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-rw-r--r--jni/feature_stab/db_vlvm/db_rob_image_homography.cpp1082
1 files changed, 0 insertions, 1082 deletions
diff --git a/jni/feature_stab/db_vlvm/db_rob_image_homography.cpp b/jni/feature_stab/db_vlvm/db_rob_image_homography.cpp
deleted file mode 100644
index 82dec0cbe..000000000
--- a/jni/feature_stab/db_vlvm/db_rob_image_homography.cpp
+++ /dev/null
@@ -1,1082 +0,0 @@
-/*
- * 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_rob_image_homography.cpp,v 1.2 2011/06/17 14:03:31 mbansal Exp $ */
-
-#include "db_utilities.h"
-#include "db_rob_image_homography.h"
-#include "db_bundle.h"
-
-
-
-/*****************************************************************
-* Lean and mean begins here *
-*****************************************************************/
-
-#include "db_image_homography.h"
-
-#ifdef _VERBOSE_
-#include <iostream>
-using namespace std;
-#endif /*VERBOSE*/
-
-inline double db_RobImageHomography_Cost(double H[9],int point_count,double *x_i,double *xp_i,double one_over_scale2)
-{
- int c;
- double back,acc,*x_i_temp,*xp_i_temp;
-
- for(back=0.0,c=0;c<point_count;)
- {
- /*Take log of product of ten reprojection
- errors to reduce nr of expensive log operations*/
- if(c+9<point_count)
- {
- x_i_temp=x_i+(c<<1);
- xp_i_temp=xp_i+(c<<1);
-
- acc=db_ExpCauchyInhomogenousHomographyError(xp_i_temp,H,x_i_temp,one_over_scale2);
- acc*=db_ExpCauchyInhomogenousHomographyError(xp_i_temp+2,H,x_i_temp+2,one_over_scale2);
- acc*=db_ExpCauchyInhomogenousHomographyError(xp_i_temp+4,H,x_i_temp+4,one_over_scale2);
- acc*=db_ExpCauchyInhomogenousHomographyError(xp_i_temp+6,H,x_i_temp+6,one_over_scale2);
- acc*=db_ExpCauchyInhomogenousHomographyError(xp_i_temp+8,H,x_i_temp+8,one_over_scale2);
- acc*=db_ExpCauchyInhomogenousHomographyError(xp_i_temp+10,H,x_i_temp+10,one_over_scale2);
- acc*=db_ExpCauchyInhomogenousHomographyError(xp_i_temp+12,H,x_i_temp+12,one_over_scale2);
- acc*=db_ExpCauchyInhomogenousHomographyError(xp_i_temp+14,H,x_i_temp+14,one_over_scale2);
- acc*=db_ExpCauchyInhomogenousHomographyError(xp_i_temp+16,H,x_i_temp+16,one_over_scale2);
- acc*=db_ExpCauchyInhomogenousHomographyError(xp_i_temp+18,H,x_i_temp+18,one_over_scale2);
- c+=10;
- }
- else
- {
- for(acc=1.0;c<point_count;c++)
- {
- acc*=db_ExpCauchyInhomogenousHomographyError(xp_i+(c<<1),H,x_i+(c<<1),one_over_scale2);
- }
- }
- back+=log(acc);
- }
- return(back);
-}
-
-inline double db_RobImageHomography_Statistics(double H[9],int point_count,double *x_i,double *xp_i,double one_over_scale2,db_Statistics *stat,double thresh=DB_OUTLIER_THRESHOLD)
-{
- int c,i;
- double t2,frac;
-
- t2=thresh*thresh;
- for(i=0,c=0;c<point_count;c++)
- {
- i+=(db_SquaredInhomogenousHomographyError(xp_i+(c<<1),H,x_i+(c<<1))*one_over_scale2<=t2)?1:0;
- }
- frac=((double)i)/((double)(db_maxi(point_count,1)));
-
-#ifdef _VERBOSE_
- std::cout << "Inlier Percentage RobImageHomography: " << frac*100.0 << "% out of " << point_count << " constraints" << std::endl;
-#endif /*_VERBOSE_*/
-
- if(stat)
- {
- stat->nr_points=point_count;
- stat->one_over_scale2=one_over_scale2;
- stat->nr_inliers=i;
- stat->inlier_fraction=frac;
-
- stat->cost=db_RobImageHomography_Cost(H,point_count,x_i,xp_i,one_over_scale2);
- stat->model_dimension=0;
- /*stat->nr_parameters=;*/
-
- stat->lambda1=log(4.0);
- stat->lambda2=log(4.0*((double)db_maxi(1,stat->nr_points)));
- stat->lambda3=10.0;
- stat->gric=stat->cost+stat->lambda1*stat->model_dimension*((double)stat->nr_points)+stat->lambda2*((double)stat->nr_parameters);
- stat->inlier_evidence=((double)stat->nr_inliers)-stat->lambda3*((double)stat->nr_parameters);
- }
-
- return(frac);
-}
-
-/*Compute min_Jtf and upper right of JtJ. Return cost.*/
-inline double db_RobImageHomography_Jacobians(double JtJ[81],double min_Jtf[9],double H[9],int point_count,double *x_i,double *xp_i,double one_over_scale2)
-{
- double back,Jf_dx[18],f[2],temp,temp2;
- int i;
-
- db_Zero(JtJ,81);
- db_Zero(min_Jtf,9);
