Lines Matching defs:min_Jtf
111 /*Compute min_Jtf and upper right of JtJ. Return cost.*/
112 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)
118 db_Zero(min_Jtf,9);
125 min_Jtf-=Jf_dx*f[0] and
126 min_Jtf-=(Jf_dx+9)*f[1] to accumulate -Jt%f*/
127 db_RowOperation9(min_Jtf,Jf_dx,f[0]);
128 db_RowOperation9(min_Jtf,Jf_dx+9,f[1]);
192 /*Compute min_Jtf and upper right of JtJ. Return cost*/
193 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)
199 db_Zero(min_Jtf,3);
207 min_Jtf-=Jf_dx*f[0] and
208 min_Jtf-=(Jf_dx+3)*f[1] to accumulate -Jt%f*/
209 db_RowOperation3(min_Jtf,Jf_dx,f[0]);
210 db_RowOperation3(min_Jtf,Jf_dx+3,f[1]);
231 double JtJ[9],min_Jtf[3],dx[3],H_p_dx[9];
239 current_cost=db_RobCamRotation_Jacobians(JtJ,min_Jtf,H,point_count,x_i,xp_i,one_over_scale2);
249 db_Compute_dx_3x3(dx,JtJ,min_Jtf,lambda);
281 inline void db_RobImageHomographyFetchJacobian(double **JtJ_ref,double *min_Jtf,double **JtJ_temp_ref,double *min_Jtf_temp,int n,int *fetch_vector)
289 min_Jtf[i]=min_Jtf_temp[t];
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)
308 db_MultiplyMatrixVectorAtb(min_Jtf,JE_dx_ref,min_Jtf_temp,n,9);
417 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)
424 /*Compute cost and JtJ,min_Jtf with respect to H*/
427 /*Compute JtJ,min_Jtf with respect to the right parameters
430 min_Jtf=transpose(JE_dx)*min_Jtf,
443 db_RobImageHomographyMultiplyJacobian(JtJ_ref,min_Jtf,JtJ_temp_ref,min_Jtf_temp,JE_dx_ref,n);
449 db_RobImageHomographyMultiplyJacobian(JtJ_ref,min_Jtf,JtJ_temp_ref,min_Jtf_temp,JE_dx_ref,n);
454 db_RobImageHomographyMultiplyJacobian(JtJ_ref,min_Jtf,JtJ_temp_ref,min_Jtf_temp,JE_dx_ref,n);
460 db_RobImageHomographyMultiplyJacobian(JtJ_ref,min_Jtf,JtJ_temp_ref,min_Jtf_temp,JE_dx_ref,n);
466 db_RobImageHomographyMultiplyJacobian(JtJ_ref,min_Jtf,JtJ_temp_ref,min_Jtf_temp,JE_dx_ref,n);
472 db_RobImageHomographyMultiplyJacobian(JtJ_ref,min_Jtf,JtJ_temp_ref,min_Jtf_temp,JE_dx_ref,n);
479 db_RobImageHomographyFetchJacobian(JtJ_ref,min_Jtf,JtJ_temp_ref,min_Jtf_temp,n,fetch_vector);
489 db_RobImageHomographyFetchJacobian(JtJ_ref,min_Jtf,JtJ_temp_ref,min_Jtf_temp,n,fetch_vector);
499 db_RobImageHomographyFetchJacobian(JtJ_ref,min_Jtf,JtJ_temp_ref,min_Jtf_temp,n,fetch_vector);
505 db_RobImageHomographyMultiplyJacobian(JtJ_ref,min_Jtf,JtJ_temp_ref,min_Jtf_temp,JE_dx_ref,n);
573 double JtJ[72],min_Jtf[9],dx[8],H_p_dx[9];
583 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);
593 db_Compute_dx(dx,JtJ_ref,min_Jtf,lambda,d,n);
