Classes
struct	ComputeSAXPY_STRUCT

struct	ComputeSAXPY_FUNCTOR

struct	ComputeVectorNorm_STRUCT

struct	ComputeVectorNorm_FUNCTOR

struct	ComputeProjection_STRUCT

struct	ComputeProjection_FUNCTOR

struct	ComputeProjectionX_STRUCT

struct	ComputeProjectionX_FUNCTOR

struct	ComputeJacobian_STRUCT

struct	ComputeJacobian_FUNCTOR

struct	ComputeDiagonalBlockC_STRUCT

struct	ComputeDiagonalBlockC_FUNCTOR

struct	ComputeDiagonalBlockP_STRUCT

struct	ComputeDiagonalBlockP_FUNCTOR

struct	MultiplyBlockConditionerC_STRUCT

struct	MultiplyBlockConditionerC_FUNCTOR

struct	MultiplyBlockConditionerP_STRUCT

struct	MultiplyBlockConditionerP_FUNCTOR

struct	ComputeJX_STRUCT

struct	ComputeJX_FUNCTOR

struct	ComputeJX__STRUCT

struct	ComputeJX__FUNCTOR

struct	ComputeJtEC_STRUCT

struct	ComputeJtEC_FUNCTOR

struct	ComputeJtEP_STRUCT

struct	ComputeJtEP_FUNCTOR

struct	ComputeJtEC__STRUCT

struct	ComputeJtEC__FUNCTOR

Functions
template<class Float >
double	ComputeVectorNorm (const avec< Float > &vec, int mt=0)

template<class Float >
void	ComputeSQRT (avec< Float > &vec)

template<class Float >
void	ComputeRSQRT (avec< Float > &vec)

template<class Float >
void	SetVectorZero (Float p, Float pe)

template<class Float >
void	SetVectorZero (avec< Float > &vec)

template<class Float >
void	MemoryCopyA (const Float p, const Float pe, Float *d)

template<class Float >
double	ComputeVectorNormW (const avec< Float > &vec, const avec< Float > &weight)

template<class Float >
double	ComputeVectorDot (const avec< Float > &vec1, const avec< Float > &vec2)

template<class Float >
void	ComputeVectorNorm (const Float p, const Float pe, double *psum)

template<class Float >
void	ComputeVXY (const avec< Float > &vec1, const avec< Float > &vec2, avec< Float > &result, size_t part=0, size_t skip=0)

template<class Float >
void	ScaleJ8 (Float jcx, Float jcy, const Float *sj)

template<class Float >
void	AddScaledVec8 (Float a, const Float x, Float v)

template<class Float >
void	ComputeSAX (Float a, const avec< Float > &vec1, avec< Float > &result)

template<class Float >
void	ComputeSXYPZ (Float a, const Float p1, const Float p2, const Float p3, Float p4, Float *pe)

template<class Float >
void	ComputeSAXPY (Float a, const Float it1, const Float it2, Float it3, Float ite)

template<class Float >
void	AddBlockJtJ (const Float jc, Float block, int vn)

template<class Float >
void	MemoryCopyB (const Float p, const Float pe, Float *d)

template<class Float >
Float	DotProduct8 (const Float v1, const Float v2)

template<class Float >
void	ComputeTwoJX (const Float jc, const Float jp, const Float xc, const Float xp, Float *jx)

template<class Float >
Float	ComputeVectorMax (const avec< Float > &vec)

template<class Float >
void	ComputeSXYPZ (Float a, const avec< Float > &vec1, const avec< Float > &vec2, const avec< Float > &vec3, avec< Float > &result)

template<class Float >
void *	ComputeSAXPY_PROC (ComputeSAXPY_STRUCT< Float > *q)

template<class Float >
void	ComputeSAXPY (Float a, const avec< Float > &vec1, const avec< Float > &vec2, avec< Float > &result, int mt=0)

template<class Float >
void *	ComputeVectorNorm_PROC (ComputeVectorNorm_STRUCT< Float > *q)

template<class Float >
void	GetRodriguesRotation (const Float m[3][3], Float r[3])

template<class Float >
void	UncompressRodriguesRotation (const Float r[3], Float m[])

template<class Float >
void	UpdateCamera (int ncam, const avec< Float > &camera, const avec< Float > &delta, avec< Float > &new_camera)

template<class Float >
void	UpdateCameraPoint (int ncam, const avec< Float > &camera, const avec< Float > &point, avec< Float > &delta, avec< Float > &new_camera, avec< Float > &new_point, int mode, int mt)

template<class Float >
void	ComputeProjection (size_t nproj, const Float camera, const Float point, const Float ms, const int jmap, Float *pj, int radial, int mt)

template<class Float >
void *	ComputeProjection_PROC (ComputeProjection_STRUCT< Float > *q)

template<class Float >
void	ComputeProjectionX (size_t nproj, const Float camera, const Float point, const Float ms, const int jmap, Float *pj, int radial, int mt)

template<class Float >
void *	ComputeProjectionX_PROC (ComputeProjectionX_STRUCT< Float > *q)

template<class Float >
void	ComputeProjectionQ (size_t nq, const Float camera, const int qmap, const Float wq, Float pj)

template<class Float >
void	ComputeJQX (size_t nq, const Float x, const int qmap, const Float wq, const Float sj, Float *jx)

template<class Float >
void	ComputeJQtEC (size_t ncam, const Float pe, const int qlist, const Float wq, const Float sj, Float *v)

template<class Float >
void	JacobianOne (const Float c, const Float pt, const Float ms, Float jxc, Float jyc, Float jxp, Float *jyp, bool intrinsic_fixed, int radial_distortion)