- for(back=0.0,i=0;i<point_count;i++)
- {
- /*Compute reprojection error vector and its Jacobian
- for this point*/
- db_DerivativeCauchyInhomHomographyReprojection(Jf_dx,f,xp_i+(i<<1),H,x_i+(i<<1),one_over_scale2);
- /*Perform
- min_Jtf-=Jf_dx*f[0] and
- min_Jtf-=(Jf_dx+9)*f[1] to accumulate -Jt%f*/
- db_RowOperation9(min_Jtf,Jf_dx,f[0]);
- db_RowOperation9(min_Jtf,Jf_dx+9,f[1]);
- /*Accumulate upper right of JtJ with outer product*/
- temp=Jf_dx[0]; temp2=Jf_dx[9];
- JtJ[0]+=temp*Jf_dx[0]+temp2*Jf_dx[9];
- JtJ[1]+=temp*Jf_dx[1]+temp2*Jf_dx[10];
- JtJ[2]+=temp*Jf_dx[2]+temp2*Jf_dx[11];
- JtJ[3]+=temp*Jf_dx[3]+temp2*Jf_dx[12];
- JtJ[4]+=temp*Jf_dx[4]+temp2*Jf_dx[13];
- JtJ[5]+=temp*Jf_dx[5]+temp2*Jf_dx[14];
- JtJ[6]+=temp*Jf_dx[6]+temp2*Jf_dx[15];
- JtJ[7]+=temp*Jf_dx[7]+temp2*Jf_dx[16];
- JtJ[8]+=temp*Jf_dx[8]+temp2*Jf_dx[17];
- temp=Jf_dx[1]; temp2=Jf_dx[10];
- JtJ[10]+=temp*Jf_dx[1]+temp2*Jf_dx[10];
- JtJ[11]+=temp*Jf_dx[2]+temp2*Jf_dx[11];
- JtJ[12]+=temp*Jf_dx[3]+temp2*Jf_dx[12];
- JtJ[13]+=temp*Jf_dx[4]+temp2*Jf_dx[13];
- JtJ[14]+=temp*Jf_dx[5]+temp2*Jf_dx[14];
- JtJ[15]+=temp*Jf_dx[6]+temp2*Jf_dx[15];
- JtJ[16]+=temp*Jf_dx[7]+temp2*Jf_dx[16];
- JtJ[17]+=temp*Jf_dx[8]+temp2*Jf_dx[17];
- temp=Jf_dx[2]; temp2=Jf_dx[11];
- JtJ[20]+=temp*Jf_dx[2]+temp2*Jf_dx[11];
- JtJ[21]+=temp*Jf_dx[3]+temp2*Jf_dx[12];
- JtJ[22]+=temp*Jf_dx[4]+temp2*Jf_dx[13];
- JtJ[23]+=temp*Jf_dx[5]+temp2*Jf_dx[14];
- JtJ[24]+=temp*Jf_dx[6]+temp2*Jf_dx[15];
- JtJ[25]+=temp*Jf_dx[7]+temp2*Jf_dx[16];
- JtJ[26]+=temp*Jf_dx[8]+temp2*Jf_dx[17];
- temp=Jf_dx[3]; temp2=Jf_dx[12];
- JtJ[30]+=temp*Jf_dx[3]+temp2*Jf_dx[12];
- JtJ[31]+=temp*Jf_dx[4]+temp2*Jf_dx[13];
- JtJ[32]+=temp*Jf_dx[5]+temp2*Jf_dx[14];
- JtJ[33]+=temp*Jf_dx[6]+temp2*Jf_dx[15];
- JtJ[34]+=temp*Jf_dx[7]+temp2*Jf_dx[16];
- JtJ[35]+=temp*Jf_dx[8]+temp2*Jf_dx[17];
- temp=Jf_dx[4]; temp2=Jf_dx[13];
- JtJ[40]+=temp*Jf_dx[4]+temp2*Jf_dx[13];
- JtJ[41]+=temp*Jf_dx[5]+temp2*Jf_dx[14];
- JtJ[42]+=temp*Jf_dx[6]+temp2*Jf_dx[15];
- JtJ[43]+=temp*Jf_dx[7]+temp2*Jf_dx[16];
- JtJ[44]+=temp*Jf_dx[8]+temp2*Jf_dx[17];
- temp=Jf_dx[5]; temp2=Jf_dx[14];
- JtJ[50]+=temp*Jf_dx[5]+temp2*Jf_dx[14];
- JtJ[51]+=temp*Jf_dx[6]+temp2*Jf_dx[15];
- JtJ[52]+=temp*Jf_dx[7]+temp2*Jf_dx[16];
- JtJ[53]+=temp*Jf_dx[8]+temp2*Jf_dx[17];
- temp=Jf_dx[6]; temp2=Jf_dx[15];
- JtJ[60]+=temp*Jf_dx[6]+temp2*Jf_dx[15];
- JtJ[61]+=temp*Jf_dx[7]+temp2*Jf_dx[16];
- JtJ[62]+=temp*Jf_dx[8]+temp2*Jf_dx[17];
- temp=Jf_dx[7]; temp2=Jf_dx[16];
- JtJ[70]+=temp*Jf_dx[7]+temp2*Jf_dx[16];
- JtJ[71]+=temp*Jf_dx[8]+temp2*Jf_dx[17];
- temp=Jf_dx[8]; temp2=Jf_dx[17];
- JtJ[80]+=temp*Jf_dx[8]+temp2*Jf_dx[17];
-
- /*Add square-sum to cost*/
- back+=db_sqr(f[0])+db_sqr(f[1]);
- }
-
- return(back);
-}
-
-/*Compute min_Jtf and upper right of JtJ. Return cost*/
-inline double db_RobCamRotation_Jacobians(double JtJ[9],double min_Jtf[3],double H[9],int point_count,double *x_i,double *xp_i,double one_over_scale2)
-{
- double back,Jf_dx[6],f[2];
- int i,j;
-
- db_Zero(JtJ,9);
- db_Zero(min_Jtf,3);
- for(back=0.0,i=0;i<point_count;i++)
- {
- /*Compute reprojection error vector and its Jacobian
- for this point*/
- j=(i<<1);
- db_DerivativeCauchyInhomRotationReprojection(Jf_dx,f,xp_i+j,H,x_i+j,one_over_scale2);
- /*Perform
- min_Jtf-=Jf_dx*f[0] and
- min_Jtf-=(Jf_dx+3)*f[1] to accumulate -Jt%f*/
- db_RowOperation3(min_Jtf,Jf_dx,f[0]);
- db_RowOperation3(min_Jtf,Jf_dx+3,f[1]);
- /*Accumulate upper right of JtJ with outer product*/
- JtJ[0]+=Jf_dx[0]*Jf_dx[0]+Jf_dx[3]*Jf_dx[3];
- JtJ[1]+=Jf_dx[0]*Jf_dx[1]+Jf_dx[3]*Jf_dx[4];
- JtJ[2]+=Jf_dx[0]*Jf_dx[2]+Jf_dx[3]*Jf_dx[5];
- JtJ[4]+=Jf_dx[1]*Jf_dx[1]+Jf_dx[4]*Jf_dx[4];
- JtJ[5]+=Jf_dx[1]*Jf_dx[2]+Jf_dx[4]*Jf_dx[5];
- JtJ[8]+=Jf_dx[2]*Jf_dx[2]+Jf_dx[5]*Jf_dx[5];
-
- /*Add square-sum to cost*/
- back+=db_sqr(f[0])+db_sqr(f[1]);
- }
-
- return(back);
-}
-
-void db_RobCamRotation_Polish(double H[9],int point_count,double *x_i,double *xp_i,double one_over_scale2,
- int max_iterations,double improvement_requirement)
-{
- int i,update,stop;
- double lambda,cost,current_cost;
