ACloudViewer  3.9.4
A Modern Library for 3D Data Processing
Public Types | Public Member Functions | Protected Member Functions | Protected Attributes | List of all members
pba::SparseBundleCPU< Float > Class Template Reference

#include <SparseBundleCPU.h>

Inheritance diagram for pba::SparseBundleCPU< Float >:
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Collaboration diagram for pba::SparseBundleCPU< Float >:
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Public Types

typedef avec< Float > VectorF
 
typedef std::vector< int > VectorI
 
typedef float float_t
 
- Public Types inherited from pba::ParallelBA
enum  StatusT {
  STATUS_SUCCESS = 0 , STATUS_CAMERA_MISSING = 1 , STATUS_POINT_MISSING , STATUS_PROJECTION_MISSING ,
  STATUS_MEASURMENT_MISSING , STATUS_ALLOCATION_FAIL
}
 
enum  DeviceT {
  PBA_INVALID_DEVICE = -4 , PBA_CPU_DOUBLE = -3 , PBA_CPU_FLOAT = -2 , PBA_CUDA_DEVICE_DEFAULT = -1 ,
  PBA_CUDA_DEVICE0 = 0
}
 
enum  DistortionT { PBA_MEASUREMENT_DISTORTION = -1 , PBA_NO_DISTORTION = 0 , PBA_PROJECTION_DISTORTION = 1 }
 
enum  BundleModeT { BUNDLE_FULL = 0 , BUNDLE_ONLY_MOTION = 1 , BUNDLE_ONLY_STRUCTURE = 2 }
 

Public Member Functions

 SparseBundleCPU (const int num_threads)
 
virtual void AbortBundleAdjustment ()
 
virtual int GetCurrentIteration ()
 
virtual void SetNextTimeBudget (int seconds)
 
virtual void SetNextBundleMode (BundleModeT mode)
 
virtual void SetFixedIntrinsics (bool fixed)
 
virtual void EnableRadialDistortion (DistortionT type)
 
virtual void ParseParam (int narg, char **argv)
 
 SparseBundleCPU ()
 
virtual void SetCameraData (size_t ncam, CameraT *cams)
 
virtual void SetPointData (size_t npoint, Point3D *pts)
 
virtual void SetProjection (size_t nproj, const Point2D *imgpts, const int *point_idx, const int *cam_idx)
 
virtual void SetFocalMask (const int *fmask, float weight)
 
virtual float GetMeanSquaredError ()
 
virtual int RunBundleAdjustment ()
 
- Public Member Functions inherited from pba::ParallelBA
virtual void ReserveStorage (size_t ncam, size_t npt, size_t nproj)
 
void SetFocalLengthFixed (bool fixed)
 
void ResetBundleStorage ()
 
 ParallelBA (DeviceT device=PBA_CUDA_DEVICE_DEFAULT, const int num_threads=-1)
 
void * operator new (size_t size)
 
virtual ~ParallelBA ()
 
- Public Member Functions inherited from pba::ConfigBA
void ParseParam (int argc, char **argv)
 
const char * GetOutputParam ()
 
float GetInitialMSE ()
 
float GetFinalMSE ()
 
double GetBundleTiming (int timer=TIMER_OVERALL)
 
int GetIterationsLM ()
 
int GetIterationsCG ()
 
int GetCurrentDevice ()
 
int GetBundleReturnCode ()
 
int GetActiveDevice ()
 

Protected Member Functions

bool ProcessIndexCameraQ (std::vector< int > &qmap, std::vector< int > &qlist)
 
void ProcessWeightCameraQ (std::vector< int > &cpnum, std::vector< int > &qmap, Float *qmapw, Float *qlistw)
 
int ValidateInputData ()
 
int InitializeBundle ()
 
int GetParameterLength ()
 
void BundleAdjustment ()
 
void NormalizeData ()
 
void TransferDataToHost ()
 
void DenormalizeData ()
 
void NormalizeDataF ()
 
void NormalizeDataD ()
 
bool InitializeStorageForSFM ()
 
bool InitializeStorageForCG ()
 
void SaveBundleRecord (int iter, float res, float damping, float &g_norm, float &g_inf)
 
void PrepareJacobianNormalization ()
 
void EvaluateJacobians ()
 
void ComputeJtE (VectorF &E, VectorF &JtE, int mode=0)
 
void ComputeJX (VectorF &X, VectorF &JX, int mode=0)
 
void ComputeDiagonal (VectorF &JJI)
 
void ComputeBlockPC (float lambda, bool dampd)
 
void ApplyBlockPC (VectorF &v, VectorF &pv, int mode=0)
 
float UpdateCameraPoint (VectorF &dx, VectorF &cuImageTempProj)
 
float EvaluateProjection (VectorF &cam, VectorF &point, VectorF &proj)
 
float EvaluateProjectionX (VectorF &cam, VectorF &point, VectorF &proj)
 
float SaveUpdatedSystem (float residual_reduction, float dx_sqnorm, float damping)
 
float EvaluateDeltaNorm ()
 
int SolveNormalEquationPCGB (float lambda)
 
int SolveNormalEquationPCGX (float lambda)
 
int SolveNormalEquation (float lambda)
 
void NonlinearOptimizeLM ()
 
void AdjustBundleAdjsutmentMode ()
 
void RunProfileSteps ()
 
void RunTestIterationLM (bool reduced)
 
void DumpCooJacobian ()
 