template<class Float >
void	ComputeJacobian (size_t nproj, size_t ncam, const Float camera, const Float point, Float jc, Float jp, const int jmap, const Float sj, const Float ms, const int cmlist, bool intrinsic_fixed, int radial_distortion, bool shuffle, Float *jct, int mt=2, int i0=0)

template<class Float >
void *	ComputeJacobian_PROC (ComputeJacobian_STRUCT< Float > *q)

template<class Float >
void	ComputeDiagonalAddQ (size_t ncam, const Float qw, Float d, const Float *sj=NULL)

template<class Float >
void	ComputeDiagonal (const avec< Float > &jcv, const vector< int > &cmapv, const avec< Float > &jpv, const vector< int > &pmapv, const vector< int > &cmlistv, const Float *qw0, avec< Float > &jtjdi, bool jc_transpose, int radial)

template<class T , int n, int m>
void	InvertSymmetricMatrix (T a[n][m], T ai[n][m])

template<class T , int n, int m>
void	InvertSymmetricMatrix (T a, T ai)

template<class Float >
void	ComputeDiagonalBlockC (size_t ncam, float lambda1, float lambda2, const Float jc, const int cmap, const int cmlist, Float di, Float *bi, int vn, bool jc_transpose, bool use_jq, int mt)

template<class Float >
void *	ComputeDiagonalBlockC_PROC (ComputeDiagonalBlockC_STRUCT< Float > *q)

template<class Float >
void	ComputeDiagonalBlockP (size_t npt, float lambda1, float lambda2, const Float jp, const int pmap, Float di, Float bi, int mt)

template<class Float >
void *	ComputeDiagonalBlockP_PROC (ComputeDiagonalBlockP_STRUCT< Float > *q)

template<class Float >
void	ComputeDiagonalBlock (size_t ncam, size_t npts, float lambda, bool dampd, const Float jc, const int cmap, const Float jp, const int pmap, const int cmlist, const Float sj, const Float wq, Float diag, Float *blocks, int radial_distortion, bool jc_transpose, int mt1=2, int mt2=2, int mode=0)

template<class Float >
void	ComputeDiagonalBlock_ (float lambda, bool dampd, const avec< Float > &camerav, const avec< Float > &pointv, const avec< Float > &meas, const vector< int > &jmapv, const avec< Float > &sjv, avec< Float > &qwv, avec< Float > &diag, avec< Float > &blocks, bool intrinsic_fixed, int radial_distortion, int mode=0)

template<class Float >
void	MultiplyBlockConditionerC (int ncam, const Float bi, const Float x, Float *vx, int vn, int mt=0)

template<class Float >
void *	MultiplyBlockConditionerC_PROC (MultiplyBlockConditionerC_STRUCT< Float > *q)

template<class Float >
void	MultiplyBlockConditionerP (int npoint, const Float bi, const Float x, Float *vx, int mt=0)

template<class Float >
void *	MultiplyBlockConditionerP_PROC (MultiplyBlockConditionerP_STRUCT< Float > *q)

template<class Float >
void	MultiplyBlockConditioner (int ncam, int npoint, const Float blocksv, const Float vec, Float *resultv, int radial, int mode, int mt1, int mt2)

template<class Float >
void	ComputeJX (size_t nproj, size_t ncam, const Float x, const Float jc, const Float jp, const int jmap, Float *jx, int mode, int mt=2)

template<class Float >
void *	ComputeJX_PROC (ComputeJX_STRUCT< Float > *q)

template<class Float >
void	ComputeJX_ (size_t nproj, size_t ncam, const Float x, Float jx, const Float camera, const Float point, const Float ms, const Float sj, const int *jmap, bool intrinsic_fixed, int radial_distortion, int mode, int mt=16)

template<class Float >
void *	ComputeJX__PROC (ComputeJX__STRUCT< Float > *q)

template<class Float >
void	ComputeJtEC (size_t ncam, const Float pe, const Float jc, const int cmap, const int cmlist, Float *v, bool jc_transpose, int mt)

template<class Float >
void *	ComputeJtEC_PROC (ComputeJtEC_STRUCT< Float > *q)

template<class Float >
void	ComputeJtEP (size_t npt, const Float pe, const Float jp, const int pmap, Float v, int mt)

template<class Float >
void *	ComputeJtEP_PROC (ComputeJtEP_STRUCT< Float > *q)

template<class Float >
void	ComputeJtE (size_t ncam, size_t npt, const Float pe, const Float jc, const int cmap, const int cmlist, const Float jp, const int pmap, Float *v, bool jc_transpose, int mode, int mt1, int mt2)

template<class Float >
void	ComputeJtEC_ (size_t ncam, const Float ee, Float jte, const Float c, const Float point, const Float ms, const int jmap, const int cmap, const int cmlist, bool intrinsic_fixed, int radial_distortion, int mt)

template<class Float >
void *	ComputeJtEC__PROC (ComputeJtEC__STRUCT< Float > *q)

template<class Float >
void	ComputeJtE_ (size_t nproj, size_t ncam, size_t npt, const Float ee, Float jte, const Float camera, const Float point, const Float ms, const int jmap, const int cmap, const int cmlist, const int pmap, const Float jp, bool intrinsic_fixed, int radial_distortion, int mode, int mt)

template<class Float >
void	ComputeJtE_ (size_t nproj, size_t ncam, size_t npt, const Float ee, Float jte, const Float camera, const Float point, const Float ms, const int jmap, bool intrinsic_fixed, int radial_distortion, int mode)

Variables
int	__num_cpu_cores = 0

Function Documentation

◆ AddBlockJtJ()

template<class Float >

void pba::ProgramCPU::AddBlockJtJ	(	const Float *	jc,
		Float *	block,
		int	vn
	)

Definition at line 856 of file SparseBundleCPU.cpp.

Referenced by ComputeDiagonalBlock_(), and ComputeDiagonalBlockC().

