---------------------------------------- FetzerFocalLengthCost ---------------------------------------- Below are assets for DMAP by Philipp Lindenberger
| 45 | // ---------------------------------------- |
| 46 | // Below are assets for DMAP by Philipp Lindenberger |
| 47 | inline Eigen::Vector4d fetzer_d(const Eigen::Vector3d& ai, |
| 48 | const Eigen::Vector3d& bi, |
| 49 | const Eigen::Vector3d& aj, |
| 50 | const Eigen::Vector3d& bj, |
| 51 | const int u, |
| 52 | const int v) { |
| 53 | Eigen::Vector4d d; |
| 54 | d.setZero(); |
| 55 | d(0) = ai(u) * aj(v) - ai(v) * aj(u); |
| 56 | d(1) = ai(u) * bj(v) - ai(v) * bj(u); |
| 57 | d(2) = bi(u) * aj(v) - bi(v) * aj(u); |
| 58 | d(3) = bi(u) * bj(v) - bi(v) * bj(u); |
| 59 | return d; |
| 60 | } |
| 61 | |
| 62 | inline std::array<Eigen::Vector4d, 3> fetzer_ds( |
| 63 | const Eigen::Matrix3d& i1_G_i0) { |