- Protected Member Functions inherited from pba::ConfigBA
 ConfigBA ()
 
void ResetTemporarySetting ()
 
void ResetBundleStatistics ()
 
void PrintBundleStatistics ()
 
void SaveBundleStatistics (int ncam, int npt, int nproj)
 
void BundleTimerStart (int timer)
 
void BundleTimerSwitch (int timer)
 
float BundleTimerGet (int timer)
 
void BundleTimerSwap (int timer1, int timer2)
 
float BundleTimerGetNow (int timer=TIMER_OPTIMIZATION)
 
void SaveBundleRecord (int iter, float res, float damping, float gn, float gi)
 
bool IsTimeBudgetAvailable ()
 
double MyClock ()
 

Protected Attributes

int _num_camera
 
int _num_point
 
int _num_imgpt
 
CameraT * _camera_data
 
float * _point_data
 
const float * _imgpt_data
 
const int * _camera_idx
 
const int * _point_idx
 
const int * _focal_mask
 
float _projection_sse
 
VectorF _cuCameraData
 
VectorF _cuCameraDataEX
 
VectorF _cuPointData
 
VectorF _cuPointDataEX
 
VectorF _cuMeasurements
 
VectorF _cuImageProj
 
VectorF _cuJacobianCamera
 
VectorF _cuJacobianPoint
 
VectorF _cuJacobianCameraT
 
VectorI _cuProjectionMap
 
VectorI _cuPointMeasurementMap
 
VectorI _cuCameraMeasurementMap
 
VectorI _cuCameraMeasurementList
 
VectorI _cuCameraMeasurementListT
 
VectorF _cuBlockPC
 
VectorF _cuVectorSJ
 
VectorF _cuVectorJtE
 LM normal equation. More...
 
VectorF _cuVectorJJ
 
VectorF _cuVectorJX
 
VectorF _cuVectorXK
 
VectorF _cuVectorPK
 
VectorF _cuVectorZK
 
VectorF _cuVectorRK
 
int _num_imgpt_q
 
float _weight_q
 
VectorI _cuCameraQList
 
VectorI _cuCameraQMap
 
VectorF _cuCameraQMapW
 
VectorF _cuCameraQListW
 
- Protected Attributes inherited from pba::ConfigBA
bool __multiply_jx_usenoj
 
int __selected_device
 
int __cpu_data_precision
 
int __bundle_time_budget
 
int __bundle_mode_next
 
int __bundle_current_mode
 
float __initial_mse
 
float __final_mse
 
float __final_mse_x
 
float __focal_scaling
 
float __depth_scaling
 
int __current_device
 
int __current_iteration
 
int __num_cg_iteration
 
int __num_lm_success
 
int __num_lm_iteration
 
int __num_projection_eval
 
int __num_jacobian_eval
 
int __num_camera_modified
 
int __num_point_behind
 
int __pba_return_code
 
int __recent_cg_status
 
int __profile_pba
 
bool __cpu_thread_profile
 
bool __debug_pba
 
bool __warmup_device
 
size_t __memory_usage
 
bool __matlab_format_stat
 
char * __stat_filename
 
const char * __driver_output
 
std::vector< float > __bundle_records
 
double __timer_record [NUM_TIMER]
 
int __num_cpu_thread_all
 
int __num_cpu_thread [NUM_FUNC]
 

