mirror of
https://github.com/opencv/opencv.git
synced 2024-11-26 04:00:30 +08:00
Work on LevMarq code.
Refactoring of Cholesky decomposition. Fix for memory corruption bug. LevMarq as a whole still non-functional.
This commit is contained in:
Olexa Bilaniuk
parent
c175a86cbb
commit
33a3fba2d1
@ -132,24 +132,25 @@ static inline unsigned sacCalcIterBound(double confidence,
|
||||
static inline void hFuncRefC(float* packedPoints, float* H);
|
||||
static inline int sacCanRefine(RHO_HEST_REFC* p);
|
||||
static inline void sacRefine(RHO_HEST_REFC* p);
|
||||
static inline void sacCalcJtMats(float (* restrict JtJ)[8],
|
||||
float* restrict Jte,
|
||||
float* restrict Sp,
|
||||
const float* restrict H,
|
||||
const float* restrict src,
|
||||
const float* restrict dst,
|
||||
const char* restrict inl,
|
||||
unsigned N);
|
||||
static inline void sacChol8x8 (const float (*A)[8],
|
||||
float (*L)[8]);
|
||||
static inline void sacCalcJacobianErrors(const float* restrict H,
|
||||
const float* restrict src,
|
||||
const float* restrict dst,
|
||||
const char* restrict inl,
|
||||
unsigned N,
|
||||
float (* restrict JtJ)[8],
|
||||
float* restrict Jte,
|
||||
float* restrict Sp);
|
||||
static inline float sacDs(const float (*JtJ)[8],
|
||||
const float* dH,
|
||||
const float* Jte);
|
||||
static inline int sacChol8x8Damped (const float (*A)[8],
|
||||
float lambda,
|
||||
float (*L)[8]);
|
||||
static inline void sacTRInv8x8(const float (*L)[8],
|
||||
float (*M)[8]);
|
||||
static inline void sacTRISolve8x8(const float (*L)[8],
|
||||
const float* Jte,
|
||||
float* dH);
|
||||
static inline void sacScaleDiag8x8(const float (*A)[8],
|
||||
float lambda,
|
||||
float (*B)[8]);
|
||||
static inline void sacSub8x1(float* Hout, const float* H, const float* dH);
|
||||
|
||||
|
||||
@ -189,6 +190,11 @@ int rhoRefCInit(RHO_HEST_REFC* p){
|
||||
p->nr.size = 0;
|
||||
p->nr.beta = 0.0;
|
||||
|
||||
p->lm.ws = NULL;
|
||||
p->lm.JtJ = NULL;
|
||||
p->lm.tmp1 = NULL;
|
||||
p->lm.Jte = NULL;
|
||||
|
||||
|
||||
int areAllAllocsSuccessful = p->ctrl.smpl &&
|
||||
p->curr.H &&
|
||||
@ -502,10 +508,30 @@ static inline int sacInitRun(RHO_HEST_REFC* p){
|
||||
return 0;
|
||||
}
|
||||
|
||||
/**
|
||||
* LevMarq workspace alloc.
|
||||
*
|
||||
* Runs third, consists only in a few conditional mallocs. If malloc fails
|
||||
* we wish to quit before doing any serious work.
|
||||
*/
|
||||
|
||||
if(sacIsRefineEnabled(p) || sacIsFinalRefineEnabled(p)){
|
||||
p->lm.ws = (float*)almalloc(2*8*8*sizeof(float) + 1*8*sizeof(float));
|
||||
if(!p->lm.ws){
|
||||
return 0;
|
||||
}
|
||||
|
||||
p->lm.JtJ = (float(*)[8])(p->lm.ws + 0*8*8);
|
||||
p->lm.tmp1 = (float(*)[8])(p->lm.ws + 1*8*8);
|
||||
p->lm.Jte = (float*) (p->lm.ws + 2*8*8);
|
||||
}else{
|
||||
p->lm.ws = NULL;
|
||||
}
|
||||
|
||||
/**
|
||||
* Reset scalar per-run state.
|
||||
*
|
||||
* Runs third because there's no point in resetting/calculating a large
|
||||
* Runs fourth because there's no point in resetting/calculating a large
|
||||
* number of fields if something in the above junk failed.
