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Refine 3-D points using structure-only bundle adjustment

returns the refined 3-D points that minimize reprojection errors.`xyzRefinedPoints`

= bundleAdjustmentStructure(`xyzPoints`

,`pointTracks`

,`cameraPoses`

,`intrinsics`

)

The structure-only refinement procedure is a special case of bundle adjustment with camera poses fixed during optimization. The 3-D points and the camera poses are placed in the same world coordinate system.

`[`

additionally returns an `xyzRefinedPoints`

,`reprojectionErrors`

]
= bundleAdjustmentStructure(___)*N*-element vector containing the mean reprojection
error for each 3-D world point using the arguments from the previous syntax.

`[___] = bundleAdjustmentStructure(___,`

uses additional options specified by one or more `Name,Value`

)`Name,Value`

pair
arguments. Unspecified properties have default values.

[1] Lourakis, M.I.A. and A.A. Argyros. "SBA: A Software Package for Generic Sparse
Bundle Adjustment". *ACM Transactions on Mathematical Software.* Volume
36, Issue 1. March 2009.

[2] Hartley, R. and A. Zisserman. "Multiple View Geometry in Computer Vision".
*Cambridge University Press.* 2003

[3] Triggs, B., P. McLauchlan, R. Hartley, and A. Fitzgibbon. "Bundle Adjustment: A
Modern Synthesis". *Proceedings of the International Workshop on Vision Algorithms:
Theory and Practice.* Pages 298 — 372. Springer-Verlag. 1999.