Additional Inherited Members

- Public Attributes inherited from pba::ConfigBA
int __lm_max_iteration
 
int __cg_max_iteration
 
int __cg_min_iteration
 
int __cg_recalculate_freq
 
bool __accurate_gain_ratio
 
float __lm_delta_threshold
 
float __lm_gradient_threshold
 
float __lm_mse_threshold
 
float __lm_initial_damp
 
float __lm_minimum_damp
 
float __lm_maximum_damp
 
float __cg_norm_threshold
 
float __cg_norm_guard
 
int __pba_experimental
 
bool __cg_schur_complement
 
bool __lm_check_gradient
 
float __lm_damping_auto_switch
 
bool __lm_use_diagonal_damp
 
bool __fixed_intrinsics
 
int __use_radial_distortion
 
bool __reset_initial_distortion
 
int __verbose_level
 
bool __abort_flag
 
bool __verbose_cg_iteration
 
bool __verbose_function_time
 
bool __save_gradient_norm
 
bool __verbose_allocation
 
bool __verbose_sse
 
bool __jc_store_transpose
 
bool __no_jacobian_store
 
bool __jc_store_original
 
bool __jacobian_normalize
 
bool __focal_normalize
 
bool __depth_normalize
 
bool __depth_degeneracy_fix
 
float __data_normalize_median
 
float __depth_check_epsilon
 
- Protected Types inherited from pba::ConfigBA
enum  {
  TIMER_OVERALL = 0 , TIMER_OPTIMIZATION , TIMER_GPU_ALLOCATION , TIMER_GPU_UPLOAD ,
  TIMER_PREPROCESSING , TIMER_GPU_DOWNLOAD , TIMER_CG_ITERATION , TIMER_LM_ITERATION ,
  TIMER_FUNCTION_JJ , TIMER_FUNCTION_PJ , TIMER_FUNCTION_DD , TIMER_FUNCTION_JX ,
  TIMER_FUNCTION_JTE , TIMER_FUNCTION_BC , TIMER_FUNCTION_MP , TIMER_FUNCTION_UP ,
  TIMER_PROFILE_STEP , NUM_TIMER , FUNC_JX = 0 , FUNC_JX_ ,
  FUNC_JTEC_JCT , FUNC_JTEC_JCO , FUNC_JTEP , FUNC_JTE_ ,
  FUNC_JJ_JCO_JCT_JP , FUNC_JJ_JCO_JP , FUNC_JJ_JCT_JP , FUNC_JJ_JP ,
  FUNC_PJ , FUNC_BCC_JCT , FUNC_BCC_JCO , FUNC_BCP ,
  FUNC_MPC , FUNC_MPP , FUNC_VS , FUNC_VV ,
  NUM_FUNC
}
 

Detailed Description

template<class Float>
class pba::SparseBundleCPU< Float >

Definition at line 144 of file SparseBundleCPU.h.

Member Typedef Documentation

◆ float_t

template<class Float >
typedef float pba::SparseBundleCPU< Float >::float_t

Definition at line 150 of file SparseBundleCPU.h.

◆ VectorF

template<class Float >
typedef avec<Float> pba::SparseBundleCPU< Float >::VectorF

Definition at line 148 of file SparseBundleCPU.h.

◆ VectorI

template<class Float >
typedef std::vector<int> pba::SparseBundleCPU< Float >::VectorI

Definition at line 149 of file SparseBundleCPU.h.

Constructor & Destructor Documentation

◆ SparseBundleCPU() [1/2]

template<class Float >
pba::SparseBundleCPU< Float >::SparseBundleCPU ( const int  num_threads)

Definition at line 2550 of file SparseBundleCPU.cpp.

References pba::ConfigBA::__cpu_data_precision, pba::ConfigBA::__multiply_jx_usenoj, pba::ProgramCPU::__num_cpu_cores, pba::ConfigBA::__num_cpu_thread, pba::ConfigBA::__verbose_level, pba::ConfigBA::FUNC_BCC_JCO, pba::ConfigBA::FUNC_BCC_JCT, pba::ConfigBA::FUNC_BCP, pba::ConfigBA::FUNC_JJ_JCO_JCT_JP, pba::ConfigBA::FUNC_JJ_JCO_JP, pba::ConfigBA::FUNC_JJ_JCT_JP, pba::ConfigBA::FUNC_JJ_JP, pba::ConfigBA::FUNC_JTE_, pba::ConfigBA::FUNC_JTEC_JCO, pba::ConfigBA::FUNC_JTEC_JCT, pba::ConfigBA::FUNC_JTEP, pba::ConfigBA::FUNC_JX, pba::ConfigBA::FUNC_JX_, pba::ConfigBA::FUNC_MPC, pba::ConfigBA::FUNC_MPP, pba::ConfigBA::FUNC_PJ, pba::ConfigBA::FUNC_VS, and pba::ConfigBA::FUNC_VV.

◆ SparseBundleCPU() [2/2]

template<class Float >
pba::SparseBundleCPU< Float >::SparseBundleCPU ( )

Member Function Documentation

◆ AbortBundleAdjustment()

template<class Float >
virtual void pba::SparseBundleCPU< Float >::AbortBundleAdjustment ( )
inlinevirtual

Reimplemented from pba::ParallelBA.

Definition at line 254 of file SparseBundleCPU.h.

References pba::ConfigBA::__abort_flag.

