineno"> 232</span>  tmp.from_i = i;</div>
<div class="line"><a name="l00233"></a><span class="lineno"> 233</span>  tmp.from_m = it1->second.matrix();</div>
<div class="line"><a name="l00234"></a><span class="lineno"> 234</span>  tmp.from_m.rows(3, -(*seq)[i].eye->camera().photo().focal());</div>
<div class="line"><a name="l00235"></a><span class="lineno"> 235</span>  tmp. to_i = j;</div>
<div class="line"><a name="l00236"></a><span class="lineno"> 236</span>  tmp. to_m = it2->second.matrix();</div>
<div class="line"><a name="l00237"></a><span class="lineno"> 237</span>  tmp. to_m.rows(3, -(*seq)[j].eye->camera().photo().focal());</div>
<div class="line"><a name="l00238"></a><span class="lineno"> 238</span>  all_pairs[i][j].push_back(tmp);</div>
<div class="line"><a name="l00239"></a><span class="lineno"> 239</span>  ++it1;</div>
<div class="line"><a name="l00240"></a><span class="lineno"> 240</span>  ++it2;</div>
<div class="line"><a name="l00241"></a><span class="lineno"> 241</span>  }</div>
<div class="line"><a name="l00242"></a><span class="lineno"> 242</span>  }</div>
<div class="line"><a name="l00243"></a><span class="lineno"> 243</span>  }</div>
<div class="line"><a name="l00244"></a><span class="lineno"> 244</span>  }</div>
<div class="line"><a name="l00245"></a><span class="lineno"> 245</span>  <span class="comment">//</span></div>
<div class="line"><a name="l00246"></a><span class="lineno"> 246</span>  std::vector<MatchPair > pairs;</div>
<div class="line"><a name="l00247"></a><span class="lineno"> 247</span>  std::vector<Rotation3D <double> > rot;</div>
<div class="line"><a name="l00248"></a><span class="lineno"> 248</span>  std::vector<PhotoProjection<double> > pho;</div>
<div class="line"><a name="l00249"></a><span class="lineno"> 249</span>  std::vector<int > sum (N, 0);</div>
<div class="line"><a name="l00250"></a><span class="lineno"> 250</span>  std::vector<int > big (N, 0);</div>
<div class="line"><a name="l00251"></a><span class="lineno"> 251</span>  std::vector<int > real(N);</div>
<div class="line"><a name="l00252"></a><span class="lineno"> 252</span>  std::vector<int > rev (N);</div>
<div class="line"><a name="l00253"></a><span class="lineno"> 253</span>  <span class="comment">// first!!</span></div>
<div class="line"><a name="l00254"></a><span class="lineno"> 254</span>  <span class="keywordtype">int</span> best = -1, best_ct = -1;</div>
<div class="line"><a name="l00255"></a><span class="lineno"> 255</span>  <span class="keywordflow">for</span> (<span class="keywordtype">size_t</span> i = 0; i < N; ++i) {</div>
<div class="line"><a name="l00256"></a><span class="lineno"> 256</span>  <span class="keywordtype">int</span> d = 0;</div>
<div class="line"><a name="l00257"></a><span class="lineno"> 257</span>  <span class="keywordflow">for</span> (<span class="keywordtype">size_t</span> j = 0; j < N; ++j) {</div>
<div class="line"><a name="l00258"></a><span class="lineno"> 258</span>  d += all_pairs[i][j].size();</div>
<div class="line"><a name="l00259"></a><span class="lineno"> 259</span>  }</div>
<div class="line"><a name="l00260"></a><span class="lineno"> 260</span>  <span class="keywordflow">if</span> (best_ct < d) {</div>
<div class="line"><a name="l00261"></a><span class="lineno"> 261</span>  best_ct = d;</div>
<div class="line"><a name="l00262"></a><span class="lineno"> 262</span>  best = i;</div>
<div class="line"><a name="l00263"></a><span class="lineno"> 263</span>  }</div>
<div class="line"><a name="l00264"></a><span class="lineno"> 264</span>  real[i] = i;</div>
<div class="line"><a name="l00265"></a><span class="lineno"> 265</span>  big [i] = i;</div>
