[37] | 1 | ///////////////////////////////////////////////////////////////////////////////// |
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| 2 | //// |
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| 3 | //// Verification routines for the jacobians employed in the expert & simple drivers |
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| 4 | //// for sparse bundle adjustment based on the Levenberg - Marquardt minimization algorithm |
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| 5 | //// Copyright (C) 2005 Manolis Lourakis (lourakis@ics.forth.gr) |
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| 6 | //// Institute of Computer Science, Foundation for Research & Technology - Hellas |
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| 7 | //// Heraklion, Crete, Greece. |
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| 8 | //// |
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| 9 | //// This program is free software; you can redistribute it and/or modify |
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| 10 | //// it under the terms of the GNU General Public License as published by |
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| 11 | //// the Free Software Foundation; either version 2 of the License, or |
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| 12 | //// (at your option) any later version. |
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| 13 | //// |
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| 14 | //// This program is distributed in the hope that it will be useful, |
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| 15 | //// but WITHOUT ANY WARRANTY; without even the implied warranty of |
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| 16 | //// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the |
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| 17 | //// GNU General Public License for more details. |
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| 18 | //// |
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| 19 | /////////////////////////////////////////////////////////////////////////////////// |
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| 20 | |
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| 21 | #include <stdio.h> |
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| 22 | #include <stdlib.h> |
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| 23 | #include <math.h> |
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| 24 | #include <float.h> |
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| 25 | |
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| 26 | #include "sba.h" |
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| 27 | |
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| 28 | #define emalloc(sz) emalloc_(__FILE__, __LINE__, sz) |
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| 29 | |
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| 30 | #define FABS(x) (((x)>=0)? (x) : -(x)) |
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| 31 | |
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| 32 | |
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| 33 | /* inline */ |
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| 34 | #ifdef _MSC_VER |
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| 35 | #define inline __inline //MSVC |
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| 36 | #elif !defined(__GNUC__) |
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| 37 | #define inline //other than MSVC, GCC: define empty |
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| 38 | #endif |
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| 39 | |
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| 40 | /* auxiliary memory allocation routine with error checking */ |
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| 41 | inline static void *emalloc_(char *file, int line, size_t sz) |
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| 42 | { |
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| 43 | void *ptr; |
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| 44 | |
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| 45 | ptr=(void *)malloc(sz); |
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| 46 | if(ptr==NULL){ |
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| 47 | fprintf(stderr, "memory allocation request for %u bytes failed in file %s, line %d, exiting", sz, file, line); |
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| 48 | exit(1); |
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| 49 | } |
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| 50 | |
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| 51 | return ptr; |
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| 52 | } |
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| 53 | |
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| 54 | /* |
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| 55 | * Check the jacobian of a projection function in nvars variables |
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| 56 | * evaluated at a point p, for consistency with the function itself. |
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| 57 | * Expert version |
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| 58 | * |
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| 59 | * Based on fortran77 subroutine CHKDER by |
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| 60 | * Burton S. Garbow, Kenneth E. Hillstrom, Jorge J. More |
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| 61 | * Argonne National Laboratory. MINPACK project. March 1980. |
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| 62 | * |
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| 63 | * |
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| 64 | * func points to a function from R^{nvars} --> R^{nobs}: Given a p in R^{nvars} |
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| 65 | * it yields hx in R^{nobs} |
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| 66 | * jacf points to a function implementing the jacobian of func, whose consistency with |
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| 67 | * func is to be tested. Given a p in R^{nvars}, jacf computes into the nvis*(Asz+Bsz) |