◆ AdjustBundleAdjsutmentMode()

template<class Float >
void pba::SparseBundleCPU< Float >::AdjustBundleAdjsutmentMode
protected

Definition at line 3885 of file SparseBundleCPU.cpp.

◆ ApplyBlockPC()

template<class Float >
void pba::SparseBundleCPU< Float >::ApplyBlockPC ( VectorF &  v,
VectorF &  pv,
int  mode = 0 
)
protected

Definition at line 3202 of file SparseBundleCPU.cpp.

References pba::avec< Float >::begin(), and pba::ProgramCPU::MultiplyBlockConditioner().

◆ BundleAdjustment()

template<class Float >
void pba::SparseBundleCPU< Float >::BundleAdjustment
protected

Definition at line 2688 of file SparseBundleCPU.cpp.

◆ ComputeBlockPC()

template<class Float >
void pba::SparseBundleCPU< Float >::ComputeBlockPC ( float  lambda,
bool  dampd 
)
protected

Definition at line 3171 of file SparseBundleCPU.cpp.

References pba::ProgramCPU::ComputeDiagonalBlock(), and pba::ProgramCPU::ComputeDiagonalBlock_().

◆ ComputeDiagonal()

template<class Float >
void pba::SparseBundleCPU< Float >::ComputeDiagonal ( VectorF &  JJI)
protected

Definition at line 3211 of file SparseBundleCPU.cpp.

References pba::ProgramCPU::ComputeDiagonal().

◆ ComputeJtE()

template<class Float >
void pba::SparseBundleCPU< Float >::ComputeJtE ( VectorF &  E,
VectorF &  JtE,
int  mode = 0 
)
protected

Definition at line 3047 of file SparseBundleCPU.cpp.

References pba::avec< Float >::begin(), pba::ProgramCPU::ComputeJQtEC(), pba::ProgramCPU::ComputeJtE(), pba::ProgramCPU::ComputeJtE_(), pba::ProgramCPU::ComputeVXY(), and POINT_ALIGN.

◆ ComputeJX()

template<class Float >
void pba::SparseBundleCPU< Float >::ComputeJX ( VectorF &  X,
VectorF &  JX,
int  mode = 0 
)
protected

Definition at line 3147 of file SparseBundleCPU.cpp.

References pba::avec< Float >::begin(), pba::ProgramCPU::ComputeJQX(), pba::ProgramCPU::ComputeJX(), pba::ProgramCPU::ComputeJX_(), and X.

◆ DenormalizeData()

template<class Float >
void pba::SparseBundleCPU< Float >::DenormalizeData
protected

Definition at line 3391 of file SparseBundleCPU.cpp.

◆ DumpCooJacobian()

template<class Float >
void pba::SparseBundleCPU< Float >::DumpCooJacobian
protected

Definition at line 3720 of file SparseBundleCPU.cpp.

References width.

◆ EnableRadialDistortion()

template<class Float >
virtual void pba::SparseBundleCPU< Float >::EnableRadialDistortion ( DistortionT  type)
inlinevirtual

Reimplemented from pba::ParallelBA.

Definition at line 263 of file SparseBundleCPU.h.

References pba::ConfigBA::__use_radial_distortion, and type.

◆ EvaluateDeltaNorm()

template<class Float >
float pba::SparseBundleCPU< Float >::EvaluateDeltaNorm
protected

Definition at line 3895 of file SparseBundleCPU.cpp.

References pba::ProgramCPU::ComputeVectorNorm(), POINT_ALIGN, and pba::avec< Float >::set().

◆ EvaluateJacobians()

template<class Float >
void pba::SparseBundleCPU< Float >::EvaluateJacobians
protected

Definition at line 3015 of file SparseBundleCPU.cpp.

References pba::ProgramCPU::ComputeJacobian(), and NULL.

◆ EvaluateProjection()

template<class Float >
float pba::SparseBundleCPU< Float >::EvaluateProjection ( VectorF &  cam,
VectorF &  point,
VectorF &  proj 
)
protected

Definition at line 3117 of file SparseBundleCPU.cpp.

References pba::avec< Float >::begin(), pba::ProgramCPU::ComputeProjection(), pba::ProgramCPU::ComputeProjectionQ(), and pba::ProgramCPU::ComputeVectorNorm().

◆ EvaluateProjectionX()

template<class Float >
float pba::SparseBundleCPU< Float >::EvaluateProjectionX ( VectorF &  cam,
VectorF &  point,
VectorF &  proj 
)
protected

Definition at line 3132 of file SparseBundleCPU.cpp.

References pba::avec< Float >::begin(), pba::ProgramCPU::ComputeProjectionQ(), pba::ProgramCPU::ComputeProjectionX(), and pba::ProgramCPU::ComputeVectorNorm().