<div class="line"><a name="l00266"></a><span class="lineno"> 266</span>  }</div>
<div class="line"><a name="l00267"></a><span class="lineno"> 267</span>  <span class="keywordflow">for</span> (<span class="keywordtype">size_t</span> i = 0; i < N; ++i) {</div>
<div class="line"><a name="l00268"></a><span class="lineno"> 268</span>  <span class="comment">// update else</span></div>
<div class="line"><a name="l00269"></a><span class="lineno"> 269</span>  real[i] = best;</div>
<div class="line"><a name="l00270"></a><span class="lineno"> 270</span>  rev[best] = i;</div>
<div class="line"><a name="l00271"></a><span class="lineno"> 271</span>  <span class="keywordflow">for</span> (<span class="keywordtype">size_t</span> j = 0; j < N; ++j) {</div>
<div class="line"><a name="l00272"></a><span class="lineno"> 272</span>  <span class="keywordflow">if</span> ((<span class="keywordtype">int</span>)j == best) {</div>
<div class="line"><a name="l00273"></a><span class="lineno"> 273</span>  sum[j] = -1;</div>
<div class="line"><a name="l00274"></a><span class="lineno"> 274</span>  <span class="keywordflow">continue</span>;</div>
<div class="line"><a name="l00275"></a><span class="lineno"> 275</span>  }</div>
<div class="line"><a name="l00276"></a><span class="lineno"> 276</span>  <span class="keywordflow">if</span> (sum[j] < 0) <span class="keywordflow">continue</span>;</div>
<div class="line"><a name="l00277"></a><span class="lineno"> 277</span>  sum[j] += all_pairs[best][j].size();</div>
<div class="line"><a name="l00278"></a><span class="lineno"> 278</span>  <span class="keywordflow">if</span> (all_pairs[j][big[j]].size() < all_pairs[j][best].size())</div>
<div class="line"><a name="l00279"></a><span class="lineno"> 279</span>  big[j] = best;</div>
<div class="line"><a name="l00280"></a><span class="lineno"> 280</span>  }</div>
<div class="line"><a name="l00281"></a><span class="lineno"> 281</span>  <span class="comment">// add me</span></div>
<div class="line"><a name="l00282"></a><span class="lineno"> 282</span>  printf(<span class="stringliteral">"%d same as %d\n"</span>, best, big[best]);</div>
<div class="line"><a name="l00283"></a><span class="lineno"> 283</span>  <span class="keywordflow">if</span> (big[best] == best) {</div>
<div class="line"><a name="l00284"></a><span class="lineno"> 284</span>  rot.push_back((*seq)[big[best]].eye->camera() .rotation());</div>
<div class="line"><a name="l00285"></a><span class="lineno"> 285</span>  pho.push_back((*seq)[big[best]].eye->camera().photo().projection());</div>
<div class="line"><a name="l00286"></a><span class="lineno"> 286</span>  }</div>
<div class="line"><a name="l00287"></a><span class="lineno"> 287</span>  <span class="keywordflow">else</span> {</div>
<div class="line"><a name="l00288"></a><span class="lineno"> 288</span>  rot.push_back(rot[rev[big[best]]]);</div>
<div class="line"><a name="l00289"></a><span class="lineno"> 289</span>  pho.push_back(pho[rev[big[best]]]);</div>
<div class="line"><a name="l00290"></a><span class="lineno"> 290</span>  }</div>
<div class="line"><a name="l00291"></a><span class="lineno"> 291</span>  <span class="keywordflow">for</span> (<span class="keywordtype">size_t</span> j = 0; j < N; ++j) {</div>
<div class="line"><a name="l00292"></a><span class="lineno"> 292</span>  <span class="keywordflow">if</span> (sum[j] >= 0) <span class="keywordflow">continue</span>;</div>
<div class="line"><a name="l00293"></a><span class="lineno"> 293</span>  <span class="keywordflow">for</span> (<span class="keywordtype">size_t</span> k = 0, K = all_pairs[best][j].size(); k < K; ++k) {</div>
