Lines Matching refs:x1
105 // forward_error = D(H * x1, x2)
106 // backward_error = D(H^-1 * x2, x1)
111 const Eigen::Matrix<T, 2, 1> &x1,
116 Vec3 x(x1(0), x1(1), T(1.0));
133 // D(H * x1, x2)^2 + D(H^-1 * x2, x1)^2
136 const Vec2 &x1,
140 x1,
188 // | 1 0 -x1| * |d e f| * |y2| = |0|
189 // |-x2 x1 0| |g h 1| |1 | |0|
194 // (a-x1*g)*y1 + (b-x1*h)*y2 + c-x1 = |0|
195 // (-x2*a+x1*d)*y1 + (-x2*b+x1*e)*y2 + -x2*c+x1*f |0|
198 const Mat &x1,
202 assert(2 == x1.rows());
203 assert(4 <= x1.cols());
204 assert(x1.rows() == x2.rows());
205 assert(x1.cols() == x2.cols());
207 int n = x1.cols();
212 L(j, 0) = x1(0, i); // a
213 L(j, 1) = x1(1, i); // b
215 L(j, 6) = -x2(0, i) * x1(0, i); // g
216 L(j, 7) = -x2(0, i) * x1(1, i); // h
220 L(j, 3) = x1(0, i); // d
221 L(j, 4) = x1(1, i); // e
223 L(j, 6) = -x2(1, i) * x1(0, i); // g
224 L(j, 7) = -x2(1, i) * x1(1, i); // h
230 L(j, 0) = x2(1, i) * x1(0, i); // a
231 L(j, 1) = x2(1, i) * x1(1, i); // b
233 L(j, 3) = -x2(0, i) * x1(0, i); // d
234 L(j, 4) = -x2(0, i) * x1(1, i); // e
281 TerminationCheckingCallback(const Mat &x1, const Mat &x2,
284 : options_(options), x1_(x1), x2_(x2), H_(H) {}
317 const Mat &x1,
321 assert(2 == x1.rows());
322 assert(4 <= x1.cols());
323 assert(x1.rows() == x2.rows());
324 assert(x1.cols() == x2.cols());
328 Homography2DFromCorrespondencesLinearEuc(x1,
337 for (int i = 0; i < x1.cols(); i++) {
340 new HomographySymmetricGeometricCostFunctor(x1.col(i),
359 TerminationCheckingCallback callback(x1, x2, options, H);
377 Mat x1(2, 100);
378 for (int i = 0; i < x1.cols(); ++i) {
379 x1(0, i) = rand() % 1024;
380 x1(1, i) = rand() % 1024;
389 Mat x2 = x1;
391 Vec3 homogenous_x1 = Vec3(x1(0, i), x1(1, i), 1.0);
405 EstimateHomography2DFromCorrespondences(x1, x2, options, &estimated_matrix);