◆ GetCurrentIteration()

template<class Float >
virtual int pba::SparseBundleCPU< Float >::GetCurrentIteration ( )
inlinevirtual

Reimplemented from pba::ParallelBA.

Definition at line 255 of file SparseBundleCPU.h.

References pba::ConfigBA::__current_iteration.

◆ GetMeanSquaredError()

template<class Float >
float pba::SparseBundleCPU< Float >::GetMeanSquaredError
virtual

Reimplemented from pba::ParallelBA.

Definition at line 2644 of file SparseBundleCPU.cpp.

◆ GetParameterLength()

template<class Float >
int pba::SparseBundleCPU< Float >::GetParameterLength
protected

Definition at line 2683 of file SparseBundleCPU.cpp.

References POINT_ALIGN.

◆ InitializeBundle()

template<class Float >
int pba::SparseBundleCPU< Float >::InitializeBundle
protected

Definition at line 2671 of file SparseBundleCPU.cpp.

◆ InitializeStorageForCG()

template<class Float >
bool pba::SparseBundleCPU< Float >::InitializeStorageForCG
protected

Definition at line 2963 of file SparseBundleCPU.cpp.

References ALLOCATE_OPTIONAL_DATA, and ALLOCATE_REQUIRED_DATA.

◆ InitializeStorageForSFM()

template<class Float >
bool pba::SparseBundleCPU< Float >::InitializeStorageForSFM
protected

Definition at line 2742 of file SparseBundleCPU.cpp.

References ALLOCATE_OPTIONAL_DATA, ALLOCATE_REQUIRED_DATA, copy, and POINT_ALIGN.

◆ NonlinearOptimizeLM()

template<class Float >
void pba::SparseBundleCPU< Float >::NonlinearOptimizeLM
protected

Definition at line 3910 of file SparseBundleCPU.cpp.

References pba::ProgramCPU::ComputeJtE(), cloudViewer::utility::floor(), max(), pba::avec< Float >::size(), and pba::ProgramCPU::UpdateCameraPoint().

◆ NormalizeData()

template<class Float >
void pba::SparseBundleCPU< Float >::NormalizeData
protected

Definition at line 2710 of file SparseBundleCPU.cpp.

◆ NormalizeDataD()

template<class Float >
void pba::SparseBundleCPU< Float >::NormalizeDataD
protected

Definition at line 3286 of file SparseBundleCPU.cpp.

References pba::CameraT_< FT >::f, fabs(), pba::CameraT_< FT >::m, max(), min(), and pba::CameraT_< FT >::t.

◆ NormalizeDataF()

template<class Float >
void pba::SparseBundleCPU< Float >::NormalizeDataF
protected

Definition at line 3228 of file SparseBundleCPU.cpp.

References copy.

◆ ParseParam()

template<class Float >
virtual void pba::SparseBundleCPU< Float >::ParseParam ( int  narg,
char **  argv 
)
inlinevirtual

Reimplemented from pba::ParallelBA.

Definition at line 266 of file SparseBundleCPU.h.

References pba::ConfigBA::ParseParam().

◆ PrepareJacobianNormalization()

template<class Float >
void pba::SparseBundleCPU< Float >::PrepareJacobianNormalization
protected

Definition at line 2992 of file SparseBundleCPU.cpp.

References pba::ProgramCPU::ComputeDiagonal(), pba::ProgramCPU::ComputeRSQRT(), pba::ProgramCPU::ComputeSQRT(), and pba::avec< Float >::swap().

◆ ProcessIndexCameraQ()

template<class Float >
bool pba::SparseBundleCPU< Float >::ProcessIndexCameraQ ( std::vector< int > &  qmap,
std::vector< int > &  qlist 
)
protected

Definition at line 2848 of file SparseBundleCPU.cpp.

References error(), and NULL.

◆ ProcessWeightCameraQ()

template<class Float >
void pba::SparseBundleCPU< Float >::ProcessWeightCameraQ ( std::vector< int > &  cpnum,
std::vector< int > &  qmap,
Float *  qmapw,
Float *  qlistw 
)
protected

Definition at line 2919 of file SparseBundleCPU.cpp.

◆ RunBundleAdjustment()

template<class Float >
int pba::SparseBundleCPU< Float >::RunBundleAdjustment
virtual

Reimplemented from pba::ParallelBA.

Definition at line 2650 of file SparseBundleCPU.cpp.

◆ RunProfileSteps()

template<class Float >
void pba::SparseBundleCPU< Float >::RunProfileSteps
protected

Definition at line 4193 of file SparseBundleCPU.cpp.