|
||||
*/
|
||||
|
||||
@ -570,6 +596,13 @@ static inline void sacFiniRun(RHO_HEST_REFC* p){
|
||||
|
||||
p->best.inl = NULL;
|
||||
p->curr.inl = NULL;
|
||||
|
||||
/**
|
||||
* ₣ree the Levenberg-Marquardt workspace.
|
||||
*/
|
||||
|
||||
alfree(p->lm.ws);
|
||||
p->lm.ws = NULL;
|
||||
}
|
||||
|
||||
/**
|
||||
@ -912,6 +945,11 @@ static inline void sacEvaluateModelSPRT(RHO_HEST_REFC* p){
|
||||
*
|
||||
* If a "good" model that is also the best was encountered, update epsilon,
|
||||
* since
|
||||
*
|
||||
* Reads: eval.good, eval.delta, eval.epsilon, eval.t_M, eval.m_S,
|
||||
* curr.numInl, best.numInl
|
||||
* Writes: eval.epsilon, eval.delta, eval.A, eval.lambdaAccept,
|
||||
* eval.lambdaReject
|
||||
*/
|
||||
|
||||
static inline void sacUpdateSPRT(RHO_HEST_REFC* p){
|
||||
@ -1032,9 +1070,11 @@ static inline void sacSaveBestModel(RHO_HEST_REFC* p){
|
||||
float* H = p->curr.H;
|
||||
char* inl = p->curr.inl;
|
||||
unsigned numInl = p->curr.numInl;
|
||||
|
||||
p->curr.H = p->best.H;
|
||||
p->curr.inl = p->best.inl;
|
||||
p->curr.numInl = p->best.numInl;
|
||||
|
||||
p->best.H = H;
|
||||
p->best.inl = inl;
|
||||
p->best.numInl = numInl;
|
||||
@ -1538,18 +1578,47 @@ static inline int sacCanRefine(RHO_HEST_REFC* p){
|
||||
*/
|
||||
|
||||
static inline void sacRefine(RHO_HEST_REFC* p){
|
||||
int i, j;
|
||||
float S; /* Sum of squared errors */
|
||||
float L = 1;/* Lambda of LevMarq */
|
||||
int i = 0;
|
||||
float S = 0, newS = 0, dS = 0;/* Sum of squared errors */
|
||||
float R = 0; /* R - Parameter */
|
||||
float L = 1.0f; /* Lambda of LevMarq */
|
||||
float dH[8], newH[8];
|
||||
|
||||
/**
|
||||
* Iteratively refine the homography.
|
||||
*/
|
||||
|
||||
/* Find initial conditions */
|
||||
sacCalcJacobianErrors(p->best.H, p->arg.src, p->arg.dst, p->arg.inl, p->arg.N,
|
||||
p->lm.JtJ, p->lm.Jte, &S);
|
||||
|
||||
/* Levenberg-Marquardt Loop */
|
||||
for(i=0;i<MAXLEVMARQITERS;i++){
|
||||
float dH[8];
|
||||
sacCalcJtMats(p->lm.JtJ, p->lm.Jte, &S, p->best.H, p->arg.src, p->arg.dst, p->arg.inl, p->arg.N);
|
||||
sacScaleDiag8x8(p->lm.JtJ, L, p->lm.JtJ);
|
||||
sacChol8x8(p->lm.JtJ, p->lm.JtJ);
|
||||
sacTRInv8x8(p->lm.JtJ, p->lm.JtJ);
|
||||
sacTRISolve8x8(p->lm.JtJ, p->lm.Jte, dH);
|
||||
sacSub8x1(p->best.H, p->best.H, dH);
|
||||
/* The code below becomes an infinite loop when L reeaches infinity.