- double JtJ[9],min_Jtf[3],dx[3],H_p_dx[9];
-
- lambda=0.001;
- for(update=1,stop=0,i=0;(stop<2) && (i<max_iterations);i++)
- {
- /*if first time since improvement, compute Jacobian and residual*/
- if(update)
- {
- current_cost=db_RobCamRotation_Jacobians(JtJ,min_Jtf,H,point_count,x_i,xp_i,one_over_scale2);
- update=0;
- }
-
-#ifdef _VERBOSE_
- /*std::cout << "Cost:" << current_cost << " ";*/
-#endif /*_VERBOSE_*/
-
- /*Come up with a hypothesis dx
- based on the current lambda*/
- db_Compute_dx_3x3(dx,JtJ,min_Jtf,lambda);
-
- /*Compute Cost(x+dx)*/
- db_UpdateRotation(H_p_dx,H,dx);
- cost=db_RobImageHomography_Cost(H_p_dx,point_count,x_i,xp_i,one_over_scale2);
-
- /*Is there an improvement?*/
- if(cost<current_cost)
- {
- /*improvement*/
- if(current_cost-cost<current_cost*improvement_requirement) stop++;
- else stop=0;
- lambda*=0.1;
- /*Move to the hypothesised position x+dx*/
- current_cost=cost;
- db_Copy9(H,H_p_dx);
- db_OrthonormalizeRotation(H);
- update=1;
-
-#ifdef _VERBOSE_
- std::cout << "Step" << i << "Imp,Lambda=" << lambda << "Cost:" << current_cost << std::endl;
-#endif /*_VERBOSE_*/
- }
- else
- {
- /*no improvement*/
- lambda*=10.0;
- stop=0;
- }
- }
-}
-
-inline void db_RobImageHomographyFetchJacobian(double **JtJ_ref,double *min_Jtf,double **JtJ_temp_ref,double *min_Jtf_temp,int n,int *fetch_vector)
-{
- int i,j,t;
- double *t1,*t2;
-
- for(i=0;i<n;i++)
- {
- t=fetch_vector[i];
- min_Jtf[i]=min_Jtf_temp[t];
- t1=JtJ_ref[i];
- t2=JtJ_temp_ref[t];
- for(j=i;j<n;j++)
- {
- t1[j]=t2[fetch_vector[j]];
- }
- }
-}
-
-inline void db_RobImageHomographyMultiplyJacobian(double **JtJ_ref,double *min_Jtf,double **JtJ_temp_ref,double *min_Jtf_temp,double **JE_dx_ref,int n)
-{
- double JtJ_JE[72],*JtJ_JE_ref[9];
-
- db_SetupMatrixRefs(JtJ_JE_ref,9,8,JtJ_JE);
-
- db_SymmetricExtendUpperToLower(JtJ_temp_ref,9,9);
- db_MultiplyMatricesAB(JtJ_JE_ref,JtJ_temp_ref,JE_dx_ref,9,9,n);
- db_UpperMultiplyMatricesAtB(JtJ_ref,JE_dx_ref,JtJ_JE_ref,n,9,n);
- db_MultiplyMatrixVectorAtb(min_Jtf,JE_dx_ref,min_Jtf_temp,n,9);
-}
-
-inline void db_RobImageHomographyJH_Js(double **JE_dx_ref,int j,double H[9])
-{
- /*Update of upper 2x2 is multiplication by
- [s 0][ cos(theta) sin(theta)]
- [0 s][-sin(theta) cos(theta)]*/
- JE_dx_ref[0][j]=H[0];
- JE_dx_ref[1][j]=H[1];
- JE_dx_ref[2][j]=0;
- JE_dx_ref[3][j]=H[2];
- JE_dx_ref[4][j]=H[3];
- JE_dx_ref[5][j]=0;
- JE_dx_ref[6][j]=0;
- JE_dx_ref[7][j]=0;
- JE_dx_ref[8][j]=0;
-}
-
-inline void db_RobImageHomographyJH_JR(double **JE_dx_ref,int j,double H[9])
-{
- /*Update of upper 2x2 is multiplication by
- [s 0][ cos(theta) sin(theta)]
- [0 s][-sin(theta) cos(theta)]*/
- JE_dx_ref[0][j]= H[3];
- JE_dx_ref[1][j]= H[4];
- JE_dx_ref[2][j]=0;
- JE_dx_ref[3][j]= -H[0];
- JE_dx_ref[4][j]= -H[1];
- JE_dx_ref[5][j]=0;
- JE_dx_ref[6][j]=0;
- JE_dx_ref[7][j]=0;
- JE_dx_ref[8][j]=0;
-}
-
-inline void db_RobImageHomographyJH_Jt(double **JE_dx_ref,int j,int k,double H[9])
-{
- JE_dx_ref[0][j]=0;
- JE_dx_ref[1][j]=0;
- JE_dx_ref[2][j]=1.0;
- JE_dx_ref[3][j]=0;
- JE_dx_ref[4][j]=0;
- JE_dx_ref[5][j]=0;
- JE_dx_ref[6][j]=0;
- JE_dx_ref[7][j]=0;
- JE_dx_ref[8][j]=0;
-
- JE_dx_ref[0][k]=0;
- JE_dx_ref[1][k]=0;
- JE_dx_ref[2][k]=0;
- JE_dx_ref[3][k]=0;
- JE_dx_ref[4][k]=0;
- JE_dx_ref[5][k]=1.0;
- JE_dx_ref[6][k]=0;
- JE_dx_ref[7][k]=0;
- JE_dx_ref[8][k]=0;
-}
-
-inline void db_RobImageHomographyJH_dRotFocal(double **JE_dx_ref,int j,int k,int l,int m,double H[9])
-{
- double f,fi,fi2;
- double R[9],J[9];
-
- /*Updated matrix is diag(f+df,f+df)*dR*R*diag(1/(f+df),1/(f+df),1)*/
- f=db_FocalAndRotFromCamRotFocalHomography(R,H);
- fi=db_SafeReciprocal(f);
- fi2=db_sqr(fi);
- db_JacobianOfRotatedPointStride(J,R,3);
- JE_dx_ref[0][j]= J[0];
- JE_dx_ref[1][j]= J[1];
- JE_dx_ref[2][j]=f* J[2];
- JE_dx_ref[3][j]= J[3];
- JE_dx_ref[4][j]= J[4];
- JE_dx_ref[5][j]=f* J[5];
- JE_dx_ref[6][j]=fi*J[6];
- JE_dx_ref[7][j]=fi*J[7];
- JE_dx_ref[8][j]= J[8];
- db_JacobianOfRotatedPointStride(J,R+1,3);
- JE_dx_ref[0][k]= J[0];