References pba::ProgramCPU::ComputeDiagonal(), pba::ProgramCPU::ComputeJtE(), pba::ProgramCPU::ComputeJX(), pba::ProgramCPU::ComputeSAXPY(), pba::ProgramCPU::ComputeSXYPZ(), pba::ProgramCPU::ComputeVectorDot(), pba::ProgramCPU::ComputeVectorNorm(), pba::ProgramCPU::ComputeVectorNormW(), max(), PROFILE, PROTILE, PROTILE2, PROXILE, pba::ProgramCPU::SetVectorZero(), and pba::ProgramCPU::UpdateCameraPoint().

◆ RunTestIterationLM()

template<class Float >
void pba::SparseBundleCPU< Float >::RunTestIterationLM ( bool  reduced)
protected

Definition at line 3781 of file SparseBundleCPU.cpp.

References pba::ProgramCPU::ComputeJtE(), pba::ProgramCPU::ComputeJX(), pba::ProgramCPU::ComputeVectorDot(), pba::ProgramCPU::ComputeVectorNorm(), and pba::ProgramCPU::UpdateCameraPoint().

◆ SaveBundleRecord()

template<class Float >
void pba::SparseBundleCPU< Float >::SaveBundleRecord ( int  iter,
float  res,
float  damping,
float &  g_norm,
float &  g_inf 
)
protected

Definition at line 3105 of file SparseBundleCPU.cpp.

References pba::ProgramCPU::ComputeVectorMax(), pba::ProgramCPU::ComputeVectorNorm(), and pba::ConfigBA::SaveBundleRecord().

◆ SaveUpdatedSystem()

template<class Float >
float pba::SparseBundleCPU< Float >::SaveUpdatedSystem ( float  residual_reduction,
float  dx_sqnorm,
float  damping 
)
protected

save the new motion/struture

Definition at line 3825 of file SparseBundleCPU.cpp.

References pba::ProgramCPU::ComputeJX(), pba::ProgramCPU::ComputeVectorDot(), pba::ProgramCPU::ComputeVectorNorm(), pba::ProgramCPU::ComputeVectorNormW(), POINT_ALIGN, and pba::avec< Float >::set().

◆ SetCameraData()

template<class Float >
void pba::SparseBundleCPU< Float >::SetCameraData ( size_t  ncam,
CameraT *  cams 
)
virtual

Reimplemented from pba::ParallelBA.

Definition at line 2614 of file SparseBundleCPU.cpp.

References NULL.

◆ SetFixedIntrinsics()

template<class Float >
virtual void pba::SparseBundleCPU< Float >::SetFixedIntrinsics ( bool  fixed)
inlinevirtual

Reimplemented from pba::ParallelBA.

Definition at line 262 of file SparseBundleCPU.h.

References pba::ConfigBA::__fixed_intrinsics.

◆ SetFocalMask()

template<class Float >
void pba::SparseBundleCPU< Float >::SetFocalMask ( const int *  fmask,
float  weight 
)
virtual

Reimplemented from pba::ParallelBA.

Definition at line 2622 of file SparseBundleCPU.cpp.

◆ SetNextBundleMode()

template<class Float >
virtual void pba::SparseBundleCPU< Float >::SetNextBundleMode ( BundleModeT  mode)
inlinevirtual

Reimplemented from pba::ParallelBA.

Definition at line 259 of file SparseBundleCPU.h.

References pba::ConfigBA::__bundle_mode_next.

◆ SetNextTimeBudget()

template<class Float >
virtual void pba::SparseBundleCPU< Float >::SetNextTimeBudget ( int  seconds)
inlinevirtual

Reimplemented from pba::ParallelBA.

Definition at line 256 of file SparseBundleCPU.h.

References pba::ConfigBA::__bundle_time_budget, and seconds.

◆ SetPointData()

template<class Float >
void pba::SparseBundleCPU< Float >::SetPointData ( size_t  npoint,
Point3D *  pts 
)
virtual

Reimplemented from pba::ParallelBA.

Definition at line 2628 of file SparseBundleCPU.cpp.

◆ SetProjection()

template<class Float >
void pba::SparseBundleCPU< Float >::SetProjection ( size_t  nproj,
const Point2D *  imgpts,
const int *  point_idx,
const int *  cam_idx 
)
virtual

Reimplemented from pba::ParallelBA.

Definition at line 2634 of file SparseBundleCPU.cpp.

◆ SolveNormalEquation()

template<class Float >
int pba::SparseBundleCPU< Float >::SolveNormalEquation ( float  lambda)
protected

Definition at line 3703 of file SparseBundleCPU.cpp.

◆ SolveNormalEquationPCGB()

template<class Float >
int pba::SparseBundleCPU< Float >::SolveNormalEquationPCGB ( float  lambda)
protected

Definition at line 3576 of file SparseBundleCPU.cpp.

