Buffers required for equation solving (AtA * x = Atb) in triangulation Since total NUM_TRACKS_TOGATHER number of tracks are worked together hence for all the tracks these matrix are formed before calling the equation solve kernel.
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Buffers required for equation solving (AtA * x = Atb) in triangulation Since total NUM_TRACKS_TOGATHER number of tracks are worked together hence for all the tracks these matrix are formed before calling the equation solve kernel.
matrixAtA : Data matrix multiplied with its transpose, each matrix of size 3x3. matrixAtb : Right Column matrix multiplied by transpose of A, Size of each matrix is 3x1 weights : Weights for each point of a track from which matrix A is formed. Before forming matrix A, matrix A is weighted with corresponding weights.