From 6eb1426ea27210213a095741e7bdfcaf10fef560 Mon Sep 17 00:00:00 2001
From: edgarriba <edgar.riba@gmail.com>
Date: Wed, 2 Jul 2014 14:53:12 +0200
Subject: [PATCH 001/112] First version Ransac (DOESN'T COMPILE)

---
 modules/calib3d/src/solvepnp.cpp | 90 +++++++++++++++++++++++++++++++-
 1 file changed, 88 insertions(+), 2 deletions(-)

diff --git a/modules/calib3d/src/solvepnp.cpp b/modules/calib3d/src/solvepnp.cpp
index 2b2d1bdf34..b8f60b571b 100644
--- a/modules/calib3d/src/solvepnp.cpp
+++ b/modules/calib3d/src/solvepnp.cpp
@@ -273,12 +273,72 @@ namespace cv
     }
 }
 
+class PnPRansacCallback : public PointSetRegistrator::Callback
+{
+public:
+    bool checkSubset( InputArray _ms1, InputArray _ms2, int count ) const
+    {
+		// which kind of checking??
+
+    	return false;
+    }
+
+    /* Pre: True */
+    /* Post: compute _model with given points */
+    int runKernel( InputArray _m1, InputArray _m2, OutputArray _model ) const
+    {
+        Mat opoints = _m1.getMat(), ipoints = _m2.getMat();
+
+        Mat rvec, tvec; 	// we supose to get it from _model
+		Mat cameraMatrix; 	// we supose to get it from _model
+		Mat distCoeffs; 	// we supose to get it from _model
+
+		bool useExtrinsicGuess = true;
+		int flags = cv::ITERATIVE;
+
+        bool correspondence = cv::solvePnP( opoints, ipoints,
+        									cameraMatrix, distCoeffs, rvec, tvec, useExtrinsicGuess, flags );
+
+        return correspondence;
+    }
+
+    /* Pre: True */
+    /* Post: fill _err with projection errors */
+    void computeError( InputArray _m1, InputArray _m2, InputArray _model, OutputArray _err ) const
+    {
+
+        Mat opoints = _m1.getMat(), ipoints = _m2.getMat();
+
+        Mat rvec, tvec; 	// we supose to get it from _model
+        Mat cameraMatrix; 	// we supose to get it from _model
+        Mat distCoeffs; 	// we supose to get it from _model
+
+        int i, count = opoints.cols;
+
+        Mat projpoints(count, 2, CV_64FC1);
+        cv::projectPoints(opoints, rvec, tvec, cameraMatrix, distCoeffs, projpoints);
+
+        const Point2f* ipoints_ptr = ipoints.ptr<Point2f>();
+        const Point2f* projpoints_ptr = projpoints.ptr<Point2f>();
+
+        _err.create(count, 1, CV_64FC1);
+        float* err = _err.getMat().ptr<float>();
+
+        for ( i = 0; i < count; ++i)
+        {
+            err[i] = cv::norm( ipoints_ptr[i] - projpoints_ptr[i] );
+		}
+
+    }
+};
+
 void cv::solvePnPRansac(InputArray _opoints, InputArray _ipoints,
                         InputArray _cameraMatrix, InputArray _distCoeffs,
                         OutputArray _rvec, OutputArray _tvec, bool useExtrinsicGuess,
                         int iterationsCount, float reprojectionError, int minInliersCount,
                         OutputArray _inliers, int flags)
 {
+	// NO CHANGES
     Mat opoints = _opoints.getMat(), ipoints = _ipoints.getMat();
     Mat cameraMatrix = _cameraMatrix.getMat(), distCoeffs = _distCoeffs.getMat();
 
@@ -305,8 +365,34 @@ void cv::solvePnPRansac(InputArray _opoints, InputArray _ipoints,
     params.useExtrinsicGuess = useExtrinsicGuess;
     params.camera.init(cameraMatrix, distCoeffs);
     params.flags = flags;
+    // END NO CHANGES
 
-    std::vector<int> localInliers;
+    // I/O containers
+    std::vector<cv::Mat> out_model;
+    out_model.push_back(rvec);
+    out_model.push_back(tvec);
+
+	Ptr<PointSetRegistrator::Callback> cb = makePtr<PnPRansacCallback>();		// pointer to callback
+
+	int model_points = 7; // number of model points. From fundamentalMatrix, must change
+	double param1 = params.iterationsCount ;	// Ransac parameters
+	double param2 = params.reprojectionError;	// Ransac parameters
+	int param3 = params.iterationsCount;		// Ransac parameters
+
+	// call Ransac
+	int result = createRANSACPointSetRegistrator(cb, model_points, param1, param2, param3)->run(objectPoints, imagePoints, out_model, _inliers);
+
+	// NOT COMPILES
+
+	//out_model[0].copyTo(_rvec);	 	 // out Rvec
+	//out_model[1].copyTo(_tvec);	     // out Tvec
+
+
+
+
+	// OLD IMPLEMENTATION
+
+    /*std::vector<int> localInliers;
     Mat localRvec, localTvec;
     rvec.copyTo(localRvec);
     tvec.copyTo(localTvec);
@@ -345,6 +431,6 @@ void cv::solvePnPRansac(InputArray _opoints, InputArray _ipoints,
         Rodrigues(R, rvec);
         if( _inliers.needed() )
             _inliers.release();
-    }
+    }*/
     return;
 }

From e0c4936c99bf60f8dbde5982ba6c98786e36d44e Mon Sep 17 00:00:00 2001
From: edgarriba <edgar.riba@gmail.com>
Date: Thu, 3 Jul 2014 12:23:03 +0200
Subject: [PATCH 002/112] Input/Output Arrays (DOES NOT COMPILE)

---
 modules/calib3d/src/solvepnp.cpp | 73 ++++++++++++++++++++------------
 1 file changed, 45 insertions(+), 28 deletions(-)

diff --git a/modules/calib3d/src/solvepnp.cpp b/modules/calib3d/src/solvepnp.cpp
index b8f60b571b..217d75e81f 100644
--- a/modules/calib3d/src/solvepnp.cpp
+++ b/modules/calib3d/src/solvepnp.cpp
@@ -280,26 +280,27 @@ public:
     {
 		// which kind of checking??
 
-    	return false;
+    	return true;
     }
 
     /* Pre: True */
-    /* Post: compute _model with given points */
+    /* Post: compute _model with given points an eturn number of found models */
     int runKernel( InputArray _m1, InputArray _m2, OutputArray _model ) const
     {
         Mat opoints = _m1.getMat(), ipoints = _m2.getMat();
 
-        Mat rvec, tvec; 	// we supose to get it from _model
-		Mat cameraMatrix; 	// we supose to get it from _model
-		Mat distCoeffs; 	// we supose to get it from _model
+        Mat cameraMatrix = _model.getMat(0);
+		Mat distCoeffs = _model.getMat(1);
+        Mat rvec = _model.getMat(2);
+        Mat tvec = _model.getMat(3);
+		int flags = _model.getMat(4).at<int>(0);
 
 		bool useExtrinsicGuess = true;
-		int flags = cv::ITERATIVE;
 
         bool correspondence = cv::solvePnP( opoints, ipoints,
         									cameraMatrix, distCoeffs, rvec, tvec, useExtrinsicGuess, flags );
 
-        return correspondence;
+        return 1;
     }
 
     /* Pre: True */
@@ -309,9 +310,10 @@ public:
 
         Mat opoints = _m1.getMat(), ipoints = _m2.getMat();
 
-        Mat rvec, tvec; 	// we supose to get it from _model
-        Mat cameraMatrix; 	// we supose to get it from _model
-        Mat distCoeffs; 	// we supose to get it from _model
+        Mat cameraMatrix = _model.getMat(0);
+		Mat distCoeffs = _model.getMat(1);
+		Mat rvec = _model.getMat(2);
+		Mat tvec = _model.getMat(3);
 
         int i, count = opoints.cols;
 
@@ -325,9 +327,7 @@ public:
         float* err = _err.getMat().ptr<float>();
 
         for ( i = 0; i < count; ++i)
-        {
-            err[i] = cv::norm( ipoints_ptr[i] - projpoints_ptr[i] );
-		}
+        	err[i] = cv::norm( ipoints_ptr[i] - projpoints_ptr[i] );
 
     }
 };
@@ -359,36 +359,53 @@ void cv::solvePnPRansac(InputArray _opoints, InputArray _ipoints,
     if (minInliersCount <= 0)
         minInliersCount = objectPoints.cols;
     cv::pnpransac::Parameters params;
-    params.iterationsCount = iterationsCount;
+    params.iterationsCount = iterationsCount;	  // maxIters
     params.minInliersCount = minInliersCount;
-    params.reprojectionError = reprojectionError;
+    params.reprojectionError = reprojectionError; // threshold
     params.useExtrinsicGuess = useExtrinsicGuess;
     params.camera.init(cameraMatrix, distCoeffs);
     params.flags = flags;
     // END NO CHANGES
 
-    // I/O containers
-    std::vector<cv::Mat> out_model;
-    out_model.push_back(rvec);
-    out_model.push_back(tvec);
+    cv::Mat flag(1, 1, CV_8UC1);
+    flag.at<int>(0) = params.flags;
+
+    // Embed input model to a Mat
+    std::vector<cv::Mat> _model;
+
+    _model.push_back(_cameraMatrix.getMat());	// 3x3
+    _model.push_back(_distCoeffs.getMat());		// 4x1
+    _model.push_back(_rvec.getMat());			// 3x1
+    _model.push_back(_tvec.getMat());			// 3x1
+    _model.push_back(flag);						// 1x1
+
+    cv::Mat local_inliers;
 
 	Ptr<PointSetRegistrator::Callback> cb = makePtr<PnPRansacCallback>();		// pointer to callback
 
 	int model_points = 7; // number of model points. From fundamentalMatrix, must change
-	double param1 = params.iterationsCount ;	// Ransac parameters
-	double param2 = params.reprojectionError;	// Ransac parameters
-	int param3 = params.iterationsCount;		// Ransac parameters
+	double param1 = params.reprojectionError ;	// reprojection error
+	double param2 = 0.99;						// confidence
+	int param3 = params.iterationsCount;		// number maximum iterations
 
 	// call Ransac
-	int result = createRANSACPointSetRegistrator(cb, model_points, param1, param2, param3)->run(objectPoints, imagePoints, out_model, _inliers);
-
-	// NOT COMPILES
-
-	//out_model[0].copyTo(_rvec);	 	 // out Rvec
-	//out_model[1].copyTo(_tvec);	     // out Tvec
 
+	// NO COMPILE, IT DOESN'T LIKE vector<Mat> in run
+	int result = createRANSACPointSetRegistrator(cb, model_points, param1, param2, param3)->run(objectPoints, imagePoints, _model, local_inliers);
 
+	_rvec.assign(_model.at<cv::Mat>(2));	// output rotation vector
+	_tvec.assign(_model.at<cv::Mat>(3));	// output translation vector
 
+	// output inliers vector
+	int count = 0;
+    for (int i = 0; i < local_inliers.rows; ++i)
+    {
+		if(local_inliers.at<int>(i) == 1)
+		{
+			cv::Mat & inliers = _inliers.getMat().at<int>(count) = i;
+			count++;
+		}
+	}
 
 	// OLD IMPLEMENTATION
 

From dd52d1b526489a634556ee96e1d13442fcaf59bd Mon Sep 17 00:00:00 2001
From: edgarriba <edgar.riba@gmail.com>
Date: Fri, 4 Jul 2014 17:20:17 +0200
Subject: [PATCH 003/112] New Ransac implementation WORKING

---
 modules/calib3d/src/solvepnp.cpp | 113 +++++++++++++++++--------------
 1 file changed, 63 insertions(+), 50 deletions(-)

diff --git a/modules/calib3d/src/solvepnp.cpp b/modules/calib3d/src/solvepnp.cpp
index 217d75e81f..6fd44a83d6 100644
--- a/modules/calib3d/src/solvepnp.cpp
+++ b/modules/calib3d/src/solvepnp.cpp
@@ -276,12 +276,11 @@ namespace cv
 class PnPRansacCallback : public PointSetRegistrator::Callback
 {
 public:
-    bool checkSubset( InputArray _ms1, InputArray _ms2, int count ) const
-    {
-		// which kind of checking??
 
-    	return true;
-    }
+	PnPRansacCallback(Mat _cameraMatrix=Mat(3,3,CV_64F), Mat _distCoeffs=Mat(4,1,CV_64F), int _flags=cv::ITERATIVE,
+			bool _useExtrinsicGuess=false, Mat _rvec=Mat(), Mat _tvec=Mat() )
+		: cameraMatrix(_cameraMatrix), distCoeffs(_distCoeffs), flags(_flags), useExtrinsicGuess(_useExtrinsicGuess),
+		  rvec(_rvec), tvec(_tvec) {}
 
     /* Pre: True */
     /* Post: compute _model with given points an eturn number of found models */
@@ -289,18 +288,20 @@ public:
     {
         Mat opoints = _m1.getMat(), ipoints = _m2.getMat();
 
-        Mat cameraMatrix = _model.getMat(0);
-		Mat distCoeffs = _model.getMat(1);
-        Mat rvec = _model.getMat(2);
-        Mat tvec = _model.getMat(3);
-		int flags = _model.getMat(4).at<int>(0);
+        bool correspondence = cv::solvePnP( _m1, _m2, cameraMatrix, distCoeffs,
+        		                            rvec, tvec, useExtrinsicGuess, flags );
 
-		bool useExtrinsicGuess = true;
 
-        bool correspondence = cv::solvePnP( opoints, ipoints,
-        									cameraMatrix, distCoeffs, rvec, tvec, useExtrinsicGuess, flags );
+    	if(correspondence)
+    	{
+			Mat _local_model;
+			_local_model.push_back(rvec);
+			_local_model.push_back(tvec);
 
-        return 1;
+			_local_model.copyTo(_model);
+    	}
+
+        return correspondence;
     }
 
     /* Pre: True */
@@ -308,28 +309,33 @@ public:
     void computeError( InputArray _m1, InputArray _m2, InputArray _model, OutputArray _err ) const
     {
 
-        Mat opoints = _m1.getMat(), ipoints = _m2.getMat();
-
-        Mat cameraMatrix = _model.getMat(0);
-		Mat distCoeffs = _model.getMat(1);
-		Mat rvec = _model.getMat(2);
-		Mat tvec = _model.getMat(3);
+        Mat opoints = _m1.getMat(), ipoints = _m2.getMat(), model = _model.getMat();
 
         int i, count = opoints.cols;
+        Mat _rvec = model.rowRange(0,3);
+        Mat _tvec = model.rowRange(3, 6);
 
-        Mat projpoints(count, 2, CV_64FC1);
-        cv::projectPoints(opoints, rvec, tvec, cameraMatrix, distCoeffs, projpoints);
+        Mat projpoints(count, 2, CV_32FC1);
+        cv::projectPoints(opoints, _rvec, _tvec, cameraMatrix, distCoeffs, projpoints);
 
         const Point2f* ipoints_ptr = ipoints.ptr<Point2f>();
         const Point2f* projpoints_ptr = projpoints.ptr<Point2f>();
 
-        _err.create(count, 1, CV_64FC1);
+        _err.create(count, 1, CV_32FC1);
         float* err = _err.getMat().ptr<float>();
 
         for ( i = 0; i < count; ++i)
         	err[i] = cv::norm( ipoints_ptr[i] - projpoints_ptr[i] );
 
     }
+
+
+    Mat cameraMatrix;
+    Mat distCoeffs;
+    int flags;
+    bool useExtrinsicGuess;
+    Mat rvec;
+    Mat tvec;
 };
 
 void cv::solvePnPRansac(InputArray _opoints, InputArray _ipoints,
@@ -338,7 +344,7 @@ void cv::solvePnPRansac(InputArray _opoints, InputArray _ipoints,
                         int iterationsCount, float reprojectionError, int minInliersCount,
                         OutputArray _inliers, int flags)
 {
-	// NO CHANGES
+
     Mat opoints = _opoints.getMat(), ipoints = _ipoints.getMat();
     Mat cameraMatrix = _cameraMatrix.getMat(), distCoeffs = _distCoeffs.getMat();
 
@@ -349,11 +355,6 @@ void cv::solvePnPRansac(InputArray _opoints, InputArray _ipoints,
     CV_Assert(ipoints.depth() == CV_32F);
     CV_Assert((ipoints.rows == 1 && ipoints.channels() == 2) || ipoints.cols*ipoints.channels() == 2);
 
-    _rvec.create(3, 1, CV_64FC1);
-    _tvec.create(3, 1, CV_64FC1);
-    Mat rvec = _rvec.getMat();
-    Mat tvec = _tvec.getMat();
-
     Mat objectPoints = opoints.reshape(3, 1), imagePoints = ipoints.reshape(2, 1);
 
     if (minInliersCount <= 0)
@@ -365,47 +366,59 @@ void cv::solvePnPRansac(InputArray _opoints, InputArray _ipoints,
     params.useExtrinsicGuess = useExtrinsicGuess;
     params.camera.init(cameraMatrix, distCoeffs);
     params.flags = flags;
-    // END NO CHANGES
 
-    cv::Mat flag(1, 1, CV_8UC1);
-    flag.at<int>(0) = params.flags;
+    Ptr<PointSetRegistrator::Callback> cb; // pointer to callback
 
-    // Embed input model to a Mat
-    std::vector<cv::Mat> _model;
+    _rvec.create(3, 1, CV_64FC1);
+    _tvec.create(3, 1, CV_64FC1);
 
-    _model.push_back(_cameraMatrix.getMat());	// 3x3
-    _model.push_back(_distCoeffs.getMat());		// 4x1
-    _model.push_back(_rvec.getMat());			// 3x1
-    _model.push_back(_tvec.getMat());			// 3x1
-    _model.push_back(flag);						// 1x1
+    Mat rvec, tvec;
 
-    cv::Mat local_inliers;
+    if (useExtrinsicGuess) // use given rvec & tvec
+    {
+    	rvec = _rvec.getMat();
+    	tvec = _tvec.getMat();
 
-	Ptr<PointSetRegistrator::Callback> cb = makePtr<PnPRansacCallback>();		// pointer to callback
+    	cb = makePtr<PnPRansacCallback>( params.camera.intrinsics, params.camera.distortion,
+    									 params.flags, params.useExtrinsicGuess, rvec, tvec);
+    }
+    else
+    {
+    	rvec = Mat(3, 1, CV_64FC1);
+    	tvec = Mat(3, 1, CV_64FC1);
 
-	int model_points = 7; // number of model points. From fundamentalMatrix, must change
+    	cb = makePtr<PnPRansacCallback>( params.camera.intrinsics, params.camera.distortion,
+    	    							 params.flags, params.useExtrinsicGuess, rvec, tvec);
+    }
+
+	int model_points = 7; 						// number of model points
 	double param1 = params.reprojectionError ;	// reprojection error
 	double param2 = 0.99;						// confidence
 	int param3 = params.iterationsCount;		// number maximum iterations
 
+    cv::Mat _local_model(3, 2, CV_64FC1);
+    cv::Mat _mask_local_inliers(1, opoints.rows, CV_8UC1);
+
 	// call Ransac
+	int result = createRANSACPointSetRegistrator(cb, model_points, param1, param2, param3)->run(_opoints, _ipoints, _local_model, _mask_local_inliers);
 
-	// NO COMPILE, IT DOESN'T LIKE vector<Mat> in run
-	int result = createRANSACPointSetRegistrator(cb, model_points, param1, param2, param3)->run(objectPoints, imagePoints, _model, local_inliers);
+	_rvec.assign(_local_model.rowRange(0,3));	// output rotation vector
+	_tvec.assign(_local_model.rowRange(3,6));	// output translation vector
 
-	_rvec.assign(_model.at<cv::Mat>(2));	// output rotation vector
-	_tvec.assign(_model.at<cv::Mat>(3));	// output translation vector
+	//std::cout << _mask_local_inliers.type() << std::endl;
 
-	// output inliers vector
+	Mat _local_inliers;
 	int count = 0;
-    for (int i = 0; i < local_inliers.rows; ++i)
+    for (int i = 0; i < _mask_local_inliers.rows; ++i)
     {
-		if(local_inliers.at<int>(i) == 1)
+		if((int)_mask_local_inliers.at<uchar>(i) == 1) // inliers mask
 		{
-			cv::Mat & inliers = _inliers.getMat().at<int>(count) = i;
+			_local_inliers.push_back(count);	// output inliers vector
 			count++;
 		}
 	}
+	_local_inliers.copyTo(_inliers);
+
 
 	// OLD IMPLEMENTATION
 

From 747c6a2bd2842cb548284ee49fde5a55bc93ccb2 Mon Sep 17 00:00:00 2001
From: edgarriba <edgar.riba@gmail.com>
Date: Tue, 8 Jul 2014 16:07:30 +0200
Subject: [PATCH 004/112] solvepnpransac() interface changed

---
 modules/calib3d/src/solvepnp.cpp | 38 ++++++++++++--------------------
 1 file changed, 14 insertions(+), 24 deletions(-)

diff --git a/modules/calib3d/src/solvepnp.cpp b/modules/calib3d/src/solvepnp.cpp
index 6fd44a83d6..fc7111bffb 100644
--- a/modules/calib3d/src/solvepnp.cpp
+++ b/modules/calib3d/src/solvepnp.cpp
@@ -341,7 +341,7 @@ public:
 void cv::solvePnPRansac(InputArray _opoints, InputArray _ipoints,
                         InputArray _cameraMatrix, InputArray _distCoeffs,
                         OutputArray _rvec, OutputArray _tvec, bool useExtrinsicGuess,
-                        int iterationsCount, float reprojectionError, int minInliersCount,
+                        int iterationsCount, float reprojectionError, float confidence,
                         OutputArray _inliers, int flags)
 {
 
@@ -349,24 +349,14 @@ void cv::solvePnPRansac(InputArray _opoints, InputArray _ipoints,
     Mat cameraMatrix = _cameraMatrix.getMat(), distCoeffs = _distCoeffs.getMat();
 
     CV_Assert(opoints.isContinuous());
-    CV_Assert(opoints.depth() == CV_32F);
+    CV_Assert(opoints.depth() == CV_32F || opoints.depth() == CV_64F);
     CV_Assert((opoints.rows == 1 && opoints.channels() == 3) || opoints.cols*opoints.channels() == 3);
     CV_Assert(ipoints.isContinuous());
-    CV_Assert(ipoints.depth() == CV_32F);
+    CV_Assert(ipoints.depth() == CV_32F || ipoints.depth() == CV_64F);
     CV_Assert((ipoints.rows == 1 && ipoints.channels() == 2) || ipoints.cols*ipoints.channels() == 2);
 
     Mat objectPoints = opoints.reshape(3, 1), imagePoints = ipoints.reshape(2, 1);
 
-    if (minInliersCount <= 0)
-        minInliersCount = objectPoints.cols;
-    cv::pnpransac::Parameters params;
-    params.iterationsCount = iterationsCount;	  // maxIters
-    params.minInliersCount = minInliersCount;
-    params.reprojectionError = reprojectionError; // threshold
-    params.useExtrinsicGuess = useExtrinsicGuess;
-    params.camera.init(cameraMatrix, distCoeffs);
-    params.flags = flags;
-
     Ptr<PointSetRegistrator::Callback> cb; // pointer to callback
 
     _rvec.create(3, 1, CV_64FC1);
@@ -379,34 +369,34 @@ void cv::solvePnPRansac(InputArray _opoints, InputArray _ipoints,
     	rvec = _rvec.getMat();
     	tvec = _tvec.getMat();
 
-    	cb = makePtr<PnPRansacCallback>( params.camera.intrinsics, params.camera.distortion,
-    									 params.flags, params.useExtrinsicGuess, rvec, tvec);
+    	cb = makePtr<PnPRansacCallback>( cameraMatrix, distCoeffs, flags,
+    									 useExtrinsicGuess, rvec, tvec);
     }
     else
     {
     	rvec = Mat(3, 1, CV_64FC1);
     	tvec = Mat(3, 1, CV_64FC1);
 
-    	cb = makePtr<PnPRansacCallback>( params.camera.intrinsics, params.camera.distortion,
-    	    							 params.flags, params.useExtrinsicGuess, rvec, tvec);
+    	cb = makePtr<PnPRansacCallback>( cameraMatrix, distCoeffs, flags,
+				 	 	 	 	 	 	 useExtrinsicGuess, rvec, tvec);
+
     }
 
-	int model_points = 7; 						// number of model points
-	double param1 = params.reprojectionError ;	// reprojection error
-	double param2 = 0.99;						// confidence
-	int param3 = params.iterationsCount;		// number maximum iterations
+	int model_points = 3; 					// minimum of number of model points
+	double param1 = reprojectionError ;		// reprojection error
+	double param2 = confidence;				// confidence
+	int param3 = iterationsCount;			// number maximum iterations
 
     cv::Mat _local_model(3, 2, CV_64FC1);
     cv::Mat _mask_local_inliers(1, opoints.rows, CV_8UC1);
 
 	// call Ransac
-	int result = createRANSACPointSetRegistrator(cb, model_points, param1, param2, param3)->run(_opoints, _ipoints, _local_model, _mask_local_inliers);
+	int result = createRANSACPointSetRegistrator(cb, model_points, param1, param2, param3)
+							  ->run(_opoints, _ipoints, _local_model, _mask_local_inliers);
 
 	_rvec.assign(_local_model.rowRange(0,3));	// output rotation vector
 	_tvec.assign(_local_model.rowRange(3,6));	// output translation vector
 
-	//std::cout << _mask_local_inliers.type() << std::endl;
-
 	Mat _local_inliers;
 	int count = 0;
     for (int i = 0; i < _mask_local_inliers.rows; ++i)

From ac8cce3963e29cb350702a590ea5b6c61d968db1 Mon Sep 17 00:00:00 2001
From: edgarriba <edgar.riba@gmail.com>
Date: Tue, 8 Jul 2014 16:23:25 +0200
Subject: [PATCH 005/112] solvepnpransac() confidence added

---
 modules/calib3d/include/opencv2/calib3d.hpp | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/modules/calib3d/include/opencv2/calib3d.hpp b/modules/calib3d/include/opencv2/calib3d.hpp
index 8b9b69c3aa..d82dae80d1 100644
--- a/modules/calib3d/include/opencv2/calib3d.hpp
+++ b/modules/calib3d/include/opencv2/calib3d.hpp
@@ -158,7 +158,7 @@ CV_EXPORTS_W void solvePnPRansac( InputArray objectPoints, InputArray imagePoint
                                   InputArray cameraMatrix, InputArray distCoeffs,
                                   OutputArray rvec, OutputArray tvec,
                                   bool useExtrinsicGuess = false, int iterationsCount = 100,
-                                  float reprojectionError = 8.0, int minInliersCount = 100,
+                                  float reprojectionError = 8.0, float confidence = 0.99,
                                   OutputArray inliers = noArray(), int flags = ITERATIVE );
 
 //! initializes camera matrix from a few 3D points and the corresponding projections.

From b74cfe8c2cec9942ef267960f2b3ccbbbac1fca6 Mon Sep 17 00:00:00 2001
From: edgarriba <edgar.riba@gmail.com>
Date: Tue, 8 Jul 2014 16:26:56 +0200
Subject: [PATCH 006/112] nothing

---
 modules/calib3d/src/ptsetreg.cpp | 2 ++
 1 file changed, 2 insertions(+)

diff --git a/modules/calib3d/src/ptsetreg.cpp b/modules/calib3d/src/ptsetreg.cpp
index 3c43624e79..efffb2703b 100644
--- a/modules/calib3d/src/ptsetreg.cpp
+++ b/modules/calib3d/src/ptsetreg.cpp
@@ -391,6 +391,7 @@ CV_INIT_ALGORITHM(LMeDSPointSetRegistrator, "PointSetRegistrator.LMeDS",
                   obj.info()->addParam(obj, "confidence", obj.confidence);
                   obj.info()->addParam(obj, "maxIters", obj.maxIters))
 
+
 Ptr<PointSetRegistrator> createRANSACPointSetRegistrator(const Ptr<PointSetRegistrator::Callback>& _cb,
                                                          int _modelPoints, double _threshold,
                                                          double _confidence, int _maxIters)
@@ -409,6 +410,7 @@ Ptr<PointSetRegistrator> createLMeDSPointSetRegistrator(const Ptr<PointSetRegist
         new LMeDSPointSetRegistrator(_cb, _modelPoints, _confidence, _maxIters));
 }
 
+
 class Affine3DEstimatorCallback : public PointSetRegistrator::Callback
 {
 public:

From e395e0304013f61e9f5944ca54f305a535d41ac7 Mon Sep 17 00:00:00 2001
From: edgarriba <edgar.riba@gmail.com>
Date: Tue, 8 Jul 2014 16:34:49 +0200
Subject: [PATCH 007/112] Real Time Pose tutorial

---
 .../calib3d/real_time_pose/images/pnp.jpg     | Bin 0 -> 31839 bytes
 .../real_time_pose/images/registration.png    | Bin 0 -> 108400 bytes
 .../calib3d/real_time_pose/real_time_pose.rst | 683 ++++++++++++++++++
 .../images/real_time_pose_estimation.jpg      | Bin 0 -> 84929 bytes
 .../table_of_content_calib3d.rst              |  20 +
 5 files changed, 703 insertions(+)
 create mode 100644 doc/tutorials/calib3d/real_time_pose/images/pnp.jpg
 create mode 100644 doc/tutorials/calib3d/real_time_pose/images/registration.png
 create mode 100644 doc/tutorials/calib3d/real_time_pose/real_time_pose.rst
 create mode 100644 doc/tutorials/calib3d/table_of_content_calib3d/images/real_time_pose_estimation.jpg

diff --git a/doc/tutorials/calib3d/real_time_pose/images/pnp.jpg b/doc/tutorials/calib3d/real_time_pose/images/pnp.jpg
new file mode 100644
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diff --git a/doc/tutorials/calib3d/real_time_pose/real_time_pose.rst b/doc/tutorials/calib3d/real_time_pose/real_time_pose.rst
new file mode 100644
index 0000000000..451661fa77
--- /dev/null
+++ b/doc/tutorials/calib3d/real_time_pose/real_time_pose.rst
@@ -0,0 +1,683 @@
+.. _realTimePoseEstimation:
+
+Real Time pose estimation of a textured object
+**********************************************
+
+Nowadays, augmented reality is one of the top research topic in computer vision and robotics fields. The most elemental problem in augmented reality is the estimation of the camera pose respect of an object in the case of computer vision area to do later some 3D rendering or in the case of robotics obtain an object pose in order to grasp it and do some manipulation. However, this is not a trivial problem to solve due to the fact that the most common issue in image processing is the computational cost of applying a lot of algorithms or mathematical operations for solving a problem which is basic and immediateley for humans.
+
+
+Goal
+====
+
+In this tutorial is explained how to build a real time application to estimate the camera pose in order to track a textured object with six degrees of freedom given a 2D image and its 3D textured model.
+
+The application will have the followings parts:
+
+.. container:: enumeratevisibleitemswithsquare
+
+   + Read 3D textured object model and object mesh.
+   + Take input from Camera or Video.
+   + Extract ORB features and descriptors from the scene.
+   + Match scene descriptors with model descriptors using Flann matcher.
+   + Estimate pose using PnP + Ransac.
+   + Use Linear Kalman Filter to reject bad poses.
+
+
+Theory
+======
+
+In computer vision estimate the camera pose from *n* 3D-to-2D point correspondences is a fundamental and well understood problem. The most general version of the problem requires estimating the six degrees of freedom of the pose and five calibration parameters: focal length,
+principal point, aspect ratio and skew. It could be established with a minimum of 6 correspondences, using the well known Direct Linear Transform (DLT) algorithm. There are, though, several simplifications to the problem which turn into an extensive list of
+different algorithms that improve the accuracy of the DLT. 
+
+The most common simplification is to assume known calibration parameters which is the so-called Perspective-*n*-Point problem:
+
+.. image:: images/pnp.jpg
+   :alt: Perspective-n-Point problem scheme
+   :align: center
+
+**Problem Formulation:** Given a set of correspondences between 3D points :math:`p_i` expressed in a world reference frame, and their 2D projections :math:`u_i` onto the image, we seek to retrieve the pose (:math:`R` and :math:`t`) of the camera w.r.t. the world and the focal length :math:`f`.
+
+OpenCV provides three different approaches to solve the Perspective-*n*-Point problem which return :math:`R` and :math:`t`. Then, using the following formula it's possible to project 3D points into the image plane:
+
+.. math::
+
+ s\ \left [ \begin{matrix}   u \\   v \\  1 \end{matrix} \right ] = \left [ \begin{matrix}   f_x & 0 & c_x \\  0 & f_y & c_y \\   0 & 0 & 1 \end{matrix} \right ] \left [ \begin{matrix}  r_{11} & r_{12} & r_{13} & t_1 \\ r_{21} & r_{22} & r_{23} & t_2 \\  r_{31} & r_{32} & r_{33} & t_3 \end{matrix} \right ] \left [ \begin{matrix}  X \\  Y \\   Z\\ 1 \end{matrix} \right ]
+
+The complete documentation of how to manage with this equations is in :calib3d:`Camera Calibration and 3D Reconstruction <>`.
+
+Source code
+===========
+
+You can find the source code of this tutorial in the :file:`samples/cpp/tutorial_code/calib3d/real_time_pose_estimation/` folder of the OpenCV source library.
+
+The tutorial consists of two main programs: 
+
+**1. Model registration** 
+
+This applicaton is exclusive to whom don't have a 3D textured model of the object to be detected. You can use this program to create your own textured 3D model. This program only works for planar objects, then if you want to model an object with complex shape you should use a sophisticated software to create it.
+
+The application needs an input image of the object to be registered and its 3D mesh. We have also to provide the intrinsic parameters of the camera with which the input image was taken. All the files need to be specified using the absolute path or the relative one from your application’s working directory. If none files are specified the program will try to open the provided default parameters.
+
+The application starts up extracting the ORB features and descriptors from the input image and then uses the mesh along with the `Möller–Trumbore intersection algorithm <http://http://en.wikipedia.org/wiki/M%C3%B6ller%E2%80%93Trumbore_intersection_algorithm/>`_ to compute the 3D coordinates of the found features. Finally, the 3D points and the descriptors are stored in different lists in a file with YAML format which each row is a different point. The technical background on how to store the files can be found in the :ref:`fileInputOutputXMLYAML` tutorial.
+
+.. image:: images/registration.png
+   :alt: Model registration
+   :align: center
+
+
+**2. Model detection** 
+
+The aim of this application is estimate in real time the object pose given its 3D textured model. 
+
+The application starts up loading the 3D textured model in YAML file format with the same structure explained in the model registration program. From the scene the ORB features and descriptors are detected and extracted. Then, is used :features2d:`FlannBasedMatcher <flannbasedmatcher>` with :flann:`LshIndexParams <flann-index-t-index>` to do the matching between the scene descriptors and the model descriptors. Using the found matches along with :calib3d:`solvePnPRansac() <solvepnpransac>` function the :math:`R` and :math:`t` of the camera are computed. Finally, a :video:`Linear Kalman Filter <kalmanfilter>` is applied in order to reject bad poses.
+
+
+Explanation
+===========
+
+Here is explained in detail the code for the real time application:
+
+**1. Read 3D textured object model and object mesh.**
+
+In order to load the textured model I implemented the *class* **Model** which has the function *load()* that opens a YAML file and take the stored 3D points with its corresponding descriptors. You can find an example of a 3D textured model in :file:`samples/cpp/tutorial_code/calib3d/real_time_pose_estimation/Data/cookies_ORB.yml` or :download:`download from here <./../../../samples/cpp/tutorial_code/calib3d/real_time_pose_estimation/Data/cookies_ORB.yml>`.
+
+   .. code-block:: cpp
+
+	/** Load a YAML file using OpenCV **/
+	void Model::load(const std::string path)
+	{
+		cv::Mat points3d_mat;
+
+		cv::FileStorage storage(path, cv::FileStorage::READ);
+		storage["points_3d"] >> points3d_mat;
+		storage["descriptors"] >> descriptors_;
+
+		points3d_mat.copyTo(list_points3d_in_);
+
+		storage.release();
+
+	}
+
+In the main program the model is loaded as follows:
+
+  .. code-block:: cpp
+
+	Model model;               // instantiate Model object
+	model.load(yml_read_path); // load a 3D textured object model
+
+
+
+In order to read the model mesh I implemented a *class* **Mesh** which has a function *load()* that opens a *.ply file and store the 3D points of the object and also the composed triangles. You can find an example of a model mesh in :file:`samples/cpp/tutorial_code/calib3d/real_time_pose_estimation/Data/box.ply` or :download:`download from here <./../../../samples/cpp/tutorial_code/calib3d/real_time_pose_estimation/Data/box.ply>`.
+
+   .. code-block:: cpp
+
+	/** Load a CSV with *.ply format **/
+	void Mesh::load(const std::string path) 
+	{
+
+		// Create the reader
+		CsvReader csvReader(path);
+
+		// Clear previous data
+		list_vertex_.clear();
+		list_triangles_.clear();
+
+		// Read from .ply file
+		csvReader.readPLY(list_vertex_, list_triangles_);
+
+		// Update mesh attributes
+		num_vertexs_ = list_vertex_.size();
+		num_triangles_ = list_triangles_.size();
+
+	}
+
+In the main program the mesh is loaded as follows:
+
+  .. code-block:: cpp
+
+	Mesh mesh;                // instantiate Mesh object
+	mesh.load(ply_read_path); // load an object mesh
+
+
+**2. Take input from Camera or Video**
+
+To detect is necessary capture video. It's done loading a recorded video by passing the absolute path where it is located in your machine or using the default camera device:
+
+  .. code-block:: cpp
+
+	cv::VideoCapture cap;                           // instantiate VideoCapture
+	(argc < 2) ? cap.open(0) : cap.open(argv[1]);   // open the default camera device
+							// or a recorder video
+
+	if(!cap.isOpened())                             // check if we succeeded
+	{
+		std::cout << "Could not open the camera device" << std::endl;
+		return -1;
+	}
+
+Then the algorithm is computed frame per frame:
+
+  .. code-block:: cpp
+
+	cv::Mat frame, frame_vis;
+
+	while(cap.read(frame) && cv::waitKey(30) != 27) // capture frame until ESC is pressed
+	{
+
+		frame_vis = frame.clone();  	// refresh visualisation frame
+
+		// MAIN ALGORITHM
+
+	}
+
+
+**3. Extract ORB features and descriptors from the scene**
+
+The next step is to detect the scene features and extract it descriptors. For this task I implemented a *class* **RobustMatcher** which has a function for keypoints detection and features extraction. You can find it in :file:`samples/cpp/tutorial_code/calib3d/real_time_pose_estimation/src/RobusMatcher.cpp`. In your *RobusMatch* object you can use any of the 2D features detectors of OpenCV. In this case I used ORB features because is based on FAST to detect the keypoints and BRIEF to extract the descriptors which means that is fast and robust to rotations. You can find more detailed information about ORB :features2d:`here <orb>` in the documentation. 
+
+The following code is how to instantiate and set the features detector and the descriptors extractor:
+
+  .. code-block:: cpp
+
+	RobustMatcher rmatcher;                                                          // instantiate RobustMatcher
+
+	cv::FeatureDetector * detector = new cv::OrbFeatureDetector(numKeyPoints);       // instatiate ORB feature detector
+	cv::DescriptorExtractor * extractor = new cv::OrbDescriptorExtractor();          // instatiate ORB descriptor extractor
+
+	rmatcher.setFeatureDetector(detector);                                           // set feature detector
+	rmatcher.setDescriptorExtractor(extractor);                                      // set descriptor extractor
+
+The features and descriptors will be computed by the *RobustMatcher* inside the matching function.
+
+
+**4. Match scene descriptors with model descriptors using Flann matcher**
+
+It is the first step in our detection algorithm. The main idea is to match the scene descriptors with our model descriptors in order to know the 3D coordinates of the found features into the current scene.
+
+First, we have to set which matcher we want to use. In this case is used *FlannBased* matcher which in terms of computational cost is faster than the *BruteForce* matcher as we increase the trained collectction of features. Then, for FlannBased matcher the index created is *Multi-Probe LSH: Efficient Indexing for High-Dimensional Similarity Search* due to *ORB* descriptors are binary. 
+
+You can tune the *LSH* and search parameters to improve the matching efficiency:
+
+ .. code-block:: cpp
+
+	cv::Ptr<cv::flann::IndexParams> indexParams = cv::makePtr<cv::flann::LshIndexParams>(6, 12, 1); // instantiate LSH index parameters
+	cv::Ptr<cv::flann::SearchParams> searchParams = cv::makePtr<cv::flann::SearchParams>(50);       // instantiate flann search parameters
+
+	cv::DescriptorMatcher * matcher = new cv::FlannBasedMatcher(indexParams, searchParams);         // instantiate FlannBased matcher
+	rmatcher.setDescriptorMatcher(matcher);                                                         // set matcher
+
+
+Secondly, we have to call the matcher by using *robustMatch()* or *fastRobustMatch()* function. The difference of using this two functions is its computational cost. The first method is slower but more robust at filtering good matches due to that uses two ratio test and a symmetry test. In contrast, the second method is faster but less robust due to that only applies a single ratio test to the matches.
+
+The following code is to get the model 3D points and its descriptors and then call the matcher in the main program:
+
+   .. code-block:: cpp
+
+	// Get the MODEL INFO
+
+	std::vector<cv::Point3f> list_points3d_model = model.get_points3d();  // list with model 3D coordinates
+	cv::Mat descriptors_model = model.get_descriptors();                  // list with descriptors of each 3D coordinate
+
+   .. code-block:: cpp
+
+	// -- Step 1: Robust matching between model descriptors and scene descriptors
+ 
+	std::vector<cv::DMatch> good_matches;       // to obtain the model 3D points  in the scene
+	std::vector<cv::KeyPoint> keypoints_scene;  // to obtain the 2D points of the scene
+
+	if(fast_match)
+	{
+		rmatcher.robustMatch(frame, good_matches, keypoints_scene, descriptors_model);
+	}
+	else
+	{
+		rmatcher.fastRobustMatch(frame, good_matches, keypoints_scene, descriptors_model);
+	}
+
+The following code corresponds to the *robustMatch()* function which belongs to the *RobustMatcher* class. This function uses the given image to detect the keypoints and extract the descriptors, match using *2 Nearest Neighbour* the extracted descriptors with the given model descriptors and vice versa. Then, is applied a ratio test to the two direction matches in order to remove these matches which its distance ratio between the first and second best match is larger than a given threshold. Finally, a symmetry test is applied in order the remove non symmetrical matches.
+
+   .. code-block:: cpp
+
+	void RobustMatcher::robustMatch( const cv::Mat& frame, std::vector<cv::DMatch>& good_matches,
+		                         std::vector<cv::KeyPoint>& keypoints_frame, 
+                                         const std::vector<cv::KeyPoint>& keypoints_model, const cv::Mat& descriptors_model )
+	{
+
+		// 1a. Detection of the ORB features
+		this->computeKeyPoints(frame, keypoints_frame);
+
+		// 1b. Extraction of the ORB descriptors
+		cv::Mat descriptors_frame;
+		this->computeDescriptors(frame, keypoints_frame, descriptors_frame);
+
+		// 2. Match the two image descriptors
+		std::vector<std::vector<cv::DMatch> > matches12, matches21;
+
+		// 2a. From image 1 to image 2
+		matcher_->knnMatch(descriptors_frame, descriptors_model, matches12, 2); // return 2 nearest neighbours
+
+		// 2b. From image 2 to image 1
+		matcher_->knnMatch(descriptors_model, descriptors_frame, matches21, 2); // return 2 nearest neighbours
+
+		// 3. Remove matches for which NN ratio is > than threshold
+		// clean image 1 -> image 2 matches
+		int removed1 = ratioTest(matches12);
+		// clean image 2 -> image 1 matches
+		int removed2 = ratioTest(matches21);
+
+		// 4. Remove non-symmetrical matches
+		symmetryTest(matches12, matches21, good_matches);
+
+	}
+
+After the matches filtering we have to get the 2D an 3D correspondences using the obtained *DMatches* vector. For more information about :core:`DMatch <dmatch>` check the documentation.
+
+   .. code-block:: cpp
+
+	// -- Step 2: Find out the 2D/3D correspondences
+
+	std::vector<cv::Point3f> list_points3d_model_match;	// container for the model 3D coordinates found in the scene
+	std::vector<cv::Point2f> list_points2d_scene_match;	// container for the model 2D coordinates found in the scene
+
+	for(unsigned int match_index = 0; match_index < good_matches.size(); ++match_index)
+	{
+		cv::Point3f point3d_model = list_points3d_model[ good_matches[match_index].trainIdx ];	// 3D point from model
+		cv::Point2f point2d_scene = keypoints_scene[ good_matches[match_index].queryIdx ].pt;	// 2D point from the scene
+		list_points3d_model_match.push_back(point3d_model);					// add 3D point
+		list_points2d_scene_match.push_back(point2d_scene);					// add 2D point
+	}
+
+
+**5. Estimate pose using PnP + Ransac**
+
+With the 2D and 3D correspondences we have to apply the PnP algorithm using :calib3d:`solvePnPRansac() <solvepnpransac>` function in order to estimate the camera pose. The reason why we have to use :calib3d:`solvePnPRansac() <solvepnpransac>` instead of :calib3d:`solvePnP() <solvepnp>` is due to the fact that after the matching not all the found correspondences are correct and may be there are bad correspondences or also called *outliers*. The `Random Sample Consensus <http://en.wikipedia.org/wiki/RANSAC>`_ or *Ransac* is a non-deterministic iterative method which estimate parameters of a mathematical model from observed data producing an aproximate result as the number of iterations increase. After appyling *Ransac* all these *outliers* will be eliminated to then estimate the camera pose with a certain probability.
+
+For the camera pose estimation I have implemented a *class* **PnPProblem**. This *class* has 4 atributes: a given calibration matrix, the rotation matrix, the translation matrix and the rotation-translation matrix. To declare it we need the intrinsic calibration parameters of the camera which you will use to estimate the pose. To obtain these parameters you can check :ref:`CameraCalibrationSquareChessBoardTutorial` and :ref:`cameraCalibrationOpenCV` tutorials. 
+
+The following code is how to declare the *PnPProblem class* in the main program:
+
+   .. code-block:: cpp
+
+	/*
+	 * Set up the intrinsic camera parameters: UVC WEBCAM
+	 */
+
+	double f = 55;                           // focal length in mm
+	double sx = 22.3, sy = 14.9;             // sensor size
+	double width = 640, height = 480;        // image size
+
+	double params_WEBCAM[] = { width*f/sx,   // fx
+		                   height*f/sy,  // fy
+		                   width/2,      // cx
+		                   height/2};    // cy
+
+	PnPProblem pnp_detection(params_WEBCAM); // instantiate PnPProblem class
+
+The following code is how the *PnPProblem class* initialises its atributes:
+
+   .. code-block:: cpp
+
+	// Custom constructor given the intrinsic camera parameters
+
+	PnPProblem::PnPProblem(const double params[])
+	{
+	  _A_matrix = cv::Mat::zeros(3, 3, CV_64FC1);   // intrinsic camera parameters
+	  _A_matrix.at<double>(0, 0) = params[0];       //      [ fx   0  cx ]
+	  _A_matrix.at<double>(1, 1) = params[1];       //      [  0  fy  cy ]
+	  _A_matrix.at<double>(0, 2) = params[2];       //      [  0   0   1 ]
+	  _A_matrix.at<double>(1, 2) = params[3];
+	  _A_matrix.at<double>(2, 2) = 1;
+	  _R_matrix = cv::Mat::zeros(3, 3, CV_64FC1);   // rotation matrix
+	  _t_matrix = cv::Mat::zeros(3, 1, CV_64FC1);   // translation matrix
+	  _P_matrix = cv::Mat::zeros(3, 4, CV_64FC1);   // rotation-translation matrix
+
+	}
+
+OpenCV provides four PnP methods: ITERATIVE, EPNP, P3P and ? . If we want a real time time application the more suitable methods are EPNP and P3P due to are faster than ITERATIVE finding a solution. Otherwise, EPNP and P3P are not robust especially in front of planar surfaces and sometimes the pose estimation seems to have like a mirror effect. Therefore, in this this tutorial is used ITERATIVE method due to the object to be detected has planar surfaces.
+
+The OpenCV Ransac implementation wants you to provide three parameters: the maximum number of iterations until stop the algorithm, the maximum allowed distance between the observed and computed point projections to consider it an inlier and a threshold of minimum number of inliers found. You can tune these paramaters in order to improve your algorithm performance. Increasing the number of iterations you will have a more accurate solution, but will take more time to find a solution. Increasing the reprojection error will reduce the computation time, but your solution will be unaccurate. Decreasing the minimum number of inliers will reduce the computation time with high probability to obtain a bad solution.
+
+The following parameters works for this application:
+  
+   .. code-block:: cpp
+
+	// RANSAC parameters	
+	
+	int iterationsCount = 500;	// number of Ransac iterations.
+	int reprojectionError = 2.0;	// maximum allowed distance to consider it an inlier.
+	int minInliersCount = 70;	// thresold of found inliers.
+
+
+The following code corresponds to the *estimatePoseRANSAC()* function which belongs to the *PnPProblem class*. This function estimates the rotation and translation matrix given a set of 2D/3D correspondences, the desired PnP method to use, the output inliers container and the Ransac parameters:
+
+   .. code-block:: cpp
+
+	// Estimate the pose given a list of 2D/3D correspondences with RANSAC and the method to use
+
+	void PnPProblem::estimatePoseRANSAC( const std::vector<cv::Point3f> &list_points3d,	// list with model 3D coordinates
+		                             const std::vector<cv::Point2f> &list_points2d,     // list with scene 2D coordinates
+		                             int flags, cv::Mat &inliers, int iterationsCount,  // PnP method; inliers container
+		                             double reprojectionError, int minInliersCount )    // Ransac parameters
+	{
+		cv::Mat distCoeffs = cv::Mat::zeros(4, 1, CV_64FC1);	// vector of distortion coefficients
+		cv::Mat rvec = cv::Mat::zeros(3, 1, CV_64FC1);          // output rotation vector
+		cv::Mat tvec = cv::Mat::zeros(3, 1, CV_64FC1);		// output translation vector
+
+		bool useExtrinsicGuess = false;   // if true the function uses the provided rvec and tvec values as
+						  // initial approximations of the rotation and translation vectors
+
+		cv::solvePnPRansac( list_points3d, list_points2d, _A_matrix, distCoeffs, rvec, tvec,
+			            useExtrinsicGuess, iterationsCount, reprojectionError, minInliersCount,
+			            inliers, flags );
+
+		Rodrigues(rvec,_R_matrix); 			// converts Rotation Vector to Matrix
+		_t_matrix = tvec;				// set translation matrix
+
+		this->set_P_matrix(_R_matrix, _t_matrix);	// set rotation-translation matrix
+
+	}   
+
+In the following code are the 3th and 4th steps of the main algorithm. The first, calling the above function and the second taking the output inliers vector from Ransac to get the 2D scene points for drawing purpose. As seen in the code we must be sure to apply Ransac if we have matches, in the other case, the function :calib3d:`solvePnPRansac() <solvepnpransac>` crashes due to some OpenCV *bug*.
+
+   .. code-block:: cpp
+
+	if(good_matches.size() > 0) // None matches, then RANSAC crashes
+	{
+
+		// -- Step 3: Estimate the pose using RANSAC approach
+		pnp_detection.estimatePoseRANSAC( list_points3d_model_match, list_points2d_scene_match,
+				                  cv::ITERATIVE, inliers_idx,
+				                  iterationsCount, reprojectionError, minInliersCount );
+
+
+		// -- Step 4: Catch the inliers keypoints to draw
+		for(int inliers_index = 0; inliers_index < inliers_idx.rows; ++inliers_index)
+		{
+		int n = inliers_idx.at<int>(inliers_index);         // i-inlier
+		cv::Point2f point2d = list_points2d_scene_match[n]; // i-inlier point 2D
+		list_points2d_inliers.push_back(point2d);           // add i-inlier to list
+	}
+
+
+Finally, once the camera pose has been estimated we can use the :math:`R` and :math:`t` in order to compute the 2D projection onto the image of a given 3D point expressed in a world reference frame using the showed formula on *Theory*. 
+
+The following code corresponds to the *backproject3DPoint()* function which belongs to the *PnPProblem class*. This function backproject a given 3D point expressed in a world reference frame onto a 2D image:
+
+   .. code-block:: cpp
+
+	// Backproject a 3D point to 2D using the estimated pose parameters
+
+	cv::Point2f PnPProblem::backproject3DPoint(const cv::Point3f &point3d)
+	{
+		// 3D point vector [x y z 1]'
+		cv::Mat point3d_vec = cv::Mat(4, 1, CV_64FC1);
+		point3d_vec.at<double>(0) = point3d.x;
+		point3d_vec.at<double>(1) = point3d.y;
+		point3d_vec.at<double>(2) = point3d.z;
+		point3d_vec.at<double>(3) = 1;
+
+		// 2D point vector [u v 1]'
+		cv::Mat point2d_vec = cv::Mat(4, 1, CV_64FC1);
+		point2d_vec = _A_matrix * _P_matrix * point3d_vec;
+
+		// Normalization of [u v]'
+		cv::Point2f point2d;
+		point2d.x = point2d_vec.at<double>(0) / point2d_vec.at<double>(2);
+		point2d.y = point2d_vec.at<double>(1) / point2d_vec.at<double>(2);
+
+		return point2d;
+	}
+
+The above function then is used to compute all the 3D points of the object *Mesh* to show the pose of the object.
+
+
+**6. Use Linear Kalman Filter to reject bad poses**
+
+Is it common in computer vision or robotics fields that after applying detection or tracking techniques bad results are obtained due to some sensor errors. In order to avoid these bad detections in this tutorialis explained how to implement a Linear Kalman Filter after getting a good pose estimation. The definition of a good pose is arbitrary, so here we will define good pose as a detection with high number of inliers.
+
+You can find more information about what `Kalman Filter <http://en.wikipedia.org/wiki/Kalman_filter>`_ is. In this tutorial it's used the OpenCV implementation of the :video:`Kalman Filter <kalmanfilter>` based on `Linear Kalman Filter for position and orientation tracking <http://campar.in.tum.de/Chair/KalmanFilter>`_ to set the dynamics and measurement models.
+
+First, we have to define our state vector which will have 18 states: the positional data (x,y,z) with its first and second derivatives (velocity and acceleration), then rotation is added in form of three euler angles (roll, pitch, jaw) together with their first and second derivatives (angular velocity and acceleration)
+
+   .. math::
+
+	X = (x,y,z,\dot x,\dot y,\dot z,\ddot x,\ddot y,\ddot z,\psi,\theta,\phi,\dot \psi,\dot \theta,\dot \phi,\ddot \psi,\ddot \theta,\ddot \phi)^T
+
+Secondly, we have to define the number of measuremnts which will be 6: from :math:`R` and :math:`t` we can extract :math:`(x,y,z)` and :math:`(\psi,\theta,\phi)`. Thirdly, we have t define the number of control actions to apply to the system which in this case will be *zero*. Finally, we have to define the differential time between the measurements which in this case is :math:`1/T`, where *T* is the frame rate of the video.
+
+   .. code-block:: cpp
+
+	cv::KalmanFilter KF;         // instantiate Kalman Filter
+
+	int nStates = 18;            // the number of states
+	int nMeasurements = 6;       // the number of measured states
+	int nInputs = 0;             // the number of action control
+
+	double dt = 0.125;           // time between measurements (1/FPS)
+
+	initKalmanFilter(KF, nStates, nMeasurements, nInputs, dt);    // init function
+
+
+The following code corresponds to the Kalman Filter initialisation. First, is set the process noise, the measurement noise and the error covariance matrix. Secondly, are set the transition matrix which is the dynamic model and then the measurement matrix which is the measurement model. 
+
+You can tune the process and measurement noise to improve the Kalman Filter performance. As you reduce the measurement noise the faster will converge but will be more sensible in front of bad measurements.
+
+   .. code-block:: cpp
+
+	void initKalmanFilter(cv::KalmanFilter &KF, int nStates, int nMeasurements, int nInputs, double dt)
+	{
+
+	  KF.init(nStates, nMeasurements, nInputs, CV_64F);                 // init Kalman Filter
+
+	  cv::setIdentity(KF.processNoiseCov, cv::Scalar::all(1e-5));       // set process noise
+	  cv::setIdentity(KF.measurementNoiseCov, cv::Scalar::all(1e-4));   // set measurement noise
+	  cv::setIdentity(KF.errorCovPost, cv::Scalar::all(1));             // error covariance
+
+
+		             /** DYNAMIC MODEL **/
+
+	  //  [1 0 0 dt  0  0 dt2   0   0 0 0 0  0  0  0   0   0   0]
+	  //  [0 1 0  0 dt  0   0 dt2   0 0 0 0  0  0  0   0   0   0]
+	  //  [0 0 1  0  0 dt   0   0 dt2 0 0 0  0  0  0   0   0   0]
+	  //  [0 0 0  1  0  0  dt   0   0 0 0 0  0  0  0   0   0   0]
+	  //  [0 0 0  0  1  0   0  dt   0 0 0 0  0  0  0   0   0   0]
+	  //  [0 0 0  0  0  1   0   0  dt 0 0 0  0  0  0   0   0   0]
+	  //  [0 0 0  0  0  0   1   0   0 0 0 0  0  0  0   0   0   0]
+	  //  [0 0 0  0  0  0   0   1   0 0 0 0  0  0  0   0   0   0]
+	  //  [0 0 0  0  0  0   0   0   1 0 0 0  0  0  0   0   0   0]
+	  //  [0 0 0  0  0  0   0   0   0 1 0 0 dt  0  0 dt2   0   0]
+	  //  [0 0 0  0  0  0   0   0   0 0 1 0  0 dt  0   0 dt2   0]
+	  //  [0 0 0  0  0  0   0   0   0 0 0 1  0  0 dt   0   0 dt2]
+	  //  [0 0 0  0  0  0   0   0   0 0 0 0  1  0  0  dt   0   0]
+	  //  [0 0 0  0  0  0   0   0   0 0 0 0  0  1  0   0  dt   0]
+	  //  [0 0 0  0  0  0   0   0   0 0 0 0  0  0  1   0   0  dt]
+	  //  [0 0 0  0  0  0   0   0   0 0 0 0  0  0  0   1   0   0]
+	  //  [0 0 0  0  0  0   0   0   0 0 0 0  0  0  0   0   1   0]
+	  //  [0 0 0  0  0  0   0   0   0 0 0 0  0  0  0   0   0   1]
+
+	  // position
+	  KF.transitionMatrix.at<double>(0,3) = dt;
+	  KF.transitionMatrix.at<double>(1,4) = dt;
+	  KF.transitionMatrix.at<double>(2,5) = dt;
+	  KF.transitionMatrix.at<double>(3,6) = dt;
+	  KF.transitionMatrix.at<double>(4,7) = dt;
+	  KF.transitionMatrix.at<double>(5,8) = dt;
+	  KF.transitionMatrix.at<double>(0,6) = 0.5*pow(dt,2);
+	  KF.transitionMatrix.at<double>(1,7) = 0.5*pow(dt,2);
+	  KF.transitionMatrix.at<double>(2,8) = 0.5*pow(dt,2);
+
+	  // orientation
+	  KF.transitionMatrix.at<double>(9,12) = dt;
+	  KF.transitionMatrix.at<double>(10,13) = dt;
+	  KF.transitionMatrix.at<double>(11,14) = dt;
+	  KF.transitionMatrix.at<double>(12,15) = dt;
+	  KF.transitionMatrix.at<double>(13,16) = dt;
+	  KF.transitionMatrix.at<double>(14,17) = dt;
+	  KF.transitionMatrix.at<double>(9,15) = 0.5*pow(dt,2);
+	  KF.transitionMatrix.at<double>(10,16) = 0.5*pow(dt,2);
+	  KF.transitionMatrix.at<double>(11,17) = 0.5*pow(dt,2);
+
+
+		   /** MEASUREMENT MODEL **/
+
+	  //  [1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0]
+	  //  [0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0]
+	  //  [0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0]
+	  //  [0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0]
+	  //  [0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0]
+	  //  [0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0]
+
+	  KF.measurementMatrix.at<double>(0,0) = 1;  // x
+	  KF.measurementMatrix.at<double>(1,1) = 1;  // y
+	  KF.measurementMatrix.at<double>(2,2) = 1;  // z
+	  KF.measurementMatrix.at<double>(3,9) = 1;  // roll
+	  KF.measurementMatrix.at<double>(4,10) = 1; // pitch
+	  KF.measurementMatrix.at<double>(5,11) = 1; // yaw
+
+	  std::cout << "A " << std::endl << KF.transitionMatrix << std::endl;
+	  std::cout << "C " << std::endl << KF.measurementMatrix << std::endl;
+
+	}
+
+In the following code is 5th step of the main algorithm. When the obtained number of inliers after *Ransac* is over the threshold, the measurements matrix is filled and then the Kalman Filter is updated:
+
+   .. code-block:: cpp
+
+	// -- Step 5: Kalman Filter
+
+	// GOOD MEASUREMENT
+	if( inliers_idx.rows >= minInliersKalman )
+	{
+
+		// Get the measured translation
+		cv::Mat translation_measured(3, 1, CV_64F);
+		translation_measured = pnp_detection.get_t_matrix();
+
+		// Get the measured rotation
+		cv::Mat rotation_measured(3, 3, CV_64F);
+		rotation_measured = pnp_detection.get_R_matrix();
+
+		// fill the measurements vector
+		fillMeasurements(measurements, translation_measured, rotation_measured);
+
+	}
+
+	// Instantiate estimated translation and rotation
+	cv::Mat translation_estimated(3, 1, CV_64F);
+	cv::Mat rotation_estimated(3, 3, CV_64F);
+
+	// update the Kalman filter with good measurements
+	updateKalmanFilter( KF, measurements,
+		          translation_estimated, rotation_estimated);
+
+The following code corresponds to the *fillMeasurements()* function which converts the measured `Rotation Matrix to Eulers angles <http://euclideanspace.com/maths/geometry/rotations/conversions/matrixToEuler/index.htm>`_ and fill the measurements matrix along with the measured  translation vector:
+
+   .. code-block:: cpp
+
+	void fillMeasurements( cv::Mat &measurements,
+		               const cv::Mat &translation_measured, const cv::Mat &rotation_measured)
+	{
+		// Convert rotation matrix to euler angles
+		cv::Mat measured_eulers(3, 1, CV_64F);
+		measured_eulers = rot2euler(rotation_measured);
+
+		// Set measurement to predict
+		measurements.at<double>(0) = translation_measured.at<double>(0); // x
+		measurements.at<double>(1) = translation_measured.at<double>(1); // y
+		measurements.at<double>(2) = translation_measured.at<double>(2); // z
+		measurements.at<double>(3) = measured_eulers.at<double>(0);      // roll
+		measurements.at<double>(4) = measured_eulers.at<double>(1);      // pitch
+		measurements.at<double>(5) = measured_eulers.at<double>(2);      // yaw
+	}
+
+
+The following code corresponds to the *updateKalmanFilter()* function which update the Kalman Filter and set the estimated Rotation Matrix and translation vector. The estimated Rotation Matrix comes from the estimated `Euler angles to Rotation Matrix <http://euclideanspace.com/maths/geometry/rotations/conversions/eulerToMatrix/index.htm>`_.
+
+   .. code-block:: cpp
+
+	void updateKalmanFilter( cv::KalmanFilter &KF, cv::Mat &measurement,
+		                 cv::Mat &translation_estimated, cv::Mat &rotation_estimated )
+	{
+
+		// First predict, to update the internal statePre variable
+		cv::Mat prediction = KF.predict();
+
+		// The "correct" phase that is going to use the predicted value and our measurement
+		cv::Mat estimated = KF.correct(measurement);
+
+		// Estimated translation
+		translation_estimated.at<double>(0) = estimated.at<double>(0);
+		translation_estimated.at<double>(1) = estimated.at<double>(1);
+		translation_estimated.at<double>(2) = estimated.at<double>(2);
+
+		// Estimated euler angles
+		cv::Mat eulers_estimated(3, 1, CV_64F);
+		eulers_estimated.at<double>(0) = estimated.at<double>(9);
+		eulers_estimated.at<double>(1) = estimated.at<double>(10);
+		eulers_estimated.at<double>(2) = estimated.at<double>(11);
+
+		// Convert estimated quaternion to rotation matrix
+		rotation_estimated = euler2rot(eulers_estimated);
+
+	}
+
+The 6th step is set the estimated rotation-translation matrix:
+
+   .. code-block:: cpp
+
+	// -- Step 6: Set estimated projection matrix
+	pnp_detection_est.set_P_matrix(rotation_estimated, translation_estimated);
+
+
+The last and optional step is draw the found pose. To do it I implemented a function to draw all the mesh 3D points and an extra reference axis:
+
+   .. code-block:: cpp
+
+	// -- Step X: Draw pose
+
+	drawObjectMesh(frame_vis, &mesh, &pnp_detection, green);				// draw current pose 
+	drawObjectMesh(frame_vis, &mesh, &pnp_detection_est, yellow);				// draw estimated pose
+	
+	double l = 5;
+	std::vector<cv::Point2f> pose_points2d;
+	pose_points2d.push_back(pnp_detection_est.backproject3DPoint(cv::Point3f(0,0,0)));	// axis center
+	pose_points2d.push_back(pnp_detection_est.backproject3DPoint(cv::Point3f(l,0,0)));	// axis x
+	pose_points2d.push_back(pnp_detection_est.backproject3DPoint(cv::Point3f(0,l,0)));	// axis y
+	pose_points2d.push_back(pnp_detection_est.backproject3DPoint(cv::Point3f(0,0,l)));	// axis z
+	draw3DCoordinateAxes(frame_vis, pose_points2d);						// draw axes
+
+
+Results
+=======
+
+The following videos are the results of pose estimation in real time using the explained detection algorithm with the following parameters:
+
+   .. code-block:: cpp
+
+	// Robust Matcher parameters
+
+	int numKeyPoints = 2000;      // number of detected keypoints
+	float ratio = 0.70f;          // ratio test
+	bool fast_match = true;       // fastRobustMatch() or robustMatch()
+
+
+	// RANSAC parameters
+
+	int iterationsCount = 500;    // number of Ransac iterations.
+	int reprojectionError = 2.0;  // maximum allowed distance to consider it an inlier.
+	int minInliersCount = 70;     // thresold of found inliers.
+
+
+	// Kalman Filter parameters
+
+	int minInliersKalman = 30;    // Kalman threshold updating
+
+
+.. raw:: html
+
+   <div align="center">
+   <iframe width="560" height="315" src="//www.youtube.com/embed/msFFuHsiUns?rel=0" frameborder="0" allowfullscreen></iframe>
+   </div>
+
+
diff --git a/doc/tutorials/calib3d/table_of_content_calib3d/images/real_time_pose_estimation.jpg b/doc/tutorials/calib3d/table_of_content_calib3d/images/real_time_pose_estimation.jpg
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literal 0
HcmV?d00001

diff --git a/doc/tutorials/calib3d/table_of_content_calib3d/table_of_content_calib3d.rst b/doc/tutorials/calib3d/table_of_content_calib3d/table_of_content_calib3d.rst
index 91f80b70b9..47c03d1679 100644
--- a/doc/tutorials/calib3d/table_of_content_calib3d/table_of_content_calib3d.rst
+++ b/doc/tutorials/calib3d/table_of_content_calib3d/table_of_content_calib3d.rst
@@ -45,6 +45,25 @@ Although we got most of our images in a 2D format they do come from a 3D world.
      :height: 90pt
      :width:  90pt
 
++
+  .. tabularcolumns:: m{100pt} m{300pt}
+  .. cssclass:: toctableopencv
+
+  ===================== ==============================================
+    |PoseEstimation|    **Title:** :ref:`realTimePoseEstimation`
+
+                        *Compatibility:* > OpenCV 2.0
+
+                        *Author:* Edgar Riba
+
+                        Real time pose estimation of a textured object using ORB features, FlannBased matcher, PnP approach plus Ransac and Linear Kalman Filter to reject possible bad poses.
+
+  ===================== ==============================================
+
+  .. |PoseEstimation|   image:: images/real_time_pose_estimation.jpg
+     :height: 90pt
+     :width:  90pt
+
 .. raw:: latex
 
    \pagebreak
@@ -54,3 +73,4 @@ Although we got most of our images in a 2D format they do come from a 3D world.
 
    ../camera_calibration_square_chess/camera_calibration_square_chess
    ../camera_calibration/camera_calibration
+   ../real_time_pose/real_time_pose

From ce07024a44fdd33bea870e9e62ffa435d1a4799d Mon Sep 17 00:00:00 2001
From: edgarriba <edgar.riba@gmail.com>
Date: Tue, 8 Jul 2014 17:09:55 +0200
Subject: [PATCH 008/112] Updated solvePnPRansac()

---
 .../doc/camera_calibration_and_3d_reconstruction.rst     | 9 ++++++---
 1 file changed, 6 insertions(+), 3 deletions(-)

diff --git a/modules/calib3d/doc/camera_calibration_and_3d_reconstruction.rst b/modules/calib3d/doc/camera_calibration_and_3d_reconstruction.rst
index 36af8362ff..b18f25a1e9 100644
--- a/modules/calib3d/doc/camera_calibration_and_3d_reconstruction.rst
+++ b/modules/calib3d/doc/camera_calibration_and_3d_reconstruction.rst
@@ -596,7 +596,7 @@ solvePnPRansac
 ------------------
 Finds an object pose from 3D-2D point correspondences using the RANSAC scheme.
 
-.. ocv:function:: void solvePnPRansac( InputArray objectPoints, InputArray imagePoints, InputArray cameraMatrix, InputArray distCoeffs, OutputArray rvec, OutputArray tvec, bool useExtrinsicGuess=false, int iterationsCount = 100, float reprojectionError = 8.0, int minInliersCount = 100, OutputArray inliers = noArray(), int flags = ITERATIVE )
+.. ocv:function:: void solvePnPRansac( InputArray objectPoints, InputArray imagePoints, InputArray cameraMatrix, InputArray distCoeffs, OutputArray rvec, OutputArray tvec, bool useExtrinsicGuess=false, int iterationsCount = 100, float reprojectionError = 8.0, float confidence = 0.99, OutputArray inliers = noArray(), int flags = ITERATIVE )
 
 .. ocv:pyfunction:: cv2.solvePnPRansac(objectPoints, imagePoints, cameraMatrix, distCoeffs[, rvec[, tvec[, useExtrinsicGuess[, iterationsCount[, reprojectionError[, minInliersCount[, inliers[, flags]]]]]]]]) -> rvec, tvec, inliers
 
@@ -618,15 +618,18 @@ Finds an object pose from 3D-2D point correspondences using the RANSAC scheme.
 
     :param reprojectionError: Inlier threshold value used by the RANSAC procedure. The parameter value is the maximum allowed distance between the observed and computed point projections to consider it an inlier.
 
-    :param minInliersCount: Number of inliers. If the algorithm at some stage finds more inliers than ``minInliersCount`` , it finishes.
+    :param confidence: The probability that the algorithm produces a useful result.
 
     :param inliers: Output vector that contains indices of inliers in ``objectPoints`` and ``imagePoints`` .
 
     :param flags: Method for solving a PnP problem (see  :ocv:func:`solvePnP` ).
 
 The function estimates an object pose given a set of object points, their corresponding image projections, as well as the camera matrix and the distortion coefficients. This function finds such a pose that minimizes reprojection error, that is, the sum of squared distances between the observed projections ``imagePoints`` and the projected (using
-:ocv:func:`projectPoints` ) ``objectPoints``. The use of RANSAC makes the function resistant to outliers. The function is parallelized with the TBB library.
+:ocv:func:`projectPoints` ) ``objectPoints``. The use of RANSAC makes the function resistant to outliers.
 
+.. note::
+
+   * An example of how to use solvePNPRansac for object detection can be found at opencv_source_code/samples/cpp/tutorial_code/calib3d/real_time_pose_estimation/
 
 
 findFundamentalMat

From ba5a8ee2998e0d405e4b93a84e6d9628d9c250f4 Mon Sep 17 00:00:00 2001
From: edgarriba <edgar.riba@gmail.com>
Date: Wed, 9 Jul 2014 10:37:37 +0200
Subject: [PATCH 009/112] Solvepnpransac() returns boolean

---
 modules/calib3d/include/opencv2/calib3d.hpp |  2 +-
 modules/calib3d/src/solvepnp.cpp            | 71 ++++++++-------------
 2 files changed, 29 insertions(+), 44 deletions(-)

diff --git a/modules/calib3d/include/opencv2/calib3d.hpp b/modules/calib3d/include/opencv2/calib3d.hpp
index d82dae80d1..ba7eba930d 100644
--- a/modules/calib3d/include/opencv2/calib3d.hpp
+++ b/modules/calib3d/include/opencv2/calib3d.hpp
@@ -154,7 +154,7 @@ CV_EXPORTS_W bool solvePnP( InputArray objectPoints, InputArray imagePoints,
                             bool useExtrinsicGuess = false, int flags = ITERATIVE );
 
 //! computes the camera pose from a few 3D points and the corresponding projections. The outliers are possible.
-CV_EXPORTS_W void solvePnPRansac( InputArray objectPoints, InputArray imagePoints,
+CV_EXPORTS_W bool solvePnPRansac( InputArray objectPoints, InputArray imagePoints,
                                   InputArray cameraMatrix, InputArray distCoeffs,
                                   OutputArray rvec, OutputArray tvec,
                                   bool useExtrinsicGuess = false, int iterationsCount = 100,
diff --git a/modules/calib3d/src/solvepnp.cpp b/modules/calib3d/src/solvepnp.cpp
index fc7111bffb..e1cc4746a4 100644
--- a/modules/calib3d/src/solvepnp.cpp
+++ b/modules/calib3d/src/solvepnp.cpp
@@ -98,7 +98,7 @@ bool cv::solvePnP( InputArray _opoints, InputArray _ipoints,
     return false;
 }
 
-namespace cv
+/*namespace cv
 {
     namespace pnpransac
     {
@@ -271,7 +271,7 @@ namespace cv
         RNG PnPSolver::generator;
 
     }
-}
+}*/
 
 class PnPRansacCallback : public PointSetRegistrator::Callback
 {
@@ -283,7 +283,7 @@ public:
 		  rvec(_rvec), tvec(_tvec) {}
 
     /* Pre: True */
-    /* Post: compute _model with given points an eturn number of found models */
+    /* Post: compute _model with given points an return number of found models */
     int runKernel( InputArray _m1, InputArray _m2, OutputArray _model ) const
     {
         Mat opoints = _m1.getMat(), ipoints = _m2.getMat();
@@ -291,15 +291,9 @@ public:
         bool correspondence = cv::solvePnP( _m1, _m2, cameraMatrix, distCoeffs,
         		                            rvec, tvec, useExtrinsicGuess, flags );
 
-
-    	if(correspondence)
-    	{
-			Mat _local_model;
-			_local_model.push_back(rvec);
-			_local_model.push_back(tvec);
-
-			_local_model.copyTo(_model);
-    	}
+    	Mat _local_model;
+    	cv::hconcat(rvec, tvec, _local_model);
+		_local_model.copyTo(_model);
 
         return correspondence;
     }
@@ -312,8 +306,8 @@ public:
         Mat opoints = _m1.getMat(), ipoints = _m2.getMat(), model = _model.getMat();
 
         int i, count = opoints.cols;
-        Mat _rvec = model.rowRange(0,3);
-        Mat _tvec = model.rowRange(3, 6);
+        Mat _rvec = model.col(0);
+        Mat _tvec = model.col(1);
 
         Mat projpoints(count, 2, CV_32FC1);
         cv::projectPoints(opoints, _rvec, _tvec, cameraMatrix, distCoeffs, projpoints);
@@ -338,7 +332,7 @@ public:
     Mat tvec;
 };
 
-void cv::solvePnPRansac(InputArray _opoints, InputArray _ipoints,
+bool cv::solvePnPRansac(InputArray _opoints, InputArray _ipoints,
                         InputArray _cameraMatrix, InputArray _distCoeffs,
                         OutputArray _rvec, OutputArray _tvec, bool useExtrinsicGuess,
                         int iterationsCount, float reprojectionError, float confidence,
@@ -355,34 +349,16 @@ void cv::solvePnPRansac(InputArray _opoints, InputArray _ipoints,
     CV_Assert(ipoints.depth() == CV_32F || ipoints.depth() == CV_64F);
     CV_Assert((ipoints.rows == 1 && ipoints.channels() == 2) || ipoints.cols*ipoints.channels() == 2);
 
-    Mat objectPoints = opoints.reshape(3, 1), imagePoints = ipoints.reshape(2, 1);
-
-    Ptr<PointSetRegistrator::Callback> cb; // pointer to callback
-
     _rvec.create(3, 1, CV_64FC1);
     _tvec.create(3, 1, CV_64FC1);
 
-    Mat rvec, tvec;
+    Mat rvec = useExtrinsicGuess ? _rvec.getMat() : Mat(3, 1, CV_64FC1);
+    Mat tvec = useExtrinsicGuess ? _tvec.getMat() : Mat(3, 1, CV_64FC1);
 
-    if (useExtrinsicGuess) // use given rvec & tvec
-    {
-    	rvec = _rvec.getMat();
-    	tvec = _tvec.getMat();
+    Ptr<PointSetRegistrator::Callback> cb; // pointer to callback
+    cb = makePtr<PnPRansacCallback>( cameraMatrix, distCoeffs, flags, useExtrinsicGuess, rvec, tvec);
 
-    	cb = makePtr<PnPRansacCallback>( cameraMatrix, distCoeffs, flags,
-    									 useExtrinsicGuess, rvec, tvec);
-    }
-    else
-    {
-    	rvec = Mat(3, 1, CV_64FC1);
-    	tvec = Mat(3, 1, CV_64FC1);
-
-    	cb = makePtr<PnPRansacCallback>( cameraMatrix, distCoeffs, flags,
-				 	 	 	 	 	 	 useExtrinsicGuess, rvec, tvec);
-
-    }
-
-	int model_points = 3; 					// minimum of number of model points
+	int model_points = 6; 					// minimum of number of model points
 	double param1 = reprojectionError ;		// reprojection error
 	double param2 = confidence;				// confidence
 	int param3 = iterationsCount;			// number maximum iterations
@@ -391,11 +367,20 @@ void cv::solvePnPRansac(InputArray _opoints, InputArray _ipoints,
     cv::Mat _mask_local_inliers(1, opoints.rows, CV_8UC1);
 
 	// call Ransac
-	int result = createRANSACPointSetRegistrator(cb, model_points, param1, param2, param3)
-							  ->run(_opoints, _ipoints, _local_model, _mask_local_inliers);
+	int result = createRANSACPointSetRegistrator(cb, model_points, param1, param2, param3)->run(_opoints, _ipoints, _local_model, _mask_local_inliers);
 
-	_rvec.assign(_local_model.rowRange(0,3));	// output rotation vector
-	_tvec.assign(_local_model.rowRange(3,6));	// output translation vector
+	if( result <= 0 || _local_model.rows <= 0)
+	{
+		_rvec.assign(rvec);	// output rotation vector
+		_tvec.assign(tvec);	// output translation vector
+
+		return false;
+	}
+	else
+	{
+		_rvec.assign(_local_model.col(0));	// output rotation vector
+		_tvec.assign(_local_model.col(1));	// output translation vector
+	}
 
 	Mat _local_inliers;
 	int count = 0;
@@ -452,5 +437,5 @@ void cv::solvePnPRansac(InputArray _opoints, InputArray _ipoints,
         if( _inliers.needed() )
             _inliers.release();
     }*/
-    return;
+    return true;
 }

From 89246e1a4572f887b6b00218f249ab4d11040cd4 Mon Sep 17 00:00:00 2001
From: edgarriba <edgar.riba@gmail.com>
Date: Wed, 9 Jul 2014 10:59:00 +0200
Subject: [PATCH 010/112] Update Ransac documentation

---
 .../calib3d/real_time_pose/real_time_pose.rst    | 16 ++++++++--------
 .../camera_calibration_and_3d_reconstruction.rst |  2 +-
 2 files changed, 9 insertions(+), 9 deletions(-)

diff --git a/doc/tutorials/calib3d/real_time_pose/real_time_pose.rst b/doc/tutorials/calib3d/real_time_pose/real_time_pose.rst
index 451661fa77..26f16b33f2 100644
--- a/doc/tutorials/calib3d/real_time_pose/real_time_pose.rst
+++ b/doc/tutorials/calib3d/real_time_pose/real_time_pose.rst
@@ -228,11 +228,11 @@ The following code is to get the model 3D points and its descriptors and then ca
 
 	if(fast_match)
 	{
-		rmatcher.robustMatch(frame, good_matches, keypoints_scene, descriptors_model);
+		rmatcher.fastRobustMatch(frame, good_matches, keypoints_scene, descriptors_model);
 	}
 	else
 	{
-		rmatcher.fastRobustMatch(frame, good_matches, keypoints_scene, descriptors_model);
+		rmatcher.robustMatch(frame, good_matches, keypoints_scene, descriptors_model);
 	}
 
 The following code corresponds to the *robustMatch()* function which belongs to the *RobustMatcher* class. This function uses the given image to detect the keypoints and extract the descriptors, match using *2 Nearest Neighbour* the extracted descriptors with the given model descriptors and vice versa. Then, is applied a ratio test to the two direction matches in order to remove these matches which its distance ratio between the first and second best match is larger than a given threshold. Finally, a symmetry test is applied in order the remove non symmetrical matches.
@@ -336,7 +336,7 @@ The following code is how the *PnPProblem class* initialises its atributes:
 
 OpenCV provides four PnP methods: ITERATIVE, EPNP, P3P and ? . If we want a real time time application the more suitable methods are EPNP and P3P due to are faster than ITERATIVE finding a solution. Otherwise, EPNP and P3P are not robust especially in front of planar surfaces and sometimes the pose estimation seems to have like a mirror effect. Therefore, in this this tutorial is used ITERATIVE method due to the object to be detected has planar surfaces.
 
-The OpenCV Ransac implementation wants you to provide three parameters: the maximum number of iterations until stop the algorithm, the maximum allowed distance between the observed and computed point projections to consider it an inlier and a threshold of minimum number of inliers found. You can tune these paramaters in order to improve your algorithm performance. Increasing the number of iterations you will have a more accurate solution, but will take more time to find a solution. Increasing the reprojection error will reduce the computation time, but your solution will be unaccurate. Decreasing the minimum number of inliers will reduce the computation time with high probability to obtain a bad solution.
+The OpenCV Ransac implementation wants you to provide three parameters: the maximum number of iterations until stop the algorithm, the maximum allowed distance between the observed and computed point projections to consider it an inlier and the confidence to obtain a result. You can tune these paramaters in order to improve your algorithm performance. Increasing the number of iterations you will have a more accurate solution, but will take more time to find a solution. Increasing the reprojection error will reduce the computation time, but your solution will be unaccurate. Decreasing the confidence your arlgorithm will be faster, but the obtained solution will also be unaccurate.
 
 The following parameters works for this application:
   
@@ -345,8 +345,8 @@ The following parameters works for this application:
 	// RANSAC parameters	
 	
 	int iterationsCount = 500;	// number of Ransac iterations.
-	int reprojectionError = 2.0;	// maximum allowed distance to consider it an inlier.
-	int minInliersCount = 70;	// thresold of found inliers.
+	float reprojectionError = 2.0;	// maximum allowed distance to consider it an inlier.
+	float confidence = 0.95;	// ransac successful confidence.
 
 
 The following code corresponds to the *estimatePoseRANSAC()* function which belongs to the *PnPProblem class*. This function estimates the rotation and translation matrix given a set of 2D/3D correspondences, the desired PnP method to use, the output inliers container and the Ransac parameters:
@@ -358,7 +358,7 @@ The following code corresponds to the *estimatePoseRANSAC()* function which belo
 	void PnPProblem::estimatePoseRANSAC( const std::vector<cv::Point3f> &list_points3d,	// list with model 3D coordinates
 		                             const std::vector<cv::Point2f> &list_points2d,     // list with scene 2D coordinates
 		                             int flags, cv::Mat &inliers, int iterationsCount,  // PnP method; inliers container
-		                             double reprojectionError, int minInliersCount )    // Ransac parameters
+		                             float reprojectionError, float confidence )       // Ransac parameters
 	{
 		cv::Mat distCoeffs = cv::Mat::zeros(4, 1, CV_64FC1);	// vector of distortion coefficients
 		cv::Mat rvec = cv::Mat::zeros(3, 1, CV_64FC1);          // output rotation vector
@@ -368,7 +368,7 @@ The following code corresponds to the *estimatePoseRANSAC()* function which belo
 						  // initial approximations of the rotation and translation vectors
 
 		cv::solvePnPRansac( list_points3d, list_points2d, _A_matrix, distCoeffs, rvec, tvec,
-			            useExtrinsicGuess, iterationsCount, reprojectionError, minInliersCount,
+			            useExtrinsicGuess, iterationsCount, reprojectionError, confidence,
 			            inliers, flags );
 
 		Rodrigues(rvec,_R_matrix); 			// converts Rotation Vector to Matrix
@@ -666,7 +666,7 @@ The following videos are the results of pose estimation in real time using the e
 
 	int iterationsCount = 500;    // number of Ransac iterations.
 	int reprojectionError = 2.0;  // maximum allowed distance to consider it an inlier.
-	int minInliersCount = 70;     // thresold of found inliers.
+	float confidence = 0.95;      // ransac successful confidence.
 
 
 	// Kalman Filter parameters
diff --git a/modules/calib3d/doc/camera_calibration_and_3d_reconstruction.rst b/modules/calib3d/doc/camera_calibration_and_3d_reconstruction.rst
index b18f25a1e9..14d7c8dd9f 100644
--- a/modules/calib3d/doc/camera_calibration_and_3d_reconstruction.rst
+++ b/modules/calib3d/doc/camera_calibration_and_3d_reconstruction.rst
@@ -596,7 +596,7 @@ solvePnPRansac
 ------------------
 Finds an object pose from 3D-2D point correspondences using the RANSAC scheme.
 