<div class="line"><a name="l00294"></a><span class="lineno"> 294</span>  all_pairs[best][j][k].from_i = rev[all_pairs[best][j][k].from_i];</div>
<div class="line"><a name="l00295"></a><span class="lineno"> 295</span>  all_pairs[best][j][k]. to_i = rev[all_pairs[best][j][k]. to_i];</div>
<div class="line"><a name="l00296"></a><span class="lineno"> 296</span>  pairs.push_back(all_pairs[best][j][k]);</div>
<div class="line"><a name="l00297"></a><span class="lineno"> 297</span>  }</div>
<div class="line"><a name="l00298"></a><span class="lineno"> 298</span>  <span class="keywordflow">for</span> (<span class="keywordtype">size_t</span> k = 0, K = all_pairs[j][best].size(); k < K; ++k) {</div>
<div class="line"><a name="l00299"></a><span class="lineno"> 299</span>  all_pairs[j][best][k].from_i = rev[all_pairs[j][best][k].from_i];</div>
<div class="line"><a name="l00300"></a><span class="lineno"> 300</span>  all_pairs[j][best][k]. to_i = rev[all_pairs[j][best][k]. to_i];</div>
<div class="line"><a name="l00301"></a><span class="lineno"> 301</span>  pairs.push_back(all_pairs[j][best][k]);</div>
<div class="line"><a name="l00302"></a><span class="lineno"> 302</span>  }</div>
<div class="line"><a name="l00303"></a><span class="lineno"> 303</span>  }</div>
<div class="line"><a name="l00304"></a><span class="lineno"> 304</span>  <span class="keywordflow">for</span> (<span class="keywordtype">size_t</span> j = 0; j < N; ++j) { printf(<span class="stringliteral">"%4d "</span>, sum[j]); } printf(<span class="stringliteral">"\n"</span>);</div>
<div class="line"><a name="l00305"></a><span class="lineno"> 305</span>  <span class="keywordflow">for</span> (<span class="keywordtype">size_t</span> j = 0; j < N; ++j) { printf(<span class="stringliteral">"%4d "</span>, big[j]); } printf(<span class="stringliteral">"\n"</span>);</div>
<div class="line"><a name="l00306"></a><span class="lineno"> 306</span>  <span class="keywordflow">for</span> (<span class="keywordtype">size_t</span> j = 0; j < N; ++j) { printf(<span class="stringliteral">"%4d "</span>, real[j]); } printf(<span class="stringliteral">"\n"</span>);</div>
<div class="line"><a name="l00307"></a><span class="lineno"> 307</span>  printf(<span class="stringliteral">"\n"</span>);</div>
<div class="line"><a name="l00308"></a><span class="lineno"> 308</span>  <span class="comment">// bundle adjustment</span></div>
<div class="line"><a name="l00309"></a><span class="lineno"> 309</span>  <span class="keywordflow">if</span> (i > 0) {</div>
<div class="line"><a name="l00310"></a><span class="lineno"> 310</span>  NoOffsetController ct1(&pairs, &rot, &pho, <span class="keyword">false</span>);</div>
<div class="line"><a name="l00311"></a><span class="lineno"> 311</span>  ct1.residure(<a class="code" href="namespacemeow.html#adbd82702daf1e569c4a72176aa799c6d">levenbergMarquardtTraining</a>(ct1, ct1.init(),</div>
<div class="line"><a name="l00312"></a><span class="lineno"> 312</span>  7.3, 1.0,</div>
<div class="line"><a name="l00313"></a><span class="lineno"> 313</span>  <a class="code" href="namespacemeow.html#a1954e235973a2ac79a7a72a4b7d25573">squ</a>(<a class="code" href="classmeow_1_1BundleAdjustment__LM.html#a043f883c384ce247d1d137231601a456">threshold</a>()) * pairs.size(),</div>
<div class="line"><a name="l00314"></a><span class="lineno"> 314</span>  7, 1000));</div>
<div class="line"><a name="l00315"></a><span class="lineno"> 315</span>  <span class="comment">/*</span></div>
<div class="line"><a name="l00316"></a><span class="lineno"> 316</span> <span class="comment"> NoOffsetController ct2(&pairs, &rot, &pho, true);</span></div>