◆ AddScaledVec8()

template<class Float >

void pba::ProgramCPU::AddScaledVec8	(	Float	a,
		const Float *	x,
		Float *	v
	)

inline

Definition at line 823 of file SparseBundleCPU.cpp.

Referenced by ComputeJtE_(), ComputeJtEC(), and ComputeJtEC_().

◆ ComputeDiagonal()

template<class Float >

void pba::ProgramCPU::ComputeDiagonal	(	const avec< Float > &	jcv,
		const vector< int > &	cmapv,
		const avec< Float > &	jpv,
		const vector< int > &	pmapv,
		const vector< int > &	cmlistv,
		const Float *	qw0,
		avec< Float > &	jtjdi,
		bool	jc_transpose,
		int	radial
	)

Definition at line 1596 of file SparseBundleCPU.cpp.

References pba::avec< Float >::begin(), pba::avec< Float >::end(), POINT_ALIGN, POINT_ALIGN2, SetVectorZero(), and pba::avec< Float >::size().

Referenced by pba::SparseBundleCPU< Float >::ComputeDiagonal(), pba::SparseBundleCPU< Float >::PrepareJacobianNormalization(), and pba::SparseBundleCPU< Float >::RunProfileSteps().

◆ ComputeDiagonalAddQ()

template<class Float >

void pba::ProgramCPU::ComputeDiagonalAddQ	(	size_t	ncam,
		const Float *	qw,
		Float *	d,
		const Float *	sj = `NULL`
	)

Definition at line 1575 of file SparseBundleCPU.cpp.

Referenced by ComputeDiagonalBlock().

◆ ComputeDiagonalBlock()

template<class Float >

void pba::ProgramCPU::ComputeDiagonalBlock	(	size_t	ncam,
		size_t	npts,
		float	lambda,
		bool	dampd,
		const Float *	jc,
		const int *	cmap,
		const Float *	jp,
		const int *	pmap,
		const int *	cmlist,
		const Float *	sj,
		const Float *	wq,
		Float *	diag,
		Float *	blocks,
		int	radial_distortion,
		bool	jc_transpose,
		int	mt1 = `2`,
		int	mt2 = `2`,
		int	mode = `0`
	)

Definition at line 1849 of file SparseBundleCPU.cpp.

References ComputeDiagonalAddQ(), ComputeDiagonalBlockC(), ComputeDiagonalBlockP(), NULL, POINT_ALIGN, and SetVectorZero().

Referenced by pba::SparseBundleCPU< Float >::ComputeBlockPC().

◆ ComputeDiagonalBlock_()

template<class Float >

void pba::ProgramCPU::ComputeDiagonalBlock_	(	float	lambda,
		bool	dampd,
		const avec< Float > &	camerav,
		const avec< Float > &	pointv,
		const avec< Float > &	meas,
		const vector< int > &	jmapv,
		const avec< Float > &	sjv,
		avec< Float > &	qwv,
		avec< Float > &	diag,
		avec< Float > &	blocks,
		bool	intrinsic_fixed,
		int	radial_distortion,
		int	mode = `0`
	)

invert the camera part

Definition at line 1901 of file SparseBundleCPU.cpp.

References AddBlockJtJ(), ALIGN_PTR, pba::avec< Float >::begin(), JacobianOne(), NULL, POINT_ALIGN, ScaleJ8(), SetVectorZero(), and pba::avec< Float >::size().

Referenced by pba::SparseBundleCPU< Float >::ComputeBlockPC().

◆ ComputeDiagonalBlockC()

template<class Float >

void pba::ProgramCPU::ComputeDiagonalBlockC	(	size_t	ncam,
		float	lambda1,
		float	lambda2,
		const Float *	jc,
		const int *	cmap,
		const int *	cmlist,
		Float *	di,
		Float *	bi,
		int	vn,
		bool	jc_transpose,
		bool	use_jq,
		int	mt
	)

Definition at line 1706 of file SparseBundleCPU.cpp.

References AddBlockJtJ(), ALIGN_PTR, min(), MYTHREAD, RUN_THREAD, SetVectorZero(), THREAD_NUM_MAX, and WAIT_THREAD.

Referenced by ComputeDiagonalBlock().

◆ ComputeDiagonalBlockC_PROC()

template<class Float >

void* pba::ProgramCPU::ComputeDiagonalBlockC_PROC ( ComputeDiagonalBlockC_STRUCT< Float > * q )

Definition at line 1699 of file SparseBundleCPU.cpp.

◆ ComputeDiagonalBlockP()

template<class Float >

void pba::ProgramCPU::ComputeDiagonalBlockP	(	size_t	npt,
		float	lambda1,
		float	lambda2,
		const Float *	jp,
		const int *	pmap,
		Float *	di,
		Float *	bi,
		int	mt
	)

Definition at line 1789 of file SparseBundleCPU.cpp.

References min(), MYTHREAD, POINT_ALIGN, POINT_ALIGN2, RUN_THREAD, THREAD_NUM_MAX, and WAIT_THREAD.

Referenced by ComputeDiagonalBlock().

◆ ComputeDiagonalBlockP_PROC()

template<class Float >

void* pba::ProgramCPU::ComputeDiagonalBlockP_PROC ( ComputeDiagonalBlockP_STRUCT< Float > * q )

Definition at line 1783 of file SparseBundleCPU.cpp.

◆ ComputeJacobian()

template<class Float >

void pba::ProgramCPU::ComputeJacobian	(	size_t	nproj,
		size_t	ncam,
		const Float *	camera,
		const Float *	point,
		Float *	jc,
		Float *	jp,
		const int *	jmap,
		const Float *	sj,
		const Float *	ms,
		const int *	cmlist,
		bool	intrinsic_fixed,
		int	radial_distortion,
		bool	shuffle,
		Float *	jct,
		int	mt = `2`,
		int	i0 = `0`
	)

Definition at line 1523 of file SparseBundleCPU.cpp.