-.. ocv:function:: void solvePnPRansac( InputArray objectPoints, InputArray imagePoints, InputArray cameraMatrix, InputArray distCoeffs, OutputArray rvec, OutputArray tvec, bool useExtrinsicGuess=false, int iterationsCount = 100, float reprojectionError = 8.0, float confidence = 0.99, OutputArray inliers = noArray(), int flags = ITERATIVE )
+.. ocv:function:: bool solvePnPRansac( InputArray objectPoints, InputArray imagePoints, InputArray cameraMatrix, InputArray distCoeffs, OutputArray rvec, OutputArray tvec, bool useExtrinsicGuess=false, int iterationsCount = 100, float reprojectionError = 8.0, float confidence = 0.99, OutputArray inliers = noArray(), int flags = ITERATIVE )
 
 .. ocv:pyfunction:: cv2.solvePnPRansac(objectPoints, imagePoints, cameraMatrix, distCoeffs[, rvec[, tvec[, useExtrinsicGuess[, iterationsCount[, reprojectionError[, minInliersCount[, inliers[, flags]]]]]]]]) -> rvec, tvec, inliers
 

From a5d40d7674a9125743a9f3af636b9a88cf6a31d7 Mon Sep 17 00:00:00 2001
From: edgarriba <edgar.riba@gmail.com>
Date: Wed, 9 Jul 2014 17:27:08 +0200
Subject: [PATCH 011/112] Test Run OK

---
 modules/calib3d/src/solvepnp.cpp | 38 +++++++++++++++++++-------------
 1 file changed, 23 insertions(+), 15 deletions(-)

diff --git a/modules/calib3d/src/solvepnp.cpp b/modules/calib3d/src/solvepnp.cpp
index e1cc4746a4..b76c46e6cb 100644
--- a/modules/calib3d/src/solvepnp.cpp
+++ b/modules/calib3d/src/solvepnp.cpp
@@ -340,7 +340,9 @@ bool cv::solvePnPRansac(InputArray _opoints, InputArray _ipoints,
 {
 
     Mat opoints = _opoints.getMat(), ipoints = _ipoints.getMat();
-    Mat cameraMatrix = _cameraMatrix.getMat(), distCoeffs = _distCoeffs.getMat();
+
+    int npoints = std::max(opoints.checkVector(3, CV_32F), opoints.checkVector(3, CV_64F));
+    CV_Assert( npoints >= 0 && npoints == std::max(ipoints.checkVector(2, CV_32F), ipoints.checkVector(2, CV_64F)) );
 
     CV_Assert(opoints.isContinuous());
     CV_Assert(opoints.depth() == CV_32F || opoints.depth() == CV_64F);
@@ -354,26 +356,30 @@ bool cv::solvePnPRansac(InputArray _opoints, InputArray _ipoints,
 
     Mat rvec = useExtrinsicGuess ? _rvec.getMat() : Mat(3, 1, CV_64FC1);
     Mat tvec = useExtrinsicGuess ? _tvec.getMat() : Mat(3, 1, CV_64FC1);
+    Mat cameraMatrix = _cameraMatrix.getMat(), distCoeffs = _distCoeffs.getMat();
 
     Ptr<PointSetRegistrator::Callback> cb; // pointer to callback
     cb = makePtr<PnPRansacCallback>( cameraMatrix, distCoeffs, flags, useExtrinsicGuess, rvec, tvec);
 
-	int model_points = 6; 					// minimum of number of model points
-	double param1 = reprojectionError ;		// reprojection error
-	double param2 = confidence;				// confidence
-	int param3 = iterationsCount;			// number maximum iterations
+	int model_points = flags == cv::P3P ? 4 : 6; 	// minimum of number of model points
+	double param1 = reprojectionError;				// reprojection error
+	double param2 = confidence;						// confidence
+	int param3 = iterationsCount;					// number maximum iterations
 
     cv::Mat _local_model(3, 2, CV_64FC1);
     cv::Mat _mask_local_inliers(1, opoints.rows, CV_8UC1);
 
 	// call Ransac
-	int result = createRANSACPointSetRegistrator(cb, model_points, param1, param2, param3)->run(_opoints, _ipoints, _local_model, _mask_local_inliers);
+	int result = createRANSACPointSetRegistrator(cb, model_points, param1, param2, param3)->run(opoints, ipoints, _local_model, _mask_local_inliers);
 
 	if( result <= 0 || _local_model.rows <= 0)
 	{
 		_rvec.assign(rvec);	// output rotation vector
 		_tvec.assign(tvec);	// output translation vector
 
+		if( _inliers.needed() )
+			_inliers.release();
+
 		return false;
 	}
 	else
@@ -382,18 +388,20 @@ bool cv::solvePnPRansac(InputArray _opoints, InputArray _ipoints,
 		_tvec.assign(_local_model.col(1));	// output translation vector
 	}
 
-	Mat _local_inliers;
-	int count = 0;
-    for (int i = 0; i < _mask_local_inliers.rows; ++i)
-    {
-		if((int)_mask_local_inliers.at<uchar>(i) == 1) // inliers mask
+	if(_inliers.needed())
+	{
+		Mat _local_inliers;
+		int count = 0;
+		for (int i = 0; i < _mask_local_inliers.rows; ++i)
 		{
-			_local_inliers.push_back(count);	// output inliers vector
-			count++;
+			if((int)_mask_local_inliers.at<uchar>(i) == 1) // inliers mask
+			{
+				_local_inliers.push_back(count);	// output inliers vector
+				count++;
+			}
 		}
+		_local_inliers.copyTo(_inliers);
 	}
-	_local_inliers.copyTo(_inliers);
-
 
 	// OLD IMPLEMENTATION
 

From 9abcd884353b1a8828b25b5277871fcb70e91377 Mon Sep 17 00:00:00 2001
From: edgarriba <edgar.riba@gmail.com>
Date: Wed, 9 Jul 2014 17:39:32 +0200
Subject: [PATCH 012/112] Upate test ransac

---
 modules/calib3d/test/test_solvepnp_ransac.cpp | 4 ++--
 1 file changed, 2 insertions(+), 2 deletions(-)

diff --git a/modules/calib3d/test/test_solvepnp_ransac.cpp b/modules/calib3d/test/test_solvepnp_ransac.cpp
index 37e0959d16..e0c65fe4fb 100644
--- a/modules/calib3d/test/test_solvepnp_ransac.cpp
+++ b/modules/calib3d/test/test_solvepnp_ransac.cpp
@@ -135,7 +135,7 @@ protected:
         }
 
         solvePnPRansac(points, projectedPoints, intrinsics, distCoeffs, rvec, tvec,
-            false, 500, 0.5, -1, inliers, method);
+            false, 500, 0.5, 0.99, inliers, method);
 
         bool isTestSuccess = inliers.size() >= points.size()*0.95;
 
@@ -239,7 +239,7 @@ protected:
     }
 };
 
-TEST(DISABLED_Calib3d_SolvePnPRansac, accuracy) { CV_solvePnPRansac_Test test; test.safe_run(); }
+TEST(Calib3d_SolvePnPRansac, accuracy) { CV_solvePnPRansac_Test test; test.safe_run(); }
 TEST(Calib3d_SolvePnP, accuracy) { CV_solvePnP_Test test; test.safe_run(); }
 
 

From fb67ab12570ecead1645d64eff0333b8760ff4aa Mon Sep 17 00:00:00 2001
From: edgarriba <edgar.riba@gmail.com>
Date: Tue, 15 Jul 2014 09:58:49 +0200
Subject: [PATCH 013/112] Initial DLS add

---
 modules/calib3d/include/opencv2/calib3d.hpp |  5 +++--
 modules/calib3d/src/dls.cpp                 | 14 ++++++++++++++
 modules/calib3d/src/dls.h                   | 17 +++++++++++++++++
 modules/calib3d/src/solvepnp.cpp            | 14 ++++++++++++++
 4 files changed, 48 insertions(+), 2 deletions(-)
 create mode 100644 modules/calib3d/src/dls.cpp
 create mode 100644 modules/calib3d/src/dls.h

diff --git a/modules/calib3d/include/opencv2/calib3d.hpp b/modules/calib3d/include/opencv2/calib3d.hpp
index ba7eba930d..c0a050e526 100644
--- a/modules/calib3d/include/opencv2/calib3d.hpp
+++ b/modules/calib3d/include/opencv2/calib3d.hpp
@@ -57,8 +57,9 @@ enum { LMEDS  = 4, //!< least-median algorithm
 
 enum { ITERATIVE = 0,
        EPNP      = 1, // F.Moreno-Noguer, V.Lepetit and P.Fua "EPnP: Efficient Perspective-n-Point Camera Pose Estimation"
-       P3P       = 2  // X.S. Gao, X.-R. Hou, J. Tang, H.-F. Chang; "Complete Solution Classification for the Perspective-Three-Point Problem"
-     };
+       P3P       = 2, // X.S. Gao, X.-R. Hou, J. Tang, H.-F. Chang; "Complete Solution Classification for the Perspective-Three-Point Problem"
+       DLS       = 3  // Joel A. Hesch and Stergios I. Roumeliotis. "A Direct Least-Squares (DLS) Method for PnP"
+};
 
 enum { CALIB_CB_ADAPTIVE_THRESH = 1,
        CALIB_CB_NORMALIZE_IMAGE = 2,
diff --git a/modules/calib3d/src/dls.cpp b/modules/calib3d/src/dls.cpp
new file mode 100644
index 0000000000..8fbeb3e47d
--- /dev/null
+++ b/modules/calib3d/src/dls.cpp
@@ -0,0 +1,14 @@
+#include <iostream>
+#include "dls.h"
+
+
+dls::dls()
+{
+  // TODO Auto-generated constructor stub
+}
+
+
+dls::~dls()
+{
+  // TODO Auto-generated destructor stub
+}
diff --git a/modules/calib3d/src/dls.h b/modules/calib3d/src/dls.h
new file mode 100644
index 0000000000..329e8042a1
--- /dev/null
+++ b/modules/calib3d/src/dls.h
@@ -0,0 +1,17 @@
+#ifndef dls_h
+#define dls_h
+
+#include "opencv2/core/core_c.h"
+
+class dls
+{
+public:
+	dls();
+	~dls();
+
+private:
+
+};
+
+
+#endif
diff --git a/modules/calib3d/src/solvepnp.cpp b/modules/calib3d/src/solvepnp.cpp
index b76c46e6cb..f204463d6f 100644
--- a/modules/calib3d/src/solvepnp.cpp
+++ b/modules/calib3d/src/solvepnp.cpp
@@ -44,6 +44,7 @@
 #include "epnp.h"
 #include "p3p.h"
 #include "opencv2/calib3d/calib3d_c.h"
+#include "dls.h"
 
 #include <iostream>
 using namespace cv;
@@ -92,6 +93,19 @@ bool cv::solvePnP( InputArray _opoints, InputArray _ipoints,
                                      c_distCoeffs.rows*c_distCoeffs.cols ? &c_distCoeffs : 0,
                                      &c_rvec, &c_tvec, useExtrinsicGuess );
         return true;
+    }
+    else if (flags == DLS)
+    {
+    	std::cout << "DLS" << std::endl;
+    	cv::Mat undistortedPoints;
+    	cv::undistortPoints(ipoints, undistortedPoints, cameraMatrix, distCoeffs);
+
+    	//dls PnP;
+    	//  DO SOMETHING
+
+    	cv::Mat R, rvec = _rvec.getMat(), tvec = _tvec.getMat();
+
+
     }
     else
         CV_Error(CV_StsBadArg, "The flags argument must be one of CV_ITERATIVE, CV_P3P or CV_EPNP");

From 42ab7fd876a4df6271cfadc93d322b644ffe3aa0 Mon Sep 17 00:00:00 2001
From: edgarriba <edgar.riba@gmail.com>
Date: Wed, 16 Jul 2014 00:06:29 +0200
Subject: [PATCH 014/112] dls() no compiles

---
 modules/calib3d/src/dls.cpp      | 314 ++++++++++++++++++++++++++++++-
 modules/calib3d/src/dls.h        |  25 ++-
 modules/calib3d/src/solvepnp.cpp |   7 +-
 3 files changed, 334 insertions(+), 12 deletions(-)

diff --git a/modules/calib3d/src/dls.cpp b/modules/calib3d/src/dls.cpp
index 8fbeb3e47d..e50ae1af98 100644
--- a/modules/calib3d/src/dls.cpp
+++ b/modules/calib3d/src/dls.cpp
@@ -1,10 +1,21 @@
-#include <iostream>
+#include "precomp.hpp"
 #include "dls.h"
 
+#include <iostream>
 
-dls::dls()
+dls::dls(const cv::Mat& opoints, const cv::Mat& ipoints) : f1coeff(21), f2coeff(21), f3coeff(21)
 {
-  // TODO Auto-generated constructor stub
+  N = opoints.type() == CV_64F ? opoints.checkVector(3, CV_64F) : opoints.checkVector(3, CV_32F) ;
+
+  H = cv::Mat::zeros(3, 3, opoints.type());
+  A = cv::Mat::zeros(3, 9, opoints.type());
+  D_mat = cv::Mat::zeros(9, 9, opoints.type());
+
+
+
+  init_vectors(opoints, ipoints);
+  build_coeff_mattrix();
+
 }
 
 
@@ -12,3 +23,300 @@ dls::~dls()
 {
   // TODO Auto-generated destructor stub
 }
+
+void dls::init_vectors(const cv::Mat& opoints, const cv::Mat& ipoints)
+{
+	if(opoints.cols == 3) opoints.reshape(N, 3);
+	if(ipoints.cols == 2) ipoints.reshape(N, 2);
+
+	p = opoints;
+	z = ipoints;
+
+	// make z into unit vectors from normalized pixel coords
+
+	z.push_back(cv::Mat::ones(1, N, opoints.type()));
+
+	for (int i = 0; i < N; ++i)
+	{
+		cv::Mat & col_i = z.col(i);
+		double sr = std::pow(col_i.at<double>(0), 2) +
+				    std::pow(col_i.at<double>(1), 2) +
+				    std::pow(col_i.at<double>(2), 2);
+		sr = std::sqrt(sr);
+
+		col_i.at<double>(0, i) /= sr;
+		col_i.at<double>(1, i) /= sr;
+		col_i.at<double>(2, i) /= sr;
+
+	}
+}
+
+void dls::build_coeff_mattrix()
+{
+	cv::Mat eye = cv::Mat::eye(3, 3, p.type());
+
+	// build coeff matrix
+	// An intermediate matrix, the inverse of what is called "H" in the paper
+	// (see eq. 25)
+	for (int i = 0; i < N; ++i)
+	{
+		cv::Mat z_dot = z.col(i)*z.col(i).t();
+
+		H += eye - z_dot ;
+		A += ( z_dot - eye ) * LeftMultVec(p.col(i));
+	}
+
+	cv::solve(H, A, A);
+
+	for (int i = 0; i < N; ++i)
+	{
+		cv::Mat z_dot = z.col(i)*z.col(i).t();
+		D_mat += cv::Mat(LeftMultVec(p.col(i))+A).t() * (eye-z_dot) * (LeftMultVec(p.col(i))+A);
+	}
+
+	// put D into array
+	double D[10][10];
+	for (int i = 0; i < 10; ++i)
+	{
+		for (int j = 0; j < 10; ++j)
+		{
+			D[i+1][j+1] = D_mat.at<double>(i,j);
+		}
+	}
+
+	// F1 COEFFICIENT
+
+	f1coeff[1] = 2*D[1][6] - 2*D[1][8] + 2*D[5][6] - 2*D[5][8] + 2*D[6][1] + 2*D[6][5] + 2*D[6][9] - 2*D[8][1] - 2*D[8][5] - 2*D[8][9] + 2*D[9][6] - 2*D[9][8]; // constant term
+	f1coeff[2] = 6*D[1][2] + 6*D[1][4] + 6*D[2][1] - 6*D[2][5] - 6*D[2][9] + 6*D[4][1] - 6*D[4][5] - 6*D[4][9] - 6*D[5][2] - 6*D[5][4] - 6*D[9][2] - 6*D[9][4]; // s1^2  * s2
+	f1coeff[3] = 4*D[1][7] - 4*D[1][3] + 8*D[2][6] - 8*D[2][8] - 4*D[3][1] + 4*D[3][5] + 4*D[3][9] + 8*D[4][6] - 8*D[4][8] + 4*D[5][3] - 4*D[5][7] + 8*D[6][2] + 8*D[6][4] + 4*D[7][1] - 4*D[7][5] - 4*D[7][9] - 8*D[8][2] - 8*D[8][4] + 4*D[9][3] - 4*D[9][7]; // s1 * s2
+	f1coeff[4] = 4*D[1][2] - 4*D[1][4] + 4*D[2][1] - 4*D[2][5] - 4*D[2][9] + 8*D[3][6] - 8*D[3][8] - 4*D[4][1] + 4*D[4][5] + 4*D[4][9] - 4*D[5][2] + 4*D[5][4] + 8*D[6][3] + 8*D[6][7] + 8*D[7][6] - 8*D[7][8] - 8*D[8][3] - 8*D[8][7] - 4*D[9][2] + 4*D[9][4]; //s1 * s3
+	f1coeff[5] = 8*D[2][2] - 8*D[3][3] - 8*D[4][4] + 8*D[6][6] + 8*D[7][7] - 8*D[8][8]; // s2 * s3
+	f1coeff[6] = 4*D[2][6] - 2*D[1][7] - 2*D[1][3] + 4*D[2][8] - 2*D[3][1] + 2*D[3][5] - 2*D[3][9] + 4*D[4][6] + 4*D[4][8] + 2*D[5][3] + 2*D[5][7] + 4*D[6][2] + 4*D[6][4] - 2*D[7][1] + 2*D[7][5] - 2*D[7][9] + 4*D[8][2] + 4*D[8][4] - 2*D[9][3] - 2*D[9][7]; // s2^2 * s3
+	f1coeff[7] = 2*D[2][5] - 2*D[1][4] - 2*D[2][1] - 2*D[1][2] - 2*D[2][9] - 2*D[4][1] + 2*D[4][5] - 2*D[4][9] + 2*D[5][2] + 2*D[5][4] - 2*D[9][2] - 2*D[9][4]; //s2^3
+	f1coeff[8] = 4*D[1][9] - 4*D[1][1] + 8*D[3][3] + 8*D[3][7] + 4*D[5][5] + 8*D[7][3] + 8*D[7][7] + 4*D[9][1] - 4*D[9][9]; // s1 * s3^2
+	f1coeff[9] = 4*D[1][1] - 4*D[5][5] - 4*D[5][9] + 8*D[6][6] - 8*D[6][8] - 8*D[8][6] + 8*D[8][8] - 4*D[9][5] - 4*D[9][9]; // s1
+	f1coeff[10] = 2*D[1][3] + 2*D[1][7] + 4*D[2][6] - 4*D[2][8] + 2*D[3][1] + 2*D[3][5] + 2*D[3][9] - 4*D[4][6] + 4*D[4][8] + 2*D[5][3] + 2*D[5][7] + 4*D[6][2] - 4*D[6][4] + 2*D[7][1] + 2*D[7][5] + 2*D[7][9] - 4*D[8][2] + 4*D[8][4] + 2*D[9][3] + 2*D[9][7]; // s3
+	f1coeff[11] = 2*D[1][2] + 2*D[1][4] + 2*D[2][1] + 2*D[2][5] + 2*D[2][9] - 4*D[3][6] + 4*D[3][8] + 2*D[4][1] + 2*D[4][5] + 2*D[4][9] + 2*D[5][2] + 2*D[5][4] - 4*D[6][3] + 4*D[6][7] + 4*D[7][6] - 4*D[7][8] + 4*D[8][3] - 4*D[8][7] + 2*D[9][2] + 2*D[9][4]; // s2
+	f1coeff[12] = 2*D[2][9] - 2*D[1][4] - 2*D[2][1] - 2*D[2][5] - 2*D[1][2] + 4*D[3][6] + 4*D[3][8] - 2*D[4][1] - 2*D[4][5] + 2*D[4][9] - 2*D[5][2] - 2*D[5][4] + 4*D[6][3] + 4*D[6][7] + 4*D[7][6] + 4*D[7][8] + 4*D[8][3] + 4*D[8][7] + 2*D[9][2] + 2*D[9][4]; // s2 * s3^2
+	f1coeff[13] = 6*D[1][6] - 6*D[1][8] - 6*D[5][6] + 6*D[5][8] + 6*D[6][1] - 6*D[6][5] - 6*D[6][9] - 6*D[8][1] + 6*D[8][5] + 6*D[8][9] - 6*D[9][6] + 6*D[9][8]; // s1^2
+	f1coeff[14] = 2*D[1][8] - 2*D[1][6] + 4*D[2][3] + 4*D[2][7] + 4*D[3][2] - 4*D[3][4] - 4*D[4][3] - 4*D[4][7] - 2*D[5][6] + 2*D[5][8] - 2*D[6][1] - 2*D[6][5] + 2*D[6][9] + 4*D[7][2] - 4*D[7][4] + 2*D[8][1] + 2*D[8][5] - 2*D[8][9] + 2*D[9][6] - 2*D[9][8]; // s3^2
+	f1coeff[15] = 2*D[1][8] - 2*D[1][6] - 4*D[2][3] + 4*D[2][7] - 4*D[3][2] - 4*D[3][4] - 4*D[4][3] + 4*D[4][7] + 2*D[5][6] - 2*D[5][8] - 2*D[6][1] + 2*D[6][5] - 2*D[6][9] + 4*D[7][2] + 4*D[7][4] + 2*D[8][1] - 2*D[8][5] + 2*D[8][9] - 2*D[9][6] + 2*D[9][8]; // s2^2
+	f1coeff[16] = 2*D[3][9] - 2*D[1][7] - 2*D[3][1] - 2*D[3][5] - 2*D[1][3] - 2*D[5][3] - 2*D[5][7] - 2*D[7][1] - 2*D[7][5] + 2*D[7][9] + 2*D[9][3] + 2*D[9][7]; // s3^3
+	f1coeff[17] = 4*D[1][6] + 4*D[1][8] + 8*D[2][3] + 8*D[2][7] + 8*D[3][2] + 8*D[3][4] + 8*D[4][3] + 8*D[4][7] - 4*D[5][6] - 4*D[5][8] + 4*D[6][1] - 4*D[6][5] - 4*D[6][9] + 8*D[7][2] + 8*D[7][4] + 4*D[8][1] - 4*D[8][5] - 4*D[8][9] - 4*D[9][6] - 4*D[9][8]; // s1 * s2 * s3
+	f1coeff[18] = 4*D[1][5] - 4*D[1][1] + 8*D[2][2] + 8*D[2][4] + 8*D[4][2] + 8*D[4][4] + 4*D[5][1] - 4*D[5][5] + 4*D[9][9]; // s1 * s2^2
+	f1coeff[19] = 6*D[1][3] + 6*D[1][7] + 6*D[3][1] - 6*D[3][5] - 6*D[3][9] - 6*D[5][3] - 6*D[5][7] + 6*D[7][1] - 6*D[7][5] - 6*D[7][9] - 6*D[9][3] - 6*D[9][7]; // s1^2 * s3
+	f1coeff[20] = 4*D[1][1] - 4*D[1][5] - 4*D[1][9] - 4*D[5][1] + 4*D[5][5] + 4*D[5][9] - 4*D[9][1] + 4*D[9][5] + 4*D[9][9]; // s1^3
+
+
+	// F2 COEFFICIENT
+
+	f2coeff[1] = - 2*D[1][3] + 2*D[1][7] - 2*D[3][1] - 2*D[3][5] - 2*D[3][9] - 2*D[5][3] + 2*D[5][7] + 2*D[7][1] + 2*D[7][5] + 2*D[7][9] - 2*D[9][3] + 2*D[9][7]; // constant term
+	f2coeff[2] = 4*D[1][5] - 4*D[1][1] + 8*D[2][2] + 8*D[2][4] + 8*D[4][2] + 8*D[4][4] + 4*D[5][1] - 4*D[5][5] + 4*D[9][9]; // s1^2  * s2
+	f2coeff[3] = 4*D[1][8] - 4*D[1][6] - 8*D[2][3] + 8*D[2][7] - 8*D[3][2] - 8*D[3][4] - 8*D[4][3] + 8*D[4][7] + 4*D[5][6] - 4*D[5][8] - 4*D[6][1] + 4*D[6][5] - 4*D[6][9] + 8*D[7][2] + 8*D[7][4] + 4*D[8][1] - 4*D[8][5] + 4*D[8][9] - 4*D[9][6] + 4*D[9][8]; // s1 * s2
+	f2coeff[4] = 8*D[2][2] - 8*D[3][3] - 8*D[4][4] + 8*D[6][6] + 8*D[7][7] - 8*D[8][8]; // s1 * s3
+	f2coeff[5] = 4*D[1][4] - 4*D[1][2] - 4*D[2][1] + 4*D[2][5] - 4*D[2][9] - 8*D[3][6] - 8*D[3][8] + 4*D[4][1] - 4*D[4][5] + 4*D[4][9] + 4*D[5][2] - 4*D[5][4] - 8*D[6][3] + 8*D[6][7] + 8*D[7][6] + 8*D[7][8] - 8*D[8][3] + 8*D[8][7] - 4*D[9][2] + 4*D[9][4]; // s2 * s3
+	f2coeff[6] = 6*D[5][6] - 6*D[1][8] - 6*D[1][6] + 6*D[5][8] - 6*D[6][1] + 6*D[6][5] - 6*D[6][9] - 6*D[8][1] + 6*D[8][5] - 6*D[8][9] - 6*D[9][6] - 6*D[9][8]; // s2^2 * s3
+	f2coeff[7] = 4*D[1][1] - 4*D[1][5] + 4*D[1][9] - 4*D[5][1] + 4*D[5][5] - 4*D[5][9] + 4*D[9][1] - 4*D[9][5] + 4*D[9][9]; // s2^3
+	f2coeff[8] = 2*D[2][9] - 2*D[1][4] - 2*D[2][1] - 2*D[2][5] - 2*D[1][2] + 4*D[3][6] + 4*D[3][8] - 2*D[4][1] - 2*D[4][5] + 2*D[4][9] - 2*D[5][2] - 2*D[5][4] + 4*D[6][3] + 4*D[6][7] + 4*D[7][6] + 4*D[7][8] + 4*D[8][3] + 4*D[8][7] + 2*D[9][2] + 2*D[9][4]; // s1 * s3^2
+	f2coeff[9] = 2*D[1][2] + 2*D[1][4] + 2*D[2][1] + 2*D[2][5] + 2*D[2][9] - 4*D[3][6] + 4*D[3][8] + 2*D[4][1] + 2*D[4][5] + 2*D[4][9] + 2*D[5][2] + 2*D[5][4] - 4*D[6][3] + 4*D[6][7] + 4*D[7][6] - 4*D[7][8] + 4*D[8][3] - 4*D[8][7] + 2*D[9][2] + 2*D[9][4]; // s1
+	f2coeff[10] = 2*D[1][6] + 2*D[1][8] - 4*D[2][3] + 4*D[2][7] - 4*D[3][2] + 4*D[3][4] + 4*D[4][3] - 4*D[4][7] + 2*D[5][6] + 2*D[5][8] + 2*D[6][1] + 2*D[6][5] + 2*D[6][9] + 4*D[7][2] - 4*D[7][4] + 2*D[8][1] + 2*D[8][5] + 2*D[8][9] + 2*D[9][6] + 2*D[9][8]; // s3
+	f2coeff[11] = 8*D[3][3] - 4*D[1][9] - 4*D[1][1] - 8*D[3][7] + 4*D[5][5] - 8*D[7][3] + 8*D[7][7] - 4*D[9][1] - 4*D[9][9]; // s2
+	f2coeff[12] = 4*D[1][1] - 4*D[5][5] + 4*D[5][9] + 8*D[6][6] + 8*D[6][8] + 8*D[8][6] + 8*D[8][8] + 4*D[9][5] - 4*D[9][9]; // s2 * s3^2
+	f2coeff[13] = 2*D[1][7] - 2*D[1][3] + 4*D[2][6] - 4*D[2][8] - 2*D[3][1] + 2*D[3][5] + 2*D[3][9] + 4*D[4][6] - 4*D[4][8] + 2*D[5][3] - 2*D[5][7] + 4*D[6][2] + 4*D[6][4] + 2*D[7][1] - 2*D[7][5] - 2*D[7][9] - 4*D[8][2] - 4*D[8][4] + 2*D[9][3] - 2*D[9][7]; // s1^2
+	f2coeff[14] = 2*D[1][3] - 2*D[1][7] + 4*D[2][6] + 4*D[2][8] + 2*D[3][1] + 2*D[3][5] - 2*D[3][9] - 4*D[4][6] - 4*D[4][8] + 2*D[5][3] - 2*D[5][7] + 4*D[6][2] - 4*D[6][4] - 2*D[7][1] - 2*D[7][5] + 2*D[7][9] + 4*D[8][2] - 4*D[8][4] - 2*D[9][3] + 2*D[9][7]; // s3^2
+	f2coeff[15] = 6*D[1][3] - 6*D[1][7] + 6*D[3][1] - 6*D[3][5] + 6*D[3][9] - 6*D[5][3] + 6*D[5][7] - 6*D[7][1] + 6*D[7][5] - 6*D[7][9] + 6*D[9][3] - 6*D[9][7]; // s2^2
+	f2coeff[16] = 2*D[6][9] - 2*D[1][8] - 2*D[5][6] - 2*D[5][8] - 2*D[6][1] - 2*D[6][5] - 2*D[1][6] - 2*D[8][1] - 2*D[8][5] + 2*D[8][9] + 2*D[9][6] + 2*D[9][8]; // s3^3
+	f2coeff[17] = 8*D[2][6] - 4*D[1][7] - 4*D[1][3] + 8*D[2][8] - 4*D[3][1] + 4*D[3][5] - 4*D[3][9] + 8*D[4][6] + 8*D[4][8] + 4*D[5][3] + 4*D[5][7] + 8*D[6][2] + 8*D[6][4] - 4*D[7][1] + 4*D[7][5] - 4*D[7][9] + 8*D[8][2] + 8*D[8][4] - 4*D[9][3] - 4*D[9][7]; // s1 * s2 * s3
+	f2coeff[18] = 6*D[2][5] - 6*D[1][4] - 6*D[2][1] - 6*D[1][2] - 6*D[2][9] - 6*D[4][1] + 6*D[4][5] - 6*D[4][9] + 6*D[5][2] + 6*D[5][4] - 6*D[9][2] - 6*D[9][4]; // s1 * s2^2
+	f2coeff[19] = 2*D[1][6] + 2*D[1][8] + 4*D[2][3] + 4*D[2][7] + 4*D[3][2] + 4*D[3][4] + 4*D[4][3] + 4*D[4][7] - 2*D[5][6] - 2*D[5][8] + 2*D[6][1] - 2*D[6][5] - 2*D[6][9] + 4*D[7][2] + 4*D[7][4] + 2*D[8][1] - 2*D[8][5] - 2*D[8][9] - 2*D[9][6] - 2*D[9][8]; // s1^2 * s3
+	f2coeff[20] = 2*D[1][2] + 2*D[1][4] + 2*D[2][1] - 2*D[2][5] - 2*D[2][9] + 2*D[4][1] - 2*D[4][5] - 2*D[4][9] - 2*D[5][2] - 2*D[5][4] - 2*D[9][2] - 2*D[9][4]; // s1^3
+
+
+	// F3 COEFFICIENT
+
+	f3coeff[1] = 2*D[1][2] - 2*D[1][4] + 2*D[2][1] + 2*D[2][5] + 2*D[2][9] - 2*D[4][1] - 2*D[4][5] - 2*D[4][9] + 2*D[5][2] - 2*D[5][4] + 2*D[9][2] - 2*D[9][4]; // constant term
+	f3coeff[2] = 2*D[1][6] + 2*D[1][8] + 4*D[2][3] + 4*D[2][7] + 4*D[3][2] + 4*D[3][4] + 4*D[4][3] + 4*D[4][7] - 2*D[5][6] - 2*D[5][8] + 2*D[6][1] - 2*D[6][5] - 2*D[6][9] + 4*D[7][2] + 4*D[7][4] + 2*D[8][1] - 2*D[8][5] - 2*D[8][9] - 2*D[9][6] - 2*D[9][8]; // s1^2  * s2
+	f3coeff[3] = 8*D[2][2] - 8*D[3][3] - 8*D[4][4] + 8*D[6][6] + 8*D[7][7] - 8*D[8][8]; // s1 * s2
+	f3coeff[4] = 4*D[1][8] - 4*D[1][6] + 8*D[2][3] + 8*D[2][7] + 8*D[3][2] - 8*D[3][4] - 8*D[4][3] - 8*D[4][7] - 4*D[5][6] + 4*D[5][8] - 4*D[6][1] - 4*D[6][5] + 4*D[6][9] + 8*D[7][2] - 8*D[7][4] + 4*D[8][1] + 4*D[8][5] - 4*D[8][9] + 4*D[9][6] - 4*D[9][8]; // s1 * s3
+	f3coeff[5] = 4*D[1][3] - 4*D[1][7] + 8*D[2][6] + 8*D[2][8] + 4*D[3][1] + 4*D[3][5] - 4*D[3][9] - 8*D[4][6] - 8*D[4][8] + 4*D[5][3] - 4*D[5][7] + 8*D[6][2] - 8*D[6][4] - 4*D[7][1] - 4*D[7][5] + 4*D[7][9] + 8*D[8][2] - 8*D[8][4] - 4*D[9][3] + 4*D[9][7]; // s2 * s3
+	f3coeff[6] = 4*D[1][1] - 4*D[5][5] + 4*D[5][9] + 8*D[6][6] + 8*D[6][8] + 8*D[8][6] + 8*D[8][8] + 4*D[9][5] - 4*D[9][9]; // s2^2 * s3
+	f3coeff[7] = 2*D[5][6] - 2*D[1][8] - 2*D[1][6] + 2*D[5][8] - 2*D[6][1] + 2*D[6][5] - 2*D[6][9] - 2*D[8][1] + 2*D[8][5] - 2*D[8][9] - 2*D[9][6] - 2*D[9][8]; // s2^3
+	f3coeff[8] = 6*D[3][9] - 6*D[1][7] - 6*D[3][1] - 6*D[3][5] - 6*D[1][3] - 6*D[5][3] - 6*D[5][7] - 6*D[7][1] - 6*D[7][5] + 6*D[7][9] + 6*D[9][3] + 6*D[9][7]; // s1 * s3^2
+	f3coeff[9] = 2*D[1][3] + 2*D[1][7] + 4*D[2][6] - 4*D[2][8] + 2*D[3][1] + 2*D[3][5] + 2*D[3][9] - 4*D[4][6] + 4*D[4][8] + 2*D[5][3] + 2*D[5][7] + 4*D[6][2] - 4*D[6][4] + 2*D[7][1] + 2*D[7][5] + 2*D[7][9] - 4*D[8][2] + 4*D[8][4] + 2*D[9][3] + 2*D[9][7]; // s1
+	f3coeff[10] = 8*D[2][2] - 4*D[1][5] - 4*D[1][1] - 8*D[2][4] - 8*D[4][2] + 8*D[4][4] - 4*D[5][1] - 4*D[5][5] + 4*D[9][9]; // s3
+	f3coeff[11] = 2*D[1][6] + 2*D[1][8] - 4*D[2][3] + 4*D[2][7] - 4*D[3][2] + 4*D[3][4] + 4*D[4][3] - 4*D[4][7] + 2*D[5][6] + 2*D[5][8] + 2*D[6][1] + 2*D[6][5] + 2*D[6][9] + 4*D[7][2] - 4*D[7][4] + 2*D[8][1] + 2*D[8][5] + 2*D[8][9] + 2*D[9][6] + 2*D[9][8]; // s2
+	f3coeff[12] = 6*D[6][9] - 6*D[1][8] - 6*D[5][6] - 6*D[5][8] - 6*D[6][1] - 6*D[6][5] - 6*D[1][6] - 6*D[8][1] - 6*D[8][5] + 6*D[8][9] + 6*D[9][6] + 6*D[9][8]; // s2 * s3^2
+	f3coeff[13] = 2*D[1][2] - 2*D[1][4] + 2*D[2][1] - 2*D[2][5] - 2*D[2][9] + 4*D[3][6] - 4*D[3][8] - 2*D[4][1] + 2*D[4][5] + 2*D[4][9] - 2*D[5][2] + 2*D[5][4] + 4*D[6][3] + 4*D[6][7] + 4*D[7][6] - 4*D[7][8] - 4*D[8][3] - 4*D[8][7] - 2*D[9][2] + 2*D[9][4]; // s1^2
+	f3coeff[14] = 6*D[1][4] - 6*D[1][2] - 6*D[2][1] - 6*D[2][5] + 6*D[2][9] + 6*D[4][1] + 6*D[4][5] - 6*D[4][9] - 6*D[5][2] + 6*D[5][4] + 6*D[9][2] - 6*D[9][4]; // s3^2
+	f3coeff[15] = 2*D[1][4] - 2*D[1][2] - 2*D[2][1] + 2*D[2][5] - 2*D[2][9] - 4*D[3][6] - 4*D[3][8] + 2*D[4][1] - 2*D[4][5] + 2*D[4][9] + 2*D[5][2] - 2*D[5][4] - 4*D[6][3] + 4*D[6][7] + 4*D[7][6] + 4*D[7][8] - 4*D[8][3] + 4*D[8][7] - 2*D[9][2] + 2*D[9][4]; // s2^2
+	f3coeff[16] = 4*D[1][1] + 4*D[1][5] - 4*D[1][9] + 4*D[5][1] + 4*D[5][5] - 4*D[5][9] - 4*D[9][1] - 4*D[9][5] + 4*D[9][9]; // s3^3
+	f3coeff[17] = 4*D[2][9] - 4*D[1][4] - 4*D[2][1] - 4*D[2][5] - 4*D[1][2] + 8*D[3][6] + 8*D[3][8] - 4*D[4][1] - 4*D[4][5] + 4*D[4][9] - 4*D[5][2] - 4*D[5][4] + 8*D[6][3] + 8*D[6][7] + 8*D[7][6] + 8*D[7][8] + 8*D[8][3] + 8*D[8][7] + 4*D[9][2] + 4*D[9][4]; // s1 * s2 * s3
+	f3coeff[18] = 4*D[2][6] - 2*D[1][7] - 2*D[1][3] + 4*D[2][8] - 2*D[3][1] + 2*D[3][5] - 2*D[3][9] + 4*D[4][6] + 4*D[4][8] + 2*D[5][3] + 2*D[5][7] + 4*D[6][2] + 4*D[6][4] - 2*D[7][1] + 2*D[7][5] - 2*D[7][9] + 4*D[8][2] + 4*D[8][4] - 2*D[9][3] - 2*D[9][7]; // s1 * s2^2
+	f3coeff[19] = 4*D[1][9] - 4*D[1][1] + 8*D[3][3] + 8*D[3][7] + 4*D[5][5] + 8*D[7][3] + 8*D[7][7] + 4*D[9][1] - 4*D[9][9]; // s1^2 * s3
+	f3coeff[20] = 2*D[1][3] + 2*D[1][7] + 2*D[3][1] - 2*D[3][5] - 2*D[3][9] - 2*D[5][3] - 2*D[5][7] + 2*D[7][1] - 2*D[7][5] - 2*D[7][9] - 2*D[9][3] - 2*D[9][7]; // s1^3
+
+	// genereate random samples
+	std::vector<double> u;
+	cv::randn(u, 100, 0.1);
+
+	cv::Mat M2 = cayley_LS_M(f1coeff, f2coeff, f3coeff, u);
+
+
+}
+
+cv::Mat dls::LeftMultVec(const cv::Mat& v)
+{
+	cv::Mat mat, row1, row2, row3;
+
+	cv::hconcat(v.clone().t(), cv::Mat::zeros(1, 6, v.type()), row1);
+	cv::hconcat(cv::Mat::zeros(1, 3, v.type()), v.clone().t(), row2);
+	cv::hconcat(row2, cv::Mat::zeros(1, 3, v.type()), row2);
+	cv::hconcat(cv::Mat::zeros(1, 6, v.type()), v.clone().t(), row3);
+
+	mat.push_back(row1);
+	mat.push_back(row2);
+	mat.push_back(row3);
+
+	return mat;
+}
+
+cv::Mat cayley_LS_M(const std::vector<double>& a, const std::vector<double>& b, const std::vector<double>& c, const std::vector<double>& u)
+{
+
+	std::vector<std::vector<double[120]> > M(120);
+
+	M[0] = {u[1],0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,a[1],0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,b[1],0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,c[1],0};
+	M[1] = {u[4],u[1],0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,a[1],a[10],0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,b[1],0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,b[10],0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,c[1],0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,c[10],0};
+	M[2] = {0,u[4],u[1],0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,a[10],a[14],0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,a[1],0,0,b[10],0,0,0,0,0,0,0,0,0,0,b[1],0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,b[14],0,0,0,0,0,c[1],0,0,0,0,0,0,0,0,0,c[10],0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,c[14],0};
+	M[3] = {u[3],0,0,u[1],0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,a[11],0,0,0,0,0,0,0,0,0,0,0,0,0,a[1],0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,b[1],0,0,0,0,0,0,b[11],0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,c[11],c[1]};
+	M[4] = {0,u[3],0,u[4],u[1],0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,a[11],a[5],0,0,0,0,0,0,0,a[1],0,0,0,0,0,a[10],0,0,0,0,b[11],0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,b[1],0,0,0,0,b[10],0,0,0,0,0,0,b[5],0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,c[11],c[1],0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,c[5],c[10]};
+	M[5] = {0,0,u[3],0,u[4],u[1],0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,a[5],a[12],0,0,0,0,0,a[1],0,a[10],0,0,0,0,0,a[14],0,a[11],0,0,b[5],0,0,0,0,0,0,0,b[1],0,0,b[11],0,0,0,0,0,b[10],0,0,0,0,b[14],0,0,0,0,0,0,b[12],0,0,0,0,0,c[11],0,0,0,0,0,0,0,0,0,c[5],c[10],0,0,0,0,0,0,0,0,0,0,c[1],0,0,0,0,0,0,c[12],c[14]};
+	M[6] = {0,0,0,u[3],0,0,u[1],0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,a[1],0,0,0,0,a[15],0,0,0,0,0,0,0,0,0,0,0,0,0,a[11],0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,b[1],b[11],0,0,0,0,0,0,b[15],0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,c[1],0,0,0,0,0,0,0,0,0,0,c[15],c[11]};
+	M[7] = {0,0,0,0,u[3],0,u[4],u[1],0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,a[10],0,0,0,a[15],a[6],0,0,0,0,0,0,0,a[11],0,a[1],0,0,0,a[5],0,0,0,0,b[15],0,0,0,0,0,0,0,0,b[1],0,0,0,0,0,0,0,b[11],0,0,0,b[10],b[5],0,0,0,0,0,0,b[6],0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,c[15],c[11],0,0,0,0,0,0,c[10],0,0,0,0,c[1],0,0,0,0,0,c[6],c[5]};
+	M[8] = {0,0,0,0,0,u[3],0,u[4],u[1],0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,a[14],0,0,0,a[6],0,0,0,0,0,0,a[11],0,a[5],0,a[10],a[1],0,0,a[12],0,a[15],0,0,b[6],0,0,0,0,0,0,0,b[11],b[10],0,b[15],b[1],0,0,0,0,b[5],0,0,0,b[14],b[12],0,0,0,0,0,0,0,0,0,0,0,0,c[15],0,0,0,0,0,0,0,0,0,c[6],c[5],0,c[1],0,0,0,0,c[14],0,0,0,c[11],c[10],0,0,0,0,0,0,c[12]};
+	M[9] = {u[2],0,0,0,0,0,0,0,0,u[1],0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,a[9],a[1],0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,b[9],b[1],0,0,0,c[1],0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,c[9],0};
+
+	M[10] = {0,u[2],0,0,0,0,0,0,0,u[4],u[1],0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,a[1],a[9],a[4],a[10],0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,b[9],0,0,0,0,b[1],0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,b[4],b[10],0,0,0,c[10],0,0,0,0,0,0,0,0,0,0,c[9],0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,c[1],c[4],0};
+	M[11] = {0,0,u[2],0,0,0,0,0,0,0,u[4],u[1],0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,a[1],0,0,0,0,a[10],a[4],a[8],a[14],0,0,0,0,0,0,0,0,0,0,0,0,0,0,a[9],0,0,b[4],0,0,b[1],0,b[10],0,0,0,0,0,b[9],0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,b[8],b[14],0,0,0,c[14],c[9],0,0,0,0,0,0,0,0,0,c[4],0,0,0,0,0,0,0,0,0,0,0,0,0,0,c[1],0,0,c[10],c[8],0};
+	M[12] = {0,0,0,u[2],0,0,0,0,0,u[3],0,0,u[1],0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,a[3],a[11],0,0,a[1],0,0,0,0,0,0,0,0,0,a[9],0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,b[9],0,0,b[1],0,0,0,b[3],b[11],0,0,0,c[11],0,0,0,0,0,0,0,c[1],0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,c[3],c[9]};
+	M[13] = {0,0,0,0,u[2],0,0,0,0,0,u[3],0,u[4],u[1],0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,a[11],a[3],a[17],a[5],0,0,a[10],0,0,0,a[9],0,0,0,a[1],0,a[4],0,0,0,0,b[3],0,0,0,0,b[11],b[1],0,0,0,0,0,0,0,0,0,0,b[9],0,0,0,0,b[4],0,0,b[10],0,0,0,b[17],b[5],0,0,0,c[5],0,c[1],0,0,0,0,0,c[10],0,0,c[3],c[9],0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,c[11],c[17],c[4]};
+	M[14] = {0,0,0,0,0,u[2],0,0,0,0,0,u[3],0,u[4],u[1],0,0,0,0,0,0,0,0,0,0,0,0,0,a[11],0,0,0,0,a[5],a[17],0,a[12],0,0,a[14],0,a[9],a[1],a[4],0,0,0,a[10],0,a[8],0,a[3],0,0,b[17],0,b[1],b[11],0,b[5],b[10],0,b[9],0,0,b[3],0,0,0,0,0,b[4],0,0,0,0,b[8],0,0,b[14],0,0,0,0,b[12],0,0,0,c[12],c[3],c[10],0,0,0,0,0,c[14],0,0,c[17],c[4],0,0,0,0,0,c[1],0,0,0,0,c[9],0,0,c[11],0,0,c[5],0,c[8]};
+	M[15] = {0,0,0,0,0,0,u[2],0,0,0,0,0,u[3],0,0,u[1],0,0,0,0,0,0,0,0,0,0,0,0,0,a[1],a[9],0,0,0,0,a[18],a[15],0,0,a[11],0,0,0,0,0,0,0,0,0,a[3],0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,b[1],b[9],b[3],0,0,b[11],0,0,0,b[18],b[15],0,0,0,c[15],0,0,0,0,0,c[1],0,c[11],0,0,0,0,0,0,0,0,0,0,c[9],0,0,0,0,0,0,0,0,0,0,c[18],c[3]};
+	M[16] = {0,0,0,0,0,0,0,u[2],0,0,0,0,0,u[3],0,u[4],u[1],0,0,0,0,0,0,0,0,0,0,0,0,a[10],a[4],0,0,a[15],a[18],0,a[6],0,0,a[5],0,0,0,a[3],a[1],a[9],0,a[11],0,a[17],0,0,0,0,b[18],0,0,0,0,b[15],b[11],0,0,b[9],0,0,0,0,b[1],0,0,b[3],0,0,b[10],b[4],b[17],0,0,b[5],0,0,0,0,b[6],0,0,0,c[6],0,c[11],0,0,0,c[10],0,c[5],c[1],0,c[18],c[3],0,0,0,0,0,0,c[4],0,0,0,0,c[9],0,0,0,0,c[15],0,c[17]};
+	M[17] = {0,0,0,0,0,0,0,0,u[2],0,0,0,0,0,u[3],0,u[4],u[1],0,0,0,0,0,0,0,0,0,0,a[15],a[14],a[8],0,0,a[6],0,0,0,0,0,a[12],0,a[3],a[11],a[17],a[10],a[4],a[9],a[5],0,0,0,a[18],0,0,0,0,b[11],b[15],0,b[6],b[5],0,b[3],b[4],0,b[18],b[9],0,b[10],0,0,b[17],0,0,b[14],b[8],0,0,0,b[12],0,0,0,0,0,0,0,0,0,c[18],c[5],0,0,0,c[14],0,c[12],c[10],0,0,c[17],0,c[9],0,0,0,c[11],c[8],0,0,0,c[3],c[4],0,c[15],0,0,c[6],0,0};
+	M[18] = {0,0,0,0,0,0,0,0,0,u[2],0,0,0,0,0,0,0,0,u[1],0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,a[13],a[9],0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,a[1],0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,b[1],b[13],b[9],0,0,c[1],c[9],0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,c[13],0};
+	M[19] = {0,0,0,0,0,0,0,0,0,0,u[2],0,0,0,0,0,0,0,u[4],u[1],0,0,0,0,0,0,0,0,0,0,0,0,a[1],a[9],a[13],a[19],a[4],0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,a[10],b[13],0,0,0,0,b[9],0,b[1],0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,b[10],b[19],b[4],0,0,c[10],c[4],0,0,0,0,0,0,0,0,0,0,c[13],0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,c[1],c[9],c[19],0};
+
+	M[20] = {0,0,0,0,0,0,0,0,0,0,0,u[2],0,0,0,0,0,0,0,u[4],u[1],0,0,0,0,0,0,a[1],a[9],0,0,0,a[10],a[4],a[19],0,a[8],0,0,0,0,0,0,0,0,0,0,0,0,0,0,a[13],0,a[14],b[19],b[1],0,b[9],0,b[4],0,b[10],0,0,0,b[13],0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,b[14],0,b[8],0,0,c[14],c[8],c[13],0,0,0,0,0,0,0,0,0,c[19],0,0,0,0,0,0,0,0,0,0,0,0,0,c[1],c[9],0,c[10],c[4],0,0};
+	M[21] = {0,0,0,0,0,0,0,0,0,0,0,0,u[2],0,0,0,0,0,u[3],0,0,u[1],0,0,0,0,0,0,0,0,0,0,0,0,0,a[2],a[3],0,a[1],a[9],0,0,0,0,0,0,0,0,0,a[13],0,0,0,a[11],0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,b[13],0,b[1],b[9],0,0,b[11],b[2],b[3],0,0,c[11],c[3],0,0,0,c[1],0,0,0,c[9],0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,c[2],c[13]};
+	M[22] = {0,0,0,0,0,0,0,0,0,0,0,0,0,u[2],0,0,0,0,0,u[3],0,u[4],u[1],0,0,0,0,0,0,0,0,0,a[11],a[3],a[2],0,a[17],0,a[10],a[4],a[1],0,0,a[13],0,0,0,a[9],0,a[19],0,0,0,a[5],b[2],0,0,0,0,b[3],b[9],b[11],0,0,0,0,0,0,0,0,0,b[13],b[1],0,0,0,b[19],0,b[10],b[4],0,0,b[5],0,b[17],0,0,c[5],c[17],0,c[9],0,c[10],0,0,c[1],c[4],0,0,c[2],c[13],0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,c[11],c[3],0,c[19]};
+	M[23] = {0,0,0,0,0,0,0,0,0,0,0,0,0,0,u[2],0,0,0,0,0,u[3],0,u[4],u[1],0,0,0,a[11],a[3],0,0,0,a[5],a[17],0,0,0,0,a[14],a[8],a[10],a[13],a[9],a[19],0,0,0,a[4],0,0,0,a[2],0,a[12],0,b[11],b[9],b[3],0,b[17],b[4],b[5],b[13],0,0,b[2],0,0,0,0,0,b[19],b[10],0,0,0,0,0,b[14],b[8],0,0,b[12],0,0,0,0,c[12],0,c[2],c[4],0,c[14],0,0,c[10],c[8],0,0,0,c[19],0,0,0,0,0,c[9],0,0,0,0,c[13],0,c[11],c[3],0,c[5],c[17],0,0};
+	M[24] = {0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,u[2],0,0,0,0,0,u[3],0,0,u[1],0,0,0,0,a[9],a[13],0,0,0,0,0,a[18],0,a[11],a[3],0,0,0,0,0,0,0,0,0,a[2],0,0,a[1],a[15],0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,b[1],b[9],b[13],b[2],0,b[11],b[3],0,0,b[15],0,b[18],0,0,c[15],c[18],0,0,0,c[11],c[1],c[9],0,c[3],0,0,0,0,0,0,0,0,0,0,c[13],0,0,0,0,0,0,0,0,0,0,0,c[2]};
+	M[25] = {0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,u[2],0,0,0,0,0,u[3],0,u[4],u[1],0,0,0,a[4],a[19],0,a[15],a[18],0,0,0,0,a[5],a[17],a[11],0,0,a[2],a[9],a[13],0,a[3],0,0,0,0,a[10],a[6],0,0,0,0,0,b[18],b[3],b[15],0,b[13],0,0,0,0,b[9],0,0,b[2],b[11],b[10],b[4],b[19],0,0,b[5],b[17],0,0,b[6],0,0,0,0,c[6],0,0,c[3],0,c[5],c[10],c[4],c[11],c[17],c[9],0,0,c[2],0,0,0,0,0,0,c[19],0,0,0,0,c[13],0,0,0,c[15],c[18],0,0};
+	M[26] = {0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,u[2],0,0,0,0,0,u[3],0,u[4],u[1],a[15],a[18],a[8],0,0,a[6],0,0,0,0,0,a[12],0,a[5],a[2],a[3],0,a[4],a[19],a[13],a[17],0,0,0,0,a[14],0,0,b[15],b[3],b[18],0,0,b[17],b[6],b[2],b[19],0,0,b[13],0,b[4],0,0,0,b[5],b[14],b[8],0,0,0,b[12],0,0,0,0,0,0,0,0,0,0,0,c[17],0,c[12],c[14],c[8],c[5],0,c[4],0,0,0,0,c[13],0,0,0,c[3],0,0,0,0,c[2],c[19],c[15],c[18],0,c[6],0,0,0};
+	M[27] = {0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,u[3],0,0,0,0,0,0,0,0,0,0,0,0,0,a[11],a[3],0,0,0,0,0,a[7],0,0,a[15],0,0,0,0,0,0,0,0,0,a[18],0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,b[9],b[1],0,0,0,b[11],b[3],b[18],0,0,b[15],0,0,0,0,b[7],0,0,0,c[7],0,0,c[1],0,0,c[11],0,c[15],0,0,0,0,0,0,0,0,0,0,c[3],0,0,c[9],0,0,0,0,0,0,0,0,c[18]};
+	M[28] = {0,0,0,0,0,0,u[3],0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,a[11],0,0,0,0,a[7],0,0,0,0,0,0,0,0,0,0,0,0,0,a[15],0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,b[1],0,0,0,0,0,b[11],b[15],0,0,0,0,0,0,b[7],0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,c[11],0,0,c[1],0,0,0,0,0,0,0,c[7],c[15]};
+
+	M[29] = {0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,u[3],0,0,0,0,a[3],a[2],0,0,0,0,0,0,0,a[15],a[18],0,0,0,0,0,0,0,0,0,0,0,0,a[11],a[7],0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,b[13],b[9],0,0,b[11],b[3],b[2],0,0,b[15],b[18],0,0,b[7],0,0,0,0,c[7],0,0,0,c[9],c[15],c[11],c[3],0,c[18],0,0,0,0,0,0,0,0,0,0,c[2],0,0,c[13],0,0,0,0,0,0,0,0,0};
+	M[30] = {0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,a[18],0,0,0,0,0,0,0,0,0,0,a[7],0,0,0,a[2],0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,b[20],0,0,b[2],0,0,0,b[18],0,0,0,b[7],0,0,0,c[7],0,0,0,0,0,c[20],0,c[2],0,0,0,0,c[18],0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0};
+	M[31] = {0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,a[2],0,0,0,0,0,0,0,a[15],a[18],0,0,0,0,0,0,0,0,0,0,0,a[7],0,a[3],0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,b[20],b[13],0,0,b[3],b[2],0,0,b[15],b[18],0,b[7],0,0,0,0,0,c[7],0,0,0,0,c[13],c[18],c[3],c[2],0,0,0,c[15],0,0,0,0,0,0,0,0,0,0,0,c[20],0,0,0,0,0,0,0,0,0};
+	M[32] = {0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,a[9],0,a[13],0,0,a[20],0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,b[13],b[9],b[20],0,0,c[9],c[13],c[20],0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0};
+	M[33] = {0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,a[15],a[18],0,0,0,0,0,0,0,0,a[7],0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,b[9],0,0,0,0,b[3],b[11],0,0,0,b[15],b[18],0,0,0,b[7],0,0,0,0,0,0,0,0,0,0,0,c[11],0,0,c[15],0,c[7],0,0,0,0,0,0,c[9],0,0,0,c[18],0,0,c[3],0,0,0,0,0,0,0,0,0};
+	M[34] = {0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,a[18],0,0,0,0,0,0,0,0,a[7],0,0,0,0,0,0,0,0,0,0,0,0,0,a[15],0,0,0,0,0,0,0,0,0,0,0,b[13],0,0,0,0,b[2],b[3],0,0,b[15],b[18],0,0,0,b[7],0,0,0,0,0,0,0,0,0,0,0,0,c[3],c[7],c[15],c[18],0,0,0,0,0,0,0,0,c[13],0,0,0,0,0,0,c[2],0,0,0,0,0,0,0,0,0};
+	M[35] = {0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,a[7],0,0,0,0,0,0,0,0,0,0,0,0,0,0,a[18],0,0,0,0,0,0,0,0,0,0,0,b[20],0,0,0,0,0,b[2],0,0,b[18],0,0,0,b[7],0,0,0,0,0,0,0,0,0,0,0,0,0,c[2],0,c[18],0,0,0,0,c[7],0,0,0,0,c[20],0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0};
+	M[36] = {0,0,0,0,0,u[4],0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,a[12],0,0,0,0,0,0,a[10],0,a[14],0,0,0,0,0,a[16],0,a[5],0,0,b[12],0,0,0,0,0,0,0,b[10],0,0,b[5],0,0,0,0,0,b[14],0,0,0,0,b[16],0,0,0,0,0,0,0,0,0,0,0,0,c[5],0,0,0,0,0,0,0,0,0,c[12],c[14],c[1],0,0,0,0,0,0,0,c[11],0,c[10],0,0,0,0,0,0,0,c[16]};
+	M[37] = {0,0,u[4],0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,a[14],a[16],0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,a[10],0,0,b[14],0,0,0,0,0,0,0,0,0,0,b[10],0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,b[16],0,0,0,0,0,c[10],0,0,0,0,0,0,0,0,0,c[14],0,0,0,0,0,0,0,0,0,c[1],0,0,0,0,0,0,0,0,c[16],0};
+	M[38] = {0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,a[15],0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,a[7],0,0,0,0,0,0,0,0,0,0,0,0,0,0,b[1],0,0,0,0,b[11],0,0,0,0,0,b[15],b[7],0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,c[1],0,0,0,c[15],0,0,c[11],0,0,0,0,0,0,0,0,c[7]};
+	M[39] = {0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,a[14],0,0,0,0,a[16],0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,a[8],0,0,0,0,0,b[14],0,b[16],0,0,0,0,0,b[8],0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,c[8],0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,c[9],0,0,c[10],c[4],0,0,0,0,c[14],0,0,c[16],0,0};
+
+	M[40] = {0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,a[14],a[8],0,0,0,a[16],0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,b[14],0,b[8],0,0,0,b[16],0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,c[13],0,0,c[4],c[19],0,0,0,c[14],c[8],0,c[16],0,0,0};
+	M[41] = {0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,a[7],0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,b[11],0,0,0,0,b[15],0,0,0,0,0,b[7],0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,c[11],0,0,0,c[7],0,0,c[15],0,0,0,0,0,0,0,0,0};
+	M[42] = {0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,a[8],0,0,0,a[16],0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,b[8],0,0,b[16],0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,c[20],0,0,c[19],0,0,0,0,c[8],0,c[16],0,0,0,0};
+	M[43] = {0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,a[7],0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,b[3],0,0,0,0,b[18],b[15],0,0,0,b[7],0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,c[15],0,0,c[7],0,0,0,0,0,0,0,0,c[3],0,0,0,0,0,0,c[18],0,0,0,0,0,0,0,0,0};
+	M[44] = {0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,a[16],0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,b[16],0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,c[4],0,0,c[14],c[8],0,0,0,0,c[16],0,0,0,0,0};
+	M[45] = {0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,a[16],0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,b[16],0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,c[19],0,0,c[8],0,0,0,0,c[16],0,0,0,0,0,0};
+	M[46] = {0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,a[7],0,0,0,0,0,0,0,0,0,0,0,b[2],0,0,0,0,0,b[18],0,0,b[7],0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,c[18],0,c[7],0,0,0,0,0,0,0,0,0,c[2],0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0};
+	M[47] = {0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,a[7],0,0,0,a[18],0,0,0,0,0,0,0,a[6],0,0,0,0,0,0,0,0,0,0,0,b[19],0,0,b[2],b[18],0,b[17],0,b[7],b[6],0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,c[17],0,c[6],0,c[7],0,c[18],0,0,0,0,0,c[19],c[2],0,0,0,0,0,0,0,0,0,0,0,0,0,0,0};
+	M[48] = {0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,a[6],0,0,0,0,0,0,0,0,0,0,0,0,a[7],0,a[15],0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,b[15],b[10],0,0,b[11],0,b[5],0,b[7],0,0,0,b[6],0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,c[7],0,0,c[10],c[11],0,0,c[6],0,0,c[5],0,c[15],0,0,0,0,0,0,0};
+	M[49] = {0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,a[12],0,0,0,a[16],a[14],0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,b[12],b[16],0,0,b[14],0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,c[5],c[14],0,0,c[15],0,0,0,c[6],0,c[12],c[16],0,0,0,0,0,0,0};
+
+	M[50] = {0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,a[16],0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,b[16],0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,c[14],0,0,0,c[5],0,0,0,c[12],0,c[16],0,0,0,0,0,0,0,0};
+	M[51] = {0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,b[18],0,0,0,0,0,b[7],0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,c[7],0,0,0,0,0,0,0,0,0,0,0,c[18],0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0};
+	M[52] = {0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,a[6],0,0,0,a[12],a[5],0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,b[6],b[12],0,0,b[5],b[14],0,b[16],0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,c[15],c[5],0,c[14],0,0,0,0,c[7],c[16],c[6],c[12],0,0,0,0,0,0,0};
+	M[53] = {0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,b[15],0,0,0,0,b[7],0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,c[15],0,0,0,0,0,0,c[7],0,0,0,0,0,0,0,0,0};
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+	M[60] = {0,0,0,0,0,0,0,0,u[3],0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,a[12],0,0,0,0,0,0,0,0,0,0,a[15],0,a[6],0,a[5],a[11],0,0,0,0,a[7],0,0,0,0,0,0,0,0,0,0,b[15],b[5],0,b[7],b[11],b[10],0,b[14],0,b[6],0,0,0,b[12],0,0,0,0,0,0,0,0,0,0,0,0,0,c[7],0,0,0,0,0,0,0,0,0,0,c[6],0,c[11],0,c[10],0,0,c[12],0,0,c[14],c[15],c[5],0,0,0,0,0,0,0};
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+	M[65] = {0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,a[6],0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,b[16],0,b[6],b[12],0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,c[7],c[6],c[16],c[12],0,0,0,0,0,0,0,0,0,0,0,0,0,0,0};
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+	M[70] = {0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,u[2],0,0,0,0,0,0,a[9],a[13],0,0,a[10],a[4],a[19],0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,a[14],a[20],0,a[8],0,b[9],0,b[13],b[10],b[19],0,b[4],0,0,0,b[20],0,0,0,0,0,0,0,0,0,0,0,0,0,0,b[14],0,b[8],0,0,0,c[14],c[8],0,c[20],0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,c[9],c[13],c[10],c[4],c[19],0,0};
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+	M[73] = {0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,a[13],0,a[20],0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,b[20],b[13],0,0,0,c[13],c[20],0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0};
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+	M[75] = {0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,u[2],0,0,0,0,0,0,0,0,0,0,0,0,0,0,a[2],a[1],a[9],a[13],0,0,0,0,0,0,0,0,0,a[20],a[11],0,0,a[3],0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,b[20],b[1],b[9],b[13],b[11],0,b[3],0,b[2],0,c[11],c[3],c[2],0,0,0,c[9],0,0,0,c[13],0,c[1],0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,c[20]};
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+	M[77] = {0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,a[16],0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,a[14],0,0,b[16],0,0,0,0,0,0,0,0,0,0,b[14],0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,c[14],0,0,0,0,0,0,0,0,0,c[16],0,0,0,0,0,c[1],0,0,0,c[10],0,0,0,0,0,0,0,0,0,0};
+	M[78] = {0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,a[17],0,0,0,a[12],0,0,0,0,0,a[16],0,0,a[8],0,a[19],0,0,0,0,0,0,0,0,0,0,0,0,b[17],b[19],0,b[12],0,0,0,0,0,0,0,0,0,0,0,0,0,b[8],0,0,0,0,b[16],0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,c[8],0,0,c[16],0,0,c[20],0,0,0,0,c[19],0,c[2],0,0,0,0,c[17],0,c[12],0,0,0,0};
+	M[79] = {0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,a[12],0,a[16],0,a[8],0,0,0,0,0,0,0,0,0,b[12],0,0,0,0,0,0,0,0,0,b[8],0,b[16],0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,c[16],0,0,0,c[17],c[8],0,0,c[18],c[12],0,c[6],0,0,0,0,0,0,0,0,0,0,0};
+
+	M[80] = {0,0,0,0,0,0,0,0,0,0,0,0,0,0,u[4],0,0,0,0,0,0,0,0,0,0,0,0,0,a[5],0,0,0,0,a[12],0,0,0,0,0,a[16],0,a[4],a[10],a[8],0,0,0,a[14],0,0,0,a[17],0,0,0,0,b[10],b[5],0,b[12],b[14],0,b[4],0,0,b[17],0,0,0,0,0,b[8],0,0,0,0,0,0,0,b[16],0,0,0,0,0,0,0,0,0,c[17],c[14],0,0,0,0,0,c[16],0,0,0,c[8],c[9],0,0,0,0,c[10],0,c[11],c[3],0,c[4],0,0,c[5],0,0,c[12],0,0};
+	M[81] = {0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,a[3],a[2],0,0,0,0,a[4],a[19],0,a[13],0,0,0,0,0,0,a[20],a[5],0,a[17],0,0,0,0,0,0,0,b[3],0,b[20],b[2],0,0,0,0,0,0,0,0,0,0,b[13],0,0,0,0,b[4],b[19],0,b[17],b[5],0,0,0,c[5],c[17],0,0,0,c[20],0,c[19],0,0,c[13],0,0,c[4],0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,c[3],c[2],0,0,0};
+	M[82] = {0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,a[6],0,0,0,0,0,0,0,0,0,0,0,0,0,0,a[15],a[18],0,a[7],0,0,0,0,0,0,0,0,0,0,0,0,b[7],0,0,b[18],b[4],0,0,b[3],b[15],b[17],b[5],0,0,0,b[6],0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,c[7],c[5],0,0,c[6],0,0,c[15],0,0,0,0,0,c[4],c[3],0,0,0,0,0,c[17],0,c[18],0,0,0,0,0,0,0};
+	M[83] = {0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,u[2],a[18],0,0,0,a[6],0,0,0,0,0,a[12],0,0,a[17],0,a[2],0,a[19],0,a[20],0,0,0,0,0,a[8],0,0,b[18],b[2],0,b[6],0,0,0,0,0,0,0,b[20],0,b[19],0,0,0,b[17],b[8],0,0,0,b[12],0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,c[8],0,c[17],0,c[19],c[12],0,0,0,c[20],0,0,0,c[2],0,0,0,0,0,0,c[18],0,c[6],0,0,0,0};
+	M[84] = {0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,u[3],0,0,0,0,0,0,0,0,0,0,0,0,a[5],a[17],0,0,a[7],0,0,0,0,0,a[6],0,0,0,a[18],a[11],a[3],0,a[15],0,0,0,0,0,0,0,0,0,0,0,b[7],b[15],0,0,b[3],0,0,0,b[9],b[11],b[4],b[10],b[18],0,0,b[5],b[17],0,0,0,b[6],0,0,0,0,0,0,0,0,0,0,c[15],c[10],0,0,c[5],0,c[6],c[11],0,0,c[18],0,0,0,c[9],0,0,c[17],0,0,c[4],0,c[3],0,0,0,0,c[7],0,0};
+	M[85] = {0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,u[2],0,0,0,a[19],0,a[15],a[18],0,0,0,0,a[5],a[17],0,a[3],0,0,0,a[13],a[20],0,a[2],0,0,a[6],0,a[4],0,0,0,0,0,b[15],0,b[2],b[18],0,b[20],0,0,0,0,b[13],0,0,0,b[3],b[4],b[19],0,0,b[5],b[17],0,b[6],0,0,0,0,0,c[6],0,0,0,c[2],0,c[17],c[4],c[19],c[3],0,c[13],c[5],0,0,0,0,0,0,0,0,0,0,0,0,0,c[20],0,0,c[15],c[18],0,0,0};
+	M[86] = {0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,a[18],0,0,0,0,0,a[17],0,0,a[2],0,0,0,a[20],0,0,0,a[6],0,0,0,a[19],0,0,0,0,0,b[18],0,0,0,0,0,0,0,0,0,b[20],0,0,0,b[2],b[19],0,0,0,b[17],0,0,0,b[6],0,0,0,c[6],0,0,0,0,0,0,0,c[19],0,c[2],0,c[20],c[17],0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,c[18],0,0,0,0};
+	M[87] = {0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,u[2],0,0,0,0,0,0,0,0,a[11],a[3],a[2],0,0,0,a[10],a[4],a[19],a[9],0,0,a[20],0,0,0,a[13],0,0,a[5],0,0,a[17],0,0,0,0,b[11],b[2],b[13],b[3],0,0,0,0,0,0,0,0,0,b[20],b[9],0,0,0,0,b[10],b[4],b[19],b[5],0,b[17],0,0,0,c[5],c[17],0,0,c[13],0,c[4],0,0,c[9],c[19],0,c[10],0,c[20],0,0,0,0,0,0,0,0,0,0,0,0,0,0,c[11],c[3],c[2],0,0};
+	M[88] = {0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,a[2],0,0,0,a[17],0,0,0,0,0,a[8],0,0,a[19],0,a[20],0,0,0,0,0,a[12],0,0,0,0,0,0,b[2],b[20],0,b[17],0,0,0,0,0,0,0,0,0,0,0,0,0,b[19],0,0,0,0,b[8],0,0,0,b[12],0,0,0,c[12],0,0,0,0,0,0,0,0,0,c[19],0,0,c[8],0,0,0,0,0,0,0,c[20],0,0,0,0,0,0,c[2],0,c[17],0,0,0,0};
+	M[89] = {0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,a[7],0,0,0,0,0,a[6],0,0,a[18],0,0,0,a[2],0,0,0,0,0,0,0,a[17],0,0,0,0,0,b[7],0,0,0,0,0,0,0,0,b[20],b[2],0,b[19],0,b[18],b[17],0,0,0,b[6],0,0,0,0,0,0,0,0,0,0,0,0,0,c[19],0,c[17],0,c[18],0,c[2],c[6],0,0,0,0,0,c[20],0,0,0,0,0,0,0,0,0,0,c[7],0,0,0,0};
+
+	M[90] = {0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,a[12],0,0,0,0,0,0,0,0,0,0,0,0,a[16],0,a[8],0,0,0,0,0,0,0,0,0,0,0,0,b[12],b[8],0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,b[16],0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,c[16],0,0,0,0,0,c[19],0,0,0,c[2],c[8],0,c[17],0,0,0,0,c[12],0,0,0,0,0,0};
+	M[91] = {0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,u[2],0,0,0,a[3],a[2],0,0,a[5],a[17],0,0,0,0,a[14],a[8],0,a[4],a[20],a[13],0,0,0,0,a[19],0,0,a[12],0,0,0,0,b[3],b[13],b[2],b[5],0,b[19],b[17],b[20],0,0,0,0,0,0,0,0,0,b[4],0,0,0,0,b[14],b[8],0,b[12],0,0,0,0,0,c[12],0,0,0,c[19],0,c[8],0,0,c[4],0,0,c[14],0,0,0,0,0,0,0,c[13],0,0,0,0,c[20],0,c[3],c[2],c[5],c[17],0,0,0};
+	M[92] = {0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,u[4],0,0,0,0,0,0,0,0,0,0,a[6],a[16],0,0,0,0,0,0,0,0,0,0,0,a[17],a[5],0,a[14],a[8],a[4],a[12],0,0,0,0,0,0,0,0,b[5],b[6],0,0,b[12],0,b[17],b[8],0,0,b[4],0,b[14],0,0,0,0,0,b[16],0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,c[12],0,0,0,c[16],0,0,c[14],0,0,0,c[3],c[4],0,0,0,c[5],0,c[15],c[18],0,c[17],c[8],0,c[6],0,0,0,0,0};
+	M[93] = {0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,u[3],0,0,0,0,0,0,0,0,0,0,a[7],a[12],0,0,0,0,0,0,0,0,0,0,0,a[18],a[15],0,a[5],a[17],a[3],a[6],0,0,0,0,0,0,0,0,b[15],b[7],0,0,b[6],0,b[18],b[17],0,0,b[3],b[4],b[5],b[8],b[14],0,0,0,b[12],0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,c[6],c[14],0,0,c[12],0,0,c[5],0,0,0,0,c[3],0,c[4],0,c[15],0,0,0,c[8],c[18],c[17],0,c[7],0,0,0,0,0};
+	M[94] = {0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,a[2],0,0,0,0,0,a[19],0,0,a[20],0,0,0,0,0,0,0,a[17],0,0,0,0,0,0,0,0,0,b[2],0,0,0,0,0,0,0,0,0,0,0,0,0,b[20],0,0,0,0,b[19],0,0,0,b[17],0,0,0,c[17],0,0,0,0,0,0,0,0,0,c[20],0,0,c[19],0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,c[2],0,0,0,0};
+	M[95] = {0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,u[4],a[6],0,0,0,0,0,0,0,0,0,0,0,0,a[12],0,a[17],0,a[8],0,a[19],0,0,0,0,0,a[16],0,0,b[6],b[17],0,0,0,0,0,0,0,0,0,b[19],0,b[8],0,0,0,b[12],b[16],0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,c[16],0,c[12],0,c[8],0,0,0,c[2],c[19],0,0,0,c[17],0,c[18],0,0,0,0,c[6],0,0,0,0,0,0};
+	M[96] = {0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,u[4],0,0,0,a[5],a[17],0,0,0,a[12],0,0,0,0,0,a[16],0,a[14],a[19],a[4],0,0,0,0,a[8],0,0,0,0,0,0,0,b[5],b[4],b[17],0,0,b[8],b[12],b[19],0,0,0,0,0,0,0,0,0,b[14],0,0,0,0,0,b[16],0,0,0,0,0,0,0,0,0,0,0,c[8],0,c[16],0,0,c[14],0,0,0,0,0,c[13],0,0,0,0,c[4],0,c[3],c[2],0,c[19],0,c[5],c[17],0,c[12],0,0,0};
+	M[97] = {0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,a[6],0,a[12],0,a[17],0,0,0,0,0,0,0,0,0,b[6],0,0,0,0,0,0,0,0,0,b[17],b[8],b[12],0,b[16],0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,c[16],0,0,0,0,0,c[12],0,0,0,c[18],c[17],0,c[8],0,c[6],0,c[7],0,0,0,0,0,0,0,0,0,0,0};
+	M[98] = {0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,a[12],0,0,0,0,0,0,0,0,0,0,0,0,a[8],a[14],0,0,0,0,a[16],0,0,0,0,0,0,0,0,b[14],b[12],0,0,b[16],0,b[8],0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,c[16],0,0,0,0,0,0,0,0,0,0,c[4],0,0,0,c[3],c[14],0,c[5],c[17],0,c[8],0,0,c[12],0,0,0,0,0};
+	M[99] = {0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,a[7],0,a[6],0,a[18],0,0,0,0,0,0,0,0,0,b[7],0,0,0,0,0,0,0,b[8],0,b[18],b[17],b[6],0,b[12],0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,c[12],0,0,0,0,0,c[6],0,0,0,0,c[18],c[8],c[17],0,c[7],0,0,0,0,0,0,0,0,0,0,0,0,0};
+
+	M[100] = {0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,a[16],0,0,0,0,0,0,0,0,0,0,0,0,0,b[16],0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,c[16],0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,c[10],0,0,0,c[14],0,0,0,0,0,0,0,0,0,0};
+	M[101] = {0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,a[9],a[13],a[20],0,0,0,0,0,0,0,0,a[11],0,a[3],0,0,a[2],0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,b[9],b[13],b[20],b[3],b[11],b[2],0,0,c[11],c[3],c[2],0,0,0,0,c[13],0,0,0,c[20],0,c[9],0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0};
+	M[102] = {0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,a[13],a[20],0,0,0,0,0,0,0,0,0,a[3],0,a[2],0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,b[13],b[20],0,b[2],b[3],0,0,0,c[3],c[2],0,0,0,0,0,c[20],0,0,0,0,0,c[13],0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0};
+	M[103] = {0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,a[20],0,0,0,0,0,0,0,0,0,0,a[2],0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,b[20],0,0,0,b[2],0,0,0,c[2],0,0,0,0,0,0,0,0,0,0,0,0,c[20],0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0};
+	M[104] = {0,0,0,0,0,0,0,0,0,0,0,u[4],0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,a[10],0,0,0,0,a[14],a[8],0,a[16],0,0,0,0,0,0,0,0,0,0,0,0,0,0,a[4],0,0,b[8],0,0,b[10],0,b[14],0,0,0,0,0,b[4],0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,b[16],0,0,0,c[16],c[4],0,0,0,0,0,0,0,0,0,c[8],0,0,0,0,0,0,0,0,c[1],c[9],0,0,0,0,c[10],0,0,c[14],0,0};
+	M[105] = {0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,u[4],0,0,0,0,0,0,a[10],a[4],0,0,0,a[14],a[8],0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,a[19],0,a[16],0,b[10],0,b[4],0,b[8],0,b[14],0,0,0,b[19],0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,b[16],0,0,0,0,c[16],0,c[19],0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,c[9],c[13],0,0,0,c[10],c[4],0,c[14],c[8],0,0};
+	M[106] = {0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,a[4],a[19],0,0,a[14],a[8],0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,a[16],0,0,0,0,b[4],0,b[19],b[14],0,0,b[8],0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,b[16],0,0,0,0,0,c[16],0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,c[13],c[20],0,0,0,c[4],c[19],c[14],c[8],0,0,0};
+	M[107] = {0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,a[19],0,0,0,a[8],0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,a[16],0,0,0,0,0,0,b[19],0,0,b[8],0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,b[16],0,0,0,c[16],0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,c[20],0,0,0,0,c[19],0,c[8],0,0,0,0};
+	M[108] = {0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,a[20],0,0,0,0,0,0,0,0,0,0,0,a[1],0,a[9],0,0,a[13],0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,b[9],b[1],b[13],0,b[20],c[1],c[9],c[13],c[20],0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0};
+	M[109] = {0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,u[3],a[7],0,0,0,0,0,0,0,0,0,0,0,0,a[6],0,a[18],0,a[17],0,a[2],0,0,0,0,0,a[12],0,0,b[7],b[18],0,0,0,0,0,0,0,0,0,b[2],b[19],b[17],0,b[8],0,b[6],b[12],0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,c[8],0,c[12],0,c[6],0,c[17],0,0,0,0,c[2],0,c[19],0,c[18],0,0,0,0,0,0,c[7],0,0,0,0,0,0};
+
+	M[110] = {0,0,0,0,0,0,0,u[3],0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,a[5],0,0,0,a[7],0,0,0,0,0,0,0,0,a[15],0,a[11],0,0,0,a[6],0,0,0,0,b[7],0,0,0,0,0,0,0,0,b[11],0,0,0,b[1],0,b[10],0,b[15],0,0,0,b[5],b[6],0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,c[7],c[15],0,0,0,c[1],0,0,c[5],0,0,c[10],0,c[11],0,0,0,0,0,0,c[6]};
+	M[111] = {0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,u[2],0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,a[20],a[13],0,0,0,0,0,0,0,0,0,0,0,0,0,a[1],0,0,a[9],0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,b[1],0,b[9],b[20],b[13],0,c[1],c[9],c[13],0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,c[20],0};
+	M[112] = {0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,u[2],0,0,0,0,0,0,0,0,0,0,0,a[1],a[9],a[13],a[20],0,a[19],0,0,0,0,0,0,0,0,0,0,0,0,0,a[10],0,0,a[4],b[20],0,0,0,b[1],b[13],0,b[9],0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,b[10],0,b[4],0,b[19],0,c[10],c[4],c[19],0,0,0,0,0,0,0,0,0,0,c[20],0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,c[1],c[9],c[13],0,0};
+	M[113] = {0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,a[9],a[13],a[20],0,0,0,0,0,0,0,0,0,0,0,0,0,0,a[10],0,a[4],0,0,a[19],0,0,0,0,b[9],b[20],0,b[13],0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,b[4],b[10],b[19],0,0,c[10],c[4],c[19],0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,c[9],c[13],c[20],0,0};
+	M[114] = {0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,a[13],a[20],0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,a[4],0,a[19],0,0,0,0,0,0,0,b[13],0,0,b[20],0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,b[19],b[4],0,0,0,c[4],c[19],0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,c[13],c[20],0,0,0};
+	M[115] = {0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,a[20],0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,a[19],0,0,0,0,0,0,0,0,0,b[20],0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,b[19],0,0,0,c[19],0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,c[20],0,0,0,0};
+	M[116] = {0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,u[2],0,0,0,0,a[13],a[20],0,0,0,0,0,0,a[11],a[3],a[2],0,0,0,0,0,0,0,0,0,0,a[15],0,a[9],a[18],0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,b[9],b[13],b[20],0,b[11],b[3],b[2],b[15],0,b[18],0,0,0,c[15],c[18],0,0,0,0,c[3],c[9],c[13],0,c[2],0,c[11],0,0,0,0,0,0,0,0,c[20],0,0,0,0,0,0,0,0,0,0,0,0};
+	M[117] = {0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,a[20],0,0,0,0,0,0,0,a[3],a[2],0,0,0,0,0,0,0,0,0,a[15],0,a[18],0,a[13],0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,b[13],b[20],0,0,b[3],b[2],0,b[18],b[15],0,0,0,c[15],c[18],0,0,0,0,0,c[2],c[13],c[20],0,0,0,c[3],0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0};
+	M[118] = {0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,a[13],a[20],0,0,a[4],a[19],0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,a[14],0,a[8],0,0,0,0,b[13],0,b[20],b[4],0,0,b[19],0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,b[8],b[14],0,0,0,c[14],c[8],0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,c[13],c[20],c[4],c[19],0,0,0};
+	M[119] = {0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,a[20],0,0,0,a[19],0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,a[8],0,0,0,0,0,0,b[20],0,0,b[19],0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,b[8],0,0,0,c[8],0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,c[20],0,c[19],0,0,0,0};
+
+
+	return cv::Mat(M).t();
+}
diff --git a/modules/calib3d/src/dls.h b/modules/calib3d/src/dls.h
index 329e8042a1..f5483c83a9 100644
--- a/modules/calib3d/src/dls.h
+++ b/modules/calib3d/src/dls.h
@@ -1,17 +1,30 @@
-#ifndef dls_h
-#define dls_h
+#ifndef DLS_H
+#define DLS_H
 
-#include "opencv2/core/core_c.h"
+#include "precomp.hpp"
 
 class dls
 {
 public:
-	dls();
+	dls(const cv::Mat& opoints, const cv::Mat& ipoints);
 	~dls();
 
-private:
+	void init_vectors(const cv::Mat& opoints, const cv::Mat& ipoints);
+	void build_coeff_mattrix();
+	cv::Mat LeftMultVec(const cv::Mat& v);
+	cv::Mat cayley_LS_M(const std::vector<double>& a, const std::vector<double>& b, const std::vector<double>& c, const std::vector<double>& u);
 
+private:
+	cv::Mat H;			// coeff matrix
+	cv::Mat A;
+	cv::Mat D_mat;
+	std::vector<double> f1coeff;
+	std::vector<double> f2coeff;
+	std::vector<double> f3coeff;
+	cv::Mat p;			// object points
+	cv::Mat z;			// image points
+	int N;				// number of input points
 };
 
 
-#endif
+#endif // DLS_H
diff --git a/modules/calib3d/src/solvepnp.cpp b/modules/calib3d/src/solvepnp.cpp
index f204463d6f..daa959eb7f 100644
--- a/modules/calib3d/src/solvepnp.cpp
+++ b/modules/calib3d/src/solvepnp.cpp
@@ -41,10 +41,10 @@
  //M*/
 
 #include "precomp.hpp"
+#include "dls.h"
 #include "epnp.h"
 #include "p3p.h"
 #include "opencv2/calib3d/calib3d_c.h"
-#include "dls.h"
 
 #include <iostream>
 using namespace cv;
@@ -100,12 +100,13 @@ bool cv::solvePnP( InputArray _opoints, InputArray _ipoints,
     	cv::Mat undistortedPoints;
     	cv::undistortPoints(ipoints, undistortedPoints, cameraMatrix, distCoeffs);
 
-    	//dls PnP;
+
+    	dls PnP(opoints, undistortedPoints);
     	//  DO SOMETHING
 
     	cv::Mat R, rvec = _rvec.getMat(), tvec = _tvec.getMat();
 
-
+    	return true;
     }
     else
         CV_Error(CV_StsBadArg, "The flags argument must be one of CV_ITERATIVE, CV_P3P or CV_EPNP");

From 40f6d320c216a4db7724074465e0cc9619f22bc8 Mon Sep 17 00:00:00 2001
From: edgarriba <edgar.riba@gmail.com>
Date: Mon, 21 Jul 2014 09:31:45 +0200
Subject: [PATCH 015/112] last update

---
 modules/calib3d/src/dls.cpp      | 525 +++++++++++++++++++++----------
 modules/calib3d/src/dls.h        |  45 ++-
 modules/calib3d/src/solvepnp.cpp |   7 +-
 3 files changed, 388 insertions(+), 189 deletions(-)

diff --git a/modules/calib3d/src/dls.cpp b/modules/calib3d/src/dls.cpp
index e50ae1af98..c1c6af81bd 100644
--- a/modules/calib3d/src/dls.cpp
+++ b/modules/calib3d/src/dls.cpp
@@ -2,58 +2,82 @@
 #include "dls.h"
 
 #include <iostream>
+using namespace std;
+
+void printSize(const cv::Mat& mat)
+{
+	cout << mat.rows << "x" << mat.cols << endl;
+}
+void printMat(const cv::Mat& mat)
+{
+	printSize(mat);
+	for (int i = 0; i < mat.rows; ++i) {
+		cout << "[";
+		for (int j = 0; j < mat.cols; ++j) {
+			cout << " " << mat.at<double>(i,j);
+		}
+		cout << ";]" << endl;
+	}
+}
+template<typename T>
+void print(T var) { cout << var << endl; }
 
 dls::dls(const cv::Mat& opoints, const cv::Mat& ipoints) : f1coeff(21), f2coeff(21), f3coeff(21)
 {
-  N = opoints.type() == CV_64F ? opoints.checkVector(3, CV_64F) : opoints.checkVector(3, CV_32F) ;
+	N =  std::max(opoints.checkVector(3, CV_32F), opoints.checkVector(3, CV_64F));
+	p = cv::Mat(3, N, opoints.depth());
+	z = cv::Mat(3, N, ipoints.depth());
 
-  H = cv::Mat::zeros(3, 3, opoints.type());
-  A = cv::Mat::zeros(3, 9, opoints.type());
-  D_mat = cv::Mat::zeros(9, 9, opoints.type());
+	//OK
 
+	if (opoints.depth() == ipoints.depth())
+	{
+		if (opoints.depth() == CV_32F)
+			init_points<cv::Point3f,float,cv::Point2f,float>(opoints, ipoints);
+	    else
+	    	init_points<cv::Point3d,double,cv::Point2d,double>(opoints, ipoints);
+	}
+	else if (opoints.depth() == CV_32F)
+		init_points<cv::Point3f,float,cv::Point2d,double>(opoints, ipoints);
+	else
+		init_points<cv::Point3d,double,cv::Point2f,float>(opoints, ipoints);
 
+	H = cv::Mat::zeros(3, 3, ipoints.depth());
+	A = cv::Mat::zeros(3, 9, ipoints.depth());
+	D_mat = cv::Mat::zeros(9, 9, ipoints.depth());
 
-  init_vectors(opoints, ipoints);
-  build_coeff_mattrix();
+	norm_z_vector();
+	build_coeff_matrix();
 
 }
 
-
 dls::~dls()
 {
   // TODO Auto-generated destructor stub
 }
 
-void dls::init_vectors(const cv::Mat& opoints, const cv::Mat& ipoints)
+void dls::norm_z_vector()
 {
-	if(opoints.cols == 3) opoints.reshape(N, 3);
-	if(ipoints.cols == 2) ipoints.reshape(N, 2);
-
-	p = opoints;
-	z = ipoints;
-
 	// make z into unit vectors from normalized pixel coords
-
-	z.push_back(cv::Mat::ones(1, N, opoints.type()));
-
 	for (int i = 0; i < N; ++i)
 	{
-		cv::Mat & col_i = z.col(i);
+		cv::Mat col_i = z.col(i);
 		double sr = std::pow(col_i.at<double>(0), 2) +
 				    std::pow(col_i.at<double>(1), 2) +
 				    std::pow(col_i.at<double>(2), 2);
 		sr = std::sqrt(sr);
 
-		col_i.at<double>(0, i) /= sr;
-		col_i.at<double>(1, i) /= sr;
-		col_i.at<double>(2, i) /= sr;
-
+		z.at<double>(0, i) /= sr;
+		z.at<double>(1, i) /= sr;
+		z.at<double>(2, i) /= sr;
 	}
+
+	// OK
 }
 
-void dls::build_coeff_mattrix()
+void dls::build_coeff_matrix()
 {
-	cv::Mat eye = cv::Mat::eye(3, 3, p.type());
+	cv::Mat eye = cv::Mat::eye(3, 3, z.depth());
 
 	// build coeff matrix
 	// An intermediate matrix, the inverse of what is called "H" in the paper
@@ -61,21 +85,26 @@ void dls::build_coeff_mattrix()
 	for (int i = 0; i < N; ++i)
 	{
 		cv::Mat z_dot = z.col(i)*z.col(i).t();
-
-		H += eye - z_dot ;
+		H += eye - z_dot;
 		A += ( z_dot - eye ) * LeftMultVec(p.col(i));
 	}
 
-	cv::solve(H, A, A);
+	// OK
+
+	cv::solve(H, A, A); // A\B
+
+	// OK
 
 	for (int i = 0; i < N; ++i)
 	{
 		cv::Mat z_dot = z.col(i)*z.col(i).t();
-		D_mat += cv::Mat(LeftMultVec(p.col(i))+A).t() * (eye-z_dot) * (LeftMultVec(p.col(i))+A);
+		D_mat += cv::Mat( LeftMultVec(p.col(i)) + A ).t() * (eye-z_dot) * ( LeftMultVec(p.col(i)) + A );
 	}
 
+	// OK
+
 	// put D into array
-	double D[10][10];
+	double D[10][10] = { 0 };
 	for (int i = 0; i < 10; ++i)
 	{
 		for (int j = 0; j < 10; ++j)
@@ -155,23 +184,68 @@ void dls::build_coeff_mattrix()
 	f3coeff[19] = 4*D[1][9] - 4*D[1][1] + 8*D[3][3] + 8*D[3][7] + 4*D[5][5] + 8*D[7][3] + 8*D[7][7] + 4*D[9][1] - 4*D[9][9]; // s1^2 * s3
 	f3coeff[20] = 2*D[1][3] + 2*D[1][7] + 2*D[3][1] - 2*D[3][5] - 2*D[3][9] - 2*D[5][3] - 2*D[5][7] + 2*D[7][1] - 2*D[7][5] - 2*D[7][9] - 2*D[9][3] - 2*D[9][7]; // s1^3
 
-	// genereate random samples
+
+	// generate random samples
 	std::vector<double> u;
-	cv::randn(u, 100, 0.1);
+	//cv::randn(u, 100, 0.1);
+	u.push_back(0.0); u.push_back(-136.0); u.push_back(-63.0); u.push_back(-61.0); 	u.push_back(-249.0);
 
 	cv::Mat M2 = cayley_LS_M(f1coeff, f2coeff, f3coeff, u);
 
+	cv::Mat M2_1 = M2(cv::Range(0,27), cv::Range(0,27)); // OK
+	cv::Mat M2_2 = M2(cv::Range(0,27), cv::Range(27,120)); // OK
+	cv::Mat M2_3 = M2(cv::Range(27,120), cv::Range(27,120)); // OK
+	cv::Mat M2_4 = M2(cv::Range(27,120), cv::Range(0,27)); // OK
+	cv::Mat M2_5;
+	cv::solve(M2_3.t(), M2_2.t(), M2_5); // A/B = B'\A'
 