<div class="line"><a name="l00317"></a><span class="lineno"> 317</span> <span class="comment"> ct2.residure(levenbergMarquardtTraining(ct2, ct2.init(),</span></div>
<div class="line"><a name="l00318"></a><span class="lineno"> 318</span> <span class="comment"> 0.1 * pairs.size(), 1.0,</span></div>
<div class="line"><a name="l00319"></a><span class="lineno"> 319</span> <span class="comment"> squ(threshold()) * pairs.size(),</span></div>
<div class="line"><a name="l00320"></a><span class="lineno"> 320</span> <span class="comment"> 7, 1000));</span></div>
<div class="line"><a name="l00321"></a><span class="lineno"> 321</span> <span class="comment"> // */</span></div>
<div class="line"><a name="l00322"></a><span class="lineno"> 322</span>  }</div>
<div class="line"><a name="l00323"></a><span class="lineno"> 323</span>  <span class="comment">// find next</span></div>
<div class="line"><a name="l00324"></a><span class="lineno"> 324</span>  best_ct = 0;</div>
<div class="line"><a name="l00325"></a><span class="lineno"> 325</span>  <span class="keywordflow">for</span> (<span class="keywordtype">size_t</span> j = 0; j < N; ++j) {</div>
<div class="line"><a name="l00326"></a><span class="lineno"> 326</span>  <span class="keywordflow">if</span> (best_ct < sum[j]) {</div>
<div class="line"><a name="l00327"></a><span class="lineno"> 327</span>  best = j;</div>
<div class="line"><a name="l00328"></a><span class="lineno"> 328</span>  best_ct = sum[j];</div>
<div class="line"><a name="l00329"></a><span class="lineno"> 329</span>  }</div>
<div class="line"><a name="l00330"></a><span class="lineno"> 330</span>  }</div>
<div class="line"><a name="l00331"></a><span class="lineno"> 331</span>  getchar();</div>
<div class="line"><a name="l00332"></a><span class="lineno"> 332</span>  <span class="comment">//if (i == N - 2) break;</span></div>
<div class="line"><a name="l00333"></a><span class="lineno"> 333</span>  }</div>
<div class="line"><a name="l00334"></a><span class="lineno"> 334</span>  <span class="comment">// feedback</span></div>
<div class="line"><a name="l00335"></a><span class="lineno"> 335</span>  <span class="keywordflow">for</span> (<span class="keywordtype">size_t</span> i = 0; i < N; ++i) {</div>
<div class="line"><a name="l00336"></a><span class="lineno"> 336</span>  <span class="keywordtype">int</span> <span class="keywordtype">id</span> = real[i];</div>
<div class="line"><a name="l00337"></a><span class="lineno"> 337</span>  (*seq)[id].eye->cameraGet() .rotation (rot[i]);</div>
<div class="line"><a name="l00338"></a><span class="lineno"> 338</span>  (*seq)[id].eye->cameraGet().photoGet().projection(pho[i]);</div>
<div class="line"><a name="l00339"></a><span class="lineno"> 339</span>  <span class="comment">//if (i == N - 2) break;</span></div>
<div class="line"><a name="l00340"></a><span class="lineno"> 340</span>  }</div>
<div class="line"><a name="l00341"></a><span class="lineno"> 341</span>  <span class="keywordflow">return</span> <span class="keyword">true</span>;</div>
<div class="line"><a name="l00342"></a><span class="lineno"> 342</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"><a class="line" href="classmeow_1_1BundleAdjustment__LM.html#a6bc1b70bf51d557ce0c5d9addfaa4f3b"> 344</a></span>  <span class="keywordtype">bool</span> <a class="code" href="classmeow_1_1BundleAdjustment__LM.html#a6bc1b70bf51d557ce0c5d9addfaa4f3b">adjustFixedPoint</a>(std::vector<<a class="code" href="structmeow_1_1SceneInfo.html">SceneInfo<Pixel></a> >* seq)<span class="keyword"> const </span>{</div>
<div class="line"><a name="l00345"></a><span class="lineno"> 345</span>  <span class="keywordflow">return</span> <span class="keyword">false</span>;</div>