References JacobianOne(), MemoryCopyB(), min(), MYTHREAD, NULL, POINT_ALIGN, POINT_ALIGN2, RUN_THREAD, ScaleJ8(), THREAD_NUM_MAX, and WAIT_THREAD.

Referenced by pba::SparseBundleCPU< Float >::EvaluateJacobians().

◆ ComputeJacobian_PROC()

template<class Float >

void* pba::ProgramCPU::ComputeJacobian_PROC ( ComputeJacobian_STRUCT< Float > * q )

Definition at line 1516 of file SparseBundleCPU.cpp.

◆ ComputeJQtEC()

template<class Float >

void pba::ProgramCPU::ComputeJQtEC	(	size_t	ncam,
		const Float *	pe,
		const int *	qlist,
		const Float *	wq,
		const Float *	sj,
		Float *	v
	)

Definition at line 1332 of file SparseBundleCPU.cpp.

Referenced by pba::SparseBundleCPU< Float >::ComputeJtE().

◆ ComputeJQX()

template<class Float >

void pba::ProgramCPU::ComputeJQX	(	size_t	nq,
		const Float *	x,
		const int *	qmap,
		const Float *	wq,
		const Float *	sj,
		Float *	jx
	)

Definition at line 1309 of file SparseBundleCPU.cpp.

Referenced by pba::SparseBundleCPU< Float >::ComputeJX().

◆ ComputeJtE()

template<class Float >

void pba::ProgramCPU::ComputeJtE	(	size_t	ncam,
		size_t	npt,
		const Float *	pe,
		const Float *	jc,
		const int *	cmap,
		const int *	cmlist,
		const Float *	jp,
		const int *	pmap,
		Float *	v,
		bool	jc_transpose,
		int	mode,
		int	mt1,
		int	mt2
	)

Definition at line 2402 of file SparseBundleCPU.cpp.

References ComputeJtEC(), ComputeJtEP(), and SetVectorZero().

Referenced by pba::SparseBundleCPU< Float >::ComputeJtE(), pba::SparseBundleCPU< Float >::NonlinearOptimizeLM(), pba::SparseBundleCPU< Float >::RunProfileSteps(), pba::SparseBundleCPU< Float >::RunTestIterationLM(), pba::SparseBundleCPU< Float >::SolveNormalEquationPCGB(), and pba::SparseBundleCPU< Float >::SolveNormalEquationPCGX().

◆ ComputeJtE_() [1/2]

template<class Float >

void pba::ProgramCPU::ComputeJtE_	(	size_t	nproj,
		size_t	ncam,
		size_t	npt,
		const Float *	ee,
		Float *	jte,
		const Float *	camera,
		const Float *	point,
		const Float *	ms,
		const int *	jmap,
		bool	intrinsic_fixed,
		int	radial_distortion,
		int	mode
	)

Definition at line 2496 of file SparseBundleCPU.cpp.

References AddScaledVec8(), ALIGN_PTR, JacobianOne(), NULL, POINT_ALIGN, and SetVectorZero().

◆ ComputeJtE_() [2/2]

template<class Float >

void pba::ProgramCPU::ComputeJtE_	(	size_t	nproj,
		size_t	ncam,
		size_t	npt,
		const Float *	ee,
		Float *	jte,
		const Float *	camera,
		const Float *	point,
		const Float *	ms,
		const int *	jmap,
		const int *	cmap,
		const int *	cmlist,
		const int *	pmap,
		const Float *	jp,
		bool	intrinsic_fixed,
		int	radial_distortion,
		int	mode,
		int	mt
	)

Definition at line 2479 of file SparseBundleCPU.cpp.

References ComputeJtEC_(), ComputeJtEP(), and SetVectorZero().

Referenced by pba::SparseBundleCPU< Float >::ComputeJtE().

◆ ComputeJtEC()

template<class Float >

void pba::ProgramCPU::ComputeJtEC	(	size_t	ncam,
		const Float *	pe,
		const Float *	jc,
		const int *	cmap,
		const int *	cmlist,
		Float *	v,
		bool	jc_transpose,
		int	mt
	)

Definition at line 2327 of file SparseBundleCPU.cpp.

References AddScaledVec8(), min(), MYTHREAD, RUN_THREAD, THREAD_NUM_MAX, and WAIT_THREAD.

Referenced by ComputeJtE().

◆ ComputeJtEC_()

template<class Float >

void pba::ProgramCPU::ComputeJtEC_	(	size_t	ncam,
		const Float *	ee,
		Float *	jte,
		const Float *	c,
		const Float *	point,
		const Float *	ms,
		const int *	jmap,
		const int *	cmap,
		const int *	cmlist,
		bool	intrinsic_fixed,
		int	radial_distortion,
		int	mt
	)

Definition at line 2435 of file SparseBundleCPU.cpp.

References AddScaledVec8(), ALIGN_PTR, JacobianOne(), min(), MYTHREAD, NULL, POINT_ALIGN, RUN_THREAD, THREAD_NUM_MAX, and WAIT_THREAD.

Referenced by ComputeJtE_().

◆ ComputeJtEC__PROC()

template<class Float >

void* pba::ProgramCPU::ComputeJtEC__PROC ( ComputeJtEC__STRUCT< Float > * q )

Definition at line 2429 of file SparseBundleCPU.cpp.

◆ ComputeJtEC_PROC()

template<class Float >

void* pba::ProgramCPU::ComputeJtEC_PROC ( ComputeJtEC_STRUCT< Float > * q )

Definition at line 2321 of file SparseBundleCPU.cpp.

