Lines Matching refs:JE_dx_ref
299 inline void db_RobImageHomographyMultiplyJacobian(double **JtJ_ref,double *min_Jtf,double **JtJ_temp_ref,double *min_Jtf_temp,double **JE_dx_ref,int n)
306 db_MultiplyMatricesAB(JtJ_JE_ref,JtJ_temp_ref,JE_dx_ref,9,9,n);
307 db_UpperMultiplyMatricesAtB(JtJ_ref,JE_dx_ref,JtJ_JE_ref,n,9,n);
308 db_MultiplyMatrixVectorAtb(min_Jtf,JE_dx_ref,min_Jtf_temp,n,9);
311 inline void db_RobImageHomographyJH_Js(double **JE_dx_ref,int j,double H[9])
316 JE_dx_ref[0][j]=H[0];
317 JE_dx_ref[1][j]=H[1];
318 JE_dx_ref[2][j]=0;
319 JE_dx_ref[3][j]=H[2];
320 JE_dx_ref[4][j]=H[3];
321 JE_dx_ref[5][j]=0;
322 JE_dx_ref[6][j]=0;
323 JE_dx_ref[7][j]=0;
324 JE_dx_ref[8][j]=0;
327 inline void db_RobImageHomographyJH_JR(double **JE_dx_ref,int j,double H[9])
332 JE_dx_ref[0][j]= H[3];
333 JE_dx_ref[1][j]= H[4];
334 JE_dx_ref[2][j]=0;
335 JE_dx_ref[3][j]= -H[0];
336 JE_dx_ref[4][j]= -H[1];
337 JE_dx_ref[5][j]=0;
338 JE_dx_ref[6][j]=0;
339 JE_dx_ref[7][j]=0;
340 JE_dx_ref[8][j]=0;
343 inline void db_RobImageHomographyJH_Jt(double **JE_dx_ref,int j,int k,double H[9])
345 JE_dx_ref[0][j]=0;
346 JE_dx_ref[1][j]=0;
347 JE_dx_ref[2][j]=1.0;
348 JE_dx_ref[3][j]=0;
349 JE_dx_ref[4][j]=0;
350 JE_dx_ref[5][j]=0;
351 JE_dx_ref[6][j]=0;
352 JE_dx_ref[7][j]=0;
353 JE_dx_ref[8][j]=0;
355 JE_dx_ref[0][k]=0;
356 JE_dx_ref[1][k]=0;
357 JE_dx_ref[2][k]=0;
358 JE_dx_ref[3][k]=0;
359 JE_dx_ref[4][k]=0;
360 JE_dx_ref[5][k]=1.0;
361 JE_dx_ref[6][k]=0;
362 JE_dx_ref[7][k]=0;
363 JE_dx_ref[8][k]=0;
366 inline void db_RobImageHomographyJH_dRotFocal(double **JE_dx_ref,int j,int k,int l,int m,double H[9])
376 JE_dx_ref[0][j]= J[0];
377 JE_dx_ref[1][j]= J[1];
378 JE_dx_ref[2][j]=f* J[2];
379 JE_dx_ref[3][j]= J[3];
380 JE_dx_ref[4][j]= J[4];
381 JE_dx_ref[5][j]=f* J[5];
382 JE_dx_ref[6][j]=fi*J[6];
383 JE_dx_ref[7][j]=fi*J[7];
384 JE_dx_ref[8][j]= J[8];
386 JE_dx_ref[0][k]= J[0];
387 JE_dx_ref[1][k]= J[1];
388 JE_dx_ref[2][k]=f* J[2];
389 JE_dx_ref[3][k]= J[3];
390 JE_dx_ref[4][k]= J[4];
391 JE_dx_ref[5][k]=f* J[5];
392 JE_dx_ref[6][k]=fi*J[6];
393 JE_dx_ref[7][k]=fi*J[7];
394 JE_dx_ref[8][k]= J[8];
396 JE_dx_ref[0][l]= J[0];
397 JE_dx_ref[1][l]= J[1];
398 JE_dx_ref[2][l]=f* J[2];
399 JE_dx_ref[3][l]= J[3];
400 JE_dx_ref[4][l]= J[4];
401 JE_dx_ref[5][l]=f* J[5];
402 JE_dx_ref[6][l]=fi*J[6];
403 JE_dx_ref[7][l]=fi*J[7];
404 JE_dx_ref[8][l]= J[8];
406 JE_dx_ref[0][m]=0;
407 JE_dx_ref[1][m]=0;
408 JE_dx_ref[2][m]=H[2];
409 JE_dx_ref[3][m]=0;
410 JE_dx_ref[4][m]=0;
411 JE_dx_ref[5][m]=H[5];
412 JE_dx_ref[6][m]= -fi2*H[6];
413 JE_dx_ref[7][m]= -fi2*H[7];
414 JE_dx_ref[8][m]=0;
422 double *JE_dx_ref[9],*JtJ_temp_ref[9];
434 db_SetupMatrixRefs(JE_dx_ref,9,8,JE_dx);
440 db_RobImageHomographyJH_Js(JE_dx_ref,0,H);
441 db_RobImageHomographyJH_JR(JE_dx_ref,1,H);
442 db_RobImageHomographyJH_Jt(JE_dx_ref,2,3,H);
443 db_RobImageHomographyMultiplyJacobian(JtJ_ref,min_Jtf,JtJ_temp_ref,min_Jtf_temp,JE_dx_ref,n);
448 db_RobImageHomographyJH_JR(JE_dx_ref,0,H);
449 db_RobImageHomographyMultiplyJacobian(JtJ_ref,min_Jtf,JtJ_temp_ref,min_Jtf_temp,JE_dx_ref,n);
453 db_RobImageHomographyJH_Js(JE_dx_ref,0,H);
454 db_RobImageHomographyMultiplyJacobian(JtJ_ref,min_Jtf,JtJ_temp_ref,min_Jtf_temp,JE_dx_ref,n);
458 db_RobImageHomographyJH_Js(JE_dx_ref,0,H);
459 db_RobImageHomographyJH_Jt(JE_dx_ref,1,2,H);
460 db_RobImageHomographyMultiplyJacobian(JtJ_ref,min_Jtf,JtJ_temp_ref,min_Jtf_temp,JE_dx_ref,n);
464 db_RobImageHomographyJH_JR(JE_dx_ref,0,H);
465 db_RobImageHomographyJH_Jt(JE_dx_ref,1,2,H);
466 db_RobImageHomographyMultiplyJacobian(JtJ_ref,min_Jtf,JtJ_temp_ref,min_Jtf_temp,JE_dx_ref,n);
470 db_RobImageHomographyJH_Js(JE_dx_ref,0,H);
471 db_RobImageHomographyJH_JR(JE_dx_ref,1,H);
472 db_RobImageHomographyMultiplyJacobian(JtJ_ref,min_Jtf,JtJ_temp_ref,min_Jtf_temp,JE_dx_ref,n);
504 db_RobImageHomographyJH_dRotFocal(JE_dx_ref,0,1,2,3,H);
505 db_RobImageHomographyMultiplyJacobian(JtJ_ref,min_Jtf,JtJ_temp_ref,min_Jtf_temp,JE_dx_ref,n);