<div class="line"><a name="l00346"></a><span class="lineno"> 346</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"><a class="line" href="classmeow_1_1BundleAdjustment__LM.html#a9d19b404967305fd9aa67749ec8c7717"> 348</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="l00349"></a><span class="lineno"> 349</span>  <span class="keywordflow">return</span> <span class="keyword">false</span>;</div>
<div class="line"><a name="l00350"></a><span class="lineno"> 350</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"><a class="line" href="classmeow_1_1BundleAdjustment__LM.html#a804247733822b34b6405a5a36eda54df"> 352</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="l00353"></a><span class="lineno"> 353</span>  <span class="keywordflow">return</span> <span class="keyword">false</span>;</div>
<div class="line"><a name="l00354"></a><span class="lineno"> 354</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"><a class="line" href="classmeow_1_1BundleAdjustment__LM.html#ac7da70e8db84d10b742fe0330a1652bb"> 356</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="l00357"></a><span class="lineno"> 357</span>  <span class="keywordflow">return</span> <span class="keyword">new</span> <a class="code" href="classmeow_1_1BundleAdjustment__LM.html#a148b68165e216782bc6deec2f277eeaa">BundleAdjustment_LM</a>;</div>
<div class="line"><a name="l00358"></a><span class="lineno"> 358</span>  }</div>
<div class="line"><a name="l00359"></a><span class="lineno"> 359</span> </div>
<div class="line"><a name="l00360"></a><span class="lineno"><a class="line" href="classmeow_1_1BundleAdjustment__LM.html#a2aa8b8a53023ad43099ea51e126d9100"> 360</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="l00361"></a><span class="lineno"> 361</span>  <span class="keywordflow">return</span> &(<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>*)o));</div>
<div class="line"><a name="l00362"></a><span class="lineno"> 362</span>  }</div>
<div class="line"><a name="l00363"></a><span class="lineno"> 363</span> </div>
<div class="line"><a name="l00364"></a><span class="lineno"><a class="line" href="classmeow_1_1BundleAdjustment__LM.html#a40ccbfa11601cfee579cb0e270e99582"> 364</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="l00365"></a><span class="lineno"> 365</span>  <span class="keywordflow">return</span> <span class="keyword">typeid</span>(*this).name();</div>
<div class="line"><a name="l00366"></a><span class="lineno"> 366</span>  }</div>
<div class="line"><a name="l00367"></a><span class="lineno"> 367</span> </div>
<div class="line"><a name="l00368"></a><span class="lineno"><a class="line" href="classmeow_1_1BundleAdjustment__LM.html#a21d920c760fc786a77c9b95978a447d9"> 368</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="l00369"></a><span class="lineno"> 369</span>  <span class="keywordflow">return</span> std::string(<a class="code" href="classmeow_1_1BundleAdjustment__LM.html#a40ccbfa11601cfee579cb0e270e99582">ctype</a>());</div>
<div class="line"><a name="l00370"></a><span class="lineno"> 370</span>  }</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> } <span class="comment">// meow</span></div>
<div class="line"><a name="l00374"></a><span class="lineno"> 374</span> </div>
<div class="line"><a name="l00375"></a><span class="lineno"> 375</span> <span class="preprocessor">#endif // BundleAdjustment_LM_H__</span></div>
<div class="ttc" id="classmeow_1_1Matrix_html_a9dfef448574df55fc34528665183c6c2"><div class="ttname"><a href="classmeow_1_1Matrix.html#a9dfef448574df55fc34528665183c6c2">meow::Matrix::col</a></div><div class="ttdeci">Matrix col(size_t c) const </div><div class="ttdoc">Return the c -th column. </div><div class="ttdef"><b>Definition:</b> <a href="Matrix_8h_source.html#l00260">Matrix.h:260</a></div></div>
