[37] | 1 | /* Code automatically generated by maple's codegen package */ |
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| 2 | |
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| 3 | /* Computation of the predicted projection of a 3D point and its jacobians */ |
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| 4 | |
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| 5 | #include <math.h> |
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| 6 | |
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| 7 | #define IDX3x3_11 0 |
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| 8 | #define IDX3x3_12 1 |
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| 9 | #define IDX3x3_13 2 |
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| 10 | #define IDX3x3_21 3 |
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| 11 | #define IDX3x3_22 4 |
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| 12 | #define IDX3x3_23 5 |
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| 13 | #define IDX3x3_31 6 |
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| 14 | #define IDX3x3_32 7 |
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| 15 | #define IDX3x3_33 8 |
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| 16 | |
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| 17 | /* computes Q in "n", i.e. the predicted projection of a point "M" on a camera |
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| 18 | * whose rotational and translational parameters are "qr" and "t". "a" is the |
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| 19 | * camera intrisic calibration matrix |
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| 20 | */ |
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| 21 | void calcImgProj(a,qr,t,M,n) |
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| 22 | double a[9]; |
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| 23 | double qr[4]; |
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| 24 | double t[3]; |
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| 25 | double M[3]; |
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| 26 | double n[2]; |
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| 27 | { |
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| 28 | double t11; |
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| 29 | double t13; |
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| 30 | double t14; |
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| 31 | double t15; |
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| 32 | double t16; |
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| 33 | double t17; |
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| 34 | double t19; |
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| 35 | double t2; |
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| 36 | double t21; |
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| 37 | double t25; |
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| 38 | double t3; |
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| 39 | double t30; |
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| 40 | double t36; |
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| 41 | double t5; |
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| 42 | double t51; |
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| 43 | double t6; |
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| 44 | double t62; |
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| 45 | double t65; |
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| 46 | double t8; |
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| 47 | double t9; |
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| 48 | { |
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| 49 | t2 = qr[1]; |
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| 50 | t3 = M[0]; |
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| 51 | t5 = qr[2]; |
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| 52 | t6 = M[1]; |
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| 53 | t8 = qr[3]; |
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| 54 | t9 = M[2]; |
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| 55 | t11 = -t2*t3-t5*t6-t8*t9; |
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| 56 | t13 = qr[0]; |
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| 57 | t14 = t13*t13; |
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| 58 | t15 = t2*t2; |
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| 59 | t16 = t5*t5; |
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| 60 | t17 = t8*t8; |
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| 61 | t19 = 1/(t14+t15+t16+t17); |
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| 62 | t21 = t13*t19; |
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| 63 | t25 = t13*t3+t5*t9-t8*t6; |
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| 64 | t30 = t13*t6+t8*t3-t2*t9; |
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| 65 | t36 = t13*t9+t2*t6-t5*t3; |
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| 66 | t51 = -t11*t5*t19+t21*t30-t36*t2*t19+t25*t8*t19+t[1]; |
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| 67 | t62 = -t11*t8*t19+t21*t36-t25*t5*t19+t30*t2*t19+t[2]; |
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| 68 | t65 = 1/t62; |
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| 69 | n[0] = (a[IDX3x3_11]*(-t11*t2*t19+t25*t21-t30*t8*t19+t36*t5*t19+t[0])+a |
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| 70 | [IDX3x3_12]*t51+a[IDX3x3_13]*t62)*t65; |
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| 71 | n[1] = (a[IDX3x3_22]*t51+a[IDX3x3_23]*t62)*t65; |
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| 72 | return; |
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| 73 | } |
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| 74 | } |
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| 75 | |
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| 76 | /* computes A and B in "jacmRT" and "jacmS". In other words, for a point "M" |
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| 77 | * projecting on a camera whose rotational and translational parameters are "qr" |
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| 78 | * and "t", "jacmRT" is the jacobian of its predicted image projection with |
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| 79 | * regard to "qr", "t". "jacmS" is the jacobian of "M"'s predicted projection |
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| 80 | * with regard to "M". "a" is the camera intrisic calibration matrix. |
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| 81 | * Either "jacmRT" or "jacmS" can be NULL, in which case they are not computed |
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| 82 | */ |
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| 83 | void calcImgProjJacRTS(a,qr,t,M,jacmRT,jacmS) |