◆ ComputeJtEP()

template<class Float >

void pba::ProgramCPU::ComputeJtEP	(	size_t	npt,
		const Float *	pe,
		const Float *	jp,
		const int *	pmap,
		Float *	v,
		int	mt
	)

Definition at line 2370 of file SparseBundleCPU.cpp.

References min(), MYTHREAD, POINT_ALIGN, POINT_ALIGN2, RUN_THREAD, THREAD_NUM_MAX, and WAIT_THREAD.

Referenced by ComputeJtE(), and ComputeJtE_().

◆ ComputeJtEP_PROC()

template<class Float >

void* pba::ProgramCPU::ComputeJtEP_PROC ( ComputeJtEP_STRUCT< Float > * q )

Definition at line 2365 of file SparseBundleCPU.cpp.

◆ ComputeJX()

template<class Float >

void pba::ProgramCPU::ComputeJX	(	size_t	nproj,
		size_t	ncam,
		const Float *	x,
		const Float *	jc,
		const Float *	jp,
		const int *	jmap,
		Float *	jx,
		int	mode,
		int	mt = `2`
	)

Definition at line 2154 of file SparseBundleCPU.cpp.

References ComputeTwoJX(), DotProduct8(), min(), MYTHREAD, POINT_ALIGN, POINT_ALIGN2, RUN_THREAD, THREAD_NUM_MAX, and WAIT_THREAD.

Referenced by pba::SparseBundleCPU< Float >::ComputeJX(), pba::SparseBundleCPU< Float >::RunProfileSteps(), pba::SparseBundleCPU< Float >::RunTestIterationLM(), pba::SparseBundleCPU< Float >::SaveUpdatedSystem(), pba::SparseBundleCPU< Float >::SolveNormalEquationPCGB(), and pba::SparseBundleCPU< Float >::SolveNormalEquationPCGX().

◆ ComputeJX_()

template<class Float >

void pba::ProgramCPU::ComputeJX_	(	size_t	nproj,
		size_t	ncam,
		const Float *	x,
		Float *	jx,
		const Float *	camera,
		const Float *	point,
		const Float *	ms,
		const Float *	sj,
		const int *	jmap,
		bool	intrinsic_fixed,
		int	radial_distortion,
		int	mode,
		int	mt = `16`
	)

Definition at line 2217 of file SparseBundleCPU.cpp.

References ALIGN_PTR, ComputeTwoJX(), DotProduct8(), JacobianOne(), min(), MYTHREAD, NULL, POINT_ALIGN, RUN_THREAD, ScaleJ8(), THREAD_NUM_MAX, and WAIT_THREAD.

Referenced by pba::SparseBundleCPU< Float >::ComputeJX().

◆ ComputeJX__PROC()

template<class Float >

void* pba::ProgramCPU::ComputeJX__PROC ( ComputeJX__STRUCT< Float > * q )

Definition at line 2211 of file SparseBundleCPU.cpp.

◆ ComputeJX_PROC()

template<class Float >

void* pba::ProgramCPU::ComputeJX_PROC ( ComputeJX_STRUCT< Float > * q )

Definition at line 2149 of file SparseBundleCPU.cpp.

◆ ComputeProjection()

template<class Float >

void pba::ProgramCPU::ComputeProjection	(	size_t	nproj,
		const Float *	camera,
		const Float *	point,
		const Float *	ms,
		const int *	jmap,
		Float *	pj,
		int	radial,
		int	mt
	)

Definition at line 1198 of file SparseBundleCPU.cpp.

References min(), MYTHREAD, POINT_ALIGN, RUN_THREAD, THREAD_NUM_MAX, and WAIT_THREAD.

Referenced by pba::SparseBundleCPU< Float >::EvaluateProjection().

◆ ComputeProjection_PROC()

template<class Float >

void* pba::ProgramCPU::ComputeProjection_PROC ( ComputeProjection_STRUCT< Float > * q )

Definition at line 1192 of file SparseBundleCPU.cpp.

◆ ComputeProjectionQ()

template<class Float >

void pba::ProgramCPU::ComputeProjectionQ	(	size_t	nq,
		const Float *	camera,
		const int *	qmap,
		const Float *	wq,
		Float *	pj
	)

Definition at line 1298 of file SparseBundleCPU.cpp.

Referenced by pba::SparseBundleCPU< Float >::EvaluateProjection(), and pba::SparseBundleCPU< Float >::EvaluateProjectionX().

◆ ComputeProjectionX()

template<class Float >

void pba::ProgramCPU::ComputeProjectionX	(	size_t	nproj,
		const Float *	camera,
		const Float *	point,
		const Float *	ms,
		const int *	jmap,
		Float *	pj,
		int	radial,
		int	mt
	)

Definition at line 1257 of file SparseBundleCPU.cpp.

References min(), MYTHREAD, POINT_ALIGN, RUN_THREAD, THREAD_NUM_MAX, and WAIT_THREAD.

Referenced by pba::SparseBundleCPU< Float >::EvaluateProjectionX().

◆ ComputeProjectionX_PROC()

template<class Float >

void* pba::ProgramCPU::ComputeProjectionX_PROC ( ComputeProjectionX_STRUCT< Float > * q )

Definition at line 1251 of file SparseBundleCPU.cpp.

◆ ComputeRSQRT()

template<class Float >

void pba::ProgramCPU::ComputeRSQRT ( avec< Float > & vec )

Definition at line 759 of file SparseBundleCPU.cpp.

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

Referenced by pba::SparseBundleCPU< Float >::PrepareJacobianNormalization().

◆ ComputeSAX()

template<class Float >

void pba::ProgramCPU::ComputeSAX	(	Float	a,
		const avec< Float > &	vec1,
		avec< Float > &	result
	)

Definition at line 828 of file SparseBundleCPU.cpp.