+	// construct the multiplication matrix via schur compliment of the Macaulay
+	// matrix
+	cv::Mat Mtilde = M2_1 - M2_5.t()*M2_4; // OK
+
+	cv::Mat eigenvalues, eigenvectors;
+	cv::eigen(Mtilde, eigenvalues, eigenvectors);
+
+	cv::Mat V = eigenvectors;
+
+
+	/*
+	 *  Now check the solutions
+	 */
+
+	// extract the optimal solutions from the eigen decomposition of the
+	// Multiplication matrix
+
+	cv::Mat sols = cv::Mat::zeros(3, 27, z.depth());
+	cv::Mat cost = cv::Mat::zeros(27, 1, z.depth());
+	int i = 0;
+	for (int k = 0; k < 27; ++k)
+	{
+		//  V(:,k) = V(:,k)/V(1,k);
+		cv::Mat V_kA = V.col(k); // 27x1
+		cv::Mat V_kB = cv::Mat(1, 1, z.depth(), V_kA.at<double>(0, k)); // 1x1
+		cv::Mat V_k; cv::solve(V_kB.t(), V_kA.t(), V_k); // A/B = B'\A'
+		cv::Mat(V_k.t()).col(0).copyTo( V.col(0) );
+
+
+		if(1) //if (imag(V(2,k)) == 0)
+		{
+			//TODO: check for pure real part
+		}
+
+	}
+
+exit(-1);
 }
 
 cv::Mat dls::LeftMultVec(const cv::Mat& v)
 {
 	cv::Mat mat, row1, row2, row3;
 
-	cv::hconcat(v.clone().t(), cv::Mat::zeros(1, 6, v.type()), row1);
-	cv::hconcat(cv::Mat::zeros(1, 3, v.type()), v.clone().t(), row2);
-	cv::hconcat(row2, cv::Mat::zeros(1, 3, v.type()), row2);
-	cv::hconcat(cv::Mat::zeros(1, 6, v.type()), v.clone().t(), row3);
+	cv::hconcat(v.clone().t(), cv::Mat::zeros(1, 6, v.depth()), row1);	// first row
+	cv::hconcat(cv::Mat::zeros(1, 3, v.depth()), v.clone().t(), row2);	// second row
+	cv::hconcat(row2, cv::Mat::zeros(1, 3, v.depth()), row2);			// second ror
+	cv::hconcat(cv::Mat::zeros(1, 6, v.depth()), v.clone().t(), row3);	// third row
 
 	mat.push_back(row1);
 	mat.push_back(row2);
@@ -180,143 +254,254 @@ cv::Mat dls::LeftMultVec(const cv::Mat& v)
 	return mat;
 }
 
-cv::Mat cayley_LS_M(const std::vector<double>& a, const std::vector<double>& b, const std::vector<double>& c, const std::vector<double>& u)
+cv::Mat dls::cayley_LS_M(const std::vector<double>& a, const std::vector<double>& b, const std::vector<double>& c, const std::vector<double>& u)
 {
+	
+    //cv::Mat M = (cv::Mat_<double>(120,120) << u[1], 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, a[1], 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, b[1], 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, c[1], 0, u[4], u[1], 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, a[1], a[10], 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, b[1], 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, b[10], 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, c[1], 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, c[10], 0, 0, u[4], u[1], 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, a[10], a[14], 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, a[1], 0, 0, b[10], 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, b[1], 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, b[14], 0, 0, 0, 0, 0, c[1], 0, 0, 0, 0, 0, 0, 0, 0, 0, c[10], 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, c[14], 0, u[3], 0, 0, u[1], 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, a[11], 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, a[1], 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, b[1], 0, 0, 0, 0, 0, 0, b[11], 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, c[11], c[1], 0, u[3], 0, u[4], u[1], 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, a[11], a[5], 0, 0, 0, 0, 0, 0, 0, a[1], 0, 0, 0, 0, 0, a[10], 0, 0, 0, 0, b[11], 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, b[1], 0, 0, 0, 0, b[10], 0, 0, 0, 0, 0, 0, b[5], 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, c[11], c[1], 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, c[5], c[10], 0, 0, u[3], 0, u[4], u[1], 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, a[5], a[12], 0, 0, 0, 0, 0, a[1], 0, a[10], 0, 0, 0, 0, 0, a[14], 0, a[11], 0, 0, b[5], 0, 0, 0, 0, 0, 0, 0, b[1], 0, 0, b[11], 0, 0, 0, 0, 0, b[10], 0, 0, 0, 0, b[14], 0, 0, 0, 0, 0, 0, b[12], 0, 0, 0, 0, 0, c[11], 0, 0, 0, 0, 0, 0, 0, 0, 0, c[5], c[10], 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, c[1], 0, 0, 0, 0, 0, 0, c[12], c[14], 0, 0, 0, u[3], 0, 0, u[1], 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, a[1], 0, 0, 0, 0, a[15], 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, a[11], 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, b[1], b[11], 0, 0, 0, 0, 0, 0, b[15], 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, c[1], 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, c[15], c[11], 0, 0, 0, 0, u[3], 0, u[4], u[1], 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, a[10], 0, 0, 0, a[15], a[6], 0, 0, 0, 0, 0, 0, 0, a[11], 0, a[1], 0, 0, 0, a[5], 0, 0, 0, 0, b[15], 0, 0, 0, 0, 0, 0, 0, 0, b[1], 0, 0, 0, 0, 0, 0, 0, b[11], 0, 0, 0, b[10], b[5], 0, 0, 0, 0, 0, 0, b[6], 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, c[15], c[11], 0, 0, 0, 0, 0, 0, c[10], 0, 0, 0, 0, c[1], 0, 0, 0, 0, 0, c[6], c[5], 0, 0, 0, 0, 0, u[3], 0, u[4], u[1], 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, a[14], 0, 0, 0, a[6], 0, 0, 0, 0, 0, 0, a[11], 0, a[5], 0, a[10], a[1], 0, 0, a[12], 0, a[15], 0, 0, b[6], 0, 0, 0, 0, 0, 0, 0, b[11], b[10], 0, b[15], b[1], 0, 0, 0, 0, b[5], 0, 0, 0, b[14], b[12], 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, c[15], 0, 0, 0, 0, 0, 0, 0, 0, 0, c[6], c[5], 0, c[1], 0, 0, 0, 0, c[14], 0, 0, 0, c[11], c[10], 0, 0, 0, 0, 0, 0, c[12], u[2], 0, 0, 0, 0, 0, 0, 0, 0, u[1], 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, a[9], a[1], 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, b[9], b[1], 0, 0, 0, c[1], 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, c[9], 0, 0, u[2], 0, 0, 0, 0, 0, 0, 0, u[4], u[1], 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, a[1], a[9], a[4], a[10], 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, b[9], 0, 0, 0, 0, b[1], 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, b[4], b[10], 0, 0, 0, c[10], 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, c[9], 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, c[1], c[4], 0, 0, 0, u[2], 0, 0, 0, 0, 0, 0, 0, u[4], u[1], 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, a[1], 0, 0, 0, 0, a[10], a[4], a[8], a[14], 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, a[9], 0, 0, b[4], 0, 0, b[1], 0, b[10], 0, 0, 0, 0, 0, b[9], 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, b[8], b[14], 0, 0, 0, c[14], c[9], 0, 0, 0, 0, 0, 0, 0, 0, 0, c[4], 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, c[1], 0, 0, c[10], c[8], 0, 0, 0, 0, u[2], 0, 0, 0, 0, 0, u[3], 0, 0, u[1], 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, a[3], a[11], 0, 0, a[1], 0, 0, 0, 0, 0, 0, 0, 0, 0, a[9], 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, b[9], 0, 0, b[1], 0, 0, 0, b[3], b[11], 0, 0, 0, c[11], 0, 0, 0, 0, 0, 0, 0, c[1], 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, c[3], c[9], 0, 0, 0, 0, u[2], 0, 0, 0, 0, 0, u[3], 0, u[4], u[1], 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, a[11], a[3], a[17], a[5], 0, 0, a[10], 0, 0, 0, a[9], 0, 0, 0, a[1], 0, a[4], 0, 0, 0, 0, b[3], 0, 0, 0, 0, b[11], b[1], 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, b[9], 0, 0, 0, 0, b[4], 0, 0, b[10], 0, 0, 0, b[17], b[5], 0, 0, 0, c[5], 0, c[1], 0, 0, 0, 0, 0, c[10], 0, 0, c[3], c[9], 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, c[11], c[17], c[4], 0, 0, 0, 0, 0, u[2], 0, 0, 0, 0, 0, u[3], 0, u[4], u[1], 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, a[11], 0, 0, 0, 0, a[5], a[17], 0, a[12], 0, 0, a[14], 0, a[9], a[1], a[4], 0, 0, 0, a[10], 0, a[8], 0, a[3], 0, 0, b[17], 0, b[1], b[11], 0, b[5], b[10], 0, b[9], 0, 0, b[3], 0, 0, 0, 0, 0, b[4], 0, 0, 0, 0, b[8], 0, 0, b[14], 0, 0, 0, 0, b[12], 0, 0, 0, c[12], c[3], c[10], 0, 0, 0, 0, 0, c[14], 0, 0, c[17], c[4], 0, 0, 0, 0, 0, c[1], 0, 0, 0, 0, c[9], 0, 0, c[11], 0, 0, c[5], 0, c[8], 0, 0, 0, 0, 0, 0, u[2], 0, 0, 0, 0, 0, u[3], 0, 0, u[1], 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, a[1], a[9], 0, 0, 0, 0, a[18], a[15], 0, 0, a[11], 0, 0, 0, 0, 0, 0, 0, 0, 0, a[3], 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, b[1], b[9], b[3], 0, 0, b[11], 0, 0, 0, b[18], b[15], 0, 0, 0, c[15], 0, 0, 0, 0, 0, c[1], 0, c[11], 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, c[9], 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, c[18], c[3], 0, 0, 0, 0, 0, 0, 0, u[2], 0, 0, 0, 0, 0, u[3], 0, u[4], u[1], 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, a[10], a[4], 0, 0, a[15], a[18], 0, a[6], 0, 0, a[5], 0, 0, 0, a[3], a[1], a[9], 0, a[11], 0, a[17], 0, 0, 0, 0, b[18], 0, 0, 0, 0, b[15], b[11], 0, 0, b[9], 0, 0, 0, 0, b[1], 0, 0, b[3], 0, 0, b[10], b[4], b[17], 0, 0, b[5], 0, 0, 0, 0, b[6], 0, 0, 0, c[6], 0, c[11], 0, 0, 0, c[10], 0, c[5], c[1], 0, c[18], c[3], 0, 0, 0, 0, 0, 0, c[4], 0, 0, 0, 0, c[9], 0, 0, 0, 0, c[15], 0, c[17], 0, 0, 0, 0, 0, 0, 0, 0, u[2], 0, 0, 0, 0, 0, u[3], 0, u[4], u[1], 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, a[15], a[14], a[8], 0, 0, a[6], 0, 0, 0, 0, 0, a[12], 0, a[3], a[11], a[17], a[10], a[4], a[9], a[5], 0, 0, 0, a[18], 0, 0, 0, 0, b[11], b[15], 0, b[6], b[5], 0, b[3], b[4], 0, b[18], b[9], 0, b[10], 0, 0, b[17], 0, 0, b[14], b[8], 0, 0, 0, b[12], 0, 0, 0, 0, 0, 0, 0, 0, 0, c[18], c[5], 0, 0, 0, c[14], 0, c[12], c[10], 0, 0, c[17], 0, c[9], 0, 0, 0, c[11], c[8], 0, 0, 0, c[3], c[4], 0, c[15], 0, 0, c[6], 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, u[2], 0, 0, 0, 0, 0, 0, 0, 0, u[1], 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, a[13], a[9], 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, a[1], 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, b[1], b[13], b[9], 0, 0, c[1], c[9], 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, c[13], 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, u[2], 0, 0, 0, 0, 0, 0, 0, u[4], u[1], 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, a[1], a[9], a[13], a[19], a[4], 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, a[10], b[13], 0, 0, 0, 0, b[9], 0, b[1], 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, b[10], b[19], b[4], 0, 0, c[10], c[4], 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, c[13], 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, c[1], c[9], c[19], 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, u[2], 0, 0, 0, 0, 0, 0, 0, u[4], u[1], 0, 0, 0, 0, 0, 0, a[1], a[9], 0, 0, 0, a[10], a[4], a[19], 0, a[8], 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, a[13], 0, a[14], b[19], b[1], 0, b[9], 0, b[4], 0, b[10], 0, 0, 0, b[13], 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, b[14], 0, b[8], 0, 0, c[14], c[8], c[13], 0, 0, 0, 0, 0, 0, 0, 0, 0, c[19], 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, c[1], c[9], 0, c[10], 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c[12], 0, 0, 0, c[18], c[17], 0, c[8], 0, c[6], 0, c[7], 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, a[12], 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, a[8], a[14], 0, 0, 0, 0, a[16], 0, 0, 0, 0, 0, 0, 0, 0, b[14], b[12], 0, 0, b[16], 0, b[8], 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, c[16], 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, c[4], 0, 0, 0, c[3], c[14], 0, c[5], c[17], 0, c[8], 0, 0, c[12], 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, a[7], 0, a[6], 0, a[18], 0, 0, 0, 0, 0, 0, 0, 0, 0, b[7], 0, 0, 0, 0, 0, 0, 0, b[8], 0, b[18], b[17], b[6], 0, b[12], 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, c[12], 0, 0, 0, 0, 0, c[6], 0, 0, 0, 0, c[18], c[8], c[17], 0, c[7], 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 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0, 0, c[3], c[2], 0, 0, 0, 0, 0, c[20], 0, 0, 0, 0, 0, c[13], 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, a[20], 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, a[2], 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, b[20], 0, 0, 0, b[2], 0, 0, 0, c[2], 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, c[20], 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, u[4], 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, a[10], 0, 0, 0, 0, a[14], a[8], 0, a[16], 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, a[4], 0, 0, b[8], 0, 0, b[10], 0, b[14], 0, 0, 0, 0, 0, b[4], 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, b[16], 0, 0, 0, c[16], c[4], 0, 0, 0, 0, 0, 0, 0, 0, 0, c[8], 0, 0, 0, 0, 0, 0, 0, 0, c[1], c[9], 0, 0, 0, 0, c[10], 0, 0, c[14], 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, u[4], 0, 0, 0, 0, 0, 0, a[10], a[4], 0, 0, 0, a[14], a[8], 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, a[19], 0, a[16], 0, b[10], 0, b[4], 0, b[8], 0, b[14], 0, 0, 0, b[19], 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, b[16], 0, 0, 0, 0, c[16], 0, c[19], 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, c[9], c[13], 0, 0, 0, c[10], c[4], 0, c[14], c[8], 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, a[4], a[19], 0, 0, a[14], a[8], 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, a[16], 0, 0, 0, 0, b[4], 0, b[19], b[14], 0, 0, b[8], 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, b[16], 0, 0, 0, 0, 0, c[16], 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, c[13], c[20], 0, 0, 0, c[4], c[19], c[14], c[8], 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, a[19], 0, 0, 0, a[8], 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, a[16], 0, 0, 0, 0, 0, 0, b[19], 0, 0, b[8], 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, b[16], 0, 0, 0, c[16], 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, c[20], 0, 0, 0, 0, c[19], 0, c[8], 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, a[20], 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, a[1], 0, a[9], 0, 0, a[13], 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, b[9], b[1], b[13], 0, b[20], c[1], c[9], c[13], c[20], 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, u[3], a[7], 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, a[6], 0, a[18], 0, a[17], 0, a[2], 0, 0, 0, 0, 0, a[12], 0, 0, b[7], b[18], 0, 0, 0, 0, 0, 0, 0, 0, 0, b[2], b[19], b[17], 0, b[8], 0, b[6], b[12], 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, c[8], 0, c[12], 0, c[6], 0, c[17], 0, 0, 0, 0, c[2], 0, c[19], 0, c[18], 0, 0, 0, 0, 0, 0, c[7], 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, u[3], 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, a[5], 0, 0, 0, a[7], 0, 0, 0, 0, 0, 0, 0, 0, a[15], 0, a[11], 0, 0, 0, a[6], 0, 0, 0, 0, b[7], 0, 0, 0, 0, 0, 0, 0, 0, b[11], 0, 0, 0, b[1], 0, b[10], 0, b[15], 0, 0, 0, b[5], b[6], 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, c[7], c[15], 0, 0, 0, c[1], 0, 0, c[5], 0, 0, c[10], 0, c[11], 0, 0, 0, 0, 0, 0, c[6], 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, u[2], 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, a[20], a[13], 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, a[1], 0, 0, a[9], 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, b[1], 0, b[9], b[20], b[13], 0, c[1], c[9], c[13], 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, c[20], 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, u[2], 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, a[1], a[9], a[13], a[20], 0, a[19], 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, a[10], 0, 0, a[4], b[20], 0, 0, 0, b[1], b[13], 0, b[9], 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, b[10], 0, b[4], 0, b[19], 0, c[10], c[4], c[19], 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, c[20], 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, c[1], c[9], c[13], 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, a[9], a[13], a[20], 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, a[10], 0, a[4], 0, 0, a[19], 0, 0, 0, 0, b[9], b[20], 0, b[13], 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, b[4], b[10], b[19], 0, 0, c[10], c[4], c[19], 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, c[9], c[13], c[20], 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, a[13], a[20], 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, a[4], 0, a[19], 0, 0, 0, 0, 0, 0, 0, b[13], 0, 0, b[20], 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, b[19], b[4], 0, 0, 0, c[4], c[19], 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, c[13], c[20], 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, a[20], 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, a[19], 0, 0, 0, 0, 0, 0, 0, 0, 0, b[20], 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, b[19], 0, 0, 0, c[19], 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, c[20], 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, u[2], 0, 0, 0, 0, a[13], a[20], 0, 0, 0, 0, 0, 0, a[11], a[3], a[2], 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, a[15], 0, a[9], a[18], 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, b[9], b[13], b[20], 0, b[11], b[3], b[2], b[15], 0, b[18], 0, 0, 0, c[15], c[18], 0, 0, 0, 0, c[3], c[9], c[13], 0, c[2], 0, c[11], 0, 0, 0, 0, 0, 0, 0, 0, c[20], 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, a[20], 0, 0, 0, 0, 0, 0, 0, a[3], a[2], 0, 0, 0, 0, 0, 0, 0, 0, 0, a[15], 0, a[18], 0, a[13], 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, b[13], b[20], 0, 0, b[3], b[2], 0, b[18], b[15], 0, 0, 0, c[15], c[18], 0, 0, 0, 0, 0, c[2], c[13], c[20], 0, 0, 0, c[3], 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, a[13], a[20], 0, 0, a[4], a[19], 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, a[14], 0, a[8], 0, 0, 0, 0, b[13], 0, b[20], b[4], 0, 0, b[19], 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, b[8], b[14], 0, 0, 0, c[14], c[8], 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, c[13], c[20], c[4], c[19], 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, a[20], 0, 0, 0, a[19], 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, a[8], 0, 0, 0, 0, 0, 0, b[20], 0, 0, b[19], 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, b[8], 0, 0, 0, c[8], 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, c[20], 0, c[19], 0, 0, 0, 0);
 
-	std::vector<std::vector<double[120]> > M(120);
+	cv::Mat M = cv::Mat::zeros(120, 120, CV_64F);
 
-	M[0] = {u[1],0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,a[1],0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,b[1],0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,c[1],0};
-	M[1] = {u[4],u[1],0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,a[1],a[10],0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,b[1],0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,b[10],0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,c[1],0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,c[10],0};
-	M[2] = {0,u[4],u[1],0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,a[10],a[14],0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,a[1],0,0,b[10],0,0,0,0,0,0,0,0,0,0,b[1],0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,b[14],0,0,0,0,0,c[1],0,0,0,0,0,0,0,0,0,c[10],0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,c[14],0};
-	M[3] = {u[3],0,0,u[1],0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,a[11],0,0,0,0,0,0,0,0,0,0,0,0,0,a[1],0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,b[1],0,0,0,0,0,0,b[11],0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,c[11],c[1]};
-	M[4] = {0,u[3],0,u[4],u[1],0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,a[11],a[5],0,0,0,0,0,0,0,a[1],0,0,0,0,0,a[10],0,0,0,0,b[11],0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,b[1],0,0,0,0,b[10],0,0,0,0,0,0,b[5],0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,c[11],c[1],0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,c[5],c[10]};
-	M[5] = {0,0,u[3],0,u[4],u[1],0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,a[5],a[12],0,0,0,0,0,a[1],0,a[10],0,0,0,0,0,a[14],0,a[11],0,0,b[5],0,0,0,0,0,0,0,b[1],0,0,b[11],0,0,0,0,0,b[10],0,0,0,0,b[14],0,0,0,0,0,0,b[12],0,0,0,0,0,c[11],0,0,0,0,0,0,0,0,0,c[5],c[10],0,0,0,0,0,0,0,0,0,0,c[1],0,0,0,0,0,0,c[12],c[14]};
-	M[6] = {0,0,0,u[3],0,0,u[1],0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,a[1],0,0,0,0,a[15],0,0,0,0,0,0,0,0,0,0,0,0,0,a[11],0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,b[1],b[11],0,0,0,0,0,0,b[15],0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,c[1],0,0,0,0,0,0,0,0,0,0,c[15],c[11]};
-	M[7] = {0,0,0,0,u[3],0,u[4],u[1],0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,a[10],0,0,0,a[15],a[6],0,0,0,0,0,0,0,a[11],0,a[1],0,0,0,a[5],0,0,0,0,b[15],0,0,0,0,0,0,0,0,b[1],0,0,0,0,0,0,0,b[11],0,0,0,b[10],b[5],0,0,0,0,0,0,b[6],0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,c[15],c[11],0,0,0,0,0,0,c[10],0,0,0,0,c[1],0,0,0,0,0,c[6],c[5]};
-	M[8] = {0,0,0,0,0,u[3],0,u[4],u[1],0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,a[14],0,0,0,a[6],0,0,0,0,0,0,a[11],0,a[5],0,a[10],a[1],0,0,a[12],0,a[15],0,0,b[6],0,0,0,0,0,0,0,b[11],b[10],0,b[15],b[1],0,0,0,0,b[5],0,0,0,b[14],b[12],0,0,0,0,0,0,0,0,0,0,0,0,c[15],0,0,0,0,0,0,0,0,0,c[6],c[5],0,c[1],0,0,0,0,c[14],0,0,0,c[11],c[10],0,0,0,0,0,0,c[12]};
-	M[9] = {u[2],0,0,0,0,0,0,0,0,u[1],0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,a[9],a[1],0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,b[9],b[1],0,0,0,c[1],0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,c[9],0};
+	M.at<double>(0,0)=u[1]; M.at<double>(0,35)=a[1]; M.at<double>(0,83)=b[1]; M.at<double>(0,118)=c[1];
+	M.at<double>(1,0)=u[4]; M.at<double>(1,1)=u[1]; M.at<double>(1,34)=a[1]; M.at<double>(1,35)=a[10]; M.at<double>(1,54)=b[1]; M.at<double>(1,83)=b[10]; M.at<double>(1,99)=c[1]; M.at<double>(1,118)=c[10];
+	M.at<double>(2,1)=u[4]; M.at<double>(2,2)=u[1]; M.at<double>(2,34)=a[10]; M.at<double>(2,35)=a[14]; M.at<double>(2,51)=a[1]; M.at<double>(2,54)=b[10]; M.at<double>(2,65)=b[1]; M.at<double>(2,83)=b[14]; M.at<double>(2,89)=c[1]; M.at<double>(2,99)=c[10]; M.at<double>(2,118)=c[14];
+	M.at<double>(3,0)=u[3]; M.at<double>(3,3)=u[1]; M.at<double>(3,35)=a[11]; M.at<double>(3,49)=a[1]; M.at<double>(3,76)=b[1]; M.at<double>(3,83)=b[11]; M.at<double>(3,118)=c[11]; M.at<double>(3,119)=c[1];
+	M.at<double>(4,1)=u[3]; M.at<double>(4,3)=u[4]; M.at<double>(4,4)=u[1]; M.at<double>(4,34)=a[11]; M.at<double>(4,35)=a[5]; M.at<double>(4,43)=a[1]; M.at<double>(4,49)=a[10]; M.at<double>(4,54)=b[11]; M.at<double>(4,71)=b[1]; M.at<double>(4,76)=b[10]; M.at<double>(4,83)=b[5]; M.at<double>(4,99)=c[11]; M.at<double>(4,100)=c[1]; M.at<double>(4,118)=c[5]; M.at<double>(4,119)=c[10];
+	M.at<double>(5,2)=u[3]; M.at<double>(5,4)=u[4]; M.at<double>(5,5)=u[1]; M.at<double>(5,34)=a[5]; M.at<double>(5,35)=a[12]; M.at<double>(5,41)=a[1]; M.at<double>(5,43)=a[10]; M.at<double>(5,49)=a[14]; M.at<double>(5,51)=a[11]; M.at<double>(5,54)=b[5]; M.at<double>(5,62)=b[1]; M.at<double>(5,65)=b[11]; M.at<double>(5,71)=b[10]; M.at<double>(5,76)=b[14]; M.at<double>(5,83)=b[12]; M.at<double>(5,89)=c[11]; M.at<double>(5,99)=c[5]; M.at<double>(5,100)=c[10]; M.at<double>(5,111)=c[1]; M.at<double>(5,118)=c[12]; M.at<double>(5,119)=c[14];
+	M.at<double>(6,3)=u[3]; M.at<double>(6,6)=u[1]; M.at<double>(6,30)=a[1]; M.at<double>(6,35)=a[15]; M.at<double>(6,49)=a[11]; M.at<double>(6,75)=b[1]; M.at<double>(6,76)=b[11]; M.at<double>(6,83)=b[15]; M.at<double>(6,107)=c[1]; M.at<double>(6,118)=c[15]; M.at<double>(6,119)=c[11];
+	M.at<double>(7,4)=u[3]; M.at<double>(7,6)=u[4]; M.at<double>(7,7)=u[1]; M.at<double>(7,30)=a[10]; M.at<double>(7,34)=a[15]; M.at<double>(7,35)=a[6]; M.at<double>(7,43)=a[11]; M.at<double>(7,45)=a[1]; M.at<double>(7,49)=a[5]; M.at<double>(7,54)=b[15]; M.at<double>(7,63)=b[1]; M.at<double>(7,71)=b[11]; M.at<double>(7,75)=b[10]; M.at<double>(7,76)=b[5]; M.at<double>(7,83)=b[6]; M.at<double>(7,99)=c[15]; M.at<double>(7,100)=c[11]; M.at<double>(7,107)=c[10]; M.at<double>(7,112)=c[1]; M.at<double>(7,118)=c[6]; M.at<double>(7,119)=c[5];
+	M.at<double>(8,5)=u[3]; M.at<double>(8,7)=u[4]; M.at<double>(8,8)=u[1]; M.at<double>(8,30)=a[14]; M.at<double>(8,34)=a[6]; M.at<double>(8,41)=a[11]; M.at<double>(8,43)=a[5]; M.at<double>(8,45)=a[10]; M.at<double>(8,46)=a[1]; M.at<double>(8,49)=a[12]; M.at<double>(8,51)=a[15]; M.at<double>(8,54)=b[6]; M.at<double>(8,62)=b[11]; M.at<double>(8,63)=b[10]; M.at<double>(8,65)=b[15]; M.at<double>(8,66)=b[1]; M.at<double>(8,71)=b[5]; M.at<double>(8,75)=b[14]; M.at<double>(8,76)=b[12]; M.at<double>(8,89)=c[15]; M.at<double>(8,99)=c[6]; M.at<double>(8,100)=c[5]; M.at<double>(8,102)=c[1]; M.at<double>(8,107)=c[14]; M.at<double>(8,111)=c[11]; M.at<double>(8,112)=c[10]; M.at<double>(8,119)=c[12];
+	M.at<double>(9,0)=u[2]; M.at<double>(9,9)=u[1]; M.at<double>(9,35)=a[9]; M.at<double>(9,36)=a[1]; M.at<double>(9,83)=b[9]; M.at<double>(9,84)=b[1]; M.at<double>(9,88)=c[1]; M.at<double>(9,118)=c[9];
+	M.at<double>(10,1)=u[2]; M.at<double>(10,9)=u[4]; M.at<double>(10,10)=u[1]; M.at<double>(10,33)=a[1]; M.at<double>(10,34)=a[9]; M.at<double>(10,35)=a[4]; M.at<double>(10,36)=a[10]; M.at<double>(10,54)=b[9]; M.at<double>(10,59)=b[1]; M.at<double>(10,83)=b[4]; M.at<double>(10,84)=b[10]; M.at<double>(10,88)=c[10]; M.at<double>(10,99)=c[9]; M.at<double>(10,117)=c[1]; M.at<double>(10,118)=c[4];
+	M.at<double>(11,2)=u[2]; M.at<double>(11,10)=u[4]; M.at<double>(11,11)=u[1]; M.at<double>(11,28)=a[1]; M.at<double>(11,33)=a[10]; M.at<double>(11,34)=a[4]; M.at<double>(11,35)=a[8]; M.at<double>(11,36)=a[14]; M.at<double>(11,51)=a[9]; M.at<double>(11,54)=b[4]; M.at<double>(11,57)=b[1]; M.at<double>(11,59)=b[10]; M.at<double>(11,65)=b[9]; M.at<double>(11,83)=b[8]; M.at<double>(11,84)=b[14]; M.at<double>(11,88)=c[14]; M.at<double>(11,89)=c[9]; M.at<double>(11,99)=c[4]; M.at<double>(11,114)=c[1]; M.at<double>(11,117)=c[10]; M.at<double>(11,118)=c[8];
+	M.at<double>(12,3)=u[2]; M.at<double>(12,9)=u[3]; M.at<double>(12,12)=u[1]; M.at<double>(12,35)=a[3]; M.at<double>(12,36)=a[11]; M.at<double>(12,39)=a[1]; M.at<double>(12,49)=a[9]; M.at<double>(12,76)=b[9]; M.at<double>(12,79)=b[1]; M.at<double>(12,83)=b[3]; M.at<double>(12,84)=b[11]; M.at<double>(12,88)=c[11]; M.at<double>(12,96)=c[1]; M.at<double>(12,118)=c[3]; M.at<double>(12,119)=c[9];
+	M.at<double>(13,4)=u[2]; M.at<double>(13,10)=u[3]; M.at<double>(13,12)=u[4]; M.at<double>(13,13)=u[1]; M.at<double>(13,33)=a[11]; M.at<double>(13,34)=a[3]; M.at<double>(13,35)=a[17]; M.at<double>(13,36)=a[5]; M.at<double>(13,39)=a[10]; M.at<double>(13,43)=a[9]; M.at<double>(13,47)=a[1]; M.at<double>(13,49)=a[4]; M.at<double>(13,54)=b[3]; M.at<double>(13,59)=b[11]; M.at<double>(13,60)=b[1]; M.at<double>(13,71)=b[9]; M.at<double>(13,76)=b[4]; M.at<double>(13,79)=b[10]; M.at<double>(13,83)=b[17]; M.at<double>(13,84)=b[5]; M.at<double>(13,88)=c[5]; M.at<double>(13,90)=c[1]; M.at<double>(13,96)=c[10]; M.at<double>(13,99)=c[3]; M.at<double>(13,100)=c[9]; M.at<double>(13,117)=c[11]; M.at<double>(13,118)=c[17]; M.at<double>(13,119)=c[4];
+	M.at<double>(14,5)=u[2]; M.at<double>(14,11)=u[3]; M.at<double>(14,13)=u[4]; M.at<double>(14,14)=u[1]; M.at<double>(14,28)=a[11]; M.at<double>(14,33)=a[5]; M.at<double>(14,34)=a[17]; M.at<double>(14,36)=a[12]; M.at<double>(14,39)=a[14]; M.at<double>(14,41)=a[9]; M.at<double>(14,42)=a[1]; M.at<double>(14,43)=a[4]; M.at<double>(14,47)=a[10]; M.at<double>(14,49)=a[8]; M.at<double>(14,51)=a[3]; M.at<double>(14,54)=b[17]; M.at<double>(14,56)=b[1]; M.at<double>(14,57)=b[11]; M.at<double>(14,59)=b[5]; M.at<double>(14,60)=b[10]; M.at<double>(14,62)=b[9]; M.at<double>(14,65)=b[3]; M.at<double>(14,71)=b[4]; M.at<double>(14,76)=b[8]; M.at<double>(14,79)=b[14]; M.at<double>(14,84)=b[12]; M.at<double>(14,88)=c[12]; M.at<double>(14,89)=c[3]; M.at<double>(14,90)=c[10]; M.at<double>(14,96)=c[14]; M.at<double>(14,99)=c[17]; M.at<double>(14,100)=c[4]; M.at<double>(14,106)=c[1]; M.at<double>(14,111)=c[9]; M.at<double>(14,114)=c[11]; M.at<double>(14,117)=c[5]; M.at<double>(14,119)=c[8];
+	M.at<double>(15,6)=u[2]; M.at<double>(15,12)=u[3]; M.at<double>(15,15)=u[1]; M.at<double>(15,29)=a[1]; M.at<double>(15,30)=a[9]; M.at<double>(15,35)=a[18]; M.at<double>(15,36)=a[15]; M.at<double>(15,39)=a[11]; M.at<double>(15,49)=a[3]; M.at<double>(15,74)=b[1]; M.at<double>(15,75)=b[9]; M.at<double>(15,76)=b[3]; M.at<double>(15,79)=b[11]; M.at<double>(15,83)=b[18]; M.at<double>(15,84)=b[15]; M.at<double>(15,88)=c[15]; M.at<double>(15,94)=c[1]; M.at<double>(15,96)=c[11]; M.at<double>(15,107)=c[9]; M.at<double>(15,118)=c[18]; M.at<double>(15,119)=c[3];
+	M.at<double>(16,7)=u[2]; M.at<double>(16,13)=u[3]; M.at<double>(16,15)=u[4]; M.at<double>(16,16)=u[1]; M.at<double>(16,29)=a[10]; M.at<double>(16,30)=a[4]; M.at<double>(16,33)=a[15]; M.at<double>(16,34)=a[18]; M.at<double>(16,36)=a[6]; M.at<double>(16,39)=a[5]; M.at<double>(16,43)=a[3]; M.at<double>(16,44)=a[1]; M.at<double>(16,45)=a[9]; M.at<double>(16,47)=a[11]; M.at<double>(16,49)=a[17]; M.at<double>(16,54)=b[18]; M.at<double>(16,59)=b[15]; M.at<double>(16,60)=b[11]; M.at<double>(16,63)=b[9]; M.at<double>(16,68)=b[1]; M.at<double>(16,71)=b[3]; M.at<double>(16,74)=b[10]; M.at<double>(16,75)=b[4]; M.at<double>(16,76)=b[17]; M.at<double>(16,79)=b[5]; M.at<double>(16,84)=b[6]; M.at<double>(16,88)=c[6]; M.at<double>(16,90)=c[11]; M.at<double>(16,94)=c[10]; M.at<double>(16,96)=c[5]; M.at<double>(16,97)=c[1]; M.at<double>(16,99)=c[18]; M.at<double>(16,100)=c[3]; M.at<double>(16,107)=c[4]; M.at<double>(16,112)=c[9]; M.at<double>(16,117)=c[15]; M.at<double>(16,119)=c[17];
+	M.at<double>(17,8)=u[2]; M.at<double>(17,14)=u[3]; M.at<double>(17,16)=u[4]; M.at<double>(17,17)=u[1]; M.at<double>(17,28)=a[15]; M.at<double>(17,29)=a[14]; M.at<double>(17,30)=a[8]; M.at<double>(17,33)=a[6]; M.at<double>(17,39)=a[12]; M.at<double>(17,41)=a[3]; M.at<double>(17,42)=a[11]; M.at<double>(17,43)=a[17]; M.at<double>(17,44)=a[10]; M.at<double>(17,45)=a[4]; M.at<double>(17,46)=a[9]; M.at<double>(17,47)=a[5]; M.at<double>(17,51)=a[18]; M.at<double>(17,56)=b[11]; M.at<double>(17,57)=b[15]; M.at<double>(17,59)=b[6]; M.at<double>(17,60)=b[5]; M.at<double>(17,62)=b[3]; M.at<double>(17,63)=b[4]; M.at<double>(17,65)=b[18]; M.at<double>(17,66)=b[9]; M.at<double>(17,68)=b[10]; M.at<double>(17,71)=b[17]; M.at<double>(17,74)=b[14]; M.at<double>(17,75)=b[8]; M.at<double>(17,79)=b[12]; M.at<double>(17,89)=c[18]; M.at<double>(17,90)=c[5]; M.at<double>(17,94)=c[14]; M.at<double>(17,96)=c[12]; M.at<double>(17,97)=c[10]; M.at<double>(17,100)=c[17]; M.at<double>(17,102)=c[9]; M.at<double>(17,106)=c[11]; M.at<double>(17,107)=c[8]; M.at<double>(17,111)=c[3]; M.at<double>(17,112)=c[4]; M.at<double>(17,114)=c[15]; M.at<double>(17,117)=c[6];
+	M.at<double>(18,9)=u[2]; M.at<double>(18,18)=u[1]; M.at<double>(18,35)=a[13]; M.at<double>(18,36)=a[9]; M.at<double>(18,53)=a[1]; M.at<double>(18,82)=b[1]; M.at<double>(18,83)=b[13]; M.at<double>(18,84)=b[9]; M.at<double>(18,87)=c[1]; M.at<double>(18,88)=c[9]; M.at<double>(18,118)=c[13];
+	M.at<double>(19,10)=u[2]; M.at<double>(19,18)=u[4]; M.at<double>(19,19)=u[1]; M.at<double>(19,32)=a[1]; M.at<double>(19,33)=a[9]; M.at<double>(19,34)=a[13]; M.at<double>(19,35)=a[19]; M.at<double>(19,36)=a[4]; M.at<double>(19,53)=a[10]; M.at<double>(19,54)=b[13]; M.at<double>(19,59)=b[9]; M.at<double>(19,61)=b[1]; M.at<double>(19,82)=b[10]; M.at<double>(19,83)=b[19]; M.at<double>(19,84)=b[4]; M.at<double>(19,87)=c[10]; M.at<double>(19,88)=c[4]; M.at<double>(19,99)=c[13]; M.at<double>(19,116)=c[1]; M.at<double>(19,117)=c[9]; M.at<double>(19,118)=c[19];
+	M.at<double>(20,11)=u[2]; M.at<double>(20,19)=u[4]; M.at<double>(20,20)=u[1]; M.at<double>(20,27)=a[1]; M.at<double>(20,28)=a[9]; M.at<double>(20,32)=a[10]; M.at<double>(20,33)=a[4]; M.at<double>(20,34)=a[19]; M.at<double>(20,36)=a[8]; M.at<double>(20,51)=a[13]; M.at<double>(20,53)=a[14]; M.at<double>(20,54)=b[19]; M.at<double>(20,55)=b[1]; M.at<double>(20,57)=b[9]; M.at<double>(20,59)=b[4]; M.at<double>(20,61)=b[10]; M.at<double>(20,65)=b[13]; M.at<double>(20,82)=b[14]; M.at<double>(20,84)=b[8]; M.at<double>(20,87)=c[14]; M.at<double>(20,88)=c[8]; M.at<double>(20,89)=c[13]; M.at<double>(20,99)=c[19]; M.at<double>(20,113)=c[1]; M.at<double>(20,114)=c[9]; M.at<double>(20,116)=c[10]; M.at<double>(20,117)=c[4];
+	M.at<double>(21,12)=u[2]; M.at<double>(21,18)=u[3]; M.at<double>(21,21)=u[1]; M.at<double>(21,35)=a[2]; M.at<double>(21,36)=a[3]; M.at<double>(21,38)=a[1]; M.at<double>(21,39)=a[9]; M.at<double>(21,49)=a[13]; M.at<double>(21,53)=a[11]; M.at<double>(21,76)=b[13]; M.at<double>(21,78)=b[1]; M.at<double>(21,79)=b[9]; M.at<double>(21,82)=b[11]; M.at<double>(21,83)=b[2]; M.at<double>(21,84)=b[3]; M.at<double>(21,87)=c[11]; M.at<double>(21,88)=c[3]; M.at<double>(21,92)=c[1]; M.at<double>(21,96)=c[9]; M.at<double>(21,118)=c[2]; M.at<double>(21,119)=c[13];
+	M.at<double>(22,13)=u[2]; M.at<double>(22,19)=u[3]; M.at<double>(22,21)=u[4]; M.at<double>(22,22)=u[1]; M.at<double>(22,32)=a[11]; M.at<double>(22,33)=a[3]; M.at<double>(22,34)=a[2]; M.at<double>(22,36)=a[17]; M.at<double>(22,38)=a[10]; M.at<double>(22,39)=a[4]; M.at<double>(22,40)=a[1]; M.at<double>(22,43)=a[13]; M.at<double>(22,47)=a[9]; M.at<double>(22,49)=a[19]; M.at<double>(22,53)=a[5]; M.at<double>(22,54)=b[2]; M.at<double>(22,59)=b[3]; M.at<double>(22,60)=b[9]; M.at<double>(22,61)=b[11]; M.at<double>(22,71)=b[13]; M.at<double>(22,72)=b[1]; M.at<double>(22,76)=b[19]; M.at<double>(22,78)=b[10]; M.at<double>(22,79)=b[4]; M.at<double>(22,82)=b[5]; M.at<double>(22,84)=b[17]; M.at<double>(22,87)=c[5]; M.at<double>(22,88)=c[17]; M.at<double>(22,90)=c[9]; M.at<double>(22,92)=c[10]; M.at<double>(22,95)=c[1]; M.at<double>(22,96)=c[4]; M.at<double>(22,99)=c[2]; M.at<double>(22,100)=c[13]; M.at<double>(22,116)=c[11]; M.at<double>(22,117)=c[3]; M.at<double>(22,119)=c[19];
+	M.at<double>(23,14)=u[2]; M.at<double>(23,20)=u[3]; M.at<double>(23,22)=u[4]; M.at<double>(23,23)=u[1]; M.at<double>(23,27)=a[11]; M.at<double>(23,28)=a[3]; M.at<double>(23,32)=a[5]; M.at<double>(23,33)=a[17]; M.at<double>(23,38)=a[14]; M.at<double>(23,39)=a[8]; M.at<double>(23,40)=a[10]; M.at<double>(23,41)=a[13]; M.at<double>(23,42)=a[9]; M.at<double>(23,43)=a[19]; M.at<double>(23,47)=a[4]; M.at<double>(23,51)=a[2]; M.at<double>(23,53)=a[12]; M.at<double>(23,55)=b[11]; M.at<double>(23,56)=b[9]; M.at<double>(23,57)=b[3]; M.at<double>(23,59)=b[17]; M.at<double>(23,60)=b[4]; M.at<double>(23,61)=b[5]; M.at<double>(23,62)=b[13]; M.at<double>(23,65)=b[2]; M.at<double>(23,71)=b[19]; M.at<double>(23,72)=b[10]; M.at<double>(23,78)=b[14]; M.at<double>(23,79)=b[8]; M.at<double>(23,82)=b[12]; M.at<double>(23,87)=c[12]; M.at<double>(23,89)=c[2]; M.at<double>(23,90)=c[4]; M.at<double>(23,92)=c[14]; M.at<double>(23,95)=c[10]; M.at<double>(23,96)=c[8]; M.at<double>(23,100)=c[19]; M.at<double>(23,106)=c[9]; M.at<double>(23,111)=c[13]; M.at<double>(23,113)=c[11]; M.at<double>(23,114)=c[3]; M.at<double>(23,116)=c[5]; M.at<double>(23,117)=c[17];
+	M.at<double>(24,15)=u[2]; M.at<double>(24,21)=u[3]; M.at<double>(24,24)=u[1]; M.at<double>(24,29)=a[9]; M.at<double>(24,30)=a[13]; M.at<double>(24,36)=a[18]; M.at<double>(24,38)=a[11]; M.at<double>(24,39)=a[3]; M.at<double>(24,49)=a[2]; M.at<double>(24,52)=a[1]; M.at<double>(24,53)=a[15]; M.at<double>(24,73)=b[1]; M.at<double>(24,74)=b[9]; M.at<double>(24,75)=b[13]; M.at<double>(24,76)=b[2]; M.at<double>(24,78)=b[11]; M.at<double>(24,79)=b[3]; M.at<double>(24,82)=b[15]; M.at<double>(24,84)=b[18]; M.at<double>(24,87)=c[15]; M.at<double>(24,88)=c[18]; M.at<double>(24,92)=c[11]; M.at<double>(24,93)=c[1]; M.at<double>(24,94)=c[9]; M.at<double>(24,96)=c[3]; M.at<double>(24,107)=c[13]; M.at<double>(24,119)=c[2];
+	M.at<double>(25,16)=u[2]; M.at<double>(25,22)=u[3]; M.at<double>(25,24)=u[4]; M.at<double>(25,25)=u[1]; M.at<double>(25,29)=a[4]; M.at<double>(25,30)=a[19]; M.at<double>(25,32)=a[15]; M.at<double>(25,33)=a[18]; M.at<double>(25,38)=a[5]; M.at<double>(25,39)=a[17]; M.at<double>(25,40)=a[11]; M.at<double>(25,43)=a[2]; M.at<double>(25,44)=a[9]; M.at<double>(25,45)=a[13]; M.at<double>(25,47)=a[3]; M.at<double>(25,52)=a[10]; M.at<double>(25,53)=a[6]; M.at<double>(25,59)=b[18]; M.at<double>(25,60)=b[3]; M.at<double>(25,61)=b[15]; M.at<double>(25,63)=b[13]; M.at<double>(25,68)=b[9]; M.at<double>(25,71)=b[2]; M.at<double>(25,72)=b[11]; M.at<double>(25,73)=b[10]; M.at<double>(25,74)=b[4]; M.at<double>(25,75)=b[19]; M.at<double>(25,78)=b[5]; M.at<double>(25,79)=b[17]; M.at<double>(25,82)=b[6]; M.at<double>(25,87)=c[6]; M.at<double>(25,90)=c[3]; M.at<double>(25,92)=c[5]; M.at<double>(25,93)=c[10]; M.at<double>(25,94)=c[4]; M.at<double>(25,95)=c[11]; M.at<double>(25,96)=c[17]; M.at<double>(25,97)=c[9]; M.at<double>(25,100)=c[2]; M.at<double>(25,107)=c[19]; M.at<double>(25,112)=c[13]; M.at<double>(25,116)=c[15]; M.at<double>(25,117)=c[18];
+	M.at<double>(26,17)=u[2]; M.at<double>(26,23)=u[3]; M.at<double>(26,25)=u[4]; M.at<double>(26,26)=u[1]; M.at<double>(26,27)=a[15]; M.at<double>(26,28)=a[18]; M.at<double>(26,29)=a[8]; M.at<double>(26,32)=a[6]; M.at<double>(26,38)=a[12]; M.at<double>(26,40)=a[5]; M.at<double>(26,41)=a[2]; M.at<double>(26,42)=a[3]; M.at<double>(26,44)=a[4]; M.at<double>(26,45)=a[19]; M.at<double>(26,46)=a[13]; M.at<double>(26,47)=a[17]; M.at<double>(26,52)=a[14]; M.at<double>(26,55)=b[15]; M.at<double>(26,56)=b[3]; M.at<double>(26,57)=b[18]; M.at<double>(26,60)=b[17]; M.at<double>(26,61)=b[6]; M.at<double>(26,62)=b[2]; M.at<double>(26,63)=b[19]; M.at<double>(26,66)=b[13]; M.at<double>(26,68)=b[4]; M.at<double>(26,72)=b[5]; M.at<double>(26,73)=b[14]; M.at<double>(26,74)=b[8]; M.at<double>(26,78)=b[12]; M.at<double>(26,90)=c[17]; M.at<double>(26,92)=c[12]; M.at<double>(26,93)=c[14]; M.at<double>(26,94)=c[8]; M.at<double>(26,95)=c[5]; M.at<double>(26,97)=c[4]; M.at<double>(26,102)=c[13]; M.at<double>(26,106)=c[3]; M.at<double>(26,111)=c[2]; M.at<double>(26,112)=c[19]; M.at<double>(26,113)=c[15]; M.at<double>(26,114)=c[18]; M.at<double>(26,116)=c[6];
+	M.at<double>(27,15)=u[3]; M.at<double>(27,29)=a[11]; M.at<double>(27,30)=a[3]; M.at<double>(27,36)=a[7]; M.at<double>(27,39)=a[15]; M.at<double>(27,49)=a[18]; M.at<double>(27,69)=b[9]; M.at<double>(27,70)=b[1]; M.at<double>(27,74)=b[11]; M.at<double>(27,75)=b[3]; M.at<double>(27,76)=b[18]; M.at<double>(27,79)=b[15]; M.at<double>(27,84)=b[7]; M.at<double>(27,88)=c[7]; M.at<double>(27,91)=c[1]; M.at<double>(27,94)=c[11]; M.at<double>(27,96)=c[15]; M.at<double>(27,107)=c[3]; M.at<double>(27,110)=c[9]; M.at<double>(27,119)=c[18];
+	M.at<double>(28,6)=u[3]; M.at<double>(28,30)=a[11]; M.at<double>(28,35)=a[7]; M.at<double>(28,49)=a[15]; M.at<double>(28,69)=b[1]; M.at<double>(28,75)=b[11]; M.at<double>(28,76)=b[15]; M.at<double>(28,83)=b[7]; M.at<double>(28,107)=c[11]; M.at<double>(28,110)=c[1]; M.at<double>(28,118)=c[7]; M.at<double>(28,119)=c[15];
+	M.at<double>(29,24)=u[3]; M.at<double>(29,29)=a[3]; M.at<double>(29,30)=a[2]; M.at<double>(29,38)=a[15]; M.at<double>(29,39)=a[18]; M.at<double>(29,52)=a[11]; M.at<double>(29,53)=a[7]; M.at<double>(29,69)=b[13]; M.at<double>(29,70)=b[9]; M.at<double>(29,73)=b[11]; M.at<double>(29,74)=b[3]; M.at<double>(29,75)=b[2]; M.at<double>(29,78)=b[15]; M.at<double>(29,79)=b[18]; M.at<double>(29,82)=b[7]; M.at<double>(29,87)=c[7]; M.at<double>(29,91)=c[9]; M.at<double>(29,92)=c[15]; M.at<double>(29,93)=c[11]; M.at<double>(29,94)=c[3]; M.at<double>(29,96)=c[18]; M.at<double>(29,107)=c[2]; M.at<double>(29,110)=c[13];
+	M.at<double>(30,37)=a[18]; M.at<double>(30,48)=a[7]; M.at<double>(30,52)=a[2]; M.at<double>(30,70)=b[20]; M.at<double>(30,73)=b[2]; M.at<double>(30,77)=b[18]; M.at<double>(30,81)=b[7]; M.at<double>(30,85)=c[7]; M.at<double>(30,91)=c[20]; M.at<double>(30,93)=c[2]; M.at<double>(30,98)=c[18];
+	M.at<double>(31,29)=a[2]; M.at<double>(31,37)=a[15]; M.at<double>(31,38)=a[18]; M.at<double>(31,50)=a[7]; M.at<double>(31,52)=a[3]; M.at<double>(31,69)=b[20]; M.at<double>(31,70)=b[13]; M.at<double>(31,73)=b[3]; M.at<double>(31,74)=b[2]; M.at<double>(31,77)=b[15]; M.at<double>(31,78)=b[18]; M.at<double>(31,80)=b[7]; M.at<double>(31,86)=c[7]; M.at<double>(31,91)=c[13]; M.at<double>(31,92)=c[18]; M.at<double>(31,93)=c[3]; M.at<double>(31,94)=c[2]; M.at<double>(31,98)=c[15]; M.at<double>(31,110)=c[20];
+	M.at<double>(32,48)=a[9]; M.at<double>(32,50)=a[13]; M.at<double>(32,53)=a[20]; M.at<double>(32,80)=b[13]; M.at<double>(32,81)=b[9]; M.at<double>(32,82)=b[20]; M.at<double>(32,85)=c[9]; M.at<double>(32,86)=c[13]; M.at<double>(32,87)=c[20];
+	M.at<double>(33,29)=a[15]; M.at<double>(33,30)=a[18]; M.at<double>(33,39)=a[7]; M.at<double>(33,64)=b[9]; M.at<double>(33,69)=b[3]; M.at<double>(33,70)=b[11]; M.at<double>(33,74)=b[15]; M.at<double>(33,75)=b[18]; M.at<double>(33,79)=b[7]; M.at<double>(33,91)=c[11]; M.at<double>(33,94)=c[15]; M.at<double>(33,96)=c[7]; M.at<double>(33,103)=c[9]; M.at<double>(33,107)=c[18]; M.at<double>(33,110)=c[3];
+	M.at<double>(34,29)=a[18]; M.at<double>(34,38)=a[7]; M.at<double>(34,52)=a[15]; M.at<double>(34,64)=b[13]; M.at<double>(34,69)=b[2]; M.at<double>(34,70)=b[3]; M.at<double>(34,73)=b[15]; M.at<double>(34,74)=b[18]; M.at<double>(34,78)=b[7]; M.at<double>(34,91)=c[3]; M.at<double>(34,92)=c[7]; M.at<double>(34,93)=c[15]; M.at<double>(34,94)=c[18]; M.at<double>(34,103)=c[13]; M.at<double>(34,110)=c[2];
+	M.at<double>(35,37)=a[7]; M.at<double>(35,52)=a[18]; M.at<double>(35,64)=b[20]; M.at<double>(35,70)=b[2]; M.at<double>(35,73)=b[18]; M.at<double>(35,77)=b[7]; M.at<double>(35,91)=c[2]; M.at<double>(35,93)=c[18]; M.at<double>(35,98)=c[7]; M.at<double>(35,103)=c[20];
+	M.at<double>(36,5)=u[4]; M.at<double>(36,34)=a[12]; M.at<double>(36,41)=a[10]; M.at<double>(36,43)=a[14]; M.at<double>(36,49)=a[16]; M.at<double>(36,51)=a[5]; M.at<double>(36,54)=b[12]; M.at<double>(36,62)=b[10]; M.at<double>(36,65)=b[5]; M.at<double>(36,71)=b[14]; M.at<double>(36,76)=b[16]; M.at<double>(36,89)=c[5]; M.at<double>(36,99)=c[12]; M.at<double>(36,100)=c[14]; M.at<double>(36,101)=c[1]; M.at<double>(36,109)=c[11]; M.at<double>(36,111)=c[10]; M.at<double>(36,119)=c[16];
+	M.at<double>(37,2)=u[4]; M.at<double>(37,34)=a[14]; M.at<double>(37,35)=a[16]; M.at<double>(37,51)=a[10]; M.at<double>(37,54)=b[14]; M.at<double>(37,65)=b[10]; M.at<double>(37,83)=b[16]; M.at<double>(37,89)=c[10]; M.at<double>(37,99)=c[14]; M.at<double>(37,109)=c[1]; M.at<double>(37,118)=c[16];
+	M.at<double>(38,30)=a[15]; M.at<double>(38,49)=a[7]; M.at<double>(38,64)=b[1]; M.at<double>(38,69)=b[11]; M.at<double>(38,75)=b[15]; M.at<double>(38,76)=b[7]; M.at<double>(38,103)=c[1]; M.at<double>(38,107)=c[15]; M.at<double>(38,110)=c[11]; M.at<double>(38,119)=c[7];
+	M.at<double>(39,28)=a[14]; M.at<double>(39,33)=a[16]; M.at<double>(39,51)=a[8]; M.at<double>(39,57)=b[14]; M.at<double>(39,59)=b[16]; M.at<double>(39,65)=b[8]; M.at<double>(39,89)=c[8]; M.at<double>(39,105)=c[9]; M.at<double>(39,108)=c[10]; M.at<double>(39,109)=c[4]; M.at<double>(39,114)=c[14]; M.at<double>(39,117)=c[16];
+	M.at<double>(40,27)=a[14]; M.at<double>(40,28)=a[8]; M.at<double>(40,32)=a[16]; M.at<double>(40,55)=b[14]; M.at<double>(40,57)=b[8]; M.at<double>(40,61)=b[16]; M.at<double>(40,105)=c[13]; M.at<double>(40,108)=c[4]; M.at<double>(40,109)=c[19]; M.at<double>(40,113)=c[14]; M.at<double>(40,114)=c[8]; M.at<double>(40,116)=c[16];
+	M.at<double>(41,30)=a[7]; M.at<double>(41,64)=b[11]; M.at<double>(41,69)=b[15]; M.at<double>(41,75)=b[7]; M.at<double>(41,103)=c[11]; M.at<double>(41,107)=c[7]; M.at<double>(41,110)=c[15];
+	M.at<double>(42,27)=a[8]; M.at<double>(42,31)=a[16]; M.at<double>(42,55)=b[8]; M.at<double>(42,58)=b[16]; M.at<double>(42,105)=c[20]; M.at<double>(42,108)=c[19]; M.at<double>(42,113)=c[8]; M.at<double>(42,115)=c[16];
+	M.at<double>(43,29)=a[7]; M.at<double>(43,64)=b[3]; M.at<double>(43,69)=b[18]; M.at<double>(43,70)=b[15]; M.at<double>(43,74)=b[7]; M.at<double>(43,91)=c[15]; M.at<double>(43,94)=c[7]; M.at<double>(43,103)=c[3]; M.at<double>(43,110)=c[18];
+	M.at<double>(44,28)=a[16]; M.at<double>(44,57)=b[16]; M.at<double>(44,105)=c[4]; M.at<double>(44,108)=c[14]; M.at<double>(44,109)=c[8]; M.at<double>(44,114)=c[16];
+	M.at<double>(45,27)=a[16]; M.at<double>(45,55)=b[16]; M.at<double>(45,105)=c[19]; M.at<double>(45,108)=c[8]; M.at<double>(45,113)=c[16];
+	M.at<double>(46,52)=a[7]; M.at<double>(46,64)=b[2]; M.at<double>(46,70)=b[18]; M.at<double>(46,73)=b[7]; M.at<double>(46,91)=c[18]; M.at<double>(46,93)=c[7]; M.at<double>(46,103)=c[2];
+	M.at<double>(47,40)=a[7]; M.at<double>(47,44)=a[18]; M.at<double>(47,52)=a[6]; M.at<double>(47,64)=b[19]; M.at<double>(47,67)=b[2]; M.at<double>(47,68)=b[18]; M.at<double>(47,70)=b[17]; M.at<double>(47,72)=b[7]; M.at<double>(47,73)=b[6]; M.at<double>(47,91)=c[17]; M.at<double>(47,93)=c[6]; M.at<double>(47,95)=c[7]; M.at<double>(47,97)=c[18]; M.at<double>(47,103)=c[19]; M.at<double>(47,104)=c[2];
+	M.at<double>(48,30)=a[6]; M.at<double>(48,43)=a[7]; M.at<double>(48,45)=a[15]; M.at<double>(48,63)=b[15]; M.at<double>(48,64)=b[10]; M.at<double>(48,67)=b[11]; M.at<double>(48,69)=b[5]; M.at<double>(48,71)=b[7]; M.at<double>(48,75)=b[6]; M.at<double>(48,100)=c[7]; M.at<double>(48,103)=c[10]; M.at<double>(48,104)=c[11]; M.at<double>(48,107)=c[6]; M.at<double>(48,110)=c[5]; M.at<double>(48,112)=c[15];
+	M.at<double>(49,41)=a[12]; M.at<double>(49,45)=a[16]; M.at<double>(49,46)=a[14]; M.at<double>(49,62)=b[12]; M.at<double>(49,63)=b[16]; M.at<double>(49,66)=b[14]; M.at<double>(49,101)=c[5]; M.at<double>(49,102)=c[14]; M.at<double>(49,105)=c[15]; M.at<double>(49,109)=c[6]; M.at<double>(49,111)=c[12]; M.at<double>(49,112)=c[16];
+	M.at<double>(50,41)=a[16]; M.at<double>(50,62)=b[16]; M.at<double>(50,101)=c[14]; M.at<double>(50,105)=c[5]; M.at<double>(50,109)=c[12]; M.at<double>(50,111)=c[16];
+	M.at<double>(51,64)=b[18]; M.at<double>(51,70)=b[7]; M.at<double>(51,91)=c[7]; M.at<double>(51,103)=c[18];
+	M.at<double>(52,41)=a[6]; M.at<double>(52,45)=a[12]; M.at<double>(52,46)=a[5]; M.at<double>(52,62)=b[6]; M.at<double>(52,63)=b[12]; M.at<double>(52,66)=b[5]; M.at<double>(52,67)=b[14]; M.at<double>(52,69)=b[16]; M.at<double>(52,101)=c[15]; M.at<double>(52,102)=c[5]; M.at<double>(52,104)=c[14]; M.at<double>(52,109)=c[7]; M.at<double>(52,110)=c[16]; M.at<double>(52,111)=c[6]; M.at<double>(52,112)=c[12];
+	M.at<double>(53,64)=b[15]; M.at<double>(53,69)=b[7]; M.at<double>(53,103)=c[15]; M.at<double>(53,110)=c[7];
+	M.at<double>(54,105)=c[14]; M.at<double>(54,109)=c[16];
+	M.at<double>(55,44)=a[7]; M.at<double>(55,64)=b[17]; M.at<double>(55,67)=b[18]; M.at<double>(55,68)=b[7]; M.at<double>(55,70)=b[6]; M.at<double>(55,91)=c[6]; M.at<double>(55,97)=c[7]; M.at<double>(55,103)=c[17]; M.at<double>(55,104)=c[18];
+	M.at<double>(56,105)=c[8]; M.at<double>(56,108)=c[16];
+	M.at<double>(57,64)=b[6]; M.at<double>(57,67)=b[7]; M.at<double>(57,103)=c[6]; M.at<double>(57,104)=c[7];
+	M.at<double>(58,46)=a[7]; M.at<double>(58,64)=b[12]; M.at<double>(58,66)=b[7]; M.at<double>(58,67)=b[6]; M.at<double>(58,102)=c[7]; M.at<double>(58,103)=c[12]; M.at<double>(58,104)=c[6];
+	M.at<double>(59,8)=u[4]; M.at<double>(59,30)=a[16]; M.at<double>(59,41)=a[5]; M.at<double>(59,43)=a[12]; M.at<double>(59,45)=a[14]; M.at<double>(59,46)=a[10]; M.at<double>(59,51)=a[6]; M.at<double>(59,62)=b[5]; M.at<double>(59,63)=b[14]; M.at<double>(59,65)=b[6]; M.at<double>(59,66)=b[10]; M.at<double>(59,71)=b[12]; M.at<double>(59,75)=b[16]; M.at<double>(59,89)=c[6]; M.at<double>(59,100)=c[12]; M.at<double>(59,101)=c[11]; M.at<double>(59,102)=c[10]; M.at<double>(59,107)=c[16]; M.at<double>(59,109)=c[15]; M.at<double>(59,111)=c[5]; M.at<double>(59,112)=c[14];
+	M.at<double>(60,8)=u[3]; M.at<double>(60,30)=a[12]; M.at<double>(60,41)=a[15]; M.at<double>(60,43)=a[6]; M.at<double>(60,45)=a[5]; M.at<double>(60,46)=a[11]; M.at<double>(60,51)=a[7]; M.at<double>(60,62)=b[15]; M.at<double>(60,63)=b[5]; M.at<double>(60,65)=b[7]; M.at<double>(60,66)=b[11]; M.at<double>(60,67)=b[10]; M.at<double>(60,69)=b[14]; M.at<double>(60,71)=b[6]; M.at<double>(60,75)=b[12]; M.at<double>(60,89)=c[7]; M.at<double>(60,100)=c[6]; M.at<double>(60,102)=c[11]; M.at<double>(60,104)=c[10]; M.at<double>(60,107)=c[12]; M.at<double>(60,110)=c[14]; M.at<double>(60,111)=c[15]; M.at<double>(60,112)=c[5];
+	M.at<double>(61,42)=a[16]; M.at<double>(61,56)=b[16]; M.at<double>(61,101)=c[8]; M.at<double>(61,105)=c[17]; M.at<double>(61,106)=c[16]; M.at<double>(61,108)=c[12];
+	M.at<double>(62,64)=b[7]; M.at<double>(62,103)=c[7];
+	M.at<double>(63,105)=c[16];
+	M.at<double>(64,46)=a[12]; M.at<double>(64,66)=b[12]; M.at<double>(64,67)=b[16]; M.at<double>(64,101)=c[6]; M.at<double>(64,102)=c[12]; M.at<double>(64,104)=c[16]; M.at<double>(64,105)=c[7];
+	M.at<double>(65,46)=a[6]; M.at<double>(65,64)=b[16]; M.at<double>(65,66)=b[6]; M.at<double>(65,67)=b[12]; M.at<double>(65,101)=c[7]; M.at<double>(65,102)=c[6]; M.at<double>(65,103)=c[16]; M.at<double>(65,104)=c[12];
+	M.at<double>(66,46)=a[16]; M.at<double>(66,66)=b[16]; M.at<double>(66,101)=c[12]; M.at<double>(66,102)=c[16]; M.at<double>(66,105)=c[6];
+	M.at<double>(67,101)=c[16]; M.at<double>(67,105)=c[12];
+	M.at<double>(68,41)=a[14]; M.at<double>(68,43)=a[16]; M.at<double>(68,51)=a[12]; M.at<double>(68,62)=b[14]; M.at<double>(68,65)=b[12]; M.at<double>(68,71)=b[16]; M.at<double>(68,89)=c[12]; M.at<double>(68,100)=c[16]; M.at<double>(68,101)=c[10]; M.at<double>(68,105)=c[11]; M.at<double>(68,109)=c[5]; M.at<double>(68,111)=c[14];
+	M.at<double>(69,37)=a[2]; M.at<double>(69,48)=a[18]; M.at<double>(69,52)=a[20]; M.at<double>(69,73)=b[20]; M.at<double>(69,77)=b[2]; M.at<double>(69,81)=b[18]; M.at<double>(69,85)=c[18]; M.at<double>(69,93)=c[20]; M.at<double>(69,98)=c[2];
+	M.at<double>(70,20)=u[2]; M.at<double>(70,27)=a[9]; M.at<double>(70,28)=a[13]; M.at<double>(70,31)=a[10]; M.at<double>(70,32)=a[4]; M.at<double>(70,33)=a[19]; M.at<double>(70,50)=a[14]; M.at<double>(70,51)=a[20]; M.at<double>(70,53)=a[8]; M.at<double>(70,55)=b[9]; M.at<double>(70,57)=b[13]; M.at<double>(70,58)=b[10]; M.at<double>(70,59)=b[19]; M.at<double>(70,61)=b[4]; M.at<double>(70,65)=b[20]; M.at<double>(70,80)=b[14]; M.at<double>(70,82)=b[8]; M.at<double>(70,86)=c[14]; M.at<double>(70,87)=c[8]; M.at<double>(70,89)=c[20]; M.at<double>(70,113)=c[9]; M.at<double>(70,114)=c[13]; M.at<double>(70,115)=c[10]; M.at<double>(70,116)=c[4]; M.at<double>(70,117)=c[19];
+	M.at<double>(71,45)=a[7]; M.at<double>(71,63)=b[7]; M.at<double>(71,64)=b[5]; M.at<double>(71,67)=b[15]; M.at<double>(71,69)=b[6]; M.at<double>(71,103)=c[5]; M.at<double>(71,104)=c[15]; M.at<double>(71,110)=c[6]; M.at<double>(71,112)=c[7];
+	M.at<double>(72,41)=a[7]; M.at<double>(72,45)=a[6]; M.at<double>(72,46)=a[15]; M.at<double>(72,62)=b[7]; M.at<double>(72,63)=b[6]; M.at<double>(72,64)=b[14]; M.at<double>(72,66)=b[15]; M.at<double>(72,67)=b[5]; M.at<double>(72,69)=b[12]; M.at<double>(72,102)=c[15]; M.at<double>(72,103)=c[14]; M.at<double>(72,104)=c[5]; M.at<double>(72,110)=c[12]; M.at<double>(72,111)=c[7]; M.at<double>(72,112)=c[6];
+	M.at<double>(73,48)=a[13]; M.at<double>(73,50)=a[20]; M.at<double>(73,80)=b[20]; M.at<double>(73,81)=b[13]; M.at<double>(73,85)=c[13]; M.at<double>(73,86)=c[20];
+	M.at<double>(74,25)=u[3]; M.at<double>(74,29)=a[17]; M.at<double>(74,32)=a[7]; M.at<double>(74,38)=a[6]; M.at<double>(74,40)=a[15]; M.at<double>(74,44)=a[3]; M.at<double>(74,45)=a[2]; M.at<double>(74,47)=a[18]; M.at<double>(74,52)=a[5]; M.at<double>(74,60)=b[18]; M.at<double>(74,61)=b[7]; M.at<double>(74,63)=b[2]; M.at<double>(74,67)=b[13]; M.at<double>(74,68)=b[3]; M.at<double>(74,69)=b[19]; M.at<double>(74,70)=b[4]; M.at<double>(74,72)=b[15]; M.at<double>(74,73)=b[5]; M.at<double>(74,74)=b[17]; M.at<double>(74,78)=b[6]; M.at<double>(74,90)=c[18]; M.at<double>(74,91)=c[4]; M.at<double>(74,92)=c[6]; M.at<double>(74,93)=c[5]; M.at<double>(74,94)=c[17]; M.at<double>(74,95)=c[15]; M.at<double>(74,97)=c[3]; M.at<double>(74,104)=c[13]; M.at<double>(74,110)=c[19]; M.at<double>(74,112)=c[2]; M.at<double>(74,116)=c[7];
+	M.at<double>(75,21)=u[2]; M.at<double>(75,36)=a[2]; M.at<double>(75,37)=a[1]; M.at<double>(75,38)=a[9]; M.at<double>(75,39)=a[13]; M.at<double>(75,49)=a[20]; M.at<double>(75,50)=a[11]; M.at<double>(75,53)=a[3]; M.at<double>(75,76)=b[20]; M.at<double>(75,77)=b[1]; M.at<double>(75,78)=b[9]; M.at<double>(75,79)=b[13]; M.at<double>(75,80)=b[11]; M.at<double>(75,82)=b[3]; M.at<double>(75,84)=b[2]; M.at<double>(75,86)=c[11]; M.at<double>(75,87)=c[3]; M.at<double>(75,88)=c[2]; M.at<double>(75,92)=c[9]; M.at<double>(75,96)=c[13]; M.at<double>(75,98)=c[1]; M.at<double>(75,119)=c[20];
+	M.at<double>(76,48)=a[20]; M.at<double>(76,81)=b[20]; M.at<double>(76,85)=c[20];
+	M.at<double>(77,34)=a[16]; M.at<double>(77,51)=a[14]; M.at<double>(77,54)=b[16]; M.at<double>(77,65)=b[14]; M.at<double>(77,89)=c[14]; M.at<double>(77,99)=c[16]; M.at<double>(77,105)=c[1]; M.at<double>(77,109)=c[10];
+	M.at<double>(78,27)=a[17]; M.at<double>(78,31)=a[12]; M.at<double>(78,37)=a[16]; M.at<double>(78,40)=a[8]; M.at<double>(78,42)=a[19]; M.at<double>(78,55)=b[17]; M.at<double>(78,56)=b[19]; M.at<double>(78,58)=b[12]; M.at<double>(78,72)=b[8]; M.at<double>(78,77)=b[16]; M.at<double>(78,95)=c[8]; M.at<double>(78,98)=c[16]; M.at<double>(78,101)=c[20]; M.at<double>(78,106)=c[19]; M.at<double>(78,108)=c[2]; M.at<double>(78,113)=c[17]; M.at<double>(78,115)=c[12];
+	M.at<double>(79,42)=a[12]; M.at<double>(79,44)=a[16]; M.at<double>(79,46)=a[8]; M.at<double>(79,56)=b[12]; M.at<double>(79,66)=b[8]; M.at<double>(79,68)=b[16]; M.at<double>(79,97)=c[16]; M.at<double>(79,101)=c[17]; M.at<double>(79,102)=c[8]; M.at<double>(79,105)=c[18]; M.at<double>(79,106)=c[12]; M.at<double>(79,108)=c[6];
+	M.at<double>(80,14)=u[4]; M.at<double>(80,28)=a[5]; M.at<double>(80,33)=a[12]; M.at<double>(80,39)=a[16]; M.at<double>(80,41)=a[4]; M.at<double>(80,42)=a[10]; M.at<double>(80,43)=a[8]; M.at<double>(80,47)=a[14]; M.at<double>(80,51)=a[17]; M.at<double>(80,56)=b[10]; M.at<double>(80,57)=b[5]; M.at<double>(80,59)=b[12]; M.at<double>(80,60)=b[14]; M.at<double>(80,62)=b[4]; M.at<double>(80,65)=b[17]; M.at<double>(80,71)=b[8]; M.at<double>(80,79)=b[16]; M.at<double>(80,89)=c[17]; M.at<double>(80,90)=c[14]; M.at<double>(80,96)=c[16]; M.at<double>(80,100)=c[8]; M.at<double>(80,101)=c[9]; M.at<double>(80,106)=c[10]; M.at<double>(80,108)=c[11]; M.at<double>(80,109)=c[3]; M.at<double>(80,111)=c[4]; M.at<double>(80,114)=c[5]; M.at<double>(80,117)=c[12];
+	M.at<double>(81,31)=a[3]; M.at<double>(81,32)=a[2]; M.at<double>(81,37)=a[4]; M.at<double>(81,38)=a[19]; M.at<double>(81,40)=a[13]; M.at<double>(81,47)=a[20]; M.at<double>(81,48)=a[5]; M.at<double>(81,50)=a[17]; M.at<double>(81,58)=b[3]; M.at<double>(81,60)=b[20]; M.at<double>(81,61)=b[2]; M.at<double>(81,72)=b[13]; M.at<double>(81,77)=b[4]; M.at<double>(81,78)=b[19]; M.at<double>(81,80)=b[17]; M.at<double>(81,81)=b[5]; M.at<double>(81,85)=c[5]; M.at<double>(81,86)=c[17]; M.at<double>(81,90)=c[20]; M.at<double>(81,92)=c[19]; M.at<double>(81,95)=c[13]; M.at<double>(81,98)=c[4]; M.at<double>(81,115)=c[3]; M.at<double>(81,116)=c[2];
+	M.at<double>(82,29)=a[6]; M.at<double>(82,44)=a[15]; M.at<double>(82,45)=a[18]; M.at<double>(82,47)=a[7]; M.at<double>(82,60)=b[7]; M.at<double>(82,63)=b[18]; M.at<double>(82,64)=b[4]; M.at<double>(82,67)=b[3]; M.at<double>(82,68)=b[15]; M.at<double>(82,69)=b[17]; M.at<double>(82,70)=b[5]; M.at<double>(82,74)=b[6]; M.at<double>(82,90)=c[7]; M.at<double>(82,91)=c[5]; M.at<double>(82,94)=c[6]; M.at<double>(82,97)=c[15]; M.at<double>(82,103)=c[4]; M.at<double>(82,104)=c[3]; M.at<double>(82,110)=c[17]; M.at<double>(82,112)=c[18];
+	M.at<double>(83,26)=u[2]; M.at<double>(83,27)=a[18]; M.at<double>(83,31)=a[6]; M.at<double>(83,37)=a[12]; M.at<double>(83,40)=a[17]; M.at<double>(83,42)=a[2]; M.at<double>(83,44)=a[19]; M.at<double>(83,46)=a[20]; M.at<double>(83,52)=a[8]; M.at<double>(83,55)=b[18]; M.at<double>(83,56)=b[2]; M.at<double>(83,58)=b[6]; M.at<double>(83,66)=b[20]; M.at<double>(83,68)=b[19]; M.at<double>(83,72)=b[17]; M.at<double>(83,73)=b[8]; M.at<double>(83,77)=b[12]; M.at<double>(83,93)=c[8]; M.at<double>(83,95)=c[17]; M.at<double>(83,97)=c[19]; M.at<double>(83,98)=c[12]; M.at<double>(83,102)=c[20]; M.at<double>(83,106)=c[2]; M.at<double>(83,113)=c[18]; M.at<double>(83,115)=c[6];
+	M.at<double>(84,16)=u[3]; M.at<double>(84,29)=a[5]; M.at<double>(84,30)=a[17]; M.at<double>(84,33)=a[7]; M.at<double>(84,39)=a[6]; M.at<double>(84,43)=a[18]; M.at<double>(84,44)=a[11]; M.at<double>(84,45)=a[3]; M.at<double>(84,47)=a[15]; M.at<double>(84,59)=b[7]; M.at<double>(84,60)=b[15]; M.at<double>(84,63)=b[3]; M.at<double>(84,67)=b[9]; M.at<double>(84,68)=b[11]; M.at<double>(84,69)=b[4]; M.at<double>(84,70)=b[10]; M.at<double>(84,71)=b[18]; M.at<double>(84,74)=b[5]; M.at<double>(84,75)=b[17]; M.at<double>(84,79)=b[6]; M.at<double>(84,90)=c[15]; M.at<double>(84,91)=c[10]; M.at<double>(84,94)=c[5]; M.at<double>(84,96)=c[6]; M.at<double>(84,97)=c[11]; M.at<double>(84,100)=c[18]; M.at<double>(84,104)=c[9]; M.at<double>(84,107)=c[17]; M.at<double>(84,110)=c[4]; M.at<double>(84,112)=c[3]; M.at<double>(84,117)=c[7];
+	M.at<double>(85,25)=u[2]; M.at<double>(85,29)=a[19]; M.at<double>(85,31)=a[15]; M.at<double>(85,32)=a[18]; M.at<double>(85,37)=a[5]; M.at<double>(85,38)=a[17]; M.at<double>(85,40)=a[3]; M.at<double>(85,44)=a[13]; M.at<double>(85,45)=a[20]; M.at<double>(85,47)=a[2]; M.at<double>(85,50)=a[6]; M.at<double>(85,52)=a[4]; M.at<double>(85,58)=b[15]; M.at<double>(85,60)=b[2]; M.at<double>(85,61)=b[18]; M.at<double>(85,63)=b[20]; M.at<double>(85,68)=b[13]; M.at<double>(85,72)=b[3]; M.at<double>(85,73)=b[4]; M.at<double>(85,74)=b[19]; M.at<double>(85,77)=b[5]; M.at<double>(85,78)=b[17]; M.at<double>(85,80)=b[6]; M.at<double>(85,86)=c[6]; M.at<double>(85,90)=c[2]; M.at<double>(85,92)=c[17]; M.at<double>(85,93)=c[4]; M.at<double>(85,94)=c[19]; M.at<double>(85,95)=c[3]; M.at<double>(85,97)=c[13]; M.at<double>(85,98)=c[5]; M.at<double>(85,112)=c[20]; M.at<double>(85,115)=c[15]; M.at<double>(85,116)=c[18];
+	M.at<double>(86,31)=a[18]; M.at<double>(86,37)=a[17]; M.at<double>(86,40)=a[2]; M.at<double>(86,44)=a[20]; M.at<double>(86,48)=a[6]; M.at<double>(86,52)=a[19]; M.at<double>(86,58)=b[18]; M.at<double>(86,68)=b[20]; M.at<double>(86,72)=b[2]; M.at<double>(86,73)=b[19]; M.at<double>(86,77)=b[17]; M.at<double>(86,81)=b[6]; M.at<double>(86,85)=c[6]; M.at<double>(86,93)=c[19]; M.at<double>(86,95)=c[2]; M.at<double>(86,97)=c[20]; M.at<double>(86,98)=c[17]; M.at<double>(86,115)=c[18];
+	M.at<double>(87,22)=u[2]; M.at<double>(87,31)=a[11]; M.at<double>(87,32)=a[3]; M.at<double>(87,33)=a[2]; M.at<double>(87,37)=a[10]; M.at<double>(87,38)=a[4]; M.at<double>(87,39)=a[19]; M.at<double>(87,40)=a[9]; M.at<double>(87,43)=a[20]; M.at<double>(87,47)=a[13]; M.at<double>(87,50)=a[5]; M.at<double>(87,53)=a[17]; M.at<double>(87,58)=b[11]; M.at<double>(87,59)=b[2]; M.at<double>(87,60)=b[13]; M.at<double>(87,61)=b[3]; M.at<double>(87,71)=b[20]; M.at<double>(87,72)=b[9]; M.at<double>(87,77)=b[10]; M.at<double>(87,78)=b[4]; M.at<double>(87,79)=b[19]; M.at<double>(87,80)=b[5]; M.at<double>(87,82)=b[17]; M.at<double>(87,86)=c[5]; M.at<double>(87,87)=c[17]; M.at<double>(87,90)=c[13]; M.at<double>(87,92)=c[4]; M.at<double>(87,95)=c[9]; M.at<double>(87,96)=c[19]; M.at<double>(87,98)=c[10]; M.at<double>(87,100)=c[20]; M.at<double>(87,115)=c[11]; M.at<double>(87,116)=c[3]; M.at<double>(87,117)=c[2];
+	M.at<double>(88,27)=a[2]; M.at<double>(88,31)=a[17]; M.at<double>(88,37)=a[8]; M.at<double>(88,40)=a[19]; M.at<double>(88,42)=a[20]; M.at<double>(88,48)=a[12]; M.at<double>(88,55)=b[2]; M.at<double>(88,56)=b[20]; M.at<double>(88,58)=b[17]; M.at<double>(88,72)=b[19]; M.at<double>(88,77)=b[8]; M.at<double>(88,81)=b[12]; M.at<double>(88,85)=c[12]; M.at<double>(88,95)=c[19]; M.at<double>(88,98)=c[8]; M.at<double>(88,106)=c[20]; M.at<double>(88,113)=c[2]; M.at<double>(88,115)=c[17];
+	M.at<double>(89,31)=a[7]; M.at<double>(89,37)=a[6]; M.at<double>(89,40)=a[18]; M.at<double>(89,44)=a[2]; M.at<double>(89,52)=a[17]; M.at<double>(89,58)=b[7]; M.at<double>(89,67)=b[20]; M.at<double>(89,68)=b[2]; M.at<double>(89,70)=b[19]; M.at<double>(89,72)=b[18]; M.at<double>(89,73)=b[17]; M.at<double>(89,77)=b[6]; M.at<double>(89,91)=c[19]; M.at<double>(89,93)=c[17]; M.at<double>(89,95)=c[18]; M.at<double>(89,97)=c[2]; M.at<double>(89,98)=c[6]; M.at<double>(89,104)=c[20]; M.at<double>(89,115)=c[7];
+	M.at<double>(90,27)=a[12]; M.at<double>(90,40)=a[16]; M.at<double>(90,42)=a[8]; M.at<double>(90,55)=b[12]; M.at<double>(90,56)=b[8]; M.at<double>(90,72)=b[16]; M.at<double>(90,95)=c[16]; M.at<double>(90,101)=c[19]; M.at<double>(90,105)=c[2]; M.at<double>(90,106)=c[8]; M.at<double>(90,108)=c[17]; M.at<double>(90,113)=c[12];
+	M.at<double>(91,23)=u[2]; M.at<double>(91,27)=a[3]; M.at<double>(91,28)=a[2]; M.at<double>(91,31)=a[5]; M.at<double>(91,32)=a[17]; M.at<double>(91,37)=a[14]; M.at<double>(91,38)=a[8]; M.at<double>(91,40)=a[4]; M.at<double>(91,41)=a[20]; M.at<double>(91,42)=a[13]; M.at<double>(91,47)=a[19]; M.at<double>(91,50)=a[12]; M.at<double>(91,55)=b[3]; M.at<double>(91,56)=b[13]; M.at<double>(91,57)=b[2]; M.at<double>(91,58)=b[5]; M.at<double>(91,60)=b[19]; M.at<double>(91,61)=b[17]; M.at<double>(91,62)=b[20]; M.at<double>(91,72)=b[4]; M.at<double>(91,77)=b[14]; M.at<double>(91,78)=b[8]; M.at<double>(91,80)=b[12]; M.at<double>(91,86)=c[12]; M.at<double>(91,90)=c[19]; M.at<double>(91,92)=c[8]; M.at<double>(91,95)=c[4]; M.at<double>(91,98)=c[14]; M.at<double>(91,106)=c[13]; M.at<double>(91,111)=c[20]; M.at<double>(91,113)=c[3]; M.at<double>(91,114)=c[2]; M.at<double>(91,115)=c[5]; M.at<double>(91,116)=c[17];
+	M.at<double>(92,17)=u[4]; M.at<double>(92,28)=a[6]; M.at<double>(92,29)=a[16]; M.at<double>(92,41)=a[17]; M.at<double>(92,42)=a[5]; M.at<double>(92,44)=a[14]; M.at<double>(92,45)=a[8]; M.at<double>(92,46)=a[4]; M.at<double>(92,47)=a[12]; M.at<double>(92,56)=b[5]; M.at<double>(92,57)=b[6]; M.at<double>(92,60)=b[12]; M.at<double>(92,62)=b[17]; M.at<double>(92,63)=b[8]; M.at<double>(92,66)=b[4]; M.at<double>(92,68)=b[14]; M.at<double>(92,74)=b[16]; M.at<double>(92,90)=c[12]; M.at<double>(92,94)=c[16]; M.at<double>(92,97)=c[14]; M.at<double>(92,101)=c[3]; M.at<double>(92,102)=c[4]; M.at<double>(92,106)=c[5]; M.at<double>(92,108)=c[15]; M.at<double>(92,109)=c[18]; M.at<double>(92,111)=c[17]; M.at<double>(92,112)=c[8]; M.at<double>(92,114)=c[6];
+	M.at<double>(93,17)=u[3]; M.at<double>(93,28)=a[7]; M.at<double>(93,29)=a[12]; M.at<double>(93,41)=a[18]; M.at<double>(93,42)=a[15]; M.at<double>(93,44)=a[5]; M.at<double>(93,45)=a[17]; M.at<double>(93,46)=a[3]; M.at<double>(93,47)=a[6]; M.at<double>(93,56)=b[15]; M.at<double>(93,57)=b[7]; M.at<double>(93,60)=b[6]; M.at<double>(93,62)=b[18]; M.at<double>(93,63)=b[17]; M.at<double>(93,66)=b[3]; M.at<double>(93,67)=b[4]; M.at<double>(93,68)=b[5]; M.at<double>(93,69)=b[8]; M.at<double>(93,70)=b[14]; M.at<double>(93,74)=b[12]; M.at<double>(93,90)=c[6]; M.at<double>(93,91)=c[14]; M.at<double>(93,94)=c[12]; M.at<double>(93,97)=c[5]; M.at<double>(93,102)=c[3]; M.at<double>(93,104)=c[4]; M.at<double>(93,106)=c[15]; M.at<double>(93,110)=c[8]; M.at<double>(93,111)=c[18]; M.at<double>(93,112)=c[17]; M.at<double>(93,114)=c[7];
+	M.at<double>(94,31)=a[2]; M.at<double>(94,37)=a[19]; M.at<double>(94,40)=a[20]; M.at<double>(94,48)=a[17]; M.at<double>(94,58)=b[2]; M.at<double>(94,72)=b[20]; M.at<double>(94,77)=b[19]; M.at<double>(94,81)=b[17]; M.at<double>(94,85)=c[17]; M.at<double>(94,95)=c[20]; M.at<double>(94,98)=c[19]; M.at<double>(94,115)=c[2];
+	M.at<double>(95,26)=u[4]; M.at<double>(95,27)=a[6]; M.at<double>(95,40)=a[12]; M.at<double>(95,42)=a[17]; M.at<double>(95,44)=a[8]; M.at<double>(95,46)=a[19]; M.at<double>(95,52)=a[16]; M.at<double>(95,55)=b[6]; M.at<double>(95,56)=b[17]; M.at<double>(95,66)=b[19]; M.at<double>(95,68)=b[8]; M.at<double>(95,72)=b[12]; M.at<double>(95,73)=b[16]; M.at<double>(95,93)=c[16]; M.at<double>(95,95)=c[12]; M.at<double>(95,97)=c[8]; M.at<double>(95,101)=c[2]; M.at<double>(95,102)=c[19]; M.at<double>(95,106)=c[17]; M.at<double>(95,108)=c[18]; M.at<double>(95,113)=c[6];
+	M.at<double>(96,23)=u[4]; M.at<double>(96,27)=a[5]; M.at<double>(96,28)=a[17]; M.at<double>(96,32)=a[12]; M.at<double>(96,38)=a[16]; M.at<double>(96,40)=a[14]; M.at<double>(96,41)=a[19]; M.at<double>(96,42)=a[4]; M.at<double>(96,47)=a[8]; M.at<double>(96,55)=b[5]; M.at<double>(96,56)=b[4]; M.at<double>(96,57)=b[17]; M.at<double>(96,60)=b[8]; M.at<double>(96,61)=b[12]; M.at<double>(96,62)=b[19]; M.at<double>(96,72)=b[14]; M.at<double>(96,78)=b[16]; M.at<double>(96,90)=c[8]; M.at<double>(96,92)=c[16]; M.at<double>(96,95)=c[14]; M.at<double>(96,101)=c[13]; M.at<double>(96,106)=c[4]; M.at<double>(96,108)=c[3]; M.at<double>(96,109)=c[2]; M.at<double>(96,111)=c[19]; M.at<double>(96,113)=c[5]; M.at<double>(96,114)=c[17]; M.at<double>(96,116)=c[12];
+	M.at<double>(97,42)=a[6]; M.at<double>(97,44)=a[12]; M.at<double>(97,46)=a[17]; M.at<double>(97,56)=b[6]; M.at<double>(97,66)=b[17]; M.at<double>(97,67)=b[8]; M.at<double>(97,68)=b[12]; M.at<double>(97,70)=b[16]; M.at<double>(97,91)=c[16]; M.at<double>(97,97)=c[12]; M.at<double>(97,101)=c[18]; M.at<double>(97,102)=c[17]; M.at<double>(97,104)=c[8]; M.at<double>(97,106)=c[6]; M.at<double>(97,108)=c[7];
+	M.at<double>(98,28)=a[12]; M.at<double>(98,41)=a[8]; M.at<double>(98,42)=a[14]; M.at<double>(98,47)=a[16]; M.at<double>(98,56)=b[14]; M.at<double>(98,57)=b[12]; M.at<double>(98,60)=b[16]; M.at<double>(98,62)=b[8]; M.at<double>(98,90)=c[16]; M.at<double>(98,101)=c[4]; M.at<double>(98,105)=c[3]; M.at<double>(98,106)=c[14]; M.at<double>(98,108)=c[5]; M.at<double>(98,109)=c[17]; M.at<double>(98,111)=c[8]; M.at<double>(98,114)=c[12];
+	M.at<double>(99,42)=a[7]; M.at<double>(99,44)=a[6]; M.at<double>(99,46)=a[18]; M.at<double>(99,56)=b[7]; M.at<double>(99,64)=b[8]; M.at<double>(99,66)=b[18]; M.at<double>(99,67)=b[17]; M.at<double>(99,68)=b[6]; M.at<double>(99,70)=b[12]; M.at<double>(99,91)=c[12]; M.at<double>(99,97)=c[6]; M.at<double>(99,102)=c[18]; M.at<double>(99,103)=c[8]; M.at<double>(99,104)=c[17]; M.at<double>(99,106)=c[7];
+	M.at<double>(100,51)=a[16]; M.at<double>(100,65)=b[16]; M.at<double>(100,89)=c[16]; M.at<double>(100,105)=c[10]; M.at<double>(100,109)=c[14];
+	M.at<double>(101,37)=a[9]; M.at<double>(101,38)=a[13]; M.at<double>(101,39)=a[20]; M.at<double>(101,48)=a[11]; M.at<double>(101,50)=a[3]; M.at<double>(101,53)=a[2]; M.at<double>(101,77)=b[9]; M.at<double>(101,78)=b[13]; M.at<double>(101,79)=b[20]; M.at<double>(101,80)=b[3]; M.at<double>(101,81)=b[11]; M.at<double>(101,82)=b[2]; M.at<double>(101,85)=c[11]; M.at<double>(101,86)=c[3]; M.at<double>(101,87)=c[2]; M.at<double>(101,92)=c[13]; M.at<double>(101,96)=c[20]; M.at<double>(101,98)=c[9];
+	M.at<double>(102,37)=a[13]; M.at<double>(102,38)=a[20]; M.at<double>(102,48)=a[3]; M.at<double>(102,50)=a[2]; M.at<double>(102,77)=b[13]; M.at<double>(102,78)=b[20]; M.at<double>(102,80)=b[2]; M.at<double>(102,81)=b[3]; M.at<double>(102,85)=c[3]; M.at<double>(102,86)=c[2]; M.at<double>(102,92)=c[20]; M.at<double>(102,98)=c[13];
+	M.at<double>(103,37)=a[20]; M.at<double>(103,48)=a[2]; M.at<double>(103,77)=b[20]; M.at<double>(103,81)=b[2]; M.at<double>(103,85)=c[2]; M.at<double>(103,98)=c[20];
+	M.at<double>(104,11)=u[4]; M.at<double>(104,28)=a[10]; M.at<double>(104,33)=a[14]; M.at<double>(104,34)=a[8]; M.at<double>(104,36)=a[16]; M.at<double>(104,51)=a[4]; M.at<double>(104,54)=b[8]; M.at<double>(104,57)=b[10]; M.at<double>(104,59)=b[14]; M.at<double>(104,65)=b[4]; M.at<double>(104,84)=b[16]; M.at<double>(104,88)=c[16]; M.at<double>(104,89)=c[4]; M.at<double>(104,99)=c[8]; M.at<double>(104,108)=c[1]; M.at<double>(104,109)=c[9]; M.at<double>(104,114)=c[10]; M.at<double>(104,117)=c[14];
+	M.at<double>(105,20)=u[4]; M.at<double>(105,27)=a[10]; M.at<double>(105,28)=a[4]; M.at<double>(105,32)=a[14]; M.at<double>(105,33)=a[8]; M.at<double>(105,51)=a[19]; M.at<double>(105,53)=a[16]; M.at<double>(105,55)=b[10]; M.at<double>(105,57)=b[4]; M.at<double>(105,59)=b[8]; M.at<double>(105,61)=b[14]; M.at<double>(105,65)=b[19]; M.at<double>(105,82)=b[16]; M.at<double>(105,87)=c[16]; M.at<double>(105,89)=c[19]; M.at<double>(105,108)=c[9]; M.at<double>(105,109)=c[13]; M.at<double>(105,113)=c[10]; M.at<double>(105,114)=c[4]; M.at<double>(105,116)=c[14]; M.at<double>(105,117)=c[8];
+	M.at<double>(106,27)=a[4]; M.at<double>(106,28)=a[19]; M.at<double>(106,31)=a[14]; M.at<double>(106,32)=a[8]; M.at<double>(106,50)=a[16]; M.at<double>(106,55)=b[4]; M.at<double>(106,57)=b[19]; M.at<double>(106,58)=b[14]; M.at<double>(106,61)=b[8]; M.at<double>(106,80)=b[16]; M.at<double>(106,86)=c[16]; M.at<double>(106,108)=c[13]; M.at<double>(106,109)=c[20]; M.at<double>(106,113)=c[4]; M.at<double>(106,114)=c[19]; M.at<double>(106,115)=c[14]; M.at<double>(106,116)=c[8];
+	M.at<double>(107,27)=a[19]; M.at<double>(107,31)=a[8]; M.at<double>(107,48)=a[16]; M.at<double>(107,55)=b[19]; M.at<double>(107,58)=b[8]; M.at<double>(107,81)=b[16]; M.at<double>(107,85)=c[16]; M.at<double>(107,108)=c[20]; M.at<double>(107,113)=c[19]; M.at<double>(107,115)=c[8];
+	M.at<double>(108,36)=a[20]; M.at<double>(108,48)=a[1]; M.at<double>(108,50)=a[9]; M.at<double>(108,53)=a[13]; M.at<double>(108,80)=b[9]; M.at<double>(108,81)=b[1]; M.at<double>(108,82)=b[13]; M.at<double>(108,84)=b[20]; M.at<double>(108,85)=c[1]; M.at<double>(108,86)=c[9]; M.at<double>(108,87)=c[13]; M.at<double>(108,88)=c[20];
+	M.at<double>(109,26)=u[3]; M.at<double>(109,27)=a[7]; M.at<double>(109,40)=a[6]; M.at<double>(109,42)=a[18]; M.at<double>(109,44)=a[17]; M.at<double>(109,46)=a[2]; M.at<double>(109,52)=a[12]; M.at<double>(109,55)=b[7]; M.at<double>(109,56)=b[18]; M.at<double>(109,66)=b[2]; M.at<double>(109,67)=b[19]; M.at<double>(109,68)=b[17]; M.at<double>(109,70)=b[8]; M.at<double>(109,72)=b[6]; M.at<double>(109,73)=b[12]; M.at<double>(109,91)=c[8]; M.at<double>(109,93)=c[12]; M.at<double>(109,95)=c[6]; M.at<double>(109,97)=c[17]; M.at<double>(109,102)=c[2]; M.at<double>(109,104)=c[19]; M.at<double>(109,106)=c[18]; M.at<double>(109,113)=c[7];
+	M.at<double>(110,7)=u[3]; M.at<double>(110,30)=a[5]; M.at<double>(110,34)=a[7]; M.at<double>(110,43)=a[15]; M.at<double>(110,45)=a[11]; M.at<double>(110,49)=a[6]; M.at<double>(110,54)=b[7]; M.at<double>(110,63)=b[11]; M.at<double>(110,67)=b[1]; M.at<double>(110,69)=b[10]; M.at<double>(110,71)=b[15]; M.at<double>(110,75)=b[5]; M.at<double>(110,76)=b[6]; M.at<double>(110,99)=c[7]; M.at<double>(110,100)=c[15]; M.at<double>(110,104)=c[1]; M.at<double>(110,107)=c[5]; M.at<double>(110,110)=c[10]; M.at<double>(110,112)=c[11]; M.at<double>(110,119)=c[6];
+	M.at<double>(111,18)=u[2]; M.at<double>(111,35)=a[20]; M.at<double>(111,36)=a[13]; M.at<double>(111,50)=a[1]; M.at<double>(111,53)=a[9]; M.at<double>(111,80)=b[1]; M.at<double>(111,82)=b[9]; M.at<double>(111,83)=b[20]; M.at<double>(111,84)=b[13]; M.at<double>(111,86)=c[1]; M.at<double>(111,87)=c[9]; M.at<double>(111,88)=c[13]; M.at<double>(111,118)=c[20];
+	M.at<double>(112,19)=u[2]; M.at<double>(112,31)=a[1]; M.at<double>(112,32)=a[9]; M.at<double>(112,33)=a[13]; M.at<double>(112,34)=a[20]; M.at<double>(112,36)=a[19]; M.at<double>(112,50)=a[10]; M.at<double>(112,53)=a[4]; M.at<double>(112,54)=b[20]; M.at<double>(112,58)=b[1]; M.at<double>(112,59)=b[13]; M.at<double>(112,61)=b[9]; M.at<double>(112,80)=b[10]; M.at<double>(112,82)=b[4]; M.at<double>(112,84)=b[19]; M.at<double>(112,86)=c[10]; M.at<double>(112,87)=c[4]; M.at<double>(112,88)=c[19]; M.at<double>(112,99)=c[20]; M.at<double>(112,115)=c[1]; M.at<double>(112,116)=c[9]; M.at<double>(112,117)=c[13];
+	M.at<double>(113,31)=a[9]; M.at<double>(113,32)=a[13]; M.at<double>(113,33)=a[20]; M.at<double>(113,48)=a[10]; M.at<double>(113,50)=a[4]; M.at<double>(113,53)=a[19]; M.at<double>(113,58)=b[9]; M.at<double>(113,59)=b[20]; M.at<double>(113,61)=b[13]; M.at<double>(113,80)=b[4]; M.at<double>(113,81)=b[10]; M.at<double>(113,82)=b[19]; M.at<double>(113,85)=c[10]; M.at<double>(113,86)=c[4]; M.at<double>(113,87)=c[19]; M.at<double>(113,115)=c[9]; M.at<double>(113,116)=c[13]; M.at<double>(113,117)=c[20];
+	M.at<double>(114,31)=a[13]; M.at<double>(114,32)=a[20]; M.at<double>(114,48)=a[4]; M.at<double>(114,50)=a[19]; M.at<double>(114,58)=b[13]; M.at<double>(114,61)=b[20]; M.at<double>(114,80)=b[19]; M.at<double>(114,81)=b[4]; M.at<double>(114,85)=c[4]; M.at<double>(114,86)=c[19]; M.at<double>(114,115)=c[13]; M.at<double>(114,116)=c[20];
+	M.at<double>(115,31)=a[20]; M.at<double>(115,48)=a[19]; M.at<double>(115,58)=b[20]; M.at<double>(115,81)=b[19]; M.at<double>(115,85)=c[19]; M.at<double>(115,115)=c[20];
+	M.at<double>(116,24)=u[2]; M.at<double>(116,29)=a[13]; M.at<double>(116,30)=a[20]; M.at<double>(116,37)=a[11]; M.at<double>(116,38)=a[3]; M.at<double>(116,39)=a[2]; M.at<double>(116,50)=a[15]; M.at<double>(116,52)=a[9]; M.at<double>(116,53)=a[18]; M.at<double>(116,73)=b[9]; M.at<double>(116,74)=b[13]; M.at<double>(116,75)=b[20]; M.at<double>(116,77)=b[11]; M.at<double>(116,78)=b[3]; M.at<double>(116,79)=b[2]; M.at<double>(116,80)=b[15]; M.at<double>(116,82)=b[18]; M.at<double>(116,86)=c[15]; M.at<double>(116,87)=c[18]; M.at<double>(116,92)=c[3]; M.at<double>(116,93)=c[9]; M.at<double>(116,94)=c[13]; M.at<double>(116,96)=c[2]; M.at<double>(116,98)=c[11]; M.at<double>(116,107)=c[20];
+	M.at<double>(117,29)=a[20]; M.at<double>(117,37)=a[3]; M.at<double>(117,38)=a[2]; M.at<double>(117,48)=a[15]; M.at<double>(117,50)=a[18]; M.at<double>(117,52)=a[13]; M.at<double>(117,73)=b[13]; M.at<double>(117,74)=b[20]; M.at<double>(117,77)=b[3]; M.at<double>(117,78)=b[2]; M.at<double>(117,80)=b[18]; M.at<double>(117,81)=b[15]; M.at<double>(117,85)=c[15]; M.at<double>(117,86)=c[18]; M.at<double>(117,92)=c[2]; M.at<double>(117,93)=c[13]; M.at<double>(117,94)=c[20]; M.at<double>(117,98)=c[3];
+	M.at<double>(118,27)=a[13]; M.at<double>(118,28)=a[20]; M.at<double>(118,31)=a[4]; M.at<double>(118,32)=a[19]; M.at<double>(118,48)=a[14]; M.at<double>(118,50)=a[8]; M.at<double>(118,55)=b[13]; M.at<double>(118,57)=b[20]; M.at<double>(118,58)=b[4]; M.at<double>(118,61)=b[19]; M.at<double>(118,80)=b[8]; M.at<double>(118,81)=b[14]; M.at<double>(118,85)=c[14]; M.at<double>(118,86)=c[8]; M.at<double>(118,113)=c[13]; M.at<double>(118,114)=c[20]; M.at<double>(118,115)=c[4]; M.at<double>(118,116)=c[19];
+	M.at<double>(119,27)=a[20]; M.at<double>(119,31)=a[19]; M.at<double>(119,48)=a[8]; M.at<double>(119,55)=b[20]; M.at<double>(119,58)=b[19]; M.at<double>(119,81)=b[8]; M.at<double>(119,85)=c[8]; M.at<double>(119,113)=c[20]; M.at<double>(119,115)=c[19];
 