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| 68 | * matrix jac the jacobian of func at p. Note the jacobian is sparse, consisting of |
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| 69 | * all A_ij, B_ij and that row i of jac corresponds to the gradient of the i-th |
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| 70 | * component of func, evaluated at p. |
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| 71 | * p is an input array of length nvars containing the point of evaluation. |
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| 72 | * idxij, rcidxs, rcsubs, mcon, cnp, pnp, mnp are as usual. Note that if cnp=0 or |
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| 73 | * pnp=0 a jacobian corresponding resp. to motion or camera parameters |
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| 74 | * only is assumed. |
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| 75 | * func_adata, jac_adata point to possible additional data and are passed |
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| 76 | * uninterpreted to func, jacf respectively. |
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| 77 | * err is an array of length nobs. On output, err contains measures |
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| 78 | * of correctness of the respective gradients. if there is |
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| 79 | * no severe loss of significance, then if err[i] is 1.0 the |
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| 80 | * i-th gradient is correct, while if err[i] is 0.0 the i-th |
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| 81 | * gradient is incorrect. For values of err between 0.0 and 1.0, |
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| 82 | * the categorization is less certain. In general, a value of |
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| 83 | * err[i] greater than 0.5 indicates that the i-th gradient is |
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| 84 | * probably correct, while a value of err[i] less than 0.5 |
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| 85 | * indicates that the i-th gradient is probably incorrect. |
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| 86 | * |
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| 87 | * CAUTION: THIS FUNCTION IS NOT 100% FOOLPROOF. The |
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| 88 | * following excerpt comes from CHKDER's documentation: |
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| 89 | * |
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| 90 | * "The function does not perform reliably if cancellation or |
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| 91 | * rounding errors cause a severe loss of significance in the |
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| 92 | * evaluation of a function. therefore, none of the components |
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| 93 | * of p should be unusually small (in particular, zero) or any |
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| 94 | * other value which may cause loss of significance." |
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| 95 | */ |
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| 96 | |
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| 97 | void sba_motstr_chkjac_x( |
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| 98 | void (*func)(double *p, struct sba_crsm *idxij, int *rcidxs, int *rcsubs, double *hx, void *adata), |
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| 99 | void (*jacf)(double *p, struct sba_crsm *idxij, int *rcidxs, int *rcsubs, double *jac, void *adata), |
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| 100 | double *p, struct sba_crsm *idxij, int *rcidxs, int *rcsubs, int mcon, int cnp, int pnp, int mnp, void *func_adata, void *jac_adata) |
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| 101 | { |
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| 102 | const double factor=100.0, one=1.0, zero=0.0; |
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| 103 | double *fvec, *fjac, *pp, *fvecp, *buf, *err; |
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| 104 | |
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| 105 | int nvars, nobs, m, n, Asz, Bsz, nnz; |
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| 106 | register int i, j, ii, jj; |
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| 107 | double eps, epsf, temp, epsmch, epslog; |
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| 108 | register double *ptr1, *ptr2, *pab; |
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| 109 | double *pa, *pb; |
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| 110 | int fvec_sz, pp_sz, fvecp_sz, numerr=0; |
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| 111 | |
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| 112 | nobs=idxij->nnz*mnp; |
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| 113 | n=idxij->nr; m=idxij->nc; |
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| 114 | nvars=m*cnp + n*pnp; |
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| 115 | epsmch=DBL_EPSILON; |
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| 116 | eps=sqrt(epsmch); |
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| 117 | |
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| 118 | Asz=mnp*cnp; Bsz=mnp*pnp; |
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| 119 | fjac=(double *)emalloc(idxij->nnz*(Asz+Bsz)*sizeof(double)); |
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| 120 | |
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| 121 | fvec_sz=fvecp_sz=nobs; |
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| 122 | pp_sz=nvars; |
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| 123 | buf=(double *)emalloc((fvec_sz + pp_sz + fvecp_sz)*sizeof(double)); |
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| 124 | fvec=buf; |
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| 125 | pp=fvec+fvec_sz; |
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| 126 | fvecp=pp+pp_sz; |
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| 127 | |
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| 128 | err=(double *)emalloc(nobs*sizeof(double)); |