References pba::avec< Float >::begin(), pba::avec< Float >::end(), and result.

Referenced by pba::SparseBundleCPU< Float >::SolveNormalEquationPCGB(), and pba::SparseBundleCPU< Float >::SolveNormalEquationPCGX().

◆ ComputeSAXPY() [1/2]

template<class Float >

void pba::ProgramCPU::ComputeSAXPY	(	Float	a,
		const avec< Float > &	vec1,
		const avec< Float > &	vec2,
		avec< Float > &	result,
		int	mt = `0`
	)

Definition at line 992 of file SparseBundleCPU.cpp.

References AUTO_MT_NUM, ComputeSAXPY(), FLOAT_ALIGN, min(), MYTHREAD, result, RUN_THREAD, THREAD_NUM_MAX, and WAIT_THREAD.

Referenced by pba::SparseBundleCPU< Float >::RunProfileSteps(), pba::SparseBundleCPU< Float >::SolveNormalEquationPCGB(), and pba::SparseBundleCPU< Float >::SolveNormalEquationPCGX().

◆ ComputeSAXPY() [2/2]

template<class Float >

void pba::ProgramCPU::ComputeSAXPY	(	Float	a,
		const Float *	it1,
		const Float *	it2,
		Float *	it3,
		Float *	ite
	)

Definition at line 843 of file SparseBundleCPU.cpp.

Referenced by ComputeSAXPY(), and UpdateCameraPoint().

◆ ComputeSAXPY_PROC()

template<class Float >

void* pba::ProgramCPU::ComputeSAXPY_PROC ( ComputeSAXPY_STRUCT< Float > * q )

Definition at line 987 of file SparseBundleCPU.cpp.

◆ ComputeSQRT()

template<class Float >

void pba::ProgramCPU::ComputeSQRT ( avec< Float > & vec )

Definition at line 752 of file SparseBundleCPU.cpp.

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

Referenced by pba::SparseBundleCPU< Float >::PrepareJacobianNormalization().

◆ ComputeSXYPZ() [1/2]

template<class Float >

void pba::ProgramCPU::ComputeSXYPZ	(	Float	a,
		const avec< Float > &	vec1,
		const avec< Float > &	vec2,
		const avec< Float > &	vec3,
		avec< Float > &	result
	)

Definition at line 969 of file SparseBundleCPU.cpp.

References pba::avec< Float >::begin(), ComputeSXYPZ(), NULL, and result.

Referenced by pba::SparseBundleCPU< Float >::RunProfileSteps(), pba::SparseBundleCPU< Float >::SolveNormalEquationPCGB(), and pba::SparseBundleCPU< Float >::SolveNormalEquationPCGX().

◆ ComputeSXYPZ() [2/2]

template<class Float >

void pba::ProgramCPU::ComputeSXYPZ	(	Float	a,
		const Float *	p1,
		const Float *	p2,
		const Float *	p3,
		Float *	p4,
		Float *	pe
	)

inline

Definition at line 837 of file SparseBundleCPU.cpp.

Referenced by ComputeSXYPZ().

◆ ComputeTwoJX()

template<class Float >

void pba::ProgramCPU::ComputeTwoJX	(	const Float *	jc,
		const Float *	jp,
		const Float *	xc,
		const Float *	xp,
		Float *	jx
	)

inline

Definition at line 951 of file SparseBundleCPU.cpp.

References DotProduct8().

Referenced by ComputeJX(), and ComputeJX_().

◆ ComputeVectorDot()

template<class Float >

double pba::ProgramCPU::ComputeVectorDot	(	const avec< Float > &	vec1,
		const avec< Float > &	vec2
	)

Definition at line 790 of file SparseBundleCPU.cpp.

Referenced by pba::SparseBundleCPU< Float >::RunProfileSteps(), pba::SparseBundleCPU< Float >::RunTestIterationLM(), pba::SparseBundleCPU< Float >::SaveUpdatedSystem(), pba::SparseBundleCPU< Float >::SolveNormalEquationPCGB(), and pba::SparseBundleCPU< Float >::SolveNormalEquationPCGX().

◆ ComputeVectorMax()

template<class Float >

Float pba::ProgramCPU::ComputeVectorMax ( const avec< Float > & vec )

Definition at line 958 of file SparseBundleCPU.cpp.

References pba::avec< Float >::begin(), pba::avec< Float >::end(), fabs(), and max().

Referenced by pba::SparseBundleCPU< Float >::SaveBundleRecord().

◆ ComputeVectorNorm() [1/2]

template<class Float >

double pba::ProgramCPU::ComputeVectorNorm	(	const avec< Float > &	vec,
		int	mt = `0`
	)

Definition at line 1026 of file SparseBundleCPU.cpp.

References AUTO_MT_NUM, FLOAT_ALIGN, min(), MYTHREAD, RUN_THREAD, THREAD_NUM_MAX, and WAIT_THREAD.

◆ ComputeVectorNorm() [2/2]

template<class Float >

void pba::ProgramCPU::ComputeVectorNorm	(	const Float *	p,
		const Float *	pe,
		double *	psum
	)

Definition at line 799 of file SparseBundleCPU.cpp.

Referenced by pba::SparseBundleCPU< Float >::EvaluateDeltaNorm(), pba::SparseBundleCPU< Float >::EvaluateProjection(), pba::SparseBundleCPU< Float >::EvaluateProjectionX(), pba::SparseBundleCPU< Float >::RunProfileSteps(), pba::SparseBundleCPU< Float >::RunTestIterationLM(), pba::SparseBundleCPU< Float >::SaveBundleRecord(), pba::SparseBundleCPU< Float >::SaveUpdatedSystem(), pba::SparseBundleCPU< Float >::SolveNormalEquationPCGB(), and pba::SparseBundleCPU< Float >::SolveNormalEquationPCGX().