-	M[10] = {0,u[2],0,0,0,0,0,0,0,u[4],u[1],0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,a[1],a[9],a[4],a[10],0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,b[9],0,0,0,0,b[1],0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,b[4],b[10],0,0,0,c[10],0,0,0,0,0,0,0,0,0,0,c[9],0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,c[1],c[4],0};
-	M[11] = {0,0,u[2],0,0,0,0,0,0,0,u[4],u[1],0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,a[1],0,0,0,0,a[10],a[4],a[8],a[14],0,0,0,0,0,0,0,0,0,0,0,0,0,0,a[9],0,0,b[4],0,0,b[1],0,b[10],0,0,0,0,0,b[9],0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,b[8],b[14],0,0,0,c[14],c[9],0,0,0,0,0,0,0,0,0,c[4],0,0,0,0,0,0,0,0,0,0,0,0,0,0,c[1],0,0,c[10],c[8],0};
-	M[12] = {0,0,0,u[2],0,0,0,0,0,u[3],0,0,u[1],0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,a[3],a[11],0,0,a[1],0,0,0,0,0,0,0,0,0,a[9],0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,b[9],0,0,b[1],0,0,0,b[3],b[11],0,0,0,c[11],0,0,0,0,0,0,0,c[1],0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,c[3],c[9]};
-	M[13] = {0,0,0,0,u[2],0,0,0,0,0,u[3],0,u[4],u[1],0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,a[11],a[3],a[17],a[5],0,0,a[10],0,0,0,a[9],0,0,0,a[1],0,a[4],0,0,0,0,b[3],0,0,0,0,b[11],b[1],0,0,0,0,0,0,0,0,0,0,b[9],0,0,0,0,b[4],0,0,b[10],0,0,0,b[17],b[5],0,0,0,c[5],0,c[1],0,0,0,0,0,c[10],0,0,c[3],c[9],0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,c[11],c[17],c[4]};
-	M[14] = {0,0,0,0,0,u[2],0,0,0,0,0,u[3],0,u[4],u[1],0,0,0,0,0,0,0,0,0,0,0,0,0,a[11],0,0,0,0,a[5],a[17],0,a[12],0,0,a[14],0,a[9],a[1],a[4],0,0,0,a[10],0,a[8],0,a[3],0,0,b[17],0,b[1],b[11],0,b[5],b[10],0,b[9],0,0,b[3],0,0,0,0,0,b[4],0,0,0,0,b[8],0,0,b[14],0,0,0,0,b[12],0,0,0,c[12],c[3],c[10],0,0,0,0,0,c[14],0,0,c[17],c[4],0,0,0,0,0,c[1],0,0,0,0,c[9],0,0,c[11],0,0,c[5],0,c[8]};
-	M[15] = {0,0,0,0,0,0,u[2],0,0,0,0,0,u[3],0,0,u[1],0,0,0,0,0,0,0,0,0,0,0,0,0,a[1],a[9],0,0,0,0,a[18],a[15],0,0,a[11],0,0,0,0,0,0,0,0,0,a[3],0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,b[1],b[9],b[3],0,0,b[11],0,0,0,b[18],b[15],0,0,0,c[15],0,0,0,0,0,c[1],0,c[11],0,0,0,0,0,0,0,0,0,0,c[9],0,0,0,0,0,0,0,0,0,0,c[18],c[3]};
-	M[16] = {0,0,0,0,0,0,0,u[2],0,0,0,0,0,u[3],0,u[4],u[1],0,0,0,0,0,0,0,0,0,0,0,0,a[10],a[4],0,0,a[15],a[18],0,a[6],0,0,a[5],0,0,0,a[3],a[1],a[9],0,a[11],0,a[17],0,0,0,0,b[18],0,0,0,0,b[15],b[11],0,0,b[9],0,0,0,0,b[1],0,0,b[3],0,0,b[10],b[4],b[17],0,0,b[5],0,0,0,0,b[6],0,0,0,c[6],0,c[11],0,0,0,c[10],0,c[5],c[1],0,c[18],c[3],0,0,0,0,0,0,c[4],0,0,0,0,c[9],0,0,0,0,c[15],0,c[17]};
-	M[17] = {0,0,0,0,0,0,0,0,u[2],0,0,0,0,0,u[3],0,u[4],u[1],0,0,0,0,0,0,0,0,0,0,a[15],a[14],a[8],0,0,a[6],0,0,0,0,0,a[12],0,a[3],a[11],a[17],a[10],a[4],a[9],a[5],0,0,0,a[18],0,0,0,0,b[11],b[15],0,b[6],b[5],0,b[3],b[4],0,b[18],b[9],0,b[10],0,0,b[17],0,0,b[14],b[8],0,0,0,b[12],0,0,0,0,0,0,0,0,0,c[18],c[5],0,0,0,c[14],0,c[12],c[10],0,0,c[17],0,c[9],0,0,0,c[11],c[8],0,0,0,c[3],c[4],0,c[15],0,0,c[6],0,0};
-	M[18] = {0,0,0,0,0,0,0,0,0,u[2],0,0,0,0,0,0,0,0,u[1],0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,a[13],a[9],0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,a[1],0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,b[1],b[13],b[9],0,0,c[1],c[9],0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,c[13],0};
-	M[19] = {0,0,0,0,0,0,0,0,0,0,u[2],0,0,0,0,0,0,0,u[4],u[1],0,0,0,0,0,0,0,0,0,0,0,0,a[1],a[9],a[13],a[19],a[4],0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,a[10],b[13],0,0,0,0,b[9],0,b[1],0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,b[10],b[19],b[4],0,0,c[10],c[4],0,0,0,0,0,0,0,0,0,0,c[13],0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,c[1],c[9],c[19],0};
-
-	M[20] = {0,0,0,0,0,0,0,0,0,0,0,u[2],0,0,0,0,0,0,0,u[4],u[1],0,0,0,0,0,0,a[1],a[9],0,0,0,a[10],a[4],a[19],0,a[8],0,0,0,0,0,0,0,0,0,0,0,0,0,0,a[13],0,a[14],b[19],b[1],0,b[9],0,b[4],0,b[10],0,0,0,b[13],0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,b[14],0,b[8],0,0,c[14],c[8],c[13],0,0,0,0,0,0,0,0,0,c[19],0,0,0,0,0,0,0,0,0,0,0,0,0,c[1],c[9],0,c[10],c[4],0,0};
-	M[21] = {0,0,0,0,0,0,0,0,0,0,0,0,u[2],0,0,0,0,0,u[3],0,0,u[1],0,0,0,0,0,0,0,0,0,0,0,0,0,a[2],a[3],0,a[1],a[9],0,0,0,0,0,0,0,0,0,a[13],0,0,0,a[11],0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,b[13],0,b[1],b[9],0,0,b[11],b[2],b[3],0,0,c[11],c[3],0,0,0,c[1],0,0,0,c[9],0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,c[2],c[13]};
-	M[22] = {0,0,0,0,0,0,0,0,0,0,0,0,0,u[2],0,0,0,0,0,u[3],0,u[4],u[1],0,0,0,0,0,0,0,0,0,a[11],a[3],a[2],0,a[17],0,a[10],a[4],a[1],0,0,a[13],0,0,0,a[9],0,a[19],0,0,0,a[5],b[2],0,0,0,0,b[3],b[9],b[11],0,0,0,0,0,0,0,0,0,b[13],b[1],0,0,0,b[19],0,b[10],b[4],0,0,b[5],0,b[17],0,0,c[5],c[17],0,c[9],0,c[10],0,0,c[1],c[4],0,0,c[2],c[13],0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,c[11],c[3],0,c[19]};
-	M[23] = {0,0,0,0,0,0,0,0,0,0,0,0,0,0,u[2],0,0,0,0,0,u[3],0,u[4],u[1],0,0,0,a[11],a[3],0,0,0,a[5],a[17],0,0,0,0,a[14],a[8],a[10],a[13],a[9],a[19],0,0,0,a[4],0,0,0,a[2],0,a[12],0,b[11],b[9],b[3],0,b[17],b[4],b[5],b[13],0,0,b[2],0,0,0,0,0,b[19],b[10],0,0,0,0,0,b[14],b[8],0,0,b[12],0,0,0,0,c[12],0,c[2],c[4],0,c[14],0,0,c[10],c[8],0,0,0,c[19],0,0,0,0,0,c[9],0,0,0,0,c[13],0,c[11],c[3],0,c[5],c[17],0,0};
-	M[24] = {0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,u[2],0,0,0,0,0,u[3],0,0,u[1],0,0,0,0,a[9],a[13],0,0,0,0,0,a[18],0,a[11],a[3],0,0,0,0,0,0,0,0,0,a[2],0,0,a[1],a[15],0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,b[1],b[9],b[13],b[2],0,b[11],b[3],0,0,b[15],0,b[18],0,0,c[15],c[18],0,0,0,c[11],c[1],c[9],0,c[3],0,0,0,0,0,0,0,0,0,0,c[13],0,0,0,0,0,0,0,0,0,0,0,c[2]};
-	M[25] = {0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,u[2],0,0,0,0,0,u[3],0,u[4],u[1],0,0,0,a[4],a[19],0,a[15],a[18],0,0,0,0,a[5],a[17],a[11],0,0,a[2],a[9],a[13],0,a[3],0,0,0,0,a[10],a[6],0,0,0,0,0,b[18],b[3],b[15],0,b[13],0,0,0,0,b[9],0,0,b[2],b[11],b[10],b[4],b[19],0,0,b[5],b[17],0,0,b[6],0,0,0,0,c[6],0,0,c[3],0,c[5],c[10],c[4],c[11],c[17],c[9],0,0,c[2],0,0,0,0,0,0,c[19],0,0,0,0,c[13],0,0,0,c[15],c[18],0,0};
-	M[26] = {0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,u[2],0,0,0,0,0,u[3],0,u[4],u[1],a[15],a[18],a[8],0,0,a[6],0,0,0,0,0,a[12],0,a[5],a[2],a[3],0,a[4],a[19],a[13],a[17],0,0,0,0,a[14],0,0,b[15],b[3],b[18],0,0,b[17],b[6],b[2],b[19],0,0,b[13],0,b[4],0,0,0,b[5],b[14],b[8],0,0,0,b[12],0,0,0,0,0,0,0,0,0,0,0,c[17],0,c[12],c[14],c[8],c[5],0,c[4],0,0,0,0,c[13],0,0,0,c[3],0,0,0,0,c[2],c[19],c[15],c[18],0,c[6],0,0,0};
-	M[27] = {0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,u[3],0,0,0,0,0,0,0,0,0,0,0,0,0,a[11],a[3],0,0,0,0,0,a[7],0,0,a[15],0,0,0,0,0,0,0,0,0,a[18],0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,b[9],b[1],0,0,0,b[11],b[3],b[18],0,0,b[15],0,0,0,0,b[7],0,0,0,c[7],0,0,c[1],0,0,c[11],0,c[15],0,0,0,0,0,0,0,0,0,0,c[3],0,0,c[9],0,0,0,0,0,0,0,0,c[18]};
-	M[28] = {0,0,0,0,0,0,u[3],0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,a[11],0,0,0,0,a[7],0,0,0,0,0,0,0,0,0,0,0,0,0,a[15],0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,b[1],0,0,0,0,0,b[11],b[15],0,0,0,0,0,0,b[7],0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,c[11],0,0,c[1],0,0,0,0,0,0,0,c[7],c[15]};
-
-	M[29] = {0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,u[3],0,0,0,0,a[3],a[2],0,0,0,0,0,0,0,a[15],a[18],0,0,0,0,0,0,0,0,0,0,0,0,a[11],a[7],0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,b[13],b[9],0,0,b[11],b[3],b[2],0,0,b[15],b[18],0,0,b[7],0,0,0,0,c[7],0,0,0,c[9],c[15],c[11],c[3],0,c[18],0,0,0,0,0,0,0,0,0,0,c[2],0,0,c[13],0,0,0,0,0,0,0,0,0};
-	M[30] = {0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,a[18],0,0,0,0,0,0,0,0,0,0,a[7],0,0,0,a[2],0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,b[20],0,0,b[2],0,0,0,b[18],0,0,0,b[7],0,0,0,c[7],0,0,0,0,0,c[20],0,c[2],0,0,0,0,c[18],0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0};
-	M[31] = {0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,a[2],0,0,0,0,0,0,0,a[15],a[18],0,0,0,0,0,0,0,0,0,0,0,a[7],0,a[3],0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,b[20],b[13],0,0,b[3],b[2],0,0,b[15],b[18],0,b[7],0,0,0,0,0,c[7],0,0,0,0,c[13],c[18],c[3],c[2],0,0,0,c[15],0,0,0,0,0,0,0,0,0,0,0,c[20],0,0,0,0,0,0,0,0,0};
-	M[32] = {0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,a[9],0,a[13],0,0,a[20],0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,b[13],b[9],b[20],0,0,c[9],c[13],c[20],0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0};
-	M[33] = {0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,a[15],a[18],0,0,0,0,0,0,0,0,a[7],0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,b[9],0,0,0,0,b[3],b[11],0,0,0,b[15],b[18],0,0,0,b[7],0,0,0,0,0,0,0,0,0,0,0,c[11],0,0,c[15],0,c[7],0,0,0,0,0,0,c[9],0,0,0,c[18],0,0,c[3],0,0,0,0,0,0,0,0,0};
-	M[34] = {0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,a[18],0,0,0,0,0,0,0,0,a[7],0,0,0,0,0,0,0,0,0,0,0,0,0,a[15],0,0,0,0,0,0,0,0,0,0,0,b[13],0,0,0,0,b[2],b[3],0,0,b[15],b[18],0,0,0,b[7],0,0,0,0,0,0,0,0,0,0,0,0,c[3],c[7],c[15],c[18],0,0,0,0,0,0,0,0,c[13],0,0,0,0,0,0,c[2],0,0,0,0,0,0,0,0,0};
-	M[35] = {0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,a[7],0,0,0,0,0,0,0,0,0,0,0,0,0,0,a[18],0,0,0,0,0,0,0,0,0,0,0,b[20],0,0,0,0,0,b[2],0,0,b[18],0,0,0,b[7],0,0,0,0,0,0,0,0,0,0,0,0,0,c[2],0,c[18],0,0,0,0,c[7],0,0,0,0,c[20],0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0};
-	M[36] = {0,0,0,0,0,u[4],0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,a[12],0,0,0,0,0,0,a[10],0,a[14],0,0,0,0,0,a[16],0,a[5],0,0,b[12],0,0,0,0,0,0,0,b[10],0,0,b[5],0,0,0,0,0,b[14],0,0,0,0,b[16],0,0,0,0,0,0,0,0,0,0,0,0,c[5],0,0,0,0,0,0,0,0,0,c[12],c[14],c[1],0,0,0,0,0,0,0,c[11],0,c[10],0,0,0,0,0,0,0,c[16]};
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-	M[70] = {0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,u[2],0,0,0,0,0,0,a[9],a[13],0,0,a[10],a[4],a[19],0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,a[14],a[20],0,a[8],0,b[9],0,b[13],b[10],b[19],0,b[4],0,0,0,b[20],0,0,0,0,0,0,0,0,0,0,0,0,0,0,b[14],0,b[8],0,0,0,c[14],c[8],0,c[20],0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,c[9],c[13],c[10],c[4],c[19],0,0};
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-	M[80] = {0,0,0,0,0,0,0,0,0,0,0,0,0,0,u[4],0,0,0,0,0,0,0,0,0,0,0,0,0,a[5],0,0,0,0,a[12],0,0,0,0,0,a[16],0,a[4],a[10],a[8],0,0,0,a[14],0,0,0,a[17],0,0,0,0,b[10],b[5],0,b[12],b[14],0,b[4],0,0,b[17],0,0,0,0,0,b[8],0,0,0,0,0,0,0,b[16],0,0,0,0,0,0,0,0,0,c[17],c[14],0,0,0,0,0,c[16],0,0,0,c[8],c[9],0,0,0,0,c[10],0,c[11],c[3],0,c[4],0,0,c[5],0,0,c[12],0,0};
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-	M[87] = {0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,u[2],0,0,0,0,0,0,0,0,a[11],a[3],a[2],0,0,0,a[10],a[4],a[19],a[9],0,0,a[20],0,0,0,a[13],0,0,a[5],0,0,a[17],0,0,0,0,b[11],b[2],b[13],b[3],0,0,0,0,0,0,0,0,0,b[20],b[9],0,0,0,0,b[10],b[4],b[19],b[5],0,b[17],0,0,0,c[5],c[17],0,0,c[13],0,c[4],0,0,c[9],c[19],0,c[10],0,c[20],0,0,0,0,0,0,0,0,0,0,0,0,0,0,c[11],c[3],c[2],0,0};
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-	M[90] = {0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,a[12],0,0,0,0,0,0,0,0,0,0,0,0,a[16],0,a[8],0,0,0,0,0,0,0,0,0,0,0,0,b[12],b[8],0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,b[16],0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,c[16],0,0,0,0,0,c[19],0,0,0,c[2],c[8],0,c[17],0,0,0,0,c[12],0,0,0,0,0,0};
-	M[91] = {0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,u[2],0,0,0,a[3],a[2],0,0,a[5],a[17],0,0,0,0,a[14],a[8],0,a[4],a[20],a[13],0,0,0,0,a[19],0,0,a[12],0,0,0,0,b[3],b[13],b[2],b[5],0,b[19],b[17],b[20],0,0,0,0,0,0,0,0,0,b[4],0,0,0,0,b[14],b[8],0,b[12],0,0,0,0,0,c[12],0,0,0,c[19],0,c[8],0,0,c[4],0,0,c[14],0,0,0,0,0,0,0,c[13],0,0,0,0,c[20],0,c[3],c[2],c[5],c[17],0,0,0};
-	M[92] = {0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,u[4],0,0,0,0,0,0,0,0,0,0,a[6],a[16],0,0,0,0,0,0,0,0,0,0,0,a[17],a[5],0,a[14],a[8],a[4],a[12],0,0,0,0,0,0,0,0,b[5],b[6],0,0,b[12],0,b[17],b[8],0,0,b[4],0,b[14],0,0,0,0,0,b[16],0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,c[12],0,0,0,c[16],0,0,c[14],0,0,0,c[3],c[4],0,0,0,c[5],0,c[15],c[18],0,c[17],c[8],0,c[6],0,0,0,0,0};
-	M[93] = {0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,u[3],0,0,0,0,0,0,0,0,0,0,a[7],a[12],0,0,0,0,0,0,0,0,0,0,0,a[18],a[15],0,a[5],a[17],a[3],a[6],0,0,0,0,0,0,0,0,b[15],b[7],0,0,b[6],0,b[18],b[17],0,0,b[3],b[4],b[5],b[8],b[14],0,0,0,b[12],0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,c[6],c[14],0,0,c[12],0,0,c[5],0,0,0,0,c[3],0,c[4],0,c[15],0,0,0,c[8],c[18],c[17],0,c[7],0,0,0,0,0};
-	M[94] = {0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,a[2],0,0,0,0,0,a[19],0,0,a[20],0,0,0,0,0,0,0,a[17],0,0,0,0,0,0,0,0,0,b[2],0,0,0,0,0,0,0,0,0,0,0,0,0,b[20],0,0,0,0,b[19],0,0,0,b[17],0,0,0,c[17],0,0,0,0,0,0,0,0,0,c[20],0,0,c[19],0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,c[2],0,0,0,0};
-	M[95] = {0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,u[4],a[6],0,0,0,0,0,0,0,0,0,0,0,0,a[12],0,a[17],0,a[8],0,a[19],0,0,0,0,0,a[16],0,0,b[6],b[17],0,0,0,0,0,0,0,0,0,b[19],0,b[8],0,0,0,b[12],b[16],0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,c[16],0,c[12],0,c[8],0,0,0,c[2],c[19],0,0,0,c[17],0,c[18],0,0,0,0,c[6],0,0,0,0,0,0};
-	M[96] = {0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,u[4],0,0,0,a[5],a[17],0,0,0,a[12],0,0,0,0,0,a[16],0,a[14],a[19],a[4],0,0,0,0,a[8],0,0,0,0,0,0,0,b[5],b[4],b[17],0,0,b[8],b[12],b[19],0,0,0,0,0,0,0,0,0,b[14],0,0,0,0,0,b[16],0,0,0,0,0,0,0,0,0,0,0,c[8],0,c[16],0,0,c[14],0,0,0,0,0,c[13],0,0,0,0,c[4],0,c[3],c[2],0,c[19],0,c[5],c[17],0,c[12],0,0,0};
-	M[97] = {0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,a[6],0,a[12],0,a[17],0,0,0,0,0,0,0,0,0,b[6],0,0,0,0,0,0,0,0,0,b[17],b[8],b[12],0,b[16],0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,c[16],0,0,0,0,0,c[12],0,0,0,c[18],c[17],0,c[8],0,c[6],0,c[7],0,0,0,0,0,0,0,0,0,0,0};
-	M[98] = {0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,a[12],0,0,0,0,0,0,0,0,0,0,0,0,a[8],a[14],0,0,0,0,a[16],0,0,0,0,0,0,0,0,b[14],b[12],0,0,b[16],0,b[8],0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,c[16],0,0,0,0,0,0,0,0,0,0,c[4],0,0,0,c[3],c[14],0,c[5],c[17],0,c[8],0,0,c[12],0,0,0,0,0};
-	M[99] = {0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,a[7],0,a[6],0,a[18],0,0,0,0,0,0,0,0,0,b[7],0,0,0,0,0,0,0,b[8],0,b[18],b[17],b[6],0,b[12],0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,c[12],0,0,0,0,0,c[6],0,0,0,0,c[18],c[8],c[17],0,c[7],0,0,0,0,0,0,0,0,0,0,0,0,0};
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-	M[100] = {0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,a[16],0,0,0,0,0,0,0,0,0,0,0,0,0,b[16],0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,c[16],0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,c[10],0,0,0,c[14],0,0,0,0,0,0,0,0,0,0};
-	M[101] = {0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,a[9],a[13],a[20],0,0,0,0,0,0,0,0,a[11],0,a[3],0,0,a[2],0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,b[9],b[13],b[20],b[3],b[11],b[2],0,0,c[11],c[3],c[2],0,0,0,0,c[13],0,0,0,c[20],0,c[9],0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0};
-	M[102] = {0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,a[13],a[20],0,0,0,0,0,0,0,0,0,a[3],0,a[2],0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,b[13],b[20],0,b[2],b[3],0,0,0,c[3],c[2],0,0,0,0,0,c[20],0,0,0,0,0,c[13],0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0};
-	M[103] = {0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,a[20],0,0,0,0,0,0,0,0,0,0,a[2],0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,b[20],0,0,0,b[2],0,0,0,c[2],0,0,0,0,0,0,0,0,0,0,0,0,c[20],0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0};
-	M[104] = {0,0,0,0,0,0,0,0,0,0,0,u[4],0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,a[10],0,0,0,0,a[14],a[8],0,a[16],0,0,0,0,0,0,0,0,0,0,0,0,0,0,a[4],0,0,b[8],0,0,b[10],0,b[14],0,0,0,0,0,b[4],0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,b[16],0,0,0,c[16],c[4],0,0,0,0,0,0,0,0,0,c[8],0,0,0,0,0,0,0,0,c[1],c[9],0,0,0,0,c[10],0,0,c[14],0,0};
-	M[105] = {0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,u[4],0,0,0,0,0,0,a[10],a[4],0,0,0,a[14],a[8],0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,a[19],0,a[16],0,b[10],0,b[4],0,b[8],0,b[14],0,0,0,b[19],0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,b[16],0,0,0,0,c[16],0,c[19],0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,c[9],c[13],0,0,0,c[10],c[4],0,c[14],c[8],0,0};
-	M[106] = {0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,a[4],a[19],0,0,a[14],a[8],0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,a[16],0,0,0,0,b[4],0,b[19],b[14],0,0,b[8],0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,b[16],0,0,0,0,0,c[16],0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,c[13],c[20],0,0,0,c[4],c[19],c[14],c[8],0,0,0};
-	M[107] = {0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,a[19],0,0,0,a[8],0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,a[16],0,0,0,0,0,0,b[19],0,0,b[8],0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,b[16],0,0,0,c[16],0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,c[20],0,0,0,0,c[19],0,c[8],0,0,0,0};
-	M[108] = {0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,a[20],0,0,0,0,0,0,0,0,0,0,0,a[1],0,a[9],0,0,a[13],0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,b[9],b[1],b[13],0,b[20],c[1],c[9],c[13],c[20],0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0};
-	M[109] = {0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,u[3],a[7],0,0,0,0,0,0,0,0,0,0,0,0,a[6],0,a[18],0,a[17],0,a[2],0,0,0,0,0,a[12],0,0,b[7],b[18],0,0,0,0,0,0,0,0,0,b[2],b[19],b[17],0,b[8],0,b[6],b[12],0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,c[8],0,c[12],0,c[6],0,c[17],0,0,0,0,c[2],0,c[19],0,c[18],0,0,0,0,0,0,c[7],0,0,0,0,0,0};
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-	M[110] = {0,0,0,0,0,0,0,u[3],0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,a[5],0,0,0,a[7],0,0,0,0,0,0,0,0,a[15],0,a[11],0,0,0,a[6],0,0,0,0,b[7],0,0,0,0,0,0,0,0,b[11],0,0,0,b[1],0,b[10],0,b[15],0,0,0,b[5],b[6],0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,c[7],c[15],0,0,0,c[1],0,0,c[5],0,0,c[10],0,c[11],0,0,0,0,0,0,c[6]};
-	M[111] = {0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,u[2],0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,a[20],a[13],0,0,0,0,0,0,0,0,0,0,0,0,0,a[1],0,0,a[9],0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,b[1],0,b[9],b[20],b[13],0,c[1],c[9],c[13],0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,c[20],0};
-	M[112] = {0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,u[2],0,0,0,0,0,0,0,0,0,0,0,a[1],a[9],a[13],a[20],0,a[19],0,0,0,0,0,0,0,0,0,0,0,0,0,a[10],0,0,a[4],b[20],0,0,0,b[1],b[13],0,b[9],0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,b[10],0,b[4],0,b[19],0,c[10],c[4],c[19],0,0,0,0,0,0,0,0,0,0,c[20],0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,c[1],c[9],c[13],0,0};
-	M[113] = {0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,a[9],a[13],a[20],0,0,0,0,0,0,0,0,0,0,0,0,0,0,a[10],0,a[4],0,0,a[19],0,0,0,0,b[9],b[20],0,b[13],0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,b[4],b[10],b[19],0,0,c[10],c[4],c[19],0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,c[9],c[13],c[20],0,0};
-	M[114] = {0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,a[13],a[20],0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,a[4],0,a[19],0,0,0,0,0,0,0,b[13],0,0,b[20],0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,b[19],b[4],0,0,0,c[4],c[19],0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,c[13],c[20],0,0,0};
-	M[115] = {0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,a[20],0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,a[19],0,0,0,0,0,0,0,0,0,b[20],0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,b[19],0,0,0,c[19],0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,c[20],0,0,0,0};
-	M[116] = {0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,u[2],0,0,0,0,a[13],a[20],0,0,0,0,0,0,a[11],a[3],a[2],0,0,0,0,0,0,0,0,0,0,a[15],0,a[9],a[18],0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,b[9],b[13],b[20],0,b[11],b[3],b[2],b[15],0,b[18],0,0,0,c[15],c[18],0,0,0,0,c[3],c[9],c[13],0,c[2],0,c[11],0,0,0,0,0,0,0,0,c[20],0,0,0,0,0,0,0,0,0,0,0,0};
-	M[117] = {0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,a[20],0,0,0,0,0,0,0,a[3],a[2],0,0,0,0,0,0,0,0,0,a[15],0,a[18],0,a[13],0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,b[13],b[20],0,0,b[3],b[2],0,b[18],b[15],0,0,0,c[15],c[18],0,0,0,0,0,c[2],c[13],c[20],0,0,0,c[3],0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0};
-	M[118] = {0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,a[13],a[20],0,0,a[4],a[19],0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,a[14],0,a[8],0,0,0,0,b[13],0,b[20],b[4],0,0,b[19],0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,b[8],b[14],0,0,0,c[14],c[8],0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,c[13],c[20],c[4],c[19],0,0,0};
-	M[119] = {0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,a[20],0,0,0,a[19],0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,a[8],0,0,0,0,0,0,b[20],0,0,b[19],0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,b[8],0,0,0,c[8],0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,c[20],0,c[19],0,0,0,0};
-
-
-	return cv::Mat(M).t();
+	/*M[0][0]=u[1]; M[0][35]=a[1]; M[0][83]=b[1]; M[0][118]=c[1];
+	M[1][0]=u[4]; M[1][1]=u[1]; M[1][34]=a[1]; M[1][35]=a[10]; M[1][54]=b[1]; M[1][83]=b[10]; M[1][99]=c[1]; M[1][118]=c[10];
+	M[2][1]=u[4]; M[2][2]=u[1]; M[2][34]=a[10]; M[2][35]=a[14]; M[2][51]=a[1]; M[2][54]=b[10]; M[2][65]=b[1]; M[2][83]=b[14]; M[2][89]=c[1]; M[2][99]=c[10]; M[2][118]=c[14];
+	M[3][0]=u[3]; M[3][3]=u[1]; M[3][35]=a[11]; M[3][49]=a[1]; M[3][76]=b[1]; M[3][83]=b[11]; M[3][118]=c[11]; M[3][119]=c[1];
+	M[4][1]=u[3]; M[4][3]=u[4]; M[4][4]=u[1]; M[4][34]=a[11]; M[4][35]=a[5]; M[4][43]=a[1]; M[4][49]=a[10]; M[4][54]=b[11]; M[4][71]=b[1]; M[4][76]=b[10]; M[4][83]=b[5]; M[4][99]=c[11]; M[4][100]=c[1]; M[4][118]=c[5]; M[4][119]=c[10];
+	M[5][2]=u[3]; M[5][4]=u[4]; M[5][5]=u[1]; M[5][34]=a[5]; M[5][35]=a[12]; M[5][41]=a[1]; M[5][43]=a[10]; M[5][49]=a[14]; M[5][51]=a[11]; M[5][54]=b[5]; M[5][62]=b[1]; M[5][65]=b[11]; M[5][71]=b[10]; M[5][76]=b[14]; M[5][83]=b[12]; M[5][89]=c[11]; M[5][99]=c[5]; M[5][100]=c[10]; M[5][111]=c[1]; M[5][118]=c[12]; M[5][119]=c[14];
+	M[6][3]=u[3]; M[6][6]=u[1]; M[6][30]=a[1]; M[6][35]=a[15]; M[6][49]=a[11]; M[6][75]=b[1]; M[6][76]=b[11]; M[6][83]=b[15]; M[6][107]=c[1]; M[6][118]=c[15]; M[6][119]=c[11];
+	M[7][4]=u[3]; M[7][6]=u[4]; M[7][7]=u[1]; M[7][30]=a[10]; M[7][34]=a[15]; M[7][35]=a[6]; M[7][43]=a[11]; M[7][45]=a[1]; M[7][49]=a[5]; M[7][54]=b[15]; M[7][63]=b[1]; M[7][71]=b[11]; M[7][75]=b[10]; M[7][76]=b[5]; M[7][83]=b[6]; M[7][99]=c[15]; M[7][100]=c[11]; M[7][107]=c[10]; M[7][112]=c[1]; M[7][118]=c[6]; M[7][119]=c[5];
+	M[8][5]=u[3]; M[8][7]=u[4]; M[8][8]=u[1]; M[8][30]=a[14]; M[8][34]=a[6]; M[8][41]=a[11]; M[8][43]=a[5]; M[8][45]=a[10]; M[8][46]=a[1]; M[8][49]=a[12]; M[8][51]=a[15]; M[8][54]=b[6]; M[8][62]=b[11]; M[8][63]=b[10]; M[8][65]=b[15]; M[8][66]=b[1]; M[8][71]=b[5]; M[8][75]=b[14]; M[8][76]=b[12]; M[8][89]=c[15]; M[8][99]=c[6]; M[8][100]=c[5]; M[8][102]=c[1]; M[8][107]=c[14]; M[8][111]=c[11]; M[8][112]=c[10]; M[8][119]=c[12];
+	M[9][0]=u[2]; M[9][9]=u[1]; M[9][35]=a[9]; M[9][36]=a[1]; M[9][83]=b[9]; M[9][84]=b[1]; M[9][88]=c[1]; M[9][118]=c[9];
+	M[10][1]=u[2]; M[10][9]=u[4]; M[10][10]=u[1]; M[10][33]=a[1]; M[10][34]=a[9]; M[10][35]=a[4]; M[10][36]=a[10]; M[10][54]=b[9]; M[10][59]=b[1]; M[10][83]=b[4]; M[10][84]=b[10]; M[10][88]=c[10]; M[10][99]=c[9]; M[10][117]=c[1]; M[10][118]=c[4];
+	M[11][2]=u[2]; M[11][10]=u[4]; M[11][11]=u[1]; M[11][28]=a[1]; M[11][33]=a[10]; M[11][34]=a[4]; M[11][35]=a[8]; M[11][36]=a[14]; M[11][51]=a[9]; M[11][54]=b[4]; M[11][57]=b[1]; M[11][59]=b[10]; M[11][65]=b[9]; M[11][83]=b[8]; M[11][84]=b[14]; M[11][88]=c[14]; M[11][89]=c[9]; M[11][99]=c[4]; M[11][114]=c[1]; M[11][117]=c[10]; M[11][118]=c[8];
+	M[12][3]=u[2]; M[12][9]=u[3]; M[12][12]=u[1]; M[12][35]=a[3]; M[12][36]=a[11]; M[12][39]=a[1]; M[12][49]=a[9]; M[12][76]=b[9]; M[12][79]=b[1]; M[12][83]=b[3]; M[12][84]=b[11]; M[12][88]=c[11]; M[12][96]=c[1]; M[12][118]=c[3]; M[12][119]=c[9];
+	M[13][4]=u[2]; M[13][10]=u[3]; M[13][12]=u[4]; M[13][13]=u[1]; M[13][33]=a[11]; M[13][34]=a[3]; M[13][35]=a[17]; M[13][36]=a[5]; M[13][39]=a[10]; M[13][43]=a[9]; M[13][47]=a[1]; M[13][49]=a[4]; M[13][54]=b[3]; M[13][59]=b[11]; M[13][60]=b[1]; M[13][71]=b[9]; M[13][76]=b[4]; M[13][79]=b[10]; M[13][83]=b[17]; M[13][84]=b[5]; M[13][88]=c[5]; M[13][90]=c[1]; M[13][96]=c[10]; M[13][99]=c[3]; M[13][100]=c[9]; M[13][117]=c[11]; M[13][118]=c[17]; M[13][119]=c[4];
+	M[14][5]=u[2]; M[14][11]=u[3]; M[14][13]=u[4]; M[14][14]=u[1]; M[14][28]=a[11]; M[14][33]=a[5]; M[14][34]=a[17]; M[14][36]=a[12]; M[14][39]=a[14]; M[14][41]=a[9]; M[14][42]=a[1]; M[14][43]=a[4]; M[14][47]=a[10]; M[14][49]=a[8]; M[14][51]=a[3]; M[14][54]=b[17]; M[14][56]=b[1]; M[14][57]=b[11]; M[14][59]=b[5]; M[14][60]=b[10]; M[14][62]=b[9]; M[14][65]=b[3]; M[14][71]=b[4]; M[14][76]=b[8]; M[14][79]=b[14]; M[14][84]=b[12]; M[14][88]=c[12]; M[14][89]=c[3]; M[14][90]=c[10]; M[14][96]=c[14]; M[14][99]=c[17]; M[14][100]=c[4]; M[14][106]=c[1]; M[14][111]=c[9]; M[14][114]=c[11]; M[14][117]=c[5]; M[14][119]=c[8];
+	M[15][6]=u[2]; M[15][12]=u[3]; M[15][15]=u[1]; M[15][29]=a[1]; M[15][30]=a[9]; M[15][35]=a[18]; M[15][36]=a[15]; M[15][39]=a[11]; M[15][49]=a[3]; M[15][74]=b[1]; M[15][75]=b[9]; M[15][76]=b[3]; M[15][79]=b[11]; M[15][83]=b[18]; M[15][84]=b[15]; M[15][88]=c[15]; M[15][94]=c[1]; M[15][96]=c[11]; M[15][107]=c[9]; M[15][118]=c[18]; M[15][119]=c[3];
+	M[16][7]=u[2]; M[16][13]=u[3]; M[16][15]=u[4]; M[16][16]=u[1]; M[16][29]=a[10]; M[16][30]=a[4]; M[16][33]=a[15]; M[16][34]=a[18]; M[16][36]=a[6]; M[16][39]=a[5]; M[16][43]=a[3]; M[16][44]=a[1]; M[16][45]=a[9]; M[16][47]=a[11]; M[16][49]=a[17]; M[16][54]=b[18]; M[16][59]=b[15]; M[16][60]=b[11]; M[16][63]=b[9]; M[16][68]=b[1]; M[16][71]=b[3]; M[16][74]=b[10]; M[16][75]=b[4]; M[16][76]=b[17]; M[16][79]=b[5]; M[16][84]=b[6]; M[16][88]=c[6]; M[16][90]=c[11]; M[16][94]=c[10]; M[16][96]=c[5]; M[16][97]=c[1]; M[16][99]=c[18]; M[16][100]=c[3]; M[16][107]=c[4]; M[16][112]=c[9]; M[16][117]=c[15]; M[16][119]=c[17];
+	M[17][8]=u[2]; M[17][14]=u[3]; M[17][16]=u[4]; M[17][17]=u[1]; M[17][28]=a[15]; M[17][29]=a[14]; M[17][30]=a[8]; M[17][33]=a[6]; M[17][39]=a[12]; M[17][41]=a[3]; M[17][42]=a[11]; M[17][43]=a[17]; M[17][44]=a[10]; M[17][45]=a[4]; M[17][46]=a[9]; M[17][47]=a[5]; M[17][51]=a[18]; M[17][56]=b[11]; M[17][57]=b[15]; M[17][59]=b[6]; M[17][60]=b[5]; M[17][62]=b[3]; M[17][63]=b[4]; M[17][65]=b[18]; M[17][66]=b[9]; M[17][68]=b[10]; M[17][71]=b[17]; M[17][74]=b[14]; M[17][75]=b[8]; M[17][79]=b[12]; M[17][89]=c[18]; M[17][90]=c[5]; M[17][94]=c[14]; M[17][96]=c[12]; M[17][97]=c[10]; M[17][100]=c[17]; M[17][102]=c[9]; M[17][106]=c[11]; M[17][107]=c[8]; M[17][111]=c[3]; M[17][112]=c[4]; M[17][114]=c[15]; M[17][117]=c[6];
+	M[18][9]=u[2]; M[18][18]=u[1]; M[18][35]=a[13]; M[18][36]=a[9]; M[18][53]=a[1]; M[18][82]=b[1]; M[18][83]=b[13]; M[18][84]=b[9]; M[18][87]=c[1]; M[18][88]=c[9]; M[18][118]=c[13];
+	M[19][10]=u[2]; M[19][18]=u[4]; M[19][19]=u[1]; M[19][32]=a[1]; M[19][33]=a[9]; M[19][34]=a[13]; M[19][35]=a[19]; M[19][36]=a[4]; M[19][53]=a[10]; M[19][54]=b[13]; M[19][59]=b[9]; M[19][61]=b[1]; M[19][82]=b[10]; M[19][83]=b[19]; M[19][84]=b[4]; M[19][87]=c[10]; M[19][88]=c[4]; M[19][99]=c[13]; M[19][116]=c[1]; M[19][117]=c[9]; M[19][118]=c[19];
+	M[20][11]=u[2]; M[20][19]=u[4]; M[20][20]=u[1]; M[20][27]=a[1]; M[20][28]=a[9]; M[20][32]=a[10]; M[20][33]=a[4]; M[20][34]=a[19]; M[20][36]=a[8]; M[20][51]=a[13]; M[20][53]=a[14]; M[20][54]=b[19]; M[20][55]=b[1]; M[20][57]=b[9]; M[20][59]=b[4]; M[20][61]=b[10]; M[20][65]=b[13]; M[20][82]=b[14]; M[20][84]=b[8]; M[20][87]=c[14]; M[20][88]=c[8]; M[20][89]=c[13]; M[20][99]=c[19]; M[20][113]=c[1]; M[20][114]=c[9]; M[20][116]=c[10]; M[20][117]=c[4];
+	M[21][12]=u[2]; M[21][18]=u[3]; M[21][21]=u[1]; M[21][35]=a[2]; M[21][36]=a[3]; M[21][38]=a[1]; M[21][39]=a[9]; M[21][49]=a[13]; M[21][53]=a[11]; M[21][76]=b[13]; M[21][78]=b[1]; M[21][79]=b[9]; M[21][82]=b[11]; M[21][83]=b[2]; M[21][84]=b[3]; M[21][87]=c[11]; M[21][88]=c[3]; M[21][92]=c[1]; M[21][96]=c[9]; M[21][118]=c[2]; M[21][119]=c[13];
+	M[22][13]=u[2]; M[22][19]=u[3]; M[22][21]=u[4]; M[22][22]=u[1]; M[22][32]=a[11]; M[22][33]=a[3]; M[22][34]=a[2]; M[22][36]=a[17]; M[22][38]=a[10]; M[22][39]=a[4]; M[22][40]=a[1]; M[22][43]=a[13]; M[22][47]=a[9]; M[22][49]=a[19]; M[22][53]=a[5]; M[22][54]=b[2]; M[22][59]=b[3]; M[22][60]=b[9]; M[22][61]=b[11]; M[22][71]=b[13]; M[22][72]=b[1]; M[22][76]=b[19]; M[22][78]=b[10]; M[22][79]=b[4]; M[22][82]=b[5]; M[22][84]=b[17]; M[22][87]=c[5]; M[22][88]=c[17]; M[22][90]=c[9]; M[22][92]=c[10]; M[22][95]=c[1]; M[22][96]=c[4]; M[22][99]=c[2]; M[22][100]=c[13]; M[22][116]=c[11]; M[22][117]=c[3]; M[22][119]=c[19];
+	M[23][14]=u[2]; M[23][20]=u[3]; M[23][22]=u[4]; M[23][23]=u[1]; M[23][27]=a[11]; M[23][28]=a[3]; M[23][32]=a[5]; M[23][33]=a[17]; M[23][38]=a[14]; M[23][39]=a[8]; M[23][40]=a[10]; M[23][41]=a[13]; M[23][42]=a[9]; M[23][43]=a[19]; M[23][47]=a[4]; M[23][51]=a[2]; M[23][53]=a[12]; M[23][55]=b[11]; M[23][56]=b[9]; M[23][57]=b[3]; M[23][59]=b[17]; M[23][60]=b[4]; M[23][61]=b[5]; M[23][62]=b[13]; M[23][65]=b[2]; M[23][71]=b[19]; M[23][72]=b[10]; M[23][78]=b[14]; M[23][79]=b[8]; M[23][82]=b[12]; M[23][87]=c[12]; M[23][89]=c[2]; M[23][90]=c[4]; M[23][92]=c[14]; M[23][95]=c[10]; M[23][96]=c[8]; M[23][100]=c[19]; M[23][106]=c[9]; M[23][111]=c[13]; M[23][113]=c[11]; M[23][114]=c[3]; M[23][116]=c[5]; M[23][117]=c[17];
+	M[24][15]=u[2]; M[24][21]=u[3]; M[24][24]=u[1]; M[24][29]=a[9]; M[24][30]=a[13]; M[24][36]=a[18]; M[24][38]=a[11]; M[24][39]=a[3]; M[24][49]=a[2]; M[24][52]=a[1]; M[24][53]=a[15]; M[24][73]=b[1]; M[24][74]=b[9]; M[24][75]=b[13]; M[24][76]=b[2]; M[24][78]=b[11]; M[24][79]=b[3]; M[24][82]=b[15]; M[24][84]=b[18]; M[24][87]=c[15]; M[24][88]=c[18]; M[24][92]=c[11]; M[24][93]=c[1]; M[24][94]=c[9]; M[24][96]=c[3]; M[24][107]=c[13]; M[24][119]=c[2];
+	M[25][16]=u[2]; M[25][22]=u[3]; M[25][24]=u[4]; M[25][25]=u[1]; M[25][29]=a[4]; M[25][30]=a[19]; M[25][32]=a[15]; M[25][33]=a[18]; M[25][38]=a[5]; M[25][39]=a[17]; M[25][40]=a[11]; M[25][43]=a[2]; M[25][44]=a[9]; M[25][45]=a[13]; M[25][47]=a[3]; M[25][52]=a[10]; M[25][53]=a[6]; M[25][59]=b[18]; M[25][60]=b[3]; M[25][61]=b[15]; M[25][63]=b[13]; M[25][68]=b[9]; M[25][71]=b[2]; M[25][72]=b[11]; M[25][73]=b[10]; M[25][74]=b[4]; M[25][75]=b[19]; M[25][78]=b[5]; M[25][79]=b[17]; M[25][82]=b[6]; M[25][87]=c[6]; M[25][90]=c[3]; M[25][92]=c[5]; M[25][93]=c[10]; M[25][94]=c[4]; M[25][95]=c[11]; M[25][96]=c[17]; M[25][97]=c[9]; M[25][100]=c[2]; M[25][107]=c[19]; M[25][112]=c[13]; M[25][116]=c[15]; M[25][117]=c[18];
+	M[26][17]=u[2]; M[26][23]=u[3]; M[26][25]=u[4]; M[26][26]=u[1]; M[26][27]=a[15]; M[26][28]=a[18]; M[26][29]=a[8]; M[26][32]=a[6]; M[26][38]=a[12]; M[26][40]=a[5]; M[26][41]=a[2]; M[26][42]=a[3]; M[26][44]=a[4]; M[26][45]=a[19]; M[26][46]=a[13]; M[26][47]=a[17]; M[26][52]=a[14]; M[26][55]=b[15]; M[26][56]=b[3]; M[26][57]=b[18]; M[26][60]=b[17]; M[26][61]=b[6]; M[26][62]=b[2]; M[26][63]=b[19]; M[26][66]=b[13]; M[26][68]=b[4]; M[26][72]=b[5]; M[26][73]=b[14]; M[26][74]=b[8]; M[26][78]=b[12]; M[26][90]=c[17]; M[26][92]=c[12]; M[26][93]=c[14]; M[26][94]=c[8]; M[26][95]=c[5]; M[26][97]=c[4]; M[26][102]=c[13]; M[26][106]=c[3]; M[26][111]=c[2]; M[26][112]=c[19]; M[26][113]=c[15]; M[26][114]=c[18]; M[26][116]=c[6];
+	M[27][15]=u[3]; M[27][29]=a[11]; M[27][30]=a[3]; M[27][36]=a[7]; M[27][39]=a[15]; M[27][49]=a[18]; M[27][69]=b[9]; M[27][70]=b[1]; M[27][74]=b[11]; M[27][75]=b[3]; M[27][76]=b[18]; M[27][79]=b[15]; M[27][84]=b[7]; M[27][88]=c[7]; M[27][91]=c[1]; M[27][94]=c[11]; M[27][96]=c[15]; M[27][107]=c[3]; M[27][110]=c[9]; M[27][119]=c[18];
+	M[28][6]=u[3]; M[28][30]=a[11]; M[28][35]=a[7]; M[28][49]=a[15]; M[28][69]=b[1]; M[28][75]=b[11]; M[28][76]=b[15]; M[28][83]=b[7]; M[28][107]=c[11]; M[28][110]=c[1]; M[28][118]=c[7]; M[28][119]=c[15];
+	M[29][24]=u[3]; M[29][29]=a[3]; M[29][30]=a[2]; M[29][38]=a[15]; M[29][39]=a[18]; M[29][52]=a[11]; M[29][53]=a[7]; M[29][69]=b[13]; M[29][70]=b[9]; M[29][73]=b[11]; M[29][74]=b[3]; M[29][75]=b[2]; M[29][78]=b[15]; M[29][79]=b[18]; M[29][82]=b[7]; M[29][87]=c[7]; M[29][91]=c[9]; M[29][92]=c[15]; M[29][93]=c[11]; M[29][94]=c[3]; M[29][96]=c[18]; M[29][107]=c[2]; M[29][110]=c[13];
+	M[30][37]=a[18]; M[30][48]=a[7]; M[30][52]=a[2]; M[30][70]=b[20]; M[30][73]=b[2]; M[30][77]=b[18]; M[30][81]=b[7]; M[30][85]=c[7]; M[30][91]=c[20]; M[30][93]=c[2]; M[30][98]=c[18];
+	M[31][29]=a[2]; M[31][37]=a[15]; M[31][38]=a[18]; M[31][50]=a[7]; M[31][52]=a[3]; M[31][69]=b[20]; M[31][70]=b[13]; M[31][73]=b[3]; M[31][74]=b[2]; M[31][77]=b[15]; M[31][78]=b[18]; M[31][80]=b[7]; M[31][86]=c[7]; M[31][91]=c[13]; M[31][92]=c[18]; M[31][93]=c[3]; M[31][94]=c[2]; M[31][98]=c[15]; M[31][110]=c[20];
+	M[32][48]=a[9]; M[32][50]=a[13]; M[32][53]=a[20]; M[32][80]=b[13]; M[32][81]=b[9]; M[32][82]=b[20]; M[32][85]=c[9]; M[32][86]=c[13]; M[32][87]=c[20];
+	M[33][29]=a[15]; M[33][30]=a[18]; M[33][39]=a[7]; M[33][64]=b[9]; M[33][69]=b[3]; M[33][70]=b[11]; M[33][74]=b[15]; M[33][75]=b[18]; M[33][79]=b[7]; M[33][91]=c[11]; M[33][94]=c[15]; M[33][96]=c[7]; M[33][103]=c[9]; M[33][107]=c[18]; M[33][110]=c[3];
+	M[34][29]=a[18]; M[34][38]=a[7]; M[34][52]=a[15]; M[34][64]=b[13]; M[34][69]=b[2]; M[34][70]=b[3]; M[34][73]=b[15]; M[34][74]=b[18]; M[34][78]=b[7]; M[34][91]=c[3]; M[34][92]=c[7]; M[34][93]=c[15]; M[34][94]=c[18]; M[34][103]=c[13]; M[34][110]=c[2];
+	M[35][37]=a[7]; M[35][52]=a[18]; M[35][64]=b[20]; M[35][70]=b[2]; M[35][73]=b[18]; M[35][77]=b[7]; M[35][91]=c[2]; M[35][93]=c[18]; M[35][98]=c[7]; M[35][103]=c[20];
+	M[36][5]=u[4]; M[36][34]=a[12]; M[36][41]=a[10]; M[36][43]=a[14]; M[36][49]=a[16]; M[36][51]=a[5]; M[36][54]=b[12]; M[36][62]=b[10]; M[36][65]=b[5]; M[36][71]=b[14]; M[36][76]=b[16]; M[36][89]=c[5]; M[36][99]=c[12]; M[36][100]=c[14]; M[36][101]=c[1]; M[36][109]=c[11]; M[36][111]=c[10]; M[36][119]=c[16];
+	M[37][2]=u[4]; M[37][34]=a[14]; M[37][35]=a[16]; M[37][51]=a[10]; M[37][54]=b[14]; M[37][65]=b[10]; M[37][83]=b[16]; M[37][89]=c[10]; M[37][99]=c[14]; M[37][109]=c[1]; M[37][118]=c[16];
+	M[38][30]=a[15]; M[38][49]=a[7]; M[38][64]=b[1]; M[38][69]=b[11]; M[38][75]=b[15]; M[38][76]=b[7]; M[38][103]=c[1]; M[38][107]=c[15]; M[38][110]=c[11]; M[38][119]=c[7];
+	M[39][28]=a[14]; M[39][33]=a[16]; M[39][51]=a[8]; M[39][57]=b[14]; M[39][59]=b[16]; M[39][65]=b[8]; M[39][89]=c[8]; M[39][105]=c[9]; M[39][108]=c[10]; M[39][109]=c[4]; M[39][114]=c[14]; M[39][117]=c[16];
+	M[40][27]=a[14]; M[40][28]=a[8]; M[40][32]=a[16]; M[40][55]=b[14]; M[40][57]=b[8]; M[40][61]=b[16]; M[40][105]=c[13]; M[40][108]=c[4]; M[40][109]=c[19]; M[40][113]=c[14]; M[40][114]=c[8]; M[40][116]=c[16];
+	M[41][30]=a[7]; M[41][64]=b[11]; M[41][69]=b[15]; M[41][75]=b[7]; M[41][103]=c[11]; M[41][107]=c[7]; M[41][110]=c[15];
+	M[42][27]=a[8]; M[42][31]=a[16]; M[42][55]=b[8]; M[42][58]=b[16]; M[42][105]=c[20]; M[42][108]=c[19]; M[42][113]=c[8]; M[42][115]=c[16];
+	M[43][29]=a[7]; M[43][64]=b[3]; M[43][69]=b[18]; M[43][70]=b[15]; M[43][74]=b[7]; M[43][91]=c[15]; M[43][94]=c[7]; M[43][103]=c[3]; M[43][110]=c[18];
+	M[44][28]=a[16]; M[44][57]=b[16]; M[44][105]=c[4]; M[44][108]=c[14]; M[44][109]=c[8]; M[44][114]=c[16];
+	M[45][27]=a[16]; M[45][55]=b[16]; M[45][105]=c[19]; M[45][108]=c[8]; M[45][113]=c[16];
+	M[46][52]=a[7]; M[46][64]=b[2]; M[46][70]=b[18]; M[46][73]=b[7]; M[46][91]=c[18]; M[46][93]=c[7]; M[46][103]=c[2];
+	M[47][40]=a[7]; M[47][44]=a[18]; M[47][52]=a[6]; M[47][64]=b[19]; M[47][67]=b[2]; M[47][68]=b[18]; M[47][70]=b[17]; M[47][72]=b[7]; M[47][73]=b[6]; M[47][91]=c[17]; M[47][93]=c[6]; M[47][95]=c[7]; M[47][97]=c[18]; M[47][103]=c[19]; M[47][104]=c[2];
+	M[48][30]=a[6]; M[48][43]=a[7]; M[48][45]=a[15]; M[48][63]=b[15]; M[48][64]=b[10]; M[48][67]=b[11]; M[48][69]=b[5]; M[48][71]=b[7]; M[48][75]=b[6]; M[48][100]=c[7]; M[48][103]=c[10]; M[48][104]=c[11]; M[48][107]=c[6]; M[48][110]=c[5]; M[48][112]=c[15];
+	M[49][41]=a[12]; M[49][45]=a[16]; M[49][46]=a[14]; M[49][62]=b[12]; M[49][63]=b[16]; M[49][66]=b[14]; M[49][101]=c[5]; M[49][102]=c[14]; M[49][105]=c[15]; M[49][109]=c[6]; M[49][111]=c[12]; M[49][112]=c[16];
+	M[50][41]=a[16]; M[50][62]=b[16]; M[50][101]=c[14]; M[50][105]=c[5]; M[50][109]=c[12]; M[50][111]=c[16];
+	M[51][64]=b[18]; M[51][70]=b[7]; M[51][91]=c[7]; M[51][103]=c[18];
+	M[52][41]=a[6]; M[52][45]=a[12]; M[52][46]=a[5]; M[52][62]=b[6]; M[52][63]=b[12]; M[52][66]=b[5]; M[52][67]=b[14]; M[52][69]=b[16]; M[52][101]=c[15]; M[52][102]=c[5]; M[52][104]=c[14]; M[52][109]=c[7]; M[52][110]=c[16]; M[52][111]=c[6]; M[52][112]=c[12];
+	M[53][64]=b[15]; M[53][69]=b[7]; M[53][103]=c[15]; M[53][110]=c[7];
+	M[54][105]=c[14]; M[54][109]=c[16];
+	M[55][44]=a[7]; M[55][64]=b[17]; M[55][67]=b[18]; M[55][68]=b[7]; M[55][70]=b[6]; M[55][91]=c[6]; M[55][97]=c[7]; M[55][103]=c[17]; M[55][104]=c[18];
+	M[56][105]=c[8]; M[56][108]=c[16];
+	M[57][64]=b[6]; M[57][67]=b[7]; M[57][103]=c[6]; M[57][104]=c[7];
+	M[58][46]=a[7]; M[58][64]=b[12]; M[58][66]=b[7]; M[58][67]=b[6]; M[58][102]=c[7]; M[58][103]=c[12]; M[58][104]=c[6];
+	M[59][8]=u[4]; M[59][30]=a[16]; M[59][41]=a[5]; M[59][43]=a[12]; M[59][45]=a[14]; M[59][46]=a[10]; M[59][51]=a[6]; M[59][62]=b[5]; M[59][63]=b[14]; M[59][65]=b[6]; M[59][66]=b[10]; M[59][71]=b[12]; M[59][75]=b[16]; M[59][89]=c[6]; M[59][100]=c[12]; M[59][101]=c[11]; M[59][102]=c[10]; M[59][107]=c[16]; M[59][109]=c[15]; M[59][111]=c[5]; M[59][112]=c[14];
+	M[60][8]=u[3]; M[60][30]=a[12]; M[60][41]=a[15]; M[60][43]=a[6]; M[60][45]=a[5]; M[60][46]=a[11]; M[60][51]=a[7]; M[60][62]=b[15]; M[60][63]=b[5]; M[60][65]=b[7]; M[60][66]=b[11]; M[60][67]=b[10]; M[60][69]=b[14]; M[60][71]=b[6]; M[60][75]=b[12]; M[60][89]=c[7]; M[60][100]=c[6]; M[60][102]=c[11]; M[60][104]=c[10]; M[60][107]=c[12]; M[60][110]=c[14]; M[60][111]=c[15]; M[60][112]=c[5];
+	M[61][42]=a[16]; M[61][56]=b[16]; M[61][101]=c[8]; M[61][105]=c[17]; M[61][106]=c[16]; M[61][108]=c[12];
+	M[62][64]=b[7]; M[62][103]=c[7];
+	M[63][105]=c[16];
+	M[64][46]=a[12]; M[64][66]=b[12]; M[64][67]=b[16]; M[64][101]=c[6]; M[64][102]=c[12]; M[64][104]=c[16]; M[64][105]=c[7];
+	M[65][46]=a[6]; M[65][64]=b[16]; M[65][66]=b[6]; M[65][67]=b[12]; M[65][101]=c[7]; M[65][102]=c[6]; M[65][103]=c[16]; M[65][104]=c[12];
+	M[66][46]=a[16]; M[66][66]=b[16]; M[66][101]=c[12]; M[66][102]=c[16]; M[66][105]=c[6];
+	M[67][101]=c[16]; M[67][105]=c[12];
+	M[68][41]=a[14]; M[68][43]=a[16]; M[68][51]=a[12]; M[68][62]=b[14]; M[68][65]=b[12]; M[68][71]=b[16]; M[68][89]=c[12]; M[68][100]=c[16]; M[68][101]=c[10]; M[68][105]=c[11]; M[68][109]=c[5]; M[68][111]=c[14];
+	M[69][37]=a[2]; M[69][48]=a[18]; M[69][52]=a[20]; M[69][73]=b[20]; M[69][77]=b[2]; M[69][81]=b[18]; M[69][85]=c[18]; M[69][93]=c[20]; M[69][98]=c[2];
+	M[70][20]=u[2]; M[70][27]=a[9]; M[70][28]=a[13]; M[70][31]=a[10]; M[70][32]=a[4]; M[70][33]=a[19]; M[70][50]=a[14]; M[70][51]=a[20]; M[70][53]=a[8]; M[70][55]=b[9]; M[70][57]=b[13]; M[70][58]=b[10]; M[70][59]=b[19]; M[70][61]=b[4]; M[70][65]=b[20]; M[70][80]=b[14]; M[70][82]=b[8]; M[70][86]=c[14]; M[70][87]=c[8]; M[70][89]=c[20]; M[70][113]=c[9]; M[70][114]=c[13]; M[70][115]=c[10]; M[70][116]=c[4]; M[70][117]=c[19];
+	M[71][45]=a[7]; M[71][63]=b[7]; M[71][64]=b[5]; M[71][67]=b[15]; M[71][69]=b[6]; M[71][103]=c[5]; M[71][104]=c[15]; M[71][110]=c[6]; M[71][112]=c[7];
+	M[72][41]=a[7]; M[72][45]=a[6]; M[72][46]=a[15]; M[72][62]=b[7]; M[72][63]=b[6]; M[72][64]=b[14]; M[72][66]=b[15]; M[72][67]=b[5]; M[72][69]=b[12]; M[72][102]=c[15]; M[72][103]=c[14]; M[72][104]=c[5]; M[72][110]=c[12]; M[72][111]=c[7]; M[72][112]=c[6];
+	M[73][48]=a[13]; M[73][50]=a[20]; M[73][80]=b[20]; M[73][81]=b[13]; M[73][85]=c[13]; M[73][86]=c[20];
+	M[74][25]=u[3]; M[74][29]=a[17]; M[74][32]=a[7]; M[74][38]=a[6]; M[74][40]=a[15]; M[74][44]=a[3]; M[74][45]=a[2]; M[74][47]=a[18]; M[74][52]=a[5]; M[74][60]=b[18]; M[74][61]=b[7]; M[74][63]=b[2]; M[74][67]=b[13]; M[74][68]=b[3]; M[74][69]=b[19]; M[74][70]=b[4]; M[74][72]=b[15]; M[74][73]=b[5]; M[74][74]=b[17]; M[74][78]=b[6]; M[74][90]=c[18]; M[74][91]=c[4]; M[74][92]=c[6]; M[74][93]=c[5]; M[74][94]=c[17]; M[74][95]=c[15]; M[74][97]=c[3]; M[74][104]=c[13]; M[74][110]=c[19]; M[74][112]=c[2]; M[74][116]=c[7];
+	M[75][21]=u[2]; M[75][36]=a[2]; M[75][37]=a[1]; M[75][38]=a[9]; M[75][39]=a[13]; M[75][49]=a[20]; M[75][50]=a[11]; M[75][53]=a[3]; M[75][76]=b[20]; M[75][77]=b[1]; M[75][78]=b[9]; M[75][79]=b[13]; M[75][80]=b[11]; M[75][82]=b[3]; M[75][84]=b[2]; M[75][86]=c[11]; M[75][87]=c[3]; M[75][88]=c[2]; M[75][92]=c[9]; M[75][96]=c[13]; M[75][98]=c[1]; M[75][119]=c[20];
+	M[76][48]=a[20]; M[76][81]=b[20]; M[76][85]=c[20];
+	M[77][34]=a[16]; M[77][51]=a[14]; M[77][54]=b[16]; M[77][65]=b[14]; M[77][89]=c[14]; M[77][99]=c[16]; M[77][105]=c[1]; M[77][109]=c[10];
+	M[78][27]=a[17]; M[78][31]=a[12]; M[78][37]=a[16]; M[78][40]=a[8]; M[78][42]=a[19]; M[78][55]=b[17]; M[78][56]=b[19]; M[78][58]=b[12]; M[78][72]=b[8]; M[78][77]=b[16]; M[78][95]=c[8]; M[78][98]=c[16]; M[78][101]=c[20]; M[78][106]=c[19]; M[78][108]=c[2]; M[78][113]=c[17]; M[78][115]=c[12];
+	M[79][42]=a[12]; M[79][44]=a[16]; M[79][46]=a[8]; M[79][56]=b[12]; M[79][66]=b[8]; M[79][68]=b[16]; M[79][97]=c[16]; M[79][101]=c[17]; M[79][102]=c[8]; M[79][105]=c[18]; M[79][106]=c[12]; M[79][108]=c[6];
+	M[80][14]=u[4]; M[80][28]=a[5]; M[80][33]=a[12]; M[80][39]=a[16]; M[80][41]=a[4]; M[80][42]=a[10]; M[80][43]=a[8]; M[80][47]=a[14]; M[80][51]=a[17]; M[80][56]=b[10]; M[80][57]=b[5]; M[80][59]=b[12]; M[80][60]=b[14]; M[80][62]=b[4]; M[80][65]=b[17]; M[80][71]=b[8]; M[80][79]=b[16]; M[80][89]=c[17]; M[80][90]=c[14]; M[80][96]=c[16]; M[80][100]=c[8]; M[80][101]=c[9]; M[80][106]=c[10]; M[80][108]=c[11]; M[80][109]=c[3]; M[80][111]=c[4]; M[80][114]=c[5]; M[80][117]=c[12];
+	M[81][31]=a[3]; M[81][32]=a[2]; M[81][37]=a[4]; M[81][38]=a[19]; M[81][40]=a[13]; M[81][47]=a[20]; M[81][48]=a[5]; M[81][50]=a[17]; M[81][58]=b[3]; M[81][60]=b[20]; M[81][61]=b[2]; M[81][72]=b[13]; M[81][77]=b[4]; M[81][78]=b[19]; M[81][80]=b[17]; M[81][81]=b[5]; M[81][85]=c[5]; M[81][86]=c[17]; M[81][90]=c[20]; M[81][92]=c[19]; M[81][95]=c[13]; M[81][98]=c[4]; M[81][115]=c[3]; M[81][116]=c[2];
+	M[82][29]=a[6]; M[82][44]=a[15]; M[82][45]=a[18]; M[82][47]=a[7]; M[82][60]=b[7]; M[82][63]=b[18]; M[82][64]=b[4]; M[82][67]=b[3]; M[82][68]=b[15]; M[82][69]=b[17]; M[82][70]=b[5]; M[82][74]=b[6]; M[82][90]=c[7]; M[82][91]=c[5]; M[82][94]=c[6]; M[82][97]=c[15]; M[82][103]=c[4]; M[82][104]=c[3]; M[82][110]=c[17]; M[82][112]=c[18];
+	M[83][26]=u[2]; M[83][27]=a[18]; M[83][31]=a[6]; M[83][37]=a[12]; M[83][40]=a[17]; M[83][42]=a[2]; M[83][44]=a[19]; M[83][46]=a[20]; M[83][52]=a[8]; M[83][55]=b[18]; M[83][56]=b[2]; M[83][58]=b[6]; M[83][66]=b[20]; M[83][68]=b[19]; M[83][72]=b[17]; M[83][73]=b[8]; M[83][77]=b[12]; M[83][93]=c[8]; M[83][95]=c[17]; M[83][97]=c[19]; M[83][98]=c[12]; M[83][102]=c[20]; M[83][106]=c[2]; M[83][113]=c[18]; M[83][115]=c[6];
+	M[84][16]=u[3]; M[84][29]=a[5]; M[84][30]=a[17]; M[84][33]=a[7]; M[84][39]=a[6]; M[84][43]=a[18]; M[84][44]=a[11]; M[84][45]=a[3]; M[84][47]=a[15]; M[84][59]=b[7]; M[84][60]=b[15]; M[84][63]=b[3]; M[84][67]=b[9]; M[84][68]=b[11]; M[84][69]=b[4]; M[84][70]=b[10]; M[84][71]=b[18]; M[84][74]=b[5]; M[84][75]=b[17]; M[84][79]=b[6]; M[84][90]=c[15]; M[84][91]=c[10]; M[84][94]=c[5]; M[84][96]=c[6]; M[84][97]=c[11]; M[84][100]=c[18]; M[84][104]=c[9]; M[84][107]=c[17]; M[84][110]=c[4]; M[84][112]=c[3]; M[84][117]=c[7];
+	M[85][25]=u[2]; M[85][29]=a[19]; M[85][31]=a[15]; M[85][32]=a[18]; M[85][37]=a[5]; M[85][38]=a[17]; M[85][40]=a[3]; M[85][44]=a[13]; M[85][45]=a[20]; M[85][47]=a[2]; M[85][50]=a[6]; M[85][52]=a[4]; M[85][58]=b[15]; M[85][60]=b[2]; M[85][61]=b[18]; M[85][63]=b[20]; M[85][68]=b[13]; M[85][72]=b[3]; M[85][73]=b[4]; M[85][74]=b[19]; M[85][77]=b[5]; M[85][78]=b[17]; M[85][80]=b[6]; M[85][86]=c[6]; M[85][90]=c[2]; M[85][92]=c[17]; M[85][93]=c[4]; M[85][94]=c[19]; M[85][95]=c[3]; M[85][97]=c[13]; M[85][98]=c[5]; M[85][112]=c[20]; M[85][115]=c[15]; M[85][116]=c[18];
+	M[86][31]=a[18]; M[86][37]=a[17]; M[86][40]=a[2]; M[86][44]=a[20]; M[86][48]=a[6]; M[86][52]=a[19]; M[86][58]=b[18]; M[86][68]=b[20]; M[86][72]=b[2]; M[86][73]=b[19]; M[86][77]=b[17]; M[86][81]=b[6]; M[86][85]=c[6]; M[86][93]=c[19]; M[86][95]=c[2]; M[86][97]=c[20]; M[86][98]=c[17]; M[86][115]=c[18];
+	M[87][22]=u[2]; M[87][31]=a[11]; M[87][32]=a[3]; M[87][33]=a[2]; M[87][37]=a[10]; M[87][38]=a[4]; M[87][39]=a[19]; M[87][40]=a[9]; M[87][43]=a[20]; M[87][47]=a[13]; M[87][50]=a[5]; M[87][53]=a[17]; M[87][58]=b[11]; M[87][59]=b[2]; M[87][60]=b[13]; M[87][61]=b[3]; M[87][71]=b[20]; M[87][72]=b[9]; M[87][77]=b[10]; M[87][78]=b[4]; M[87][79]=b[19]; M[87][80]=b[5]; M[87][82]=b[17]; M[87][86]=c[5]; M[87][87]=c[17]; M[87][90]=c[13]; M[87][92]=c[4]; M[87][95]=c[9]; M[87][96]=c[19]; M[87][98]=c[10]; M[87][100]=c[20]; M[87][115]=c[11]; M[87][116]=c[3]; M[87][117]=c[2];
+	M[88][27]=a[2]; M[88][31]=a[17]; M[88][37]=a[8]; M[88][40]=a[19]; M[88][42]=a[20]; M[88][48]=a[12]; M[88][55]=b[2]; M[88][56]=b[20]; M[88][58]=b[17]; M[88][72]=b[19]; M[88][77]=b[8]; M[88][81]=b[12]; M[88][85]=c[12]; M[88][95]=c[19]; M[88][98]=c[8]; M[88][106]=c[20]; M[88][113]=c[2]; M[88][115]=c[17];
+	M[89][31]=a[7]; M[89][37]=a[6]; M[89][40]=a[18]; M[89][44]=a[2]; M[89][52]=a[17]; M[89][58]=b[7]; M[89][67]=b[20]; M[89][68]=b[2]; M[89][70]=b[19]; M[89][72]=b[18]; M[89][73]=b[17]; M[89][77]=b[6]; M[89][91]=c[19]; M[89][93]=c[17]; M[89][95]=c[18]; M[89][97]=c[2]; M[89][98]=c[6]; M[89][104]=c[20]; M[89][115]=c[7];
+	M[90][27]=a[12]; M[90][40]=a[16]; M[90][42]=a[8]; M[90][55]=b[12]; M[90][56]=b[8]; M[90][72]=b[16]; M[90][95]=c[16]; M[90][101]=c[19]; M[90][105]=c[2]; M[90][106]=c[8]; M[90][108]=c[17]; M[90][113]=c[12];
+	M[91][23]=u[2]; M[91][27]=a[3]; M[91][28]=a[2]; M[91][31]=a[5]; M[91][32]=a[17]; M[91][37]=a[14]; M[91][38]=a[8]; M[91][40]=a[4]; M[91][41]=a[20]; M[91][42]=a[13]; M[91][47]=a[19]; M[91][50]=a[12]; M[91][55]=b[3]; M[91][56]=b[13]; M[91][57]=b[2]; M[91][58]=b[5]; M[91][60]=b[19]; M[91][61]=b[17]; M[91][62]=b[20]; M[91][72]=b[4]; M[91][77]=b[14]; M[91][78]=b[8]; M[91][80]=b[12]; M[91][86]=c[12]; M[91][90]=c[19]; M[91][92]=c[8]; M[91][95]=c[4]; M[91][98]=c[14]; M[91][106]=c[13]; M[91][111]=c[20]; M[91][113]=c[3]; M[91][114]=c[2]; M[91][115]=c[5]; M[91][116]=c[17];
+	M[92][17]=u[4]; M[92][28]=a[6]; M[92][29]=a[16]; M[92][41]=a[17]; M[92][42]=a[5]; M[92][44]=a[14]; M[92][45]=a[8]; M[92][46]=a[4]; M[92][47]=a[12]; M[92][56]=b[5]; M[92][57]=b[6]; M[92][60]=b[12]; M[92][62]=b[17]; M[92][63]=b[8]; M[92][66]=b[4]; M[92][68]=b[14]; M[92][74]=b[16]; M[92][90]=c[12]; M[92][94]=c[16]; M[92][97]=c[14]; M[92][101]=c[3]; M[92][102]=c[4]; M[92][106]=c[5]; M[92][108]=c[15]; M[92][109]=c[18]; M[92][111]=c[17]; M[92][112]=c[8]; M[92][114]=c[6];
+	M[93][17]=u[3]; M[93][28]=a[7]; M[93][29]=a[12]; M[93][41]=a[18]; M[93][42]=a[15]; M[93][44]=a[5]; M[93][45]=a[17]; M[93][46]=a[3]; M[93][47]=a[6]; M[93][56]=b[15]; M[93][57]=b[7]; M[93][60]=b[6]; M[93][62]=b[18]; M[93][63]=b[17]; M[93][66]=b[3]; M[93][67]=b[4]; M[93][68]=b[5]; M[93][69]=b[8]; M[93][70]=b[14]; M[93][74]=b[12]; M[93][90]=c[6]; M[93][91]=c[14]; M[93][94]=c[12]; M[93][97]=c[5]; M[93][102]=c[3]; M[93][104]=c[4]; M[93][106]=c[15]; M[93][110]=c[8]; M[93][111]=c[18]; M[93][112]=c[17]; M[93][114]=c[7];
+	M[94][31]=a[2]; M[94][37]=a[19]; M[94][40]=a[20]; M[94][48]=a[17]; M[94][58]=b[2]; M[94][72]=b[20]; M[94][77]=b[19]; M[94][81]=b[17]; M[94][85]=c[17]; M[94][95]=c[20]; M[94][98]=c[19]; M[94][115]=c[2];
+	M[95][26]=u[4]; M[95][27]=a[6]; M[95][40]=a[12]; M[95][42]=a[17]; M[95][44]=a[8]; M[95][46]=a[19]; M[95][52]=a[16]; M[95][55]=b[6]; M[95][56]=b[17]; M[95][66]=b[19]; M[95][68]=b[8]; M[95][72]=b[12]; M[95][73]=b[16]; M[95][93]=c[16]; M[95][95]=c[12]; M[95][97]=c[8]; M[95][101]=c[2]; M[95][102]=c[19]; M[95][106]=c[17]; M[95][108]=c[18]; M[95][113]=c[6];
+	M[96][23]=u[4]; M[96][27]=a[5]; M[96][28]=a[17]; M[96][32]=a[12]; M[96][38]=a[16]; M[96][40]=a[14]; M[96][41]=a[19]; M[96][42]=a[4]; M[96][47]=a[8]; M[96][55]=b[5]; M[96][56]=b[4]; M[96][57]=b[17]; M[96][60]=b[8]; M[96][61]=b[12]; M[96][62]=b[19]; M[96][72]=b[14]; M[96][78]=b[16]; M[96][90]=c[8]; M[96][92]=c[16]; M[96][95]=c[14]; M[96][101]=c[13]; M[96][106]=c[4]; M[96][108]=c[3]; M[96][109]=c[2]; M[96][111]=c[19]; M[96][113]=c[5]; M[96][114]=c[17]; M[96][116]=c[12];
+	M[97][42]=a[6]; M[97][44]=a[12]; M[97][46]=a[17]; M[97][56]=b[6]; M[97][66]=b[17]; M[97][67]=b[8]; M[97][68]=b[12]; M[97][70]=b[16]; M[97][91]=c[16]; M[97][97]=c[12]; M[97][101]=c[18]; M[97][102]=c[17]; M[97][104]=c[8]; M[97][106]=c[6]; M[97][108]=c[7];
+	M[98][28]=a[12]; M[98][41]=a[8]; M[98][42]=a[14]; M[98][47]=a[16]; M[98][56]=b[14]; M[98][57]=b[12]; M[98][60]=b[16]; M[98][62]=b[8]; M[98][90]=c[16]; M[98][101]=c[4]; M[98][105]=c[3]; M[98][106]=c[14]; M[98][108]=c[5]; M[98][109]=c[17]; M[98][111]=c[8]; M[98][114]=c[12];
+	M[99][42]=a[7]; M[99][44]=a[6]; M[99][46]=a[18]; M[99][56]=b[7]; M[99][64]=b[8]; M[99][66]=b[18]; M[99][67]=b[17]; M[99][68]=b[6]; M[99][70]=b[12]; M[99][91]=c[12]; M[99][97]=c[6]; M[99][102]=c[18]; M[99][103]=c[8]; M[99][104]=c[17]; M[99][106]=c[7];
+	M[100][51]=a[16]; M[100][65]=b[16]; M[100][89]=c[16]; M[100][105]=c[10]; M[100][109]=c[14];
+	M[101][37]=a[9]; M[101][38]=a[13]; M[101][39]=a[20]; M[101][48]=a[11]; M[101][50]=a[3]; M[101][53]=a[2]; M[101][77]=b[9]; M[101][78]=b[13]; M[101][79]=b[20]; M[101][80]=b[3]; M[101][81]=b[11]; M[101][82]=b[2]; M[101][85]=c[11]; M[101][86]=c[3]; M[101][87]=c[2]; M[101][92]=c[13]; M[101][96]=c[20]; M[101][98]=c[9];
+	M[102][37]=a[13]; M[102][38]=a[20]; M[102][48]=a[3]; M[102][50]=a[2]; M[102][77]=b[13]; M[102][78]=b[20]; M[102][80]=b[2]; M[102][81]=b[3]; M[102][85]=c[3]; M[102][86]=c[2]; M[102][92]=c[20]; M[102][98]=c[13];
+	M[103][37]=a[20]; M[103][48]=a[2]; M[103][77]=b[20]; M[103][81]=b[2]; M[103][85]=c[2]; M[103][98]=c[20];
+	M[104][11]=u[4]; M[104][28]=a[10]; M[104][33]=a[14]; M[104][34]=a[8]; M[104][36]=a[16]; M[104][51]=a[4]; M[104][54]=b[8]; M[104][57]=b[10]; M[104][59]=b[14]; M[104][65]=b[4]; M[104][84]=b[16]; M[104][88]=c[16]; M[104][89]=c[4]; M[104][99]=c[8]; M[104][108]=c[1]; M[104][109]=c[9]; M[104][114]=c[10]; M[104][117]=c[14];
+	M[105][20]=u[4]; M[105][27]=a[10]; M[105][28]=a[4]; M[105][32]=a[14]; M[105][33]=a[8]; M[105][51]=a[19]; M[105][53]=a[16]; M[105][55]=b[10]; M[105][57]=b[4]; M[105][59]=b[8]; M[105][61]=b[14]; M[105][65]=b[19]; M[105][82]=b[16]; M[105][87]=c[16]; M[105][89]=c[19]; M[105][108]=c[9]; M[105][109]=c[13]; M[105][113]=c[10]; M[105][114]=c[4]; M[105][116]=c[14]; M[105][117]=c[8];
+	M[106][27]=a[4]; M[106][28]=a[19]; M[106][31]=a[14]; M[106][32]=a[8]; M[106][50]=a[16]; M[106][55]=b[4]; M[106][57]=b[19]; M[106][58]=b[14]; M[106][61]=b[8]; M[106][80]=b[16]; M[106][86]=c[16]; M[106][108]=c[13]; M[106][109]=c[20]; M[106][113]=c[4]; M[106][114]=c[19]; M[106][115]=c[14]; M[106][116]=c[8];
+	M[107][27]=a[19]; M[107][31]=a[8]; M[107][48]=a[16]; M[107][55]=b[19]; M[107][58]=b[8]; M[107][81]=b[16]; M[107][85]=c[16]; M[107][108]=c[20]; M[107][113]=c[19]; M[107][115]=c[8];
+	M[108][36]=a[20]; M[108][48]=a[1]; M[108][50]=a[9]; M[108][53]=a[13]; M[108][80]=b[9]; M[108][81]=b[1]; M[108][82]=b[13]; M[108][84]=b[20]; M[108][85]=c[1]; M[108][86]=c[9]; M[108][87]=c[13]; M[108][88]=c[20];
+	M[109][26]=u[3]; M[109][27]=a[7]; M[109][40]=a[6]; M[109][42]=a[18]; M[109][44]=a[17]; M[109][46]=a[2]; M[109][52]=a[12]; M[109][55]=b[7]; M[109][56]=b[18]; M[109][66]=b[2]; M[109][67]=b[19]; M[109][68]=b[17]; M[109][70]=b[8]; M[109][72]=b[6]; M[109][73]=b[12]; M[109][91]=c[8]; M[109][93]=c[12]; M[109][95]=c[6]; M[109][97]=c[17]; M[109][102]=c[2]; M[109][104]=c[19]; M[109][106]=c[18]; M[109][113]=c[7];
+	M[110][7]=u[3]; M[110][30]=a[5]; M[110][34]=a[7]; M[110][43]=a[15]; M[110][45]=a[11]; M[110][49]=a[6]; M[110][54]=b[7]; M[110][63]=b[11]; M[110][67]=b[1]; M[110][69]=b[10]; M[110][71]=b[15]; M[110][75]=b[5]; M[110][76]=b[6]; M[110][99]=c[7]; M[110][100]=c[15]; M[110][104]=c[1]; M[110][107]=c[5]; M[110][110]=c[10]; M[110][112]=c[11]; M[110][119]=c[6];
+	M[111][18]=u[2]; M[111][35]=a[20]; M[111][36]=a[13]; M[111][50]=a[1]; M[111][53]=a[9]; M[111][80]=b[1]; M[111][82]=b[9]; M[111][83]=b[20]; M[111][84]=b[13]; M[111][86]=c[1]; M[111][87]=c[9]; M[111][88]=c[13]; M[111][118]=c[20];
+	M[112][19]=u[2]; M[112][31]=a[1]; M[112][32]=a[9]; M[112][33]=a[13]; M[112][34]=a[20]; M[112][36]=a[19]; M[112][50]=a[10]; M[112][53]=a[4]; M[112][54]=b[20]; M[112][58]=b[1]; M[112][59]=b[13]; M[112][61]=b[9]; M[112][80]=b[10]; M[112][82]=b[4]; M[112][84]=b[19]; M[112][86]=c[10]; M[112][87]=c[4]; M[112][88]=c[19]; M[112][99]=c[20]; M[112][115]=c[1]; M[112][116]=c[9]; M[112][117]=c[13];
+	M[113][31]=a[9]; M[113][32]=a[13]; M[113][33]=a[20]; M[113][48]=a[10]; M[113][50]=a[4]; M[113][53]=a[19]; M[113][58]=b[9]; M[113][59]=b[20]; M[113][61]=b[13]; M[113][80]=b[4]; M[113][81]=b[10]; M[113][82]=b[19]; M[113][85]=c[10]; M[113][86]=c[4]; M[113][87]=c[19]; M[113][115]=c[9]; M[113][116]=c[13]; M[113][117]=c[20];
+	M[114][31]=a[13]; M[114][32]=a[20]; M[114][48]=a[4]; M[114][50]=a[19]; M[114][58]=b[13]; M[114][61]=b[20]; M[114][80]=b[19]; M[114][81]=b[4]; M[114][85]=c[4]; M[114][86]=c[19]; M[114][115]=c[13]; M[114][116]=c[20];
+	M[115][31]=a[20]; M[115][48]=a[19]; M[115][58]=b[20]; M[115][81]=b[19]; M[115][85]=c[19]; M[115][115]=c[20];
+	M[116][24]=u[2]; M[116][29]=a[13]; M[116][30]=a[20]; M[116][37]=a[11]; M[116][38]=a[3]; M[116][39]=a[2]; M[116][50]=a[15]; M[116][52]=a[9]; M[116][53]=a[18]; M[116][73]=b[9]; M[116][74]=b[13]; M[116][75]=b[20]; M[116][77]=b[11]; M[116][78]=b[3]; M[116][79]=b[2]; M[116][80]=b[15]; M[116][82]=b[18]; M[116][86]=c[15]; M[116][87]=c[18]; M[116][92]=c[3]; M[116][93]=c[9]; M[116][94]=c[13]; M[116][96]=c[2]; M[116][98]=c[11]; M[116][107]=c[20];
+	M[117][29]=a[20]; M[117][37]=a[3]; M[117][38]=a[2]; M[117][48]=a[15]; M[117][50]=a[18]; M[117][52]=a[13]; M[117][73]=b[13]; M[117][74]=b[20]; M[117][77]=b[3]; M[117][78]=b[2]; M[117][80]=b[18]; M[117][81]=b[15]; M[117][85]=c[15]; M[117][86]=c[18]; M[117][92]=c[2]; M[117][93]=c[13]; M[117][94]=c[20]; M[117][98]=c[3];
+	M[118][27]=a[13]; M[118][28]=a[20]; M[118][31]=a[4]; M[118][32]=a[19]; M[118][48]=a[14]; M[118][50]=a[8]; M[118][55]=b[13]; M[118][57]=b[20]; M[118][58]=b[4]; M[118][61]=b[19]; M[118][80]=b[8]; M[118][81]=b[14]; M[118][85]=c[14]; M[118][86]=c[8]; M[118][113]=c[13]; M[118][114]=c[20]; M[118][115]=c[4]; M[118][116]=c[19];
+	M[119][27]=a[20]; M[119][31]=a[19]; M[119][48]=a[8]; M[119][55]=b[20]; M[119][58]=b[19]; M[119][81]=b[8]; M[119][85]=c[8]; M[119][113]=c[20]; M[119][115]=c[19];
+*/
+	return M.t();
 }
diff --git a/modules/calib3d/src/dls.h b/modules/calib3d/src/dls.h
index f5483c83a9..1ff91ed28f 100644
--- a/modules/calib3d/src/dls.h
+++ b/modules/calib3d/src/dls.h
@@ -1,29 +1,44 @@
-#ifndef DLS_H
-#define DLS_H
+#ifndef DLS_H_
+#define DLS_H_
 