|
||||
while(sacChol8x8Damped(p->lm.JtJ, L, p->lm.tmp1)){
|
||||
L *= 2.0f;
|
||||
}*/
|
||||
sacChol8x8Damped(p->lm.JtJ, L, p->lm.tmp1);
|
||||
sacTRInv8x8 (p->lm.tmp1, p->lm.tmp1);
|
||||
sacTRISolve8x8(p->lm.tmp1, p->lm.Jte, dH);
|
||||
sacSub8x1 (newH, p->best.H, dH);
|
||||
sacCalcJacobianErrors(newH, p->arg.src, p->arg.dst, p->arg.inl, p->arg.N,
|
||||
NULL, NULL, &newS);
|
||||
dS = sacDs (p->lm.JtJ, dH, p->lm.Jte);
|
||||
R = (S - newS)/(fabs(dS) > DBL_EPSILON ? dS : 1);/* Don't understand */
|
||||
|
||||
if(R > 0.75f){
|
||||
L *= 0.5f;
|
||||
}else if(R < 0.25f){
|
||||
L *= 2.0f;
|
||||
}
|
||||
|
||||
if(newS < S){
|
||||
S = newS;
|
||||
memcpy(p->best.H, newH, sizeof(newH));
|
||||
sacCalcJacobianErrors(p->best.H, p->arg.src, p->arg.dst, p->arg.inl, p->arg.N,
|
||||
p->lm.JtJ, p->lm.Jte, &S);
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
@ -1564,31 +1633,22 @@ static inline void sacRefine(RHO_HEST_REFC* p){
|
||||
*
|
||||
* What this allows is a constant-space implementation of Lev-Marq that can
|
||||
* nevertheless be vectorized if need be.
|
||||
*
|
||||
* @param JtJ
|
||||
* @param Jte
|
||||
* @param Sp
|
||||
* @param H
|
||||
* @param src
|
||||
* @param dst
|
||||
* @param inl
|
||||
* @param N
|
||||
*/
|
||||
|
||||
static inline void sacCalcJtMats(float (* restrict JtJ)[8],
|
||||
float* restrict Jte,
|
||||
float* restrict Sp,
|
||||
const float* restrict H,
|
||||
const float* restrict src,
|
||||
const float* restrict dst,
|
||||
const char* restrict inl,
|
||||
unsigned N){
|
||||
static inline void sacCalcJacobianErrors(const float* restrict H,
|
||||
const float* restrict src,
|
||||
const float* restrict dst,
|
||||
const char* restrict inl,
|
||||
unsigned N,
|
||||
float (* restrict JtJ)[8],
|
||||
float* restrict Jte,
|
||||
float* restrict Sp){
|
||||
unsigned i;
|
||||
float S;
|
||||
|
||||
/* Zero out JtJ, Jte and S */
|
||||
memset(JtJ, 0, 8*8*sizeof(*JtJ));
|
||||
memset(Jte, 0, 8*1*sizeof(*Jte));
|
||||
if(JtJ){memset(JtJ, 0, 8*8*sizeof(float));}
|
||||
if(Jte){memset(Jte, 0, 8*1*sizeof(float));}
|
||||
S = 0.0f;
|
||||
|
||||
/* Additively compute JtJ and Jte */
|
||||
@ -1633,81 +1693,119 @@ static inline void sacCalcJtMats(float (* restrict JtJ)[8],
|
||||
S += e;
|
||||
|
||||
/* Compute Jacobian */
|
||||
float dxh11 = x * iW;
|
||||
float dxh12 = y * iW;
|
||||
float dxh13 = iW;
|
||||
float dxh21 = 0.0f;
|
||||
float dxh22 = 0.0f;
|
||||
float dxh23 = 0.0f;
|
||||
float dxh31 = -reprojX*x * iW;
|
||||
float dxh32 = -reprojX*y * iW;
|
||||
if(JtJ || Jte){
|
||||
float dxh11 = x * iW;
|
||||
