bundle block adjustment with 3d natural cubic splines

+ fu ( w2 31 (X i (t) − X C ) + s 32 (Y i (t) − Y C ) + s 33 (Z i (t) − Z C )})s ij are the elements of ∂RT∂ϕM 6 = − fvwM 7 = − f w r 11 + fuw r 2 31M 8 = − f w r 11t + fuw r 31t2M 9 = − f w r 11t 2 + fuw r 31t 22M 10 = − f w r 11t 3 + fuw 2 r 31t 3M 11 = − f w r 12 + fuw 2 r 32M 12 = − f w r 12t + fuw 2 r 32tM 13 = − f w r 12t 2 + fuw 2 r 32t 2M 14 = − f w r 12t 3 + fuw 2 r 32t 3M 15 = − f w r 13 + fuw 2 r 33M 16 = − f w r 13t + fuw 2 r 33tM 17 = − f w r 13t 2 + fuw 2 r 33t 2M 18 = − f w r 13t 3 + fuw 2 r 33t 3M 19 = − f w {( a i1 + 2a i2 t + 3a i3 t 2) r 11 + ( b i1 + 2b i2 t + 3b i3 t 2) r 12+ ( c i1 + 2c i2 t + 3c i3 t 2) r 13 } + fuw 2 {( a i1 + 2a i2 t + 3a i3 t 2) r 31+ ( b i1 + 2b i2 t + 3b i3 t 2) r 32 + ( c i1 + 2c i2 t + 3c i3 t 2) r 33 }N 1 = f w r 21 − fvw 2 r 31N 2 = f w r 22 − fvw 2 r 32N 3 = f w r 23 − fvw 2 r 33101