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@@ -56,8 +56,8 @@ Modeling
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resort, where it is simply not possible to write a templated
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implementation of the cost function.
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- In many cases where it is not possible to do analytic or automatic
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- differentiation of the entire cost function. But it is generally
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+ In many cases it is not possible to do analytic or automatic
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+ differentiation of the entire cost function, but it is generally
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the case that it is possible to decompose the cost function into
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parts that need to be numerically differentiated and parts that can
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be automatically or analytically differentiated.
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@@ -76,8 +76,8 @@ Modeling
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function is the Coordinate transformation between the `ECEF
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<http://en.wikipedia.org/wiki/ECEF>`_ and the `WGS84
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<http://en.wikipedia.org/wiki/World_Geodetic_System>`_ where the
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- conversion from WGS84 to ECEF is analytic, but the conversion back
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- to ECEF uses an iterative algorithm. So how do you compute the
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+ conversion from WGS84 from ECEF is analytic, but the conversion
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+ back to ECEF uses an iterative algorithm. So how do you compute the
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derivative of the ECEF to WGS84 transformation?
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One obvious approach would be to numerically
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@@ -147,7 +147,7 @@ Solving
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5. For large bundle adjustment problems (a few thousand cameras or
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more) use the ``ITERATIVE_SCHUR`` solver. There are a number of
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- preconditioners choices here. ``SCHUR_JACOBI`` offers an
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+ preconditioner choices here. ``SCHUR_JACOBI`` offers an
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excellent balance of speed and accuracy. This is also the
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recommended option if you are solving medium sized problems for
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which ``DENSE_SCHUR`` is too slow but ``SuiteSparse`` is not
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Sameer Agarwal