 #include "precomp.hpp"
 
+using namespace std;
+
+
 class dls
 {
 public:
 	dls(const cv::Mat& opoints, const cv::Mat& ipoints);
-	~dls();
+	virtual ~dls();
 
-	void init_vectors(const cv::Mat& opoints, const cv::Mat& ipoints);
-	void build_coeff_mattrix();
+	template <typename OpointType, typename O, typename IpointType, typename I>
+	void init_points(const cv::Mat& opoints, const cv::Mat& ipoints)
+	{
+		for(int i = 0; i < N; i++)
+		{
+			p.at<O>(0,i) = opoints.at<OpointType>(0,i).x;
+			p.at<O>(1,i) = opoints.at<OpointType>(0,i).y;
+			p.at<O>(2,i) = opoints.at<OpointType>(0,i).z;
+
+			z.at<I>(0,i) = ipoints.at<IpointType>(0,i).x;
+			z.at<I>(1,i) = ipoints.at<IpointType>(0,i).y;
+			z.at<I>(2,i) = (I)1;
+		}
+	}
+
+	void norm_z_vector();
+	void build_coeff_matrix();
 	cv::Mat LeftMultVec(const cv::Mat& v);
-	cv::Mat cayley_LS_M(const std::vector<double>& a, const std::vector<double>& b, const std::vector<double>& c, const std::vector<double>& u);
+	cv::Mat cayley_LS_M(const std::vector<double>& a, const std::vector<double>& b,
+			            const std::vector<double>& c, const std::vector<double>& u);
 
 private:
-	cv::Mat H;			// coeff matrix
-	cv::Mat A;
-	cv::Mat D_mat;
-	std::vector<double> f1coeff;
-	std::vector<double> f2coeff;
-	std::vector<double> f3coeff;
-	cv::Mat p;			// object points
-	cv::Mat z;			// image points
-	int N;				// number of input points
+	cv::Mat H, A, D_mat;	// coeff matrix
+	cv::Mat p;				// object points
+	cv::Mat z;				// image points
+	int N;					// number of input points
+	std::vector<double> f1coeff, f2coeff, f3coeff;
 };
 
 
diff --git a/modules/calib3d/src/solvepnp.cpp b/modules/calib3d/src/solvepnp.cpp
index daa959eb7f..edb2ac49a2 100644
--- a/modules/calib3d/src/solvepnp.cpp
+++ b/modules/calib3d/src/solvepnp.cpp
@@ -100,11 +100,10 @@ bool cv::solvePnP( InputArray _opoints, InputArray _ipoints,
     	cv::Mat undistortedPoints;
     	cv::undistortPoints(ipoints, undistortedPoints, cameraMatrix, distCoeffs);
 
+    	//dls PnP(opoints, undistortedPoints);
+    	dls PnP(opoints, ipoints); // FOR TESTING
 
-    	dls PnP(opoints, undistortedPoints);
-    	//  DO SOMETHING
-
-    	cv::Mat R, rvec = _rvec.getMat(), tvec = _tvec.getMat();
+    	//TODO: DO SOMETHING WITH R and t
 
     	return true;
     }

From b1b9a29e4856e33b787d84ff900b44749dea60ae Mon Sep 17 00:00:00 2001
From: edgarriba <edgar.riba@gmail.com>
Date: Mon, 21 Jul 2014 17:45:54 +0200
Subject: [PATCH 016/112] Extracting Eigenvalues and Eigenvectors

---
 modules/calib3d/src/dls.cpp | 39 ++++++++++++++++++++++++++++++++-----
 1 file changed, 34 insertions(+), 5 deletions(-)

diff --git a/modules/calib3d/src/dls.cpp b/modules/calib3d/src/dls.cpp
index c1c6af81bd..d12b2bad90 100644
--- a/modules/calib3d/src/dls.cpp
+++ b/modules/calib3d/src/dls.cpp
@@ -2,6 +2,10 @@
 #include "dls.h"
 
 #include <iostream>
+
+#include <Eigen/Eigenvalues>
+#include <Eigen/Core>
+
 using namespace std;
 
 void printSize(const cv::Mat& mat)
@@ -201,13 +205,36 @@ void dls::build_coeff_matrix()
 
 	// construct the multiplication matrix via schur compliment of the Macaulay
 	// matrix
-	cv::Mat Mtilde = M2_1 - M2_5.t()*M2_4; // OK
+	cv::Mat Mtilde = M2_1 - M2_5.t()*M2_4; // 27x27 non-symmetric // OK
 
-	cv::Mat eigenvalues, eigenvectors;
-	cv::eigen(Mtilde, eigenvalues, eigenvectors);
 
-	cv::Mat V = eigenvectors;
+	// EIGENVALUES AND EIGENVECTORS
 
+	Eigen::MatrixXd Mtilde_eig, zeros_eig;
+	cv::cv2eigen(Mtilde, Mtilde_eig);
+	cv::cv2eigen(cv::Mat::zeros(27, 27, CV_64F), zeros_eig);
+
+	Eigen::MatrixXcd Mtilde_eig_cmplx(27, 27);
+	Mtilde_eig_cmplx.real() = Mtilde_eig;
+	Mtilde_eig_cmplx.imag() = zeros_eig;
+
+	Eigen::ComplexEigenSolver<Eigen::MatrixXcd> ces(Mtilde_eig_cmplx);
+
+	Eigen::MatrixXd eigval_real = ces.eigenvalues().real();
+	Eigen::MatrixXd eigval_cmplx = ces.eigenvalues().imag();
+	Eigen::MatrixXd eigvec_real = ces.eigenvectors().real();
+	Eigen::MatrixXd eigvec_cmplx = ces.eigenvectors().imag();
+
+	cv::Mat eigenvalues_real, eigenvalues_complex;
+	cv::Mat eigenvectors_real, eigenvectors_complex;
+
+	cv::eigen2cv(eigval_real, eigenvalues_real);
+	cv::eigen2cv(eigval_cmplx, eigenvalues_complex);
+	cv::eigen2cv(eigvec_real, eigenvectors_real);
+	cv::eigen2cv(eigvec_cmplx, eigenvectors_complex);
+
+	cv::Mat V = eigenvectors_real;
+	cv::Mat v = eigenvalues_real;
 
 	/*
 	 *  Now check the solutions
@@ -227,10 +254,12 @@ void dls::build_coeff_matrix()
 		cv::Mat V_k; cv::solve(V_kB.t(), V_kA.t(), V_k); // A/B = B'\A'
 		cv::Mat(V_k.t()).col(0).copyTo( V.col(0) );
 
+		cout << eigenvectors_complex.at<double>(1,k) << endl;
 
-		if(1) //if (imag(V(2,k)) == 0)
+		if(eigenvectors_complex.at<double>(1,k) == 0) //if (imag(V(2,k)) == 0)
 		{
 			//TODO: check for pure real part
+			cout << eigenvectors_complex.at<double>(1,k) << endl;
 		}
 
 	}

From 730fe9e5828639c7ce073c7a9b5c35791a50988c Mon Sep 17 00:00:00 2001
From: edgarriba <edgar.riba@gmail.com>
Date: Tue, 22 Jul 2014 17:56:25 +0200
Subject: [PATCH 017/112] Hessian+ cayley2rotbar

---
 modules/calib3d/src/dls.cpp      | 273 +++++++++++++++++++++++--------
 modules/calib3d/src/dls.h        |  21 ++-
 modules/calib3d/src/solvepnp.cpp |   7 +
 3 files changed, 229 insertions(+), 72 deletions(-)

diff --git a/modules/calib3d/src/dls.cpp b/modules/calib3d/src/dls.cpp
index d12b2bad90..726892bda1 100644
--- a/modules/calib3d/src/dls.cpp
+++ b/modules/calib3d/src/dls.cpp
@@ -2,6 +2,17 @@
 #include "dls.h"
 
 #include <iostream>
+#include <fstream>
+
+/*
+#ifdef HAVE_EIGEN
+#  if defined __GNUC__ && defined __APPLE__
+#    pragma GCC diagnostic ignored "-Wshadow"
+#  endif
+#  include <Eigen/Core>
+#  include "opencv2/core/eigen.hpp"
+#endif
+*/
 
 #include <Eigen/Eigenvalues>
 #include <Eigen/Core>
@@ -14,25 +25,39 @@ void printSize(const cv::Mat& mat)
 }
 void printMat(const cv::Mat& mat)
 {
+	ofstream outFile;
+	outFile.open("test.txt");
+
 	printSize(mat);
 	for (int i = 0; i < mat.rows; ++i) {
 		cout << "[";
+		outFile << "[";
 		for (int j = 0; j < mat.cols; ++j) {
 			cout << " " << mat.at<double>(i,j);
+			outFile << " " << mat.at<double>(i,j);
 		}
 		cout << ";]" << endl;
+		outFile << ";]" << endl;
 	}
+
+	outFile.close();
 }
 template<typename T>
 void print(T var) { cout << var << endl; }
 
-dls::dls(const cv::Mat& opoints, const cv::Mat& ipoints) : f1coeff(21), f2coeff(21), f3coeff(21)
+dls::dls(const cv::Mat& opoints, const cv::Mat& ipoints)
 {
 	N =  std::max(opoints.checkVector(3, CV_32F), opoints.checkVector(3, CV_64F));
 	p = cv::Mat(3, N, opoints.depth());
 	z = cv::Mat(3, N, ipoints.depth());
 
-	//OK
+	f1coeff.resize(21);
+	f2coeff.resize(21);
+	f3coeff.resize(21);
+
+	Mtilde = cv::Mat(27, 27, ipoints.depth());
+	V_r = cv::Mat(27, 27, ipoints.depth());
+	V_c = cv::Mat(27, 27, ipoints.depth());
 
 	if (opoints.depth() == ipoints.depth())
 	{
@@ -46,10 +71,6 @@ dls::dls(const cv::Mat& opoints, const cv::Mat& ipoints) : f1coeff(21), f2coeff(
 	else
 		init_points<cv::Point3d,double,cv::Point2f,float>(opoints, ipoints);
 
-	H = cv::Mat::zeros(3, 3, ipoints.depth());
-	A = cv::Mat::zeros(3, 9, ipoints.depth());
-	D_mat = cv::Mat::zeros(9, 9, ipoints.depth());
-
 	norm_z_vector();
 	build_coeff_matrix();
 
@@ -86,6 +107,10 @@ void dls::build_coeff_matrix()
 	// build coeff matrix
 	// An intermediate matrix, the inverse of what is called "H" in the paper
 	// (see eq. 25)
+
+	cv::Mat H = cv::Mat::zeros(3, 3, z.depth());
+	cv::Mat A = cv::Mat::zeros(3, 9, z.depth());
+
 	for (int i = 0; i < N; ++i)
 	{
 		cv::Mat z_dot = z.col(i)*z.col(i).t();
@@ -99,21 +124,75 @@ void dls::build_coeff_matrix()
 
 	// OK
 
+	cv::Mat D = cv::Mat::zeros(9, 9, z.depth());
+
 	for (int i = 0; i < N; ++i)
 	{
 		cv::Mat z_dot = z.col(i)*z.col(i).t();
-		D_mat += cv::Mat( LeftMultVec(p.col(i)) + A ).t() * (eye-z_dot) * ( LeftMultVec(p.col(i)) + A );
+		D += cv::Mat( LeftMultVec(p.col(i)) + A ).t() * (eye-z_dot) * ( LeftMultVec(p.col(i)) + A );
 	}
 
 	// OK
 
-	// put D into array
-	double D[10][10] = { 0 };
-	for (int i = 0; i < 10; ++i)
+	// fill the coefficients
+	fill_coeff(&D);
+
+	// generate random samples
+	std::vector<double> u;
+	//cv::randn(u, 100, 0.1);
+	u.push_back(0.0); u.push_back(129.0); u.push_back(64.0); u.push_back(-33.0); u.push_back(-193.0);
+
+	cv::Mat M2 = cayley_LS_M(f1coeff, f2coeff, f3coeff, u);
+
+	cv::Mat M2_1 = M2(cv::Range(0,27), cv::Range(0,27)); // OK
+	cv::Mat M2_2 = M2(cv::Range(0,27), cv::Range(27,120)); // OK
+	cv::Mat M2_3 = M2(cv::Range(27,120), cv::Range(27,120)); // OK
+	cv::Mat M2_4 = M2(cv::Range(27,120), cv::Range(0,27)); // OK
+	cv::Mat M2_5;
+	cv::solve(M2_3.t(), M2_2.t(), M2_5); // A/B = B'\A'
+
+	// construct the multiplication matrix via schur compliment of the Macaulay
+	// matrix
+	Mtilde = M2_1 - M2_5.t()*M2_4; // 27x27 non-symmetric // OK
+
+	// EIGENVALUES AND EIGENVECTORS
+
+	Eigen::MatrixXd Mtilde_eig, zeros_eig;
+	cv::cv2eigen(Mtilde, Mtilde_eig);
+	cv::cv2eigen(cv::Mat::zeros(27, 27, CV_64F), zeros_eig);
+
+	Eigen::MatrixXcd Mtilde_eig_cmplx(27, 27);
+	Mtilde_eig_cmplx.real() = Mtilde_eig;
+	Mtilde_eig_cmplx.imag() = zeros_eig;
+
+	Eigen::ComplexEigenSolver<Eigen::MatrixXcd> ces(Mtilde_eig_cmplx);
+
+	Eigen::MatrixXd eigval_real = ces.eigenvalues().real(); // OK
+	Eigen::MatrixXd eigval_cmplx = ces.eigenvalues().imag();// OK
+	Eigen::MatrixXd eigvec_real = ces.eigenvectors().real();
+	Eigen::MatrixXd eigvec_cmplx = ces.eigenvectors().imag();
+
+	cv::Mat eigenvalues_real, eigenvalues_complex;
+	cv::Mat eigenvectors_real, eigenvectors_complex;
+
+	cv::eigen2cv(eigval_real, eigenvalues_real);		// OK
+	cv::eigen2cv(eigval_cmplx, eigenvalues_complex);	// OK
+	cv::eigen2cv(eigvec_real, V_r);
+	cv::eigen2cv(eigvec_cmplx, V_c);
+
+}
+
+void dls::fill_coeff(const cv::Mat * D_mat)
+{
+
+	double D[10][10]; // put D_mat into array
+
+	for (int i = 0; i < D_mat->rows; ++i)
 	{
-		for (int j = 0; j < 10; ++j)
+	    const double* Di = D_mat->ptr<double>(i);
+		for (int j = 0; j < D_mat->cols; ++j)
 		{
-			D[i+1][j+1] = D_mat.at<double>(i,j);
+			D[i+1][j+1] = Di[j];
 		}
 	}
 
@@ -188,54 +267,14 @@ void dls::build_coeff_matrix()
 	f3coeff[19] = 4*D[1][9] - 4*D[1][1] + 8*D[3][3] + 8*D[3][7] + 4*D[5][5] + 8*D[7][3] + 8*D[7][7] + 4*D[9][1] - 4*D[9][9]; // s1^2 * s3
 	f3coeff[20] = 2*D[1][3] + 2*D[1][7] + 2*D[3][1] - 2*D[3][5] - 2*D[3][9] - 2*D[5][3] - 2*D[5][7] + 2*D[7][1] - 2*D[7][5] - 2*D[7][9] - 2*D[9][3] - 2*D[9][7]; // s1^3
 
+	cout << "end fill coeff function" << endl;
 
-	// generate random samples
-	std::vector<double> u;
-	//cv::randn(u, 100, 0.1);
-	u.push_back(0.0); u.push_back(-136.0); u.push_back(-63.0); u.push_back(-61.0); 	u.push_back(-249.0);
-
-	cv::Mat M2 = cayley_LS_M(f1coeff, f2coeff, f3coeff, u);
-
-	cv::Mat M2_1 = M2(cv::Range(0,27), cv::Range(0,27)); // OK
-	cv::Mat M2_2 = M2(cv::Range(0,27), cv::Range(27,120)); // OK
-	cv::Mat M2_3 = M2(cv::Range(27,120), cv::Range(27,120)); // OK
-	cv::Mat M2_4 = M2(cv::Range(27,120), cv::Range(0,27)); // OK
-	cv::Mat M2_5;
-	cv::solve(M2_3.t(), M2_2.t(), M2_5); // A/B = B'\A'
-
-	// construct the multiplication matrix via schur compliment of the Macaulay
-	// matrix
-	cv::Mat Mtilde = M2_1 - M2_5.t()*M2_4; // 27x27 non-symmetric // OK
-
-
-	// EIGENVALUES AND EIGENVECTORS
-
-	Eigen::MatrixXd Mtilde_eig, zeros_eig;
-	cv::cv2eigen(Mtilde, Mtilde_eig);
-	cv::cv2eigen(cv::Mat::zeros(27, 27, CV_64F), zeros_eig);
-
-	Eigen::MatrixXcd Mtilde_eig_cmplx(27, 27);
-	Mtilde_eig_cmplx.real() = Mtilde_eig;
-	Mtilde_eig_cmplx.imag() = zeros_eig;
-
-	Eigen::ComplexEigenSolver<Eigen::MatrixXcd> ces(Mtilde_eig_cmplx);
-
-	Eigen::MatrixXd eigval_real = ces.eigenvalues().real();
-	Eigen::MatrixXd eigval_cmplx = ces.eigenvalues().imag();
-	Eigen::MatrixXd eigvec_real = ces.eigenvectors().real();
-	Eigen::MatrixXd eigvec_cmplx = ces.eigenvectors().imag();
-
-	cv::Mat eigenvalues_real, eigenvalues_complex;
-	cv::Mat eigenvectors_real, eigenvectors_complex;
-
-	cv::eigen2cv(eigval_real, eigenvalues_real);
-	cv::eigen2cv(eigval_cmplx, eigenvalues_complex);
-	cv::eigen2cv(eigvec_real, eigenvectors_real);
-	cv::eigen2cv(eigvec_cmplx, eigenvectors_complex);
-
-	cv::Mat V = eigenvectors_real;
-	cv::Mat v = eigenvalues_real;
+	// until here works
+	// then crashes
+}
 
+void dls::compute_pose(cv::Mat& R, cv::Mat& t)
+{
 	/*
 	 *  Now check the solutions
 	 */
@@ -248,23 +287,43 @@ void dls::build_coeff_matrix()
 	int i = 0;
 	for (int k = 0; k < 27; ++k)
 	{
+
 		//  V(:,k) = V(:,k)/V(1,k);
-		cv::Mat V_kA = V.col(k); // 27x1
+		cv::Mat V_kA = V_r.col(k); // 27x1
 		cv::Mat V_kB = cv::Mat(1, 1, z.depth(), V_kA.at<double>(0, k)); // 1x1
 		cv::Mat V_k; cv::solve(V_kB.t(), V_kA.t(), V_k); // A/B = B'\A'
-		cv::Mat(V_k.t()).col(0).copyTo( V.col(0) );
+		cv::Mat(V_k.t()).col(0).copyTo( V_r.col(0) );
 
-		cout << eigenvectors_complex.at<double>(1,k) << endl;
+		const double epsilon = 1e-4;
 
-		if(eigenvectors_complex.at<double>(1,k) == 0) //if (imag(V(2,k)) == 0)
+		if( V_c.at<double>(1,k) >= -epsilon && V_c.at<double>(1,k) <= epsilon ) //if (imag(V(2,k)) == 0)
 		{
-			//TODO: check for pure real part
-			cout << eigenvectors_complex.at<double>(1,k) << endl;
-		}
 
+			double stmp[3];
+			stmp[0] = V_r.at<double>(9, k);
+			stmp[1] = V_r.at<double>(3, k);
+			stmp[2] = V_r.at<double>(1, k);
+
+			cv::Mat H = Hessian(stmp); // OK is symmetric
+
+			cv::Mat eigenvalues, eigenvectors;
+			cv::eigen(H, eigenvalues, eigenvectors);
+			if(positive_eigenvalues(eigenvalues))
+			{
+				// sols(:,i) = stmp;
+				cv::Mat(3, 1, z.depth(), &stmp).col(0).copyTo( sols.col(i) );
+
+				// TODO: check cayley2rotbar function -> CRASHES!!
+				cv::Mat Cbar = cayley2rotbar(stmp);
+				printMat(Cbar);
+
+				i++;
+			}
+		}
 	}
 
-exit(-1);
+	cout << "end for compute_pose" << endl;
+
 }
 
 cv::Mat dls::LeftMultVec(const cv::Mat& v)
@@ -534,3 +593,85 @@ cv::Mat dls::cayley_LS_M(const std::vector<double>& a, const std::vector<double>
 */
 	return M.t();
 }
+
+cv::Mat dls::Hessian(const double s[])
+{
+
+	// the vector of monomials is
+	// m = [ const ; s1^2 * s2 ; s1 * s2 ; s1 * s3 ; s2 * s3 ; s2^2 * s3 ; s2^3 ; ...
+	//       s1 * s3^2 ; s1 ; s3 ; s2 ; s2 * s3^2 ; s1^2 ; s3^2 ; s2^2 ; s3^3 ;   ...
+	//       s1 * s2 * s3 ; s1 * s2^2 ; s1^2 * s3 ; s1^3]
+	//
+
+	// deriv of m w.r.t. s1
+	//Hs3 = [0 ; 2 * s(1) * s(2) ; s(2) ; s(3) ; 0 ; 0 ; 0 ; ...
+	//	     s(3)^2 ; 1 ; 0 ; 0 ; 0 ; 2 * s(1) ; 0 ; 0 ; 0 ; ...
+	//	     s(2) * s(3) ; s(2)^2 ; 2*s(1)*s(3); 3 * s(1)^2];
+
+	double Hs1[20];
+	Hs1[0]=0; Hs1[1]=2*s[0]*s[1]; Hs1[2]=s[1]; Hs1[3]=s[2]; Hs1[4]=0; Hs1[5]=0; Hs1[6]=0;
+	Hs1[7]=s[2]*s[2]; Hs1[8]=1; Hs1[9]=0; Hs1[10]=0; Hs1[11]=0; Hs1[12]=2*s[0]; Hs1[13]=0;
+	Hs1[14]=0; Hs1[15]=0; Hs1[16]=s[1]*s[2]; Hs1[17]=s[1]*s[1]; Hs1[18]=2*s[0]*s[2]; Hs1[19]=3*s[0]*s[0];
+
+	// deriv of m w.r.t. s2
+	//Hs2 = [0 ; s(1)^2 ; s(1) ; 0 ; s(3) ; 2 * s(2) * s(3) ; 3 * s(2)^2 ; ...
+	//	     0 ; 0 ; 0 ; 1 ; s(3)^2 ; 0 ; 0 ; 2 * s(2) ; 0 ; ...
+	//	     s(1) * s(3) ; s(1) * 2 * s(2) ; 0 ; 0];
+
+	double Hs2[20];
+	Hs2[0]=0; Hs2[1]=s[0]*s[0]; Hs2[2]=s[0]; Hs2[3]=0; Hs2[4]=s[2]; Hs2[5]=2*s[1]*s[2]; Hs2[6]=3*s[1]*s[1];
+	Hs2[7]=0; Hs2[8]=0; Hs2[9]=0; Hs2[10]=1; Hs2[11]=s[2]*s[2]; Hs2[12]=0; Hs2[13]=0;
+	Hs2[14]=2*s[1]; Hs2[15]=0; Hs2[16]=s[0]*s[2]; Hs2[17]=2*s[0]*s[1]; Hs2[18]=0; Hs2[19]=0;
+
+	// deriv of m w.r.t. s3
+	//Hs3 = [0 ; 0 ; 0 ; s(1) ; s(2) ; s(2)^2 ; 0 ; ...
+	//	     s(1) * 2 * s(3) ; 0 ; 1 ; 0 ; s(2) * 2 * s(3) ; 0 ; 2 * s(3) ; 0 ; 3 * s(3)^2 ; ...
+	//	     s(1) * s(2) ; 0 ; s(1)^2 ; 0];
+
+	double Hs3[20];
+	Hs3[0]=0; Hs3[1]=0; Hs3[2]=0; Hs3[3]=s[0]; Hs3[4]=s[1]; Hs3[5]=s[1]*s[1]; Hs3[6]=0;
+	Hs3[7]=2*s[0]*s[2]; Hs3[8]=0; Hs3[9]=1; Hs3[10]=0; Hs3[11]=2*s[1]*s[2]; Hs3[12]=0; Hs3[13]=2*s[2];
+	Hs3[14]=0; Hs3[15]=3*s[2]*s[2]; Hs3[16]=s[0]*s[1]; Hs3[17]=0; Hs3[18]=s[0]*s[0]; Hs3[19]=0;
+
+	// fill Hessian matrix
+	cv::Mat H(3, 3, z.depth());
+	H.at<double>(0,0) = cv::Mat(cv::Mat(f1coeff).rowRange(1,21).t()*cv::Mat(20, 1, z.depth(), &Hs1)).at<double>(0,0);
+	H.at<double>(0,1) = cv::Mat(cv::Mat(f1coeff).rowRange(1,21).t()*cv::Mat(20, 1, z.depth(), &Hs2)).at<double>(0,0);
+	H.at<double>(0,2) = cv::Mat(cv::Mat(f1coeff).rowRange(1,21).t()*cv::Mat(20, 1, z.depth(), &Hs3)).at<double>(0,0);
+
+	H.at<double>(1,0) = cv::Mat(cv::Mat(f2coeff).rowRange(1,21).t()*cv::Mat(20, 1, z.depth(), &Hs1)).at<double>(0,0);
+	H.at<double>(1,1) = cv::Mat(cv::Mat(f2coeff).rowRange(1,21).t()*cv::Mat(20, 1, z.depth(), &Hs2)).at<double>(0,0);
+	H.at<double>(1,2) = cv::Mat(cv::Mat(f2coeff).rowRange(1,21).t()*cv::Mat(20, 1, z.depth(), &Hs3)).at<double>(0,0);
+
+	H.at<double>(2,0) = cv::Mat(cv::Mat(f3coeff).rowRange(1,21).t()*cv::Mat(20, 1, z.depth(), &Hs1)).at<double>(0,0);
+	H.at<double>(2,1) = cv::Mat(cv::Mat(f3coeff).rowRange(1,21).t()*cv::Mat(20, 1, z.depth(), &Hs2)).at<double>(0,0);
+	H.at<double>(2,2) = cv::Mat(cv::Mat(f3coeff).rowRange(1,21).t()*cv::Mat(20, 1, z.depth(), &Hs3)).at<double>(0,0);
+
+	return H; // OK, is symmetric
+}
+
+bool dls::positive_eigenvalues(const cv::Mat& eigenvalues)
+{
+	return eigenvalues.at<double>(0) > 0 &&
+	       eigenvalues.at<double>(1) > 0 &&
+	       eigenvalues.at<double>(2) > 0;
+}
+
+cv::Mat dls::cayley2rotbar(const double s[])
+{
+	// s -> 3x1
+	cv::Mat s_mat(3, 1, z.depth(), &s);
+
+	return cv::Mat( (1-s_mat.t()*s_mat) * cv::Mat::eye(3, 3, z.depth()) + 2 * skewsymm(s) + 2 * (s_mat*s_mat.t())).t();
+}
+
+cv::Mat dls::skewsymm(const double X1[])
+{
+	cv::Mat C = cv::Mat::zeros(3, 3, z.depth());
+
+	C.at<double>(0,1) = -X1[2]; C.at<double>(1,0) =  X1[2];
+	C.at<double>(0,2) =  X1[1]; C.at<double>(2,0) = -X1[1];
+	C.at<double>(1,2) = -X1[0]; C.at<double>(2,1) =  X1[0];
+
+	return C;
+}
diff --git a/modules/calib3d/src/dls.h b/modules/calib3d/src/dls.h
index 1ff91ed28f..fcacd2fff3 100644
--- a/modules/calib3d/src/dls.h
+++ b/modules/calib3d/src/dls.h
@@ -10,7 +10,11 @@ class dls
 {
 public:
 	dls(const cv::Mat& opoints, const cv::Mat& ipoints);
-	virtual ~dls();
+	~dls();
+
+	void compute_pose(cv::Mat& R, cv::Mat& t);
+
+private:
 
 	template <typename OpointType, typename O, typename IpointType, typename I>
 	void init_points(const cv::Mat& opoints, const cv::Mat& ipoints)
@@ -29,15 +33,20 @@ public:
 
 	void norm_z_vector();
 	void build_coeff_matrix();
+	void fill_coeff(const cv::Mat * D);
 	cv::Mat LeftMultVec(const cv::Mat& v);
 	cv::Mat cayley_LS_M(const std::vector<double>& a, const std::vector<double>& b,
 			            const std::vector<double>& c, const std::vector<double>& u);
+	bool positive_eigenvalues(const cv::Mat& eigenvalues);
+	cv::Mat Hessian(const double s[]);
+	cv::Mat cayley2rotbar(const double s[]);
+	cv::Mat skewsymm(const double X1[]);
 
-private:
-	cv::Mat H, A, D_mat;	// coeff matrix
-	cv::Mat p;				// object points
-	cv::Mat z;				// image points
-	int N;					// number of input points
+	cv::Mat Mtilde;		// coeff matrix
+	cv::Mat V_r, V_c;	// eigen
+	cv::Mat p;			// object points
+	cv::Mat z;			// image points
+	int N;				// number of input points
 	std::vector<double> f1coeff, f2coeff, f3coeff;
 };
 
diff --git a/modules/calib3d/src/solvepnp.cpp b/modules/calib3d/src/solvepnp.cpp
index edb2ac49a2..1aa9f32bc0 100644
--- a/modules/calib3d/src/solvepnp.cpp
+++ b/modules/calib3d/src/solvepnp.cpp
@@ -100,10 +100,17 @@ bool cv::solvePnP( InputArray _opoints, InputArray _ipoints,
     	cv::Mat undistortedPoints;
     	cv::undistortPoints(ipoints, undistortedPoints, cameraMatrix, distCoeffs);
 
+    	cv::Mat R, rvec = _rvec.getMat(), tvec = _tvec.getMat();
+
     	//dls PnP(opoints, undistortedPoints);
     	dls PnP(opoints, ipoints); // FOR TESTING
 
+    	PnP.compute_pose(R, tvec);
+
+    	cout << "after dls compute pose" << endl;
+
     	//TODO: DO SOMETHING WITH R and t
+        //cv::Rodrigues(R, rvec);
 
     	return true;
     }

From 48c4a79d2e98a7be4cd6bd6ba63353b2c2009719 Mon Sep 17 00:00:00 2001
From: edgarriba <edgar.riba@gmail.com>
Date: Wed, 23 Jul 2014 17:26:03 +0200
Subject: [PATCH 018/112] DLS full algorithm compiling

---
 modules/calib3d/src/dls.cpp      | 274 ++++++++++++++++++++++++-------
 modules/calib3d/src/dls.h        |  23 ++-
 modules/calib3d/src/solvepnp.cpp |   2 +-
 3 files changed, 228 insertions(+), 71 deletions(-)

diff --git a/modules/calib3d/src/dls.cpp b/modules/calib3d/src/dls.cpp
index 726892bda1..5641d8e086 100644
--- a/modules/calib3d/src/dls.cpp
+++ b/modules/calib3d/src/dls.cpp
@@ -51,14 +51,12 @@ dls::dls(const cv::Mat& opoints, const cv::Mat& ipoints)
 	p = cv::Mat(3, N, opoints.depth());
 	z = cv::Mat(3, N, ipoints.depth());
 
+	cost__ = std::numeric_limits<double>::infinity();
+
 	f1coeff.resize(21);
 	f2coeff.resize(21);
 	f3coeff.resize(21);
 
-	Mtilde = cv::Mat(27, 27, ipoints.depth());
-	V_r = cv::Mat(27, 27, ipoints.depth());
-	V_c = cv::Mat(27, 27, ipoints.depth());
-
 	if (opoints.depth() == ipoints.depth())
 	{
 		if (opoints.depth() == CV_32F)
@@ -72,7 +70,6 @@ dls::dls(const cv::Mat& opoints, const cv::Mat& ipoints)
 		init_points<cv::Point3d,double,cv::Point2f,float>(opoints, ipoints);
 
 	norm_z_vector();
-	build_coeff_matrix();
 
 }
 
@@ -100,7 +97,7 @@ void dls::norm_z_vector()
 	// OK
 }
 
-void dls::build_coeff_matrix()
+void dls::build_coeff_matrix(const cv::Mat& pp, cv::Mat& Mtilde, cv::Mat& D)
 {
 	cv::Mat eye = cv::Mat::eye(3, 3, z.depth());
 
@@ -115,24 +112,17 @@ void dls::build_coeff_matrix()
 	{
 		cv::Mat z_dot = z.col(i)*z.col(i).t();
 		H += eye - z_dot;
-		A += ( z_dot - eye ) * LeftMultVec(p.col(i));
-	}
+		A += ( z_dot - eye ) * LeftMultVec(pp.col(i));
+	}// OK
 
-	// OK
-
-	cv::solve(H, A, A); // A\B
-
-	// OK
-
-	cv::Mat D = cv::Mat::zeros(9, 9, z.depth());
+	// A\B
+	cv::solve(H, A, A);  // OK
 
 	for (int i = 0; i < N; ++i)
 	{
 		cv::Mat z_dot = z.col(i)*z.col(i).t();
-		D += cv::Mat( LeftMultVec(p.col(i)) + A ).t() * (eye-z_dot) * ( LeftMultVec(p.col(i)) + A );
-	}
-
-	// OK
+		D += cv::Mat( LeftMultVec(pp.col(i)) + A ).t() * (eye-z_dot) * ( LeftMultVec(pp.col(i)) + A );
+	} // OK
 
 	// fill the coefficients
 	fill_coeff(&D);
@@ -148,13 +138,19 @@ void dls::build_coeff_matrix()
 	cv::Mat M2_2 = M2(cv::Range(0,27), cv::Range(27,120)); // OK
 	cv::Mat M2_3 = M2(cv::Range(27,120), cv::Range(27,120)); // OK
 	cv::Mat M2_4 = M2(cv::Range(27,120), cv::Range(0,27)); // OK
-	cv::Mat M2_5;
-	cv::solve(M2_3.t(), M2_2.t(), M2_5); // A/B = B'\A'
+
+	// A/B = B'\A'
+	cv::Mat M2_5; cv::solve(M2_3.t(), M2_2.t(), M2_5);
 
 	// construct the multiplication matrix via schur compliment of the Macaulay
 	// matrix
 	Mtilde = M2_1 - M2_5.t()*M2_4; // 27x27 non-symmetric // OK
 
+}
+
+void dls::compute_eigenvec(const cv::Mat& Mtilde, cv::Mat& eigenval_real, cv::Mat& eigenval_imag,
+        										  cv::Mat& eigenvec_real, cv::Mat& eigenvec_imag)
+{
 	// EIGENVALUES AND EIGENVECTORS
 
 	Eigen::MatrixXd Mtilde_eig, zeros_eig;
@@ -165,20 +161,18 @@ void dls::build_coeff_matrix()
 	Mtilde_eig_cmplx.real() = Mtilde_eig;
 	Mtilde_eig_cmplx.imag() = zeros_eig;
 
-	Eigen::ComplexEigenSolver<Eigen::MatrixXcd> ces(Mtilde_eig_cmplx);
+	Eigen::ComplexEigenSolver<Eigen::MatrixXcd> ces;
+	ces.compute(Mtilde_eig_cmplx);
 
 	Eigen::MatrixXd eigval_real = ces.eigenvalues().real(); // OK
-	Eigen::MatrixXd eigval_cmplx = ces.eigenvalues().imag();// OK
+	Eigen::MatrixXd eigval_imag = ces.eigenvalues().imag();// OK
 	Eigen::MatrixXd eigvec_real = ces.eigenvectors().real();
-	Eigen::MatrixXd eigvec_cmplx = ces.eigenvectors().imag();
+	Eigen::MatrixXd eigvec_imag = ces.eigenvectors().imag();
 
-	cv::Mat eigenvalues_real, eigenvalues_complex;
-	cv::Mat eigenvectors_real, eigenvectors_complex;
-
-	cv::eigen2cv(eigval_real, eigenvalues_real);		// OK
-	cv::eigen2cv(eigval_cmplx, eigenvalues_complex);	// OK
-	cv::eigen2cv(eigvec_real, V_r);
-	cv::eigen2cv(eigvec_cmplx, V_c);
+	cv::eigen2cv(eigval_real, eigenval_real);	// OK
+	cv::eigen2cv(eigval_imag, eigenval_imag);	// OK
+	cv::eigen2cv(eigvec_real, eigenvec_real);
+	cv::eigen2cv(eigvec_imag, eigenvec_imag);
 
 }
 
@@ -267,14 +261,21 @@ void dls::fill_coeff(const cv::Mat * D_mat)
 	f3coeff[19] = 4*D[1][9] - 4*D[1][1] + 8*D[3][3] + 8*D[3][7] + 4*D[5][5] + 8*D[7][3] + 8*D[7][7] + 4*D[9][1] - 4*D[9][9]; // s1^2 * s3
 	f3coeff[20] = 2*D[1][3] + 2*D[1][7] + 2*D[3][1] - 2*D[3][5] - 2*D[3][9] - 2*D[5][3] - 2*D[5][7] + 2*D[7][1] - 2*D[7][5] - 2*D[7][9] - 2*D[9][3] - 2*D[9][7]; // s1^3
 
-	cout << "end fill coeff function" << endl;
-
-	// until here works
-	// then crashes
 }
 
-void dls::compute_pose(cv::Mat& R, cv::Mat& t)
+void dls::run_kernel(const cv::Mat& pp)
 {
+
+	cv::Mat Mtilde(27, 27, z.depth());
+	cv::Mat D = cv::Mat::zeros(9, 9, z.depth());
+	build_coeff_matrix(pp, Mtilde, D);
+
+	cv::Mat eigenval_r, eigenval_i, eigenvec_r, eigenvec_i;
+	compute_eigenvec(Mtilde, eigenval_r, eigenval_i, eigenvec_r, eigenvec_i);
+
+	//printMat(eigenval_r);
+	//printMat(eigenval_i);
+
 	/*
 	 *  Now check the solutions
 	 */
@@ -283,47 +284,146 @@ void dls::compute_pose(cv::Mat& R, cv::Mat& t)
 	// Multiplication matrix
 
 	cv::Mat sols = cv::Mat::zeros(3, 27, z.depth());
-	cv::Mat cost = cv::Mat::zeros(27, 1, z.depth());
-	int i = 0;
+	std::vector<double> cost;
+	int count = 0;
 	for (int k = 0; k < 27; ++k)
 	{
 
 		//  V(:,k) = V(:,k)/V(1,k);
-		cv::Mat V_kA = V_r.col(k); // 27x1
-		cv::Mat V_kB = cv::Mat(1, 1, z.depth(), V_kA.at<double>(0, k)); // 1x1
+		cv::Mat V_kA = eigenvec_r.col(k); // 27x1
+		cv::Mat V_kB = cv::Mat(1, 1, z.depth(), V_kA.at<double>(0)); // 1x1
 		cv::Mat V_k; cv::solve(V_kB.t(), V_kA.t(), V_k); // A/B = B'\A'
-		cv::Mat(V_k.t()).col(0).copyTo( V_r.col(0) );
+		cv::Mat( V_k.t()).copyTo( eigenvec_r.col(k) );
 
+		//if (imag(V(2,k)) == 0)
 		const double epsilon = 1e-4;
-
-		if( V_c.at<double>(1,k) >= -epsilon && V_c.at<double>(1,k) <= epsilon ) //if (imag(V(2,k)) == 0)
-		{
+	//	if( eigenvec_i.at<double>(1,k) >= -epsilon && eigenvec_i.at<double>(1,k) <= epsilon )
+		{ // it should work without checking imaginari part
 
 			double stmp[3];
-			stmp[0] = V_r.at<double>(9, k);
-			stmp[1] = V_r.at<double>(3, k);
-			stmp[2] = V_r.at<double>(1, k);
+			stmp[0] = eigenvec_r.at<double>(9, k);
+			stmp[1] = eigenvec_r.at<double>(3, k);
+			stmp[2] = eigenvec_r.at<double>(1, k);
 
 			cv::Mat H = Hessian(stmp); // OK is symmetric
 
 			cv::Mat eigenvalues, eigenvectors;
 			cv::eigen(H, eigenvalues, eigenvectors);
+
 			if(positive_eigenvalues(eigenvalues))
 			{
+
 				// sols(:,i) = stmp;
-				cv::Mat(3, 1, z.depth(), &stmp).col(0).copyTo( sols.col(i) );
+				cv::Mat(3, 1, z.depth(), &stmp).copyTo( sols.col(count) );
 
-				// TODO: check cayley2rotbar function -> CRASHES!!
 				cv::Mat Cbar = cayley2rotbar(stmp);
-				printMat(Cbar);
+	      		cv::Mat Cbarvec = Cbar.t();
+				Cbarvec = Cbarvec.reshape(1,1).t();
 
-				i++;
+				// cost(i) = CbarVec' * D * CbarVec;
+				cv::Mat cost_mat =  Cbarvec.t() * D * Cbarvec;
+				cost.push_back( cost_mat.at<double>(0) );
+
+				count++;
 			}
 		}
 	}
 
-	cout << "end for compute_pose" << endl;
+	sols = sols.clone().colRange(0, count);
 
+//	printMat(sols);
+//	printMat(cv::Mat(cost_));
+
+	// until here seems OK. must check with eigenvectors from octave
+
+	std::vector<cv::Mat> C_est, t_est;
+	for (int j = 0; j < sols.cols; ++j)
+	{
+		// recover the optimal orientation
+		// C_est(:,:,j) = 1/(1 + sols(:,j)' * sols(:,j)) * cayley2rotbar(sols(:,j));
+
+		cv::Mat sols_j = sols.col(j);
+		double sols_j_[3] = { sols_j.at<double>(0), sols_j.at<double>(1), sols_j.at<double>(2) };
+		double sols_mul = cv::Mat( sols_j.t() * sols_j ).at<double>(0);
+		cv::Mat C_est_j = cayley2rotbar(sols_j_).mul(1./(1.+sols_mul));
+		C_est.push_back( C_est_j );
+
+		cv::Mat A2 = cv::Mat::zeros(3, 3, z.depth());
+		cv::Mat b2 = cv::Mat::zeros(3, 1, z.depth());
+		for (int i = 0; i < N; ++i)
+		{
+			cv::Mat eye = cv::Mat::eye(3, 3, z.depth());
+			cv::Mat z_mul = z.col(i)*z.col(i).t();
+
+			A2 += eye - z_mul;
+			b2 += (z_mul - eye) * C_est_j * pp.col(i);
+		}
+
+		// recover the optimal translation
+		cv::Mat X2; cv::solve(A2, b2, X2); // A\B
+		t_est.push_back(X2);
+	}
+
+
+
+	// check that the points are infront of the center of perspectivity
+	for (int k = 0; k < sols.cols; ++k)
+	{
+		cv::Mat cam_points = C_est[k] * pp + cv::repeat(t_est[k], 1, pp.cols);
+		cv::Mat cam_points_k = cam_points.row(2);
+
+		if(is_empty(&cam_points_k))
+		{
+			cv::Mat C_valid = C_est[k], t_valid = t_est[k];
+			double cost_valid = cost[k];
+
+			C_est_.push_back(C_valid);
+			t_est_.push_back(t_valid);
+			cost_.push_back(cost_valid);
+		}
+	}
+}
+
+
+void dls::compute_pose(cv::Mat& R, cv::Mat& t)
+{
+
+	std::vector<cv::Mat> R_;
+	R_.push_back(rotx(CV_PI/2));
+	R_.push_back(roty(CV_PI/2));
+	R_.push_back(rotz(CV_PI/2)); // OK
+
+	cv::Mat t_mean = this->mean(p); // OK
+
+	// version that calls dls 3 times, to avoid Cayley singularity
+	for (int i = 0; i < 3; ++i)
+	{
+		// Make a random rotation
+		cv::Mat pp = R_[i] * ( p - cv::repeat(t_mean, 1, p.cols) ); // OK
+
+		// clear for the new data
+		C_est_.clear();
+		t_est_.clear();
+		cost_.clear();
+
+		this->run_kernel(pp); // run dls_pnp()
+
+		for (unsigned int j = 0; j < cost_.size(); ++j)
+		{
+			t_est_[j] = t_est_[j] - C_est_[j] * R_[i] * t_mean;
+			C_est_[j] = C_est_[j] * R_[i];
+		}
+
+		if( min_val(cost_) < cost__ )
+		{
+			C_est__ = C_est_[i];
+			t_est__ = t_est_[i];
+			cost__ = cost_[i];
+		}
+	}
+
+	C_est__.copyTo(R);
+	t_est__.copyTo(t);
 }
 
 cv::Mat dls::LeftMultVec(const cv::Mat& v)
@@ -659,19 +759,67 @@ bool dls::positive_eigenvalues(const cv::Mat& eigenvalues)
 
 cv::Mat dls::cayley2rotbar(const double s[])
 {
-	// s -> 3x1
-	cv::Mat s_mat(3, 1, z.depth(), &s);
-
-	return cv::Mat( (1-s_mat.t()*s_mat) * cv::Mat::eye(3, 3, z.depth()) + 2 * skewsymm(s) + 2 * (s_mat*s_mat.t())).t();
+	cv::Mat s_mat(3, 1, z.depth(), &s); // s -> 3x1
+	double s_mul1 = cv::Mat(s_mat.t()*s_mat).at<double>(0,0);
+	cv::Mat s_mul2 = s_mat*s_mat.t();
+	cv::Mat eye = cv::Mat::eye(3, 3, z.depth());
+	return cv::Mat( eye.mul(1.-s_mul1) + skewsymm(s).mul(2.) + s_mul2.mul(2.) ).t();
 }
 
 cv::Mat dls::skewsymm(const double X1[])
 {
-	cv::Mat C = cv::Mat::zeros(3, 3, z.depth());
-
-	C.at<double>(0,1) = -X1[2]; C.at<double>(1,0) =  X1[2];
-	C.at<double>(0,2) =  X1[1]; C.at<double>(2,0) = -X1[1];
-	C.at<double>(1,2) = -X1[0]; C.at<double>(2,1) =  X1[0];
-
-	return C;
+	return (cv::Mat_<double>(3,3) << 0, -X1[2], X1[1], X1[2], 0, -X1[0], -X1[1], X1[0], 0);
+}
+
+bool dls::is_empty(const cv::Mat * M)
+{
+	cv::MatConstIterator_<double> it = M->begin<double>(), it_end = M->end<double>();
+	for(; it != it_end; ++it)
+	{
+		if(*it < 0) return false;
+	}
+	return true;
+}
+
+cv::Mat dls::rotx(const double t)
+{
+	// rotx: rotation about y-axis
+	double ct = cos(t);
+	double st = sin(t);
+	return (cv::Mat_<double>(3,3) << 1, 0, 0, 0, ct, -st, 0, st, ct);
+}
+
+cv::Mat dls::roty(const double t)
+{
+	// roty: rotation about y-axis
+	double ct = cos(t);
+	double st = sin(t);
+	return (cv::Mat_<double>(3,3) << ct, 0, st, 0, 1, 0, -st, 0, ct);
+}
+
+cv::Mat dls::rotz(const double t)
+{
+	// rotz: rotation about y-axis
+	double ct = cos(t);
+	double st = sin(t);
+	return (cv::Mat_<double>(3,3) << ct, -st, 0, st, ct, 0, 0, 0, 1);
+}
+
+cv::Mat dls::mean(const cv::Mat& M)
+{
+	cv::Mat m = cv::Mat::zeros(3, 1, p.depth());
+	for (int i = 0; i < M.cols; ++i) m += M.col(i);
+	return m.mul(1./(double)M.cols);
+}
+
+double dls::min_val(const std::vector<double>& values)
+{
+	double min = std::numeric_limits<double>::infinity();
+
+	std::vector<double>::const_iterator iter = values.begin();
+	for( ; iter != values.end() ; iter++)
+	{
+		if(*iter < min) min = *iter;
+	}
+	return min;
 }
diff --git a/modules/calib3d/src/dls.h b/modules/calib3d/src/dls.h
index fcacd2fff3..a586d1e9da 100644
--- a/modules/calib3d/src/dls.h
+++ b/modules/calib3d/src/dls.h
@@ -32,7 +32,14 @@ private:
 	}
 
 	void norm_z_vector();
-	void build_coeff_matrix();
+	void build_coeff_matrix(const cv::Mat& pp, cv::Mat& Mtilde, cv::Mat& D);
+	void compute_eigenvec(const cv::Mat& Mtilde, cv::Mat& eigenval_real, cv::Mat& eigenval_imag,
+			                                     cv::Mat& eigenvec_real, cv::Mat& eigenvec_imag);
+	double min_val(const std::vector<double>& values);
+	cv::Mat rotx(const double t);
+	cv::Mat roty(const double t);
+	cv::Mat rotz(const double t);
+	cv::Mat mean(const cv::Mat& M);
 	void fill_coeff(const cv::Mat * D);
 	cv::Mat LeftMultVec(const cv::Mat& v);
 	cv::Mat cayley_LS_M(const std::vector<double>& a, const std::vector<double>& b,
@@ -41,14 +48,16 @@ private:
 	cv::Mat Hessian(const double s[]);
 	cv::Mat cayley2rotbar(const double s[]);
 	cv::Mat skewsymm(const double X1[]);
+	bool is_empty(const cv::Mat * v);
+	void run_kernel(const cv::Mat& pp);
 
-	cv::Mat Mtilde;		// coeff matrix
-	cv::Mat V_r, V_c;	// eigen
-	cv::Mat p;			// object points
-	cv::Mat z;			// image points
+	cv::Mat p, z;		// object-image points
 	int N;				// number of input points
-	std::vector<double> f1coeff, f2coeff, f3coeff;
+	std::vector<double> f1coeff, f2coeff, f3coeff, cost_;
+	std::vector<cv::Mat> C_est_, t_est_;	// vector to store candidate
+	cv::Mat C_est__, t_est__;	// best found solution
+	double cost__;
+
 };
 
-
 #endif // DLS_H
diff --git a/modules/calib3d/src/solvepnp.cpp b/modules/calib3d/src/solvepnp.cpp
index 1aa9f32bc0..2cfb72e23d 100644
--- a/modules/calib3d/src/solvepnp.cpp
+++ b/modules/calib3d/src/solvepnp.cpp
@@ -98,7 +98,7 @@ bool cv::solvePnP( InputArray _opoints, InputArray _ipoints,
     {
     	std::cout << "DLS" << std::endl;
     	cv::Mat undistortedPoints;
-    	cv::undistortPoints(ipoints, undistortedPoints, cameraMatrix, distCoeffs);
+    	//cv::undistortPoints(ipoints, undistortedPoints, cameraMatrix, distCoeffs);
 
     	cv::Mat R, rvec = _rvec.getMat(), tvec = _tvec.getMat();
 

From a3f065c409dd0b119c6038bd8080581b3909d66b Mon Sep 17 00:00:00 2001
From: edgarriba <edgar.riba@gmail.com>
Date: Fri, 25 Jul 2014 11:01:47 +0200
Subject: [PATCH 019/112] DLS working

---
 modules/calib3d/src/dls.cpp      | 598 ++++++++++++-------------------
 modules/calib3d/src/dls.h        |  52 +--
 modules/calib3d/src/solvepnp.cpp |  26 +-
 3 files changed, 279 insertions(+), 397 deletions(-)

diff --git a/modules/calib3d/src/dls.cpp b/modules/calib3d/src/dls.cpp
index 5641d8e086..9075fc2f4c 100644
--- a/modules/calib3d/src/dls.cpp
+++ b/modules/calib3d/src/dls.cpp
@@ -19,6 +19,8 @@
 
 using namespace std;
 
+void pause__(){ cin.get(); }
+
 void printSize(const cv::Mat& mat)
 {
 	cout << mat.rows << "x" << mat.cols << endl;
@@ -48,8 +50,8 @@ void print(T var) { cout << var << endl; }
 dls::dls(const cv::Mat& opoints, const cv::Mat& ipoints)
 {
 	N =  std::max(opoints.checkVector(3, CV_32F), opoints.checkVector(3, CV_64F));
-	p = cv::Mat(3, N, opoints.depth());
-	z = cv::Mat(3, N, ipoints.depth());
+	p = cv::Mat(3, N, CV_64F);
+	z = cv::Mat(3, N, CV_64F);
 
 	cost__ = std::numeric_limits<double>::infinity();
 
@@ -60,14 +62,14 @@ dls::dls(const cv::Mat& opoints, const cv::Mat& ipoints)
 	if (opoints.depth() == ipoints.depth())
 	{
 		if (opoints.depth() == CV_32F)
-			init_points<cv::Point3f,float,cv::Point2f,float>(opoints, ipoints);
+			init_points<cv::Point3f, cv::Point2f>(opoints, ipoints);
 	    else
-	    	init_points<cv::Point3d,double,cv::Point2d,double>(opoints, ipoints);
+	    	init_points<cv::Point3d, cv::Point2d>(opoints, ipoints);
 	}
 	else if (opoints.depth() == CV_32F)
-		init_points<cv::Point3f,float,cv::Point2d,double>(opoints, ipoints);
+		init_points<cv::Point3f, cv::Point2d>(opoints, ipoints);
 	else
-		init_points<cv::Point3d,double,cv::Point2f,float>(opoints, ipoints);
+		init_points<cv::Point3d, cv::Point2f>(opoints, ipoints);
 
 	norm_z_vector();
 
@@ -93,58 +95,218 @@ void dls::norm_z_vector()
 		z.at<double>(1, i) /= sr;
 		z.at<double>(2, i) /= sr;
 	}
+}
 
-	// OK
+bool dls::compute_pose(cv::Mat& R, cv::Mat& t)
+{
+
+	std::vector<cv::Mat> R_;
+	R_.push_back(rotx(CV_PI/2));
+	R_.push_back(roty(CV_PI/2));
+	R_.push_back(rotz(CV_PI/2));
+
+	cv::Mat t_mean = this->mean(p);
+
+	// version that calls dls 3 times, to avoid Cayley singularity
+	for (int i = 0; i < 3; ++i)
+	{
+		// Make a random rotation
+		cv::Mat pp = R_[i] * ( p - cv::repeat(t_mean, 1, p.cols) );
+
+		// clear for new data
+		C_est_.clear();
+		t_est_.clear();
+		cost_.clear();
+
+		this->run_kernel(pp); // run dls_pnp()
+
+		// find global minimum
+		for (unsigned int j = 0; j < cost_.size(); ++j)
+		{
+			if( cost_[j] < cost__ )
+			{
+				t_est__ = t_est_[j] - C_est_[j] * R_[i] * t_mean;
+				C_est__ = C_est_[j] * R_[i];
+				cost__ = cost_[j];
+			}
+		}
+
+	}
+
+	if(C_est__.cols > 0 && C_est__.rows > 0)
+	{
+		C_est__.copyTo(R);
+		t_est__.copyTo(t);
+		return true;
+	}
+
+	return false;
+}
+
+void dls::run_kernel(const cv::Mat& pp)
+{
+
+	cv::Mat Mtilde(27, 27, CV_64F);
+	cv::Mat D = cv::Mat::zeros(9, 9, CV_64F);
+	build_coeff_matrix(pp, Mtilde, D);
+
+	cv::Mat eigenval_r, eigenval_i, eigenvec_r, eigenvec_i;
+	compute_eigenvec(Mtilde, eigenval_r, eigenval_i, eigenvec_r, eigenvec_i);
+
+
+	/*
+	 *  Now check the solutions
+	 */
+
+	// extract the optimal solutions from the eigen decomposition of the
+	// Multiplication matrix
+
+	cv::Mat sols = cv::Mat::zeros(3, 27, CV_64F);
+	std::vector<double> cost;
+	int count = 0;
+	for (int k = 0; k < 27; ++k)
+	{
+		// TODO: solve implementation for complex numbers
+
+		//  V(:,k) = V(:,k)/V(1,k);
+		cv::Mat V_kA = eigenvec_r.col(k); // 27x1
+		cv::Mat V_kB = cv::Mat(1, 1, z.depth(), V_kA.at<double>(0)); // 1x1
+		cv::Mat V_k; cv::solve(V_kB.t(), V_kA.t(), V_k); // A/B = B'\A'
+		cv::Mat( V_k.t()).copyTo( eigenvec_r.col(k) );
+
+		// TODO: check imaginari part to filter solutions
+
+		//if (imag(V(2,k)) == 0)
+		//const double epsilon = 1e-4;
+	    //if( eigenvec_i.at<double>(1,k) >= -epsilon && eigenvec_i.at<double>(1,k) <= epsilon )
+		{ // it should work without checking imaginari part
+
+			double stmp[3];
+			stmp[0] = eigenvec_r.at<double>(9, k);
+			stmp[1] = eigenvec_r.at<double>(3, k);
+			stmp[2] = eigenvec_r.at<double>(1, k);
+
+			cv::Mat H = Hessian(stmp);
+
+			cv::Mat eigenvalues, eigenvectors;
+			cv::eigen(H, eigenvalues, eigenvectors);
+
+			if(positive_eigenvalues(&eigenvalues))
+			{
+
+				// sols(:,i) = stmp;
+				cv::Mat stmp_mat(3, 1, CV_64F, &stmp);
+
+				stmp_mat.copyTo( sols.col(count) );
+
+				cv::Mat Cbar = cayley2rotbar(stmp_mat);
+				cv::Mat Cbarvec = Cbar.reshape(1,1).t();
+
+				// cost(i) = CbarVec' * D * CbarVec;
+				cv::Mat cost_mat =  Cbarvec.t() * D * Cbarvec;
+				cost.push_back( cost_mat.at<double>(0) );
+
+				count++;
+			}
+		}
+	}
+
+	// extract solutions
+	sols = sols.clone().colRange(0, count);
+
+	std::vector<cv::Mat> C_est, t_est;
+	for (int j = 0; j < sols.cols; ++j)
+	{
+		// recover the optimal orientation
+		// C_est(:,:,j) = 1/(1 + sols(:,j)' * sols(:,j)) * cayley2rotbar(sols(:,j));
+
+		cv::Mat sols_j = sols.col(j);
+		double sols_mult = 1./(1.+cv::Mat( sols_j.t() * sols_j ).at<double>(0));
+		cv::Mat C_est_j = cayley2rotbar(sols_j).mul(sols_mult);
+		C_est.push_back( C_est_j );
+
+		cv::Mat A2 = cv::Mat::zeros(3, 3, CV_64F);
+		cv::Mat b2 = cv::Mat::zeros(3, 1, CV_64F);
+		for (int i = 0; i < N; ++i)
+		{
+			cv::Mat eye = cv::Mat::eye(3, 3, CV_64F);
+			cv::Mat z_mul = z.col(i)*z.col(i).t();
+
+			A2 += eye - z_mul;
+			b2 += (z_mul - eye) * C_est_j * pp.col(i);
+		}
+
+		// recover the optimal translation
+		cv::Mat X2; cv::solve(A2, b2, X2); // A\B
+		t_est.push_back(X2);
+
+	}
+
+	// check that the points are infront of the center of perspectivity
+	for (int k = 0; k < sols.cols; ++k)
+	{
+		cv::Mat cam_points = C_est[k] * pp + cv::repeat(t_est[k], 1, pp.cols); // OK
+		cv::Mat cam_points_k = cam_points.row(2);
+
+		if(is_empty(&cam_points_k))  // OK
+		{
+			cv::Mat C_valid = C_est[k], t_valid = t_est[k]; // OK
+			double cost_valid = cost[k];// OK
+
+			C_est_.push_back(C_valid);
+			t_est_.push_back(t_valid);
+			cost_.push_back(cost_valid);
+		}
+	}
 }
 
 void dls::build_coeff_matrix(const cv::Mat& pp, cv::Mat& Mtilde, cv::Mat& D)
 {
-	cv::Mat eye = cv::Mat::eye(3, 3, z.depth());
+	cv::Mat eye = cv::Mat::eye(3, 3, CV_64F);
 
 	// build coeff matrix
 	// An intermediate matrix, the inverse of what is called "H" in the paper
 	// (see eq. 25)
 
-	cv::Mat H = cv::Mat::zeros(3, 3, z.depth());
-	cv::Mat A = cv::Mat::zeros(3, 9, z.depth());
+	cv::Mat H = cv::Mat::zeros(3, 3, CV_64F);
+	cv::Mat A = cv::Mat::zeros(3, 9, CV_64F);
 
 	for (int i = 0; i < N; ++i)
 	{
 		cv::Mat z_dot = z.col(i)*z.col(i).t();
 		H += eye - z_dot;
 		A += ( z_dot - eye ) * LeftMultVec(pp.col(i));
-	}// OK
+	}
 
 	// A\B
-	cv::solve(H, A, A);  // OK
+	cv::solve(H, A, A);
 
 	for (int i = 0; i < N; ++i)
 	{
 		cv::Mat z_dot = z.col(i)*z.col(i).t();
 		D += cv::Mat( LeftMultVec(pp.col(i)) + A ).t() * (eye-z_dot) * ( LeftMultVec(pp.col(i)) + A );
-	} // OK
+	}
 
 	// fill the coefficients
 	fill_coeff(&D);
 
 	// generate random samples
-	std::vector<double> u;
-	//cv::randn(u, 100, 0.1);
-	u.push_back(0.0); u.push_back(129.0); u.push_back(64.0); u.push_back(-33.0); u.push_back(-193.0);
+	std::vector<double> u(5);
+	cv::randn(u, 0, 200);
 
 	cv::Mat M2 = cayley_LS_M(f1coeff, f2coeff, f3coeff, u);
 
-	cv::Mat M2_1 = M2(cv::Range(0,27), cv::Range(0,27)); // OK
-	cv::Mat M2_2 = M2(cv::Range(0,27), cv::Range(27,120)); // OK
-	cv::Mat M2_3 = M2(cv::Range(27,120), cv::Range(27,120)); // OK
-	cv::Mat M2_4 = M2(cv::Range(27,120), cv::Range(0,27)); // OK
+	cv::Mat M2_1 = M2(cv::Range(0,27), cv::Range(0,27));
+	cv::Mat M2_2 = M2(cv::Range(0,27), cv::Range(27,120));
+	cv::Mat M2_3 = M2(cv::Range(27,120), cv::Range(27,120));
+	cv::Mat M2_4 = M2(cv::Range(27,120), cv::Range(0,27));
 
 	// A/B = B'\A'
 	cv::Mat M2_5; cv::solve(M2_3.t(), M2_2.t(), M2_5);
 
 	// construct the multiplication matrix via schur compliment of the Macaulay
 	// matrix
-	Mtilde = M2_1 - M2_5.t()*M2_4; // 27x27 non-symmetric // OK
+	Mtilde = M2_1 - M2_5.t()*M2_4;
 
 }
 
@@ -164,13 +326,13 @@ void dls::compute_eigenvec(const cv::Mat& Mtilde, cv::Mat& eigenval_real, cv::Ma
 	Eigen::ComplexEigenSolver<Eigen::MatrixXcd> ces;
 	ces.compute(Mtilde_eig_cmplx);
 
-	Eigen::MatrixXd eigval_real = ces.eigenvalues().real(); // OK
-	Eigen::MatrixXd eigval_imag = ces.eigenvalues().imag();// OK
+	Eigen::MatrixXd eigval_real = ces.eigenvalues().real();
+	Eigen::MatrixXd eigval_imag = ces.eigenvalues().imag();
 	Eigen::MatrixXd eigvec_real = ces.eigenvectors().real();
 	Eigen::MatrixXd eigvec_imag = ces.eigenvectors().imag();
 
-	cv::eigen2cv(eigval_real, eigenval_real);	// OK
-	cv::eigen2cv(eigval_imag, eigenval_imag);	// OK
+	cv::eigen2cv(eigval_real, eigenval_real);
+	cv::eigen2cv(eigval_imag, eigenval_imag);
 	cv::eigen2cv(eigvec_real, eigenvec_real);
 	cv::eigen2cv(eigvec_imag, eigenvec_imag);
 
@@ -178,6 +340,7 @@ void dls::compute_eigenvec(const cv::Mat& Mtilde, cv::Mat& eigenval_real, cv::Ma
 
 void dls::fill_coeff(const cv::Mat * D_mat)
 {
+	// TODO: shift D and coefficients one position to left
 
 	double D[10][10]; // put D_mat into array
 
@@ -263,177 +426,16 @@ void dls::fill_coeff(const cv::Mat * D_mat)
 
 }
 
-void dls::run_kernel(const cv::Mat& pp)
-{
-
-	cv::Mat Mtilde(27, 27, z.depth());
-	cv::Mat D = cv::Mat::zeros(9, 9, z.depth());
-	build_coeff_matrix(pp, Mtilde, D);
-
-	cv::Mat eigenval_r, eigenval_i, eigenvec_r, eigenvec_i;
-	compute_eigenvec(Mtilde, eigenval_r, eigenval_i, eigenvec_r, eigenvec_i);
-
-	//printMat(eigenval_r);
-	//printMat(eigenval_i);
-
-	/*
-	 *  Now check the solutions
-	 */
-
-	// extract the optimal solutions from the eigen decomposition of the
-	// Multiplication matrix
-
-	cv::Mat sols = cv::Mat::zeros(3, 27, z.depth());
-	std::vector<double> cost;
-	int count = 0;
-	for (int k = 0; k < 27; ++k)
-	{
-
-		//  V(:,k) = V(:,k)/V(1,k);
-		cv::Mat V_kA = eigenvec_r.col(k); // 27x1
-		cv::Mat V_kB = cv::Mat(1, 1, z.depth(), V_kA.at<double>(0)); // 1x1
-		cv::Mat V_k; cv::solve(V_kB.t(), V_kA.t(), V_k); // A/B = B'\A'
-		cv::Mat( V_k.t()).copyTo( eigenvec_r.col(k) );
-
-		//if (imag(V(2,k)) == 0)
-		const double epsilon = 1e-4;
-	//	if( eigenvec_i.at<double>(1,k) >= -epsilon && eigenvec_i.at<double>(1,k) <= epsilon )
-		{ // it should work without checking imaginari part
-
-			double stmp[3];
-			stmp[0] = eigenvec_r.at<double>(9, k);
-			stmp[1] = eigenvec_r.at<double>(3, k);
-			stmp[2] = eigenvec_r.at<double>(1, k);
-
-			cv::Mat H = Hessian(stmp); // OK is symmetric
-
-			cv::Mat eigenvalues, eigenvectors;
-			cv::eigen(H, eigenvalues, eigenvectors);
-
-			if(positive_eigenvalues(eigenvalues))
-			{
-
-				// sols(:,i) = stmp;
-				cv::Mat(3, 1, z.depth(), &stmp).copyTo( sols.col(count) );
-
-				cv::Mat Cbar = cayley2rotbar(stmp);
-	      		cv::Mat Cbarvec = Cbar.t();
-				Cbarvec = Cbarvec.reshape(1,1).t();
-
-				// cost(i) = CbarVec' * D * CbarVec;
-				cv::Mat cost_mat =  Cbarvec.t() * D * Cbarvec;
-				cost.push_back( cost_mat.at<double>(0) );
-
-				count++;
-			}
-		}
-	}
-
-	sols = sols.clone().colRange(0, count);
-
-//	printMat(sols);
-//	printMat(cv::Mat(cost_));
-
-	// until here seems OK. must check with eigenvectors from octave
-
-	std::vector<cv::Mat> C_est, t_est;
-	for (int j = 0; j < sols.cols; ++j)
-	{
-		// recover the optimal orientation
-		// C_est(:,:,j) = 1/(1 + sols(:,j)' * sols(:,j)) * cayley2rotbar(sols(:,j));
-
-		cv::Mat sols_j = sols.col(j);
-		double sols_j_[3] = { sols_j.at<double>(0), sols_j.at<double>(1), sols_j.at<double>(2) };
-		double sols_mul = cv::Mat( sols_j.t() * sols_j ).at<double>(0);
-		cv::Mat C_est_j = cayley2rotbar(sols_j_).mul(1./(1.+sols_mul));
-		C_est.push_back( C_est_j );
-
-		cv::Mat A2 = cv::Mat::zeros(3, 3, z.depth());
-		cv::Mat b2 = cv::Mat::zeros(3, 1, z.depth());
-		for (int i = 0; i < N; ++i)
-		{
-			cv::Mat eye = cv::Mat::eye(3, 3, z.depth());
-			cv::Mat z_mul = z.col(i)*z.col(i).t();
-
-			A2 += eye - z_mul;
-			b2 += (z_mul - eye) * C_est_j * pp.col(i);
-		}
-
-		// recover the optimal translation
-		cv::Mat X2; cv::solve(A2, b2, X2); // A\B
-		t_est.push_back(X2);
-	}
-
-
-
-	// check that the points are infront of the center of perspectivity
-	for (int k = 0; k < sols.cols; ++k)
-	{
-		cv::Mat cam_points = C_est[k] * pp + cv::repeat(t_est[k], 1, pp.cols);
-		cv::Mat cam_points_k = cam_points.row(2);
-
-		if(is_empty(&cam_points_k))
-		{
-			cv::Mat C_valid = C_est[k], t_valid = t_est[k];
-			double cost_valid = cost[k];
-
-			C_est_.push_back(C_valid);
-			t_est_.push_back(t_valid);
-			cost_.push_back(cost_valid);
-		}
-	}
-}
-
-
-void dls::compute_pose(cv::Mat& R, cv::Mat& t)
-{
-
-	std::vector<cv::Mat> R_;
-	R_.push_back(rotx(CV_PI/2));
-	R_.push_back(roty(CV_PI/2));
-	R_.push_back(rotz(CV_PI/2)); // OK
-
-	cv::Mat t_mean = this->mean(p); // OK
-
-	// version that calls dls 3 times, to avoid Cayley singularity
-	for (int i = 0; i < 3; ++i)
-	{
-		// Make a random rotation
-		cv::Mat pp = R_[i] * ( p - cv::repeat(t_mean, 1, p.cols) ); // OK
-
-		// clear for the new data
-		C_est_.clear();
-		t_est_.clear();
-		cost_.clear();
-
-		this->run_kernel(pp); // run dls_pnp()
-
-		for (unsigned int j = 0; j < cost_.size(); ++j)
-		{
-			t_est_[j] = t_est_[j] - C_est_[j] * R_[i] * t_mean;
-			C_est_[j] = C_est_[j] * R_[i];
-		}
-
-		if( min_val(cost_) < cost__ )
-		{
-			C_est__ = C_est_[i];
-			t_est__ = t_est_[i];
-			cost__ = cost_[i];
-		}
-	}
-
-	C_est__.copyTo(R);
-	t_est__.copyTo(t);
-}
-
 cv::Mat dls::LeftMultVec(const cv::Mat& v)
 {
 	cv::Mat mat, row1, row2, row3;
+	cv::Mat zeros16 = cv::Mat::zeros(1, 6, CV_64F);
+	cv::Mat zeros13 = cv::Mat::zeros(1, 3, CV_64F);
 
-	cv::hconcat(v.clone().t(), cv::Mat::zeros(1, 6, v.depth()), row1);	// first row
-	cv::hconcat(cv::Mat::zeros(1, 3, v.depth()), v.clone().t(), row2);	// second row
-	cv::hconcat(row2, cv::Mat::zeros(1, 3, v.depth()), row2);			// second ror
-	cv::hconcat(cv::Mat::zeros(1, 6, v.depth()), v.clone().t(), row3);	// third row
+	cv::hconcat(v.clone().t(), zeros16, row1);	// first row
+	cv::hconcat(zeros13, v.clone().t(), row2);	// second row
+	cv::hconcat(row2, zeros13, row2);			// second row
+	cv::hconcat(zeros16, v.clone().t(), row3);	// third row
 
 	mat.push_back(row1);
 	mat.push_back(row2);
@@ -444,9 +446,9 @@ cv::Mat dls::LeftMultVec(const cv::Mat& v)
 
 cv::Mat dls::cayley_LS_M(const std::vector<double>& a, const std::vector<double>& b, const std::vector<double>& c, const std::vector<double>& u)
 {
+	// TODO: input matrix pointer
+	// TODO: shift coefficients one position to left
 	