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| 129 | |
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| 130 | /* compute fvec=func(p) */ |
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| 131 | (*func)(p, idxij, rcidxs, rcsubs, fvec, func_adata); |
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| 132 | |
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| 133 | /* compute the jacobian at p */ |
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| 134 | (*jacf)(p, idxij, rcidxs, rcsubs, fjac, jac_adata); |
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| 135 | |
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| 136 | /* compute pp */ |
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| 137 | for(j=0; j<nvars; ++j){ |
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| 138 | temp=eps*FABS(p[j]); |
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| 139 | if(temp==zero) temp=eps; |
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| 140 | pp[j]=p[j]+temp; |
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| 141 | } |
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| 142 | |
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| 143 | /* compute fvecp=func(pp) */ |
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| 144 | (*func)(pp, idxij, rcidxs, rcsubs, fvecp, func_adata); |
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| 145 | |
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| 146 | epsf=factor*epsmch; |
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| 147 | epslog=log10(eps); |
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| 148 | |
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| 149 | for(i=0; i<nobs; ++i) |
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| 150 | err[i]=zero; |
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| 151 | |
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| 152 | pa=p; |
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| 153 | pb=p + m*cnp; |
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| 154 | for(i=0; i<n; ++i){ |
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| 155 | nnz=sba_crsm_row_elmidxs(idxij, i, rcidxs, rcsubs); /* find nonzero A_ij, B_ij, j=0...m-1, actual column numbers in rcsubs */ |
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| 156 | for(j=0; j<nnz; ++j){ |
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| 157 | if(rcsubs[j]<mcon) continue; // A_ij, B_ij are zero |
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| 158 | |
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| 159 | ptr2=err + idxij->val[rcidxs[j]]*mnp; // set ptr2 to point into err |
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| 160 | |
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| 161 | if(cnp){ |
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| 162 | ptr1=fjac + idxij->val[rcidxs[j]]*Asz; // set ptr1 to point to A_ij |
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| 163 | pab=pa + rcsubs[j]*cnp; |
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| 164 | for(jj=0; jj<cnp; ++jj){ |
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| 165 | temp=FABS(pab[jj]); |
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| 166 | if(temp==zero) temp=one; |
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| 167 | |
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| 168 | for(ii=0; ii<mnp; ++ii) |
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| 169 | ptr2[ii]+=temp*ptr1[ii*cnp+jj]; |
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| 170 | } |
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| 171 | } |
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| 172 | |
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| 173 | if(pnp){ |
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| 174 | ptr1=fjac + idxij->nnz*Asz + idxij->val[rcidxs[j]]*Bsz; // set ptr1 to point to B_ij |
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| 175 | pab=pb + i*pnp; |
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| 176 | for(jj=0; jj<pnp; ++jj){ |
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| 177 | temp=FABS(pab[jj]); |
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| 178 | if(temp==zero) temp=one; |
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| 179 | |
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| 180 | for(ii=0; ii<mnp; ++ii) |
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| 181 | ptr2[ii]+=temp*ptr1[ii*pnp+jj]; |
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| 182 | } |
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| 183 | } |
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| 184 | } |
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| 185 | } |
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| 186 | |
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| 187 | for(i=0; i<nobs; ++i){ |
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| 188 | temp=one; |
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| 189 | if(fvec[i]!=zero && fvecp[i]!=zero && FABS(fvecp[i]-fvec[i])>=epsf*FABS(fvec[i])) |
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| 190 | temp=eps*FABS((fvecp[i]-fvec[i])/eps - err[i])/(FABS(fvec[i])+FABS(fvecp[i])); |
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| 191 | err[i]=one; |
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| 192 | if(temp>epsmch && temp<eps) |
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| 193 | err[i]=(log10(temp) - epslog)/epslog; |
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| 194 | if(temp>=eps) err[i]=zero; |
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| 195 | } |
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| 196 | |
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| 197 | free(fjac); |
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| 198 | free(buf); |
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| 199 | |
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| 200 | for(i=0; i<n; ++i){ |
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| 201 | nnz=sba_crsm_row_elmidxs(idxij, i, rcidxs, rcsubs); /* find nonzero err_ij, j=0...m-1 */ |
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| 202 | for(j=0; j<nnz; ++j){ |