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| 84 | double a[9]; |
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| 85 | double qr[4]; |
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| 86 | double t[3]; |
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| 87 | double M[3]; |
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| 88 | double jacmRT[2][7]; |
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| 89 | double jacmS[2][3]; |
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| 90 | { |
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| 91 | double t1; |
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| 92 | double t10; |
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| 93 | double t11; |
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| 94 | double t110; |
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| 95 | double t114; |
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| 96 | double t115; |
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| 97 | double t116; |
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| 98 | double t118; |
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| 99 | double t12; |
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| 100 | double t120; |
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| 101 | double t127; |
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| 102 | double t129; |
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| 103 | double t13; |
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| 104 | double t130; |
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| 105 | double t137; |
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| 106 | double t138; |
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| 107 | double t14; |
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| 108 | double t140; |
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| 109 | double t141; |
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| 110 | double t143; |
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| 111 | double t147; |
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| 112 | double t15; |
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| 113 | double t153; |
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| 114 | double t156; |
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| 115 | double t16; |
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| 116 | double t162; |
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| 117 | double t17; |
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| 118 | double t172; |
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| 119 | double t18; |
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| 120 | double t187; |
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| 121 | double t188; |
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| 122 | double t19; |
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| 123 | double t191; |
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| 124 | double t197; |
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| 125 | double t2; |
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| 126 | double t20; |
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| 127 | double t21; |
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| 128 | double t210; |
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| 129 | double t220; |
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| 130 | double t228; |
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| 131 | double t24; |
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| 132 | double t240; |
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| 133 | double t241; |
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| 134 | double t242; |
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| 135 | double t243; |
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| 136 | double t247; |
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| 137 | double t248; |
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| 138 | double t250; |
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| 139 | double t253; |
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| 140 | double t254; |
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| 141 | double t256; |
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| 142 | double t26; |
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| 143 | double t269; |
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| 144 | double t27; |
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| 145 | double t272; |
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| 146 | double t273; |
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| 147 | double t275; |
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| 148 | double t28; |
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| 149 | double t289; |
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| 150 | double t29; |
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| 151 | double t291; |
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| 152 | double t3; |
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| 153 | double t30; |
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| 154 | double t33; |
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| 155 | double t34; |
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| 156 | double t35; |
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| 157 | double t37; |
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| 158 | double t38; |
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| 159 | double t39; |
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| 160 | double t4; |
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| 161 | double t40; |
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| 162 | double t42; |
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| 163 | double t43; |
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| 164 | double t45; |
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| 165 | double t46; |
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| 166 | double t47; |
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| 167 | double t48; |
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| 168 | double t5; |
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| 169 | double t50; |
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| 170 | double t53; |
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| 171 | double t54; |
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| 172 | double t57; |
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| 173 | double t6; |
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| 174 | double t60; |
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| 175 | double t61; |
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| 176 | double t62; |