-    //cv::Mat M = (cv::Mat_<double>(120,120) << u[1], 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, a[1], 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, b[1], 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, c[1], 0, u[4], u[1], 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, a[1], a[10], 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, b[1], 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, b[10], 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, c[1], 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, c[10], 0, 0, u[4], u[1], 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, a[10], a[14], 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, a[1], 0, 0, b[10], 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, b[1], 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, b[14], 0, 0, 0, 0, 0, c[1], 0, 0, 0, 0, 0, 0, 0, 0, 0, c[10], 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, c[14], 0, u[3], 0, 0, u[1], 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, a[11], 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, a[1], 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, b[1], 0, 0, 0, 0, 0, 0, b[11], 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, c[11], c[1], 0, u[3], 0, u[4], u[1], 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, a[11], a[5], 0, 0, 0, 0, 0, 0, 0, a[1], 0, 0, 0, 0, 0, a[10], 0, 0, 0, 0, b[11], 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, b[1], 0, 0, 0, 0, b[10], 0, 0, 0, 0, 0, 0, b[5], 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, c[11], c[1], 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, c[5], c[10], 0, 0, u[3], 0, u[4], u[1], 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, a[5], a[12], 0, 0, 0, 0, 0, a[1], 0, a[10], 0, 0, 0, 0, 0, a[14], 0, a[11], 0, 0, b[5], 0, 0, 0, 0, 0, 0, 0, b[1], 0, 0, b[11], 0, 0, 0, 0, 0, b[10], 0, 0, 0, 0, b[14], 0, 0, 0, 0, 0, 0, b[12], 0, 0, 0, 0, 0, c[11], 0, 0, 0, 0, 0, 0, 0, 0, 0, c[5], c[10], 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, c[1], 0, 0, 0, 0, 0, 0, c[12], c[14], 0, 0, 0, u[3], 0, 0, u[1], 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, a[1], 0, 0, 0, 0, a[15], 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, a[11], 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, b[1], b[11], 0, 0, 0, 0, 0, 0, b[15], 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, c[1], 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, c[15], c[11], 0, 0, 0, 0, u[3], 0, u[4], u[1], 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, a[10], 0, 0, 0, a[15], a[6], 0, 0, 0, 0, 0, 0, 0, a[11], 0, a[1], 0, 0, 0, a[5], 0, 0, 0, 0, b[15], 0, 0, 0, 0, 0, 0, 0, 0, b[1], 0, 0, 0, 0, 0, 0, 0, b[11], 0, 0, 0, b[10], b[5], 0, 0, 0, 0, 0, 0, b[6], 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, c[15], c[11], 0, 0, 0, 0, 0, 0, c[10], 0, 0, 0, 0, c[1], 0, 0, 0, 0, 0, c[6], c[5], 0, 0, 0, 0, 0, u[3], 0, u[4], u[1], 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, a[14], 0, 0, 0, a[6], 0, 0, 0, 0, 0, 0, a[11], 0, a[5], 0, a[10], a[1], 0, 0, a[12], 0, a[15], 0, 0, b[6], 0, 0, 0, 0, 0, 0, 0, b[11], b[10], 0, b[15], b[1], 0, 0, 0, 0, b[5], 0, 0, 0, b[14], b[12], 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, c[15], 0, 0, 0, 0, 0, 0, 0, 0, 0, c[6], c[5], 0, c[1], 0, 0, 0, 0, c[14], 0, 0, 0, c[11], c[10], 0, 0, 0, 0, 0, 0, c[12], u[2], 0, 0, 0, 0, 0, 0, 0, 0, u[1], 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, a[9], a[1], 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, b[9], b[1], 0, 0, 0, c[1], 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, c[9], 0, 0, u[2], 0, 0, 0, 0, 0, 0, 0, u[4], u[1], 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, a[1], a[9], a[4], a[10], 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, b[9], 0, 0, 0, 0, b[1], 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, b[4], b[10], 0, 0, 0, c[10], 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, c[9], 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, c[1], c[4], 0, 0, 0, u[2], 0, 0, 0, 0, 0, 0, 0, u[4], u[1], 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, a[1], 0, 0, 0, 0, a[10], a[4], a[8], a[14], 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, a[9], 0, 0, b[4], 0, 0, b[1], 0, b[10], 0, 0, 0, 0, 0, b[9], 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, b[8], b[14], 0, 0, 0, c[14], c[9], 0, 0, 0, 0, 0, 0, 0, 0, 0, c[4], 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, c[1], 0, 0, c[10], c[8], 0, 0, 0, 0, u[2], 0, 0, 0, 0, 0, u[3], 0, 0, u[1], 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, a[3], a[11], 0, 0, a[1], 0, 0, 0, 0, 0, 0, 0, 0, 0, a[9], 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, b[9], 0, 0, b[1], 0, 0, 0, b[3], b[11], 0, 0, 0, c[11], 0, 0, 0, 0, 0, 0, 0, c[1], 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, c[3], c[9], 0, 0, 0, 0, u[2], 0, 0, 0, 0, 0, u[3], 0, u[4], u[1], 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, a[11], a[3], a[17], a[5], 0, 0, a[10], 0, 0, 0, a[9], 0, 0, 0, a[1], 0, a[4], 0, 0, 0, 0, b[3], 0, 0, 0, 0, b[11], b[1], 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, b[9], 0, 0, 0, 0, b[4], 0, 0, b[10], 0, 0, 0, b[17], b[5], 0, 0, 0, c[5], 0, c[1], 0, 0, 0, 0, 0, c[10], 0, 0, c[3], c[9], 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, c[11], c[17], c[4], 0, 0, 0, 0, 0, u[2], 0, 0, 0, 0, 0, u[3], 0, u[4], u[1], 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, a[11], 0, 0, 0, 0, a[5], a[17], 0, a[12], 0, 0, a[14], 0, a[9], a[1], a[4], 0, 0, 0, a[10], 0, a[8], 0, a[3], 0, 0, b[17], 0, b[1], b[11], 0, b[5], b[10], 0, b[9], 0, 0, b[3], 0, 0, 0, 0, 0, b[4], 0, 0, 0, 0, b[8], 0, 0, b[14], 0, 0, 0, 0, b[12], 0, 0, 0, c[12], c[3], c[10], 0, 0, 0, 0, 0, c[14], 0, 0, c[17], c[4], 0, 0, 0, 0, 0, c[1], 0, 0, 0, 0, c[9], 0, 0, c[11], 0, 0, c[5], 0, c[8], 0, 0, 0, 0, 0, 0, u[2], 0, 0, 0, 0, 0, u[3], 0, 0, u[1], 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, a[1], a[9], 0, 0, 0, 0, a[18], a[15], 0, 0, a[11], 0, 0, 0, 0, 0, 0, 0, 0, 0, a[3], 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, b[1], b[9], b[3], 0, 0, b[11], 0, 0, 0, b[18], b[15], 0, 0, 0, c[15], 0, 0, 0, 0, 0, c[1], 0, c[11], 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, c[9], 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, c[18], c[3], 0, 0, 0, 0, 0, 0, 0, u[2], 0, 0, 0, 0, 0, u[3], 0, u[4], u[1], 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, a[10], a[4], 0, 0, a[15], a[18], 0, a[6], 0, 0, a[5], 0, 0, 0, a[3], a[1], a[9], 0, a[11], 0, a[17], 0, 0, 0, 0, b[18], 0, 0, 0, 0, b[15], b[11], 0, 0, b[9], 0, 0, 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b[13], b[9], 0, 0, c[1], c[9], 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, c[13], 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, u[2], 0, 0, 0, 0, 0, 0, 0, u[4], u[1], 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, a[1], a[9], a[13], a[19], a[4], 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, a[10], b[13], 0, 0, 0, 0, b[9], 0, b[1], 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, b[10], b[19], b[4], 0, 0, c[10], c[4], 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, c[13], 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, c[1], c[9], c[19], 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, u[2], 0, 0, 0, 0, 0, 0, 0, u[4], u[1], 0, 0, 0, 0, 0, 0, a[1], a[9], 0, 0, 0, a[10], a[4], a[19], 0, a[8], 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, a[13], 0, a[14], b[19], b[1], 0, b[9], 0, b[4], 0, b[10], 0, 0, 0, b[13], 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, b[14], 0, b[8], 0, 0, c[14], c[8], c[13], 0, 0, 0, 0, 0, 0, 0, 0, 0, c[19], 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, c[1], c[9], 0, c[10], 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0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, a[16], 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, b[16], 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, c[16], 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, c[10], 0, 0, 0, c[14], 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, a[9], a[13], a[20], 0, 0, 0, 0, 0, 0, 0, 0, a[11], 0, a[3], 0, 0, a[2], 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, b[9], b[13], b[20], b[3], b[11], b[2], 0, 0, c[11], c[3], c[2], 0, 0, 0, 0, c[13], 0, 0, 0, c[20], 0, c[9], 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, a[13], a[20], 0, 0, 0, 0, 0, 0, 0, 0, 0, a[3], 0, a[2], 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, b[13], b[20], 0, b[2], b[3], 0, 0, 0, c[3], c[2], 0, 0, 0, 0, 0, c[20], 0, 0, 0, 0, 0, c[13], 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, a[20], 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, a[2], 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, b[20], 0, 0, 0, b[2], 0, 0, 0, c[2], 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, c[20], 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, u[4], 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, a[10], 0, 0, 0, 0, a[14], a[8], 0, a[16], 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, a[4], 0, 0, b[8], 0, 0, b[10], 0, b[14], 0, 0, 0, 0, 0, b[4], 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, b[16], 0, 0, 0, c[16], c[4], 0, 0, 0, 0, 0, 0, 0, 0, 0, c[8], 0, 0, 0, 0, 0, 0, 0, 0, c[1], c[9], 0, 0, 0, 0, c[10], 0, 0, c[14], 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, u[4], 0, 0, 0, 0, 0, 0, a[10], a[4], 0, 0, 0, a[14], a[8], 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, a[19], 0, a[16], 0, b[10], 0, b[4], 0, b[8], 0, b[14], 0, 0, 0, b[19], 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, b[16], 0, 0, 0, 0, c[16], 0, c[19], 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, c[9], c[13], 0, 0, 0, c[10], c[4], 0, c[14], c[8], 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, a[4], a[19], 0, 0, a[14], a[8], 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, a[16], 0, 0, 0, 0, b[4], 0, b[19], b[14], 0, 0, b[8], 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, b[16], 0, 0, 0, 0, 0, c[16], 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, c[13], c[20], 0, 0, 0, c[4], c[19], c[14], c[8], 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, a[19], 0, 0, 0, a[8], 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, a[16], 0, 0, 0, 0, 0, 0, b[19], 0, 0, b[8], 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, b[16], 0, 0, 0, c[16], 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, c[20], 0, 0, 0, 0, c[19], 0, c[8], 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, a[20], 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, a[1], 0, a[9], 0, 0, a[13], 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, b[9], b[1], b[13], 0, b[20], c[1], c[9], c[13], c[20], 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, u[3], a[7], 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, a[6], 0, a[18], 0, a[17], 0, a[2], 0, 0, 0, 0, 0, a[12], 0, 0, b[7], b[18], 0, 0, 0, 0, 0, 0, 0, 0, 0, b[2], b[19], b[17], 0, b[8], 0, b[6], b[12], 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, c[8], 0, c[12], 0, c[6], 0, c[17], 0, 0, 0, 0, c[2], 0, c[19], 0, c[18], 0, 0, 0, 0, 0, 0, c[7], 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, u[3], 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, a[5], 0, 0, 0, a[7], 0, 0, 0, 0, 0, 0, 0, 0, a[15], 0, a[11], 0, 0, 0, a[6], 0, 0, 0, 0, b[7], 0, 0, 0, 0, 0, 0, 0, 0, b[11], 0, 0, 0, b[1], 0, b[10], 0, b[15], 0, 0, 0, b[5], b[6], 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, c[7], c[15], 0, 0, 0, c[1], 0, 0, c[5], 0, 0, c[10], 0, c[11], 0, 0, 0, 0, 0, 0, c[6], 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, u[2], 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, a[20], a[13], 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, a[1], 0, 0, a[9], 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, b[1], 0, b[9], b[20], b[13], 0, c[1], c[9], c[13], 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, c[20], 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, u[2], 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, a[1], a[9], a[13], a[20], 0, a[19], 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, a[10], 0, 0, a[4], b[20], 0, 0, 0, b[1], b[13], 0, b[9], 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, b[10], 0, b[4], 0, b[19], 0, c[10], c[4], c[19], 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, c[20], 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, c[1], c[9], c[13], 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, a[9], a[13], a[20], 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, a[10], 0, a[4], 0, 0, a[19], 0, 0, 0, 0, b[9], b[20], 0, b[13], 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, b[4], b[10], b[19], 0, 0, c[10], c[4], c[19], 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, c[9], c[13], c[20], 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, a[13], a[20], 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, a[4], 0, a[19], 0, 0, 0, 0, 0, 0, 0, b[13], 0, 0, b[20], 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, b[19], b[4], 0, 0, 0, c[4], c[19], 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, c[13], c[20], 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, a[20], 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, a[19], 0, 0, 0, 0, 0, 0, 0, 0, 0, b[20], 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, b[19], 0, 0, 0, c[19], 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, c[20], 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, u[2], 0, 0, 0, 0, a[13], a[20], 0, 0, 0, 0, 0, 0, a[11], a[3], a[2], 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, a[15], 0, a[9], a[18], 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, b[9], b[13], b[20], 0, b[11], b[3], b[2], b[15], 0, b[18], 0, 0, 0, c[15], c[18], 0, 0, 0, 0, c[3], c[9], c[13], 0, c[2], 0, c[11], 0, 0, 0, 0, 0, 0, 0, 0, c[20], 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, a[20], 0, 0, 0, 0, 0, 0, 0, a[3], a[2], 0, 0, 0, 0, 0, 0, 0, 0, 0, a[15], 0, a[18], 0, a[13], 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, b[13], b[20], 0, 0, b[3], b[2], 0, b[18], b[15], 0, 0, 0, c[15], c[18], 0, 0, 0, 0, 0, c[2], c[13], c[20], 0, 0, 0, c[3], 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, a[13], a[20], 0, 0, a[4], a[19], 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, a[14], 0, a[8], 0, 0, 0, 0, b[13], 0, b[20], b[4], 0, 0, b[19], 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, b[8], b[14], 0, 0, 0, c[14], c[8], 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, c[13], c[20], c[4], c[19], 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, a[20], 0, 0, 0, a[19], 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, a[8], 0, 0, 0, 0, 0, 0, b[20], 0, 0, b[19], 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, b[8], 0, 0, 0, c[8], 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, c[20], 0, c[19], 0, 0, 0, 0);
-
 	cv::Mat M = cv::Mat::zeros(120, 120, CV_64F);
 
 	M.at<double>(0,0)=u[1]; M.at<double>(0,35)=a[1]; M.at<double>(0,83)=b[1]; M.at<double>(0,118)=c[1];
@@ -570,133 +572,11 @@ cv::Mat dls::cayley_LS_M(const std::vector<double>& a, const std::vector<double>
 	M.at<double>(118,27)=a[13]; M.at<double>(118,28)=a[20]; M.at<double>(118,31)=a[4]; M.at<double>(118,32)=a[19]; M.at<double>(118,48)=a[14]; M.at<double>(118,50)=a[8]; M.at<double>(118,55)=b[13]; M.at<double>(118,57)=b[20]; M.at<double>(118,58)=b[4]; M.at<double>(118,61)=b[19]; M.at<double>(118,80)=b[8]; M.at<double>(118,81)=b[14]; M.at<double>(118,85)=c[14]; M.at<double>(118,86)=c[8]; M.at<double>(118,113)=c[13]; M.at<double>(118,114)=c[20]; M.at<double>(118,115)=c[4]; M.at<double>(118,116)=c[19];
 	M.at<double>(119,27)=a[20]; M.at<double>(119,31)=a[19]; M.at<double>(119,48)=a[8]; M.at<double>(119,55)=b[20]; M.at<double>(119,58)=b[19]; M.at<double>(119,81)=b[8]; M.at<double>(119,85)=c[8]; M.at<double>(119,113)=c[20]; M.at<double>(119,115)=c[19];
 
-	/*M[0][0]=u[1]; M[0][35]=a[1]; M[0][83]=b[1]; M[0][118]=c[1];
-	M[1][0]=u[4]; M[1][1]=u[1]; M[1][34]=a[1]; M[1][35]=a[10]; M[1][54]=b[1]; M[1][83]=b[10]; M[1][99]=c[1]; M[1][118]=c[10];
-	M[2][1]=u[4]; M[2][2]=u[1]; M[2][34]=a[10]; M[2][35]=a[14]; M[2][51]=a[1]; M[2][54]=b[10]; M[2][65]=b[1]; M[2][83]=b[14]; M[2][89]=c[1]; M[2][99]=c[10]; M[2][118]=c[14];
-	M[3][0]=u[3]; M[3][3]=u[1]; M[3][35]=a[11]; M[3][49]=a[1]; M[3][76]=b[1]; M[3][83]=b[11]; M[3][118]=c[11]; M[3][119]=c[1];
-	M[4][1]=u[3]; M[4][3]=u[4]; M[4][4]=u[1]; M[4][34]=a[11]; M[4][35]=a[5]; M[4][43]=a[1]; M[4][49]=a[10]; M[4][54]=b[11]; M[4][71]=b[1]; M[4][76]=b[10]; M[4][83]=b[5]; M[4][99]=c[11]; M[4][100]=c[1]; M[4][118]=c[5]; M[4][119]=c[10];
-	M[5][2]=u[3]; M[5][4]=u[4]; M[5][5]=u[1]; M[5][34]=a[5]; M[5][35]=a[12]; M[5][41]=a[1]; M[5][43]=a[10]; M[5][49]=a[14]; M[5][51]=a[11]; M[5][54]=b[5]; M[5][62]=b[1]; M[5][65]=b[11]; M[5][71]=b[10]; M[5][76]=b[14]; M[5][83]=b[12]; M[5][89]=c[11]; M[5][99]=c[5]; M[5][100]=c[10]; M[5][111]=c[1]; M[5][118]=c[12]; M[5][119]=c[14];
-	M[6][3]=u[3]; M[6][6]=u[1]; M[6][30]=a[1]; M[6][35]=a[15]; M[6][49]=a[11]; M[6][75]=b[1]; M[6][76]=b[11]; M[6][83]=b[15]; M[6][107]=c[1]; M[6][118]=c[15]; M[6][119]=c[11];
-	M[7][4]=u[3]; M[7][6]=u[4]; M[7][7]=u[1]; M[7][30]=a[10]; M[7][34]=a[15]; M[7][35]=a[6]; M[7][43]=a[11]; M[7][45]=a[1]; M[7][49]=a[5]; M[7][54]=b[15]; M[7][63]=b[1]; M[7][71]=b[11]; M[7][75]=b[10]; M[7][76]=b[5]; M[7][83]=b[6]; M[7][99]=c[15]; M[7][100]=c[11]; M[7][107]=c[10]; M[7][112]=c[1]; M[7][118]=c[6]; M[7][119]=c[5];
-	M[8][5]=u[3]; M[8][7]=u[4]; M[8][8]=u[1]; M[8][30]=a[14]; M[8][34]=a[6]; M[8][41]=a[11]; M[8][43]=a[5]; M[8][45]=a[10]; M[8][46]=a[1]; M[8][49]=a[12]; M[8][51]=a[15]; M[8][54]=b[6]; M[8][62]=b[11]; M[8][63]=b[10]; M[8][65]=b[15]; M[8][66]=b[1]; M[8][71]=b[5]; M[8][75]=b[14]; M[8][76]=b[12]; M[8][89]=c[15]; M[8][99]=c[6]; M[8][100]=c[5]; M[8][102]=c[1]; M[8][107]=c[14]; M[8][111]=c[11]; M[8][112]=c[10]; M[8][119]=c[12];
-	M[9][0]=u[2]; M[9][9]=u[1]; M[9][35]=a[9]; M[9][36]=a[1]; M[9][83]=b[9]; M[9][84]=b[1]; M[9][88]=c[1]; M[9][118]=c[9];
-	M[10][1]=u[2]; M[10][9]=u[4]; M[10][10]=u[1]; M[10][33]=a[1]; M[10][34]=a[9]; M[10][35]=a[4]; M[10][36]=a[10]; M[10][54]=b[9]; M[10][59]=b[1]; M[10][83]=b[4]; M[10][84]=b[10]; M[10][88]=c[10]; M[10][99]=c[9]; M[10][117]=c[1]; M[10][118]=c[4];
-	M[11][2]=u[2]; M[11][10]=u[4]; M[11][11]=u[1]; M[11][28]=a[1]; M[11][33]=a[10]; M[11][34]=a[4]; M[11][35]=a[8]; M[11][36]=a[14]; M[11][51]=a[9]; M[11][54]=b[4]; M[11][57]=b[1]; M[11][59]=b[10]; M[11][65]=b[9]; M[11][83]=b[8]; M[11][84]=b[14]; M[11][88]=c[14]; M[11][89]=c[9]; M[11][99]=c[4]; M[11][114]=c[1]; M[11][117]=c[10]; M[11][118]=c[8];
-	M[12][3]=u[2]; M[12][9]=u[3]; M[12][12]=u[1]; M[12][35]=a[3]; M[12][36]=a[11]; M[12][39]=a[1]; M[12][49]=a[9]; M[12][76]=b[9]; M[12][79]=b[1]; M[12][83]=b[3]; M[12][84]=b[11]; M[12][88]=c[11]; M[12][96]=c[1]; M[12][118]=c[3]; M[12][119]=c[9];
-	M[13][4]=u[2]; M[13][10]=u[3]; M[13][12]=u[4]; M[13][13]=u[1]; M[13][33]=a[11]; M[13][34]=a[3]; M[13][35]=a[17]; M[13][36]=a[5]; M[13][39]=a[10]; M[13][43]=a[9]; M[13][47]=a[1]; M[13][49]=a[4]; M[13][54]=b[3]; M[13][59]=b[11]; M[13][60]=b[1]; M[13][71]=b[9]; M[13][76]=b[4]; M[13][79]=b[10]; M[13][83]=b[17]; M[13][84]=b[5]; M[13][88]=c[5]; M[13][90]=c[1]; M[13][96]=c[10]; M[13][99]=c[3]; M[13][100]=c[9]; M[13][117]=c[11]; M[13][118]=c[17]; M[13][119]=c[4];
-	M[14][5]=u[2]; M[14][11]=u[3]; M[14][13]=u[4]; M[14][14]=u[1]; M[14][28]=a[11]; M[14][33]=a[5]; M[14][34]=a[17]; M[14][36]=a[12]; M[14][39]=a[14]; M[14][41]=a[9]; M[14][42]=a[1]; M[14][43]=a[4]; M[14][47]=a[10]; M[14][49]=a[8]; M[14][51]=a[3]; M[14][54]=b[17]; M[14][56]=b[1]; M[14][57]=b[11]; M[14][59]=b[5]; M[14][60]=b[10]; M[14][62]=b[9]; M[14][65]=b[3]; M[14][71]=b[4]; M[14][76]=b[8]; M[14][79]=b[14]; M[14][84]=b[12]; M[14][88]=c[12]; M[14][89]=c[3]; M[14][90]=c[10]; M[14][96]=c[14]; M[14][99]=c[17]; M[14][100]=c[4]; M[14][106]=c[1]; M[14][111]=c[9]; M[14][114]=c[11]; M[14][117]=c[5]; M[14][119]=c[8];
-	M[15][6]=u[2]; M[15][12]=u[3]; M[15][15]=u[1]; M[15][29]=a[1]; M[15][30]=a[9]; M[15][35]=a[18]; M[15][36]=a[15]; M[15][39]=a[11]; M[15][49]=a[3]; M[15][74]=b[1]; M[15][75]=b[9]; M[15][76]=b[3]; M[15][79]=b[11]; M[15][83]=b[18]; M[15][84]=b[15]; M[15][88]=c[15]; M[15][94]=c[1]; M[15][96]=c[11]; M[15][107]=c[9]; M[15][118]=c[18]; M[15][119]=c[3];
-	M[16][7]=u[2]; M[16][13]=u[3]; M[16][15]=u[4]; M[16][16]=u[1]; M[16][29]=a[10]; M[16][30]=a[4]; M[16][33]=a[15]; M[16][34]=a[18]; M[16][36]=a[6]; M[16][39]=a[5]; M[16][43]=a[3]; M[16][44]=a[1]; M[16][45]=a[9]; M[16][47]=a[11]; M[16][49]=a[17]; M[16][54]=b[18]; M[16][59]=b[15]; M[16][60]=b[11]; M[16][63]=b[9]; M[16][68]=b[1]; M[16][71]=b[3]; M[16][74]=b[10]; M[16][75]=b[4]; M[16][76]=b[17]; M[16][79]=b[5]; M[16][84]=b[6]; M[16][88]=c[6]; M[16][90]=c[11]; M[16][94]=c[10]; M[16][96]=c[5]; M[16][97]=c[1]; M[16][99]=c[18]; M[16][100]=c[3]; M[16][107]=c[4]; M[16][112]=c[9]; M[16][117]=c[15]; M[16][119]=c[17];
-	M[17][8]=u[2]; M[17][14]=u[3]; M[17][16]=u[4]; M[17][17]=u[1]; M[17][28]=a[15]; M[17][29]=a[14]; M[17][30]=a[8]; M[17][33]=a[6]; M[17][39]=a[12]; M[17][41]=a[3]; M[17][42]=a[11]; M[17][43]=a[17]; M[17][44]=a[10]; M[17][45]=a[4]; M[17][46]=a[9]; M[17][47]=a[5]; M[17][51]=a[18]; M[17][56]=b[11]; M[17][57]=b[15]; M[17][59]=b[6]; M[17][60]=b[5]; M[17][62]=b[3]; M[17][63]=b[4]; M[17][65]=b[18]; M[17][66]=b[9]; M[17][68]=b[10]; M[17][71]=b[17]; M[17][74]=b[14]; M[17][75]=b[8]; M[17][79]=b[12]; M[17][89]=c[18]; M[17][90]=c[5]; M[17][94]=c[14]; M[17][96]=c[12]; M[17][97]=c[10]; M[17][100]=c[17]; M[17][102]=c[9]; M[17][106]=c[11]; M[17][107]=c[8]; M[17][111]=c[3]; M[17][112]=c[4]; M[17][114]=c[15]; M[17][117]=c[6];
-	M[18][9]=u[2]; M[18][18]=u[1]; M[18][35]=a[13]; M[18][36]=a[9]; M[18][53]=a[1]; M[18][82]=b[1]; M[18][83]=b[13]; M[18][84]=b[9]; M[18][87]=c[1]; M[18][88]=c[9]; M[18][118]=c[13];
-	M[19][10]=u[2]; M[19][18]=u[4]; M[19][19]=u[1]; M[19][32]=a[1]; M[19][33]=a[9]; M[19][34]=a[13]; M[19][35]=a[19]; M[19][36]=a[4]; M[19][53]=a[10]; M[19][54]=b[13]; M[19][59]=b[9]; M[19][61]=b[1]; M[19][82]=b[10]; M[19][83]=b[19]; M[19][84]=b[4]; M[19][87]=c[10]; M[19][88]=c[4]; M[19][99]=c[13]; M[19][116]=c[1]; M[19][117]=c[9]; M[19][118]=c[19];
-	M[20][11]=u[2]; M[20][19]=u[4]; M[20][20]=u[1]; M[20][27]=a[1]; M[20][28]=a[9]; M[20][32]=a[10]; M[20][33]=a[4]; M[20][34]=a[19]; M[20][36]=a[8]; M[20][51]=a[13]; M[20][53]=a[14]; M[20][54]=b[19]; M[20][55]=b[1]; M[20][57]=b[9]; M[20][59]=b[4]; M[20][61]=b[10]; M[20][65]=b[13]; M[20][82]=b[14]; M[20][84]=b[8]; M[20][87]=c[14]; M[20][88]=c[8]; M[20][89]=c[13]; M[20][99]=c[19]; M[20][113]=c[1]; M[20][114]=c[9]; M[20][116]=c[10]; M[20][117]=c[4];
-	M[21][12]=u[2]; M[21][18]=u[3]; M[21][21]=u[1]; M[21][35]=a[2]; M[21][36]=a[3]; M[21][38]=a[1]; M[21][39]=a[9]; M[21][49]=a[13]; M[21][53]=a[11]; M[21][76]=b[13]; M[21][78]=b[1]; M[21][79]=b[9]; M[21][82]=b[11]; M[21][83]=b[2]; M[21][84]=b[3]; M[21][87]=c[11]; M[21][88]=c[3]; M[21][92]=c[1]; M[21][96]=c[9]; M[21][118]=c[2]; M[21][119]=c[13];
-	M[22][13]=u[2]; M[22][19]=u[3]; M[22][21]=u[4]; M[22][22]=u[1]; M[22][32]=a[11]; M[22][33]=a[3]; M[22][34]=a[2]; M[22][36]=a[17]; M[22][38]=a[10]; M[22][39]=a[4]; M[22][40]=a[1]; M[22][43]=a[13]; M[22][47]=a[9]; M[22][49]=a[19]; M[22][53]=a[5]; M[22][54]=b[2]; M[22][59]=b[3]; M[22][60]=b[9]; M[22][61]=b[11]; M[22][71]=b[13]; M[22][72]=b[1]; M[22][76]=b[19]; M[22][78]=b[10]; M[22][79]=b[4]; M[22][82]=b[5]; M[22][84]=b[17]; M[22][87]=c[5]; M[22][88]=c[17]; M[22][90]=c[9]; M[22][92]=c[10]; M[22][95]=c[1]; M[22][96]=c[4]; M[22][99]=c[2]; M[22][100]=c[13]; M[22][116]=c[11]; M[22][117]=c[3]; M[22][119]=c[19];
-	M[23][14]=u[2]; M[23][20]=u[3]; M[23][22]=u[4]; M[23][23]=u[1]; M[23][27]=a[11]; M[23][28]=a[3]; M[23][32]=a[5]; M[23][33]=a[17]; M[23][38]=a[14]; M[23][39]=a[8]; M[23][40]=a[10]; M[23][41]=a[13]; M[23][42]=a[9]; M[23][43]=a[19]; M[23][47]=a[4]; M[23][51]=a[2]; M[23][53]=a[12]; M[23][55]=b[11]; M[23][56]=b[9]; M[23][57]=b[3]; M[23][59]=b[17]; M[23][60]=b[4]; M[23][61]=b[5]; M[23][62]=b[13]; M[23][65]=b[2]; M[23][71]=b[19]; M[23][72]=b[10]; M[23][78]=b[14]; M[23][79]=b[8]; M[23][82]=b[12]; M[23][87]=c[12]; M[23][89]=c[2]; M[23][90]=c[4]; M[23][92]=c[14]; M[23][95]=c[10]; M[23][96]=c[8]; M[23][100]=c[19]; M[23][106]=c[9]; M[23][111]=c[13]; M[23][113]=c[11]; M[23][114]=c[3]; M[23][116]=c[5]; M[23][117]=c[17];
-	M[24][15]=u[2]; M[24][21]=u[3]; M[24][24]=u[1]; M[24][29]=a[9]; M[24][30]=a[13]; M[24][36]=a[18]; M[24][38]=a[11]; M[24][39]=a[3]; M[24][49]=a[2]; M[24][52]=a[1]; M[24][53]=a[15]; M[24][73]=b[1]; M[24][74]=b[9]; M[24][75]=b[13]; M[24][76]=b[2]; M[24][78]=b[11]; M[24][79]=b[3]; M[24][82]=b[15]; M[24][84]=b[18]; M[24][87]=c[15]; M[24][88]=c[18]; M[24][92]=c[11]; M[24][93]=c[1]; M[24][94]=c[9]; M[24][96]=c[3]; M[24][107]=c[13]; M[24][119]=c[2];
-	M[25][16]=u[2]; M[25][22]=u[3]; M[25][24]=u[4]; M[25][25]=u[1]; M[25][29]=a[4]; M[25][30]=a[19]; M[25][32]=a[15]; M[25][33]=a[18]; M[25][38]=a[5]; M[25][39]=a[17]; M[25][40]=a[11]; M[25][43]=a[2]; M[25][44]=a[9]; M[25][45]=a[13]; M[25][47]=a[3]; M[25][52]=a[10]; M[25][53]=a[6]; M[25][59]=b[18]; M[25][60]=b[3]; M[25][61]=b[15]; M[25][63]=b[13]; M[25][68]=b[9]; M[25][71]=b[2]; M[25][72]=b[11]; M[25][73]=b[10]; M[25][74]=b[4]; M[25][75]=b[19]; M[25][78]=b[5]; M[25][79]=b[17]; M[25][82]=b[6]; M[25][87]=c[6]; M[25][90]=c[3]; M[25][92]=c[5]; M[25][93]=c[10]; M[25][94]=c[4]; M[25][95]=c[11]; M[25][96]=c[17]; M[25][97]=c[9]; M[25][100]=c[2]; M[25][107]=c[19]; M[25][112]=c[13]; M[25][116]=c[15]; M[25][117]=c[18];
-	M[26][17]=u[2]; M[26][23]=u[3]; M[26][25]=u[4]; M[26][26]=u[1]; M[26][27]=a[15]; M[26][28]=a[18]; M[26][29]=a[8]; M[26][32]=a[6]; M[26][38]=a[12]; M[26][40]=a[5]; M[26][41]=a[2]; M[26][42]=a[3]; M[26][44]=a[4]; M[26][45]=a[19]; M[26][46]=a[13]; M[26][47]=a[17]; M[26][52]=a[14]; M[26][55]=b[15]; M[26][56]=b[3]; M[26][57]=b[18]; M[26][60]=b[17]; M[26][61]=b[6]; M[26][62]=b[2]; M[26][63]=b[19]; M[26][66]=b[13]; M[26][68]=b[4]; M[26][72]=b[5]; M[26][73]=b[14]; M[26][74]=b[8]; M[26][78]=b[12]; M[26][90]=c[17]; M[26][92]=c[12]; M[26][93]=c[14]; M[26][94]=c[8]; M[26][95]=c[5]; M[26][97]=c[4]; M[26][102]=c[13]; M[26][106]=c[3]; M[26][111]=c[2]; M[26][112]=c[19]; M[26][113]=c[15]; M[26][114]=c[18]; M[26][116]=c[6];
-	M[27][15]=u[3]; M[27][29]=a[11]; M[27][30]=a[3]; M[27][36]=a[7]; M[27][39]=a[15]; M[27][49]=a[18]; M[27][69]=b[9]; M[27][70]=b[1]; M[27][74]=b[11]; M[27][75]=b[3]; M[27][76]=b[18]; M[27][79]=b[15]; M[27][84]=b[7]; M[27][88]=c[7]; M[27][91]=c[1]; M[27][94]=c[11]; M[27][96]=c[15]; M[27][107]=c[3]; M[27][110]=c[9]; M[27][119]=c[18];
-	M[28][6]=u[3]; M[28][30]=a[11]; M[28][35]=a[7]; M[28][49]=a[15]; M[28][69]=b[1]; M[28][75]=b[11]; M[28][76]=b[15]; M[28][83]=b[7]; M[28][107]=c[11]; M[28][110]=c[1]; M[28][118]=c[7]; M[28][119]=c[15];
-	M[29][24]=u[3]; M[29][29]=a[3]; M[29][30]=a[2]; M[29][38]=a[15]; M[29][39]=a[18]; M[29][52]=a[11]; M[29][53]=a[7]; M[29][69]=b[13]; M[29][70]=b[9]; M[29][73]=b[11]; M[29][74]=b[3]; M[29][75]=b[2]; M[29][78]=b[15]; M[29][79]=b[18]; M[29][82]=b[7]; M[29][87]=c[7]; M[29][91]=c[9]; M[29][92]=c[15]; M[29][93]=c[11]; M[29][94]=c[3]; M[29][96]=c[18]; M[29][107]=c[2]; M[29][110]=c[13];
-	M[30][37]=a[18]; M[30][48]=a[7]; M[30][52]=a[2]; M[30][70]=b[20]; M[30][73]=b[2]; M[30][77]=b[18]; M[30][81]=b[7]; M[30][85]=c[7]; M[30][91]=c[20]; M[30][93]=c[2]; M[30][98]=c[18];
-	M[31][29]=a[2]; M[31][37]=a[15]; M[31][38]=a[18]; M[31][50]=a[7]; M[31][52]=a[3]; M[31][69]=b[20]; M[31][70]=b[13]; M[31][73]=b[3]; M[31][74]=b[2]; M[31][77]=b[15]; M[31][78]=b[18]; M[31][80]=b[7]; M[31][86]=c[7]; M[31][91]=c[13]; M[31][92]=c[18]; M[31][93]=c[3]; M[31][94]=c[2]; M[31][98]=c[15]; M[31][110]=c[20];
-	M[32][48]=a[9]; M[32][50]=a[13]; M[32][53]=a[20]; M[32][80]=b[13]; M[32][81]=b[9]; M[32][82]=b[20]; M[32][85]=c[9]; M[32][86]=c[13]; M[32][87]=c[20];
-	M[33][29]=a[15]; M[33][30]=a[18]; M[33][39]=a[7]; M[33][64]=b[9]; M[33][69]=b[3]; M[33][70]=b[11]; M[33][74]=b[15]; M[33][75]=b[18]; M[33][79]=b[7]; M[33][91]=c[11]; M[33][94]=c[15]; M[33][96]=c[7]; M[33][103]=c[9]; M[33][107]=c[18]; M[33][110]=c[3];
-	M[34][29]=a[18]; M[34][38]=a[7]; M[34][52]=a[15]; M[34][64]=b[13]; M[34][69]=b[2]; M[34][70]=b[3]; M[34][73]=b[15]; M[34][74]=b[18]; M[34][78]=b[7]; M[34][91]=c[3]; M[34][92]=c[7]; M[34][93]=c[15]; M[34][94]=c[18]; M[34][103]=c[13]; M[34][110]=c[2];
-	M[35][37]=a[7]; M[35][52]=a[18]; M[35][64]=b[20]; M[35][70]=b[2]; M[35][73]=b[18]; M[35][77]=b[7]; M[35][91]=c[2]; M[35][93]=c[18]; M[35][98]=c[7]; M[35][103]=c[20];
-	M[36][5]=u[4]; M[36][34]=a[12]; M[36][41]=a[10]; M[36][43]=a[14]; M[36][49]=a[16]; M[36][51]=a[5]; M[36][54]=b[12]; M[36][62]=b[10]; M[36][65]=b[5]; M[36][71]=b[14]; M[36][76]=b[16]; M[36][89]=c[5]; M[36][99]=c[12]; M[36][100]=c[14]; M[36][101]=c[1]; M[36][109]=c[11]; M[36][111]=c[10]; M[36][119]=c[16];
-	M[37][2]=u[4]; M[37][34]=a[14]; M[37][35]=a[16]; M[37][51]=a[10]; M[37][54]=b[14]; M[37][65]=b[10]; M[37][83]=b[16]; M[37][89]=c[10]; M[37][99]=c[14]; M[37][109]=c[1]; M[37][118]=c[16];
-	M[38][30]=a[15]; M[38][49]=a[7]; M[38][64]=b[1]; M[38][69]=b[11]; M[38][75]=b[15]; M[38][76]=b[7]; M[38][103]=c[1]; M[38][107]=c[15]; M[38][110]=c[11]; M[38][119]=c[7];
-	M[39][28]=a[14]; M[39][33]=a[16]; M[39][51]=a[8]; M[39][57]=b[14]; M[39][59]=b[16]; M[39][65]=b[8]; M[39][89]=c[8]; M[39][105]=c[9]; M[39][108]=c[10]; M[39][109]=c[4]; M[39][114]=c[14]; M[39][117]=c[16];
-	M[40][27]=a[14]; M[40][28]=a[8]; M[40][32]=a[16]; M[40][55]=b[14]; M[40][57]=b[8]; M[40][61]=b[16]; M[40][105]=c[13]; M[40][108]=c[4]; M[40][109]=c[19]; M[40][113]=c[14]; M[40][114]=c[8]; M[40][116]=c[16];
-	M[41][30]=a[7]; M[41][64]=b[11]; M[41][69]=b[15]; M[41][75]=b[7]; M[41][103]=c[11]; M[41][107]=c[7]; M[41][110]=c[15];
-	M[42][27]=a[8]; M[42][31]=a[16]; M[42][55]=b[8]; M[42][58]=b[16]; M[42][105]=c[20]; M[42][108]=c[19]; M[42][113]=c[8]; M[42][115]=c[16];
-	M[43][29]=a[7]; M[43][64]=b[3]; M[43][69]=b[18]; M[43][70]=b[15]; M[43][74]=b[7]; M[43][91]=c[15]; M[43][94]=c[7]; M[43][103]=c[3]; M[43][110]=c[18];
-	M[44][28]=a[16]; M[44][57]=b[16]; M[44][105]=c[4]; M[44][108]=c[14]; M[44][109]=c[8]; M[44][114]=c[16];
-	M[45][27]=a[16]; M[45][55]=b[16]; M[45][105]=c[19]; M[45][108]=c[8]; M[45][113]=c[16];
-	M[46][52]=a[7]; M[46][64]=b[2]; M[46][70]=b[18]; M[46][73]=b[7]; M[46][91]=c[18]; M[46][93]=c[7]; M[46][103]=c[2];
-	M[47][40]=a[7]; M[47][44]=a[18]; M[47][52]=a[6]; M[47][64]=b[19]; M[47][67]=b[2]; M[47][68]=b[18]; M[47][70]=b[17]; M[47][72]=b[7]; M[47][73]=b[6]; M[47][91]=c[17]; M[47][93]=c[6]; M[47][95]=c[7]; M[47][97]=c[18]; M[47][103]=c[19]; M[47][104]=c[2];
-	M[48][30]=a[6]; M[48][43]=a[7]; M[48][45]=a[15]; M[48][63]=b[15]; M[48][64]=b[10]; M[48][67]=b[11]; M[48][69]=b[5]; M[48][71]=b[7]; M[48][75]=b[6]; M[48][100]=c[7]; M[48][103]=c[10]; M[48][104]=c[11]; M[48][107]=c[6]; M[48][110]=c[5]; M[48][112]=c[15];
-	M[49][41]=a[12]; M[49][45]=a[16]; M[49][46]=a[14]; M[49][62]=b[12]; M[49][63]=b[16]; M[49][66]=b[14]; M[49][101]=c[5]; M[49][102]=c[14]; M[49][105]=c[15]; M[49][109]=c[6]; M[49][111]=c[12]; M[49][112]=c[16];
-	M[50][41]=a[16]; M[50][62]=b[16]; M[50][101]=c[14]; M[50][105]=c[5]; M[50][109]=c[12]; M[50][111]=c[16];
-	M[51][64]=b[18]; M[51][70]=b[7]; M[51][91]=c[7]; M[51][103]=c[18];
-	M[52][41]=a[6]; M[52][45]=a[12]; M[52][46]=a[5]; M[52][62]=b[6]; M[52][63]=b[12]; M[52][66]=b[5]; M[52][67]=b[14]; M[52][69]=b[16]; M[52][101]=c[15]; M[52][102]=c[5]; M[52][104]=c[14]; M[52][109]=c[7]; M[52][110]=c[16]; M[52][111]=c[6]; M[52][112]=c[12];
-	M[53][64]=b[15]; M[53][69]=b[7]; M[53][103]=c[15]; M[53][110]=c[7];
-	M[54][105]=c[14]; M[54][109]=c[16];
-	M[55][44]=a[7]; M[55][64]=b[17]; M[55][67]=b[18]; M[55][68]=b[7]; M[55][70]=b[6]; M[55][91]=c[6]; M[55][97]=c[7]; M[55][103]=c[17]; M[55][104]=c[18];
-	M[56][105]=c[8]; M[56][108]=c[16];
-	M[57][64]=b[6]; M[57][67]=b[7]; M[57][103]=c[6]; M[57][104]=c[7];
-	M[58][46]=a[7]; M[58][64]=b[12]; M[58][66]=b[7]; M[58][67]=b[6]; M[58][102]=c[7]; M[58][103]=c[12]; M[58][104]=c[6];
-	M[59][8]=u[4]; M[59][30]=a[16]; M[59][41]=a[5]; M[59][43]=a[12]; M[59][45]=a[14]; M[59][46]=a[10]; M[59][51]=a[6]; M[59][62]=b[5]; M[59][63]=b[14]; M[59][65]=b[6]; M[59][66]=b[10]; M[59][71]=b[12]; M[59][75]=b[16]; M[59][89]=c[6]; M[59][100]=c[12]; M[59][101]=c[11]; M[59][102]=c[10]; M[59][107]=c[16]; M[59][109]=c[15]; M[59][111]=c[5]; M[59][112]=c[14];
-	M[60][8]=u[3]; M[60][30]=a[12]; M[60][41]=a[15]; M[60][43]=a[6]; M[60][45]=a[5]; M[60][46]=a[11]; M[60][51]=a[7]; M[60][62]=b[15]; M[60][63]=b[5]; M[60][65]=b[7]; M[60][66]=b[11]; M[60][67]=b[10]; M[60][69]=b[14]; M[60][71]=b[6]; M[60][75]=b[12]; M[60][89]=c[7]; M[60][100]=c[6]; M[60][102]=c[11]; M[60][104]=c[10]; M[60][107]=c[12]; M[60][110]=c[14]; M[60][111]=c[15]; M[60][112]=c[5];
-	M[61][42]=a[16]; M[61][56]=b[16]; M[61][101]=c[8]; M[61][105]=c[17]; M[61][106]=c[16]; M[61][108]=c[12];
-	M[62][64]=b[7]; M[62][103]=c[7];
-	M[63][105]=c[16];
-	M[64][46]=a[12]; M[64][66]=b[12]; M[64][67]=b[16]; M[64][101]=c[6]; M[64][102]=c[12]; M[64][104]=c[16]; M[64][105]=c[7];
-	M[65][46]=a[6]; M[65][64]=b[16]; M[65][66]=b[6]; M[65][67]=b[12]; M[65][101]=c[7]; M[65][102]=c[6]; M[65][103]=c[16]; M[65][104]=c[12];
-	M[66][46]=a[16]; M[66][66]=b[16]; M[66][101]=c[12]; M[66][102]=c[16]; M[66][105]=c[6];
-	M[67][101]=c[16]; M[67][105]=c[12];
-	M[68][41]=a[14]; M[68][43]=a[16]; M[68][51]=a[12]; M[68][62]=b[14]; M[68][65]=b[12]; M[68][71]=b[16]; M[68][89]=c[12]; M[68][100]=c[16]; M[68][101]=c[10]; M[68][105]=c[11]; M[68][109]=c[5]; M[68][111]=c[14];
-	M[69][37]=a[2]; M[69][48]=a[18]; M[69][52]=a[20]; M[69][73]=b[20]; M[69][77]=b[2]; M[69][81]=b[18]; M[69][85]=c[18]; M[69][93]=c[20]; M[69][98]=c[2];
-	M[70][20]=u[2]; M[70][27]=a[9]; M[70][28]=a[13]; M[70][31]=a[10]; M[70][32]=a[4]; M[70][33]=a[19]; M[70][50]=a[14]; M[70][51]=a[20]; M[70][53]=a[8]; M[70][55]=b[9]; M[70][57]=b[13]; M[70][58]=b[10]; M[70][59]=b[19]; M[70][61]=b[4]; M[70][65]=b[20]; M[70][80]=b[14]; M[70][82]=b[8]; M[70][86]=c[14]; M[70][87]=c[8]; M[70][89]=c[20]; M[70][113]=c[9]; M[70][114]=c[13]; M[70][115]=c[10]; M[70][116]=c[4]; M[70][117]=c[19];
-	M[71][45]=a[7]; M[71][63]=b[7]; M[71][64]=b[5]; M[71][67]=b[15]; M[71][69]=b[6]; M[71][103]=c[5]; M[71][104]=c[15]; M[71][110]=c[6]; M[71][112]=c[7];
-	M[72][41]=a[7]; M[72][45]=a[6]; M[72][46]=a[15]; M[72][62]=b[7]; M[72][63]=b[6]; M[72][64]=b[14]; M[72][66]=b[15]; M[72][67]=b[5]; M[72][69]=b[12]; M[72][102]=c[15]; M[72][103]=c[14]; M[72][104]=c[5]; M[72][110]=c[12]; M[72][111]=c[7]; M[72][112]=c[6];
-	M[73][48]=a[13]; M[73][50]=a[20]; M[73][80]=b[20]; M[73][81]=b[13]; M[73][85]=c[13]; M[73][86]=c[20];
-	M[74][25]=u[3]; M[74][29]=a[17]; M[74][32]=a[7]; M[74][38]=a[6]; M[74][40]=a[15]; M[74][44]=a[3]; M[74][45]=a[2]; M[74][47]=a[18]; M[74][52]=a[5]; M[74][60]=b[18]; M[74][61]=b[7]; M[74][63]=b[2]; M[74][67]=b[13]; M[74][68]=b[3]; M[74][69]=b[19]; M[74][70]=b[4]; M[74][72]=b[15]; M[74][73]=b[5]; M[74][74]=b[17]; M[74][78]=b[6]; M[74][90]=c[18]; M[74][91]=c[4]; M[74][92]=c[6]; M[74][93]=c[5]; M[74][94]=c[17]; M[74][95]=c[15]; M[74][97]=c[3]; M[74][104]=c[13]; M[74][110]=c[19]; M[74][112]=c[2]; M[74][116]=c[7];
-	M[75][21]=u[2]; M[75][36]=a[2]; M[75][37]=a[1]; M[75][38]=a[9]; M[75][39]=a[13]; M[75][49]=a[20]; M[75][50]=a[11]; M[75][53]=a[3]; M[75][76]=b[20]; M[75][77]=b[1]; M[75][78]=b[9]; M[75][79]=b[13]; M[75][80]=b[11]; M[75][82]=b[3]; M[75][84]=b[2]; M[75][86]=c[11]; M[75][87]=c[3]; M[75][88]=c[2]; M[75][92]=c[9]; M[75][96]=c[13]; M[75][98]=c[1]; M[75][119]=c[20];
-	M[76][48]=a[20]; M[76][81]=b[20]; M[76][85]=c[20];
-	M[77][34]=a[16]; M[77][51]=a[14]; M[77][54]=b[16]; M[77][65]=b[14]; M[77][89]=c[14]; M[77][99]=c[16]; M[77][105]=c[1]; M[77][109]=c[10];
-	M[78][27]=a[17]; M[78][31]=a[12]; M[78][37]=a[16]; M[78][40]=a[8]; M[78][42]=a[19]; M[78][55]=b[17]; M[78][56]=b[19]; M[78][58]=b[12]; M[78][72]=b[8]; M[78][77]=b[16]; M[78][95]=c[8]; M[78][98]=c[16]; M[78][101]=c[20]; M[78][106]=c[19]; M[78][108]=c[2]; M[78][113]=c[17]; M[78][115]=c[12];
-	M[79][42]=a[12]; M[79][44]=a[16]; M[79][46]=a[8]; M[79][56]=b[12]; M[79][66]=b[8]; M[79][68]=b[16]; M[79][97]=c[16]; M[79][101]=c[17]; M[79][102]=c[8]; M[79][105]=c[18]; M[79][106]=c[12]; M[79][108]=c[6];
-	M[80][14]=u[4]; M[80][28]=a[5]; M[80][33]=a[12]; M[80][39]=a[16]; M[80][41]=a[4]; M[80][42]=a[10]; M[80][43]=a[8]; M[80][47]=a[14]; M[80][51]=a[17]; M[80][56]=b[10]; M[80][57]=b[5]; M[80][59]=b[12]; M[80][60]=b[14]; M[80][62]=b[4]; M[80][65]=b[17]; M[80][71]=b[8]; M[80][79]=b[16]; M[80][89]=c[17]; M[80][90]=c[14]; M[80][96]=c[16]; M[80][100]=c[8]; M[80][101]=c[9]; M[80][106]=c[10]; M[80][108]=c[11]; M[80][109]=c[3]; M[80][111]=c[4]; M[80][114]=c[5]; M[80][117]=c[12];
-	M[81][31]=a[3]; M[81][32]=a[2]; M[81][37]=a[4]; M[81][38]=a[19]; M[81][40]=a[13]; M[81][47]=a[20]; M[81][48]=a[5]; M[81][50]=a[17]; M[81][58]=b[3]; M[81][60]=b[20]; M[81][61]=b[2]; M[81][72]=b[13]; M[81][77]=b[4]; M[81][78]=b[19]; M[81][80]=b[17]; M[81][81]=b[5]; M[81][85]=c[5]; M[81][86]=c[17]; M[81][90]=c[20]; M[81][92]=c[19]; M[81][95]=c[13]; M[81][98]=c[4]; M[81][115]=c[3]; M[81][116]=c[2];
-	M[82][29]=a[6]; M[82][44]=a[15]; M[82][45]=a[18]; M[82][47]=a[7]; M[82][60]=b[7]; M[82][63]=b[18]; M[82][64]=b[4]; M[82][67]=b[3]; M[82][68]=b[15]; M[82][69]=b[17]; M[82][70]=b[5]; M[82][74]=b[6]; M[82][90]=c[7]; M[82][91]=c[5]; M[82][94]=c[6]; M[82][97]=c[15]; M[82][103]=c[4]; M[82][104]=c[3]; M[82][110]=c[17]; M[82][112]=c[18];
-	M[83][26]=u[2]; M[83][27]=a[18]; M[83][31]=a[6]; M[83][37]=a[12]; M[83][40]=a[17]; M[83][42]=a[2]; M[83][44]=a[19]; M[83][46]=a[20]; M[83][52]=a[8]; M[83][55]=b[18]; M[83][56]=b[2]; M[83][58]=b[6]; M[83][66]=b[20]; M[83][68]=b[19]; M[83][72]=b[17]; M[83][73]=b[8]; M[83][77]=b[12]; M[83][93]=c[8]; M[83][95]=c[17]; M[83][97]=c[19]; M[83][98]=c[12]; M[83][102]=c[20]; M[83][106]=c[2]; M[83][113]=c[18]; M[83][115]=c[6];
-	M[84][16]=u[3]; M[84][29]=a[5]; M[84][30]=a[17]; M[84][33]=a[7]; M[84][39]=a[6]; M[84][43]=a[18]; M[84][44]=a[11]; M[84][45]=a[3]; M[84][47]=a[15]; M[84][59]=b[7]; M[84][60]=b[15]; M[84][63]=b[3]; M[84][67]=b[9]; M[84][68]=b[11]; M[84][69]=b[4]; M[84][70]=b[10]; M[84][71]=b[18]; M[84][74]=b[5]; M[84][75]=b[17]; M[84][79]=b[6]; M[84][90]=c[15]; M[84][91]=c[10]; M[84][94]=c[5]; M[84][96]=c[6]; M[84][97]=c[11]; M[84][100]=c[18]; M[84][104]=c[9]; M[84][107]=c[17]; M[84][110]=c[4]; M[84][112]=c[3]; M[84][117]=c[7];
-	M[85][25]=u[2]; M[85][29]=a[19]; M[85][31]=a[15]; M[85][32]=a[18]; M[85][37]=a[5]; M[85][38]=a[17]; M[85][40]=a[3]; M[85][44]=a[13]; M[85][45]=a[20]; M[85][47]=a[2]; M[85][50]=a[6]; M[85][52]=a[4]; M[85][58]=b[15]; M[85][60]=b[2]; M[85][61]=b[18]; M[85][63]=b[20]; M[85][68]=b[13]; M[85][72]=b[3]; M[85][73]=b[4]; M[85][74]=b[19]; M[85][77]=b[5]; M[85][78]=b[17]; M[85][80]=b[6]; M[85][86]=c[6]; M[85][90]=c[2]; M[85][92]=c[17]; M[85][93]=c[4]; M[85][94]=c[19]; M[85][95]=c[3]; M[85][97]=c[13]; M[85][98]=c[5]; M[85][112]=c[20]; M[85][115]=c[15]; M[85][116]=c[18];
-	M[86][31]=a[18]; M[86][37]=a[17]; M[86][40]=a[2]; M[86][44]=a[20]; M[86][48]=a[6]; M[86][52]=a[19]; M[86][58]=b[18]; M[86][68]=b[20]; M[86][72]=b[2]; M[86][73]=b[19]; M[86][77]=b[17]; M[86][81]=b[6]; M[86][85]=c[6]; M[86][93]=c[19]; M[86][95]=c[2]; M[86][97]=c[20]; M[86][98]=c[17]; M[86][115]=c[18];
-	M[87][22]=u[2]; M[87][31]=a[11]; M[87][32]=a[3]; M[87][33]=a[2]; M[87][37]=a[10]; M[87][38]=a[4]; M[87][39]=a[19]; M[87][40]=a[9]; M[87][43]=a[20]; M[87][47]=a[13]; M[87][50]=a[5]; M[87][53]=a[17]; M[87][58]=b[11]; M[87][59]=b[2]; M[87][60]=b[13]; M[87][61]=b[3]; M[87][71]=b[20]; M[87][72]=b[9]; M[87][77]=b[10]; M[87][78]=b[4]; M[87][79]=b[19]; M[87][80]=b[5]; M[87][82]=b[17]; M[87][86]=c[5]; M[87][87]=c[17]; M[87][90]=c[13]; M[87][92]=c[4]; M[87][95]=c[9]; M[87][96]=c[19]; M[87][98]=c[10]; M[87][100]=c[20]; M[87][115]=c[11]; M[87][116]=c[3]; M[87][117]=c[2];
-	M[88][27]=a[2]; M[88][31]=a[17]; M[88][37]=a[8]; M[88][40]=a[19]; M[88][42]=a[20]; M[88][48]=a[12]; M[88][55]=b[2]; M[88][56]=b[20]; M[88][58]=b[17]; M[88][72]=b[19]; M[88][77]=b[8]; M[88][81]=b[12]; M[88][85]=c[12]; M[88][95]=c[19]; M[88][98]=c[8]; M[88][106]=c[20]; M[88][113]=c[2]; M[88][115]=c[17];
-	M[89][31]=a[7]; M[89][37]=a[6]; M[89][40]=a[18]; M[89][44]=a[2]; M[89][52]=a[17]; M[89][58]=b[7]; M[89][67]=b[20]; M[89][68]=b[2]; M[89][70]=b[19]; M[89][72]=b[18]; M[89][73]=b[17]; M[89][77]=b[6]; M[89][91]=c[19]; M[89][93]=c[17]; M[89][95]=c[18]; M[89][97]=c[2]; M[89][98]=c[6]; M[89][104]=c[20]; M[89][115]=c[7];
-	M[90][27]=a[12]; M[90][40]=a[16]; M[90][42]=a[8]; M[90][55]=b[12]; M[90][56]=b[8]; M[90][72]=b[16]; M[90][95]=c[16]; M[90][101]=c[19]; M[90][105]=c[2]; M[90][106]=c[8]; M[90][108]=c[17]; M[90][113]=c[12];
-	M[91][23]=u[2]; M[91][27]=a[3]; M[91][28]=a[2]; M[91][31]=a[5]; M[91][32]=a[17]; M[91][37]=a[14]; M[91][38]=a[8]; M[91][40]=a[4]; M[91][41]=a[20]; M[91][42]=a[13]; M[91][47]=a[19]; M[91][50]=a[12]; M[91][55]=b[3]; M[91][56]=b[13]; M[91][57]=b[2]; M[91][58]=b[5]; M[91][60]=b[19]; M[91][61]=b[17]; M[91][62]=b[20]; M[91][72]=b[4]; M[91][77]=b[14]; M[91][78]=b[8]; M[91][80]=b[12]; M[91][86]=c[12]; M[91][90]=c[19]; M[91][92]=c[8]; M[91][95]=c[4]; M[91][98]=c[14]; M[91][106]=c[13]; M[91][111]=c[20]; M[91][113]=c[3]; M[91][114]=c[2]; M[91][115]=c[5]; M[91][116]=c[17];
-	M[92][17]=u[4]; M[92][28]=a[6]; M[92][29]=a[16]; M[92][41]=a[17]; M[92][42]=a[5]; M[92][44]=a[14]; M[92][45]=a[8]; M[92][46]=a[4]; M[92][47]=a[12]; M[92][56]=b[5]; M[92][57]=b[6]; M[92][60]=b[12]; M[92][62]=b[17]; M[92][63]=b[8]; M[92][66]=b[4]; M[92][68]=b[14]; M[92][74]=b[16]; M[92][90]=c[12]; M[92][94]=c[16]; M[92][97]=c[14]; M[92][101]=c[3]; M[92][102]=c[4]; M[92][106]=c[5]; M[92][108]=c[15]; M[92][109]=c[18]; M[92][111]=c[17]; M[92][112]=c[8]; M[92][114]=c[6];
-	M[93][17]=u[3]; M[93][28]=a[7]; M[93][29]=a[12]; M[93][41]=a[18]; M[93][42]=a[15]; M[93][44]=a[5]; M[93][45]=a[17]; M[93][46]=a[3]; M[93][47]=a[6]; M[93][56]=b[15]; M[93][57]=b[7]; M[93][60]=b[6]; M[93][62]=b[18]; M[93][63]=b[17]; M[93][66]=b[3]; M[93][67]=b[4]; M[93][68]=b[5]; M[93][69]=b[8]; M[93][70]=b[14]; M[93][74]=b[12]; M[93][90]=c[6]; M[93][91]=c[14]; M[93][94]=c[12]; M[93][97]=c[5]; M[93][102]=c[3]; M[93][104]=c[4]; M[93][106]=c[15]; M[93][110]=c[8]; M[93][111]=c[18]; M[93][112]=c[17]; M[93][114]=c[7];
-	M[94][31]=a[2]; M[94][37]=a[19]; M[94][40]=a[20]; M[94][48]=a[17]; M[94][58]=b[2]; M[94][72]=b[20]; M[94][77]=b[19]; M[94][81]=b[17]; M[94][85]=c[17]; M[94][95]=c[20]; M[94][98]=c[19]; M[94][115]=c[2];
-	M[95][26]=u[4]; M[95][27]=a[6]; M[95][40]=a[12]; M[95][42]=a[17]; M[95][44]=a[8]; M[95][46]=a[19]; M[95][52]=a[16]; M[95][55]=b[6]; M[95][56]=b[17]; M[95][66]=b[19]; M[95][68]=b[8]; M[95][72]=b[12]; M[95][73]=b[16]; M[95][93]=c[16]; M[95][95]=c[12]; M[95][97]=c[8]; M[95][101]=c[2]; M[95][102]=c[19]; M[95][106]=c[17]; M[95][108]=c[18]; M[95][113]=c[6];
-	M[96][23]=u[4]; M[96][27]=a[5]; M[96][28]=a[17]; M[96][32]=a[12]; M[96][38]=a[16]; M[96][40]=a[14]; M[96][41]=a[19]; M[96][42]=a[4]; M[96][47]=a[8]; M[96][55]=b[5]; M[96][56]=b[4]; M[96][57]=b[17]; M[96][60]=b[8]; M[96][61]=b[12]; M[96][62]=b[19]; M[96][72]=b[14]; M[96][78]=b[16]; M[96][90]=c[8]; M[96][92]=c[16]; M[96][95]=c[14]; M[96][101]=c[13]; M[96][106]=c[4]; M[96][108]=c[3]; M[96][109]=c[2]; M[96][111]=c[19]; M[96][113]=c[5]; M[96][114]=c[17]; M[96][116]=c[12];
-	M[97][42]=a[6]; M[97][44]=a[12]; M[97][46]=a[17]; M[97][56]=b[6]; M[97][66]=b[17]; M[97][67]=b[8]; M[97][68]=b[12]; M[97][70]=b[16]; M[97][91]=c[16]; M[97][97]=c[12]; M[97][101]=c[18]; M[97][102]=c[17]; M[97][104]=c[8]; M[97][106]=c[6]; M[97][108]=c[7];
-	M[98][28]=a[12]; M[98][41]=a[8]; M[98][42]=a[14]; M[98][47]=a[16]; M[98][56]=b[14]; M[98][57]=b[12]; M[98][60]=b[16]; M[98][62]=b[8]; M[98][90]=c[16]; M[98][101]=c[4]; M[98][105]=c[3]; M[98][106]=c[14]; M[98][108]=c[5]; M[98][109]=c[17]; M[98][111]=c[8]; M[98][114]=c[12];
-	M[99][42]=a[7]; M[99][44]=a[6]; M[99][46]=a[18]; M[99][56]=b[7]; M[99][64]=b[8]; M[99][66]=b[18]; M[99][67]=b[17]; M[99][68]=b[6]; M[99][70]=b[12]; M[99][91]=c[12]; M[99][97]=c[6]; M[99][102]=c[18]; M[99][103]=c[8]; M[99][104]=c[17]; M[99][106]=c[7];
-	M[100][51]=a[16]; M[100][65]=b[16]; M[100][89]=c[16]; M[100][105]=c[10]; M[100][109]=c[14];
-	M[101][37]=a[9]; M[101][38]=a[13]; M[101][39]=a[20]; M[101][48]=a[11]; M[101][50]=a[3]; M[101][53]=a[2]; M[101][77]=b[9]; M[101][78]=b[13]; M[101][79]=b[20]; M[101][80]=b[3]; M[101][81]=b[11]; M[101][82]=b[2]; M[101][85]=c[11]; M[101][86]=c[3]; M[101][87]=c[2]; M[101][92]=c[13]; M[101][96]=c[20]; M[101][98]=c[9];
-	M[102][37]=a[13]; M[102][38]=a[20]; M[102][48]=a[3]; M[102][50]=a[2]; M[102][77]=b[13]; M[102][78]=b[20]; M[102][80]=b[2]; M[102][81]=b[3]; M[102][85]=c[3]; M[102][86]=c[2]; M[102][92]=c[20]; M[102][98]=c[13];
-	M[103][37]=a[20]; M[103][48]=a[2]; M[103][77]=b[20]; M[103][81]=b[2]; M[103][85]=c[2]; M[103][98]=c[20];
-	M[104][11]=u[4]; M[104][28]=a[10]; M[104][33]=a[14]; M[104][34]=a[8]; M[104][36]=a[16]; M[104][51]=a[4]; M[104][54]=b[8]; M[104][57]=b[10]; M[104][59]=b[14]; M[104][65]=b[4]; M[104][84]=b[16]; M[104][88]=c[16]; M[104][89]=c[4]; M[104][99]=c[8]; M[104][108]=c[1]; M[104][109]=c[9]; M[104][114]=c[10]; M[104][117]=c[14];
-	M[105][20]=u[4]; M[105][27]=a[10]; M[105][28]=a[4]; M[105][32]=a[14]; M[105][33]=a[8]; M[105][51]=a[19]; M[105][53]=a[16]; M[105][55]=b[10]; M[105][57]=b[4]; M[105][59]=b[8]; M[105][61]=b[14]; M[105][65]=b[19]; M[105][82]=b[16]; M[105][87]=c[16]; M[105][89]=c[19]; M[105][108]=c[9]; M[105][109]=c[13]; M[105][113]=c[10]; M[105][114]=c[4]; M[105][116]=c[14]; M[105][117]=c[8];
-	M[106][27]=a[4]; M[106][28]=a[19]; M[106][31]=a[14]; M[106][32]=a[8]; M[106][50]=a[16]; M[106][55]=b[4]; M[106][57]=b[19]; M[106][58]=b[14]; M[106][61]=b[8]; M[106][80]=b[16]; M[106][86]=c[16]; M[106][108]=c[13]; M[106][109]=c[20]; M[106][113]=c[4]; M[106][114]=c[19]; M[106][115]=c[14]; M[106][116]=c[8];
-	M[107][27]=a[19]; M[107][31]=a[8]; M[107][48]=a[16]; M[107][55]=b[19]; M[107][58]=b[8]; M[107][81]=b[16]; M[107][85]=c[16]; M[107][108]=c[20]; M[107][113]=c[19]; M[107][115]=c[8];
-	M[108][36]=a[20]; M[108][48]=a[1]; M[108][50]=a[9]; M[108][53]=a[13]; M[108][80]=b[9]; M[108][81]=b[1]; M[108][82]=b[13]; M[108][84]=b[20]; M[108][85]=c[1]; M[108][86]=c[9]; M[108][87]=c[13]; M[108][88]=c[20];
-	M[109][26]=u[3]; M[109][27]=a[7]; M[109][40]=a[6]; M[109][42]=a[18]; M[109][44]=a[17]; M[109][46]=a[2]; M[109][52]=a[12]; M[109][55]=b[7]; M[109][56]=b[18]; M[109][66]=b[2]; M[109][67]=b[19]; M[109][68]=b[17]; M[109][70]=b[8]; M[109][72]=b[6]; M[109][73]=b[12]; M[109][91]=c[8]; M[109][93]=c[12]; M[109][95]=c[6]; M[109][97]=c[17]; M[109][102]=c[2]; M[109][104]=c[19]; M[109][106]=c[18]; M[109][113]=c[7];
-	M[110][7]=u[3]; M[110][30]=a[5]; M[110][34]=a[7]; M[110][43]=a[15]; M[110][45]=a[11]; M[110][49]=a[6]; M[110][54]=b[7]; M[110][63]=b[11]; M[110][67]=b[1]; M[110][69]=b[10]; M[110][71]=b[15]; M[110][75]=b[5]; M[110][76]=b[6]; M[110][99]=c[7]; M[110][100]=c[15]; M[110][104]=c[1]; M[110][107]=c[5]; M[110][110]=c[10]; M[110][112]=c[11]; M[110][119]=c[6];
-	M[111][18]=u[2]; M[111][35]=a[20]; M[111][36]=a[13]; M[111][50]=a[1]; M[111][53]=a[9]; M[111][80]=b[1]; M[111][82]=b[9]; M[111][83]=b[20]; M[111][84]=b[13]; M[111][86]=c[1]; M[111][87]=c[9]; M[111][88]=c[13]; M[111][118]=c[20];
-	M[112][19]=u[2]; M[112][31]=a[1]; M[112][32]=a[9]; M[112][33]=a[13]; M[112][34]=a[20]; M[112][36]=a[19]; M[112][50]=a[10]; M[112][53]=a[4]; M[112][54]=b[20]; M[112][58]=b[1]; M[112][59]=b[13]; M[112][61]=b[9]; M[112][80]=b[10]; M[112][82]=b[4]; M[112][84]=b[19]; M[112][86]=c[10]; M[112][87]=c[4]; M[112][88]=c[19]; M[112][99]=c[20]; M[112][115]=c[1]; M[112][116]=c[9]; M[112][117]=c[13];
-	M[113][31]=a[9]; M[113][32]=a[13]; M[113][33]=a[20]; M[113][48]=a[10]; M[113][50]=a[4]; M[113][53]=a[19]; M[113][58]=b[9]; M[113][59]=b[20]; M[113][61]=b[13]; M[113][80]=b[4]; M[113][81]=b[10]; M[113][82]=b[19]; M[113][85]=c[10]; M[113][86]=c[4]; M[113][87]=c[19]; M[113][115]=c[9]; M[113][116]=c[13]; M[113][117]=c[20];
-	M[114][31]=a[13]; M[114][32]=a[20]; M[114][48]=a[4]; M[114][50]=a[19]; M[114][58]=b[13]; M[114][61]=b[20]; M[114][80]=b[19]; M[114][81]=b[4]; M[114][85]=c[4]; M[114][86]=c[19]; M[114][115]=c[13]; M[114][116]=c[20];
-	M[115][31]=a[20]; M[115][48]=a[19]; M[115][58]=b[20]; M[115][81]=b[19]; M[115][85]=c[19]; M[115][115]=c[20];
-	M[116][24]=u[2]; M[116][29]=a[13]; M[116][30]=a[20]; M[116][37]=a[11]; M[116][38]=a[3]; M[116][39]=a[2]; M[116][50]=a[15]; M[116][52]=a[9]; M[116][53]=a[18]; M[116][73]=b[9]; M[116][74]=b[13]; M[116][75]=b[20]; M[116][77]=b[11]; M[116][78]=b[3]; M[116][79]=b[2]; M[116][80]=b[15]; M[116][82]=b[18]; M[116][86]=c[15]; M[116][87]=c[18]; M[116][92]=c[3]; M[116][93]=c[9]; M[116][94]=c[13]; M[116][96]=c[2]; M[116][98]=c[11]; M[116][107]=c[20];
-	M[117][29]=a[20]; M[117][37]=a[3]; M[117][38]=a[2]; M[117][48]=a[15]; M[117][50]=a[18]; M[117][52]=a[13]; M[117][73]=b[13]; M[117][74]=b[20]; M[117][77]=b[3]; M[117][78]=b[2]; M[117][80]=b[18]; M[117][81]=b[15]; M[117][85]=c[15]; M[117][86]=c[18]; M[117][92]=c[2]; M[117][93]=c[13]; M[117][94]=c[20]; M[117][98]=c[3];
-	M[118][27]=a[13]; M[118][28]=a[20]; M[118][31]=a[4]; M[118][32]=a[19]; M[118][48]=a[14]; M[118][50]=a[8]; M[118][55]=b[13]; M[118][57]=b[20]; M[118][58]=b[4]; M[118][61]=b[19]; M[118][80]=b[8]; M[118][81]=b[14]; M[118][85]=c[14]; M[118][86]=c[8]; M[118][113]=c[13]; M[118][114]=c[20]; M[118][115]=c[4]; M[118][116]=c[19];
-	M[119][27]=a[20]; M[119][31]=a[19]; M[119][48]=a[8]; M[119][55]=b[20]; M[119][58]=b[19]; M[119][81]=b[8]; M[119][85]=c[8]; M[119][113]=c[20]; M[119][115]=c[19];
-*/
 	return M.t();
 }
 
 cv::Mat dls::Hessian(const double s[])
 {
-
 	// the vector of monomials is
 	// m = [ const ; s1^2 * s2 ; s1 * s2 ; s1 * s3 ; s2 * s3 ; s2^2 * s3 ; s2^3 ; ...
 	//       s1 * s3^2 ; s1 ; s3 ; s2 ; s2 * s3^2 ; s1^2 ; s3^2 ; s2^2 ; s3^3 ;   ...
@@ -734,51 +614,37 @@ cv::Mat dls::Hessian(const double s[])
 	Hs3[14]=0; Hs3[15]=3*s[2]*s[2]; Hs3[16]=s[0]*s[1]; Hs3[17]=0; Hs3[18]=s[0]*s[0]; Hs3[19]=0;
 
 	// fill Hessian matrix
-	cv::Mat H(3, 3, z.depth());
-	H.at<double>(0,0) = cv::Mat(cv::Mat(f1coeff).rowRange(1,21).t()*cv::Mat(20, 1, z.depth(), &Hs1)).at<double>(0,0);
-	H.at<double>(0,1) = cv::Mat(cv::Mat(f1coeff).rowRange(1,21).t()*cv::Mat(20, 1, z.depth(), &Hs2)).at<double>(0,0);
-	H.at<double>(0,2) = cv::Mat(cv::Mat(f1coeff).rowRange(1,21).t()*cv::Mat(20, 1, z.depth(), &Hs3)).at<double>(0,0);
+	cv::Mat H(3, 3, CV_64F);
+	H.at<double>(0,0) = cv::Mat(cv::Mat(f1coeff).rowRange(1,21).t()*cv::Mat(20, 1, CV_64F, &Hs1)).at<double>(0,0);
+	H.at<double>(0,1) = cv::Mat(cv::Mat(f1coeff).rowRange(1,21).t()*cv::Mat(20, 1, CV_64F, &Hs2)).at<double>(0,0);
+	H.at<double>(0,2) = cv::Mat(cv::Mat(f1coeff).rowRange(1,21).t()*cv::Mat(20, 1, CV_64F, &Hs3)).at<double>(0,0);
 
-	H.at<double>(1,0) = cv::Mat(cv::Mat(f2coeff).rowRange(1,21).t()*cv::Mat(20, 1, z.depth(), &Hs1)).at<double>(0,0);
-	H.at<double>(1,1) = cv::Mat(cv::Mat(f2coeff).rowRange(1,21).t()*cv::Mat(20, 1, z.depth(), &Hs2)).at<double>(0,0);
-	H.at<double>(1,2) = cv::Mat(cv::Mat(f2coeff).rowRange(1,21).t()*cv::Mat(20, 1, z.depth(), &Hs3)).at<double>(0,0);
+	H.at<double>(1,0) = cv::Mat(cv::Mat(f2coeff).rowRange(1,21).t()*cv::Mat(20, 1, CV_64F, &Hs1)).at<double>(0,0);
+	H.at<double>(1,1) = cv::Mat(cv::Mat(f2coeff).rowRange(1,21).t()*cv::Mat(20, 1, CV_64F, &Hs2)).at<double>(0,0);
+	H.at<double>(1,2) = cv::Mat(cv::Mat(f2coeff).rowRange(1,21).t()*cv::Mat(20, 1, CV_64F, &Hs3)).at<double>(0,0);
 
-	H.at<double>(2,0) = cv::Mat(cv::Mat(f3coeff).rowRange(1,21).t()*cv::Mat(20, 1, z.depth(), &Hs1)).at<double>(0,0);
-	H.at<double>(2,1) = cv::Mat(cv::Mat(f3coeff).rowRange(1,21).t()*cv::Mat(20, 1, z.depth(), &Hs2)).at<double>(0,0);
-	H.at<double>(2,2) = cv::Mat(cv::Mat(f3coeff).rowRange(1,21).t()*cv::Mat(20, 1, z.depth(), &Hs3)).at<double>(0,0);
+	H.at<double>(2,0) = cv::Mat(cv::Mat(f3coeff).rowRange(1,21).t()*cv::Mat(20, 1, CV_64F, &Hs1)).at<double>(0,0);
+	H.at<double>(2,1) = cv::Mat(cv::Mat(f3coeff).rowRange(1,21).t()*cv::Mat(20, 1, CV_64F, &Hs2)).at<double>(0,0);
+	H.at<double>(2,2) = cv::Mat(cv::Mat(f3coeff).rowRange(1,21).t()*cv::Mat(20, 1, CV_64F, &Hs3)).at<double>(0,0);
 
-	return H; // OK, is symmetric
+	return H;
 }
 
-bool dls::positive_eigenvalues(const cv::Mat& eigenvalues)
+cv::Mat dls::cayley2rotbar(const cv::Mat& s)
 {
-	return eigenvalues.at<double>(0) > 0 &&
-	       eigenvalues.at<double>(1) > 0 &&
-	       eigenvalues.at<double>(2) > 0;
+	double s_mul1 = cv::Mat(s.t()*s).at<double>(0,0);
+	cv::Mat s_mul2 = s*s.t();
+	cv::Mat eye = cv::Mat::eye(3, 3, CV_64F);
+
+	return cv::Mat( eye.mul(1.-s_mul1) + skewsymm(&s).mul(2.) + s_mul2.mul(2.) ).t();
 }
 
-cv::Mat dls::cayley2rotbar(const double s[])
+cv::Mat dls::skewsymm(const cv::Mat * X1)
 {
-	cv::Mat s_mat(3, 1, z.depth(), &s); // s -> 3x1
-	double s_mul1 = cv::Mat(s_mat.t()*s_mat).at<double>(0,0);
-	cv::Mat s_mul2 = s_mat*s_mat.t();
-	cv::Mat eye = cv::Mat::eye(3, 3, z.depth());
-	return cv::Mat( eye.mul(1.-s_mul1) + skewsymm(s).mul(2.) + s_mul2.mul(2.) ).t();
-}
-
-cv::Mat dls::skewsymm(const double X1[])
-{
-	return (cv::Mat_<double>(3,3) << 0, -X1[2], X1[1], X1[2], 0, -X1[0], -X1[1], X1[0], 0);
-}
-
-bool dls::is_empty(const cv::Mat * M)
-{
-	cv::MatConstIterator_<double> it = M->begin<double>(), it_end = M->end<double>();
-	for(; it != it_end; ++it)
-	{
-		if(*it < 0) return false;
-	}
-	return true;
+	cv::MatConstIterator_<double> it = X1->begin<double>();
+	return (cv::Mat_<double>(3,3) <<        0, -*(it+2),  *(it+1),
+									  *(it+2),        0, -*(it+0),
+									 -*(it+1),  *(it+0),       0);
 }
 
 cv::Mat dls::rotx(const double t)
@@ -807,19 +673,31 @@ cv::Mat dls::rotz(const double t)
 
 cv::Mat dls::mean(const cv::Mat& M)
 {
-	cv::Mat m = cv::Mat::zeros(3, 1, p.depth());
+	cv::Mat m = cv::Mat::zeros(3, 1, CV_64F);
 	for (int i = 0; i < M.cols; ++i) m += M.col(i);
 	return m.mul(1./(double)M.cols);
 }
 
-double dls::min_val(const std::vector<double>& values)
+bool dls::is_empty(const cv::Mat * M)
 {
-	double min = std::numeric_limits<double>::infinity();
-
-	std::vector<double>::const_iterator iter = values.begin();
-	for( ; iter != values.end() ; iter++)
+	cv::MatConstIterator_<double> it = M->begin<double>(), it_end = M->end<double>();
+	for(; it != it_end; ++it)
 	{
-		if(*iter < min) min = *iter;
+		if(*it < 0) return false;
 	}
-	return min;
+	return true;
 }
+
+bool dls::positive_eigenvalues(const cv::Mat * eigenvalues)
+{
+	cv::MatConstIterator_<double> it = eigenvalues->begin<double>();
+	return *(it) > 0 && *(it+1) > 0 && *(it+2) > 0;
+}
+
+
+
+
+
+
+
+
diff --git a/modules/calib3d/src/dls.h b/modules/calib3d/src/dls.h
index a586d1e9da..a8250fa5c0 100644
--- a/modules/calib3d/src/dls.h
+++ b/modules/calib3d/src/dls.h
@@ -12,52 +12,58 @@ public:
 	dls(const cv::Mat& opoints, const cv::Mat& ipoints);
 	~dls();
 
-	void compute_pose(cv::Mat& R, cv::Mat& t);
+	bool compute_pose(cv::Mat& R, cv::Mat& t);
 
 private:
 
-	template <typename OpointType, typename O, typename IpointType, typename I>
+	// initialisation
+	template <typename OpointType, typename IpointType>
 	void init_points(const cv::Mat& opoints, const cv::Mat& ipoints)
 	{
 		for(int i = 0; i < N; i++)
 		{
-			p.at<O>(0,i) = opoints.at<OpointType>(0,i).x;
-			p.at<O>(1,i) = opoints.at<OpointType>(0,i).y;
-			p.at<O>(2,i) = opoints.at<OpointType>(0,i).z;
+			p.at<double>(0,i) = opoints.at<OpointType>(0,i).x;
+			p.at<double>(1,i) = opoints.at<OpointType>(0,i).y;
+			p.at<double>(2,i) = opoints.at<OpointType>(0,i).z;
 
-			z.at<I>(0,i) = ipoints.at<IpointType>(0,i).x;
-			z.at<I>(1,i) = ipoints.at<IpointType>(0,i).y;
-			z.at<I>(2,i) = (I)1;
+			z.at<double>(0,i) = ipoints.at<IpointType>(0,i).x;
+			z.at<double>(1,i) = ipoints.at<IpointType>(0,i).y;
+			z.at<double>(2,i) = (double)1;
 		}
 	}
 
 	void norm_z_vector();
+
+	// main algorithm
+	void run_kernel(const cv::Mat& pp);
 	void build_coeff_matrix(const cv::Mat& pp, cv::Mat& Mtilde, cv::Mat& D);
 	void compute_eigenvec(const cv::Mat& Mtilde, cv::Mat& eigenval_real, cv::Mat& eigenval_imag,
 			                                     cv::Mat& eigenvec_real, cv::Mat& eigenvec_imag);
-	double min_val(const std::vector<double>& values);
+	void fill_coeff(const cv::Mat * D);
+
+	// useful functions
+	cv::Mat LeftMultVec(const cv::Mat& v);
+	cv::Mat cayley_LS_M(const std::vector<double>& a, const std::vector<double>& b,
+			            const std::vector<double>& c, const std::vector<double>& u);
+	cv::Mat Hessian(const double s[]);
+	cv::Mat cayley2rotbar(const cv::Mat& s);
+	cv::Mat skewsymm(const cv::Mat * X1);
+
+	// extra functions
 	cv::Mat rotx(const double t);
 	cv::Mat roty(const double t);
 	cv::Mat rotz(const double t);
 	cv::Mat mean(const cv::Mat& M);
-	void fill_coeff(const cv::Mat * D);
-	cv::Mat LeftMultVec(const cv::Mat& v);
-	cv::Mat cayley_LS_M(const std::vector<double>& a, const std::vector<double>& b,
-			            const std::vector<double>& c, const std::vector<double>& u);
-	bool positive_eigenvalues(const cv::Mat& eigenvalues);
-	cv::Mat Hessian(const double s[]);
-	cv::Mat cayley2rotbar(const double s[]);
-	cv::Mat skewsymm(const double X1[]);
 	bool is_empty(const cv::Mat * v);
-	void run_kernel(const cv::Mat& pp);
+	bool positive_eigenvalues(const cv::Mat * eigenvalues);
+
 
 	cv::Mat p, z;		// object-image points
 	int N;				// number of input points
-	std::vector<double> f1coeff, f2coeff, f3coeff, cost_;
-	std::vector<cv::Mat> C_est_, t_est_;	// vector to store candidate
-	cv::Mat C_est__, t_est__;	// best found solution
-	double cost__;
-
+	std::vector<double> f1coeff, f2coeff, f3coeff, cost_; // coefficient for coefficients matrix
+	std::vector<cv::Mat> C_est_, t_est_;	// optimal candidates
+	cv::Mat C_est__, t_est__;				// optimal found solution
+	double cost__;							// optimal found solution
 };
 
 #endif // DLS_H
diff --git a/modules/calib3d/src/solvepnp.cpp b/modules/calib3d/src/solvepnp.cpp
index 2cfb72e23d..4c4ef36301 100644
--- a/modules/calib3d/src/solvepnp.cpp
+++ b/modules/calib3d/src/solvepnp.cpp
@@ -49,6 +49,11 @@
 #include <iostream>
 using namespace cv;
 
+void MatrixSize(const cv::Mat& mat)
+{
+	cout << mat.rows << "x" << mat.cols << endl;
+}
+
 bool cv::solvePnP( InputArray _opoints, InputArray _ipoints,
                   InputArray _cameraMatrix, InputArray _distCoeffs,
                   OutputArray _rvec, OutputArray _tvec, bool useExtrinsicGuess, int flags )
@@ -96,23 +101,16 @@ bool cv::solvePnP( InputArray _opoints, InputArray _ipoints,
     }
     else if (flags == DLS)
     {
-    	std::cout << "DLS" << std::endl;
     	cv::Mat undistortedPoints;
-    	//cv::undistortPoints(ipoints, undistortedPoints, cameraMatrix, distCoeffs);
+    	cv::undistortPoints(ipoints, undistortedPoints, cameraMatrix, distCoeffs);
+
+    	dls PnP(opoints, undistortedPoints);
 
     	cv::Mat R, rvec = _rvec.getMat(), tvec = _tvec.getMat();
-
-    	//dls PnP(opoints, undistortedPoints);
-    	dls PnP(opoints, ipoints); // FOR TESTING
-
-    	PnP.compute_pose(R, tvec);
-
-    	cout << "after dls compute pose" << endl;
-
-    	//TODO: DO SOMETHING WITH R and t
-        //cv::Rodrigues(R, rvec);
-
-    	return true;
+    	bool result = PnP.compute_pose(R, tvec);
+        if (result)
+        	cv::Rodrigues(R, rvec);
+        return result;
     }
     else
         CV_Error(CV_StsBadArg, "The flags argument must be one of CV_ITERATIVE, CV_P3P or CV_EPNP");

From a4e21c8fa8a38a3170263961a00961c917bf277a Mon Sep 17 00:00:00 2001
From: edgarriba <edgar.riba@gmail.com>
Date: Fri, 25 Jul 2014 11:29:34 +0200
Subject: [PATCH 020/112] Update DLS test

---
 modules/calib3d/test/test_solvepnp_ransac.cpp | 4 +++-
 1 file changed, 3 insertions(+), 1 deletion(-)

diff --git a/modules/calib3d/test/test_solvepnp_ransac.cpp b/modules/calib3d/test/test_solvepnp_ransac.cpp
index e0c65fe4fb..bac516cd43 100644
--- a/modules/calib3d/test/test_solvepnp_ransac.cpp
+++ b/modules/calib3d/test/test_solvepnp_ransac.cpp
@@ -57,6 +57,7 @@ public:
         eps[ITERATIVE] = 1.0e-2;
         eps[EPNP] = 1.0e-2;
         eps[P3P] = 1.0e-2;
+        eps[DLS] = 1.0e-2;
         totalTestsCount = 10;
     }
     ~CV_solvePnPRansac_Test() {}
@@ -184,7 +185,7 @@ protected:
             }
         }
     }
-    double eps[3];
+    double eps[4];
     int totalTestsCount;
 };
 
@@ -196,6 +197,7 @@ public:
         eps[ITERATIVE] = 1.0e-6;
         eps[EPNP] = 1.0e-6;
         eps[P3P] = 1.0e-4;
+        eps[DLS] = 1.0e-6;
         totalTestsCount = 1000;
     }
 

From 5f54a22d2945dd8998d11d027e1f31e0e4b36f02 Mon Sep 17 00:00:00 2001
From: edgarriba <edgar.riba@gmail.com>
Date: Fri, 25 Jul 2014 11:39:06 +0200
Subject: [PATCH 021/112] Update documentation for DLS

---
 modules/calib3d/doc/camera_calibration_and_3d_reconstruction.rst | 1 +
 1 file changed, 1 insertion(+)

diff --git a/modules/calib3d/doc/camera_calibration_and_3d_reconstruction.rst b/modules/calib3d/doc/camera_calibration_and_3d_reconstruction.rst
index 14d7c8dd9f..5cd199678b 100644
--- a/modules/calib3d/doc/camera_calibration_and_3d_reconstruction.rst
+++ b/modules/calib3d/doc/camera_calibration_and_3d_reconstruction.rst
@@ -585,6 +585,7 @@ Finds an object pose from 3D-2D point correspondences.
             *  **CV_ITERATIVE** Iterative method is based on Levenberg-Marquardt optimization. In this case the function finds such a pose that minimizes reprojection error, that is the sum of squared distances between the observed projections ``imagePoints`` and the projected (using :ocv:func:`projectPoints` ) ``objectPoints`` .
             *  **CV_P3P**  Method is based on the paper of X.S. Gao, X.-R. Hou, J. Tang, H.-F. Chang "Complete Solution Classification for the Perspective-Three-Point Problem". In this case the function requires exactly four object and image points.
             *  **CV_EPNP** Method has been introduced by F.Moreno-Noguer, V.Lepetit and P.Fua in the paper "EPnP: Efficient Perspective-n-Point Camera Pose Estimation".
+            *  **CV_DLS**  Method is based on the paper of Joel A. Hesch and Stergios I. Roumeliotis. "A Direct Least-Squares (DLS) Method for PnP".
 
 The function estimates the object pose given a set of object points, their corresponding image projections, as well as the camera matrix and the distortion coefficients.
 