- JE_dx_ref[1][k]= J[1];
- JE_dx_ref[2][k]=f* J[2];
- JE_dx_ref[3][k]= J[3];
- JE_dx_ref[4][k]= J[4];
- JE_dx_ref[5][k]=f* J[5];
- JE_dx_ref[6][k]=fi*J[6];
- JE_dx_ref[7][k]=fi*J[7];
- JE_dx_ref[8][k]= J[8];
- db_JacobianOfRotatedPointStride(J,R+2,3);
- JE_dx_ref[0][l]= J[0];
- JE_dx_ref[1][l]= J[1];
- JE_dx_ref[2][l]=f* J[2];
- JE_dx_ref[3][l]= J[3];
- JE_dx_ref[4][l]= J[4];
- JE_dx_ref[5][l]=f* J[5];
- JE_dx_ref[6][l]=fi*J[6];
- JE_dx_ref[7][l]=fi*J[7];
- JE_dx_ref[8][l]= J[8];
-
- JE_dx_ref[0][m]=0;
- JE_dx_ref[1][m]=0;
- JE_dx_ref[2][m]=H[2];
- JE_dx_ref[3][m]=0;
- JE_dx_ref[4][m]=0;
- JE_dx_ref[5][m]=H[5];
- JE_dx_ref[6][m]= -fi2*H[6];
- JE_dx_ref[7][m]= -fi2*H[7];
- JE_dx_ref[8][m]=0;
-}
-
-inline double db_RobImageHomography_Jacobians_Generic(double *JtJ_ref[8],double min_Jtf[8],int *num_param,int *frozen_coord,double H[9],int point_count,double *x_i,double *xp_i,int homography_type,double one_over_scale2)
-{
- double back;
- int i,j,fetch_vector[8],n;
- double JtJ_temp[81],min_Jtf_temp[9],JE_dx[72];
- double *JE_dx_ref[9],*JtJ_temp_ref[9];
-
- /*Compute cost and JtJ,min_Jtf with respect to H*/
- back=db_RobImageHomography_Jacobians(JtJ_temp,min_Jtf_temp,H,point_count,x_i,xp_i,one_over_scale2);
-
- /*Compute JtJ,min_Jtf with respect to the right parameters
- The formulas are
- JtJ=transpose(JE_dx)*JtJ*JE_dx and
- min_Jtf=transpose(JE_dx)*min_Jtf,
- where the 9xN matrix JE_dx is the Jacobian of H with respect
- to the update*/
- db_SetupMatrixRefs(JtJ_temp_ref,9,9,JtJ_temp);
- db_SetupMatrixRefs(JE_dx_ref,9,8,JE_dx);
- switch(homography_type)
- {
- case DB_HOMOGRAPHY_TYPE_SIMILARITY:
- case DB_HOMOGRAPHY_TYPE_SIMILARITY_U:
- n=4;
- db_RobImageHomographyJH_Js(JE_dx_ref,0,H);
- db_RobImageHomographyJH_JR(JE_dx_ref,1,H);
- db_RobImageHomographyJH_Jt(JE_dx_ref,2,3,H);
- db_RobImageHomographyMultiplyJacobian(JtJ_ref,min_Jtf,JtJ_temp_ref,min_Jtf_temp,JE_dx_ref,n);
- break;
- case DB_HOMOGRAPHY_TYPE_ROTATION:
- case DB_HOMOGRAPHY_TYPE_ROTATION_U:
- n=1;
- db_RobImageHomographyJH_JR(JE_dx_ref,0,H);
- db_RobImageHomographyMultiplyJacobian(JtJ_ref,min_Jtf,JtJ_temp_ref,min_Jtf_temp,JE_dx_ref,n);
- break;
- case DB_HOMOGRAPHY_TYPE_SCALING:
- n=1;
- db_RobImageHomographyJH_Js(JE_dx_ref,0,H);
- db_RobImageHomographyMultiplyJacobian(JtJ_ref,min_Jtf,JtJ_temp_ref,min_Jtf_temp,JE_dx_ref,n);
- break;
- case DB_HOMOGRAPHY_TYPE_S_T:
- n=3;
- db_RobImageHomographyJH_Js(JE_dx_ref,0,H);
- db_RobImageHomographyJH_Jt(JE_dx_ref,1,2,H);
- db_RobImageHomographyMultiplyJacobian(JtJ_ref,min_Jtf,JtJ_temp_ref,min_Jtf_temp,JE_dx_ref,n);
- break;
- case DB_HOMOGRAPHY_TYPE_R_T:
- n=3;
- db_RobImageHomographyJH_JR(JE_dx_ref,0,H);
- db_RobImageHomographyJH_Jt(JE_dx_ref,1,2,H);
- db_RobImageHomographyMultiplyJacobian(JtJ_ref,min_Jtf,JtJ_temp_ref,min_Jtf_temp,JE_dx_ref,n);
- break;
- case DB_HOMOGRAPHY_TYPE_R_S:
- n=2;
- db_RobImageHomographyJH_Js(JE_dx_ref,0,H);
- db_RobImageHomographyJH_JR(JE_dx_ref,1,H);
- db_RobImageHomographyMultiplyJacobian(JtJ_ref,min_Jtf,JtJ_temp_ref,min_Jtf_temp,JE_dx_ref,n);
- break;
-
- case DB_HOMOGRAPHY_TYPE_TRANSLATION:
- n=2;
- fetch_vector[0]=2;
- fetch_vector[1]=5;
- db_RobImageHomographyFetchJacobian(JtJ_ref,min_Jtf,JtJ_temp_ref,min_Jtf_temp,n,fetch_vector);
- break;
- case DB_HOMOGRAPHY_TYPE_AFFINE:
- n=6;
- fetch_vector[0]=0;
- fetch_vector[1]=1;
- fetch_vector[2]=2;
- fetch_vector[3]=3;
- fetch_vector[4]=4;
- fetch_vector[5]=5;
- db_RobImageHomographyFetchJacobian(JtJ_ref,min_Jtf,JtJ_temp_ref,min_Jtf_temp,n,fetch_vector);
- break;
- case DB_HOMOGRAPHY_TYPE_PROJECTIVE:
- n=8;
- *frozen_coord=db_MaxAbsIndex9(H);
- for(j=0,i=0;i<9;i++) if(i!=(*frozen_coord))
- {
- fetch_vector[j]=i;
- j++;
- }
- db_RobImageHomographyFetchJacobian(JtJ_ref,min_Jtf,JtJ_temp_ref,min_Jtf_temp,n,fetch_vector);
- break;
- case DB_HOMOGRAPHY_TYPE_CAMROTATION_F:
- case DB_HOMOGRAPHY_TYPE_CAMROTATION_F_UD:
- n=4;
- db_RobImageHomographyJH_dRotFocal(JE_dx_ref,0,1,2,3,H);
- db_RobImageHomographyMultiplyJacobian(JtJ_ref,min_Jtf,JtJ_temp_ref,min_Jtf_temp,JE_dx_ref,n);
- break;
