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14 //   used to endorse or promote products derived from this software without
18 // AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
22 // CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
31 // Permission is hereby granted, free of charge, to any person obtaining a copy
32 // of this software and associated documentation files (the "Software"), to
34 // rights to use, copy, modify, merge, publish, distribute, sublicense, and/or
35 // sell copies of the Software, and to permit persons to whom the Software is
36 // furnished to do so, subject to the following conditions:
42 // IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
53 // perspectively projected into two images. The first step is to solve a
97 // geometric distance is less or equal to this value.
108 // Templated to be used with autodifferenciation.
163 // Convert from the 8 parameters to a H matrix.
164 static void To(const Parameters &p, Parameterized *h) {
170 // Convert from a H matrix to the 8 parameters.
239 Homography2DNormalizedParameterization<double>::To(h, H);
272 // Termination checking callback. This is needed to finish the
274 // to Ceres's function_tolerance, which provides for finishing when
288 // If the step wasn't successful, there's nothing to do.