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| 177 | double t64; |
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| 178 | double t65; |
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| 179 | double t66; |
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| 180 | double t68; |
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| 181 | double t69; |
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| 182 | double t7; |
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| 183 | double t71; |
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| 184 | double t72; |
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| 185 | double t75; |
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| 186 | double t78; |
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| 187 | double t79; |
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| 188 | double t8; |
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| 189 | double t80; |
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| 190 | double t82; |
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| 191 | double t83; |
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| 192 | double t84; |
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| 193 | double t86; |
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| 194 | double t87; |
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| 195 | double t9; |
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| 196 | double t95; |
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| 197 | double t96; |
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| 198 | { |
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| 199 | t1 = a[IDX3x3_11]; |
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| 200 | t2 = qr[1]; |
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| 201 | t3 = M[0]; |
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| 202 | t4 = t2*t3; |
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| 203 | t5 = qr[2]; |
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| 204 | t6 = M[1]; |
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| 205 | t7 = t5*t6; |
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| 206 | t8 = qr[3]; |
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| 207 | t9 = M[2]; |
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| 208 | t10 = t8*t9; |
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| 209 | t11 = -t4-t7-t10; |
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| 210 | t12 = t11*t2; |
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| 211 | t13 = qr[0]; |
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| 212 | t14 = t13*t13; |
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| 213 | t15 = t2*t2; |
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| 214 | t16 = t5*t5; |
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| 215 | t17 = t8*t8; |
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| 216 | t18 = t14+t15+t16+t17; |
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| 217 | t19 = t18*t18; |
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| 218 | t20 = 1/t19; |
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| 219 | t21 = t20*t13; |
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| 220 | t24 = 1/t18; |
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| 221 | t26 = t5*t9; |
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| 222 | t27 = t8*t6; |
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| 223 | t28 = t13*t3+t26-t27; |
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| 224 | t29 = t24*t28; |
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| 225 | t30 = t14*t20; |
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| 226 | t33 = t13*t24; |
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| 227 | t34 = t33*t3; |
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| 228 | t35 = t27*t24; |
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| 229 | t37 = t8*t3; |
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| 230 | t38 = t2*t9; |
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| 231 | t39 = t13*t6+t37-t38; |
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| 232 | t40 = t39*t8; |
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| 233 | t42 = 2.0*t40*t21; |
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| 234 | t43 = t26*t24; |
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| 235 | t45 = t2*t6; |
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| 236 | t46 = t5*t3; |
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| 237 | t47 = t13*t9+t45-t46; |
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| 238 | t48 = t47*t5; |
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| 239 | t50 = 2.0*t48*t21; |
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| 240 | t53 = a[IDX3x3_12]; |
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| 241 | t54 = t11*t5; |
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| 242 | t57 = t24*t39; |
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| 243 | t60 = t33*t6; |
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| 244 | t61 = t38*t24; |
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| 245 | t62 = t47*t2; |
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| 246 | t64 = 2.0*t62*t21; |
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| 247 | t65 = t37*t24; |
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| 248 | t66 = t28*t8; |
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| 249 | t68 = 2.0*t66*t21; |
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| 250 | t69 = 2.0*t54*t21+t57-2.0*t30*t39+t60-t61+t64+t65-t68; |
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| 251 | t71 = a[IDX3x3_13]; |
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| 252 | t72 = t11*t8; |
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| 253 | t75 = t24*t47; |
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| 254 | t78 = t33*t9; |
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| 255 | t79 = t46*t24; |
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| 256 | t80 = t28*t5; |
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| 257 | t82 = 2.0*t80*t21; |
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| 258 | t83 = t45*t24; |
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| 259 | t84 = t39*t2; |
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| 260 | t86 = 2.0*t21*t84; |
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| 261 | t87 = 2.0*t21*t72+t75-2.0*t30*t47+t78-t79+t82+t83-t86; |
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| 262 | t95 = -t72*t24+t33*t47-t80*t24+t84*t24+t[2]; |
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| 263 | t96 = 1/t95; |
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| 264 | t110 = -t54*t24+t33*t39-t62*t24+t66*t24+t[1]; |
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| 265 | t114 = t95*t95; |