◆ ComputeVectorNorm_PROC()

template<class Float >

void* pba::ProgramCPU::ComputeVectorNorm_PROC ( ComputeVectorNorm_STRUCT< Float > * q )

Definition at line 1021 of file SparseBundleCPU.cpp.

◆ ComputeVectorNormW()

template<class Float >

double pba::ProgramCPU::ComputeVectorNormW	(	const avec< Float > &	vec,
		const avec< Float > &	weight
	)

Definition at line 780 of file SparseBundleCPU.cpp.

Referenced by pba::SparseBundleCPU< Float >::RunProfileSteps(), pba::SparseBundleCPU< Float >::SaveUpdatedSystem(), pba::SparseBundleCPU< Float >::SolveNormalEquationPCGB(), and pba::SparseBundleCPU< Float >::SolveNormalEquationPCGX().

◆ ComputeVXY()

template<class Float >

void pba::ProgramCPU::ComputeVXY	(	const avec< Float > &	vec1,
		const avec< Float > &	vec2,
		avec< Float > &	result,
		size_t	part = `0`,
		size_t	skip = `0`
	)

inline

Definition at line 805 of file SparseBundleCPU.cpp.

References pba::avec< Float >::begin(), pba::avec< Float >::end(), and result.

Referenced by pba::SparseBundleCPU< Float >::ComputeJtE(), and pba::SparseBundleCPU< Float >::UpdateCameraPoint().

◆ DotProduct8()

template<class Float >

Float pba::ProgramCPU::DotProduct8	(	const Float *	v1,
		const Float *	v2
	)

inline

Definition at line 946 of file SparseBundleCPU.cpp.

Referenced by ComputeJX(), ComputeJX_(), ComputeTwoJX(), and MultiplyBlockConditionerC().

◆ GetRodriguesRotation()

template<class Float >

void pba::ProgramCPU::GetRodriguesRotation	(	const Float	m[3][3],
		Float	r[3]
	)

Definition at line 1056 of file SparseBundleCPU.cpp.

References fabs().

◆ InvertSymmetricMatrix() [1/2]

template<class T , int n, int m>

void pba::ProgramCPU::InvertSymmetricMatrix	(	T *	a,
		T *	ai
	)

Definition at line 1681 of file SparseBundleCPU.cpp.

◆ InvertSymmetricMatrix() [2/2]

template<class T , int n, int m>

void pba::ProgramCPU::InvertSymmetricMatrix	(	T	a[n][m],
		T	ai[n][m]
	)

Definition at line 1647 of file SparseBundleCPU.cpp.

◆ JacobianOne()

template<class Float >

void pba::ProgramCPU::JacobianOne	(	const Float *	c,
		const Float *	pt,
		const Float *	ms,
		Float *	jxc,
		Float *	jyc,
		Float *	jxp,
		Float *	jyp,
		bool	intrinsic_fixed,
		int	radial_distortion
	)

inline

Definition at line 1358 of file SparseBundleCPU.cpp.

Referenced by ComputeDiagonalBlock_(), ComputeJacobian(), ComputeJtE_(), ComputeJtEC_(), and ComputeJX_().

◆ MemoryCopyA()

template<class Float >

void pba::ProgramCPU::MemoryCopyA	(	const Float *	p,
		const Float *	pe,
		Float *	d
	)

inline

Definition at line 775 of file SparseBundleCPU.cpp.

◆ MemoryCopyB()

template<class Float >

void pba::ProgramCPU::MemoryCopyB	(	const Float *	p,
		const Float *	pe,
		Float *	d
	)

inline

Definition at line 941 of file SparseBundleCPU.cpp.

Referenced by ComputeJacobian().

◆ MultiplyBlockConditioner()

template<class Float >

void pba::ProgramCPU::MultiplyBlockConditioner	(	int	ncam,
		int	npoint,
		const Float *	blocksv,
		const Float *	vec,
		Float *	resultv,
		int	radial,
		int	mode,
		int	mt1,
		int	mt2
	)

Definition at line 2126 of file SparseBundleCPU.cpp.

References AUTO_MT_NUM, MultiplyBlockConditionerC(), and MultiplyBlockConditionerP().

Referenced by pba::SparseBundleCPU< Float >::ApplyBlockPC().

◆ MultiplyBlockConditionerC()

template<class Float >

void pba::ProgramCPU::MultiplyBlockConditionerC	(	int	ncam,
		const Float *	bi,
		const Float *	x,
		Float *	vx,
		int	vn,
		int	mt = `0`
	)

Definition at line 2066 of file SparseBundleCPU.cpp.

References DotProduct8(), min(), MYTHREAD, RUN_THREAD, THREAD_NUM_MAX, and WAIT_THREAD.

Referenced by MultiplyBlockConditioner().

◆ MultiplyBlockConditionerC_PROC()

template<class Float >

void* pba::ProgramCPU::MultiplyBlockConditionerC_PROC ( MultiplyBlockConditionerC_STRUCT< Float > * q )

Definition at line 2061 of file SparseBundleCPU.cpp.

◆ MultiplyBlockConditionerP()

template<class Float >

void pba::ProgramCPU::MultiplyBlockConditionerP	(	int	npoint,
		const Float *	bi,
		const Float *	x,
		Float *	vx,
		int	mt = `0`
	)

Definition at line 2101 of file SparseBundleCPU.cpp.

References min(), MYTHREAD, POINT_ALIGN, RUN_THREAD, THREAD_NUM_MAX, and WAIT_THREAD.

Referenced by MultiplyBlockConditioner().

