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)