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diff --git a/jni/feature_stab/db_vlvm/db_utilities_camera.h b/jni/feature_stab/db_vlvm/db_utilities_camera.h
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-/*
- * 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_utilities_camera.h,v 1.3 2011/06/17 14:03:31 mbansal Exp $ */
-
-#ifndef DB_UTILITIES_CAMERA
-#define DB_UTILITIES_CAMERA
-
-#include "db_utilities.h"
-
-
-
-/*****************************************************************
-* Lean and mean begins here *
-*****************************************************************/
-/*!
- * \defgroup LMCamera (LM) Camera Utilities
- */
-/*\{*/
-
-#include "db_utilities.h"
-
-#define DB_RADDISTMODE_BOUGEUT 4
-#define DB_RADDISTMODE_2NDORDER 5
-#define DB_RADDISTMODE_IDENTITY 6
-
-/*!
-Give reasonable guess of the calibration matrix for normalization purposes.
-Use real K matrix when doing real geometry.
-focal length = (w+h)/2.0*f_correction.
-\param K calibration matrix (out)
-\param Kinv inverse of K (out)
-\param im_width image width
-\param im_height image height
-\param f_correction focal length correction factor
-\param field set to 1 if this is a field image (fy = fx/2)
-\return K(3x3) intrinsic calibration matrix
-*/
-DB_API void db_Approx3DCalMat(double K[9],double Kinv[9],int im_width,int im_height,double f_correction=1.0,int field=0);
-
-/*!
- Make a 2x2 identity matrix
- */
-void inline db_Identity2x2(double A[4])
-{
- A[0]=1;A[1]=0;
- A[2]=0;A[3]=1;
-}
-/*!
- Make a 3x3 identity matrix
- */
-void inline db_Identity3x3(double A[9])
-{
- A[0]=1;A[1]=0;A[2]=0;
- A[3]=0;A[4]=1;A[5]=0;
- A[6]=0;A[7]=0;A[8]=1;
-}
-/*!
- Invert intrinsic calibration matrix K(3x3)
- If fx or fy is 0, I is returned.
- */
-void inline db_InvertCalibrationMatrix(double Kinv[9],const double K[9])
-{
- double a,b,c,d,e,f,ainv,dinv,adinv;
-
- a=K[0];b=K[1];c=K[2];d=K[4];e=K[5];f=K[8];
- if((a==0.0)||(d==0.0)) db_Identity3x3(Kinv);
- else
- {
- Kinv[3]=0.0;
- Kinv[6]=0.0;
- Kinv[7]=0.0;
- Kinv[8]=1.0;
-
- ainv=1.0/a;
- dinv=1.0/d;
- adinv=ainv*dinv;
- Kinv[0]=f*ainv;
- Kinv[1]= -b*f*adinv;
- Kinv[2]=(b*e-c*d)*adinv;
- Kinv[4]=f*dinv;
- Kinv[5]= -e*dinv;
- }
-}
-/*!
- De-homogenize image point: xd(1:2) = xs(1:2)/xs(3).
- If xs(3) is 0, xd will become 0
- \param xd destination point
- \param xs source point
- */
-void inline db_DeHomogenizeImagePoint(double xd[2],const double xs[3])
-{
- double temp,div;
-
- temp=xs[2];
- if(temp!=0)
- {
- div=1.0/temp;
- xd[0]=xs[0]*div;xd[1]=xs[1]*div;
- }
- else
- {
- xd[0]=0.0;xd[1]=0.0;
- }
-}
-
-
-/*!
- Orthonormalize 3D rotation R
- */
-inline void db_OrthonormalizeRotation(double R[9])
-{
- double s,mult;
- /*Normalize first vector*/
- s=db_sqr(R[0])+db_sqr(R[1])+db_sqr(R[2]);
- mult=sqrt(1.0/(s?s:1));
- R[0]*=mult; R[1]*=mult; R[2]*=mult;
- /*Subtract scalar product from second vector*/
- s=R[0]*R[3]+R[1]*R[4]+R[2]*R[5];
- R[3]-=s*R[0]; R[4]-=s*R[1]; R[5]-=s*R[2];
- /*Normalize second vector*/
- s=db_sqr(R[3])+db_sqr(R[4])+db_sqr(R[5]);
- mult=sqrt(1.0/(s?s:1));
- R[3]*=mult; R[4]*=mult; R[5]*=mult;
- /*Get third vector by vector product*/
- R[6]=R[1]*R[5]-R[4]*R[2];
- R[7]=R[2]*R[3]-R[5]*R[0];
- R[8]=R[0]*R[4]-R[3]*R[1];
-}
-/*!
-Update a rotation with the update dx=[sin(phi) sin(ohm) sin(kap)]
-*/
-inline void db_UpdateRotation(double R_p_dx[9],double R[9],const double dx[3])
-{
- double R_temp[9];
- /*Update rotation*/
- db_IncrementalRotationMatrix(R_temp,dx);
- db_Multiply3x3_3x3(R_p_dx,R_temp,R);
-}
-/*!
- Compute xp = Hx for inhomogenous image points.