float dxh12 = y * iW;
|
||||
float dxh13 = iW;
|
||||
float dxh21 = 0.0f;
|
||||
float dxh22 = 0.0f;
|
||||
float dxh23 = 0.0f;
|
||||
float dxh31 = -reprojX*x * iW;
|
||||
float dxh32 = -reprojX*y * iW;
|
||||
|
||||
float dyh11 = 0.0f;
|
||||
float dyh12 = 0.0f;
|
||||
float dyh13 = 0.0f;
|
||||
float dyh21 = x * iW;
|
||||
float dyh22 = y * iW;
|
||||
float dyh23 = iW;
|
||||
float dyh31 = -reprojY*x * iW;
|
||||
float dyh32 = -reprojY*y * iW;
|
||||
float dyh11 = 0.0f;
|
||||
float dyh12 = 0.0f;
|
||||
float dyh13 = 0.0f;
|
||||
float dyh21 = x * iW;
|
||||
float dyh22 = y * iW;
|
||||
float dyh23 = iW;
|
||||
float dyh31 = -reprojY*x * iW;
|
||||
float dyh32 = -reprojY*y * iW;
|
||||
|
||||
/* Update Jte: X Y */
|
||||
Jte[0] += eX *dxh11 + eY *dyh11;
|
||||
Jte[1] += eX *dxh12 + eY *dyh12;
|
||||
Jte[2] += eX *dxh13 + eY *dyh13;
|
||||
Jte[3] += eX *dxh21 + eY *dyh21;
|
||||
Jte[4] += eX *dxh22 + eY *dyh22;
|
||||
Jte[5] += eX *dxh23 + eY *dyh23;
|
||||
Jte[6] += eX *dxh31 + eY *dyh31;
|
||||
Jte[7] += eX *dxh32 + eY *dyh32;
|
||||
/* Update Jte: X Y */
|
||||
if(Jte){
|
||||
Jte[0] += eX *dxh11 + eY *dyh11;
|
||||
Jte[1] += eX *dxh12 + eY *dyh12;
|
||||
Jte[2] += eX *dxh13 + eY *dyh13;
|
||||
Jte[3] += eX *dxh21 + eY *dyh21;
|
||||
Jte[4] += eX *dxh22 + eY *dyh22;
|
||||
Jte[5] += eX *dxh23 + eY *dyh23;
|
||||
Jte[6] += eX *dxh31 + eY *dyh31;
|
||||
Jte[7] += eX *dxh32 + eY *dyh32;
|
||||
}
|
||||
|
||||
/* Update JtJ: X Y */
|
||||
JtJ[0][0] += dxh11*dxh11 + dyh11*dyh11;
|
||||
/* Update JtJ: X Y */
|
||||
if(JtJ){
|
||||
JtJ[0][0] += dxh11*dxh11 + dyh11*dyh11;
|
||||
|
||||
JtJ[1][0] += dxh11*dxh12 + dyh11*dyh12;
|
||||
JtJ[1][1] += dxh12*dxh12 + dyh12*dyh12;
|
||||
JtJ[1][0] += dxh11*dxh12 + dyh11*dyh12;
|
||||
JtJ[1][1] += dxh12*dxh12 + dyh12*dyh12;
|
||||
|
||||
JtJ[2][0] += dxh11*dxh13 + dyh11*dyh13;
|
||||
JtJ[2][1] += dxh12*dxh13 + dyh12*dyh13;
|
||||
JtJ[2][2] += dxh13*dxh13 + dyh13*dyh13;
|
||||
JtJ[2][0] += dxh11*dxh13 + dyh11*dyh13;
|
||||
JtJ[2][1] += dxh12*dxh13 + dyh12*dyh13;
|
||||
JtJ[2][2] += dxh13*dxh13 + dyh13*dyh13;
|
||||
|
||||
JtJ[3][0] += dxh11*dxh21 + dyh11*dyh21;
|
||||
JtJ[3][1] += dxh12*dxh21 + dyh12*dyh21;
|
||||
JtJ[3][2] += dxh13*dxh21 + dyh13*dyh21;
|
||||
JtJ[3][3] += dxh21*dxh21 + dyh21*dyh21;
|
||||
JtJ[3][0] += dxh11*dxh21 + dyh11*dyh21;
|
||||
JtJ[3][1] += dxh12*dxh21 + dyh12*dyh21;
|
||||
JtJ[3][2] += dxh13*dxh21 + dyh13*dyh21;
|
||||
JtJ[3][3] += dxh21*dxh21 + dyh21*dyh21;
|
||||
|
||||
JtJ[4][0] += dxh11*dxh22 + dyh11*dyh22;
|
||||
JtJ[4][1] += dxh12*dxh22 + dyh12*dyh22;
|
||||
JtJ[4][2] += dxh13*dxh22 + dyh13*dyh22;
