code wiki / _hdl_build / nx_bundleadjust_gate.nx
nx_bundleadjust_gate.nx
buildroot/runtime/_hdl_build/nx_bundleadjust_gate.nx
about
nx_bundleadjust_gate.nx -- benchmark pose refinement (cadtwin P1, the fix for 8-point estimation precision).
Take the TRUE two-view pose, PERTURB it (8deg rotation + translation noise) = a bad initial estimate, then
COORDINATE-DESCENT refine on reprojection error -> converge back to the true pose (cost -> floor, Frobenius(R)
-> small, t-direction recovered). This is exactly what turns the imprecise 8-point estimate into metric
accuracy (real-SfM bundle adjustment). expect_exit: 0 license_tier: ORIGINAL
dependencies 1 imports · 0 importers
imports: nx_bundleadjust.nx
imported by: nobody (leaf or entry point)
call flow from main pre-order; caps 40 nodes / depth 6 declared; ↻ = already shown
structs
| none |
consts
| none |
functions
| 8 | func bg_puts(s: *u8) -> i64 { var n: i64 = 0; while s[n] != (0 as u8) { n = n + 1 } sys_write(1, s, n); return 0 } |
| 9 | func bg_putn(v: i64) -> i64 |
| 22 | func bg_tooth(name: *u8, pass: i64, fails: *i64) -> i64 |
| 29 | func bg_proj1(X0: i64, X1: i64, X2: i64, o: *i64) -> i64 { if X2 == 0 { o[0] = 0; o[1] = 0; return 0 } o[0] = (X0 * BA_Q) / X2; o[1] = (X1 * BA_Q) / X2; return 0 } called by 1: main |
| 30 | func bg_proj2(R: *i64, t: *i64, X0: i64, X1: i64, X2: i64, o: *i64) -> i64 called by 1: main |
| 38 | func main() -> i64 |