- */
-inline void db_ImageHomographyInhomogenous(double xp[2],const double H[9],const double x[2])
-{
- double x3,m;
-
- x3=H[6]*x[0]+H[7]*x[1]+H[8];
- if(x3!=0.0)
- {
- m=1.0/x3;
- xp[0]=m*(H[0]*x[0]+H[1]*x[1]+H[2]);
- xp[1]=m*(H[3]*x[0]+H[4]*x[1]+H[5]);
- }
- else
- {
- xp[0]=xp[1]=0.0;
- }
-}
-inline double db_FocalFromCamRotFocalHomography(const double H[9])
-{
- double k1,k2;
-
- k1=db_sqr(H[2])+db_sqr(H[5]);
- k2=db_sqr(H[6])+db_sqr(H[7]);
- if(k1>=k2)
- {
- return(db_SafeSqrt(db_SafeDivision(k1,1.0-db_sqr(H[8]))));
- }
- else
- {
- return(db_SafeSqrt(db_SafeDivision(1.0-db_sqr(H[8]),k2)));
- }
-}
-
-inline double db_FocalAndRotFromCamRotFocalHomography(double R[9],const double H[9])
-{
- double back,fi;
-
- back=db_FocalFromCamRotFocalHomography(H);
- fi=db_SafeReciprocal(back);
- R[0]=H[0]; R[1]=H[1]; R[2]=fi*H[2];
- R[3]=H[3]; R[4]=H[4]; R[5]=fi*H[5];
- R[6]=back*H[6]; R[7]=back*H[7]; R[8]=H[8];
- return(back);
-}
-/*!
-Compute Jacobian at zero of three coordinates dR*x with
-respect to the update dR([sin(phi) sin(ohm) sin(kap)]) given x.
-
-The Jacobian at zero of the homogenous coordinates with respect to
- [sin(phi) sin(ohm) sin(kap)] is
-\code
- [-rx2 0 rx1 ]
- [ 0 rx2 -rx0 ]
- [ rx0 -rx1 0 ].
-\endcode
-
-*/
-inline void db_JacobianOfRotatedPointStride(double J[9],const double x[3],int stride)
-{
- /*The Jacobian at zero of the homogenous coordinates with respect to
- [sin(phi) sin(ohm) sin(kap)] is
- [-rx2 0 rx1 ]
- [ 0 rx2 -rx0 ]
- [ rx0 -rx1 0 ]*/
-
- J[0]= -x[stride<<1];
- J[1]=0;
- J[2]= x[stride];
- J[3]=0;
- J[4]= x[stride<<1];
- J[5]= -x[0];
- J[6]= x[0];
- J[7]= -x[stride];
- J[8]=0;
-}
-/*!
- Invert an affine (if possible)
- \param Hinv inverted matrix
- \param H input matrix
- \return true if success and false if matrix is ill-conditioned (det < 1e-7)
- */
-inline bool db_InvertAffineTransform(double Hinv[9],const double H[9])
-{
- double det=H[0]*H[4]-H[3]*H[1];
- if (det<1e-7)
- {
- db_Copy9(Hinv,H);
- return false;
- }
- else
- {
- Hinv[0]=H[4]/det;
- Hinv[1]=-H[1]/det;
- Hinv[3]=-H[3]/det;
- Hinv[4]=H[0]/det;
- Hinv[2]= -Hinv[0]*H[2]-Hinv[1]*H[5];
- Hinv[5]= -Hinv[3]*H[2]-Hinv[4]*H[5];
- }
- return true;
-}
-
-/*!
-Update of upper 2x2 is multiplication by
-\code
-[s 0][ cos(theta) sin(theta)]
-[0 s][-sin(theta) cos(theta)]
-\endcode
-*/
-inline void db_MultiplyScaleOntoImageHomography(double H[9],double s)
-{
-
- H[0]*=s;
- H[1]*=s;
- H[3]*=s;
- H[4]*=s;
-}
-/*!
-Update of upper 2x2 is multiplication by
-\code
-[s 0][ cos(theta) sin(theta)]
-[0 s][-sin(theta) cos(theta)]
-\endcode
-*/
-inline void db_MultiplyRotationOntoImageHomography(double H[9],double theta)
-{
- double c,s,H0,H1;
-
-
- c=cos(theta);
- s=db_SafeSqrt(1.0-db_sqr(c));
- H0= c*H[0]+s*H[3];
- H[3]= -s*H[0]+c*H[3];
- H[0]=H0;
- H1=c*H[1]+s*H[4];
- H[4]= -s*H[1]+c*H[4];
- H[1]=H1;
-}
-
-inline void db_UpdateImageHomographyAffine(double H_p_dx[9],const double H[9],const double dx[6])
-{
- db_AddVectors6(H_p_dx,H,dx);
- db_Copy3(H_p_dx+6,H+6);
-}
-
-inline void db_UpdateImageHomographyProjective(double H_p_dx[9],const double H[9],const double dx[8],int frozen_coord)
-{
- int i,j;
-
- for(j=0,i=0;i<9;i++)
- {
- if(i!=frozen_coord)
- {
- H_p_dx[i]=H[i]+dx[j];
- j++;
- }
- else H_p_dx[i]=H[i];
- }
-}
-
-inline void db_UpdateRotFocalHomography(double H_p_dx[9],const double H[9],const double dx[4])
-{
- double f,fp,fpi;
- double R[9],dR[9];
-
- /*Updated matrix is diag(f+df,f+df)*dR*R*diag(1/(f+df),1/(f+df),1)*/
- f=db_FocalAndRotFromCamRotFocalHomography(R,H);
- db_IncrementalRotationMatrix(dR,dx);
- db_Multiply3x3_3x3(H_p_dx,dR,R);
- fp=f+dx[3];
- fpi=db_SafeReciprocal(fp);
- H_p_dx[2]*=fp;
- H_p_dx[5]*=fp;
- H_p_dx[6]*=fpi;
- H_p_dx[7]*=fpi;
-}
-
-/*\}*/
-#endif /* DB_UTILITIES_CAMERA */
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