|
||||
JtJ[4][3] += dxh21*dxh22 + dyh21*dyh22;
|
||||
JtJ[4][4] += dxh22*dxh22 + dyh22*dyh22;
|
||||
JtJ[4][0] += dxh11*dxh22 + dyh11*dyh22;
|
||||
JtJ[4][1] += dxh12*dxh22 + dyh12*dyh22;
|
||||
JtJ[4][2] += dxh13*dxh22 + dyh13*dyh22;
|
||||
JtJ[4][3] += dxh21*dxh22 + dyh21*dyh22;
|
||||
JtJ[4][4] += dxh22*dxh22 + dyh22*dyh22;
|
||||
|
||||
JtJ[5][0] += dxh11*dxh23 + dyh11*dyh23;
|
||||
JtJ[5][1] += dxh12*dxh23 + dyh12*dyh23;
|
||||
JtJ[5][2] += dxh13*dxh23 + dyh13*dyh23;
|
||||
JtJ[5][3] += dxh21*dxh23 + dyh21*dyh23;
|
||||
JtJ[5][4] += dxh22*dxh23 + dyh22*dyh23;
|
||||
JtJ[5][5] += dxh23*dxh23 + dyh23*dyh23;
|
||||
JtJ[5][0] += dxh11*dxh23 + dyh11*dyh23;
|
||||
JtJ[5][1] += dxh12*dxh23 + dyh12*dyh23;
|
||||
JtJ[5][2] += dxh13*dxh23 + dyh13*dyh23;
|
||||
JtJ[5][3] += dxh21*dxh23 + dyh21*dyh23;
|
||||
JtJ[5][4] += dxh22*dxh23 + dyh22*dyh23;
|
||||
JtJ[5][5] += dxh23*dxh23 + dyh23*dyh23;
|
||||
|
||||
JtJ[6][0] += dxh11*dxh31 + dyh11*dyh31;
|
||||
JtJ[6][1] += dxh12*dxh31 + dyh12*dyh31;
|
||||
JtJ[6][2] += dxh13*dxh31 + dyh13*dyh31;
|
||||
JtJ[6][3] += dxh21*dxh31 + dyh21*dyh31;
|
||||
JtJ[6][4] += dxh22*dxh31 + dyh22*dyh31;
|
||||
JtJ[6][5] += dxh23*dxh31 + dyh23*dyh31;
|
||||
JtJ[6][6] += dxh31*dxh31 + dyh31*dyh31;
|
||||
JtJ[6][0] += dxh11*dxh31 + dyh11*dyh31;
|
||||
JtJ[6][1] += dxh12*dxh31 + dyh12*dyh31;
|
||||
JtJ[6][2] += dxh13*dxh31 + dyh13*dyh31;
|
||||
JtJ[6][3] += dxh21*dxh31 + dyh21*dyh31;
|
||||
JtJ[6][4] += dxh22*dxh31 + dyh22*dyh31;
|
||||
JtJ[6][5] += dxh23*dxh31 + dyh23*dyh31;
|
||||
JtJ[6][6] += dxh31*dxh31 + dyh31*dyh31;
|
||||
|
||||
JtJ[7][0] += dxh11*dxh32 + dyh11*dyh32;
|
||||
JtJ[7][1] += dxh12*dxh32 + dyh12*dyh32;
|
||||
JtJ[7][2] += dxh13*dxh32 + dyh13*dyh32;
|
||||
JtJ[7][3] += dxh21*dxh32 + dyh21*dyh32;
|
||||
JtJ[7][4] += dxh22*dxh32 + dyh22*dyh32;
|
||||
JtJ[7][5] += dxh23*dxh32 + dyh23*dyh32;
|
||||
JtJ[7][6] += dxh31*dxh32 + dyh31*dyh32;
|
||||
JtJ[7][7] += dxh32*dxh32 + dyh32*dyh32;
|
||||
JtJ[7][0] += dxh11*dxh32 + dyh11*dyh32;
|
||||
JtJ[7][1] += dxh12*dxh32 + dyh12*dyh32;
|
||||
JtJ[7][2] += dxh13*dxh32 + dyh13*dyh32;
|
||||
JtJ[7][3] += dxh21*dxh32 + dyh21*dyh32;
|
||||
JtJ[7][4] += dxh22*dxh32 + dyh22*dyh32;
|
||||
JtJ[7][5] += dxh23*dxh32 + dyh23*dyh32;
|
||||
JtJ[7][6] += dxh31*dxh32 + dyh31*dyh32;
|
||||
JtJ[7][7] += dxh32*dxh32 + dyh32*dyh32;
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
*Sp = S;
|
||||
if(Sp){*Sp = S;}
|
||||
}
|
||||
|
||||
/**
|
||||
* Compute the derivative of the rate of change of the SSE.
|
||||
*
|
||||
* Inspired entirely by OpenCV's levmarq.cpp. To be reviewed.
