fitbenchmarking.parsing.bal_parser module

This file implements a parser for the Bundle Adjustment problem in the Large (BAL) dataset.

class fitbenchmarking.parsing.bal_parser.BALParser(filename, options)

Bases: FitbenchmarkParser

Parser for a Bundle Adjustment problem definition file.

bundle_adjustment_sparsity()

Jacobian sparsity structure for BAL problems

fun(params)

Compute projected points

params contains camera parameters and 3-D coordinates.

static project(points, camera_params)

Convert 3-D points to 2-D by projecting onto images.

read_bal_data(file_name)

Read in datafile

static rotate(points, rot_vecs)

Rotate points by given rotation vectors.

Rodrigues’ rotation formula is used.