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| 266 | t115 = 1/t114; |
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| 267 | t116 = (t1*(-t12*t24+t33*t28-t40*t24+t48*t24+t[0])+t53*t110+t71*t95)*t115; |
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| 268 | t118 = a[IDX3x3_22]; |
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| 269 | t120 = a[IDX3x3_23]; |
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| 270 | t127 = (t118*t110+t120*t95)*t115; |
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| 271 | |
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| 272 | if(jacmRT){ |
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| 273 | jacmRT[0][0] = (t1*(2.0*t12*t21+t29-2.0*t30*t28+t34-t35+t42+t43-t50)+t53* |
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| 274 | t69+t71*t87)*t96-t116*t87; |
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| 275 | jacmRT[1][0] = (t118*t69+t120*t87)*t96-t127*t87; |
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| 276 | |
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| 277 | t129 = t4*t24; |
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| 278 | t130 = t11*t24; |
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| 279 | t137 = t10*t24; |
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| 280 | t138 = t20*t2; |
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| 281 | t140 = 2.0*t40*t138; |
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| 282 | t141 = t7*t24; |
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| 283 | t143 = 2.0*t48*t138; |
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| 284 | t147 = 2.0*t54*t138; |
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| 285 | t153 = t79+t147-t86-t78-t83-t75+2.0*t47*t15*t20-2.0*t66*t138; |
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| 286 | t156 = 2.0*t72*t138; |
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| 287 | t162 = t65+t156-t64+t60+2.0*t80*t138-t61+t57-2.0*t39*t15*t20; |
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| 288 | jacmRT[0][1] = (t1*(t129-t130+2.0*t11*t15*t20-2.0*t21*t28*t2+t137+t140+t141 |
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| 289 | -t143)+t53*t153+t71*t162)*t96-t116*t162; |
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| 290 | jacmRT[1][1] = (t118*t153+t120*t162)*t96-t127*t162; |
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| 291 | t172 = t20*t5; |
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| 292 | t187 = 2.0*t66*t172; |
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| 293 | t188 = t141-t130+2.0*t11*t16*t20-2.0*t21*t39*t5+t129+t143+t137-t187; |
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| 294 | t191 = 2.0*t72*t172; |
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| 295 | t197 = t35+t191-t50-t34-t43-t29+2.0*t28*t16*t20-2.0*t84*t172; |
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| 296 | jacmRT[0][2] = (t1*(t83+t147-t82+t78+2.0*t40*t172-t79+t75-2.0*t47*t16*t20)+ |
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| 297 | t53*t188+t71*t197)*t96-t116*t197; |
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| 298 | jacmRT[1][2] = (t118*t188+t120*t197)*t96-t127*t197; |
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| 299 | t210 = t20*t8; |
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| 300 | t220 = t43+t191-t42+t34+2.0*t62*t210-t35+t29-2.0*t28*t17*t20; |
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| 301 | t228 = t137-t130+2.0*t11*t17*t20-2.0*t21*t47*t8+t141+t187+t129-t140; |
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| 302 | jacmRT[0][3] = (t1*(t61+t156-t68-t60-t65-t57+2.0*t39*t17*t20-2.0*t48*t210)+ |
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| 303 | t53*t220+t71*t228)*t96-t116*t228; |
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| 304 | jacmRT[1][3] = (t118*t220+t120*t228)*t96-t127*t228; |
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| 305 | jacmRT[0][4] = t1*t96; |
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| 306 | jacmRT[1][4] = 0.0; |
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| 307 | jacmRT[0][5] = t53*t96; |
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| 308 | jacmRT[1][5] = t96*t118; |
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| 309 | jacmRT[0][6] = t71*t96-t116; |
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| 310 | jacmRT[1][6] = t120*t96-t127; |
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| 311 | } |
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| 312 | |
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| 313 | if(jacmS){ |
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| 314 | t240 = t15*t24; |
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| 315 | t241 = t14*t24; |
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| 316 | t242 = t17*t24; |
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| 317 | t243 = t16*t24; |
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| 318 | t247 = t2*t5*t24; |
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| 319 | t248 = t33*t8; |
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| 320 | t250 = 2.0*t247+2.0*t248; |
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| 321 | t253 = t2*t8*t24; |
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| 322 | t254 = t33*t5; |
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| 323 | t256 = 2.0*t253-2.0*t254; |
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| 324 | jacmS[0][0] = (t1*(t240+t241-t242-t243)+t53*t250+t71*t256)*t96-t116*t256; |
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| 325 | jacmS[1][0] = (t118*t250+t120*t256)*t96-t127*t256; |
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| 326 | t269 = t243+t241-t240-t242; |
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| 327 | t272 = t5*t8*t24; |
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| 328 | t273 = t33*t2; |
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| 329 | t275 = 2.0*t272+2.0*t273; |
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| 330 | jacmS[0][1] = (t1*(2.0*t247-2.0*t248)+t53*t269+t71*t275)*t96-t116*t275; |
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| 331 | jacmS[1][1] = (t118*t269+t120*t275)*t96-t127*t275; |
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| 332 | t289 = 2.0*t272-2.0*t273; |
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| 333 | t291 = t242+t241-t243-t240; |
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| 334 | jacmS[0][2] = (t1*(2.0*t253+2.0*t254)+t53*t289+t71*t291)*t96-t116*t291; |
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| 335 | jacmS[1][2] = (t118*t289+t120*t291)*t96-t127*t291; |
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| 336 | } |
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| 337 | return; |
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| 338 | } |
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| 339 | } |
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