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| 203 | if(rcsubs[j]<mcon) continue; // corresponding gradients are taken to be zero |
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| 204 | |
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| 205 | ptr1=err + idxij->val[rcidxs[j]]*mnp; // set ptr1 to point into err |
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| 206 | for(ii=0; ii<mnp; ++ii) |
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| 207 | if(ptr1[ii]<=0.5){ |
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| 208 | fprintf(stderr, "Gradient %d (corresponding to element %d of the projection of point %d on camera %d) is %s (err=%g)\n", |
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| 209 | idxij->val[rcidxs[j]]*mnp+ii, ii, i, rcsubs[j], (ptr1[ii]==0.0)? "wrong" : "probably wrong", ptr1[ii]); |
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| 210 | ++numerr; |
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| 211 | } |
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| 212 | } |
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| 213 | } |
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| 214 | if(numerr) fprintf(stderr, "Found %d suspicious gradients out of %d\n\n", numerr, nobs); |
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| 215 | |
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| 216 | free(err); |
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| 217 | |
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| 218 | return; |
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| 219 | } |
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| 220 | |
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| 221 | void sba_mot_chkjac_x( |
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| 222 | void (*func)(double *p, struct sba_crsm *idxij, int *rcidxs, int *rcsubs, double *hx, void *adata), |
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| 223 | void (*jacf)(double *p, struct sba_crsm *idxij, int *rcidxs, int *rcsubs, double *jac, void *adata), |
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| 224 | double *p, struct sba_crsm *idxij, int *rcidxs, int *rcsubs, int mcon, int cnp, int mnp, void *func_adata, void *jac_adata) |
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| 225 | { |
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| 226 | sba_motstr_chkjac_x(func, jacf, p, idxij, rcidxs, rcsubs, mcon, cnp, 0, mnp, func_adata, jac_adata); |
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| 227 | } |
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| 228 | |
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| 229 | void sba_str_chkjac_x( |
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| 230 | void (*func)(double *p, struct sba_crsm *idxij, int *rcidxs, int *rcsubs, double *hx, void *adata), |
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| 231 | void (*jacf)(double *p, struct sba_crsm *idxij, int *rcidxs, int *rcsubs, double *jac, void *adata), |
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| 232 | double *p, struct sba_crsm *idxij, int *rcidxs, int *rcsubs, int pnp, int mnp, void *func_adata, void *jac_adata) |
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| 233 | { |
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| 234 | sba_motstr_chkjac_x(func, jacf, p, idxij, rcidxs, rcsubs, 0, 0, pnp, mnp, func_adata, jac_adata); |
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| 235 | } |
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| 236 | |
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| 237 | #if 0 |
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| 238 | /* Routines for directly checking the jacobians supplied to the simple drivers. |
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| 239 | * They shouldn't be necessary since these jacobians can be verified indirectly |
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| 240 | * through the expert sba_XXX_chkjac_x() routines. |
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| 241 | */ |
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| 242 | |
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| 243 | /*****************************************************************************************/ |
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| 244 | // Sample code for using sba_motstr_chkjac(): |
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| 245 | |
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| 246 | for(i=0; i<n; ++i) |
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| 247 | for(j=mcon; j<m; ++j){ |
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| 248 | if(!vmask[i*m+j]) continue; // point i does not appear in image j |
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| 249 | |
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| 250 | sba_motstr_chkjac(proj, projac, p+j*cnp, p+m*cnp+i*pnp, j, i, cnp, pnp, mnp, adata, adata); |
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| 251 | } |
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| 252 | |
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| 253 | |
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| 254 | /*****************************************************************************************/ |
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| 255 | |
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| 256 | |
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| 257 | /* union used for passing pointers to the user-supplied functions for the motstr/mot/str simple drivers */ |
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| 258 | union proj_projac{ |
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| 259 | struct{ |
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| 260 | void (*proj)(int j, int i, double *aj, double *bi, double *xij, void *adata); |
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| 261 | void (*projac)(int j, int i, double *aj, double *bi, double *Aij, double *Bij, void *adata); |
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| 262 | } motstr; |
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| 263 | |
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| 264 | struct{ |
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| 265 | void (*proj)(int j, int i, double *aj, double *xij, void *adata); |
