1 files changed, 68 insertions, 0 deletions
diff --git a/jni/feature_stab/db_vlvm/db_bundle.h b/jni/feature_stab/db_vlvm/db_bundle.h
new file mode 100644
index 000000000..e4fb8db2c
--- /dev/null
+++ b/jni/feature_stab/db_vlvm/db_bundle.h
@@ -0,0 +1,68 @@
+/*
+ * Copyright (C) 2011 The Android Open Source Project
+ *
+ * Licensed under the Apache License, Version 2.0 (the "License");
+ * you may not use this file except in compliance with the License.
+ * You may obtain a copy of the License at
+ *
+ *      http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS,
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ */
+
+/* $Id: db_bundle.h,v 1.2 2011/06/17 14:03:30 mbansal Exp $ */
+
+#ifndef DB_BUNDLE_H
+#define DB_BUNDLE_H
+
+
+/*****************************************************************
+*    Lean and mean begins here                                   *
+*****************************************************************/
+/*!
+ * \defgroup LMBundle (LM) Bundle adjustment utilities (a.k.a. Levenberg-Marquardt algorithm)
+ */
+/*\{*/
+
+#include "db_utilities.h"
+
+/*!
+Solve for update dx such that diagmult(1+lambda,transpose(J)%J)%dx= -Jtf
+using only upper half of JtJ, destroying lower half below diagonal in the process
+dimension is n and d should point to n allocated doubles of scratch memory
+*/
+inline void db_Compute_dx(double *dx,double **JtJ,double *min_Jtf,double lambda,double *d,int n)
+{
+    int i;
+    double opl;
+
+    opl=1.0+lambda;
+    for(i=0;i<n;i++) d[i]=JtJ[i][i]*opl;
+
+    db_CholeskyDecompSeparateDiagonal(JtJ,d,n);
+    db_CholeskyBacksub(dx,JtJ,d,n,min_Jtf);
+}
+
+/*!
+Solve for update dx such that diagmult(1+lambda,transpose(J)%J)%dx= -Jtf
+using only upper half of JtJ, destroying lower half below diagonal in the process
+*/
+inline void db_Compute_dx_3x3(double dx[3],double JtJ[9],const double min_Jtf[3],double lambda)
+{
+    double d[3],opl;
+
+    opl=1.0+lambda;
+    d[0]=JtJ[0]*opl;
+    d[1]=JtJ[4]*opl;
+    d[2]=JtJ[8]*opl;
+    db_CholeskyDecomp3x3SeparateDiagonal(JtJ,d);
+    db_CholeskyBacksub3x3(dx,JtJ,d,min_Jtf);
+}
+
+/*\}*/
+
+#endif /* DB_BUNDLE_H */