- }
- *num_param=n;
-
- return(back);
-}
-
-inline void db_ImageHomographyUpdateGeneric(double H_p_dx[9],double H[9],double *dx,int homography_type,int frozen_coord)
-{
- switch(homography_type)
- {
- case DB_HOMOGRAPHY_TYPE_SIMILARITY:
- case DB_HOMOGRAPHY_TYPE_SIMILARITY_U:
- db_Copy9(H_p_dx,H);
- db_MultiplyScaleOntoImageHomography(H,1.0+dx[0]);
- db_MultiplyRotationOntoImageHomography(H,dx[1]);
- H_p_dx[2]+=dx[2];
- H_p_dx[5]+=dx[3];
- break;
- case DB_HOMOGRAPHY_TYPE_ROTATION:
- case DB_HOMOGRAPHY_TYPE_ROTATION_U:
- db_MultiplyRotationOntoImageHomography(H,dx[0]);
- break;
- case DB_HOMOGRAPHY_TYPE_SCALING:
- db_MultiplyScaleOntoImageHomography(H,1.0+dx[0]);
- break;
- case DB_HOMOGRAPHY_TYPE_S_T:
- db_Copy9(H_p_dx,H);
- db_MultiplyScaleOntoImageHomography(H,1.0+dx[0]);
- H_p_dx[2]+=dx[1];
- H_p_dx[5]+=dx[2];
- break;
- case DB_HOMOGRAPHY_TYPE_R_T:
- db_Copy9(H_p_dx,H);
- db_MultiplyRotationOntoImageHomography(H,dx[0]);
- H_p_dx[2]+=dx[1];
- H_p_dx[5]+=dx[2];
- break;
- case DB_HOMOGRAPHY_TYPE_R_S:
- db_Copy9(H_p_dx,H);
- db_MultiplyScaleOntoImageHomography(H,1.0+dx[0]);
- db_MultiplyRotationOntoImageHomography(H,dx[1]);
- break;
- case DB_HOMOGRAPHY_TYPE_TRANSLATION:
- db_Copy9(H_p_dx,H);
- H_p_dx[2]+=dx[0];
- H_p_dx[5]+=dx[1];
- break;
- case DB_HOMOGRAPHY_TYPE_AFFINE:
- db_UpdateImageHomographyAffine(H_p_dx,H,dx);
- break;
- case DB_HOMOGRAPHY_TYPE_PROJECTIVE:
- db_UpdateImageHomographyProjective(H_p_dx,H,dx,frozen_coord);
- break;
- case DB_HOMOGRAPHY_TYPE_CAMROTATION_F:
- case DB_HOMOGRAPHY_TYPE_CAMROTATION_F_UD:
- db_UpdateRotFocalHomography(H_p_dx,H,dx);
- break;
- }
-}
-
-void db_RobCamRotation_Polish_Generic(double H[9],int point_count,int homography_type,double *x_i,double *xp_i,double one_over_scale2,
- int max_iterations,double improvement_requirement)
-{
- int i,update,stop,n;
- int frozen_coord = 0;
- double lambda,cost,current_cost;
- double JtJ[72],min_Jtf[9],dx[8],H_p_dx[9];
- double *JtJ_ref[9],d[8];
-
- lambda=0.001;
- for(update=1,stop=0,i=0;(stop<2) && (i<max_iterations);i++)
- {
- /*if first time since improvement, compute Jacobian and residual*/
- if(update)
- {
- db_SetupMatrixRefs(JtJ_ref,9,8,JtJ);
- current_cost=db_RobImageHomography_Jacobians_Generic(JtJ_ref,min_Jtf,&n,&frozen_coord,H,point_count,x_i,xp_i,homography_type,one_over_scale2);
- update=0;
- }
-
-#ifdef _VERBOSE_
- /*std::cout << "Cost:" << current_cost << " ";*/
-#endif /*_VERBOSE_*/
-
- /*Come up with a hypothesis dx
- based on the current lambda*/
- db_Compute_dx(dx,JtJ_ref,min_Jtf,lambda,d,n);
-
- /*Compute Cost(x+dx)*/
- db_ImageHomographyUpdateGeneric(H_p_dx,H,dx,homography_type,frozen_coord);
- cost=db_RobImageHomography_Cost(H_p_dx,point_count,x_i,xp_i,one_over_scale2);
-
- /*Is there an improvement?*/
- if(cost<current_cost)
- {
- /*improvement*/
- if(current_cost-cost<current_cost*improvement_requirement) stop++;
- else stop=0;
- lambda*=0.1;
- /*Move to the hypothesised position x+dx*/
- current_cost=cost;
- db_Copy9(H,H_p_dx);
- update=1;
-
-#ifdef _VERBOSE_
- std::cout << "Step" << i << "Imp,Lambda=" << lambda << "Cost:" << current_cost << std::endl;
-#endif /*_VERBOSE_*/
- }
- else
- {
- /*no improvement*/
- lambda*=10.0;
- stop=0;
- }
- }
-}
-void db_RobImageHomography(
- /*Best homography*/
- double H[9],
- /*2DPoint to 2DPoint constraints
- Points are assumed to be given in
- homogenous coordinates*/
- double *im, double *im_p,
- /*Nr of points in total*/
- int nr_points,
- /*Calibration matrices
- used to normalize the points*/
- double K[9],
- double Kp[9],
- /*Pre-allocated space temp_d
- should point to at least
- 12*nr_samples+10*nr_points
- allocated positions*/
- double *temp_d,
- /*Pre-allocated space temp_i
- should point to at least
- max(nr_samples,nr_points)
- allocated positions*/
- int *temp_i,
- int homography_type,
- db_Statistics *stat,
- int max_iterations,
- int max_points,
- double scale,
- int nr_samples,
- int chunk_size,
- /////////////////////////////////////////////
- // regular use: set outlierremoveflagE =0;
