69 lines
2.0 KiB
C
69 lines
2.0 KiB
C
/*
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* Copyright (C) 2011 The Android Open Source Project
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*
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* Licensed under the Apache License, Version 2.0 (the "License");
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* you may not use this file except in compliance with the License.
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* You may obtain a copy of the License at
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*
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* http://www.apache.org/licenses/LICENSE-2.0
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*
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* Unless required by applicable law or agreed to in writing, software
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* distributed under the License is distributed on an "AS IS" BASIS,
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* WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
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* See the License for the specific language governing permissions and
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* limitations under the License.
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*/
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/* $Id: db_bundle.h,v 1.2 2011/06/17 14:03:30 mbansal Exp $ */
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#ifndef DB_BUNDLE_H
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#define DB_BUNDLE_H
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/*****************************************************************
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* Lean and mean begins here *
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*****************************************************************/
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/*!
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* \defgroup LMBundle (LM) Bundle adjustment utilities (a.k.a. Levenberg-Marquardt algorithm)
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*/
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/*\{*/
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#include "db_utilities.h"
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/*!
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Solve for update dx such that diagmult(1+lambda,transpose(J)%J)%dx= -Jtf
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using only upper half of JtJ, destroying lower half below diagonal in the process
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dimension is n and d should point to n allocated doubles of scratch memory
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*/
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inline void db_Compute_dx(double *dx,double **JtJ,double *min_Jtf,double lambda,double *d,int n)
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{
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int i;
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double opl;
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opl=1.0+lambda;
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for(i=0;i<n;i++) d[i]=JtJ[i][i]*opl;
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db_CholeskyDecompSeparateDiagonal(JtJ,d,n);
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db_CholeskyBacksub(dx,JtJ,d,n,min_Jtf);
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}
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/*!
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Solve for update dx such that diagmult(1+lambda,transpose(J)%J)%dx= -Jtf
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using only upper half of JtJ, destroying lower half below diagonal in the process
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*/
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inline void db_Compute_dx_3x3(double dx[3],double JtJ[9],const double min_Jtf[3],double lambda)
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{
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double d[3],opl;
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opl=1.0+lambda;
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d[0]=JtJ[0]*opl;
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d[1]=JtJ[4]*opl;
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d[2]=JtJ[8]*opl;
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db_CholeskyDecomp3x3SeparateDiagonal(JtJ,d);
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db_CholeskyBacksub3x3(dx,JtJ,d,min_Jtf);
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}
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/*\}*/
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#endif /* DB_BUNDLE_H */
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