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bundle_euclid

PURPOSE ^

BUNDLE_EUCLID performs the Euclidean sparse bundle adjustment.

SYNOPSIS ^

function [K_ Te_ w_ Xe_ error_] = bundle_euclid( K, Te, w, Xe, x, varargin )

DESCRIPTION ^

 BUNDLE_EUCLID  performs the Euclidean sparse bundle adjustment.

 Input:
        K  - calibration parameters (4xm) ([fx fy cx cy]' x m-images)
        Te - translation            (3xm)
        w  - rotation               (3xm)
        Xe - 3d points              (4xn)   in homogeneous form
        x  - image points           (3xnxm) in homoegeneous form

 Options:
        'fix_structure'       - keep structure parameters fixed
        'fix_motion'          - keep motion parameters fixed
        'fix_pivot', pivot    - keep pivot motion parameters fixed
                                (pivot: 1xm logical)
        'fix_calibration'     - keep calibration parameters fixed
        'fix_principal'       - keep principal points fixed
        'visibility', visible - set the visibility map (visible: nxm)
        'verbose'             - display verbose information

 Output:
        K_     - calibration parameters (4xm)
        Te_    - translation            (3xm)
        w_     - rotation               (3xm)
        Xe_    - 3d points              (4xn) in homogeneous form
        error_ - errors for iterations  (1x#iter)

CROSS-REFERENCE INFORMATION ^

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