◆ MultiplyBlockConditionerP_PROC()

template<class Float >

void* pba::ProgramCPU::MultiplyBlockConditionerP_PROC ( MultiplyBlockConditionerP_STRUCT< Float > * q )

Definition at line 2096 of file SparseBundleCPU.cpp.

◆ ScaleJ8()

template<class Float >

void pba::ProgramCPU::ScaleJ8	(	Float *	jcx,
		Float *	jcy,
		const Float *	sj
	)

Definition at line 815 of file SparseBundleCPU.cpp.

Referenced by ComputeDiagonalBlock_(), ComputeJacobian(), and ComputeJX_().

◆ SetVectorZero() [1/2]

template<class Float >

void pba::ProgramCPU::SetVectorZero ( avec< Float > & vec )

inline

Definition at line 770 of file SparseBundleCPU.cpp.

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

Referenced by pba::SparseBundleCPU< Float >::RunProfileSteps().

◆ SetVectorZero() [2/2]

template<class Float >

void pba::ProgramCPU::SetVectorZero	(	Float *	p,
		Float *	pe
	)

inline

Definition at line 766 of file SparseBundleCPU.cpp.

Referenced by ComputeDiagonal(), ComputeDiagonalBlock(), ComputeDiagonalBlock_(), ComputeDiagonalBlockC(), ComputeJtE(), and ComputeJtE_().

◆ UncompressRodriguesRotation()

template<class Float >

void pba::ProgramCPU::UncompressRodriguesRotation	(	const Float	r[3],
		Float	m[]
	)

Definition at line 1117 of file SparseBundleCPU.cpp.

Referenced by UpdateCamera().

◆ UpdateCamera()

template<class Float >

void pba::ProgramCPU::UpdateCamera	(	int	ncam,
		const avec< Float > &	camera,
		const avec< Float > &	delta,
		avec< Float > &	new_camera
	)

Definition at line 1132 of file SparseBundleCPU.cpp.

References max(), and UncompressRodriguesRotation().

Referenced by ecvDisplayTools::Update(), and UpdateCameraPoint().

◆ UpdateCameraPoint()

template<class Float >

void pba::ProgramCPU::UpdateCameraPoint	(	int	ncam,
		const avec< Float > &	camera,
		const avec< Float > &	point,
		avec< Float > &	delta,
		avec< Float > &	new_camera,
		avec< Float > &	new_point,
		int	mode,
		int	mt
	)

Definition at line 1165 of file SparseBundleCPU.cpp.

References pba::avec< Float >::begin(), ComputeSAXPY(), pba::avec< Float >::set(), and UpdateCamera().

Referenced by pba::SparseBundleCPU< Float >::NonlinearOptimizeLM(), pba::SparseBundleCPU< Float >::RunProfileSteps(), pba::SparseBundleCPU< Float >::RunTestIterationLM(), and pba::SparseBundleCPU< Float >::UpdateCameraPoint().

Variable Documentation

◆ __num_cpu_cores

int pba::ProgramCPU::__num_cpu_cores = 0

Definition at line 589 of file SparseBundleCPU.cpp.

Referenced by pba::SparseBundleCPU< Float >::SparseBundleCPU().

Classes

Functions

Variables

Function Documentation

◆ AddBlockJtJ()

◆ AddScaledVec8()

◆ ComputeDiagonal()

◆ ComputeDiagonalAddQ()

◆ ComputeDiagonalBlock()

◆ ComputeDiagonalBlock_()

◆ ComputeDiagonalBlockC()

◆ ComputeDiagonalBlockC_PROC()

◆ ComputeDiagonalBlockP()

◆ ComputeDiagonalBlockP_PROC()

◆ ComputeJacobian()

◆ ComputeJacobian_PROC()

◆ ComputeJQtEC()

◆ ComputeJQX()

◆ ComputeJtE()

◆ ComputeJtE_() [1/2]

◆ ComputeJtE_() [2/2]

◆ ComputeJtEC()

◆ ComputeJtEC_()

◆ ComputeJtEC__PROC()

◆ ComputeJtEC_PROC()

◆ ComputeJtEP()

◆ ComputeJtEP_PROC()

◆ ComputeJX()

◆ ComputeJX_()

◆ ComputeJX__PROC()

◆ ComputeJX_PROC()

◆ ComputeProjection()

◆ ComputeProjection_PROC()

◆ ComputeProjectionQ()

◆ ComputeProjectionX()

◆ ComputeProjectionX_PROC()

◆ ComputeRSQRT()

◆ ComputeSAX()

◆ ComputeSAXPY() [1/2]

◆ ComputeSAXPY() [2/2]

◆ ComputeSAXPY_PROC()

◆ ComputeSQRT()

◆ ComputeSXYPZ() [1/2]

◆ ComputeSXYPZ() [2/2]

◆ ComputeTwoJX()

◆ ComputeVectorDot()

◆ ComputeVectorMax()

◆ ComputeVectorNorm() [1/2]

◆ ComputeVectorNorm() [2/2]

◆ ComputeVectorNorm_PROC()

◆ ComputeVectorNormW()

◆ ComputeVXY()

◆ DotProduct8()

◆ GetRodriguesRotation()

◆ InvertSymmetricMatrix() [1/2]

◆ InvertSymmetricMatrix() [2/2]

◆ JacobianOne()

◆ MemoryCopyA()

◆ MemoryCopyB()

◆ MultiplyBlockConditioner()

◆ MultiplyBlockConditionerC()

◆ MultiplyBlockConditionerC_PROC()

◆ MultiplyBlockConditionerP()

◆ MultiplyBlockConditionerP_PROC()

◆ ScaleJ8()

◆ SetVectorZero() [1/2]

◆ SetVectorZero() [2/2]

◆ UncompressRodriguesRotation()

◆ UpdateCamera()

◆ UpdateCameraPoint()

Variable Documentation

◆ __num_cpu_cores