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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