References pba::ProgramCPU::ComputeJtE(), pba::ProgramCPU::ComputeJX(), pba::ProgramCPU::ComputeSAX(), pba::ProgramCPU::ComputeSAXPY(), pba::ProgramCPU::ComputeSXYPZ(), pba::ProgramCPU::ComputeVectorDot(), pba::ProgramCPU::ComputeVectorNorm(), pba::ProgramCPU::ComputeVectorNormW(), fabs(), and min().

◆ SolveNormalEquationPCGX()

template<class Float >
int pba::SparseBundleCPU< Float >::SolveNormalEquationPCGX ( float  lambda)
protected

Definition at line 3423 of file SparseBundleCPU.cpp.

References pba::ProgramCPU::ComputeJtE(), pba::ProgramCPU::ComputeJX(), pba::ProgramCPU::ComputeSAX(), pba::ProgramCPU::ComputeSAXPY(), pba::ProgramCPU::ComputeSXYPZ(), pba::ProgramCPU::ComputeVectorDot(), pba::ProgramCPU::ComputeVectorNorm(), pba::ProgramCPU::ComputeVectorNormW(), pba::avec< Float >::data(), fabs(), min(), and pba::avec< Float >::set().

◆ TransferDataToHost()

template<class Float >
void pba::SparseBundleCPU< Float >::TransferDataToHost
protected

Definition at line 2717 of file SparseBundleCPU.cpp.

References copy.

◆ UpdateCameraPoint()

template<class Float >
float pba::SparseBundleCPU< Float >::UpdateCameraPoint ( VectorF &  dx,
VectorF &  cuImageTempProj 
)
protected

Definition at line 3796 of file SparseBundleCPU.cpp.

References pba::ProgramCPU::ComputeVXY(), POINT_ALIGN, and pba::ProgramCPU::UpdateCameraPoint().

◆ ValidateInputData()

template<class Float >
int pba::SparseBundleCPU< Float >::ValidateInputData
protected

Definition at line 2661 of file SparseBundleCPU.cpp.

References NULL.

Member Data Documentation

◆ _camera_data

template<class Float >
CameraT* pba::SparseBundleCPU< Float >::_camera_data
protected

Definition at line 156 of file SparseBundleCPU.h.

◆ _camera_idx

template<class Float >
const int* pba::SparseBundleCPU< Float >::_camera_idx
protected

Definition at line 161 of file SparseBundleCPU.h.

◆ _cuBlockPC

template<class Float >
VectorF pba::SparseBundleCPU< Float >::_cuBlockPC
protected

Definition at line 185 of file SparseBundleCPU.h.

◆ _cuCameraData

template<class Float >
VectorF pba::SparseBundleCPU< Float >::_cuCameraData
protected

Definition at line 169 of file SparseBundleCPU.h.

◆ _cuCameraDataEX

template<class Float >
VectorF pba::SparseBundleCPU< Float >::_cuCameraDataEX
protected

Definition at line 170 of file SparseBundleCPU.h.

◆ _cuCameraMeasurementList

template<class Float >
VectorI pba::SparseBundleCPU< Float >::_cuCameraMeasurementList
protected

Definition at line 181 of file SparseBundleCPU.h.

◆ _cuCameraMeasurementListT

template<class Float >
VectorI pba::SparseBundleCPU< Float >::_cuCameraMeasurementListT
protected

Definition at line 182 of file SparseBundleCPU.h.

◆ _cuCameraMeasurementMap

template<class Float >
VectorI pba::SparseBundleCPU< Float >::_cuCameraMeasurementMap
protected

Definition at line 180 of file SparseBundleCPU.h.

◆ _cuCameraQList

template<class Float >
VectorI pba::SparseBundleCPU< Float >::_cuCameraQList
protected

Definition at line 201 of file SparseBundleCPU.h.

◆ _cuCameraQListW

template<class Float >
VectorF pba::SparseBundleCPU< Float >::_cuCameraQListW
protected

Definition at line 204 of file SparseBundleCPU.h.

◆ _cuCameraQMap

template<class Float >
VectorI pba::SparseBundleCPU< Float >::_cuCameraQMap
protected

Definition at line 202 of file SparseBundleCPU.h.

◆ _cuCameraQMapW

template<class Float >
VectorF pba::SparseBundleCPU< Float >::_cuCameraQMapW
protected

Definition at line 203 of file SparseBundleCPU.h.

◆ _cuImageProj

template<class Float >
VectorF pba::SparseBundleCPU< Float >::_cuImageProj
protected

Definition at line 174 of file SparseBundleCPU.h.

◆ _cuJacobianCamera

template<class Float >
VectorF pba::SparseBundleCPU< Float >::_cuJacobianCamera
protected

Definition at line 175 of file SparseBundleCPU.h.

