toa_3D_bundle_with_smoother.py 文件源码

def toa_3D_bundle_with_smoother(d, x, y, inliers=0, opts=[]):
    (I, J) = inliers.nonzero()

    ind = np.ravel_multi_index((I, J), dims=d.shape, order='F')
    D = d[ind]

    xopt, yopt, res, jac = bundletoa(D, I, J, x, y, 0, opts)

    return xopt, yopt, res, jac