- // flag for the outlier removal
- int outlierremoveflagE,
- // if flag is 1, then the following variables
- // need the input
- //////////////////////////////////////
- // 3D coordinates
- double *wp,
- // its corresponding stereo pair's points
- double *im_r,
- // raw image coordinates
- double *im_raw, double *im_raw_p,
- // final matches
- int *finalNumE)
-{
- /*Random seed*/
- int r_seed;
-
- int point_count_new;
- /*Counters*/
- int i,j,c,point_count,hyp_count;
- int last_hyp,new_last_hyp,last_corr;
- int pos,point_pos,last_point;
- /*Accumulator*/
- double acc;
- /*Hypothesis pointer*/
- double *hyp_point;
- /*Random sample*/
- int s[4];
- /*Pivot for hypothesis pruning*/
- double pivot;
- /*Best hypothesis position*/
- int best_pos;
- /*Best score*/
- double lowest_cost;
- /*One over the squared scale of
- Cauchy distribution*/
- double one_over_scale2;
- /*temporary pointers*/
- double *x_i_temp,*xp_i_temp;
- /*Temporary space for inverse calibration matrices*/
- double K_inv[9];
- double Kp_inv[9];
- /*Temporary space for homography*/
- double H_temp[9],H_temp2[9];
- /*Pointers to homogenous coordinates*/
- double *x_h_point,*xp_h_point;
- /*Array of pointers to inhomogenous coordinates*/
- double *X[3],*Xp[3];
- /*Similarity parameters*/
- int orientation_preserving,allow_scaling,allow_rotation,allow_translation,sample_size;
-
- /*Homogenous coordinates of image points in first image*/
- double *x_h;
- /*Homogenous coordinates of image points in second image*/
- double *xp_h;
- /*Inhomogenous coordinates of image points in first image*/
- double *x_i;
- /*Inhomogenous coordinates of image points in second image*/
- double *xp_i;
- /*Homography hypotheses*/
- double *hyp_H_array;
- /*Cost array*/
- double *hyp_cost_array;
- /*Permutation of the hypotheses*/
- int *hyp_perm;
- /*Sample of the points*/
- int *point_perm;
- /*Temporary space for quick-select
- 2*nr_samples*/
- double *temp_select;
-
- /*Get inverse calibration matrices*/
- db_InvertCalibrationMatrix(K_inv,K);
- db_InvertCalibrationMatrix(Kp_inv,Kp);
- /*Compute scale coefficient*/
- one_over_scale2=1.0/(scale*scale);
- /*Initialize random seed*/
- r_seed=12345;
- /*Set pointers to pre-allocated space*/
- hyp_cost_array=temp_d;
- hyp_H_array=temp_d+nr_samples;
- temp_select=temp_d+10*nr_samples;
- x_h=temp_d+12*nr_samples;
- xp_h=temp_d+12*nr_samples+3*nr_points;
- x_i=temp_d+12*nr_samples+6*nr_points;
- xp_i=temp_d+12*nr_samples+8*nr_points;
- hyp_perm=temp_i;
- point_perm=temp_i;
-
- /*Prepare a randomly permuted subset of size
- point_count from the input points*/
-
- point_count=db_mini(nr_points,(int)(chunk_size*log((double)nr_samples)/DB_LN2));
-
- point_count_new = point_count;
-
- for(i=0;i<nr_points;i++) point_perm[i]=i;
-
- for(last_point=nr_points-1,i=0;i<point_count;i++,last_point--)
- {
- pos=db_RandomInt(r_seed,last_point);
- point_pos=point_perm[pos];
- point_perm[pos]=point_perm[last_point];
-
- /*Normalize image points with calibration
- matrices and move them to x_h and xp_h*/
- c=3*point_pos;
- j=3*i;
- x_h_point=x_h+j;
- xp_h_point=xp_h+j;
- db_Multiply3x3_3x1(x_h_point,K_inv,im+c);
- db_Multiply3x3_3x1(xp_h_point,Kp_inv,im_p+c);
-
- db_HomogenousNormalize3(x_h_point);
- db_HomogenousNormalize3(xp_h_point);
-
- /*Dehomogenize image points and move them
- to x_i and xp_i*/
- c=(i<<1);
- db_DeHomogenizeImagePoint(x_i+c,x_h_point); // 2-dimension
- db_DeHomogenizeImagePoint(xp_i+c,xp_h_point); //2-dimension
- }
-
-
- /*Generate Hypotheses*/
- hyp_count=0;
- switch(homography_type)
- {
- case DB_HOMOGRAPHY_TYPE_SIMILARITY:
- case DB_HOMOGRAPHY_TYPE_SIMILARITY_U:
- case DB_HOMOGRAPHY_TYPE_TRANSLATION:
- case DB_HOMOGRAPHY_TYPE_ROTATION:
- case DB_HOMOGRAPHY_TYPE_ROTATION_U:
- case DB_HOMOGRAPHY_TYPE_SCALING:
- case DB_HOMOGRAPHY_TYPE_S_T:
- case DB_HOMOGRAPHY_TYPE_R_T:
- case DB_HOMOGRAPHY_TYPE_R_S:
-
- switch(homography_type)
- {
- case DB_HOMOGRAPHY_TYPE_SIMILARITY:
- orientation_preserving=1;
- allow_scaling=1;
- allow_rotation=1;
