Lines Matching refs:jtj
551 static inline void doJacobiScaling(BlockSparseMat<double, 6, 6>& jtj, std::vector<double>& jtb, con… in doJacobiScaling() argument
554 for (auto& ijv : jtj.ijValue) in doJacobiScaling()
615 BlockSparseMat<double, 6, 6> jtj(nVarNodes); in optimize() local
657 jtj.clear(); in optimize()
698 jtj.refBlock(srcPlace, srcPlace) += sj.t() * sj; in optimize()
712 jtj.refBlock(dstPlace, dstPlace) += tj.t() * tj; in optimize()
724 jtj.refBlock(srcPlace, dstPlace) += sjttj; in optimize()
725 jtj.refBlock(dstPlace, srcPlace) += sjttj.t(); in optimize()
741 double ds = sqrt(jtj.valElem(i, i)) + 1.0; in optimize()
746 doJacobiScaling(jtj, jtb, di); in optimize()
760 diag[i] = jtj.valElem(i, i); in optimize()
777 jtj.refElem(i, i) = v + ld; in optimize()
784 bool solved = jtj.sparseSolve(jtb, x, false); in optimize()