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lev_marq.c File Reference

#include <gandalf/vision/lev_marq.h>
#include <gandalf/common/allocate.h>
#include <gandalf/linalg/mat_symmetric.h>
#include <gandalf/common/misc_error.h>

Functions

Gan_LevMarqStructgan_lev_marq_form (Gan_LevMarqStruct *lm)
 Forms a Levenberg-Marquardt structure.

Gan_LevMarqObsgan_lev_marq_obs_h (Gan_LevMarqStruct *lm, Gan_Vector *z, void *zdata, Gan_SquMatrix *Ni, Gan_LevMarqObsFunc_h obs_func)
 Passes an observation to a Levenberg-Marquardt structure.

Gan_LevMarqObsgan_lev_marq_obs_h_robust (Gan_LevMarqStruct *lm, Gan_Vector *z, void *zdata, Gan_SquMatrix *Ni, Gan_LevMarqObsFunc_h obs_func, double var_scale, double chi2)
 Passes a robust observation to a Levenberg-Marquardt structure.

Gan_LevMarqObsgan_lev_marq_obs_F (Gan_LevMarqStruct *lm, Gan_Vector *z, void *zdata, Gan_SquMatrix *Ni, Gan_LevMarqObsFunc_F obs_func)
 Passes an observation to a Levenberg-Marquardt structure.

Gan_Bool gan_lev_marq_init (Gan_LevMarqStruct *lm, Gan_LevMarqInitFunc init_func, void *data, double *residualp)
 Initialise Levenberg-Marquardt algorithm.

Gan_Bool gan_lev_marq_iteration (Gan_LevMarqStruct *lm, double lambda, double *residualp)
 Applies Levenberg-Marquardt iteration.

Gan_Vectorgan_lev_marq_get_x (Gan_LevMarqStruct *lm)
 Returns state of Levenberg-Marquardt minimisation.

Gan_SquMatrixgan_lev_marq_get_P (Gan_LevMarqStruct *lm)
 Returns state covariance of Levenberg-Marquardt minimisation.

void gan_lev_marq_free (Gan_LevMarqStruct *lm)
 Frees a Levenberg-Marquardt structure.


Detailed Description

Module: Levenberg-Marquardt non-linear minimisation algorithm

Part of: Gandalf Library

Revision: Last edited: Author:

Copyright: (c) 2000 Imagineer Software Limited


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