<div class="ttc" id="classmeow_1_1BundleAdjustment_html"><div class="ttname"><a href="classmeow_1_1BundleAdjustment.html">meow::BundleAdjustment</a></div><div class="ttdef"><b>Definition:</b> <a href="BundleAdjustment_8h_source.html#l00035">BundleAdjustment.h:35</a></div></div>
<div class="ttc" id="namespacemeow_html_adbd82702daf1e569c4a72176aa799c6d"><div class="ttname"><a href="namespacemeow.html#adbd82702daf1e569c4a72176aa799c6d">meow::levenbergMarquardtTraining</a></div><div class="ttdeci">Vector< Scalar > levenbergMarquardtTraining(Function &f, Vector< Scalar > const &init, Scalar const &init_mu, Scalar const &mu_pow, Scalar const &er_max, int retry_number, int counter)</div><div class="ttdef"><b>Definition:</b> <a href="methods_8h_source.html#l00183">methods.h:183</a></div></div>
<div class="ttc" id="namespacemeow_html_a9c9cc5450926f108a0451d619be550c8a6e34cdff1ccf772a88749ce39658a9e3"><div class="ttname"><a href="namespacemeow.html#a9c9cc5450926f108a0451d619be550c8a6e34cdff1ccf772a88749ce39658a9e3">meow::CAN_ZOOM</a></div><div class="ttdef"><b>Definition:</b> <a href="BundleAdjustment_8h_source.html#l00013">BundleAdjustment.h:13</a></div></div>
<div class="ttc" id="classmeow_1_1Vector_html_a71b56938e01de730490e722824f4b53e"><div class="ttname"><a href="classmeow_1_1Vector.html#a71b56938e01de730490e722824f4b53e">meow::Vector::length2</a></div><div class="ttdeci">Scalar length2() const </div><div class="ttdoc">same as (*this).dot(*this) </div><div class="ttdef"><b>Definition:</b> <a href="Vector_8h_source.html#l00204">Vector.h:204</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#l00197">BundleAdjustment_LM.h:197</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#l00177">BundleAdjustment_LM.h:177</a></div></div>
<div class="ttc" id="classmeow_1_1Vector_html_af5ecb8d9cc811a2d56e1725c4bfd30e8"><div class="ttname"><a href="classmeow_1_1Vector.html#af5ecb8d9cc811a2d56e1725c4bfd30e8">meow::Vector::entry</a></div><div class="ttdeci">Scalar entry(size_t i) const </div><div class="ttdoc">return i -th entry </div><div class="ttdef"><b>Definition:</b> <a href="Vector_8h_source.html#l00125">Vector.h:125</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#l00364">BundleAdjustment_LM.h:364</a></div></div>
<div class="ttc" id="structmeow_1_1SceneInfo_html"><div class="ttname"><a href="structmeow_1_1SceneInfo.html">meow::SceneInfo</a></div><div class="ttdef"><b>Definition:</b> <a href="BundleAdjustment_8h_source.html#l00017">BundleAdjustment.h:17</a></div></div>
<div class="ttc" id="classmeow_1_1BallProjection_html"><div class="ttname"><a href="classmeow_1_1BallProjection.html">meow::BallProjection< double ></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="ttdef"><b>Definition:</b> <a href="BundleAdjustment__LM_8h_source.html#l00020">BundleAdjustment_LM.h:20</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#l00368">BundleAdjustment_LM.h:368</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#l00348">BundleAdjustment_LM.h:348</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#l00192">BundleAdjustment_LM.h:192</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="classmeow_1_1Vector_html"><div class="ttname"><a href="classmeow_1_1Vector.html">meow::Vector</a></div><div class="ttdoc">vector </div><div class="ttdef"><b>Definition:</b> <a href="Vector_8h_source.html#l00019">Vector.h:19</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="namespacemeow_html_a9c9cc5450926f108a0451d619be550c8aad583589f041b1648b1e21205ff15b5e"><div class="ttname"><a href="namespacemeow.html#a9c9cc5450926f108a0451d619be550c8aad583589f041b1648b1e21205ff15b5e">meow::CAN_ROTATE</a></div><div class="ttdef"><b>Definition:</b> <a href="BundleAdjustment_8h_source.html#l00012">BundleAdjustment.h:12</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#l00360">BundleAdjustment_LM.h:360</a></div></div>