From 5980613317fd5392b562f5266dee7e9d0bca802c Mon Sep 17 00:00:00 2001
From: edgarriba <edgar.riba@gmail.com>
Date: Fri, 25 Jul 2014 11:46:28 +0200
Subject: [PATCH 022/112] Update

---
 modules/calib3d/src/dls.cpp | 8 ++++----
 1 file changed, 4 insertions(+), 4 deletions(-)

diff --git a/modules/calib3d/src/dls.cpp b/modules/calib3d/src/dls.cpp
index 9075fc2f4c..54c6bdbadf 100644
--- a/modules/calib3d/src/dls.cpp
+++ b/modules/calib3d/src/dls.cpp
@@ -245,13 +245,13 @@ void dls::run_kernel(const cv::Mat& pp)
 	// check that the points are infront of the center of perspectivity
 	for (int k = 0; k < sols.cols; ++k)
 	{
-		cv::Mat cam_points = C_est[k] * pp + cv::repeat(t_est[k], 1, pp.cols); // OK
+		cv::Mat cam_points = C_est[k] * pp + cv::repeat(t_est[k], 1, pp.cols);
 		cv::Mat cam_points_k = cam_points.row(2);
 
-		if(is_empty(&cam_points_k))  // OK
+		if(is_empty(&cam_points_k))
 		{
-			cv::Mat C_valid = C_est[k], t_valid = t_est[k]; // OK
-			double cost_valid = cost[k];// OK
+			cv::Mat C_valid = C_est[k], t_valid = t_est[k];
+			double cost_valid = cost[k];
 
 			C_est_.push_back(C_valid);
 			t_est_.push_back(t_valid);

From 9cad1dfa0d4e99a85d9ed2b38a7d04a05b9ab6f4 Mon Sep 17 00:00:00 2001
From: edgarriba <edgar.riba@gmail.com>
Date: Fri, 25 Jul 2014 11:49:20 +0200
Subject: [PATCH 023/112] Update C headers for DLS

---
 modules/calib3d/include/opencv2/calib3d/calib3d_c.h | 3 ++-
 1 file changed, 2 insertions(+), 1 deletion(-)

diff --git a/modules/calib3d/include/opencv2/calib3d/calib3d_c.h b/modules/calib3d/include/opencv2/calib3d/calib3d_c.h
index 75125f30f9..d8bf5567a0 100644
--- a/modules/calib3d/include/opencv2/calib3d/calib3d_c.h
+++ b/modules/calib3d/include/opencv2/calib3d/calib3d_c.h
@@ -91,7 +91,8 @@ enum
 {
     CV_ITERATIVE = 0,
     CV_EPNP = 1, // F.Moreno-Noguer, V.Lepetit and P.Fua "EPnP: Efficient Perspective-n-Point Camera Pose Estimation"
-    CV_P3P = 2 // X.S. Gao, X.-R. Hou, J. Tang, H.-F. Chang; "Complete Solution Classification for the Perspective-Three-Point Problem"
+    CV_P3P = 2, // X.S. Gao, X.-R. Hou, J. Tang, H.-F. Chang; "Complete Solution Classification for the Perspective-Three-Point Problem"
+    CV_DLS = 3 // Joel A. Hesch and Stergios I. Roumeliotis. "A Direct Least-Squares (DLS) Method for PnP"
 };
 
 CVAPI(int) cvFindFundamentalMat( const CvMat* points1, const CvMat* points2,

From 5f35bed5c54eeed14581a1ac68b086ecd4cc555d Mon Sep 17 00:00:00 2001
From: edgarriba <edgar.riba@gmail.com>
Date: Fri, 25 Jul 2014 11:54:41 +0200
Subject: [PATCH 024/112] Delete Debug functions

---
 modules/calib3d/src/dls.cpp | 28 ----------------------------
 1 file changed, 28 deletions(-)

diff --git a/modules/calib3d/src/dls.cpp b/modules/calib3d/src/dls.cpp
index 54c6bdbadf..0bf23f041a 100644
--- a/modules/calib3d/src/dls.cpp
+++ b/modules/calib3d/src/dls.cpp
@@ -19,34 +19,6 @@
 
 using namespace std;
 
-void pause__(){ cin.get(); }
-
-void printSize(const cv::Mat& mat)
-{
-	cout << mat.rows << "x" << mat.cols << endl;
-}
-void printMat(const cv::Mat& mat)
-{
-	ofstream outFile;
-	outFile.open("test.txt");
-
-	printSize(mat);
-	for (int i = 0; i < mat.rows; ++i) {
-		cout << "[";
-		outFile << "[";
-		for (int j = 0; j < mat.cols; ++j) {
-			cout << " " << mat.at<double>(i,j);
-			outFile << " " << mat.at<double>(i,j);
-		}
-		cout << ";]" << endl;
-		outFile << ";]" << endl;
-	}
-
-	outFile.close();
-}
-template<typename T>
-void print(T var) { cout << var << endl; }
-
 dls::dls(const cv::Mat& opoints, const cv::Mat& ipoints)
 {
 	N =  std::max(opoints.checkVector(3, CV_32F), opoints.checkVector(3, CV_64F));

From 0427b70a2fb0cd7fdf810b39060151670c5f1f71 Mon Sep 17 00:00:00 2001
From: edgarriba <edgar.riba@gmail.com>
Date: Mon, 28 Jul 2014 12:01:39 +0200
Subject: [PATCH 025/112] Filtering solutions with imaginary part

---
 modules/calib3d/src/dls.cpp | 4 ++--
 1 file changed, 2 insertions(+), 2 deletions(-)

diff --git a/modules/calib3d/src/dls.cpp b/modules/calib3d/src/dls.cpp
index 0bf23f041a..3a5601043a 100644
--- a/modules/calib3d/src/dls.cpp
+++ b/modules/calib3d/src/dls.cpp
@@ -149,8 +149,8 @@ void dls::run_kernel(const cv::Mat& pp)
 		// TODO: check imaginari part to filter solutions
 
 		//if (imag(V(2,k)) == 0)
-		//const double epsilon = 1e-4;
-	    //if( eigenvec_i.at<double>(1,k) >= -epsilon && eigenvec_i.at<double>(1,k) <= epsilon )
+		const double epsilon = 1e-4;
+	    if( eigenval_i.at<double>(k,0) >= -epsilon && eigenval_i.at<double>(k,0) <= epsilon )
 		{ // it should work without checking imaginari part
 
 			double stmp[3];

From 4ddc6a4a7703bc7bc96f2b452b6e5130e6a6f5f4 Mon Sep 17 00:00:00 2001
From: edgarriba <edgar.riba@gmail.com>
Date: Mon, 28 Jul 2014 12:03:02 +0200
Subject: [PATCH 026/112] Update for DLS test

---
 modules/calib3d/test/test_solvepnp_ransac.cpp | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/modules/calib3d/test/test_solvepnp_ransac.cpp b/modules/calib3d/test/test_solvepnp_ransac.cpp
index bac516cd43..afb5f97d52 100644
--- a/modules/calib3d/test/test_solvepnp_ransac.cpp
+++ b/modules/calib3d/test/test_solvepnp_ransac.cpp
@@ -160,7 +160,7 @@ protected:
         generate3DPointCloud(points);
 
 
-        const int methodsCount = 3;
+        const int methodsCount = 4;
         RNG rng = ts->get_rng();
 
 

From b6b0c2aa8e345e17fd9e7fd7a4feacad899e94ca Mon Sep 17 00:00:00 2001
From: edgarriba <edgar.riba@gmail.com>
Date: Wed, 30 Jul 2014 11:22:25 +0200
Subject: [PATCH 027/112] MACRO for EIGEN libraries

---
 modules/calib3d/src/dls.cpp      | 19 +++++++++----------
 modules/calib3d/src/solvepnp.cpp | 15 ++++++++-------
 2 files changed, 17 insertions(+), 17 deletions(-)

diff --git a/modules/calib3d/src/dls.cpp b/modules/calib3d/src/dls.cpp
index 3a5601043a..c8d9260fba 100644
--- a/modules/calib3d/src/dls.cpp
+++ b/modules/calib3d/src/dls.cpp
@@ -2,30 +2,30 @@
 #include "dls.h"
 
 #include <iostream>
-#include <fstream>
 
-/*
 #ifdef HAVE_EIGEN
 #  if defined __GNUC__ && defined __APPLE__
 #    pragma GCC diagnostic ignored "-Wshadow"
 #  endif
 #  include <Eigen/Core>
+#  include <Eigen/Eigenvalues>
 #  include "opencv2/core/eigen.hpp"
 #endif
-*/
 
-#include <Eigen/Eigenvalues>
-#include <Eigen/Core>
+
+//#include <Eigen/Eigenvalues>
+//#include <Eigen/Core>
 
 using namespace std;
 
 dls::dls(const cv::Mat& opoints, const cv::Mat& ipoints)
 {
+
 	N =  std::max(opoints.checkVector(3, CV_32F), opoints.checkVector(3, CV_64F));
 	p = cv::Mat(3, N, CV_64F);
 	z = cv::Mat(3, N, CV_64F);
 
-	cost__ = std::numeric_limits<double>::infinity();
+	cost__ = 9999;
 
 	f1coeff.resize(21);
 	f2coeff.resize(21);
@@ -117,7 +117,6 @@ bool dls::compute_pose(cv::Mat& R, cv::Mat& t)
 
 void dls::run_kernel(const cv::Mat& pp)
 {
-
 	cv::Mat Mtilde(27, 27, CV_64F);
 	cv::Mat D = cv::Mat::zeros(9, 9, CV_64F);
 	build_coeff_matrix(pp, Mtilde, D);
@@ -125,7 +124,6 @@ void dls::run_kernel(const cv::Mat& pp)
 	cv::Mat eigenval_r, eigenval_i, eigenvec_r, eigenvec_i;
 	compute_eigenvec(Mtilde, eigenval_r, eigenval_i, eigenvec_r, eigenvec_i);
 
-
 	/*
 	 *  Now check the solutions
 	 */
@@ -146,8 +144,6 @@ void dls::run_kernel(const cv::Mat& pp)
 		cv::Mat V_k; cv::solve(V_kB.t(), V_kA.t(), V_k); // A/B = B'\A'
 		cv::Mat( V_k.t()).copyTo( eigenvec_r.col(k) );
 
-		// TODO: check imaginari part to filter solutions
-
 		//if (imag(V(2,k)) == 0)
 		const double epsilon = 1e-4;
 	    if( eigenval_i.at<double>(k,0) >= -epsilon && eigenval_i.at<double>(k,0) <= epsilon )
@@ -230,6 +226,7 @@ void dls::run_kernel(const cv::Mat& pp)
 			cost_.push_back(cost_valid);
 		}
 	}
+
 }
 
 void dls::build_coeff_matrix(const cv::Mat& pp, cv::Mat& Mtilde, cv::Mat& D)
@@ -287,6 +284,7 @@ void dls::compute_eigenvec(const cv::Mat& Mtilde, cv::Mat& eigenval_real, cv::Ma
 {
 	// EIGENVALUES AND EIGENVECTORS
 
+#ifdef HAVE_EIGEN
 	Eigen::MatrixXd Mtilde_eig, zeros_eig;
 	cv::cv2eigen(Mtilde, Mtilde_eig);
 	cv::cv2eigen(cv::Mat::zeros(27, 27, CV_64F), zeros_eig);
@@ -307,6 +305,7 @@ void dls::compute_eigenvec(const cv::Mat& Mtilde, cv::Mat& eigenval_real, cv::Ma
 	cv::eigen2cv(eigval_imag, eigenval_imag);
 	cv::eigen2cv(eigvec_real, eigenvec_real);
 	cv::eigen2cv(eigvec_imag, eigenvec_imag);
+#endif
 
 }
 
diff --git a/modules/calib3d/src/solvepnp.cpp b/modules/calib3d/src/solvepnp.cpp
index 4c4ef36301..73eda92674 100644
--- a/modules/calib3d/src/solvepnp.cpp
+++ b/modules/calib3d/src/solvepnp.cpp
@@ -49,11 +49,6 @@
 #include <iostream>
 using namespace cv;
 
-void MatrixSize(const cv::Mat& mat)
-{
-	cout << mat.rows << "x" << mat.cols << endl;
-}
-
 bool cv::solvePnP( InputArray _opoints, InputArray _ipoints,
                   InputArray _cameraMatrix, InputArray _distCoeffs,
                   OutputArray _rvec, OutputArray _tvec, bool useExtrinsicGuess, int flags )
@@ -101,19 +96,25 @@ bool cv::solvePnP( InputArray _opoints, InputArray _ipoints,
     }
     else if (flags == DLS)
     {
+    	bool result = false;
+#ifdef HAVE_EIGEN
+
     	cv::Mat undistortedPoints;
     	cv::undistortPoints(ipoints, undistortedPoints, cameraMatrix, distCoeffs);
 
     	dls PnP(opoints, undistortedPoints);
 
     	cv::Mat R, rvec = _rvec.getMat(), tvec = _tvec.getMat();
-    	bool result = PnP.compute_pose(R, tvec);
+    	result = PnP.compute_pose(R, tvec);
         if (result)
         	cv::Rodrigues(R, rvec);
+#else
+        std::cout << "EIGEN library needed for DLS" << std::endl;
+#endif
         return result;
     }
     else
-        CV_Error(CV_StsBadArg, "The flags argument must be one of CV_ITERATIVE, CV_P3P or CV_EPNP");
+        CV_Error(CV_StsBadArg, "The flags argument must be one of CV_ITERATIVE, CV_P3P, CV_EPNP or CV_DLS");
     return false;
 }
 

From 0ac84755a0befac55563e48c6dbff9328aa4c675 Mon Sep 17 00:00:00 2001
From: edgarriba <edgar.riba@gmail.com>
Date: Wed, 30 Jul 2014 12:10:29 +0200
Subject: [PATCH 028/112] Update tutorial

---
 doc/tutorials/calib3d/real_time_pose/real_time_pose.rst | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/doc/tutorials/calib3d/real_time_pose/real_time_pose.rst b/doc/tutorials/calib3d/real_time_pose/real_time_pose.rst
index 26f16b33f2..d2564e403b 100644
--- a/doc/tutorials/calib3d/real_time_pose/real_time_pose.rst
+++ b/doc/tutorials/calib3d/real_time_pose/real_time_pose.rst
@@ -38,7 +38,7 @@ The most common simplification is to assume known calibration parameters which i
 
 **Problem Formulation:** Given a set of correspondences between 3D points :math:`p_i` expressed in a world reference frame, and their 2D projections :math:`u_i` onto the image, we seek to retrieve the pose (:math:`R` and :math:`t`) of the camera w.r.t. the world and the focal length :math:`f`.
 
-OpenCV provides three different approaches to solve the Perspective-*n*-Point problem which return :math:`R` and :math:`t`. Then, using the following formula it's possible to project 3D points into the image plane:
+OpenCV provides four different approaches to solve the Perspective-*n*-Point problem which return :math:`R` and :math:`t`. Then, using the following formula it's possible to project 3D points into the image plane:
 
 .. math::
 

From 7334e54a63ab9ec18b415342bbeb2222165410cc Mon Sep 17 00:00:00 2001
From: edgarriba <edgar.riba@gmail.com>
Date: Wed, 30 Jul 2014 12:31:19 +0200
Subject: [PATCH 029/112] Code tutorial

---
 .../real_time_pose_estimation/CMakeLists.txt  | 38 +++++++++++++++++++
 1 file changed, 38 insertions(+)
 create mode 100644 samples/cpp/tutorial_code/calib3d/real_time_pose_estimation/CMakeLists.txt

diff --git a/samples/cpp/tutorial_code/calib3d/real_time_pose_estimation/CMakeLists.txt b/samples/cpp/tutorial_code/calib3d/real_time_pose_estimation/CMakeLists.txt
new file mode 100644
index 0000000000..6a878a9738
--- /dev/null
+++ b/samples/cpp/tutorial_code/calib3d/real_time_pose_estimation/CMakeLists.txt
@@ -0,0 +1,38 @@
+cmake_minimum_required(VERSION 2.8)
+project( PNP_DEMO )
+
+find_package( OpenCV REQUIRED )
+
+include_directories( 
+	$(PNP_DEMO_SOURCE_DIR)/include 
+	${OpenCV_INCLUDE_DIRS} 
+)
+
+add_executable( 
+pnp_registration 
+	src/main_registration.cpp
+	src/CsvReader.cpp 
+	src/CsvWriter.cpp
+	src/ModelRegistration.cpp
+	src/Mesh.cpp
+	src/Model.cpp
+	src/PnPProblem.cpp
+	src/Utils.cpp
+	src/RobustMatcher.cpp
+)
+
+add_executable( 
+pnp_detection 
+	src/main_detection.cpp
+	src/CsvReader.cpp 
+	src/CsvWriter.cpp
+	src/ModelRegistration.cpp
+	src/Mesh.cpp
+	src/Model.cpp
+	src/PnPProblem.cpp
+	src/Utils.cpp
+	src/RobustMatcher.cpp
+)
+
+target_link_libraries( pnp_registration ${OpenCV_LIBS} )
+target_link_libraries( pnp_detection ${OpenCV_LIBS} )

From 74e52df3cd3bc121d41c6806f6c456c991406d14 Mon Sep 17 00:00:00 2001
From: edgarriba <edgar.riba@gmail.com>
Date: Wed, 30 Jul 2014 12:33:27 +0200
Subject: [PATCH 030/112] Code tutorial

---
 .../src/main_detection.cpp                    | 461 ++++++++++++++++++
 1 file changed, 461 insertions(+)
 create mode 100644 samples/cpp/tutorial_code/calib3d/real_time_pose_estimation/src/main_detection.cpp

diff --git a/samples/cpp/tutorial_code/calib3d/real_time_pose_estimation/src/main_detection.cpp b/samples/cpp/tutorial_code/calib3d/real_time_pose_estimation/src/main_detection.cpp
new file mode 100644
index 0000000000..16b1ba7b17
--- /dev/null
+++ b/samples/cpp/tutorial_code/calib3d/real_time_pose_estimation/src/main_detection.cpp
@@ -0,0 +1,461 @@
+#include <iostream>
+#include <time.h>
+#include <boost/lexical_cast.hpp>
+
+#include "cv.h"
+#include "highgui.h"
+
+#include <opencv2/core/core.hpp>
+#include <opencv2/highgui/highgui.hpp>
+#include <opencv2/imgproc/imgproc.hpp>
+#include <opencv2/calib3d/calib3d.hpp>
+#include <opencv2/video/tracking.hpp>
+
+#include "Mesh.h"
+#include "Model.h"
+#include "PnPProblem.h"
+#include "RobustMatcher.h"
+#include "ModelRegistration.h"
+#include "Utils.h"
+
+//  COOKIES BOX - ORB
+std::string yml_read_path = "../Data/cookies_ORB.yml"; // 3dpts + descriptors
+
+// COOKIES BOX MESH
+std::string ply_read_path = "../Data/box.ply";   // mesh
+
+
+/*
+ * Set up the intrinsic camera parameters: UVC WEBCAM
+ */
+
+double f = 55;                           // focal length in mm
+double sx = 22.3, sy = 14.9;             // sensor size
+double width = 640, height = 480;        // image size
+
+double params_WEBCAM[] = { width*f/sx,   // fx
+                           height*f/sy,  // fy
+                           width/2,      // cx
+                           height/2};    // cy
+
+
+
+/*
+ * Set up some basic colors
+ */
+cv::Scalar red(0, 0, 255);
+cv::Scalar green(0,255,0);
+cv::Scalar blue(255,0,0);
+cv::Scalar yellow(0,255,255);
+
+
+// Robust Matcher parameters
+
+int numKeyPoints = 2000;      // number of detected keypoints
+float ratio = 0.70f;          // ratio test
+bool fast_match = true;       // fastRobustMatch() or robustMatch()
+
+
+// RANSAC parameters
+
+int iterationsCount = 500;      // number of Ransac iterations.
+float reprojectionError = 2.0;  // maximum allowed distance to consider it an inlier.
+float confidence = 0.95;        // ransac successful confidence.
+
+
+// Kalman Filter parameters
+
+int minInliersKalman = 30;    // Kalman threshold updating
+
+
+/**********************************************************************************************************/
+
+void initKalmanFilter( cv::KalmanFilter &KF, int nStates, int nMeasurements, int nInputs, double dt);
+
+
+/**********************************************************************************************************/
+
+
+void updateKalmanFilter( cv::KalmanFilter &KF, cv::Mat &measurements,
+                         cv::Mat &translation_estimated, cv::Mat &rotation_estimated );
+
+/**********************************************************************************************************/
+
+
+void fillMeasurements( cv::Mat &measurements,
+                       const cv::Mat &translation_measured, const cv::Mat &rotation_measured);
+
+
+/**********************************************************************************************************/
+
+
+int main(int argc, char *argv[])
+{
+
+  std::cout << "!!!Hello Detection!!!" << std::endl;
+
+  PnPProblem pnp_detection(params_WEBCAM);
+  PnPProblem pnp_detection_est(params_WEBCAM);
+
+  Model model;               // instantiate Model object
+  model.load(yml_read_path); // load a 3D textured object model
+
+  Mesh mesh;                // instantiate Mesh object
+  mesh.load(ply_read_path); // load an object mesh
+
+
+  RobustMatcher rmatcher;                                                     // instantiate RobustMatcher
+
+  cv::FeatureDetector * detector = new cv::OrbFeatureDetector(numKeyPoints);  // instatiate ORB feature detector
+  cv::DescriptorExtractor * extractor = new cv::OrbDescriptorExtractor();     // instatiate ORB descriptor extractor
+
+  rmatcher.setFeatureDetector(detector);                                      // set feature detector
+  rmatcher.setDescriptorExtractor(extractor);                                 // set descriptor extractor
+
+
+  cv::Ptr<cv::flann::IndexParams> indexParams = cv::makePtr<cv::flann::LshIndexParams>(6, 12, 1); // instantiate LSH index parameters
+  cv::Ptr<cv::flann::SearchParams> searchParams = cv::makePtr<cv::flann::SearchParams>(50);       // instantiate flann search parameters
+
+  cv::DescriptorMatcher * matcher = new cv::FlannBasedMatcher(indexParams, searchParams);         // instantiate FlannBased matcher
+  rmatcher.setDescriptorMatcher(matcher);                                                         // set matcher
+
+
+  rmatcher.setRatio(ratio); // set ratio test parameter
+
+
+  cv::KalmanFilter KF;         // instantiate Kalman Filter
+
+  int nStates = 18;            // the number of states
+  int nMeasurements = 6;       // the number of measured states
+  int nInputs = 0;             // the number of action control
+
+  double dt = 0.125;           // time between measurements (1/FPS)
+
+  initKalmanFilter(KF, nStates, nMeasurements, nInputs, dt);    // init function
+
+  cv::Mat measurements(nMeasurements, 1, CV_64F); measurements.setTo(cv::Scalar(0));
+  bool good_measurement = false;
+
+
+  // Get the MODEL INFO
+
+  std::vector<cv::Point3f> list_points3d_model = model.get_points3d();  // list with model 3D coordinates
+  cv::Mat descriptors_model = model.get_descriptors();                  // list with descriptors of each 3D coordinate
+
+
+  // Create & Open Window
+  cv::namedWindow("REAL TIME DEMO", CV_WINDOW_KEEPRATIO);
+
+
+  cv::VideoCapture cap;                           // instantiate VideoCapture
+  (argc < 2) ? cap.open(0) : cap.open(argv[1]);   // open the default camera device
+                                                  // or a recorder video
+
+  if(!cap.isOpened())   // check if we succeeded
+  {
+    std::cout << "Could not open the camera device" << std::endl;
+    return -1;
+  }
+
+
+  // start and end times
+  time_t start, end;
+
+  // fps calculated using number of frames / seconds
+  double fps;
+
+  // frame counter
+  int counter = 0;
+
+  // floating point seconds elapsed since start
+  double sec;
+
+  // start the clock
+  time(&start);
+
+  double tstart2, tstop2, ttime2; // algorithm metrics
+  double tstart, tstop, ttime; // algorithm metrics
+
+  cv::Mat frame, frame_vis;
+
+  while(cap.read(frame) && cv::waitKey(30) != 27) // capture frame until ESC is pressed
+  {
+
+    frame_vis = frame.clone();    // refresh visualisation frame
+
+
+    // -- Step 1: Robust matching between model descriptors and scene descriptors
+
+    std::vector<cv::DMatch> good_matches;       // to obtain the 3D points of the model
+    std::vector<cv::KeyPoint> keypoints_scene;  // to obtain the 2D points of the scene
+
+
+    if(fast_match)
+    {
+      rmatcher.fastRobustMatch(frame, good_matches, keypoints_scene, descriptors_model);
+    }
+    else
+    {
+      rmatcher.robustMatch(frame, good_matches, keypoints_scene, descriptors_model);
+    }
+
+
+    // -- Step 2: Find out the 2D/3D correspondences
+
+    std::vector<cv::Point3f> list_points3d_model_match; // container for the model 3D coordinates found in the scene
+    std::vector<cv::Point2f> list_points2d_scene_match; // container for the model 2D coordinates found in the scene
+
+    for(unsigned int match_index = 0; match_index < good_matches.size(); ++match_index)
+    {
+      cv::Point3f point3d_model = list_points3d_model[ good_matches[match_index].trainIdx ];  // 3D point from model
+      cv::Point2f point2d_scene = keypoints_scene[ good_matches[match_index].queryIdx ].pt; // 2D point from the scene
+      list_points3d_model_match.push_back(point3d_model);         // add 3D point
+      list_points2d_scene_match.push_back(point2d_scene);         // add 2D point
+    }
+
+    // Draw outliers
+    draw2DPoints(frame_vis, list_points2d_scene_match, red);
+
+
+    cv::Mat inliers_idx;
+    std::vector<cv::Point2f> list_points2d_inliers;
+
+    if(good_matches.size() > 0) // None matches, then RANSAC crashes
+    {
+
+
+      // -- Step 3: Estimate the pose using RANSAC approach
+      pnp_detection.estimatePoseRANSAC( list_points3d_model_match, list_points2d_scene_match,
+                                        cv::ITERATIVE, inliers_idx,
+                                        iterationsCount, reprojectionError, confidence );
+
+      // -- Step 4: Catch the inliers keypoints to draw
+      for(int inliers_index = 0; inliers_index < inliers_idx.rows; ++inliers_index)
+      {
+        int n = inliers_idx.at<int>(inliers_index);         // i-inlier
+        cv::Point2f point2d = list_points2d_scene_match[n]; // i-inlier point 2D
+        list_points2d_inliers.push_back(point2d);           // add i-inlier to list
+      }
+
+      // Draw inliers points 2D
+      draw2DPoints(frame_vis, list_points2d_inliers, blue);
+
+
+      // -- Step 5: Kalman Filter
+
+      good_measurement = false;
+
+      // GOOD MEASUREMENT
+      if( inliers_idx.rows >= minInliersKalman )
+      {
+
+        // Get the measured translation
+        cv::Mat translation_measured(3, 1, CV_64F);
+        translation_measured = pnp_detection.get_t_matrix();
+
+        // Get the measured rotation
+        cv::Mat rotation_measured(3, 3, CV_64F);
+        rotation_measured = pnp_detection.get_R_matrix();
+
+        // fill the measurements vector
+        fillMeasurements(measurements, translation_measured, rotation_measured);
+
+        good_measurement = true;
+
+      }
+
+      // Instantiate estimated translation and rotation
+      cv::Mat translation_estimated(3, 1, CV_64F);
+      cv::Mat rotation_estimated(3, 3, CV_64F);
+
+      // update the Kalman filter with good measurements
+      updateKalmanFilter( KF, measurements,
+                          translation_estimated, rotation_estimated);
+
+
+      // -- Step 6: Set estimated projection matrix
+      pnp_detection_est.set_P_matrix(rotation_estimated, translation_estimated);
+
+    }
+
+    // -- Step X: Draw pose
+
+    if(good_measurement)
+    {
+      drawObjectMesh(frame_vis, &mesh, &pnp_detection, green);  // draw current pose
+    }
+    else
+    {
+      drawObjectMesh(frame_vis, &mesh, &pnp_detection_est, yellow); // draw estimated pose
+    }
+
+    double l = 5;
+    std::vector<cv::Point2f> pose_points2d;
+    pose_points2d.push_back(pnp_detection_est.backproject3DPoint(cv::Point3f(0,0,0)));  // axis center
+    pose_points2d.push_back(pnp_detection_est.backproject3DPoint(cv::Point3f(l,0,0)));  // axis x
+    pose_points2d.push_back(pnp_detection_est.backproject3DPoint(cv::Point3f(0,l,0)));  // axis y
+    pose_points2d.push_back(pnp_detection_est.backproject3DPoint(cv::Point3f(0,0,l)));  // axis z
+    draw3DCoordinateAxes(frame_vis, pose_points2d);           // draw axes
+
+    // FRAME RATE
+
+    // see how much time has elapsed
+    time(&end);
+
+    // calculate current FPS
+    ++counter;
+    sec = difftime (end, start);
+
+    fps = counter / sec;
+
+    drawFPS(frame_vis, fps, yellow); // frame ratio
+    double ratio = ((double)inliers_idx.rows/(double)good_matches.size())*100;
+    drawConfidence(frame_vis, ratio, yellow);
+
+
+    // -- Step X: Draw some debugging text
+
+    // Draw some debug text
+    int inliers_int = inliers_idx.rows;
+    int outliers_int = good_matches.size() - inliers_int;
+    std::string inliers_str = boost::lexical_cast< std::string >(inliers_int);
+    std::string outliers_str = boost::lexical_cast< std::string >(outliers_int);
+    std::string n = boost::lexical_cast< std::string >(good_matches.size());
+    std::string text = "Found " + inliers_str + " of " + n + " matches";
+    std::string text2 = "Inliers: " + inliers_str + " - Outliers: " + outliers_str;
+
+    drawText(frame_vis, text, green);
+    drawText2(frame_vis, text2, red);
+
+    cv::imshow("REAL TIME DEMO", frame_vis);
+
+    //cv::waitKey(0);
+
+  }
+
+  // Close and Destroy Window
+  cv::destroyWindow("REAL TIME DEMO");
+
+  std::cout << "GOODBYE ..." << std::endl;
+
+}
+
+/**********************************************************************************************************/
+void initKalmanFilter(cv::KalmanFilter &KF, int nStates, int nMeasurements, int nInputs, double dt)
+{
+
+  KF.init(nStates, nMeasurements, nInputs, CV_64F);                 // init Kalman Filter
+
+  cv::setIdentity(KF.processNoiseCov, cv::Scalar::all(1e-5));       // set process noise
+  cv::setIdentity(KF.measurementNoiseCov, cv::Scalar::all(1e-2));   // set measurement noise
+  cv::setIdentity(KF.errorCovPost, cv::Scalar::all(1));             // error covariance
+
+
+                     /** DYNAMIC MODEL **/
+
+  //  [1 0 0 dt  0  0 dt2   0   0 0 0 0  0  0  0   0   0   0]
+  //  [0 1 0  0 dt  0   0 dt2   0 0 0 0  0  0  0   0   0   0]
+  //  [0 0 1  0  0 dt   0   0 dt2 0 0 0  0  0  0   0   0   0]
+  //  [0 0 0  1  0  0  dt   0   0 0 0 0  0  0  0   0   0   0]
+  //  [0 0 0  0  1  0   0  dt   0 0 0 0  0  0  0   0   0   0]
+  //  [0 0 0  0  0  1   0   0  dt 0 0 0  0  0  0   0   0   0]
+  //  [0 0 0  0  0  0   1   0   0 0 0 0  0  0  0   0   0   0]
+  //  [0 0 0  0  0  0   0   1   0 0 0 0  0  0  0   0   0   0]
+  //  [0 0 0  0  0  0   0   0   1 0 0 0  0  0  0   0   0   0]
+  //  [0 0 0  0  0  0   0   0   0 1 0 0 dt  0  0 dt2   0   0]
+  //  [0 0 0  0  0  0   0   0   0 0 1 0  0 dt  0   0 dt2   0]
+  //  [0 0 0  0  0  0   0   0   0 0 0 1  0  0 dt   0   0 dt2]
+  //  [0 0 0  0  0  0   0   0   0 0 0 0  1  0  0  dt   0   0]
+  //  [0 0 0  0  0  0   0   0   0 0 0 0  0  1  0   0  dt   0]
+  //  [0 0 0  0  0  0   0   0   0 0 0 0  0  0  1   0   0  dt]
+  //  [0 0 0  0  0  0   0   0   0 0 0 0  0  0  0   1   0   0]
+  //  [0 0 0  0  0  0   0   0   0 0 0 0  0  0  0   0   1   0]
+  //  [0 0 0  0  0  0   0   0   0 0 0 0  0  0  0   0   0   1]
+
+  // position
+  KF.transitionMatrix.at<double>(0,3) = dt;
+  KF.transitionMatrix.at<double>(1,4) = dt;
+  KF.transitionMatrix.at<double>(2,5) = dt;
+  KF.transitionMatrix.at<double>(3,6) = dt;
+  KF.transitionMatrix.at<double>(4,7) = dt;
+  KF.transitionMatrix.at<double>(5,8) = dt;
+  KF.transitionMatrix.at<double>(0,6) = 0.5*pow(dt,2);
+  KF.transitionMatrix.at<double>(1,7) = 0.5*pow(dt,2);
+  KF.transitionMatrix.at<double>(2,8) = 0.5*pow(dt,2);
+
+  // orientation
+  KF.transitionMatrix.at<double>(9,12) = dt;
+  KF.transitionMatrix.at<double>(10,13) = dt;
+  KF.transitionMatrix.at<double>(11,14) = dt;
+  KF.transitionMatrix.at<double>(12,15) = dt;
+  KF.transitionMatrix.at<double>(13,16) = dt;
+  KF.transitionMatrix.at<double>(14,17) = dt;
+  KF.transitionMatrix.at<double>(9,15) = 0.5*pow(dt,2);
+  KF.transitionMatrix.at<double>(10,16) = 0.5*pow(dt,2);
+  KF.transitionMatrix.at<double>(11,17) = 0.5*pow(dt,2);
+
+
+           /** MEASUREMENT MODEL **/
+
+  //  [1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0]
+  //  [0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0]
+  //  [0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0]
+  //  [0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0]
+  //  [0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0]
+  //  [0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0]
+
+  KF.measurementMatrix.at<double>(0,0) = 1;  // x
+  KF.measurementMatrix.at<double>(1,1) = 1;  // y
+  KF.measurementMatrix.at<double>(2,2) = 1;  // z
+  KF.measurementMatrix.at<double>(3,9) = 1;  // roll
+  KF.measurementMatrix.at<double>(4,10) = 1; // pitch
+  KF.measurementMatrix.at<double>(5,11) = 1; // yaw
+
+  //std::cout << "A " << std::endl << KF.transitionMatrix << std::endl;
+  //std::cout << "C " << std::endl << KF.measurementMatrix << std::endl;
+
+}
+
+/**********************************************************************************************************/
+void updateKalmanFilter( cv::KalmanFilter &KF, cv::Mat &measurement,
+                         cv::Mat &translation_estimated, cv::Mat &rotation_estimated )
+{
+
+  // First predict, to update the internal statePre variable
+  cv::Mat prediction = KF.predict();
+
+  // The "correct" phase that is going to use the predicted value and our measurement
+  cv::Mat estimated = KF.correct(measurement);
+
+  // Estimated translation
+  translation_estimated.at<double>(0) = estimated.at<double>(0);
+  translation_estimated.at<double>(1) = estimated.at<double>(1);
+  translation_estimated.at<double>(2) = estimated.at<double>(2);
+
+  // Estimated euler angles
+  cv::Mat eulers_estimated(3, 1, CV_64F);
+  eulers_estimated.at<double>(0) = estimated.at<double>(9);
+  eulers_estimated.at<double>(1) = estimated.at<double>(10);
+  eulers_estimated.at<double>(2) = estimated.at<double>(11);
+
+  // Convert estimated quaternion to rotation matrix
+  rotation_estimated = euler2rot(eulers_estimated);
+
+}
+
+/**********************************************************************************************************/
+void fillMeasurements( cv::Mat &measurements,
+                       const cv::Mat &translation_measured, const cv::Mat &rotation_measured)
+{
+  // Convert rotation matrix to euler angles
+  cv::Mat measured_eulers(3, 1, CV_64F);
+  measured_eulers = rot2euler(rotation_measured);
+
+  // Set measurement to predict
+  measurements.at<double>(0) = translation_measured.at<double>(0); // x
+  measurements.at<double>(1) = translation_measured.at<double>(1); // y
+  measurements.at<double>(2) = translation_measured.at<double>(2); // z
+  measurements.at<double>(3) = measured_eulers.at<double>(0);      // roll
+  measurements.at<double>(4) = measured_eulers.at<double>(1);      // pitch
+  measurements.at<double>(5) = measured_eulers.at<double>(2);      // yaw
+}

From 64c164c111c2b97de3793177fdd32ff238f7e4be Mon Sep 17 00:00:00 2001
From: edgarriba <edgar.riba@gmail.com>
Date: Wed, 30 Jul 2014 12:39:46 +0200
Subject: [PATCH 031/112] Code tutorial

---
 .../real_time_pose_estimation/Data/box.mp4    |   Bin 0 -> 1901774 bytes
 .../real_time_pose_estimation/Data/box.ply    |    31 +
 .../Data/cookies_ORB.yml                      | 31793 ++++++++++++++++
 .../Data/resized_IMG_3875.JPG                 |   Bin 0 -> 104766 bytes
 4 files changed, 31824 insertions(+)
 create mode 100644 samples/cpp/tutorial_code/calib3d/real_time_pose_estimation/Data/box.mp4
 create mode 100644 samples/cpp/tutorial_code/calib3d/real_time_pose_estimation/Data/box.ply
 create mode 100644 samples/cpp/tutorial_code/calib3d/real_time_pose_estimation/Data/cookies_ORB.yml
 create mode 100644 samples/cpp/tutorial_code/calib3d/real_time_pose_estimation/Data/resized_IMG_3875.JPG

diff --git a/samples/cpp/tutorial_code/calib3d/real_time_pose_estimation/Data/box.mp4 b/samples/cpp/tutorial_code/calib3d/real_time_pose_estimation/Data/box.mp4
new file mode 100644
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y98|=-J=jUME@`TTE<38%8AQsJg4S#I4VZhH>I}WV9UoKm=ROdlPY<%tWBq@-H0%oi

