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bundle_projective

PURPOSE ^

BUNDLE_PROJECTIVE performs the projective bundle adjustment.

SYNOPSIS ^

function [Pp_ Xp_ error_] = bundle_projective( Pp, Xp, x, varargin )

DESCRIPTION ^

 BUNDLE_PROJECTIVE performs the projective bundle adjustment.

 Input:
        Po - projection matrices (3x4xm)
        Xp - 3d points           (4xn)   in homogeneous form
        x  - image points        (3xnxm) in homogeneous form

 Options:
        'fix_structure'       - keep structure parameters fixed
        'fix_motion'          - keep motion parameters fixed
        'visibility', visible - set the visibility map (visible: nxm)
        'verbose'             - display verbose information

 Output:
        Pp_    - projection matrices   (3x4xm)
        Xp_    - 3d points             (4xn)   in homogeneous form
        error_ - errors for iterations (1x#iter)

CROSS-REFERENCE INFORMATION ^

This function calls: This function is called by:
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