Refined Translation in Ceres

[Asad Abbas]

Dear All,

 Can you please tell me how to get refined translation,please be as detailed as possible tried to locate it in balProblem.cc and bundleAdjuster.cc but could't find. Please let me know.

Yours Truly,

[Sameer Agarwal]

for the i^th camera

camera() + i * camera_block_size() gives you access to the parameter block corresponding to the camera.

the camera block itself is laid out as rotation followed by the translation. 

if use_quaternions was false

then the translation vector is

camera() + i * camera_block_size() + 3

and  if it is true, then it is

camera() + i * camera_block_size() +  4

Sameer

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