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| 266 | void (*projac)(int j, int i, double *aj, double *Aij, void *adata); |
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| 267 | } mot; |
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| 268 | |
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| 269 | struct{ |
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| 270 | void (*proj)(int j, int i, double *bi, double *xij, void *adata); |
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| 271 | void (*projac)(int j, int i, double *bi, double *Bij, void *adata); |
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| 272 | } str; |
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| 273 | }; |
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| 274 | |
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| 275 | |
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| 276 | /* |
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| 277 | * Check the jacobian of a projection function in cnp+pnp variables |
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| 278 | * evaluated at a point p, for consistency with the function itself. |
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| 279 | * Simple version of the above, NOT to be called directly |
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| 280 | * |
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| 281 | * Based on fortran77 subroutine CHKDER by |
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| 282 | * Burton S. Garbow, Kenneth E. Hillstrom, Jorge J. More |
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| 283 | * Argonne National Laboratory. MINPACK project. March 1980. |
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| 284 | * |
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| 285 | * |
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| 286 | * proj points to a function from R^{cnp+pnp} --> R^{mnp}: Given a p=(aj, bi) in R^{cnp+pnp} |
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| 287 | * it yields hx in R^{mnp} |
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| 288 | * projac points to a function implementing the jacobian of func, whose consistency with proj |
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| 289 | * is to be tested. Given a p in R^{cnp+pnp}, jacf computes into the matrix jac=[Aij | Bij] |
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| 290 | * jacobian of proj at p. Note that row i of jac corresponds to the gradient of the i-th |
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| 291 | * component of proj, evaluated at p. |
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| 292 | * aj, bi are input arrays of lengths cnp, pnp containing the parameters for the point of |
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| 293 | * evaluation, i.e. j-th camera and i-th point |
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| 294 | * jj, ii specify the point (ii) whose projection jacobian in image (jj) is being checked |
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| 295 | * cnp, pnp, mnp are as usual. Note that if cnp=0 or |
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| 296 | * pnp=0 a jacobian corresponding resp. to motion or camera parameters |
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| 297 | * only is assumed. |
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| 298 | * func_adata, jac_adata point to possible additional data and are passed |
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| 299 | * uninterpreted to func, jacf respectively. |
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| 300 | * err is an array of length mnp. On output, err contains measures |
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| 301 | * of correctness of the respective gradients. if there is |
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| 302 | * no severe loss of significance, then if err[i] is 1.0 the |
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| 303 | * i-th gradient is correct, while if err[i] is 0.0 the i-th |
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| 304 | * gradient is incorrect. For values of err between 0.0 and 1.0, |
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| 305 | * the categorization is less certain. In general, a value of |
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| 306 | * err[i] greater than 0.5 indicates that the i-th gradient is |
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| 307 | * probably correct, while a value of err[i] less than 0.5 |
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| 308 | * indicates that the i-th gradient is probably incorrect. |
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| 309 | * |
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| 310 | * CAUTION: THIS FUNCTION IS NOT 100% FOOLPROOF. The |
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| 311 | * following excerpt comes from CHKDER's documentation: |
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| 312 | * |
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| 313 | * "The function does not perform reliably if cancellation or |
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| 314 | * rounding errors cause a severe loss of significance in the |
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| 315 | * evaluation of a function. therefore, none of the components |
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| 316 | * of p should be unusually small (in particular, zero) or any |
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| 317 | * other value which may cause loss of significance." |
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| 318 | */ |
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| 319 | |
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| 320 | static void sba_chkjac( |
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| 321 | union proj_projac *funcs, double *aj, double *bi, int jj, int ii, int cnp, int pnp, int mnp, void *func_adata, void *jac_adata) |
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| 322 | { |
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| 323 | const double factor=100.0, one=1.0, zero=0.0; |