◆ _cuJacobianCameraT

template<class Float >
VectorF pba::SparseBundleCPU< Float >::_cuJacobianCameraT
protected

Definition at line 177 of file SparseBundleCPU.h.

◆ _cuJacobianPoint

template<class Float >
VectorF pba::SparseBundleCPU< Float >::_cuJacobianPoint
protected

Definition at line 176 of file SparseBundleCPU.h.

◆ _cuMeasurements

template<class Float >
VectorF pba::SparseBundleCPU< Float >::_cuMeasurements
protected

Definition at line 173 of file SparseBundleCPU.h.

◆ _cuPointData

template<class Float >
VectorF pba::SparseBundleCPU< Float >::_cuPointData
protected

Definition at line 171 of file SparseBundleCPU.h.

◆ _cuPointDataEX

template<class Float >
VectorF pba::SparseBundleCPU< Float >::_cuPointDataEX
protected

Definition at line 172 of file SparseBundleCPU.h.

◆ _cuPointMeasurementMap

template<class Float >
VectorI pba::SparseBundleCPU< Float >::_cuPointMeasurementMap
protected

Definition at line 179 of file SparseBundleCPU.h.

◆ _cuProjectionMap

template<class Float >
VectorI pba::SparseBundleCPU< Float >::_cuProjectionMap
protected

Definition at line 178 of file SparseBundleCPU.h.

◆ _cuVectorJJ

template<class Float >
VectorF pba::SparseBundleCPU< Float >::_cuVectorJJ
protected

Definition at line 190 of file SparseBundleCPU.h.

◆ _cuVectorJtE

template<class Float >
VectorF pba::SparseBundleCPU< Float >::_cuVectorJtE
protected

LM normal equation.

Definition at line 189 of file SparseBundleCPU.h.

◆ _cuVectorJX

template<class Float >
VectorF pba::SparseBundleCPU< Float >::_cuVectorJX
protected

Definition at line 191 of file SparseBundleCPU.h.

◆ _cuVectorPK

template<class Float >
VectorF pba::SparseBundleCPU< Float >::_cuVectorPK
protected

Definition at line 193 of file SparseBundleCPU.h.

◆ _cuVectorRK

template<class Float >
VectorF pba::SparseBundleCPU< Float >::_cuVectorRK
protected

Definition at line 195 of file SparseBundleCPU.h.

◆ _cuVectorSJ

template<class Float >
VectorF pba::SparseBundleCPU< Float >::_cuVectorSJ
protected

Definition at line 186 of file SparseBundleCPU.h.

◆ _cuVectorXK

template<class Float >
VectorF pba::SparseBundleCPU< Float >::_cuVectorXK
protected

Definition at line 192 of file SparseBundleCPU.h.

◆ _cuVectorZK

template<class Float >
VectorF pba::SparseBundleCPU< Float >::_cuVectorZK
protected

Definition at line 194 of file SparseBundleCPU.h.

◆ _focal_mask

template<class Float >
const int* pba::SparseBundleCPU< Float >::_focal_mask
protected

Definition at line 163 of file SparseBundleCPU.h.

◆ _imgpt_data

template<class Float >
const float* pba::SparseBundleCPU< Float >::_imgpt_data
protected

Definition at line 160 of file SparseBundleCPU.h.

◆ _num_camera

template<class Float >
int pba::SparseBundleCPU< Float >::_num_camera
protected

Definition at line 153 of file SparseBundleCPU.h.

◆ _num_imgpt

template<class Float >
int pba::SparseBundleCPU< Float >::_num_imgpt
protected

Definition at line 155 of file SparseBundleCPU.h.

◆ _num_imgpt_q

template<class Float >
int pba::SparseBundleCPU< Float >::_num_imgpt_q
protected

Definition at line 199 of file SparseBundleCPU.h.

◆ _num_point

template<class Float >
int pba::SparseBundleCPU< Float >::_num_point
protected

Definition at line 154 of file SparseBundleCPU.h.

◆ _point_data

template<class Float >
float* pba::SparseBundleCPU< Float >::_point_data
protected

Definition at line 157 of file SparseBundleCPU.h.

◆ _point_idx

template<class Float >
const int* pba::SparseBundleCPU< Float >::_point_idx
protected

Definition at line 162 of file SparseBundleCPU.h.

◆ _projection_sse

template<class Float >
float pba::SparseBundleCPU< Float >::_projection_sse
protected

Definition at line 166 of file SparseBundleCPU.h.

◆ _weight_q

template<class Float >
float pba::SparseBundleCPU< Float >::_weight_q
protected

Definition at line 200 of file SparseBundleCPU.h.

The documentation for this class was generated from the following files: