* sets the initial estimate from an array of double * @return true on success */

Set up world-to-image projection matrix (w2i), assumes camera parameters are filled.

sets the node to the origin (used in the multilevel stuff)

set transform from world to cam coords

* Inverts the diagonal blocks of A * @returns false if not defined. */

return the serialized sparse matrix

if external stop flag is given, return its state. False otherwise

transforms

update from the linear solution defined in se3quat