<div class="ttc" id="classmeow_1_1BundleAdjustment__LM_html_a6bc1b70bf51d557ce0c5d9addfaa4f3b"><div class="ttname"><a href="classmeow_1_1BundleAdjustment__LM.html#a6bc1b70bf51d557ce0c5d9addfaa4f3b">meow::BundleAdjustment_LM::adjustFixedPoint</a></div><div class="ttdeci">bool adjustFixedPoint(std::vector< SceneInfo< Pixel > > *seq) const </div><div class="ttdef"><b>Definition:</b> <a href="BundleAdjustment__LM_8h_source.html#l00344">BundleAdjustment_LM.h:344</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#l00201">BundleAdjustment_LM.h:201</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#l00180">BundleAdjustment_LM.h:180</a></div></div>
<div class="ttc" id="classmeow_1_1Rotation3D_html"><div class="ttname"><a href="classmeow_1_1Rotation3D.html">meow::Rotation3D< double ></a></div></div>
<div class="ttc" id="namespacemeow_html_a9c9cc5450926f108a0451d619be550c8aa91dfed3c139ca574cc320b6e938fbba"><div class="ttname"><a href="namespacemeow.html#a9c9cc5450926f108a0451d619be550c8aa91dfed3c139ca574cc320b6e938fbba">meow::CAN_OFFSET</a></div><div class="ttdef"><b>Definition:</b> <a href="BundleAdjustment_8h_source.html#l00011">BundleAdjustment.h:11</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#l00352">BundleAdjustment_LM.h:352</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#l00348">Matrix.h:348</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#l00193">Matrix.h:193</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< Myself ></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#l00184">BundleAdjustment_LM.h:184</a></div></div>
<div class="ttc" id="classmeow_1_1PhotoProjection_html"><div class="ttname"><a href="classmeow_1_1PhotoProjection.html">meow::PhotoProjection< double ></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#l00107">Matrix.h:107</a></div></div>
<div class="ttc" id="classmeow_1_1BundleAdjustment__LM_html_a9613486426ebea085ec733887167273f"><div class="ttname"><a href="classmeow_1_1BundleAdjustment__LM.html#a9613486426ebea085ec733887167273f">meow::BundleAdjustment_LM::adjustEye</a></div><div class="ttdeci">bool adjustEye(std::vector< SceneInfo< Pixel > > *seq) const </div><div class="ttdef"><b>Definition:</b> <a href="BundleAdjustment__LM_8h_source.html#l00206">BundleAdjustment_LM.h:206</a></div></div>
<div class="ttc" id="classmeow_1_1IdentityPoints_html_a577f4fbc69ba3a99d2b0deabcdd1f72c"><div class="ttname"><a href="classmeow_1_1IdentityPoints.html#a577f4fbc69ba3a99d2b0deabcdd1f72c">meow::IdentityPoints< int, double >::IdentityPointsMapIterK</a></div><div class="ttdeci">IdentityPointsMap::const_iterator IdentityPointsMapIterK</div><div class="ttdef"><b>Definition:</b> <a href="IdentityPoints_8h_source.html#l00025">IdentityPoints.h:25</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#l00187">BundleAdjustment_LM.h:187</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#l00356">BundleAdjustment_LM.h:356</a></div></div>
<div class="ttc" id="namespacemeow_html_a1954e235973a2ac79a7a72a4b7d25573"><div class="ttname"><a href="namespacemeow.html#a1954e235973a2ac79a7a72a4b7d25573">meow::squ</a></div><div class="ttdeci">T squ(T const &x)</div><div class="ttdoc">x*x </div><div class="ttdef"><b>Definition:</b> <a href="math_2utility_8h_source.html#l00067">utility.h:67</a></div></div>
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