Output archive using a binary stream to write. ! Integer values (short, int, long) are stored as 32 bit entities. * Hence binary serialization is

Serialize to a blob (contiguous memory)

This structure provides some helper functions common to all metric BAs

This structure holds the residuals, weights and Jacobian for a particular cost function.

Normalizes the 3D points and camera centers to have zero mean and unit covariance.

Normalized the camera intrinsics and measurements to have unit focal length.

Dense (and simple) Levenberg-Marquardt optimizer.

! Although it is called StereoMetricBundleOptimizer, it really optimized general * rigidly moving multi-camera systems (binocular, trinocular etc.