|
||||
*/
|
||||
|
||||
static inline float sacDs(const float (*JtJ)[8],
|
||||
const float* dH,
|
||||
const float* Jte){
|
||||
float tdH[8];
|
||||
int i, j;
|
||||
float dS = 0;
|
||||
|
||||
/* Perform tdH = -JtJ*dH + 2*Jte. */
|
||||
for(i=0;i<8;i++){
|
||||
tdH[i] = 0;
|
||||
|
||||
for(j=0;j<8;j++){
|
||||
tdH[i] -= JtJ[i][j] * dH[j];
|
||||
}
|
||||
|
||||
tdH[i] += 2*Jte[i];
|
||||
}
|
||||
|
||||
/* Perform dS = dH.dot(tdH). */
|
||||
for(i=0;i<8;i++){
|
||||
dS += dH[i]*tdH[i];
|
||||
}
|
||||
|
||||
return dS;
|
||||
}
|
||||
|
||||
/**
|
||||
@ -1718,14 +1816,20 @@ static inline void sacCalcJtMats(float (* restrict JtJ)[8],
|
||||
* A and L can overlap fully (in-place) or not at all, but may not partially
|
||||
* overlap.
|
||||
*
|
||||
* For damping, the diagonal elements are scaled by 1.0 + lambda.
|
||||
*
|
||||
* Returns 0 if decomposition successful, and non-zero otherwise.
|
||||
*
|
||||
* Source: http://en.wikipedia.org/wiki/Cholesky_decomposition#
|
||||
* The_Cholesky.E2.80.93Banachiewicz_and_Cholesky.E2.80.93Crout_algorithms
|
||||
*/
|
||||
|
||||
static inline void sacChol8x8(const float (*A)[8],
|
||||
float (*L)[8]){
|
||||
static inline int sacChol8x8Damped(const float (*A)[8],
|
||||
float lambda,
|
||||
float (*L)[8]){
|
||||
const register int N = 8;
|
||||
int i, j, k;
|
||||
float lambdap1 = lambda + 1.0f;
|
||||
double x;
|
||||
|
||||
for(i=0;i<N;i++){/* Row */
|
||||
@ -1740,13 +1844,18 @@ static inline void sacChol8x8(const float (*A)[8],
|
||||
|
||||
/* Diagonal element */
|
||||
{j = i;
|
||||
x = A[j][j]; /* Ajj */
|
||||
x = A[j][j] * lambdap1; /* Ajj */
|
||||
for(k=0;k<j;k++){
|
||||
x -= (double)L[j][k] * L[j][k];/* - Sum_{k=0..j-1} Ljk^2 */
|
||||
}
|
||||
if(x<0){
|
||||
return 1;
|
||||
}
|
||||
L[j][j] = sqrt(x); /* Ljj = sqrt( ... ) */
|
||||
}
|
||||
}
|
||||
|
||||
return 0;
|
||||
}
|
||||
|
||||
/**
|
||||
@ -1998,28 +2107,6 @@ static inline void sacTRISolve8x8(const float (*L)[8],
|
||||
dH[7] = L[7][7]*t[7];
|
||||
}
|
||||
|
||||
/**
|
||||
* Multiply the diagonal elements of the 8x8 matrix A by 1+lambda and store to
|
||||
* B.
|
||||
*
|
||||
* A and B may overlap exactly or not at all; Partial overlap is forbidden.
|
||||
*/
|
||||
|
||||
static inline void sacScaleDiag8x8(const float (*A)[8],
|
||||
float lambda,
|
||||
float (*B)[8]){
|
||||
float lambdap1 = lambda + 1.0f;
|
||||
int i;
|
||||
|
||||
if(A != B){
|
||||
memcpy((void*)B, (void*)A, 8*8*sizeof(float));
|
||||
}
|
||||
|
||||
for(i=0;i<8;i++){
|
||||
B[i][i] *= lambdap1;
|
||||
}
|
||||
}
|
||||
|
||||
/**
|
||||
* Subtract dH from H.
|
||||
*/
|
||||
|
||||
@ -173,7 +173,6 @@ typedef struct{
|
||||
float* ws; /* Levenberg-Marqhard Workspace */
|
||||
float (* restrict JtJ)[8]; /* JtJ matrix */
|
||||
float (* restrict tmp1)[8]; /* Temporary 1 */
|
||||
float (* restrict tmp2)[8]; /* Temporary 2 */
|
||||
float* restrict Jte; /* Jte vector */
|
||||
} lm;
|
||||
} RHO_HEST_REFC;
|
||||
|
||||
Loading…
Reference in New Issue
Block a user