Function ComputeProjectionQ

lib/PBA/SparseBundleCPU.cpp:1298–1306

template <class Float>
void ComputeProjectionQ(size_t nq, const Float* camera, const int* qmap,
                        const Float* wq, Float* pj) {
  for (size_t i = 0; i < nq; ++i, qmap += 2, pj += 2, wq += 2) {
    const Float* c1 = camera + qmap[0] * 16;
    const Float* c2 = camera + qmap[1] * 16;
    pj[0] = -(c1[0] - c2[0]) * wq[0];
    pj[1] = -(c1[13] - c2[13]) * wq[1];
  }
}

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