- allow_translation=1;
- sample_size=2;
- break;
- case DB_HOMOGRAPHY_TYPE_SIMILARITY_U:
- orientation_preserving=0;
- allow_scaling=1;
- allow_rotation=1;
- allow_translation=1;
- sample_size=3;
- break;
- case DB_HOMOGRAPHY_TYPE_TRANSLATION:
- orientation_preserving=1;
- allow_scaling=0;
- allow_rotation=0;
- allow_translation=1;
- sample_size=1;
- break;
- case DB_HOMOGRAPHY_TYPE_ROTATION:
- orientation_preserving=1;
- allow_scaling=0;
- allow_rotation=1;
- allow_translation=0;
- sample_size=1;
- break;
- case DB_HOMOGRAPHY_TYPE_ROTATION_U:
- orientation_preserving=0;
- allow_scaling=0;
- allow_rotation=1;
- allow_translation=0;
- sample_size=2;
- break;
- case DB_HOMOGRAPHY_TYPE_SCALING:
- orientation_preserving=1;
- allow_scaling=1;
- allow_rotation=0;
- allow_translation=0;
- sample_size=1;
- break;
- case DB_HOMOGRAPHY_TYPE_S_T:
- orientation_preserving=1;
- allow_scaling=1;
- allow_rotation=0;
- allow_translation=1;
- sample_size=2;
- break;
- case DB_HOMOGRAPHY_TYPE_R_T:
- orientation_preserving=1;
- allow_scaling=0;
- allow_rotation=1;
- allow_translation=1;
- sample_size=2;
- break;
- case DB_HOMOGRAPHY_TYPE_R_S:
- orientation_preserving=1;
- allow_scaling=1;
- allow_rotation=0;
- allow_translation=0;
- sample_size=1;
- break;
- }
-
- if(point_count>=sample_size) for(i=0;i<nr_samples;i++)
- {
- db_RandomSample(s,3,point_count,r_seed);
- X[0]= &x_i[s[0]<<1];
- X[1]= &x_i[s[1]<<1];
- X[2]= &x_i[s[2]<<1];
- Xp[0]= &xp_i[s[0]<<1];
- Xp[1]= &xp_i[s[1]<<1];
- Xp[2]= &xp_i[s[2]<<1];
- db_StitchSimilarity2D(&hyp_H_array[9*hyp_count],Xp,X,sample_size,orientation_preserving,
- allow_scaling,allow_rotation,allow_translation);
- hyp_count++;
- }
- break;
-
- case DB_HOMOGRAPHY_TYPE_CAMROTATION:
- if(point_count>=2) for(i=0;i<nr_samples;i++)
- {
- db_RandomSample(s,2,point_count,r_seed);
- db_StitchCameraRotation_2Points(&hyp_H_array[9*hyp_count],
- &x_h[3*s[0]],&x_h[3*s[1]],
- &xp_h[3*s[0]],&xp_h[3*s[1]]);
- hyp_count++;
- }
- break;
-
- case DB_HOMOGRAPHY_TYPE_CAMROTATION_F:
- if(point_count>=3) for(i=0;i<nr_samples;i++)
- {
- db_RandomSample(s,3,point_count,r_seed);
- hyp_count+=db_StitchRotationCommonFocalLength_3Points(&hyp_H_array[9*hyp_count],
- &x_h[3*s[0]],&x_h[3*s[1]],&x_h[3*s[2]],
- &xp_h[3*s[0]],&xp_h[3*s[1]],&xp_h[3*s[2]]);
- }
- break;
-
- case DB_HOMOGRAPHY_TYPE_CAMROTATION_F_UD:
- if(point_count>=3) for(i=0;i<nr_samples;i++)
- {
- db_RandomSample(s,3,point_count,r_seed);
- hyp_count+=db_StitchRotationCommonFocalLength_3Points(&hyp_H_array[9*hyp_count],
- &x_h[3*s[0]],&x_h[3*s[1]],&x_h[3*s[2]],
- &xp_h[3*s[0]],&xp_h[3*s[1]],&xp_h[3*s[2]],NULL,0);
- }
- break;
-
- case DB_HOMOGRAPHY_TYPE_AFFINE:
- if(point_count>=3) for(i=0;i<nr_samples;i++)
- {
- db_RandomSample(s,3,point_count,r_seed);
- db_StitchAffine2D_3Points(&hyp_H_array[9*hyp_count],
- &x_h[3*s[0]],&x_h[3*s[1]],&x_h[3*s[2]],
- &xp_h[3*s[0]],&xp_h[3*s[1]],&xp_h[3*s[2]]);
- hyp_count++;
- }
- break;
-
- case DB_HOMOGRAPHY_TYPE_PROJECTIVE:
- default:
- if(point_count>=4) for(i=0;i<nr_samples;i++)
- {
- db_RandomSample(s,4,point_count,r_seed);
- db_StitchProjective2D_4Points(&hyp_H_array[9*hyp_count],
- &x_h[3*s[0]],&x_h[3*s[1]],&x_h[3*s[2]],&x_h[3*s[3]],
- &xp_h[3*s[0]],&xp_h[3*s[1]],&xp_h[3*s[2]],&xp_h[3*s[3]]);
- hyp_count++;
- }
- }
-
- if(hyp_count)
- {
- /*Count cost in chunks and decimate hypotheses
- until only one remains or the correspondences are
- exhausted*/
- for(i=0;i<hyp_count;i++)
- {
- hyp_perm[i]=i;
- hyp_cost_array[i]=0.0;
- }
- for(i=0,last_hyp=hyp_count-1;(last_hyp>0) && (i<point_count);i+=chunk_size)
- {
- /*Update cost with the next chunk*/
- last_corr=db_mini(i+chunk_size-1,point_count-1);
- for(j=0;j<=last_hyp;j++)
- {
- hyp_point=hyp_H_array+9*hyp_perm[j];
- for(c=i;c<=last_corr;)
- {
- /*Take log of product of ten reprojection
- errors to reduce nr of expensive log operations*/
- if(c+9<=last_corr)
- {
- x_i_temp=x_i+(c<<1);
- xp_i_temp=xp_i+(c<<1);
-
- acc=db_ExpCauchyInhomogenousHomographyError(xp_i_temp,hyp_point,x_i_temp,one_over_scale2);
