Lines Matching refs:one_over_scale2
36 inline double db_RobImageHomography_Cost(double H[9],int point_count,double *x_i,double *xp_i,double one_over_scale2)
50 acc=db_ExpCauchyInhomogenousHomographyError(xp_i_temp,H,x_i_temp,one_over_scale2);
51 acc*=db_ExpCauchyInhomogenousHomographyError(xp_i_temp+2,H,x_i_temp+2,one_over_scale2);
52 acc*=db_ExpCauchyInhomogenousHomographyError(xp_i_temp+4,H,x_i_temp+4,one_over_scale2);
53 acc*=db_ExpCauchyInhomogenousHomographyError(xp_i_temp+6,H,x_i_temp+6,one_over_scale2);
54 acc*=db_ExpCauchyInhomogenousHomographyError(xp_i_temp+8,H,x_i_temp+8,one_over_scale2);
55 acc*=db_ExpCauchyInhomogenousHomographyError(xp_i_temp+10,H,x_i_temp+10,one_over_scale2);
56 acc*=db_ExpCauchyInhomogenousHomographyError(xp_i_temp+12,H,x_i_temp+12,one_over_scale2);
57 acc*=db_ExpCauchyInhomogenousHomographyError(xp_i_temp+14,H,x_i_temp+14,one_over_scale2);
58 acc*=db_ExpCauchyInhomogenousHomographyError(xp_i_temp+16,H,x_i_temp+16,one_over_scale2);
59 acc*=db_ExpCauchyInhomogenousHomographyError(xp_i_temp+18,H,x_i_temp+18,one_over_scale2);
66 acc*=db_ExpCauchyInhomogenousHomographyError(xp_i+(c<<1),H,x_i+(c<<1),one_over_scale2);
74 inline double db_RobImageHomography_Statistics(double H[9],int point_count,double *x_i,double *xp_i,double one_over_scale2,db_Statistics *stat,double thresh=DB_OUTLIER_THRESHOLD)
82 i+=(db_SquaredInhomogenousHomographyError(xp_i+(c<<1),H,x_i+(c<<1))*one_over_scale2<=t2)?1:0;
93 stat->one_over_scale2=one_over_scale2;
97 stat->cost=db_RobImageHomography_Cost(H,point_count,x_i,xp_i,one_over_scale2);
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)
123 db_DerivativeCauchyInhomHomographyReprojection(Jf_dx,f,xp_i+(i<<1),H,x_i+(i<<1),one_over_scale2);
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)
205 db_DerivativeCauchyInhomRotationReprojection(Jf_dx,f,xp_i+j,H,x_i+j,one_over_scale2);
226 void db_RobCamRotation_Polish(double H[9],int point_count,double *x_i,double *xp_i,double one_over_scale2,
239 current_cost=db_RobCamRotation_Jacobians(JtJ,min_Jtf,H,point_count,x_i,xp_i,one_over_scale2);
253 cost=db_RobImageHomography_Cost(H_p_dx,point_count,x_i,xp_i,one_over_scale2);
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)
425 back=db_RobImageHomography_Jacobians(JtJ_temp,min_Jtf_temp,H,point_count,x_i,xp_i,one_over_scale2);
567 void db_RobCamRotation_Polish_Generic(double H[9],int point_count,int homography_type,double *x_i,double *xp_i,double one_over_scale2,
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);
597 cost=db_RobImageHomography_Cost(H_p_dx,point_count,x_i,xp_i,one_over_scale2);
691 double one_over_scale2;
730 one_over_scale2=1.0/(scale*scale);
955 acc=db_ExpCauchyInhomogenousHomographyError(xp_i_temp,hyp_point,x_i_temp,one_over_scale2);
956 acc*=db_ExpCauchyInhomogenousHomographyError(xp_i_temp+2,hyp_point,x_i_temp+2,one_over_scale2);
957 acc*=db_ExpCauchyInhomogenousHomographyError(xp_i_temp+4,hyp_point,x_i_temp+4,one_over_scale2);
958 acc*=db_ExpCauchyInhomogenousHomographyError(xp_i_temp+6,hyp_point,x_i_temp+6,one_over_scale2);
959 acc*=db_ExpCauchyInhomogenousHomographyError(xp_i_temp+8,hyp_point,x_i_temp+8,one_over_scale2);
960 acc*=db_ExpCauchyInhomogenousHomographyError(xp_i_temp+10,hyp_point,x_i_temp+10,one_over_scale2);
961 acc*=db_ExpCauchyInhomogenousHomographyError(xp_i_temp+12,hyp_point,x_i_temp+12,one_over_scale2);
962 acc*=db_ExpCauchyInhomogenousHomographyError(xp_i_temp+14,hyp_point,x_i_temp+14,one_over_scale2);
963 acc*=db_ExpCauchyInhomogenousHomographyError(xp_i_temp+16,hyp_point,x_i_temp+16,one_over_scale2);
964 acc*=db_ExpCauchyInhomogenousHomographyError(xp_i_temp+18,hyp_point,x_i_temp+18,one_over_scale2);
971 acc*=db_ExpCauchyInhomogenousHomographyError(xp_i+(c<<1),hyp_point,x_i+(c<<1),one_over_scale2);
1011 point_count_new = db_RemoveOutliers_Homography(H_temp,x_i,xp_i,wp,im,im_p,im_r,im_raw,im_raw_p,point_count,one_over_scale2);
1031 db_RobCamRotation_Polish_Generic(H_temp,db_mini(point_count,max_points),homography_type,x_i,xp_i,one_over_scale2,max_iterations);
1034 db_RobCamRotation_Polish(H_temp,db_mini(point_count,max_points),x_i,xp_i,one_over_scale2,max_iterations);
1073 db_RobImageHomography_Statistics(H_temp,db_mini(point_count,max_points),x_i,xp_i,one_over_scale2,stat);
