[libcvd-members] libcvd/cvd camera.h

[Dr. JJN]

CVSROOT:        /sources/libcvd
Module name:    libcvd
Changes by:     Dr. JJN <jjneubert>     07/04/03 23:58:23

Modified files:
        cvd            : camera.h 

Log message:
        added an inv camera derivative

CVSWeb URLs:
http://cvs.savannah.gnu.org/viewcvs/libcvd/cvd/camera.h?cvsroot=libcvd&r1=1.15&r2=1.16

Patches:
Index: camera.h
===================================================================
RCS file: /sources/libcvd/libcvd/cvd/camera.h,v
retrieving revision 1.15
retrieving revision 1.16
diff -u -b -r1.15 -r1.16
--- camera.h    11 Feb 2007 20:21:44 -0000      1.15
+++ camera.h    3 Apr 2007 23:58:23 -0000       1.16
@@ -178,6 +178,7 @@
     inline TooN::Matrix<2,2> get_derivative() const;
     inline TooN::Matrix<2,2> get_derivative(const TooN::Vector<2>& x) const;
 
+    inline TooN::Matrix<2,2> Camera::Quintic::get_inv_derivative() const; 
     /// Get the motion of a point with respect to each of the internal camera 
parameters
     inline TooN::Matrix<num_parameters,2> get_parameter_derivs() const ;
 
@@ -449,6 +450,30 @@
   return result;
 }
 
+
+TooN::Matrix<2,2> Camera::Quintic::get_inv_derivative() const {
+  TooN::Matrix<2,2> result;
+  double temp1=my_last_camframe*my_last_camframe;
+  double temp2=my_camera_parameters[5]*temp1;
+  double temp3=2.0*(my_camera_parameters[4]+2.0*temp2);
+   
+  Identity(result,1+temp1*(my_camera_parameters[4]+temp2));
+
+  result[0][0] +=  my_last_camframe[1]*my_last_camframe[1]*temp3;
+  result[0][1]  =-(temp3*my_last_camframe[0]*my_last_camframe[1]);
+  
+  result[1][1] +=  my_last_camframe[0]*my_last_camframe[0]*temp3;
+  result[1][0]  =-(temp3*my_last_camframe[0]*my_last_camframe[1]);
+  
+  (result.T())[0] *= my_camera_parameters[1];
+  (result.T())[1] *= my_camera_parameters[0];
+
+  result /= (result[0][0]*result[1][1] - result[1][0]*result[0][1]);
+  
+  return result;
+}
+
+
 TooN::Matrix<2,2> Camera::Quintic::get_derivative(const TooN::Vector<2>& x) 
const {
     TooN::Matrix<2,2> result;
     double temp1=x*x;