- acc*=db_ExpCauchyInhomogenousHomographyError(xp_i_temp+2,hyp_point,x_i_temp+2,one_over_scale2);
- acc*=db_ExpCauchyInhomogenousHomographyError(xp_i_temp+4,hyp_point,x_i_temp+4,one_over_scale2);
- acc*=db_ExpCauchyInhomogenousHomographyError(xp_i_temp+6,hyp_point,x_i_temp+6,one_over_scale2);
- acc*=db_ExpCauchyInhomogenousHomographyError(xp_i_temp+8,hyp_point,x_i_temp+8,one_over_scale2);
- acc*=db_ExpCauchyInhomogenousHomographyError(xp_i_temp+10,hyp_point,x_i_temp+10,one_over_scale2);
- acc*=db_ExpCauchyInhomogenousHomographyError(xp_i_temp+12,hyp_point,x_i_temp+12,one_over_scale2);
- acc*=db_ExpCauchyInhomogenousHomographyError(xp_i_temp+14,hyp_point,x_i_temp+14,one_over_scale2);
- acc*=db_ExpCauchyInhomogenousHomographyError(xp_i_temp+16,hyp_point,x_i_temp+16,one_over_scale2);
- acc*=db_ExpCauchyInhomogenousHomographyError(xp_i_temp+18,hyp_point,x_i_temp+18,one_over_scale2);
- c+=10;
- }
- else
- {
- for(acc=1.0;c<=last_corr;c++)
- {
- acc*=db_ExpCauchyInhomogenousHomographyError(xp_i+(c<<1),hyp_point,x_i+(c<<1),one_over_scale2);
- }
- }
- hyp_cost_array[j]+=log(acc);
- }
- }
- if (chunk_size<point_count){
- /*Prune out half of the hypotheses*/
- new_last_hyp=(last_hyp+1)/2-1;
- pivot=db_LeanQuickSelect(hyp_cost_array,last_hyp+1,new_last_hyp,temp_select);
- for(j=0,c=0;(j<=last_hyp) && (c<=new_last_hyp);j++)
- {
- if(hyp_cost_array[j]<=pivot)
- {
- hyp_cost_array[c]=hyp_cost_array[j];
- hyp_perm[c]=hyp_perm[j];
- c++;
- }
- }
- last_hyp=new_last_hyp;
- }
- }
- /*Find the best hypothesis*/
- lowest_cost=hyp_cost_array[0];
- best_pos=0;
- for(j=1;j<=last_hyp;j++)
- {
- if(hyp_cost_array[j]<lowest_cost)
- {
- lowest_cost=hyp_cost_array[j];
- best_pos=j;
- }
- }
-
- /*Move the best hypothesis*/
- db_Copy9(H_temp,hyp_H_array+9*hyp_perm[best_pos]);
-
- // outlier removal
- if (outlierremoveflagE) // no polishment needed
- {
- point_count_new = db_RemoveOutliers_Homography(H_temp,x_i,xp_i,wp,im,im_p,im_r,im_raw,im_raw_p,point_count,one_over_scale2);
- }
- else
- {
- /*Polish*/
- switch(homography_type)
- {
- case DB_HOMOGRAPHY_TYPE_SIMILARITY:
- case DB_HOMOGRAPHY_TYPE_SIMILARITY_U:
- case DB_HOMOGRAPHY_TYPE_TRANSLATION:
- case DB_HOMOGRAPHY_TYPE_ROTATION:
- case DB_HOMOGRAPHY_TYPE_ROTATION_U:
- case DB_HOMOGRAPHY_TYPE_SCALING:
- case DB_HOMOGRAPHY_TYPE_S_T:
- case DB_HOMOGRAPHY_TYPE_R_T:
- case DB_HOMOGRAPHY_TYPE_R_S:
- case DB_HOMOGRAPHY_TYPE_AFFINE:
- case DB_HOMOGRAPHY_TYPE_PROJECTIVE:
- case DB_HOMOGRAPHY_TYPE_CAMROTATION_F:
- case DB_HOMOGRAPHY_TYPE_CAMROTATION_F_UD:
- db_RobCamRotation_Polish_Generic(H_temp,db_mini(point_count,max_points),homography_type,x_i,xp_i,one_over_scale2,max_iterations);
- break;
- case DB_HOMOGRAPHY_TYPE_CAMROTATION:
- db_RobCamRotation_Polish(H_temp,db_mini(point_count,max_points),x_i,xp_i,one_over_scale2,max_iterations);
- break;
- }
-
- }
-
- }
- else db_Identity3x3(H_temp);
-
- switch(homography_type)
- {
- case DB_HOMOGRAPHY_TYPE_PROJECTIVE:
- if(stat) stat->nr_parameters=8;
- break;
- case DB_HOMOGRAPHY_TYPE_AFFINE:
- if(stat) stat->nr_parameters=6;
- break;
- case DB_HOMOGRAPHY_TYPE_SIMILARITY:
- case DB_HOMOGRAPHY_TYPE_SIMILARITY_U:
- case DB_HOMOGRAPHY_TYPE_CAMROTATION_F:
- case DB_HOMOGRAPHY_TYPE_CAMROTATION_F_UD:
- if(stat) stat->nr_parameters=4;
- break;
- case DB_HOMOGRAPHY_TYPE_CAMROTATION:
- if(stat) stat->nr_parameters=3;
- break;
- case DB_HOMOGRAPHY_TYPE_TRANSLATION:
- case DB_HOMOGRAPHY_TYPE_S_T:
- case DB_HOMOGRAPHY_TYPE_R_T:
- case DB_HOMOGRAPHY_TYPE_R_S:
- if(stat) stat->nr_parameters=2;
- break;
- case DB_HOMOGRAPHY_TYPE_ROTATION:
- case DB_HOMOGRAPHY_TYPE_ROTATION_U:
- case DB_HOMOGRAPHY_TYPE_SCALING:
- if(stat) stat->nr_parameters=1;
- break;
- }
-
- db_RobImageHomography_Statistics(H_temp,db_mini(point_count,max_points),x_i,xp_i,one_over_scale2,stat);
-
- /*Put on the calibration matrices*/
- db_Multiply3x3_3x3(H_temp2,H_temp,K_inv);
- db_Multiply3x3_3x3(H,Kp,H_temp2);
-
- if (finalNumE)
- *finalNumE = point_count_new;
-
-}
generated by cgit v1.2.3 (git 2.25.1) at 2024-04-28 11:44:55 +0000