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| 324 | double *fvec, *fjac, *Aij, *Bij, *ajp, *bip, *fvecp, *buf, *err; |
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| 325 | |
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| 326 | int Asz, Bsz; |
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| 327 | register int i, j; |
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| 328 | double eps, epsf, temp, epsmch, epslog; |
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| 329 | int fvec_sz, ajp_sz, bip_sz, fvecp_sz, err_sz, numerr=0; |
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| 330 | |
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| 331 | epsmch=DBL_EPSILON; |
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| 332 | eps=sqrt(epsmch); |
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| 333 | |
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| 334 | Asz=mnp*cnp; Bsz=mnp*pnp; |
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| 335 | fjac=(double *)emalloc((Asz+Bsz)*sizeof(double)); |
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| 336 | Aij=fjac; |
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| 337 | Bij=Aij+Asz; |
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| 338 | |
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| 339 | fvec_sz=fvecp_sz=mnp; |
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| 340 | ajp_sz=cnp; bip_sz=pnp; |
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| 341 | err_sz=mnp; |
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| 342 | buf=(double *)emalloc((fvec_sz + ajp_sz + bip_sz + fvecp_sz + err_sz)*sizeof(double)); |
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| 343 | fvec=buf; |
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| 344 | ajp=fvec+fvec_sz; |
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| 345 | bip=ajp+ajp_sz; |
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| 346 | fvecp=bip+bip_sz; |
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| 347 | err=fvecp+fvecp_sz; |
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| 348 | |
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| 349 | /* compute fvec=proj(p), p=(aj, bi) & the jacobian at p */ |
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| 350 | if(cnp && pnp){ |
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| 351 | (*(funcs->motstr.proj))(jj, ii, aj, bi, fvec, func_adata); |
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| 352 | (*(funcs->motstr.projac))(jj, ii, aj, bi, Aij, Bij, jac_adata); |
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| 353 | } |
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| 354 | else if(cnp){ |
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| 355 | (*(funcs->mot.proj))(jj, ii, aj, fvec, func_adata); |
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| 356 | (*(funcs->mot.projac))(jj, ii, aj, Aij, jac_adata); |
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| 357 | } |
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| 358 | else{ |
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| 359 | (*(funcs->str.proj))(jj, ii, bi, fvec, func_adata); |
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| 360 | (*(funcs->str.projac))(jj, ii, bi, Bij, jac_adata); |
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| 361 | } |
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| 362 | |
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| 363 | /* compute pp, pp=(ajp, bip) */ |
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| 364 | for(j=0; j<cnp; ++j){ |
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| 365 | temp=eps*FABS(aj[j]); |
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| 366 | if(temp==zero) temp=eps; |
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| 367 | ajp[j]=aj[j]+temp; |
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| 368 | } |
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| 369 | for(j=0; j<pnp; ++j){ |
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| 370 | temp=eps*FABS(bi[j]); |
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| 371 | if(temp==zero) temp=eps; |
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| 372 | bip[j]=bi[j]+temp; |
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| 373 | } |
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| 374 | |
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| 375 | /* compute fvecp=proj(pp) */ |
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| 376 | if(cnp && pnp) |
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| 377 | (*(funcs->motstr.proj))(jj, ii, ajp, bip, fvecp, func_adata); |
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| 378 | else if(cnp) |
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| 379 | (*(funcs->mot.proj))(jj, ii, ajp, fvecp, func_adata); |
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| 380 | else |
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| 381 | (*(funcs->str.proj))(jj, ii, bip, fvecp, func_adata); |
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| 382 | |
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| 383 | epsf=factor*epsmch; |
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| 384 | epslog=log10(eps); |
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| 385 | |
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| 386 | for(i=0; i<mnp; ++i) |
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| 387 | err[i]=zero; |
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| 388 | |
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| 389 | for(j=0; j<cnp; ++j){ |
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| 390 | temp=FABS(aj[j]); |
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| 391 | if(temp==zero) temp=one; |
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| 392 | |
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| 393 | for(i=0; i<mnp; ++i) |
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| 394 | err[i]+=temp*Aij[i*cnp+j]; |
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| 395 | } |
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| 396 | for(j=0; j<pnp; ++j){ |
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| 397 | temp=FABS(bi[j]); |
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| 398 | if(temp==zero) temp=one; |
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| 399 | |
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| 400 | for(i=0; i<mnp; ++i) |
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| 401 | err[i]+=temp*Bij[i*pnp+j]; |
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| 402 | } |
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| 403 | |
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| 404 | for(i=0; i<mnp; ++i){ |
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| 405 | temp=one; |
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| 406 | if(fvec[i]!=zero && fvecp[i]!=zero && FABS(fvecp[i]-fvec[i])>=epsf*FABS(fvec[i])) |
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| 407 | temp=eps*FABS((fvecp[i]-fvec[i])/eps - err[i])/(FABS(fvec[i])+FABS(fvecp[i])); |
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| 408 | err[i]=one; |
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| 409 | if(temp>epsmch && temp<eps) |
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| 410 | err[i]=(log10(temp) - epslog)/epslog; |
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| 411 | if(temp>=eps) err[i]=zero; |
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| 412 | } |
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| 413 | |
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| 414 | for(i=0; i<mnp; ++i) |
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| 415 | if(err[i]<=0.5){ |
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| 416 | fprintf(stderr, "Gradient %d (corresponding to element %d of the projection of point %d on camera %d) is %s (err=%g)\n", |
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| 417 | i, i, ii, jj, (err[i]==0.0)? "wrong" : "probably wrong", err[i]); |
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| 418 | ++numerr; |
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| 419 | } |
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| 420 | if(numerr) fprintf(stderr, "Found %d suspicious gradients out of %d\n\n", numerr, mnp); |
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| 421 | |
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| 422 | free(fjac); |
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| 423 | free(buf); |
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| 424 | |
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| 425 | return; |
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| 426 | } |
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| 427 | |
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| 428 | void sba_motstr_chkjac( |
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| 429 | void (*proj)(int jj, int ii, double *aj, double *bi, double *xij, void *adata), |
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| 430 | void (*projac)(int jj, int ii, double *aj, double *bi, double *Aij, double *Bij, void *adata), |
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| 431 | double *aj, double *bi, int jj, int ii, int cnp, int pnp, int mnp, void *func_adata, void *jac_adata) |
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| 432 | { |
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| 433 | union proj_projac funcs; |
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| 434 | |
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| 435 | funcs.motstr.proj=proj; |
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| 436 | funcs.motstr.projac=projac; |
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| 437 | |
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| 438 | sba_chkjac(&funcs, aj, bi, jj, ii, cnp, pnp, mnp, func_adata, jac_adata); |
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| 439 | } |
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| 440 | |
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| 441 | void sba_mot_chkjac( |
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| 442 | void (*proj)(int jj, int ii, double *aj, double *xij, void *adata), |
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| 443 | void (*projac)(int jj, int ii, double *aj, double *Aij, void *adata), |
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| 444 | double *aj, double *bi, int jj, int ii, int cnp, int pnp, int mnp, void *func_adata, void *jac_adata) |
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| 445 | { |
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| 446 | union proj_projac funcs; |
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| 447 | |
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| 448 | funcs.mot.proj=proj; |
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| 449 | funcs.mot.projac=projac; |
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| 450 | |
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| 451 | sba_chkjac(&funcs, aj, NULL, jj, ii, cnp, 0, mnp, func_adata, jac_adata); |
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| 452 | } |
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| 453 | |
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| 454 | void sba_str_chkjac( |
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| 455 | void (*proj)(int jj, int ii, double *bi, double *xij, void *adata), |
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| 456 | void (*projac)(int jj, int ii, double *bi, double *Bij, void *adata), |
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| 457 | double *aj, double *bi, int jj, int ii, int cnp, int pnp, int mnp, void *func_adata, void *jac_adata) |
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| 458 | { |
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| 459 | union proj_projac funcs; |
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| 460 | |
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| 461 | funcs.str.proj=proj; |
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| 462 | funcs.str.projac=projac; |
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| 463 | |
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| 464 | sba_chkjac(&funcs, NULL, bi, jj, ii, 0, pnp, mnp, func_adata, jac_adata); |
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| 465 | } |
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| 466 | #endif /* 0 */ |
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