literal 0
HcmV?d00001

diff --git a/samples/cpp/tutorial_code/calib3d/real_time_pose_estimation/Data/box.ply b/samples/cpp/tutorial_code/calib3d/real_time_pose_estimation/Data/box.ply
new file mode 100644
index 0000000000..0979e3e38a
--- /dev/null
+++ b/samples/cpp/tutorial_code/calib3d/real_time_pose_estimation/Data/box.ply
@@ -0,0 +1,31 @@
+ply
+format ascii 1.0
+comment made by anonymous
+comment this file is a cube
+element vertex 8
+property float32 x
+property float32 y
+property float32 z
+element face 12
+property list uint8 int32 vertex_index
+end_header
+0 0 0
+0 25.8 0
+18.9 0 0
+18.9 25.8 0
+0 0 7.5
+0 25.8 7.5
+18.9 0 7.5
+18.9 25.8 7.5
+3 5 1 0
+3 5 4 0
+3 4 0 2
+3 4 6 2
+3 7 5 4
+3 7 6 4
+3 3 2 1
+3 1 2 0
+3 5 7 1
+3 7 1 3
+3 7 6 3
+3 6 3 2
diff --git a/samples/cpp/tutorial_code/calib3d/real_time_pose_estimation/Data/cookies_ORB.yml b/samples/cpp/tutorial_code/calib3d/real_time_pose_estimation/Data/cookies_ORB.yml
new file mode 100644
index 0000000000..f119598251
--- /dev/null
+++ b/samples/cpp/tutorial_code/calib3d/real_time_pose_estimation/Data/cookies_ORB.yml
@@ -0,0 +1,31793 @@
+%YAML:1.0
+points_3d: !!opencv-matrix
+   rows: 5914
+   cols: 1
+   dt: "3f"
+   data: [ 5.81652069e+00, 6.59059143e+00, 7.50000000e+00, 0.,
+       6.58016205e-02, 3.27301025e-02, 7.62939453e-06, 7.74074554e-01,
+       2.94036865e-01, 0., 1.09350014e+00, 3.25691223e-01,
+       1.78939514e+01, 2.47868404e+01, 7.50000000e+00, 0.,
+       1.50090218e+00, 2.29133606e-01, 0., 7.57560730e-01,
+       6.19583130e-01, 1.77171707e+01, 2.41349888e+01, 7.50000000e+00,
+       0., 1.08206367e+00, 5.42961121e-01, 0., 2.80006027e+00,
+       1.37336731e-01, 0., 3.12296295e+00, 1.69082642e-01,
+       1.75166321e+01, 2.43375950e+01, 7.50000000e+00, 7.62939453e-06,
+       3.53643608e+00, 7.16323853e-02, 7.62939453e-06, 2.95099068e+00,
+       3.17375183e-01, 0., 3.10879707e+00, 3.87962341e-01, 0.,
+       1.05927849e+00, 9.75822449e-01, 1.75225830e+01, 2.35742168e+01,
+       7.50000000e+00, 0., 3.43171501e+00, 4.19860840e-01,
+       -7.62939453e-06, 4.84415627e+00, 8.88748169e-02, 1.72289734e+01,
+       2.42151966e+01, 7.50000000e+00, 1.72852173e+01, 2.39520588e+01,
+       7.49999237e+00, 0., 5.17886925e+00, 1.04370117e-02, 0.,
+       5.58975983e+00, 2.26593018e-02, 7.62939453e-06, 4.82766342e+00,
+       3.08975220e-01, 1.71792755e+01, 2.37161732e+01, 7.50000000e+00,
+       0., 5.15344048e+00, 3.40988159e-01, -7.62939453e-06,
+       5.57223701e+00, 2.43392944e-01, 1.71484070e+01, 2.31312656e+01,
+       7.50000000e+00, 7.62939453e-06, 2.31677818e+00, 1.42794800e+00,
+       0., 3.87520409e+00, 1.06752777e+00, 1.69494400e+01,
+       2.33334141e+01, 7.50000000e+00, 0., 7.22212410e+00,
+       2.93464661e-01, 0., 7.56184769e+00, 2.14889526e-01,
+       7.62939453e-06, 4.19805717e+00, 1.09983063e+00, 1.67694626e+01,
+       2.34479961e+01, 7.50000763e+00, 0., 4.18252373e+00,
+       1.31696320e+00, 0., 8.89687920e+00, 2.32788086e-01,
+       7.62939453e-06, 9.31528664e+00, 2.45361328e-01, 0.,
+       9.57364845e+00, 1.86058044e-01, 1.68025513e+01, 2.18503704e+01,
+       7.50000000e+00, 0., 7.50762939e-01, 2.31622314e+00, 0.,
+       1.07202721e+00, 2.24260712e+00, 0., 2.28437424e+00,
+       1.96485138e+00, 7.62939453e-06, 3.99455261e+00, 1.67926025e+00,
+       0., 3.74039459e+00, 1.84337616e+00, 0., 1.12716084e+01,
+       1.24443054e-01, 0., 1.05511475e+00, 2.56096649e+00, 0.,
+       1.15206470e+01, 1.76811218e-01, 0., 2.09669113e+00,
+       2.42869568e+00, 0., 3.97175026e+00, 2.00234985e+00, 0.,
+       1.28099003e+01, 1.02241516e-01, 7.62939453e-06, 3.79263306e+00,
+       2.25417328e+00, 7.62939453e-06, 1.31488285e+01, 1.34834290e-01,
+       0., 7.92762756e-01, 3.03775787e+00, 0., 1.03266907e+00,
+       2.98352051e+00, 0., 1.34882412e+01, 1.67465210e-01, 0.,
+       3.94149399e+00, 2.43115997e+00, 0., 1.01459560e+01,
+       1.13888550e+00, 1.54052734e+01, 2.47663975e+01, 7.50000000e+00,
+       0., 1.49706364e+01, 5.22232056e-02, 0., 2.13953400e+00,
+       3.04643250e+00, 0., 3.76289558e+00, 2.68149567e+00, 0.,
+       1.53131580e+01, 8.49761963e-02, 0., 7.14962578e+00,
+       2.02642059e+00, 0., 1.56561756e+01, 1.17767334e-01,
+       7.62939453e-06, 3.74808884e+00, 2.89432526e+00, 0.,
+       3.81482887e+00, 3.08843231e+00, 0., 7.20427322e+00,
+       2.33226013e+00, 0., 9.23216438e+00, 1.87984467e+00, 0.,
+       9.40264702e+00, 1.84181213e+00, 1.49480209e+01, 2.47572079e+01,
+       7.50000000e+00, 1.50042267e+01, 2.44971561e+01, 7.50000000e+00,
+       0., 1.70499897e+01, 1.35726929e-01, 0., 1.74128208e+01,
+       5.47714233e-02, 1.53780899e+01, 2.27673550e+01, 7.49999237e+00,
+       0., 7.95060539e+00, 2.27185059e+00, 0., 1.38152790e+01,
+       9.65957642e-01, 1.52759171e+01, 2.25362339e+01, 7.50000000e+00,
+       0., 3.71858215e+00, 3.31835175e+00, 7.62939453e-06,
+       9.38010216e+00, 2.06010437e+00, 0., 1.22229023e+01,
+       1.42830658e+00, 7.62939453e-06, 7.51008606e+00, 2.58134460e+00,
+       0., 7.84598351e+00, 2.50685120e+00, 0., 1.23838711e+01,
+       1.50024414e+00, 0., 1.87282696e+01, 9.29183960e-02, 0.,
+       3.78518105e+00, 3.51154327e+00, 0., 8.17239571e+00,
+       2.54022980e+00, 0., 1.19356556e+01, 1.70705414e+00, 0.,
+       1.90768261e+01, 1.26022339e-01, 7.62939453e-06, 1.94444675e+01,
+       4.46243286e-02, -7.62939453e-06, 8.58371162e+00, 2.55500793e+00,
+       7.62939453e-06, 9.34639549e+00, 2.38646698e+00, 0.,
+       1.21831417e+01, 1.75962067e+00, 0., 7.22652435e-01,
+       4.39448547e+00, 0., 9.60508347e-01, 4.34202576e+00,
+       7.62939453e-06, 8.82657814e+00, 2.60713959e+00, 7.62939453e-06,
+       1.35533314e+01, 1.67233276e+00, 7.62939453e-06, 2.06808376e+01,
+       1.03363037e-01, 1.42352524e+01, 2.45406704e+01, 7.50000000e+00,
+       7.62939453e-06, 2.08664570e+01, 6.25000000e-02, 0.,
+       1.38025303e+01, 1.72512817e+00, 7.62939453e-06, 2.10325832e+01,
+       1.36619568e-01, 0., 1.02325630e+00, 4.63497162e+00,
+       7.62939453e-06, 3.74833298e+00, 4.03739166e+00, 7.62939453e-06,
+       1.04939785e+01, 2.55815887e+00, 0., 1.13525982e+01,
+       2.36988068e+00, 0., 1.29129543e+01, 2.02771759e+00, 0.,
+       1.30875225e+01, 1.98944092e+00, 0., 1.35108242e+01,
+       2.00387573e+00, 0., 1.05554981e+01, 2.75659180e+00,
+       1.40343781e+01, 2.40759945e+01, 7.50000000e+00, 0.,
+       1.14996090e+01, 2.55035400e+00, 0., 1.31471119e+01,
+       2.19046783e+00, 0., 6.90683365e-01, 5.01313782e+00,
+       7.62939453e-06, 3.72633743e+00, 4.35128021e+00, 0.,
+       1.00117111e+00, 5.04707336e+00, -7.62939453e-06, 2.27261353e+00,
+       4.77040100e+00, 0., 1.03608303e+01, 3.01034546e+00, 0.,
+       1.34684925e+01, 2.33409882e+00, 0., 1.39939098e+01,
+       2.21976471e+00, 7.62939453e-06, 1.75527973e+01, 1.44532776e+00,
+       1.38408356e+01, 2.42741642e+01, 7.50000000e+00, 7.62939453e-06,
+       3.87338638e+00, 4.52476501e+00, 0., 1.69062595e+01,
+       1.69418335e+00, 0., 9.11245346e-01, 5.26945496e+00, 0.,
+       1.36150036e+01, 2.51565552e+00, 0., 1.51976604e+01,
+       2.17259216e+00, 7.62939453e-06, 1.65316257e+01, 1.88341522e+00,
+       0., 1.76088161e+01, 1.64991760e+00, 7.62939453e-06,
+       2.25361633e+00, 5.08023834e+00, 0., 3.77783775e+00,
+       4.75048065e+00, 7.62939453e-06, 1.03252926e+01, 3.33391571e+00,
+       0., 1.37756062e+01, 2.58744049e+00, 0., 1.40381947e+01,
+       2.53062439e+00, 0., 1.43013248e+01, 2.47370148e+00, 0.,
+       1.53592892e+01, 2.24481201e+00, 0., 1.89499264e+01,
+       1.46796417e+00, 0., 2.08805656e+00, 5.21765900e+00, 0.,
+       1.10810909e+01, 3.27574921e+00, 7.62939453e-06, 1.46381092e+01,
+       2.50765228e+00, 0., 1.63206730e+01, 2.14433289e+00, 0.,
+       1.71254215e+01, 1.97055817e+00, 7.62939453e-06, 1.92050114e+01,
+       1.52149963e+00, 0., 1.13254910e+01, 3.32827759e+00, 0.,
+       1.41844006e+01, 2.71213531e+00, 1.74314880e+01, 6.41291046e+00,
+       7.49999237e+00, 7.62939453e-06, 1.67507000e+01, 2.15904999e+00,
+       0., 1.80081310e+01, 1.88804626e+00, 0., 1.89138241e+01,
+       1.69285583e+00, 0., 2.16692295e+01, 1.09901428e+00, 0.,
+       1.09710293e+01, 3.50971222e+00, 0., 1.14843082e+01,
+       3.39930725e+00, 0., 1.19996777e+01, 3.28845215e+00, 0.,
+       1.21719341e+01, 3.25139618e+00, 0., 1.44327793e+01,
+       2.76508331e+00, 0., 1.46962376e+01, 2.70841980e+00, 0.,
+       1.71816349e+01, 2.17379761e+00, 0., 2.19276752e+01,
+       1.15290833e+00, 7.62939453e-06, 2.21137028e+01, 1.11289215e+00,
+       -7.62939453e-06, 3.90969658e+00, 5.13059998e+00, 7.62939453e-06,
+       1.83344517e+01, 2.03379059e+00, 0., 1.86964397e+01,
+       1.95607758e+00, 0., 2.14267159e+00, 5.61107635e+00,
+       -7.62939453e-06, 1.22318516e+01, 3.44924927e+00, 1.71923752e+01,
+       6.16588402e+00, 7.50000000e+00, 0., 1.27496471e+01,
+       3.33830261e+00, 0., 1.63452702e+01, 2.56786346e+00,
+       7.62939453e-06, 1.81364079e+01, 2.18406677e+00, 0.,
+       2.21658535e+01, 1.32067871e+00, 7.62939453e-06, 1.19608097e+01,
+       3.61238098e+00, 7.62939453e-06, 1.88419018e+01, 2.14081573e+00,
+       7.62939453e-06, 2.16815968e+01, 1.53352356e+00, 1.81250381e+01,
+       1.22525215e+00, 7.50000000e+00, 7.62939453e-06, 3.72672462e+00,
+       5.47483063e+00, 7.62939453e-06, 1.00736675e+01, 4.12012482e+00,
+       7.62939453e-06, 1.24638882e+01, 3.60994720e+00, 0.,
+       1.28090611e+01, 3.53627777e+00, 7.62939453e-06, 1.61356258e+01,
+       2.82624054e+00, 0., 1.81016178e+01, 2.40660858e+00,
+       1.77216949e+01, 2.40773773e+00, 7.50000000e+00, 7.62939453e-06,
+       1.95503864e+01, 2.09738159e+00, 0., 3.88015556e+00,
+       5.54355621e+00, 0., 9.72452354e+00, 4.29853058e+00, 0.,
+       1.77248363e+01, 2.59423065e+00, 0., 9.96608162e+00,
+       4.35093689e+00, 1.74960175e+01, 2.77709198e+00, 7.50000763e+00,
+       1.77801971e+01, 1.47755051e+00, 7.50000000e+00, 0.,
+       6.95226669e-01, 6.42198181e+00, 0., 9.30147171e-01,
+       6.37213135e+00, 0., 4.18703079e+00, 5.68101501e+00,
+       1.70567398e+01, 4.12325668e+00, 7.50000000e+00, 1.74128876e+01,
+       2.49587822e+00, 7.49999237e+00, 1.75194550e+01, 2.00885010e+00,
+       7.50000000e+00, 0., 1.58227329e+01, 3.21187592e+00, 0.,
+       1.61764622e+01, 3.13680267e+00, 0., 1.09584141e+01,
+       4.34811401e+00, 0., 1.12135258e+01, 4.29408264e+00, 0.,
+       1.67814579e+01, 3.11484528e+00, 7.62939453e-06, 3.77060318e+00,
+       5.97135925e+00, 0., 4.01124001e+00, 5.92050171e+00,
+       1.72410889e+01, 2.62098885e+00, 7.50000000e+00, 0.,
+       1.07765636e+01, 4.49044800e+00, 0., 1.76566944e+01,
+       3.03612518e+00, 0., 1.64827023e+01, 3.39031982e+00, 0.,
+       6.74215317e-01, 6.82484436e+00, 0., 9.86732483e-01,
+       6.75904083e+00, 0., 1.07524929e+01, 4.70277405e+00, 0.,
+       1.67324810e+01, 3.44363403e+00, 7.62939453e-06, 2.37496967e+01,
+       1.96609497e+00, 0., 1.37282372e+00, 6.77732849e+00, 0.,
+       1.70713100e+01, 3.47831726e+00, 0., 1.81425419e+01,
+       3.25319672e+00, 7.62939453e-06, 1.21047783e+00, 6.91084290e+00,
+       0., 1.83045063e+01, 3.32556915e+00, 0., 2.20348797e+01,
+       2.54315948e+00, 0., 6.58527374e-01, 7.12566376e+00, 0.,
+       9.70439911e-01, 7.06037140e+00, 0., 2.38721218e+01,
+       2.26636505e+00, 0., 1.35578728e+00, 7.07892609e+00, 0.,
+       2.69387245e+00, 6.79936981e+00, 0., 2.93153763e+00,
+       6.74972534e+00, 0., 1.05357914e+01, 5.16102600e+00,
+       1.27654037e+01, 2.03780689e+01, 7.50000000e+00, 0.,
+       1.98919315e+01, 3.20632935e+00, 0., 3.40125275e+00,
+       6.75151825e+00, 7.62939453e-06, 2.38289852e+01, 2.49206543e+00,
+       7.62939453e-06, 1.95834484e+01, 3.48372650e+00, 0.,
+       1.97642956e+01, 3.44609833e+00, 1.69647598e+01, 1.26134491e+00,
+       7.50000000e+00, 0., 2.67428589e+00, 7.10202026e+00,
+       1.25759888e+01, 2.05754375e+01, 7.49999237e+00, 7.62939453e-06,
+       2.37859669e+01, 2.71715546e+00, 0., 2.98393250e+00,
+       7.13711548e+00, 7.62939453e-06, 3.30091858e+00, 7.07139587e+00,
+       7.62939453e-06, 4.73755646e+00, 6.77359009e+00, 7.62939453e-06,
+       1.02365780e+01, 5.63368988e+00, 0., 1.04045048e+01,
+       5.59888458e+00, 1.67766190e+01, 1.46722984e+00, 7.50000000e+00,
+       0., 1.98178082e+01, 3.64759064e+00, 1.15315475e+01,
+       2.46601505e+01, 7.50000000e+00, 0., 4.56933594e+00,
+       6.90839386e+00, -7.62939453e-06, 5.05101585e+00, 6.80874634e+00,
+       7.62939453e-06, 5.28433800e+00, 6.86056519e+00, 7.62939453e-06,
+       2.00520267e+01, 3.81134033e+00, 0., 2.14161777e+01,
+       3.52967834e+00, 7.62939453e-06, 4.71397781e+00, 7.07809448e+00,
+       0., 5.02683258e+00, 7.11338043e+00, 1.50443344e+01,
+       8.04078102e+00, 7.50000000e+00, 1.50802765e+01, 7.87748146e+00,
+       7.50000000e+00, 0., 5.34836197e+00, 7.04724884e+00,
+       7.62939453e-06, 6.72427559e+00, 6.76425934e+00, 7.62939453e-06,
+       2.37718563e+01, 3.25807953e+00, 0., 2.01769085e+01,
+       4.10322571e+00, 1.59034882e+01, 4.13844681e+00, 7.50000000e+00,
+       0., 2.05200405e+01, 4.13855743e+00, 1.65074081e+01,
+       1.39536476e+00, 7.50000000e+00, 0., 2.14289608e+01,
+       3.95236206e+00, 0., 2.36363239e+01, 3.50015259e+00,
+       7.62939453e-06, 6.69678307e+00, 7.07048035e+00, 1.21573257e+01,
+       2.04939060e+01, 7.50000000e+00, 0., 7.02210045e+00,
+       7.00397491e+00, 0., 8.41427040e+00, 6.71932983e+00,
+       9.71450806e-01, 1.00404358e+00, 7.50000000e+00, 1.47485580e+01,
+       8.73320580e+00, 7.50000000e+00, 1.58584290e+01, 3.69581604e+00,
+       7.50000000e+00, 0., 7.33869553e+00, 7.03945160e+00, 0.,
+       8.73358345e+00, 6.75482178e+00, 7.62939453e-06, 9.06407356e+00,
+       6.68737793e+00, 0., 2.13897915e+01, 4.17224884e+00,
+       1.20614395e+01, 2.02712116e+01, 7.50000000e+00, 7.62939453e-06,
+       2.05537586e+01, 4.44824982e+00, 1.25620270e+00, 7.78184891e-01,
+       7.50000000e+00, 1.15271759e+00, 1.21305847e+00, 7.50000000e+00,
+       0., 8.38340569e+00, 7.02717590e+00, 0., 2.03542194e+01,
+       4.59409332e+00, 1.47049561e+01, 8.28211403e+00, 7.50000000e+00,
+       1.47768555e+01, 7.95598412e+00, 7.50000000e+00, 1.48307495e+01,
+       7.71155357e+00, 7.50000000e+00, 0., 2.07157116e+01,
+       4.52061462e+00, 9.32380676e-01, 2.62651062e+00, 7.50000000e+00,
+       0., 8.70208549e+00, 7.06280518e+00, 0., 9.03189659e+00,
+       6.99590302e+00, 0., 1.04433460e+01, 6.70958710e+00, 0.,
+       2.08776722e+01, 4.59297943e+00, 1.62745972e+01, 1.16327286e+00,
+       7.50000000e+00, 7.62939453e-06, 2.11496220e+01, 4.53781128e+00,
+       7.62939453e-06, 2.20601902e+01, 4.35310364e+00, 1.40374756e+00,
+       1.13228226e+00, 7.50000000e+00, 9.71290588e-01, 2.95162010e+00,
+       7.50000000e+00, 7.62939453e-06, 1.07658749e+01, 6.74526978e+00,
+       1.61583710e+00, 7.28586197e-01, 7.50000000e+00, 1.56407928e+00,
+       9.46477890e-01, 7.50000000e+00, 1.20099640e+00, 2.47480202e+00,
+       7.50000000e+00, 0., 1.11726894e+01, 6.76406097e+00, 0.,
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+       7.50000000e+00, 1.44205475e+01, 8.27839851e+00, 7.50000000e+00,
+       1.15357208e+00, 3.16547012e+00, 7.50000000e+00, 0.,
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+       7.50000000e+00, -7.62939453e-06, 1.07302761e+01, 7.05503082e+00,
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+       1.25804348e+01, 6.68267059e+00, 1.16274033e+01, 2.02744350e+01,
+       7.50000000e+00, 7.62939453e-06, 2.09820042e+01, 4.99186707e+00,
+       0., 2.11629391e+01, 4.95545959e+00, 0., 2.13441410e+01,
+       4.91899109e+00, 0., 2.36303654e+01, 4.45888519e+00,
+       1.51009369e+00, 2.64836121e+00, 7.50000000e+00, 1.42337952e+01,
+       8.47994041e+00, 7.50000000e+00, 1.00599670e+00, 4.77389526e+00,
+       7.50000000e+00, 1.54134140e+01, 3.14184570e+00, 7.50000000e+00,
+       1.54667053e+01, 2.90075874e+00, 7.50000000e+00, 9.36279297e-01,
+       5.06789017e+00, 7.50000000e+00, -7.62939453e-06, 1.29063854e+01,
+       6.71856689e+00, 0., 1.32463665e+01, 6.65028381e+00,
+       2.01744843e+00, 1.00213814e+00, 7.50000000e+00, 1.16728973e+00,
+       4.58890724e+00, 7.50000000e+00, 0., 2.14864750e+01,
+       5.10002899e+00, 2.04048157e+00, 1.39931488e+00, 7.50000000e+00,
+       1.93663788e+00, 1.83768082e+00, 7.50000000e+00, 1.88467407e+00,
+       2.05702972e+00, 7.50000000e+00, 1.83268738e+00, 2.27648926e+00,
+       7.50000000e+00, 1.36361694e+00, 4.25665474e+00, 7.50000000e+00,
+       1.11953735e+00, 5.28697777e+00, 7.50000000e+00, 1.53870544e+01,
+       2.62289238e+00, 7.50000000e+00, 0., 1.25411282e+01,
+       6.99423218e+00, 0., 2.16482563e+01, 5.17231750e+00,
+       1.14008942e+01, 1.99985218e+01, 7.50000000e+00, 0.,
+       2.20115948e+01, 5.09961700e+00, 1.22278671e+01, 1.62617474e+01,
+       7.50000000e+00, 1.35103607e+00, 4.80714607e+00, 7.50000000e+00,
+       1.28125763e+00, 5.10188866e+00, 7.50000000e+00, 1.39329605e+01,
+       8.55711555e+00, 7.50000000e+00, 1.40048599e+01, 8.23225594e+00,
+       7.50000000e+00, 7.62939453e-06, 1.28664265e+01, 7.03025818e+00,
+       0., 1.32056942e+01, 6.96252441e+00, 0., 1.44860477e+01,
+       6.70689392e+00, 2.29459381e+00, 1.31827736e+00, 7.50000000e+00,
+       2.17338562e+00, 1.83049202e+00, 7.50000763e+00, 0.,
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+       7.50000763e+00, 2.10994720e+00, 2.59698296e+00, 7.50000000e+00,
+       1.08060455e+00, 6.94977379e+00, 7.50000000e+00, 1.20230789e+01,
+       1.65418644e+01, 7.50000000e+00, 0., 1.49722462e+01,
+       6.81333160e+00, 0., 2.37797031e+01, 5.06184387e+00,
+       1.30067368e+01, 1.21004009e+01, 7.50000000e+00, 1.37109985e+01,
+       8.92045021e+00, 7.50000000e+00, 2.54949951e+00, 1.23698807e+00,
+       7.50000000e+00, 2.49755096e+00, 1.45675468e+00, 7.50000000e+00,
+       2.41092682e+00, 1.82328224e+00, 7.50000000e+00, 2.27217102e+00,
+       2.41036987e+00, 7.50000000e+00, 1.24300385e+00, 6.76488686e+00,
+       7.50000000e+00, 0., 1.44428349e+01, 7.01998138e+00, 0.,
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+       5.22580719e+00, 2.69455719e+00, 1.12296486e+00, 7.50000000e+00,
+       1.10830994e+01, 2.01399136e+01, 7.50000000e+00, 1.77304077e+00,
+       5.02423477e+00, 7.50000000e+00, 7.62939453e-06, 1.51146641e+01,
+       6.98814392e+00, 1.25848236e+01, 1.33642063e+01, 7.50000000e+00,
+       1.36691208e+01, 8.47182655e+00, 7.50000000e+00, 0.,
+       1.67592030e+01, 6.66241455e+00, 2.77056122e+00, 1.30215836e+00,
+       7.50000000e+00, 2.47569275e+00, 2.55124092e+00, 7.50000000e+00,
+       2.16254425e+00, 3.87772751e+00, 7.50000000e+00, 1.83095551e+00,
+       5.28232574e+00, 7.50000000e+00, 1.17789993e+01, 1.63581448e+01,
+       7.50000000e+00, 1.74352264e+00, 5.65271950e+00, 7.50000000e+00,
+       -7.62939453e-06, 1.70918560e+01, 6.69870758e+00, 2.23829651e+00,
+       4.06049919e+00, 7.50000000e+00, 2.18598175e+00, 4.28225517e+00,
+       7.50000000e+00, 1.27619247e+01, 1.19264469e+01, 7.50000763e+00,
+       1.34656830e+01, 8.75344658e+00, 7.50000000e+00, 1.09868622e+00,
+       8.89066887e+00, 7.50000000e+00, 1.02815247e+00, 9.18966866e+00,
+       7.50000000e+00, 9.96955872e+00, 2.38706608e+01, 7.50000000e+00,
+       7.62939453e-06, 1.63797474e+01, 6.94123840e+00, 2.73207855e+00,
+       2.47148705e+00, 7.50000000e+00, 2.40141296e+00, 3.87385750e+00,
+       7.49999237e+00, 1.22862244e+01, 1.34331684e+01, 7.49999237e+00,
+       2.01718140e+00, 5.50332832e+00, 7.50000000e+00, 1.87711334e+00,
+       6.09738731e+00, 7.49999237e+00, 1.80699158e+00, 6.39471626e+00,
+       7.50000000e+00, 1.33883057e+01, 8.46779823e+00, 7.50000000e+00,
+       -7.62939453e-06, 1.67112522e+01, 6.97762299e+00, 0.,
+       1.84614964e+01, 6.63301849e+00, 3.17291260e+00, 1.10616875e+00,
+       7.49999237e+00, 9.87667847e+00, 2.36452351e+01, 7.50000763e+00,
+       2.47753143e+00, 4.05692101e+00, 7.50000000e+00, 0.,
+       1.70432224e+01, 7.01405334e+00, 1.07098007e+01, 1.98944073e+01,
+       7.50000000e+00, 7.62939453e-06, 1.82683353e+01, 6.77332306e+00,
+       1.15359039e+01, 1.61751652e+01, 7.50000000e+00, 1.18644028e+01,
+       1.46962185e+01, 7.50000000e+00, 0., 1.87969418e+01,
+       6.66946411e+00, 0., 1.91505451e+01, 6.59997559e+00,
+       2.55381775e+00, 4.24036980e+00, 7.50000763e+00, 1.35620956e+01,
+       7.05292511e+00, 7.50000000e+00, 2.51891327e+00, 4.38862419e+00,
+       7.50000000e+00, 2.27415466e+00, 5.42780876e+00, 7.50000000e+00,
+       0., 1.84099674e+01, 6.94979095e+00, 3.54241943e+00,
+       1.05664825e+00, 7.50000000e+00, 1.14969177e+01, 1.57141514e+01,
+       7.50000000e+00, 1.24779205e+01, 1.13007412e+01, 7.49999237e+00,
+       1.25502014e+01, 1.09755802e+01, 7.49999237e+00, 1.32879257e+01,
+       7.65659332e+00, 7.50000000e+00, 3.07327271e+00, 3.05093956e+00,
+       7.50000000e+00, 0., 1.87447147e+01, 6.98638916e+00, 0.,
+       1.90975513e+01, 6.91747284e+00, 0., 2.04292431e+01,
+       6.65737915e+00, 9.58008575e+00, 2.36970425e+01, 7.50000000e+00,
+       0., 2.07866611e+01, 6.58756256e+00, 1.04682999e+01,
+       1.97039394e+01, 7.50000000e+00, 1.05419617e+01, 1.93728085e+01,
+       7.50000000e+00, 0., 2.12156315e+01, 6.60671997e+00,
+       1.14215546e+01, 1.54184399e+01, 7.50000000e+00, 1.16402206e+01,
+       1.44353771e+01, 7.50000000e+00, 3.15766907e+00, 3.71358681e+00,
+       7.50000000e+00, 1.22028732e+01, 1.19059467e+01, 7.50000000e+00,
+       3.20001984e+00, 4.04612160e+00, 7.50000763e+00, 3.14760590e+00,
+       4.26934433e+00, 7.50000000e+00, 1.32468872e+01, 7.21239471e+00,
+       7.50000000e+00, 0., 2.03735523e+01, 6.97573853e+00, 0.,
+       2.07301884e+01, 6.90649414e+00, 3.88742065e+00, 1.63142014e+00,
+       7.50000000e+00, 1.45274429e+01, 1.45546913e+00, 7.50000000e+00,
+       3.60902405e+00, 2.81762314e+00, 7.50000000e+00, 3.46954346e+00,
+       3.41194916e+00, 7.50000000e+00, 3.38227844e+00, 3.78381729e+00,
+       7.50000000e+00, 3.10249329e+00, 4.97593498e+00, 7.50000000e+00,
+       1.03018646e+01, 1.98158474e+01, 7.50000000e+00, 1.05778275e+01,
+       1.85761585e+01, 7.50000000e+00, 0., 2.10687580e+01,
+       6.94329071e+00, 1.11091309e+01, 1.61892490e+01, 7.50000763e+00,
+       1.12552032e+01, 1.55330715e+01, 7.50000000e+00, 0.,
+       2.25079441e+01, 6.66445160e+00, 0., 2.28702030e+01,
+       6.59426880e+00, 1.22354660e+01, 1.11293049e+01, 7.50000000e+00,
+       7.62939453e-06, 2.48805714e+01, 6.20475006e+00, 0.,
+       2.51570797e+01, 6.15118408e+00, 1.29732132e+01, 7.81506538e+00,
+       7.49999237e+00, 1.31880875e+01, 6.84978867e+00, 7.50000000e+00,
+       3.65195465e+00, 3.14927864e+00, 7.50000000e+00, 3.14491272e+00,
+       5.31104851e+00, 7.50000000e+00, 7.62939453e-06, 2.32128544e+01,
+       6.63111877e+00, 1.02829666e+01, 1.92664013e+01, 7.50000000e+00,
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+       7.50000000e+00, 4.41041565e+00, 2.34351559e+01, 7.50000000e+00,
+       1.16921844e+01, 1.34796333e+00, 7.50000000e+00, 4.37351990e+00,
+       2.35967312e+01, 7.50000000e+00, 4.33661652e+00, 2.37583675e+01,
+       7.50000000e+00, 4.05939484e+00, 2.49725208e+01, 7.50000000e+00,
+       8.22062683e+00, 1.61246777e+01, 7.50000000e+00, 4.49524689e+00,
+       2.48191624e+01, 7.50000000e+00, 9.81262970e+00, 2.05831146e+00,
+       7.50000000e+00, 1.01490021e+01, 7.58822060e+00, 7.49999237e+00,
+       1.01846848e+01, 7.43023682e+00, 7.50000000e+00, 6.94113159e+00,
+       1.46676273e+01, 7.50000000e+00, 1.07716751e+01, 4.83176613e+00,
+       7.50000000e+00, 1.08603134e+01, 4.43941116e+00, 7.50000000e+00,
+       7.00885010e+00, 1.49534664e+01, 7.50000000e+00, 4.90419006e+00,
+       2.42015324e+01, 7.50000000e+00, 7.23973846e+00, 1.45232601e+01,
+       7.50000000e+00, 4.95172882e+00, 2.45836430e+01, 7.50000000e+00,
+       9.49341583e+00, 5.19332886e+00, 7.50000000e+00, 6.99852753e+00,
+       2.09312649e+01, 7.50000000e+00, 7.07207489e+00, 2.06058903e+01,
+       7.50000000e+00, 5.03646088e+00, 2.48036823e+01, 7.50000000e+00,
+       9.81153870e+00, 4.37393761e+00, 7.50000000e+00, 9.56360626e+00,
+       5.46560287e+00, 7.50000000e+00, 9.52812195e+00, 5.62177658e+00,
+       7.50000000e+00, 5.25107574e+00, 2.44531918e+01, 7.50000000e+00,
+       6.22891998e+00, 2.37319431e+01, 7.50000000e+00, 6.70896912e+00,
+       2.16097698e+01, 7.50000000e+00, 6.81941986e+00, 2.11214809e+01,
+       7.50000000e+00, 9.89981079e+00, 4.56723595e+00, 7.50000000e+00,
+       9.74037933e+00, 5.26963043e+00, 7.50000000e+00, 8.37120056e+00,
+       1.42614422e+01, 7.50000000e+00, 9.98825836e+00, 4.76095772e+00,
+       7.50000000e+00, 9.82873535e+00, 5.46427727e+00, 7.50000000e+00,
+       9.72223663e+00, 5.93379021e+00, 7.50000000e+00, 9.86341858e+00,
+       7.66470718e+00, 7.50000000e+00, 6.36286926e+00, 2.07445965e+01,
+       7.50000763e+00, 6.32612610e+00, 2.09065990e+01, 7.50000000e+00,
+       6.03168488e+00, 2.22047215e+01, 7.50000000e+00, 5.44021606e+00,
+       2.48124447e+01, 7.50000000e+00, 1.01654739e+01, 4.56434441e+00,
+       7.50000000e+00, 9.70403290e+00, 6.60012627e+00, 7.50000000e+00,
+       6.54096222e+00, 2.05548763e+01, 7.50000000e+00, 1.03429260e+01,
+       4.36747932e+00, 7.50000000e+00, 6.25924683e+00, 2.23959713e+01,
+       7.50000000e+00, 5.98219299e+00, 2.36190929e+01, 7.50000000e+00,
+       1.02370453e+01, 5.42307472e+00, 7.50000000e+00, 1.04320831e+01,
+       4.56144905e+00, 7.50000000e+00, 5.92669678e+00, 2.38641262e+01,
+       7.50000000e+00, 1.12435074e+01, 9.76715088e-01, 7.50000000e+00,
+       1.11908112e+01, 1.20960045e+00, 7.50000000e+00, 0.,
+       3.03560257e-01, 8.35342407e-02, 1.82220764e+01, 2.47341747e+01,
+       7.50000000e+00, 0., 1.48293304e+00, 5.55572510e-01,
+       1.77601776e+01, 2.31959896e+01, 7.50000000e+00, 6.35142517e+00,
+       2.19890118e+01, 7.50000000e+00, 7.62939453e-06, 2.69728279e+00,
+       4.84573364e-01, 1.74724197e+01, 2.30760441e+01, 7.50000000e+00,
+       1.79201736e+01, 2.09806385e+01, 7.50000763e+00, 7.62939453e-06,
+       5.82420158e+00, 1.84669495e-01, 1.01657486e+01, 5.14967537e+00,
+       7.50000000e+00, 1.69424820e+01, 2.40932903e+01, 7.50000000e+00,
+       1.74098358e+01, 2.19098797e+01, 7.50000000e+00, 6.33876038e+00,
+       2.14470005e+01, 7.50000000e+00, 1.76519470e+01, 2.07787418e+01,
+       7.50000000e+00, 7.92701721e+00, 1.44399281e+01, 7.50000000e+00,
+       7.99944305e+00, 1.41204319e+01, 7.50000000e+00, 8.05372620e+00,
+       1.38809643e+01, 7.50000000e+00, -7.62939453e-06, 6.80836296e+00,
+       2.80906677e-01, 0., 2.15388107e+00, 1.46562958e+00,
+       1.67434464e+01, 2.42949696e+01, 7.50000763e+00, 0.,
+       4.53736496e+00, 9.14382935e-01, 6.53007507e+00, 2.17995129e+01,
+       7.50000000e+00, 1.09414825e+01, 1.14079475e+00, 7.50000000e+00,
+       5.40312958e+00, 2.49759350e+01, 7.50000000e+00, 6.43791962e+00,
+       2.22066593e+01, 7.50000000e+00, 5.62541199e+00, 2.39958744e+01,
+       7.50000763e+00, 0., 7.81724739e+00, 1.55815125e-01, 0.,
+       3.70278168e+00, 1.21416473e+00, 1.00238876e+01, 6.95535278e+00,
+       7.50000000e+00, 7.71301270e+00, 1.47920933e+01, 7.50000000e+00,
+       1.65447083e+01, 2.44963779e+01, 7.49999237e+00, 1.70683365e+01,
+       2.20540104e+01, 7.50000000e+00, 0., 9.27942276e-01,
+       1.96013641e+00, 0., 4.43850517e+00, 1.15127563e+00,
+       7.62939453e-06, 4.68722534e+00, 1.09396362e+00, 7.62939453e-06,
+       5.01963997e+00, 1.01737213e+00, 0., 5.42779541e+00,
+       1.03058624e+00, 0., 4.58818245e+00, 1.33042145e+00, 0.,
+       5.92050171e+00, 1.02459717e+00, 1.74651489e+01, 1.94827328e+01,
+       7.50000000e+00, 1.68584442e+01, 2.15900898e+01, 7.50000000e+00,
+       -7.62939453e-06, 5.41059494e+00, 1.24862671e+00, 0.,
+       6.16280174e+00, 1.07627869e+00, 5.85375214e+00, 2.23935490e+01,
+       7.50000000e+00, 5.94588470e+00, 2.19876537e+01, 7.50000000e+00,
+       -7.62939453e-06, 5.23558998e+00, 1.39548492e+00, 0.,
+       5.65206718e+00, 1.30023956e+00, 7.62939453e-06, 6.65736771e+00,
+       1.07035065e+00, 7.62939453e-06, 7.07866096e+00, 9.74006653e-01,
+       0., 4.15157509e+00, 1.74952698e+00, 0., 6.31215096e+00,
+       1.25639343e+00, 0., 7.49135590e+00, 9.87251282e-01,
+       1.59213257e+01, 2.45141163e+01, 7.50000000e+00, 1.66495667e+01,
+       2.11283817e+01, 7.50000000e+00, 1.04117508e+01, 2.31167793e+00,
+       7.50000000e+00, 1.04469604e+01, 2.15655518e+00, 7.50000000e+00,
+       7.62939453e-06, 4.30861473e+00, 1.81977844e+00, -7.62939453e-06,
+       6.55452347e+00, 1.30814362e+00, 1.70208664e+01, 1.94021015e+01,
+       7.50000000e+00, 0., 7.04949188e+00, 1.30253601e+00,
+       7.62939453e-06, 7.21806145e+00, 1.26419830e+00, 0.,
+       8.57485390e+00, 9.55703735e-01, 1.57052612e+01, 2.48015842e+01,
+       7.50000000e+00, 0., 2.33315849e+00, 2.47991943e+00, 0.,
+       8.99082756e+00, 9.68971252e-01, 1.57427597e+01, 2.46273785e+01,
+       7.50000000e+00, 9.35057831e+00, 6.40349960e+00, 7.50000763e+00,
+       1.02378082e+01, 6.60143852e+00, 7.49999237e+00, 0.,
+       5.94149780e+00, 1.76741791e+00, -7.62939453e-06, 6.44274330e+00,
+       1.65388489e+00, 0., 8.04352379e+00, 1.29127502e+00, 0.,
+       9.15075874e+00, 1.04046631e+00, 7.62939453e-06, 9.40767097e+00,
+       9.82269287e-01, 5.18457031e+00, 2.41520367e+01, 7.50000000e+00,
+       0., 9.75103951e+00, 9.04487610e-01, 5.92183685e+00,
+       2.09080601e+01, 7.50000000e+00, 1.63407898e+01, 2.18493061e+01,
+       7.49999237e+00, 6.90650940e+00, 2.13383198e+01, 7.50000000e+00,
+       1.01115875e+01, 2.47336578e+00, 7.50000000e+00, 1.04455566e+01,
+       1.00393677e+00, 7.50000000e+00, 6.31559753e+00, 2.39523563e+01,
+       7.50000000e+00, 7.62939453e-06, 8.79810905e+00, 1.22785187e+00,
+       5.74469757e+00, 2.10969639e+01, 7.50000000e+00, 5.90988159e+00,
+       2.03706532e+01, 7.50000000e+00, 0., 8.96873665e+00,
+       1.18927002e+00, -7.62939453e-06, 9.91137123e+00, 9.76165771e-01,
+       0., 1.00835247e+01, 9.37232971e-01, 1.62371140e+01,
+       2.16184483e+01, 7.49999237e+00, 0., 6.25715446e+00,
+       1.90861511e+00, 0., 6.75905991e+00, 1.79535675e+00,
+       4.68202209e+00, 2.51777821e+01, 7.50000000e+00, 0.,
+       9.38500404e+00, 1.20278931e+00, 4.94116974e+00, 2.40390339e+01,
+       7.50000000e+00, 0., 1.03301983e+01, 9.89494324e-01,
+       5.58615875e+00, 2.12048931e+01, 7.50000000e+00, 0.,
+       1.05892162e+01, 9.31045532e-01, 0., 6.41498947e+00,
+       1.97921753e+00, 1.16368332e+01, 1.00190353e+00, 7.50000000e+00,
+       0., 9.54490089e+00, 1.27426910e+00, 1.53490067e+01,
+       2.50273304e+01, 7.50000000e+00, 1.01463165e+01, 1.16712761e+00,
+       7.50000000e+00, 0., 1.07499027e+01, 1.00286102e+00,
+       7.62939453e-06, 1.10096226e+01, 9.44358826e-01, 5.55636597e+00,
+       2.07483654e+01, 7.50000000e+00, 5.66638947e+00, 2.02652454e+01,
+       7.49999237e+00, 0., 1.12698803e+01, 8.85742188e-01,
+       1.55551224e+01, 2.40713139e+01, 7.50000000e+00, 7.03155518e+00,
+       1.42705059e+01, 7.50000000e+00, 7.13997650e+00, 1.37944393e+01,
+       7.49999237e+00, 0., 9.36044693e-01, 3.31698608e+00,
+       9.03610229e+00, 5.46824265e+00, 7.49999237e+00, 9.08923340e+00,
+       5.23489189e+00, 7.50000000e+00, 1.59287796e+01, 2.23383694e+01,
+       7.50000000e+00, 1.62638092e+01, 2.07844944e+01, 7.50000000e+00,
+       0., 4.00826645e+00, 2.62633514e+00, 0., 1.16918850e+01,
+       8.99040222e-01, 4.42117310e+00, 2.51442242e+01, 7.50000000e+00,
+       0., 7.82288551e+00, 1.87535858e+00, 7.62939453e-06,
+       1.15050335e+01, 1.04917908e+00, 0., 1.20274830e+01,
+       9.31953430e-01, 5.48999023e+00, 2.04539356e+01, 7.50000000e+00,
+       1.53400040e+01, 2.43581104e+01, 7.50000000e+00, 0.,
+       2.36871338e+00, 3.20323944e+00, 0., 8.06592751e+00,
+       1.92736053e+00, 7.16242218e+00, 1.31148739e+01, 7.50000000e+00,
+       7.62939453e-06, 1.11453762e+01, 1.23772430e+00, 0.,
+       1.24510288e+01, 9.45327759e-01, 0., 1.28014851e+01,
+       8.66844177e-01, 7.62939453e-06, 7.04640579e+00, 2.26164246e+00,
+       7.62939453e-06, 1.19140606e+01, 1.17361450e+00, 0.,
+       1.32268772e+01, 8.80180359e-01, 9.91816711e+00, 1.02192879e+00,
+       7.50000000e+00, 1.54057846e+01, 2.33449383e+01, 7.50000000e+00,
+       1.57228928e+01, 2.18766346e+01, 7.50000000e+00, 7.62939453e-06,
+       1.30371609e+01, 1.03096771e+00, 7.62939453e-06, 1.36531773e+01,
+       8.93531799e-01, 5.30282593e+00, 2.01078548e+01, 7.50000000e+00,
+       1.51165314e+01, 2.39775066e+01, 7.50000000e+00, 1.53034286e+01,
+       2.31127682e+01, 7.50000000e+00, 0., 6.94352150e+00,
+       2.49609375e+00, 1.50892868e+01, 2.33990383e+01, 7.50000000e+00,
+       9.58570099e+00, 1.33823204e+00, 7.50000000e+00, 9.62077332e+00,
+       1.18452835e+00, 7.50000000e+00, 0., 8.45721245e+00,
+       2.15904236e+00, 0., 9.56196022e+00, 1.91304779e+00,
+       6.93850708e+00, 2.18003902e+01, 7.50000000e+00, 1.52012939e+01,
+       2.28811512e+01, 7.50000000e+00, 1.04882889e+01, 6.68099785e+00,
+       7.50000000e+00, 7.62939453e-06, 1.39919491e+01, 9.26620483e-01,
+       5.23697662e+00, 1.98151760e+01, 7.50000000e+00, 7.62939453e-06,
+       1.43460217e+01, 8.47770691e-01, 0., 1.76683140e+01,
+       1.08001709e-01, 1.02207184e+01, 7.86627007e+00, 7.50000000e+00,
+       6.59967041e+00, 1.38470783e+01, 7.50000000e+00, 9.10699463e+00,
+       1.27998257e+01, 7.50000000e+00, 1.53877106e+01, 2.20193539e+01,
+       7.50000000e+00, 9.27058411e+00, 2.14958763e+00, 7.50000000e+00,
+       9.53376770e+00, 9.96971130e-01, 7.50000000e+00, 4.01322174e+00,
+       2.45917187e+01, 7.50000000e+00, 0., 2.34290695e+00,
+       3.62409210e+00, 6.51478577e+00, 1.36430683e+01, 7.50000000e+00,
+       0., 9.03983879e+00, 2.13573456e+00, 1.70675278e+01,
+       1.42532864e+01, 7.49999237e+00, 0., 1.27467175e+01,
+       1.31188202e+00, 0., 1.47748470e+01, 8.61152649e-01,
+       4.37265015e+00, 2.24383869e+01, 7.50000000e+00, 0.,
+       8.97560120e-01, 4.04814911e+00, 5.01439667e+00, 1.96314373e+01,
+       7.50000763e+00, 0., 2.09547424e+00, 3.78242493e+00, 0.,
+       7.34246826e+00, 2.61853790e+00, 1.45946274e+01, 2.49819698e+01,
+       7.50000000e+00, 6.35796356e+00, 1.37549267e+01, 7.50000000e+00,
+       7.62939453e-06, 1.45822201e+01, 1.01259613e+00, 1.51739807e+01,
+       2.23056583e+01, 7.50000000e+00, 1.71653671e+01, 1.31063480e+01,
+       7.50000000e+00, 0., 1.30693378e+01, 1.45606232e+00, 0.,
+       3.94043732e+00, 3.58104706e+00, 7.62939453e-06, 7.82566261e+00,
+       2.72251129e+00, 7.62939453e-06, 1.35817623e+01, 1.45056152e+00,
+       7.62939453e-06, 1.59772396e+01, 9.21226501e-01, 0.,
+       1.48031445e+01, 1.28900909e+00, 0., 1.56038036e+01,
+       1.11241913e+00, 0., 1.61403637e+01, 9.94079590e-01, 0.,
+       2.07046700e+00, 4.20005035e+00, 9.11635590e+00, 1.12524605e+00,
+       7.50000000e+00, 7.62939453e-06, 3.68191147e+00, 3.84532166e+00,
+       0., 1.24174213e+01, 1.92238617e+00, 1.17652893e+01,
+       1.61684036e+00, 7.50000000e+00, 7.62939453e-06, 1.43457012e+01,
+       1.49790192e+00, 8.50672913e+00, 1.60615597e+01, 7.49999237e+00,
+       4.26168823e+00, 2.17679310e+01, 7.50000000e+00, 0.,
+       1.52319088e+01, 1.30283356e+00, 4.88396454e+00, 1.90497341e+01,
+       7.50000000e+00, 0., 2.30444145e+00, 4.25134277e+00,
+       5.79217529e+00, 1.50825748e+01, 7.50000000e+00, 0.,
+       8.04691124e+00, 2.98968506e+00, 7.62939453e-06, 1.07631359e+01,
+       2.39289856e+00, 0., 1.41545582e+01, 1.64778900e+00, 0.,
+       1.49501896e+01, 1.47297668e+00, -7.62939453e-06, 1.58400478e+01,
+       1.27747345e+00, 7.62939453e-06, 2.15913792e+01, 1.38549805e-02,
+       7.35326385e+00, 2.11746807e+01, 7.50000000e+00, 4.87366486e+00,
+       1.85212383e+01, 7.50000000e+00, 7.62939453e-06, 3.91053963e+00,
+       4.00182343e+00, 0., 8.28861427e+00, 3.04177856e+00,
+       1.85002518e+01, 4.88497734e+00, 7.50000000e+00, 0.,
+       1.21303730e+01, 2.19932556e+00, 0., 1.43161983e+01,
+       1.72000885e+00, 0., 1.45810337e+01, 1.66193390e+00,
+       3.21247101e+00, 2.51963329e+01, 7.50000763e+00, 0.,
+       1.53788319e+01, 1.48698425e+00, 0., 1.56458721e+01,
+       1.42842865e+00, 0., 1.63607006e+01, 1.27167511e+00, 0.,
+       1.78023434e+01, 9.55543518e-01, 0., 2.12917385e+01,
+       1.90368652e-01, 4.93613434e+00, 1.76769047e+01, 7.50000000e+00,
+       0., 1.08244953e+01, 2.59182739e+00, 5.60662079e+00,
+       1.47519093e+01, 7.50000000e+00, 0., 1.27250500e+01,
+       2.17585754e+00, 0., 1.58975773e+01, 1.48150635e+00, 0.,
+       1.65969715e+01, 1.43685913e+00, 1.06862106e+01, 6.99811172e+00,
+       7.50000000e+00, 3.31529999e+00, 2.41732731e+01, 7.50000000e+00,
+       4.27003479e+00, 2.00109501e+01, 7.50000000e+00, 9.97027588e+00,
+       1.01739254e+01, 7.50000000e+00, 7.62939453e-06, 4.21262550e+00,
+       4.24525452e+00, 0., 1.53324032e+01, 1.82086945e+00, 0.,
+       1.92966061e+01, 9.56565857e-01, 6.11701202e+00, 1.19587269e+01,
+       7.50000000e+00, 0., 2.27261181e+01, 2.08847046e-01,
+       1.79177856e+01, 6.20689774e+00, 7.50000000e+00, 1.82045288e+01,
+       4.88743973e+00, 7.50000000e+00, 7.62939453e-06, 1.57610455e+01,
+       1.83522034e+00, 1.37285843e+01, 2.47903461e+01, 7.50000000e+00,
+       0., 1.90955296e+01, 1.10961914e+00, 0., 2.30810261e+01,
+       2.42347717e-01, 5.34966278e+00, 1.47371311e+01, 7.50000000e+00,
+       0., 3.71171761e+00, 4.55988312e+00, 1.20882568e+01,
+       1.37424278e+00, 7.50000000e+00, 7.62939453e-06, 1.13756771e+01,
+       2.89535522e+00, 1.05979462e+01, 7.98962212e+00, 7.50000763e+00,
+       0., 2.33421841e+01, 2.96386719e-01, 8.46015930e+00,
+       1.18512726e+00, 7.50000000e+00, 1.05085220e+01, 8.38658714e+00,
+       7.50000000e+00, 3.70309448e+00, 2.13409901e+01, 7.50000000e+00,
+       7.62939453e-06, 2.46680431e+01, 8.41522217e-03, 0.,
+       1.26574039e+01, 2.72323608e+00, 0., 1.56407795e+01,
+       2.07653046e+00, 1.78510895e+01, 5.83575439e+00, 7.50000000e+00,
+       0., 1.86041737e+01, 1.43415070e+00, 8.52029419e+00,
+       1.72122250e+01, 7.50000000e+00, 3.85904694e+00, 2.00941601e+01,
+       7.50000000e+00, 3.95033264e+00, 1.96969395e+01, 7.50000000e+00,
+       1.38344498e+01, 2.36135044e+01, 7.50000000e+00, 0.,
+       1.18663197e+01, 3.00051880e+00, 1.78562088e+01, 5.13653374e+00,
+       7.50000000e+00, 0., 2.52900486e+01, 9.62600708e-02, 0.,
+       1.06540623e+01, 3.36795807e+00, 0., 1.30642300e+01,
+       2.84751129e+00, 0., 2.19683132e+01, 9.24804688e-01, 0.,
+       2.22478657e+01, 8.64448547e-01, 0., 2.46007824e+01,
+       3.56369019e-01, 6.22976685e+00, 9.21911049e+00, 7.50000000e+00,
+       9.13777924e+00, 1.50776119e+01, 7.50000000e+00, 6.92216492e+00,
+       6.20824051e+00, 7.50000000e+00, 0., 1.23576641e+01,
+       3.10582733e+00, 7.41633606e+00, 4.05937386e+00, 7.50000000e+00,
+       7.99561310e+00, 1.54036522e+00, 7.50000000e+00, 0.,
+       1.60376225e+01, 2.31272888e+00, 1.75211945e+01, 6.00109100e+00,
+       7.50000000e+00, 1.81645966e+01, 3.04744339e+00, 7.49999237e+00,
+       0., 2.14837208e+01, 1.13899994e+00, 0., 2.50536861e+01,
+       3.69598389e-01, 7.72850037e+00, 2.13376293e+01, 7.50000000e+00,
+       7.69162750e+00, 2.15014133e+01, 7.50000000e+00, 0.,
+       2.52442646e+01, 3.28536987e-01, 0., 1.02050037e+01,
+       3.67449188e+00, 7.62939453e-06, 1.73610134e+01, 2.13520050e+00,
+       1.08148270e+01, 8.23129082e+00, 7.49999237e+00, 0.,
+       2.11862049e+01, 1.31240845e+00, 1.83822708e+01, 1.37887001e+00,
+       7.50000000e+00, 0., 2.22999859e+01, 1.07282257e+00,
+       1.34057846e+01, 2.35220776e+01, 7.49999237e+00, 9.87989044e+00,
+       1.23871212e+01, 7.50000000e+00, 0., 3.66085243e+00,
+       5.28577423e+00, 3.35877991e+00, 2.05735989e+01, 7.50000000e+00,
+       1.73357468e+01, 5.50873184e+00, 7.50000000e+00, 0.,
+       1.30960178e+01, 3.26407623e+00, 7.62939453e-06, 1.92230854e+01,
+       1.95121765e+00, 0., 1.97698383e+01, 1.83406067e+00, 0.,
+       2.04106197e+01, 1.69676971e+00, 0., 2.23519840e+01,
+       1.28079224e+00, 0., 2.49856968e+01, 7.16453552e-01, 0.,
+       9.83166313e+00, 4.06772614e+00, 0., 1.90232601e+01,
+       2.10202789e+00, 0., 2.37347431e+01, 1.09445190e+00,
+       2.39738464e+00, 2.41836987e+01, 7.50000000e+00, 0.,
+       8.67923737e-01, 6.08502960e+00, 1.73833618e+01, 3.95611382e+00,
+       7.50000000e+00, 0., 1.75624638e+01, 2.52169037e+00, 0.,
+       2.04641018e+01, 1.90235901e+00, 0., 2.39012165e+01,
+       1.16873169e+00, 4.65618134e+00, 1.43802471e+01, 7.50000000e+00,
+       7.62939453e-06, 9.38786888e+00, 4.37024689e+00, 5.10554504e+00,
+       1.24299107e+01, 7.50000000e+00, 9.91590118e+00, 1.28348713e+01,
+       7.50000000e+00, 0., 1.02311916e+01, 4.19060516e+00, 0.,
+       2.22903500e+01, 1.62164307e+00, 0., 9.20889091e+00,
+       4.51192474e+00, 0., 1.79770374e+01, 2.64767456e+00, 0.,
+       1.83369389e+01, 2.57115173e+00, 0., 1.98777103e+01,
+       2.24355316e+00, 3.01419830e+00, 2.09450016e+01, 7.50000000e+00,
+       3.14207458e+00, 2.03902950e+01, 7.50000000e+00, 3.97851562e+00,
+       1.67623386e+01, 7.50000000e+00, 7.25791168e+00, 2.46580563e+01,
+       7.50000000e+00, 0., 2.36699696e+01, 1.43727112e+00,
+       1.25268402e+01, 2.48230000e+01, 7.49999237e+00, 5.95112610e+00,
+       8.20638084e+00, 7.49999237e+00, 9.18848419e+00, 1.66824894e+01,
+       7.50000000e+00, 8.95095825e+00, 1.77397976e+01, 7.50000000e+00,
+       7.62939453e-06, 3.62479973e+00, 5.80031586e+00, 1.70032120e+01,
+       4.36789322e+00, 7.50000000e+00, 0., 9.53365135e+00,
+       4.54643250e+00, 1.75549545e+01, 1.84663010e+00, 7.50000000e+00,
+       0., 1.71542492e+01, 2.92931366e+00, 7.62413025e+00,
+       9.49859619e-01, 7.50000000e+00, 7.32794189e+00, 2.49642582e+01,
+       7.50000000e+00, 1.19448395e+01, 5.01856041e+00, 7.50000000e+00,
+       2.34733582e+00, 2.32755108e+01, 7.50000000e+00, 2.86051941e+00,
+       2.10510921e+01, 7.50000000e+00, 7.62939453e-06, 2.14170361e+01,
+       2.02473450e+00, 0., 4.50169563e+00, 5.71559143e+00, 0.,
+       4.66312218e+00, 5.68140411e+00, 0., 8.51863670e+00,
+       4.86483765e+00, 4.81601715e+00, 1.25747051e+01, 7.49999237e+00,
+       1.06207504e+01, 1.09165325e+01, 7.50000000e+00, 5.28119659e+00,
+       1.05582905e+01, 7.50000000e+00, 7.62939453e-06, 9.18696022e+00,
+       4.72328949e+00, 0., 1.01117496e+01, 4.52743530e+00,
+       9.11407471e+00, 1.76278667e+01, 7.50000000e+00, 8.23213196e+00,
+       2.15563374e+01, 7.50000000e+00, 7.49116516e+00, 2.48569241e+01,
+       7.49999237e+00, 1.33777390e+01, 2.02614117e+01, 7.50000000e+00,
+       6.54067230e+00, 5.09892845e+00, 7.50000000e+00, 6.57592010e+00,
+       4.94613075e+00, 7.50000000e+00, 6.78716278e+00, 4.03047562e+00,
+       7.49999237e+00, 0., 1.83919277e+01, 2.77375793e+00,
+       7.62939453e-06, 4.25234985e+00, 5.86952972e+00, 2.67049408e+00,
+       2.13154507e+01, 7.49999237e+00, 7.62939453e-06, 4.89763260e+00,
+       5.73313141e+00, 7.62939453e-06, 5.54631424e+00, 5.59600830e+00,
+       7.62939453e-06, 9.76332283e+00, 4.70462036e+00, 0.,
+       1.86445637e+01, 2.82730865e+00, 0., 4.48617935e+00,
+       5.92121887e+00, 7.62939453e-06, 5.86325645e+00, 5.63069153e+00,
+       0., 1.98941555e+01, 2.67060852e+00, 7.62939453e-06,
+       4.88159752e+00, 5.93893433e+00, 0., 8.90363503e+00,
+       5.09207153e+00, 1.69094086e+00, 2.49984417e+01, 7.50000000e+00,
+       1.29414139e+01, 2.09107761e+01, 7.50000000e+00, 0.,
+       1.96938686e+01, 2.82008362e+00, 1.04418640e+01, 1.29391880e+01,
+       7.50000763e+00, 7.62939453e-06, 2.22603588e+01, 2.27969360e+00,
+       0., 5.27780342e+00, 5.95670319e+00, 0., 5.52097130e+00,
+       5.90559387e+00, 1.67381439e+01, 3.60084343e+00, 7.50000000e+00,
+       0., 1.98569279e+01, 2.89292145e+00, 9.42274475e+00,
+       1.74850750e+01, 7.50000000e+00, 0., 2.11347218e+01,
+       2.62439728e+00, 5.50878906e+00, 8.47029305e+00, 7.50000000e+00,
+       9.27629852e+00, 1.81383457e+01, 7.50000000e+00, 1.24527512e+01,
+       4.57901764e+00, 7.50000000e+00, 1.24171982e+01, 4.73763466e+00,
+       7.50000000e+00, 1.08768234e+01, 1.16135044e+01, 7.50000000e+00,
+       1.07322998e+01, 1.22586575e+01, 7.50000000e+00, 6.55105591e+00,
+       3.95811272e+00, 7.50000000e+00, 6.58618927e+00, 3.80596924e+00,
+       7.50000763e+00, 7.19919586e+00, 1.15218353e+00, 7.50000000e+00,
+       0., 2.39153728e+01, 2.04004669e+00, 0., 5.75602531e+00,
+       5.95747375e+00, 0., 6.98066330e+00, 5.70061493e+00, 0.,
+       1.03907681e+01, 4.98538208e+00, 1.71114426e+01, 1.89895630e+00,
+       7.50000000e+00, 4.44611359e+00, 1.25196247e+01, 7.50000000e+00,
+       9.33019257e+00, 1.85172634e+01, 7.50000000e+00, 9.22010040e+00,
+       1.90087032e+01, 7.50000000e+00, 9.18337250e+00, 1.91726437e+01,
+       7.49999237e+00, 5.56874847e+00, 7.66262627e+00, 7.49999237e+00,
+       0., 2.08405323e+01, 2.79365540e+00, 0., 1.59667969e+00,
+       6.92928314e+00, 7.11618042e+00, 9.67697144e-01, 7.50000000e+00,
+       7.62939453e-06, 6.72553062e+00, 5.85565948e+00, 0.,
+       1.90962811e+01, 3.26609039e+00, 2.68590546e+00, 1.95807552e+01,
+       7.50000000e+00, 0., 2.10956821e+01, 2.84755707e+00,
+       1.64245148e+01, 4.37462807e+00, 7.50000000e+00, 1.64958496e+01,
+       4.04965973e+00, 7.50000000e+00, 0., 6.87995911e+00,
+       5.92481232e+00, 7.62939453e-06, 2.49767628e+01, 2.14400482e+00,
+       0., 2.52598057e+01, 2.08486938e+00, 6.03438568e+00,
+       5.10275078e+00, 7.50000000e+00, 1.05884933e+01, 1.35178661e+01,
+       7.50000000e+00, 1.04069672e+01, 1.43286915e+01, 7.50000000e+00,
+       7.62939453e-06, 2.74791718e-02, 7.45499420e+00, 0.,
+       8.43512917e+00, 5.70188904e+00, 0., 8.85011864e+00,
+       5.61536407e+00, 0., 1.80734539e+01, 3.69217682e+00,
+       7.62939453e-06, 1.82523327e+01, 3.65486908e+00, 7.62939453e-06,
+       1.91504154e+01, 3.46761322e+00, 7.62939453e-06, 2.00547314e+01,
+       3.27904510e+00, 0., 2.03272495e+01, 3.22222137e+00,
+       1.04804077e+01, 1.46203556e+01, 7.49999237e+00, 0.,
+       2.14230289e+01, 2.99374390e+00, 0., 2.22509098e+01,
+       2.82112122e+00, 1.60393982e+01, 5.47388077e+00, 7.50000000e+00,
+       4.09604645e+00, 1.23875294e+01, 7.50000000e+00, 0.,
+       9.33892632e+00, 5.61566925e+00, 8.99636078e+00, 2.12540646e+01,
+       7.49999237e+00, 5.04039764e+00, 8.30946159e+00, 7.50000000e+00,
+       7.62939453e-06, 1.86829243e+01, 3.67113495e+00, 5.55340576e+00,
+       6.09409904e+00, 7.50000763e+00, 5.74732208e+00, 5.25673485e+00,
+       7.50000000e+00, 5.90570068e+00, 4.57281303e+00, 7.50000000e+00,
+       7.62939453e-06, 2.16785030e+01, 3.04774475e+00, 0.,
+       3.62585258e+00, 6.90437317e+00, 0., 9.49475670e+00,
+       5.68541718e+00, 1.36528397e+01, 1.05101204e+00, 7.50000000e+00,
+       7.62939453e-06, 1.92945232e+01, 3.65002441e+00, 2.08318329e+00,
+       2.05287151e+01, 7.50000000e+00, 4.08708954e+00, 1.18805103e+01,
+       7.50000000e+00, 7.62939453e-06, 2.22102871e+01, 3.04441833e+00,
+       1.53308029e+01, 8.04407310e+00, 7.50000000e+00, 6.27983856e+00,
+       2.41736603e+00, 7.50000000e+00, 0., 8.81817436e+00,
+       5.92771912e+00, 0., 9.15047264e+00, 5.85884094e+00,
+       1.58330765e+01, 5.75931740e+00, 7.50000000e+00, 0.,
+       5.45386505e+00, 6.72540283e+00, 0., 9.47258186e+00,
+       5.89398193e+00, 1.13334808e+01, 1.14259853e+01, 7.50000000e+00,
+       7.62939453e-06, 9.72288322e+00, 5.84220123e+00, 4.04245758e+00,
+       1.15289555e+01, 7.50000000e+00, 0., 1.08975697e+01,
+       5.59917450e+00, 1.08810425e+01, 1.34497776e+01, 7.50000000e+00,
+       5.12599182e+00, 6.85567665e+00, 7.50000000e+00, 5.39065552e+00,
+       5.71414566e+00, 7.50000000e+00, 1.08266220e+01, 1.36932659e+01,
+       7.50000000e+00, 5.00396729e-01, 9.41219330e-02, 7.50000000e+00,
+       0., 9.87867165e+00, 5.91193390e+00, 0., 1.01296253e+01,
+       5.86012268e+00, 0., 1.11384945e+01, 5.65180969e+00,
+       1.67304077e+01, 1.02893639e+00, 7.50000000e+00, 1.14357529e+01,
+       2.44311581e+01, 7.50000000e+00, 7.62939453e-06, 2.38147221e+01,
+       3.03443146e+00, 4.10491180e+00, 1.07171459e+01, 7.50000000e+00,
+       4.53173065e+00, 8.87748146e+00, 7.49999237e+00, 0.,
+       2.50304813e+01, 2.78339386e+00, 4.93905640e+00, 7.12170601e+00,
+       7.50000000e+00, 0., 2.52185154e+01, 2.74456787e+00,
+       6.02899170e+00, 2.42378044e+00, 7.50000000e+00, 0.,
+       5.67921066e+00, 6.87918091e+00, 6.94099426e-01, 2.48687916e+01,
+       7.50000000e+00, 7.67677307e-01, 2.45518932e+01, 7.49999237e+00,
+       9.88059998e-01, 2.36025295e+01, 7.50000000e+00, 8.36411285e+00,
+       2.47085400e+01, 7.50000763e+00, 0., 1.03694019e+01,
+       5.91265106e+00, 2.55383301e+00, 1.68577518e+01, 7.50000000e+00,
+       0., 1.07052326e+01, 5.84344482e+00, 7.62939453e-06,
+       1.15487423e+01, 5.66961670e+00, 0., 1.18877201e+01,
+       5.59976196e+00, 0., 1.98527241e+01, 3.95838165e+00, 0.,
+       2.03049030e+01, 3.86519623e+00, 7.62939453e-06, 1.10298252e+01,
+       5.87873840e+00, 0., 1.12827816e+01, 5.82672119e+00,
+       1.31629257e+01, 3.85758018e+00, 7.50000000e+00, 1.28429489e+01,
+       5.28994179e+00, 7.50000000e+00, 7.62939453e-06, 2.22010365e+01,
+       3.58115387e+00, 0., 7.44925499e+00, 6.71577454e+00, 0.,
+       1.15237751e+01, 5.87941742e+00, 4.35331726e+00, 8.56764412e+00,
+       7.50000000e+00, 0., 1.20318851e+01, 5.77511597e+00, 0.,
+       1.32254391e+01, 5.53012085e+00, 0., 1.21887722e+01,
+       5.84532166e+00, 1.60992813e+01, 3.24907303e+00, 7.50000000e+00,
+       0., 2.11556225e+01, 4.00835419e+00, 1.26647263e+01,
+       6.08774757e+00, 7.50000000e+00, 9.15519714e-01, 7.55279541e-01,
+       7.49999237e+00, 1.19824219e+00, 2.16047535e+01, 7.50000000e+00,
+       1.22682343e+01, 1.99905605e+01, 7.50000000e+00, 9.96986389e+00,
+       1.81509647e+01, 7.50000000e+00, 2.19740295e+00, 1.73060131e+01,
+       7.50000000e+00, 2.46821594e+00, 1.61408672e+01, 7.50000000e+00,
+       0., 7.67530441e+00, 6.87042236e+00, 4.09595490e+00,
+       9.13786507e+00, 7.50000000e+00, 7.62939453e-06, 1.28564777e+01,
+       5.81108093e+00, 0., 1.39703045e+01, 5.58335114e+00, 0.,
+       2.16830654e+01, 4.00641632e+00, 8.28155518e-01, 2.26521969e+01,
+       7.50000000e+00, 0., 2.22321873e+01, 3.89414215e+00,
+       1.52100372e+00, 1.96731701e+01, 7.50000000e+00, 2.17310333e+00,
+       1.68693485e+01, 7.50000000e+00, 2.49759674e+00, 1.54741001e+01,
+       7.50000000e+00, 1.60362473e+01, 2.88877869e+00, 7.50000000e+00,
+       7.62939453e-06, 8.15733147e+00, 6.87240601e+00, 4.58203888e+00,
+       6.51169777e+00, 7.50000000e+00, 4.63492584e+00, 6.28429413e+00,
+       7.50000000e+00, 1.64439774e+01, 1.03827858e+00, 7.50000000e+00,
+       5.82636261e+00, 1.16152382e+00, 7.50000000e+00, 9.69871521e-01,
+       2.14999866e+01, 7.50000763e+00, 1.11329498e+01, 2.44821949e+01,
+       7.50000000e+00, 0., 1.30137081e+01, 5.88143158e+00, 0.,
+       1.33556080e+01, 5.81167603e+00, 2.14885712e+00, 1.64338436e+01,
+       7.50000000e+00, 2.29302979e+00, 1.58143291e+01, 7.50000000e+00,
+       2.50891113e+00, 1.48866825e+01, 7.50000000e+00, 2.54484558e+00,
+       1.47322636e+01, 7.50000763e+00, 0., 1.47324352e+01,
+       5.53071594e+00, 0., 2.11168575e+01, 4.22794342e+00,
+       9.92988586e-01, 1.39830589e+00, 7.50000000e+00, 1.36820374e+01,
+       2.14927292e+00, 7.50000000e+00, 1.40164185e+00, 1.91045437e+01,
+       7.50000000e+00, 1.89025879e+00, 1.70062504e+01, 7.50000000e+00,
+       2.53813934e+00, 1.42239819e+01, 7.50000000e+00, 0.,
+       1.37702541e+01, 5.82973480e+00, 0., 1.39420033e+01,
+       5.79476166e+00, 7.62939453e-06, 9.29070473e+00, 6.84276581e+00,
+       1.36112823e+01, 2.46619606e+00, 7.50000000e+00, 1.19876404e+01,
+       9.73946571e+00, 7.50000000e+00, 0., 1.41857510e+01,
+       5.84783936e+00, 7.97012329e-01, 2.11609516e+01, 7.50000000e+00,
+       9.97238159e-01, 2.03016186e+01, 7.50000000e+00, 0.,
+       1.55699253e+01, 5.56649780e+00, 1.15725708e+00, 1.68098068e+00,
+       7.50000000e+00, 2.51351929e+00, 1.37940350e+01, 7.50000000e+00,
+       2.62096405e+00, 1.33328686e+01, 7.50000763e+00, 1.50460358e+01,
+       6.73518753e+00, 7.50000000e+00, 4.23692322e+00, 6.39754677e+00,
+       7.50000000e+00, 1.50818634e+01, 6.57266998e+00, 7.50000000e+00,
+       1.51176834e+01, 6.41021538e+00, 7.50000000e+00, 1.96865845e+00,
+       1.55969715e+01, 7.50000000e+00, 2.63204956e+00, 1.27515774e+01,
+       7.50000000e+00, 1.56355743e+01, 4.06142616e+00, 7.50000000e+00,
+       0., 1.46021099e+01, 5.86598206e+00, 7.62939453e-06,
+       1.51208019e+01, 5.76076508e+00, 1.62215118e+01, 1.40404510e+00,
+       7.50000000e+00, 0., 1.02649212e+01, 6.84668732e+00,
+       1.17714920e+01, 1.07077007e+01, 7.49999237e+00, 1.04256439e+00,
+       1.90327854e+01, 7.50000000e+00, 1.15125275e+00, 1.85668812e+01,
+       7.50000000e+00, 2.03459167e+00, 1.47803593e+01, 7.50000000e+00,
+       2.46448517e+00, 1.29375668e+01, 7.50000763e+00, 0.,
+       1.53658085e+01, 5.81401825e+00, 0., 2.22229061e+01,
+       4.42580414e+00, 1.08110809e+01, 1.50098934e+01, 7.50000000e+00,
+       1.58042297e+01, 2.65339470e+00, 7.50000000e+00, 8.74954224e-01,
+       1.92159863e+01, 7.50000000e+00, 9.43574524e+00, 2.11707630e+01,
+       7.50000763e+00, 2.02863312e+00, 1.42736874e+01, 7.50000000e+00,
+       9.38034058e+00, 2.14189968e+01, 7.50000000e+00, 2.45792389e+00,
+       1.24345608e+01, 7.50000000e+00, 2.52930450e+00, 1.21287899e+01,
+       7.50000000e+00, 8.34403992e-01, 1.88559208e+01, 7.50000000e+00,
+       1.60523987e+01, 1.52870369e+00, 7.50000000e+00, 2.23725891e+00,
+       1.28497524e+01, 7.49999237e+00, 2.48703003e+00, 1.17803631e+01,
+       7.50000000e+00, 2.59388733e+00, 1.13228474e+01, 7.50000000e+00,
+       3.86754608e+00, 5.86979866e+00, 7.50000763e+00, 1.61762390e+01,
+       9.67453003e-01, 7.50000000e+00, 9.92950439e-01, 3.35056305e+00,
+       7.50000000e+00, 7.62939453e-06, 1.56978703e+01, 5.84974670e+00,
+       5.05596161e+00, 7.81745911e-01, 7.50000000e+00, 0.,
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+       7.50000000e+00, 7.93930054e-01, 1.84967403e+01, 7.50000763e+00,
+       0., 2.35803852e+01, 4.25708771e+00, 1.08296967e+00,
+       1.72600498e+01, 7.50000000e+00, 1.17312622e+00, 1.68742924e+01,
+       7.50000000e+00, 1.99886322e+00, 1.33411274e+01, 7.50000000e+00,
+       1.25120087e+01, 8.01164436e+00, 7.50000000e+00, 2.42705536e+00,
+       1.15089664e+01, 7.50000000e+00, 1.23325958e+01, 8.81588554e+00,
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+       9.71190643e+00, 2.05637493e+01, 7.50000000e+00, 1.26607666e+01,
+       1.62477474e+01, 7.50000000e+00, 4.61118317e+00, 2.16347885e+00,
+       7.50000000e+00, 1.48510513e+01, 6.32882500e+00, 7.50000763e+00,
+       1.42066498e+01, 1.03267288e+00, 7.50000000e+00, 1.41007309e+01,
+       1.50776672e+00, 7.50000763e+00, 1.54220810e+01, 3.74292564e+00,
+       7.50000000e+00, 2.02867889e+00, 1.26859150e+01, 7.49999237e+00,
+       2.06436157e+00, 1.25332966e+01, 7.49999237e+00, 2.15352631e+00,
+       1.21519833e+01, 7.50000000e+00, 2.47389984e+00, 1.07820187e+01,
+       7.49999237e+00, 0., 1.14122448e+01, 6.81678009e+00,
+       1.36404648e+01, 3.57255936e+00, 7.50000000e+00, 0.,
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+       7.49999237e+00, 1.54932175e+01, 3.42076874e+00, 7.49999237e+00,
+       1.22761536e+00, 3.34586525e+00, 7.49999237e+00, 2.11181641e+00,
+       1.18043919e+01, 7.50000000e+00, 1.17550659e+00, 3.56543541e+00,
+       7.50000000e+00, 4.69651794e+00, 7.58216858e-01, 7.50000000e+00,
+       1.59897079e+01, 1.17234802e+00, 7.50000000e+00, 1.17590637e+01,
+       1.20123920e+01, 7.50000000e+00, 0., 2.42437153e+01,
+       6.74199677e+00, 1.09232559e+01, 1.57618160e+01, 7.50000000e+00,
+       7.99316406e-01, 1.68857403e+01, 7.50000763e+00, 8.71345520e-01,
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+       7.50000000e+00, 0., 1.68879871e+01, 5.81578827e+00,
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+       9.03301811e+00, 7.50000000e+00, 0., 2.49281101e+01,
+       4.19771576e+00, 3.76387787e+00, 4.22382355e+00, 7.50000000e+00,
+       0., 2.52078495e+01, 4.14141846e+00, 4.13064575e+00,
+       2.65733528e+00, 7.50000000e+00, 1.12790680e+00, 4.25988007e+00,
+       7.50000000e+00, 4.30482483e+00, 1.91337204e+00, 7.50000000e+00,
+       1.46823273e+01, 6.45021820e+00, 7.50000000e+00, 0.,
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+       7.50000000e+00, 1.99315643e+00, 1.12635174e+01, 7.50000000e+00,
+       2.11752319e+00, 1.07326565e+01, 7.49999237e+00, 1.11811066e+01,
+       2.16417713e+01, 7.50000000e+00, 0., 1.77502804e+01,
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+       3.56322479e+00, 4.56162262e+00, 7.50000000e+00, 0.,
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+       7.50000000e+00, 1.23940582e+01, 9.78930855e+00, 7.50000000e+00,
+       1.16712341e+01, 1.30342007e+01, 7.50000763e+00, 0.,
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+       7.50000000e+00, 1.33250427e+01, 1.19471035e+01, 7.50000000e+00,
+       2.04054260e+00, 1.05396023e+01, 7.50000000e+00, 2.09376526e+00,
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+       7.50000000e+00, 4.09574890e+00, 1.77214050e+00, 7.50000000e+00,
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+       1.50593281e+01, 7.49999237e+00, 1.51739502e+01, 3.58656311e+00,
+       7.50000000e+00, 2.08778381e+00, 9.81808281e+00, 7.50000000e+00,
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+       1.90437603e+01, 5.69335175e+00, 1.28476486e+01, 8.37913322e+00,
+       7.50000000e+00, 1.28480759e+01, 1.34593029e+01, 7.50000000e+00,
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+       1.41419277e+01, 7.50000000e+00, 1.07613525e+01, 1.77516270e+01,
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+       7.50000000e+00, 9.85872650e+00, 2.18066196e+01, 7.50000000e+00,
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+       7.50000763e+00, 1.43814392e+01, 6.53067589e+00, 7.50000000e+00,
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+       7.50000763e+00, 9.30885315e-01, 1.06200161e+01, 7.50000000e+00,
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+       7.50000000e+00, 1.50270767e+01, 1.08448601e+00, 7.50000000e+00,
+       1.19506073e+00, 7.47116280e+00, 7.50000000e+00, 9.13642883e-01,
+       8.66251564e+00, 7.50000000e+00, 1.23847046e+01, 1.42671032e+01,
+       7.50000000e+00, 1.29200974e+01, 1.05772953e+01, 7.50000000e+00,
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+       7.01474571e+00, 7.50000000e+00, 1.09507065e+01, 1.94501629e+01,
+       7.50000000e+00, 1.06370697e+01, 2.08632565e+01, 7.50000000e+00,
+       1.52730942e+01, 1.23476982e+00, 7.50000000e+00, 8.65020752e-01,
+       9.37404060e+00, 7.50000000e+00, 0., 2.19634113e+01,
+       5.83969116e+00, 0., 2.17116413e+01, 5.78548431e+00,
+       7.62939453e-06, 1.73375530e+01, 6.75228119e+00, 0.,
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+       7.50000000e+00, 1.37887726e+01, 7.29672432e+00, 7.50000000e+00,
+       1.15157318e+00, 8.66655922e+00, 7.50000000e+00, 1.25080566e+01,
+       1.30711231e+01, 7.50000000e+00, 4.67006683e+00, 2.34655399e+01,
+       7.50000000e+00, 2.02886200e+00, 4.94819641e+00, 7.50000000e+00,
+       8.72251129e+00, 5.12113762e+00, 7.50000000e+00, 0.,
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+       7.50000000e+00, 0., 1.56352482e+01, 8.87977600e-01,
+       6.29151154e+00, 1.34726162e+01, 7.49999237e+00, 7.62939453e-06,
+       1.64094830e+01, 9.34722900e-01, 1.07655334e+00, 8.47801781e+00,
+       7.50000000e+00, 5.82832336e+00, 1.49246235e+01, 7.50000000e+00,
+       5.86447906e+00, 1.47667408e+01, 7.50000000e+00, 4.73562622e+00,
+       2.37643414e+01, 7.50000000e+00, 3.48949432e+00, 2.39878292e+01,
+       7.50000000e+00, 0., 1.79836903e+01, 9.15779114e-01,
+       4.97248840e+00, 1.75182972e+01, 7.50000000e+00, 1.07575150e+01,
+       6.68179703e+00, 7.50000000e+00, 7.44126129e+00, 2.13923550e+01,
+       7.49999237e+00, 0., 1.61508694e+01, 6.78291321e+00, 0.,
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+       7.50000000e+00, 0., 1.81682911e+01, 1.42008209e+00, 0.,
+       8.64552498e+00, 3.59289551e+00, 0., 7.68453217e+00,
+       1.58650970e+00, 5.78844452e+00, 1.22612972e+01, 7.50000000e+00,
+       1.84288788e+00, 4.72857285e+00, 7.50000000e+00, 9.04835510e+00,
+       1.48681698e+01, 7.50000000e+00, 1.09538345e+01, 2.07231846e+01,
+       7.50000000e+00, 4.15088654e+00, 1.88243160e+01, 7.50000000e+00,
+       1.72816696e+01, 7.77611732e+00, 7.50000000e+00, 1.79635391e+01,
+       4.64338875e+00, 7.50000000e+00, 9.59104919e+00, 1.30641422e+01,
+       7.50000000e+00, 3.94142914e+00, 1.91698360e+01, 7.50000000e+00,
+       1.69636307e+01, 8.56068611e+00, 7.50000000e+00, 2.48398590e+00,
+       4.53692818e+00, 7.50000000e+00, 8.11806488e+00, 1.00791359e+00,
+       7.50000000e+00, 6.27855682e+00, 2.41162510e+01, 7.50000000e+00,
+       0., 7.02043915e+00, 1.62976074e+00, 1.69342575e+01,
+       8.02110100e+00, 7.50000000e+00, 2.75394440e+00, 2.32003117e+01,
+       7.50000000e+00, 4.15966034e+00, 1.70954113e+01, 7.50000000e+00,
+       4.73817444e+00, 1.45829639e+01, 7.50000000e+00, 5.99224854e+00,
+       9.13664818e+00, 7.50000000e+00, 0., 2.52481823e+01,
+       7.70782471e-01, 2.74676514e+00, 2.26673794e+01, 7.50000000e+00,
+       1.05289459e+01, 1.01079502e+01, 7.49999237e+00, 1.32216568e+01,
+       2.23240681e+01, 7.49999237e+00, 1.67101288e+01, 6.37104988e+00,
+       7.50000000e+00, 1.77676773e+01, 8.74588013e-01, 7.50000000e+00,
+       1.68135071e+01, 4.57336235e+00, 7.50000763e+00, 1.01176758e+01,
+       2.12802410e+01, 7.50000000e+00, 0., 4.58563614e+00,
+       2.57537842e-01, 1.13250122e+01, 8.99983406e+00, 7.50000000e+00,
+       0., 8.15974998e+00, 9.42451477e-01, 0., 7.90490913e+00,
+       1.00051117e+00, 1.08813248e+01, 2.16972179e+01, 7.50000000e+00,
+       4.20410156e+00, 1.41185513e+01, 7.50000000e+00, 1.17675629e+01,
+       1.38629398e+01, 7.50000000e+00, 1.09524536e+00, 1.24910564e+01,
+       7.50000000e+00, 1.69160843e+01, 2.78958702e+00, 7.50000000e+00,
+       9.60489655e+00, 1.72910480e+01, 7.50000000e+00, 1.63709793e+01,
+       4.61851311e+00, 7.50000000e+00, 8.76003265e+00, 2.10622845e+01,
+       7.50000763e+00, 0., 7.87645149e+00, 5.61473846e+00,
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+       7.62939453e-06, 1.92750187e+01, 5.85426331e+00, 0.,
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+       1.00087738e+00, 2.02860012e+01, 7.50000000e+00, 1.87004089e+00,
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+       7.50000000e+00, 7.99186707e-01, 2.05055485e+01, 7.50000000e+00,
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+       7.50000000e+00, 2.52259827e+00, 1.24759655e+01, 7.49999237e+00,
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+       9.95452881e-01, 1.71042004e+01, 7.50000000e+00, 1.18997192e+00,
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+       7.50000000e+00, 3.93827057e+00, 4.51999664e+00, 7.50000000e+00,
+       8.17123413e-01, 1.72317982e+01, 7.50000000e+00, 1.01164246e+00,
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+       7.49999237e+00, 2.53343964e+00, 9.89771461e+00, 7.50000000e+00,
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+       3.13207817e+00, 7.49999237e+00, 4.20048523e+00, 2.77418900e+00,
+       7.50000000e+00, 4.36778259e+00, 2.05928802e+00, 7.50000000e+00,
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+       8.11058044e-01, 7.50000000e+00, 0., 2.44719028e+01,
+       6.65680695e+00, -7.62939453e-06, 2.31593914e+01, 6.90926361e+00,
+       8.33633423e-01, 1.65285435e+01, 7.50000000e+00, 1.09243011e+00,
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+       2.52551270e+00, 9.30408669e+00, 7.50000000e+00, 2.63165283e+00,
+       8.85082817e+00, 7.50000000e+00, 3.87590790e+00, 3.53774452e+00,
+       7.50000000e+00, 4.10622406e+00, 2.55432320e+00, 7.50000000e+00,
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+       1.02534046e+01, 7.50000000e+00, 2.19902802e+00, 1.00718288e+01,
+       7.50000000e+00, 3.61438751e+00, 4.03249168e+00, 7.49999237e+00,
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+       8.23432922e-01, 1.53130970e+01, 7.50000000e+00, 1.01695251e+00,
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+       3.18595314e+00, 7.50000000e+00, 4.10614777e+00, 1.31569672e+00,
+       7.50000000e+00, 7.62939453e-06, 2.48805676e+01, 6.20475006e+00,
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+       6.67146301e+00, 0., 2.21466694e+01, 6.73445129e+00, 0.,
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+       7.50000763e+00, 1.05444336e+00, 1.37025585e+01, 7.50000000e+00,
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+       7.50000000e+00, 2.92771149e+00, 4.48725319e+00, 7.50000000e+00,
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+       6.97430420e+00, 1.07534790e+00, 1.11327534e+01, 7.50000000e+00,
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+       7.62939453e-06, 1.78534946e+01, 5.84890747e+00, 0.,
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+       4.16804504e+00, 0., 2.10039196e+01, 4.96649933e+00, 0.,
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+       1.75994110e+00, 1.00421906e+00, 7.50000000e+00, 0.,
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+       7.91288376e-01, 7.50000000e+00, 0., 2.22514210e+01,
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+       7.62939453e-06, 1.54118023e+01, 5.84584808e+00, 0.,
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+       7.50000000e+00, 1.14630127e+00, 2.41105461e+00, 7.50000763e+00,
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+       4.55229950e+00, 0., 2.09644146e+01, 4.59643555e+00, 0.,
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+       5.88710785e+00, 7.62939453e-06, 1.07251797e+01, 6.67263794e+00,
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+       1.16161346e+00, 1.76017570e+00, 7.50000000e+00, 1.32740784e+00,
+       1.06302452e+00, 7.50000000e+00, 7.62939453e-06, 2.07700253e+01,
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+       7.62939453e-06, 1.55525341e+01, 5.57003784e+00, 0.,
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+       6.67057037e+00, 0., 8.35053825e+00, 7.03385162e+00,
+       1.15616608e+00, 1.19855499e+00, 7.50000763e+00, 1.25965118e+00,
+       7.63692856e-01, 7.50000000e+00, 7.62939453e-06, 2.05756321e+01,
+       4.42272186e+00, 0., 1.47379742e+01, 5.61204529e+00,
+       7.62939453e-06, 1.38073940e+01, 5.80163574e+00, 7.62939453e-06,
+       9.05547905e+00, 6.76976776e+00, 9.64508057e-01, 1.42083168e+00,
+       7.50000000e+00, 0., 2.37877178e+01, 3.64021301e+00, 0.,
+       2.16894512e+01, 4.06871796e+00, 7.62939453e-06, 1.31045208e+01,
+       5.82189941e+00, 0., 7.39149857e+00, 6.98860168e+00,
+       9.80072021e-01, 7.74307251e-01, 7.50000000e+00, 0.,
+       2.11660595e+01, 4.04859924e+00, 0., 1.22005825e+01,
+       5.88383484e+00, 0., 6.71852112e+00, 7.00601196e+00, 0.,
+       2.02093258e+01, 4.11769867e+00, 0., 1.32398396e+01,
+       5.54772949e+00, 0., 1.15043850e+01, 5.90383148e+00, 0.,
+       7.41460037e+00, 6.74299622e+00, 7.62939453e-06, 2.22010365e+01,
+       3.58115387e+00, 7.62939453e-06, 2.09941082e+01, 3.82938385e+00,
+       0., 1.24359150e+01, 5.58954620e+00, 0., 1.10129795e+01,
+       5.88220215e+00, 7.62939453e-06, 1.08110027e+01, 5.92373657e+00,
+       0., 6.74055099e+00, 6.76091766e+00, 7.62939453e-06,
+       5.38056374e+00, 7.04061890e+00, 0., 5.09107208e+00,
+       7.10016632e+00, 0., 2.52381039e+01, 2.82698059e+00, 0.,
+       2.38906307e+01, 3.10477448e+00, 0., 1.98203106e+01,
+       3.94389343e+00, 0., 1.16359119e+01, 5.63115692e+00, 0.,
+       1.03214359e+01, 5.90213776e+00, 0., 4.71554756e+00,
+       7.05782318e+00, 5.89218140e-01, 1.04547501e-01, 7.50000000e+00,
+       -7.62939453e-06, 2.50394382e+01, 2.73831940e+00, 0.,
+       2.35814114e+01, 3.03959656e+00, 0., 2.06036015e+01,
+       3.65494537e+00, 0., 2.00594807e+01, 3.76737976e+00, 0.,
+       1.09409046e+01, 5.65166473e+00, 0., 9.93337059e+00,
+       5.85986328e+00, 0., 5.40047073e+00, 6.79654694e+00, 0.,
+       9.74633980e+00, 5.77615356e+00, 0., 9.14613152e+00,
+       5.90046692e+00, 0., 5.02368164e+00, 6.75434113e+00, 0.,
+       4.73440361e+00, 6.81427002e+00, 0., 3.29814529e+00,
+       7.11176300e+00, 2.71560669e-01, 2.88646698e-01, 7.50000000e+00,
+       7.62939453e-06, 2.49803715e+01, 2.49075317e+00, 0.,
+       2.22983799e+01, 3.04759216e+00, 0., 2.20773182e+01,
+       3.09349060e+00, 7.62939453e-06, 1.93449688e+01, 3.66076660e+00,
+       7.62939453e-06, 1.00613003e+01, 5.58821106e+00, 0.,
+       8.36268425e+00, 5.94087982e+00, 7.62939453e-06, 3.68811989e+00,
+       6.91138458e+00, 0., 2.64139175e+00, 7.12871552e+00, 0.,
+       2.03447208e+01, 3.32530212e+00, 7.62939453e-06, 1.95834484e+01,
+       3.48372650e+00, 0., 9.37229347e+00, 5.60873413e+00, 0.,
+       7.97840691e+00, 5.89879608e+00, 0., 2.52605762e+01,
+       2.17180634e+00, 0., 2.39080334e+01, 2.45393372e+00,
+       7.62939453e-06, 2.36839428e+01, 2.50067902e+00, 0.,
+       2.16840153e+01, 2.91786194e+00, 0., 1.98227062e+01,
+       3.30611420e+00, 0., 1.87400684e+01, 3.53194427e+00, 0.,
+       1.80947819e+01, 3.66654968e+00, 0., 1.04926205e+01,
+       5.25231934e+00, 0., 8.58646202e+00, 5.64994049e+00, 0.,
+       7.29878235e+00, 5.91853333e+00, 0., 3.41856956e+00,
+       6.72792816e+00, 0., 3.03719330e+00, 6.80747986e+00, 0.,
+       1.33560753e+00, 7.16242981e+00, 7.62939453e-06, 2.50611782e+01,
+       2.08281708e+00, 0., 2.10473843e+01, 2.92203522e+00, 0.,
+       1.89773464e+01, 3.35485840e+00, 0., 1.77937565e+01,
+       3.60232544e+00, 0., 2.66482735e+00, 6.76554871e+00, 0.,
+       9.67182159e-01, 7.12050629e+00, 0., 3.42140198e-02,
+       7.31556702e+00, 0., 2.08510990e+01, 2.83438110e+00, 0.,
+       1.80288029e+01, 3.42586517e+00, 0., 5.85009384e+00,
+       5.97821808e+00, 7.62939453e-06, 6.92829132e-01, 7.05905151e+00,
+       4.36553955e-01, 1.90734863e-06, 6.82308960e+00, -7.62939453e-06,
+       2.36490612e+01, 2.11774445e+00, 0., 1.91287174e+01,
+       3.06731415e+00, 0., 1.83723125e+01, 3.22621155e+00, 0.,
+       1.78347111e+01, 3.33913422e+00, 0., 1.70857868e+01,
+       3.49645996e+00, 7.62939453e-06, 7.03746223e+00, 5.60727692e+00,
+       0., 5.27615356e+00, 5.97727203e+00, 7.62939453e-06,
+       1.45013237e+00, 6.78098297e+00, 7.62939453e-06, 2.22233372e+01,
+       2.28748322e+00, 0., 1.67857265e+01, 3.43242645e+00, 0.,
+       1.64665852e+01, 3.49962616e+00, 0., 9.53926277e+00,
+       4.95822906e+00, 0., 8.93701363e+00, 5.08503723e+00, 0.,
+       6.36032104e+00, 5.62757874e+00, 0., 4.80085564e+00,
+       5.95594025e+00, 0., 9.86732483e-01, 6.75904083e+00,
+       7.62939453e-06, 7.05432892e-01, 6.81826019e+00, 0.,
+       2.14720974e+01, 2.31610107e+00, 0., 2.07009296e+01,
+       2.47885895e+00, 0., 1.87385540e+01, 2.89302063e+00, 0.,
+       1.76609859e+01, 3.12044525e+00, 0., 5.58830261e+00,
+       5.66840363e+00, 0., 4.51995850e+00, 5.89387512e+00, 0.,
+       4.03739357e+00, 5.99571991e+00, 0., 3.55672073e+00,
+       6.09716797e+00, 0., 1.99567013e+01, 2.50691986e+00, 0.,
+       1.71454716e+01, 3.10162354e+00, 0., 1.60802631e+01,
+       3.32695770e+00, 7.62939453e-06, 1.07813931e+01, 4.44790649e+00,
+       -7.62939453e-06, 9.26413918e+00, 4.76888275e+00, 0.,
+       8.56231880e+00, 4.91734314e+00, 0., 1.86729450e+01,
+       2.64994049e+00, 7.62939453e-06, 1.57811604e+01, 3.26310730e+00,
+       0., 1.12039204e+01, 4.23365784e+00, 0., 9.57959175e+00,
+       4.57808685e+00, 0., 8.97584343e+00, 4.70609283e+00, 0.,
+       3.67000198e+00, 5.83113861e+00, 0., 1.00636673e+00,
+       6.39594269e+00, 0., 7.24409103e-01, 6.45572662e+00,
+       7.62939453e-06, 2.36656666e+01, 1.46006012e+00, 7.62939453e-06,
+       1.98922138e+01, 2.26204681e+00, 0., 1.68643703e+01,
+       2.90557861e+00, -7.62939453e-06, 1.10144024e+01, 4.14889526e+00,
+       7.62939453e-06, 1.06066761e+01, 4.23554230e+00, 0.,
+       2.22346096e+01, 1.63351440e+00, 0., 2.04633007e+01,
+       2.01086426e+00, 0., 1.94773617e+01, 2.22089386e+00, 0.,
+       1.77427845e+01, 2.59040833e+00, 0., 1.75275822e+01,
+       2.63625336e+00, 0., 1.19521236e+01, 3.82399750e+00, 0.,
+       9.30384636e+00, 4.38815308e+00, 0., 3.88015556e+00,
+       5.54355621e+00, 0., 3.68734360e+00, 5.58463287e+00, 0.,
+       2.37174435e+01, 1.18600464e+00, 0., 2.17025738e+01,
+       1.61623383e+00, 0., 1.61565456e+01, 2.80045319e+00, 0.,
+       1.01267338e+01, 4.08797455e+00, 0., 9.62011528e+00,
+       4.19614410e+00, 0., 4.17901230e+00, 5.35797119e+00, 0.,
+       9.31814194e-01, 6.05133057e+00, 0., 2.53334522e+01,
+       7.08320618e-01, 0., 2.49911251e+01, 7.81593323e-01, 0.,
+       1.98499699e+01, 1.88191223e+00, 0., 1.51146107e+01,
+       2.89539337e+00, 0., 1.31224461e+01, 3.32176208e+00, 0.,
+       1.28107128e+01, 3.38848114e+00, 0., 1.20863094e+01,
+       3.54351807e+00, 0., 1.07518787e+01, 3.82911682e+00, 0.,
+       9.93764687e+00, 4.00337982e+00, 0., 9.12865639e+00,
+       4.17652893e+00, 0., 1.96531811e+01, 1.79405212e+00, 0.,
+       1.81288204e+01, 2.12105560e+00, 7.62939453e-06, 1.63015652e+01,
+       2.51303864e+00, 7.62939453e-06, 1.59817715e+01, 2.58164215e+00,
+       0., 1.47105045e+01, 2.85436249e+00, 0., 1.43946476e+01,
+       2.92211151e+00, 0., 1.13810482e+01, 3.56859589e+00, 0.,
+       8.94020653e+00, 4.09220123e+00, 0., 7.33898926e+00,
+       4.43570709e+00, 0., 3.71346283e+00, 5.21344757e+00, 0.,
+       2.52740345e+01, 4.55276489e-01, 7.62939453e-06, 2.23331509e+01,
+       1.08762360e+00, 0., 2.21096134e+01, 1.13568878e+00, 0.,
+       2.12192326e+01, 1.32714081e+00, 0., 2.06657963e+01,
+       1.44614410e+00, 0., 2.01146870e+01, 1.56464386e+00, 0.,
+       1.86925869e+01, 1.87042236e+00, 7.62939453e-06, 1.84751759e+01,
+       1.91716766e+00, 7.62939453e-06, 1.73935413e+01, 2.14973450e+00,
+       0., 1.20142956e+01, 3.30638123e+00, 7.62939453e-06,
+       1.02705555e+01, 3.68131256e+00, 0., 9.86374092e+00,
+       3.76879883e+00, 0., 9.45824242e+00, 3.85597992e+00,
+       7.62939453e-06, 7.64958000e+00, 4.24487305e+00, 0.,
+       2.18570328e+00, 5.41971588e+00, 0., 2.50727329e+01,
+       3.65493774e-01, 7.62939453e-06, 2.16877995e+01, 1.09500885e+00,
+       0., 1.80622921e+01, 1.87637329e+00, 0., 1.71983776e+01,
+       2.06256104e+00, 0., 1.60198421e+01, 2.31656647e+00, 0.,
+       1.42194500e+01, 2.70458221e+00, 0., 8.36236000e+00,
+       3.96689606e+00, 7.62939453e-06, 6.96459579e+00, 4.26813507e+00,
+       0., 2.46432476e+01, 3.25012207e-01, 0., 2.20468845e+01,
+       8.85864258e-01, 0., 1.89536686e+01, 1.55406189e+00, 0.,
+       1.63595600e+01, 2.11444092e+00, 0., 1.54000492e+01,
+       2.32170868e+00, 0., 1.46586819e+01, 2.48185730e+00, 0.,
+       1.40266247e+01, 2.61840057e+00, 0., 1.38166294e+01,
+       2.66375732e+00, 7.62939453e-06, 1.14262829e+01, 3.18011475e+00,
+       0., 1.07076435e+01, 3.33535004e+00, 0., 1.04009075e+01,
+       3.40161896e+00, 0., 8.97926903e+00, 3.70871735e+00, 0.,
+       2.39207077e+00, 5.13166809e+00, 0., 2.50129185e+01,
+       1.11717224e-01, 0., 2.11793308e+01, 9.41772461e-01, 0.,
+       1.85390110e+01, 1.51345062e+00, 7.62939453e-06, 1.76706638e+01,
+       1.70145416e+00, 0., 1.65933514e+01, 1.93471527e+00, 0.,
+       1.58445454e+01, 2.09684753e+00, 0., 1.52061634e+01,
+       2.23506927e+00, 0., 1.42545033e+01, 2.44112396e+00, 0.,
+       1.29965496e+01, 2.71349335e+00, 0., 1.26839962e+01,
+       2.78116608e+00, 0., 1.12354908e+01, 3.09480286e+00,
+       7.62939453e-06, 8.68953514e+00, 3.64604187e+00, 7.62939453e-06,
+       2.46971188e+01, 4.66308594e-02, 0., 2.07588902e+01,
+       9.01306152e-01, 0., 1.97649670e+01, 1.11701202e+00, 0.,
+       1.68279018e+01, 1.75440979e+00, 0., 1.40613689e+01,
+       2.35480499e+00, 7.62939453e-06, 1.37459621e+01, 2.42325592e+00,
+       0., 7.89779091e+00, 3.69243622e+00, 0., 2.33593426e+01,
+       2.03971863e-01, 0., 1.90188885e+01, 1.14810944e+00, 0.,
+       1.82548428e+01, 1.31431580e+00, 0., 1.74952717e+01,
+       1.47954559e+00, 0., 1.59893780e+01, 1.80710602e+00, 0.,
+       1.57756863e+01, 1.85358429e+00, 0., 1.34482021e+01,
+       2.35986328e+00, 7.62939453e-06, 1.10595303e+01, 2.87946320e+00,
+       0., 1.04437466e+01, 3.01340485e+00, 0., 9.72911263e+00,
+       3.16885376e+00, 7.62939453e-06, 8.71521568e+00, 3.38939667e+00,
+       0., 6.21591377e+00, 3.93305969e+00, 0., 9.84260559e-01,
+       5.07106018e+00, 7.62939453e-06, 2.27073383e+01, 2.12936401e-01,
+       0., 1.95896931e+01, 8.92669678e-01, 0., 1.53678989e+01,
+       1.81312561e+00, 0., 1.49426022e+01, 1.90585327e+00,
+       7.62939453e-06, 1.42017155e+01, 2.06738281e+00, 0.,
+       1.21082821e+01, 2.52381134e+00, 7.62939453e-06, 1.00488644e+01,
+       2.97280884e+00, 0., 7.62128639e+00, 3.50209045e+00, 0.,
+       4.26135445e+00, 4.23464203e+00, 0., 3.96923828e+00,
+       4.29832458e+00, 0., 2.32693291e+00, 4.65638733e+00, 0.,
+       2.13516617e+00, 4.69820404e+00, 0., 7.06460953e-01,
+       5.00969696e+00, 0., 1.65643864e+01, 1.42230988e+00, 0.,
+       1.31673489e+01, 2.16465759e+00, 7.62939453e-06, 1.07804546e+01,
+       2.68625641e+00, 0., 1.05750103e+01, 2.73115540e+00, 0.,
+       8.13554573e+00, 3.26425934e+00, 0., 5.84163094e+00,
+       3.76554108e+00, 7.62939453e-06, 1.27653141e+01, 2.12427521e+00,
+       0., 1.21398144e+01, 2.26128387e+00, 0., 1.14139538e+01,
+       2.42027283e+00, 0., 6.64587975e+00, 3.46464539e+00, 0.,
+       1.38319340e+01, 1.76170349e+00, 0., 1.09127598e+01,
+       2.40257263e+00, 0., 1.06039448e+01, 2.47036743e+00, 0.,
+       9.68202400e+00, 2.67276764e+00, 0., 8.05958748e+00,
+       3.02895355e+00, 0., 7.45656967e+00, 3.16133881e+00,
+       7.62939453e-06, 2.34997368e+00, 4.28242493e+00, 0.,
+       2.15774536e+00, 4.32463837e+00, 7.62939453e-06, 2.06769428e+01,
+       1.26335144e-01, 0., 1.80332737e+01, 7.08061218e-01, 0.,
+       1.72722187e+01, 8.75526428e-01, 0., 1.44841061e+01,
+       1.48903656e+00, 0., 1.41662693e+01, 1.55897522e+00, 0.,
+       1.30075665e+01, 1.81394196e+00, 0., 1.24843464e+01,
+       1.92907715e+00, 0., 8.67840385e+00, 2.76655579e+00, 0.,
+       7.16775894e+00, 3.09896851e+00, 7.62939453e-06, 1.68592701e+01,
+       8.35525513e-01, 0., 1.61045246e+01, 1.00198364e+00, 0.,
+       1.21872959e+01, 1.86593628e+00, 0., 8.18528938e+00,
+       2.74858093e+00, 0., 1.02401543e+00, 4.32801819e+00, 0.,
+       7.38494873e-01, 4.39099121e+00, 0., 1.93928204e+01,
+       1.44401550e-01, 0., 1.53728085e+01, 1.03305817e+00, 0.,
+       1.31458263e+01, 1.52535248e+00, 0., 1.19946499e+01,
+       1.77983093e+00, 0., 8.60274696e+00, 2.52964020e+00, 0.,
+       1.87540607e+01, 1.53381348e-01, 0., 1.06620884e+01,
+       1.94629669e+00, 0., 8.21027565e+00, 2.48953247e+00, 0.,
+       1.48754749e+01, 8.82301331e-01, 7.62939453e-06, 1.22350140e+01,
+       1.46868896e+00, 0., 1.15054035e+01, 1.63071442e+00, 0.,
+       1.11939983e+01, 1.69987488e+00, 0., 9.34153557e+00,
+       2.11126709e+00, 0., 9.48553085e-01, 3.97513580e+00, 0.,
+       1.81386318e+01, 2.53372192e-02, 0., 1.77012424e+01,
+       1.22703552e-01, 0., 1.40420742e+01, 9.37171936e-01,
+       7.62939453e-06, 1.38300457e+01, 9.84359741e-01, 7.62939453e-06,
+       8.23534203e+00, 2.22966766e+00, 0., 1.70681019e+01,
+       1.31690979e-01, 7.62939453e-06, 1.31074085e+01, 1.01529694e+00,
+       0., 1.06025600e+01, 1.57411957e+00, 0., 1.01898670e+01,
+       1.66618347e+00, 0., 9.26623726e+00, 1.87224579e+00, 0.,
+       7.23780441e+00, 2.32477570e+00, 7.62939453e-06, 6.63566017e+00,
+       2.45911407e+00, 0., 5.14297104e+00, 2.79212952e+00,
+       7.62939453e-06, 1.19689388e+01, 1.13973999e+00, 0.,
+       4.65899849e+00, 2.77430725e+00, 7.62939453e-06, 1.55928555e+01,
+       1.97830200e-01, 0., 1.25089397e+01, 8.88999939e-01, 0.,
+       1.11503963e+01, 1.19347382e+00, 7.62939453e-06, 7.86738777e+00,
+       1.92925262e+00, 0., 1.17912083e+01, 9.20028687e-01, 0.,
+       5.86910057e+00, 2.25032043e+00, 7.62939453e-06, 5.17304230e+00,
+       2.40666962e+00, 7.62939453e-06, 4.77704811e+00, 2.49563599e+00,
+       7.62939453e-06, 3.98886681e+00, 2.67268372e+00, 0.,
+       9.81735229e-01, 3.34818268e+00, 0., 1.49854488e+01,
+       7.08465576e-02, 7.62939453e-06, 1.12847157e+01, 9.04045105e-01,
+       0., 1.10764713e+01, 9.50927734e-01, 7.62939453e-06,
+       6.37973785e+00, 2.00837708e+00, 0., 1.46821537e+01,
+       7.43103027e-03, 0., 1.05719280e+01, 9.34944153e-01,
+       7.62939453e-06, 9.43638039e+00, 1.19118500e+00, 0.,
+       7.70141792e+00, 1.58270264e+00, 7.62939453e-06, 6.79259872e+00,
+       1.78778076e+00, 0., 4.00705338e+00, 2.41636658e+00, 0.,
+       1.35264950e+01, 1.36917114e-01, 0., 1.00686588e+01,
+       9.18998718e-01, 0., 8.83440208e+00, 1.19815063e+00, 0.,
+       3.72117996e+00, 2.35462952e+00, 0., 1.09785271e+00,
+       2.94795227e+00, 0., 8.09829712e-01, 3.01309967e+00, 0.,
+       1.28016224e+01, 1.69754028e-01, 7.62939453e-06, 9.36076927e+00,
+       9.49760437e-01, 0., 8.03071404e+00, 1.25125885e+00, 0.,
+       6.31255150e+00, 1.64075470e+00, 0., 2.36167526e+00,
+       2.53636932e+00, 7.62939453e-06, 7.23099327e+00, 1.30411530e+00,
+       7.62939453e-06, 5.62238121e+00, 1.66960144e+00, 7.62939453e-06,
+       4.52847290e+00, 1.91814423e+00, 0., 1.15704784e+01,
+       1.87286377e-01, -7.62939453e-06, 6.53586388e+00, 1.33379364e+00,
+       0., 5.03446960e+00, 1.67568970e+00, 0., 1.08536434e+01,
+       2.19841003e-01, 0., 7.55907440e+00, 9.71794128e-01,
+       7.62939453e-06, 7.15329933e+00, 1.06439972e+00, 0.,
+       3.95403671e+00, 1.79460907e+00, 0., 3.75681686e+00,
+       1.83962250e+00, 0., 6.65925598e+00, 1.04845428e+00, 0.,
+       5.65381622e+00, 1.27846527e+00, 0., 1.03535843e+00,
+       2.33498383e+00, 0., 7.46417999e-01, 2.40107727e+00, 0.,
+       9.63570213e+00, 2.37113953e-01, -7.62939453e-06, 5.96535110e+00,
+       1.07865143e+00, 7.62939453e-06, 4.76563454e+00, 1.35371399e+00,
+       7.62939453e-06, 2.30320930e+00, 1.91829681e+00, 0.,
+       8.92677879e+00, 2.69378662e-01, 0., 5.47441483e+00,
+       1.06272888e+00, 0., 3.78368759e+00, 1.45125580e+00,
+       7.62939453e-06, 4.98469543e+00, 1.04684448e+00, -7.62939453e-06,
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+       1.97404480e+00, 0., 7.72182655e+00, 2.86399841e-01,
+       7.62939453e-06, 4.19805717e+00, 1.09983063e+00, 0.,
+       2.22885704e+00, 1.55440521e+00, 0., 3.90974617e+00,
+       1.03814697e+00, -7.62939453e-06, 5.83922386e+00, 2.02842712e-01,
+       0., 5.53693199e+00, 2.73246765e-01, 7.62939453e-06,
+       5.13503075e+00, 3.66867065e-01, 0., 9.92641449e-01,
+       1.33178711e+00, 7.62939453e-06, 4.84434700e+00, 3.05076599e-01,
+       0., 5.55790710e+00, 8.42285156e-03, 7.62939453e-06,
+       4.86418533e+00, 4.08401489e-02, 0., 3.46768951e+00,
+       3.68347168e-01, 0., 3.07159233e+00, 4.61242676e-01, 0.,
+       1.11018181e+00, 9.21234131e-01, 0., 8.18679810e-01,
+       9.89593506e-01, -7.62939453e-06, 2.78357697e+00, 3.99803162e-01,
+       0., 3.48527527e+00, 1.05308533e-01, 0., 1.51431847e+00,
+       5.69610596e-01, 0., 2.80005646e+00, 1.37336731e-01, 0.,
+       1.71734428e+00, 3.92974854e-01, 0., 8.38602066e-01,
+       6.00440979e-01, 0., 8.51938248e-01, 3.39996338e-01, 0.,
+       2.87357330e-01, 8.74023438e-02, 0., 9.91840363e-02,
+       3.20434570e-03, 1.86299744e+01, 2.57879086e+01, 7.50000000e+00,
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+       1.71978226e+01, 1.26793118e+01, 7.50000000e+00, 1.72592697e+01,
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+       7.50000000e+00, 1.52902069e+01, 1.94848957e+01, 7.50000000e+00,
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+       7.50000000e+00, 1.82097092e+01, 5.05349731e+00, 7.50000000e+00,
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+       7.50000000e+00, 1.54777832e+01, 1.27308712e+01, 7.50000000e+00,
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+       7.50000000e+00, 1.36167068e+01, 2.02742748e+01, 7.50000000e+00,
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+       7.50000000e+00, 1.71497269e+01, 4.12203217e+00, 7.50000000e+00,
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+       7.50000000e+00, 1.22956390e+01, 2.05255108e+01, 7.50000000e+00,
+       1.43253326e+01, 1.13064671e+01, 7.50000000e+00, 1.58007889e+01,
+       4.60487747e+00, 7.50000000e+00, 1.65428162e+01, 1.23454666e+00,
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+       7.50000000e+00, 1.32347107e+01, 1.43763866e+01, 7.50000000e+00,
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+       7.50000000e+00, 1.15892639e+01, 2.08908863e+01, 7.49999237e+00,
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+       7.50000000e+00, 1.49922867e+01, 5.48369598e+00, 7.49999237e+00,
+       1.54285431e+01, 3.50850677e+00, 7.50000000e+00, 1.55820541e+01,
+       2.81352425e+00, 7.50000000e+00, 1.58628311e+01, 1.54227257e+00,
+       7.50000000e+00, 1.60156403e+01, 8.50437164e-01, 7.50000000e+00,
+       1.21421051e+01, 1.74518185e+01, 7.50000000e+00, 1.26429520e+01,
+       1.51866550e+01, 7.50000000e+00, 1.27217865e+01, 1.48300610e+01,
+       7.50000763e+00, 1.32980499e+01, 1.22238636e+01, 7.50000000e+00,
+       1.33763580e+01, 1.18696690e+01, 7.50000000e+00, 1.41560440e+01,
+       8.34342384e+00, 7.50000000e+00, 1.43887100e+01, 7.29107857e+00,
+       7.50000000e+00, 1.55692444e+01, 1.95187759e+00, 7.50000000e+00,
+       1.57730789e+01, 1.02999496e+00, 7.50000000e+00, 1.17407913e+01,
+       1.83332767e+01, 7.49999237e+00, 1.33685303e+01, 1.09792385e+01,
+       7.50000000e+00, 1.43528366e+01, 6.53224182e+00, 7.50000000e+00,
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+       1.96932468e+01, 7.49999237e+00, 1.26829987e+01, 1.31516781e+01,
+       7.50000000e+00, 1.36460648e+01, 8.80523872e+00, 7.50000000e+00,
+       9.84349823e+00, 2.50330029e+01, 7.50000000e+00, 1.07527084e+01,
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+       7.50000000e+00, 1.24154510e+01, 1.34375210e+01, 7.50000000e+00,
+       1.30414886e+01, 1.06150875e+01, 7.50000000e+00, 1.51249237e+01,
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+       7.50000000e+00, 9.92421722e+00, 2.37399731e+01, 7.49999237e+00,
+       1.15180664e+01, 1.65617046e+01, 7.50000000e+00, 1.15970840e+01,
+       1.62058353e+01, 7.50000000e+00, 1.19387512e+01, 1.46670704e+01,
+       7.50000000e+00, 1.31381836e+01, 9.26516151e+00, 7.50000000e+00,
+       1.01378784e+01, 2.18538761e+01, 7.50000000e+00, 1.02178268e+01,
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+       7.50000000e+00, 1.14882507e+01, 1.57785702e+01, 7.50000000e+00,
+       1.23521805e+01, 1.18917179e+01, 7.50000000e+00, 1.25604706e+01,
+       1.09546223e+01, 7.50000000e+00, 1.31309738e+01, 8.38791466e+00,
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+       1.36724319e+01, 5.95189285e+00, 7.50000000e+00, 1.37752151e+01,
+       5.48942947e+00, 7.50000000e+00, 1.40060959e+01, 4.45068550e+00,
+       7.50000763e+00, 1.03766403e+01, 1.98613377e+01, 7.50000000e+00,
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+       7.49999237e+00, 1.30979843e+01, 7.63063812e+00, 7.50000000e+00,
+       1.32784576e+01, 6.81957436e+00, 7.50000000e+00, 1.33814316e+01,
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+       7.50000000e+00, 9.89806366e+00, 2.10958233e+01, 7.50000000e+00,
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+       7.50000000e+00, 1.14289856e+01, 1.42224865e+01, 7.50000000e+00,
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+       7.50000000e+00, 1.13211060e+01, 1.38013134e+01, 7.50000000e+00,
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+       1.61757793e+01, 7.50000000e+00, 2.45748901e+00, 1.58409367e+01,
+       7.50000763e+00, 2.53529358e+00, 1.55063610e+01, 7.50000000e+00,
+       4.61369324e+00, 6.56790924e+00, 7.50000000e+00, 5.62456512e+00,
+       2.22057343e+00, 7.50000000e+00, 5.90077972e+00, 1.03265953e+00,
+       7.50000000e+00, 1.17141724e+00, 2.05906239e+01, 7.50000763e+00,
+       2.49975586e+00, 1.48829975e+01, 7.50000000e+00, 2.65489960e+00,
+       1.42163563e+01, 7.50000000e+00, 4.21897888e+00, 7.49580574e+00,
+       7.50000000e+00, 1.05933914e+01, 0., 3.75273895e+00,
+       8.50097656e-01, 2.11921177e+01, 7.50000000e+00, 1.08600616e+00,
+       2.01793613e+01, 7.50000000e+00, 4.20600128e+00, 6.78506279e+00,
+       7.50000000e+00, 4.28215027e+00, 6.45813179e+00, 7.50000000e+00,
+       5.56807709e+00, 9.37595367e-01, 7.50000000e+00, 8.17665100e-01,
+       2.05552883e+01, 7.50000000e+00, 1.02701569e+00, 1.96573200e+01,
+       7.50000000e+00, 2.14503479e+00, 1.48618450e+01, 7.50000000e+00,
+       2.53218842e+00, 1.32012348e+01, 7.50000000e+00, 2.60943604e+00,
+       1.28698597e+01, 7.50000763e+00, 4.72391510e+00, 3.80026436e+00,
+       7.50000000e+00, 5.00086975e+00, 2.61233902e+00, 7.50000000e+00,
+       5.10137939e+00, 2.18117142e+00, 7.50000763e+00, 5.27705383e+00,
+       1.42765999e+00, 7.50000763e+00, 2.13620758e+00, 1.41318188e+01,
+       7.50000000e+00, 2.65105438e+00, 1.19254017e+01, 7.50000000e+00,
+       0., 2.50330257e+01, 7.01992035e+00, 9.09683228e-01,
+       1.86188717e+01, 7.50000000e+00, 1.22196198e+00, 1.72817287e+01,
+       7.50000000e+00, 2.05011749e+00, 1.37357388e+01, 7.50000000e+00,
+       2.17890930e+00, 1.31842594e+01, 7.50000763e+00, 2.25611877e+00,
+       1.28537045e+01, 7.50000000e+00, 2.38465118e+00, 1.23033237e+01,
+       7.50000763e+00, 2.64124298e+00, 1.12046452e+01, 7.50000763e+00,
+       4.41954041e+00, 3.59040260e+00, 7.49999237e+00, 4.74638367e+00,
+       2.19089508e+00, 7.50000000e+00, 5.07217407e+00, 7.95900345e-01,
+       7.50000000e+00, 0., 2.44049435e+01, 6.99149323e+00,
+       2.52912903e+00, 1.09247112e+01, 7.50000000e+00, 2.68262482e+00,
+       1.02680378e+01, 7.50000000e+00, 4.00332642e+00, 4.61791420e+00,
+       7.50000000e+00, 4.17980957e+00, 3.86289787e+00, 7.50000000e+00,
+       8.71116638e-01, 1.72547703e+01, 7.49999237e+00, 2.13560486e+00,
+       1.18498631e+01, 7.50000000e+00, 3.63771057e+00, 5.42928505e+00,
+       7.50000000e+00, 3.94052124e+00, 4.13491058e+00, 7.50000000e+00,
+       4.16704559e+00, 3.16666222e+00, 7.50000000e+00, 4.26757050e+00,
+       2.73702049e+00, 7.50000000e+00, 4.61858368e+00, 1.23662376e+00,
+       7.50000000e+00, 4.71865082e+00, 8.08898926e-01, 7.49999237e+00,
+       0., 2.51277714e+01, 6.55551910e+00, 0., 2.48629704e+01,
+       6.60642242e+00, 0., 2.44667416e+01, 6.68260193e+00, 0.,
+       2.31544666e+01, 6.93489075e+00, 8.64891052e-01, 1.65214062e+01,
+       7.50000000e+00, 1.12370300e+00, 1.54161320e+01, 7.49999237e+00,
+       1.27867126e+00, 1.47542896e+01, 7.50000000e+00, 2.12686157e+00,
+       1.11319256e+01, 7.50000000e+00, 2.40803528e+00, 9.93109703e+00,
+       7.50000763e+00, 2.56108856e+00, 9.27749062e+00, 7.50000000e+00,
+       3.87794495e+00, 3.65360260e+00, 7.50000000e+00, 4.15433502e+00,
+       2.47321129e+00, 7.50000000e+00, 4.50502777e+00, 9.75528717e-01,
+       7.50000000e+00, 2.16925049e+00, 1.01989231e+01, 7.50000000e+00,
+       3.31183624e+00, 5.32344246e+00, 7.50000000e+00, 3.61438751e+00,
+       4.03249168e+00, 7.49999237e+00, 0., 2.51912403e+01,
+       6.24441528e+00, 0., 2.49258633e+01, 6.29573822e+00, 0.,
+       2.32136784e+01, 6.62683105e+00, 0., 2.11363544e+01,
+       7.02853394e+00, 9.29939270e-01, 1.47336292e+01, 7.50000000e+00,
+       1.23896027e+00, 1.34161587e+01, 7.50000000e+00, 2.05849457e+00,
+       9.92216682e+00, 7.50000000e+00, 2.28781128e+00, 8.94449425e+00,
+       7.50000000e+00, 2.92213440e+00, 6.24017906e+00, 7.50000000e+00,
+       3.19999695e+00, 5.05558586e+00, 7.50000000e+00, 3.72834778e+00,
+       2.80302238e+00, 7.50000000e+00, 3.95393372e+00, 1.84120750e+00,
+       7.50000000e+00, 0., 2.24596920e+01, 6.62434387e+00, 0.,
+       2.03924007e+01, 7.02527618e+00, 3.18922424e+00, 4.35934639e+00,
+       7.50000000e+00, 3.28987122e+00, 3.93058205e+00, 7.50000763e+00,
+       3.86670685e+00, 1.47341537e+00, 7.50000763e+00, 0.,
+       2.11913624e+01, 6.72249603e+00, 8.91685486e-01, 1.33988056e+01,
+       7.50000000e+00, 2.59893799e+00, 6.13257790e+00, 7.50000000e+00,
+       3.22874451e+00, 3.45205498e+00, 7.50000000e+00, 0.,
+       2.04458866e+01, 6.71983337e+00, 0., 1.90403728e+01,
+       6.99398804e+00, 8.85490417e-01, 1.26807766e+01, 7.50000000e+00,
+       2.33686829e+00, 6.50884247e+00, 7.49999237e+00, 7.62939453e-06,
+       1.84311581e+01, 6.96604919e+00, 2.37829590e+00, 5.59665489e+00,
+       7.50000000e+00, 2.63020325e+00, 4.52634239e+00, 7.49999237e+00,
+       2.93167877e+00, 3.24543762e+00, 7.50000000e+00, 3.50700378e+00,
+       8.00901413e-01, 7.50000763e+00, 0., 1.92185192e+01,
+       6.66455841e+00, 1.30648041e+00, 9.41386604e+00, 7.50000763e+00,
+       3.24647522e+00, 1.17800140e+00, 7.50000000e+00, 0.,
+       1.84806576e+01, 6.66201782e+00, 0., 1.63416767e+01,
+       7.08288574e+00, 1.85646057e+00, 6.34716034e+00, 7.49999237e+00,
+       1.95740509e+00, 5.91900063e+00, 7.50000000e+00, 2.33503723e+00,
+       4.31714249e+00, 7.50000000e+00, 2.38529205e+00, 4.10401154e+00,
+       7.50000000e+00, 2.71129608e+00, 2.72117805e+00, 7.50000000e+00,
+       2.78637695e+00, 2.40268898e+00, 7.50000000e+00, 0.,
+       2.36866741e+01, 5.48715973e+00, 0., 2.18499279e+01,
+       5.84960938e+00, 7.62939453e-06, 1.71159611e+01, 6.78375244e+00,
+       9.62684631e-01, 9.40625572e+00, 7.50000000e+00, 1.84842682e+00,
+       5.65229797e+00, 7.50000000e+00, 2.30099487e+00, 3.73423195e+00,
+       7.50000000e+00, 0., 2.10980816e+01, 5.84868622e+00,
+       -7.62939453e-06, 1.67626019e+01, 6.70666504e+00, 0.,
+       1.51425228e+01, 7.02726746e+00, 9.56413269e-01, 8.70368385e+00,
+       7.50000000e+00, 1.38674927e+00, 6.88139343e+00, 7.50000000e+00,
+       2.06652069e+00, 4.00276566e+00, 7.50000000e+00, 2.41723633e+00,
+       2.51762581e+00, 7.50000000e+00, 2.66701508e+00, 1.45992088e+00,
+       7.50000000e+00, 2.84149170e+00, 7.21061707e-01, 7.50000000e+00,
+       7.62939453e-06, 2.52119045e+01, 4.88266754e+00, 0.,
+       2.49444485e+01, 4.93574524e+00, 7.62939453e-06, 2.34829578e+01,
+       5.22580719e+00, 0., 2.21681805e+01, 5.48674774e+00, 0.,
+       1.64096203e+01, 6.62963104e+00, 7.62939453e-06, 1.44222927e+01,
+       7.02405548e+00, 1.65662384e+00, 5.01488304e+00, 7.50000000e+00,
+       2.20829010e+00, 2.68070412e+00, 7.50000000e+00, 2.43311310e+00,
+       1.72942162e+00, 7.49999237e+00, -7.62939453e-06, 1.51853924e+01,
+       6.72618103e+00, 1.77440643e+00, 3.79605293e+00, 7.50000000e+00,
+       2.39910889e+00, 1.15509605e+00, 7.50000000e+00, 2.44892120e+00,
+       9.44513321e-01, 7.50000000e+00, 0., 2.51420612e+01,
+       4.59204865e+00, 0., 2.36759243e+01, 4.88470459e+00, 0.,
+       2.02737789e+01, 5.56380463e+00, 0., 1.44637280e+01,
+       6.72354889e+00, 0., 1.25028400e+01, 7.11495972e+00,
+       1.36557770e+00, 4.80553055e+00, 7.50000000e+00, 7.62939453e-06,
+       2.14695873e+01, 5.17457581e+00, 0., 2.12089024e+01,
+       5.22676849e+00, 7.62939453e-06, 1.95270290e+01, 5.56344604e+00,
+       0., 1.78665524e+01, 5.89584351e+00, 0., 1.37448864e+01,
+       6.72092438e+00, 1.03221130e+00, 5.49647522e+00, 7.50000000e+00,
+       1.38362885e+00, 4.01325798e+00, 7.50000763e+00, 1.80874634e+00,
+       2.21900368e+00, 7.50000000e+00, 1.85865021e+00, 2.00840378e+00,
+       7.50000000e+00, 1.95837402e+00, 1.58750725e+00, 7.50000000e+00,
+       7.62939453e-06, 2.05866184e+01, 5.20104980e+00, 0.,
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+       6.69374084e+00, -7.62939453e-06, 1.25404682e+01, 6.81636810e+00,
+       0., 1.10865078e+01, 7.10825348e+00, 1.02587128e+00,
+       4.80888176e+00, 7.50000000e+00, 1.12620544e+00, 4.38575935e+00,
+       7.50000000e+00, 1.52655792e+00, 2.69738960e+00, 7.50000000e+00,
+       1.95024109e+00, 9.10675049e-01, 7.50000000e+00, 7.62939453e-06,
+       2.52384701e+01, 4.11395264e+00, 0., 2.49698086e+01,
+       4.16804504e+00, 0., 1.03824444e+01, 7.10492706e+00, 0.,
+       2.35321674e+01, 4.30500031e+00, 0., 2.15540981e+01,
+       4.70437622e+00, 0., 2.11620197e+01, 4.78353882e+00, 0.,
+       1.71779652e+01, 5.58794403e+00, 0., 1.11213627e+01,
+       6.81079865e+00, 1.46225739e+00, 1.55142403e+00, 7.50000000e+00,
+       1.53689575e+00, 1.23716354e+00, 7.50000000e+00, 7.62939453e-06,
+       2.09288692e+01, 4.67935181e+00, 0., 8.98245811e+00,
+       7.09828949e+00, 1.03194427e+00, 2.65733147e+00, 7.50000000e+00,
+       1.23130798e+00, 1.81865311e+00, 7.50000000e+00, 7.62939453e-06,
+       2.03055325e+01, 4.65441895e+00, 0., 1.55869389e+01,
+       5.61257935e+00, 0., 1.00724545e+01, 6.73234558e+00, 0.,
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+       7.50000000e+00, 7.62939453e-06, 2.05927982e+01, 4.44451141e+00,
+       0., 1.47344418e+01, 5.63749695e+00, 0., 9.01322365e+00,
+       6.80255127e+00, 0., 7.35810089e+00, 7.13959503e+00,
+       9.94529724e-01, 1.41119385e+00, 7.50000000e+00, 0.,
+       2.37877178e+01, 3.64021301e+00, 0., 8.43443108e+00,
+       6.77561951e+00, 0., 6.66856575e+00, 7.13623810e+00,
+       7.62939453e-06, 2.16960506e+01, 3.91461945e+00, 7.62939453e-06,
+       2.01263485e+01, 4.23608398e+00, 0., 7.38574219e+00,
+       6.84532928e+00, 0., 2.22526035e+01, 3.64731598e+00, 0.,
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+       5.66120148e+00, 0., 6.69489288e+00, 6.84253693e+00, 0.,
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+       3.70500183e+00, 0., 2.05716419e+01, 3.83993530e+00,
+       -7.62939453e-06, 1.17315273e+01, 5.66066742e+00, 0.,
+       1.03963146e+01, 5.93566132e+00, 0., 4.73100853e+00,
+       7.10249329e+00, 6.48757935e-01, 8.49151611e-02, 7.50000000e+00,
+       7.62939453e-06, 1.95565052e+01, 3.89672089e+00, 7.62939453e-06,
+       1.08975582e+01, 5.68518066e+00, 0., 5.43717957e+00,
+       6.81299591e+00, 7.62939453e-06, 1.00676289e+01, 5.70959473e+00,
+       0., 8.98656273e+00, 5.93351746e+00, 0., 4.75366783e+00,
+       6.81027985e+00, 0., 3.26007462e+00, 7.11963654e+00,
+       2.92167664e-01, 2.02493668e-01, 7.50000000e+00, 0.,
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+       5.70896912e+00, 0., 2.58610725e+00, 7.11635590e+00, 0.,
+       2.02883434e+01, 3.28583527e+00, 0., 1.98963299e+01,
+       3.36750031e+00, -7.62939453e-06, 1.83399639e+01, 3.69168854e+00,
+       0., 1.80823689e+01, 3.74535370e+00, -7.62939453e-06,
+       1.05852032e+01, 5.30702209e+00, 0., 3.39443207e+00,
+       6.80485535e+00, 0., 2.52542133e+01, 2.09474945e+00,
+       7.62939453e-06, 2.49825077e+01, 2.15150452e+00, 0.,
+       2.18971004e+01, 2.79601288e+00, 0., 1.91417522e+01,
+       3.37157440e+00, 7.62939453e-06, 1.88823452e+01, 3.42575836e+00,
+       0., 2.60474014e+00, 6.82596588e+00, 0., 9.08420563e-01,
+       7.18030548e+00, 7.62939453e-06, 6.84026718e-01, 7.22717285e+00,
+       6.28356934e-01, 0., 6.82273102e+00, 0., 2.36630268e+01,
+       2.27111053e+00, 0., 2.13961620e+01, 2.74596405e+00, 0.,
+       2.11320171e+01, 2.80129242e+00, 0., 2.07367954e+01,
+       2.88407898e+00, 0., 1.85194798e+01, 3.34856415e+00,
+       7.62939453e-06, 1.80032024e+01, 3.45670319e+00, 0.,
+       7.02385902e+00, 5.75662994e+00, 0., 5.84801865e+00,
+       6.00293732e+00, 7.62939453e-06, 1.77703495e+01, 3.35265350e+00,
+       7.62939453e-06, 1.71284657e+01, 3.48749542e+00, 0.,
+       1.67448597e+01, 3.56807709e+00, 7.62939453e-06, 1.06366138e+01,
+       4.85121155e+00, -7.62939453e-06, 6.32992554e+00, 5.75591278e+00,
+       7.62939453e-06, 1.37482262e+00, 6.79680634e+00, 0.,
+       1.03650284e+00, 6.86788177e+00, 5.87699890e-01, 1.90734863e-06,
+       6.57160950e+00, 0., 2.14530735e+01, 2.42378235e+00, 0.,
+       1.86998768e+01, 3.00375366e+00, 0., 1.08977070e+01,
+       4.64733887e+00, 0., 7.06693649e-01, 6.79415131e+00, 0.,
+       1.98995533e+01, 2.59642029e+00, -7.62939453e-06, 1.71762791e+01,
+       3.17171478e+00, 7.62939453e-06, 1.64085979e+01, 3.33388519e+00,
+       0., 9.09553719e+00, 4.87875366e+00, 0., 8.49480629e+00,
+       5.00566101e+00, 7.62939453e-06, 4.02170181e+00, 5.95059204e+00,
+       0., 1.81026478e+01, 2.82218933e+00, 7.62939453e-06,
+       1.13001766e+01, 4.26322937e+00, 0., 1.08104382e+01,
+       4.36698151e+00, 7.62939453e-06, 9.47341347e+00, 4.65021515e+00,
+       0., 4.61238480e+00, 5.67998505e+00, 7.62939453e-06,
+       9.47319031e-01, 6.45639801e+00, 7.62939453e-06, 7.21876144e-01,
+       6.50415039e+00, 7.62939453e-06, 2.36830120e+01, 1.48264313e+00,
+       0., 1.94291134e+01, 2.38632202e+00, 0., 1.19335499e+01,
+       3.97864532e+00, 0., 1.78936367e+01, 2.55827332e+00, 0.,
+       9.99111366e+00, 4.24174500e+00, 0., 9.02194023e+00,
+       4.44820404e+00, 0., 2.49694347e+01, 8.92204285e-01, 0.,
+       2.37451916e+01, 1.15373230e+00, 7.62939453e-06, 2.17296162e+01,
+       1.58430481e+00, 7.62939453e-06, 1.98758564e+01, 1.98031616e+00,
+       0., 1.90893536e+01, 2.14833069e+00, 0., 1.47204418e+01,
+       3.08164215e+00, 7.62939453e-06, 1.28392200e+01, 3.48352051e+00,
+       7.62939453e-06, 1.18471508e+01, 3.69544220e+00, 0.,
+       4.18083000e+00, 5.33317566e+00, 0., 1.87235622e+01,
+       2.07120514e+00, 0., 1.62686596e+01, 2.59709930e+00, 0.,
+       1.58852711e+01, 2.67923737e+00, 0., 1.51219120e+01,
+       2.84275818e+00, 0., 7.25250435e+00, 4.52856445e+00, 0.,
+       2.53087978e+01, 5.01029968e-01, 0., 2.23232670e+01,
+       1.14237976e+00, 0., 2.05902882e+01, 1.51465607e+00, 0.,
+       2.00616360e+01, 1.62822723e+00, 7.62939453e-06, 1.94038143e+01,
+       1.76953888e+00, 0., 1.83581562e+01, 1.99416351e+00, 0.,
+       1.78384609e+01, 2.10580444e+00, -7.62939453e-06, 1.20080585e+01,
+       3.35829163e+00, 7.62939453e-06, 1.15134411e+01, 3.46453857e+00,
+       0., 1.10207348e+01, 3.57038879e+00, 7.62939453e-06,
+       1.02852802e+01, 3.72837067e+00, 0., 9.43263435e+00,
+       3.91155243e+00, 0., 7.62485886e+00, 4.29989624e+00, 0.,
+       2.12546921e+00, 5.48126221e+00, 0., 2.50672741e+01,
+       3.93310547e-01, 0., 1.81231365e+01, 1.88919830e+00, 0.,
+       1.72158794e+01, 2.08464050e+00, 0., 1.68290005e+01,
+       2.16797638e+00, 7.62939453e-06, 1.60586948e+01, 2.33390808e+00,
+       7.62939453e-06, 8.23945427e+00, 4.01832581e+00, 7.62939453e-06,
+       1.89318371e+01, 1.55877686e+00, 0., 1.84089336e+01,
+       1.67173767e+00, 0., 1.43001347e+01, 2.55931091e+00, 0.,
+       1.09330616e+01, 3.28665924e+00, 0., 1.06871700e+01,
+       3.33978271e+00, 0., 8.85816383e+00, 3.73487854e+00,
+       7.62939453e-06, 2.37292671e+00, 5.13581085e+00, 0.,
+       1.76531353e+01, 1.67928314e+00, 7.62939453e-06, 1.68765621e+01,
+       1.84750366e+00, 0., 1.50825176e+01, 2.23612976e+00,
+       7.62939453e-06, 1.47013226e+01, 2.31870270e+00, 0.,
+       1.39423084e+01, 2.48312378e+00, 0., 1.26872349e+01,
+       2.75499725e+00, 0., 9.48104286e+00, 3.44952393e+00, 0.,
+       3.65338707e+00, 4.71190643e+00, 0., 2.31179180e+01,
+       3.36227417e-01, 0., 1.83292332e+01, 1.37643433e+00,
+       7.62939453e-06, 1.74181614e+01, 1.57433319e+00, 0.,
+       1.04760990e+01, 3.08230591e+00, 0., 8.64695168e+00,
+       3.47963715e+00, 0., 6.72492218e+00, 3.89714050e+00, 0.,
+       1.01822662e+00, 5.13675690e+00, 7.62939453e-06, 2.27423382e+01,
+       2.58476257e-01, 0., 2.03308506e+01, 7.83760071e-01, 0.,
+       1.96687870e+01, 9.27970886e-01, 0., 1.42369022e+01,
+       2.11117554e+00, 0., 1.34793110e+01, 2.27619171e+00,
+       -7.62939453e-06, 1.01249714e+01, 3.00685883e+00, 0.,
+       4.25766945e+00, 4.28489685e+00, 7.62939453e-06, 3.90732765e+00,
+       4.36120605e+00, 0., 2.28550529e+00, 4.71447754e+00, 0.,
+       6.84980392e-01, 5.06311035e+00, 0., 1.65604610e+01,
+       1.44916534e+00, 0., 1.57883854e+01, 1.61780548e+00,
+       7.62939453e-06, 1.18718090e+01, 2.47329712e+00, 0.,
+       1.37725430e+01, 1.90365601e+00, 0., 1.21398144e+01,
+       2.26128387e+00, 0., 8.20841408e+00, 3.12239838e+00, 0.,
+       6.64587975e+00, 3.46464539e+00, 7.62939453e-06, 2.18860054e+00,
+       4.44093323e+00, 0., 2.06804905e+01, 2.31658936e-01, 0.,
+       1.09157085e+01, 2.37639618e+00, 0., 8.95194054e+00,
+       2.80772400e+00, 7.62939453e-06, 8.58713722e+00, 2.88784790e+00,
+       0., 1.21777859e+01, 1.94515228e+00, 0., 3.71640968e+00,
+       3.80875397e+00, 0., 9.43853378e-01, 4.41940308e+00,
+       7.62939453e-06, 7.15637207e-01, 4.46966553e+00, 0.,
+       1.94059925e+01, 1.94458008e-01, 7.62939453e-06, 1.32022152e+01,
+       1.56459045e+00, 7.62939453e-06, 1.19467182e+01, 1.84187317e+00,
+       7.62939453e-06, 1.16971035e+01, 1.89700317e+00, 0.,
+       5.85045052e+00, 3.18827057e+00, 0., 1.87717037e+01,
+       1.75933838e-01, 0., 1.24667606e+01, 1.57226562e+00,
+       7.62939453e-06, 8.14709663e+00, 2.52891541e+00, 0.,
+       7.78367043e+00, 2.60939789e+00, 0., 1.77459507e+01,
+       2.44842529e-01, 0., 9.25984001e+00, 2.12940216e+00, 0.,
+       2.34998703e+00, 3.66390991e+00, 0., 1.69867802e+01,
+       2.55371094e-01, 0., 6.60667229e+00, 2.56688690e+00, 0.,
+       5.05592346e+00, 2.91220856e+00, 0., 2.12755966e+00,
+       3.56432343e+00, 0., 7.10168839e+00, 2.30435181e+00, 0.,
+       4.59411621e+00, 2.86428833e+00, 0., 1.56068020e+01,
+       2.47367859e-01, 7.62939453e-06, 1.11651592e+01, 1.24191284e+00,
+       0., 7.84223747e+00, 1.98596191e+00, 0., 4.36917686e+00,
+       2.76363373e+00, 0., 2.26174545e+00, 3.23551941e+00, 0.,
+       1.49848042e+01, 2.28958130e-01, 0., 1.03123798e+01,
+       1.27804565e+00, 0., 5.92680931e+00, 2.26274109e+00, 0.,
+       9.46384621e+00, 1.31401062e+00, 7.62939453e-06, 6.29960251e+00,
+       2.02641296e+00, 0., 1.34915485e+01, 2.49870300e-01,
+       7.62939453e-06, 8.74211693e+00, 1.32209778e+00, 7.62939453e-06,
+       1.01561737e+00, 3.06644440e+00, 0., 7.85436630e-01,
+       3.11842346e+00, 7.62939453e-06, 6.32601357e+00, 1.71438599e+00,
+       0., 8.52789116e+00, 1.06111908e+00, 7.62939453e-06,
+       7.18582153e+00, 1.36576843e+00, 7.62939453e-06, 2.19143677e+00,
+       2.49948120e+00, 7.62939453e-06, 1.15254612e+01, 2.23716736e-01,
+       7.62939453e-06, 6.47322655e+00, 1.37371063e+00, 7.62939453e-06,
+       5.03247452e+00, 1.70165253e+00, 7.62939453e-06, 3.73711395e+00,
+       1.84411621e+00, 0., 1.09341984e+01, 4.43115234e-02,
+       7.62939453e-06, 5.89652061e+00, 1.19724274e+00, 0.,
+       1.05600166e+00, 2.30506897e+00, 0., 7.09243774e-01,
+       2.38442993e+00, 0., 8.95998955e+00, 3.39950562e-01, 0.,
+       3.75856018e+00, 1.53360748e+00, 0., 9.59576607e+00,
+       3.71780396e-02, 7.62939453e-06, 5.68118477e+00, 9.37965393e-01,
+       -7.62939453e-06, 4.96074867e+00, 1.10375214e+00, 0.,
+       4.13666153e+00, 1.13965607e+00, 0., 2.24684715e+00,
+       1.57570648e+00, -7.62939453e-06, 9.64380264e-01, 1.87162018e+00,
+       0., 7.52985191e+00, 2.00584412e-01, 0., 5.49042320e+00,
+       3.61900330e-01, 0., 4.78033257e+00, 3.71833801e-01,
+       7.62939453e-06, 5.63647079e+00, 1.60675049e-02, -7.62939453e-06,
+       7.79867172e-01, 9.98703003e-01, -7.62939453e-06, 3.49809074e+00,
+       2.05963135e-01, 0., 2.79510689e+00, 2.16163635e-01, 0.,
+       1.38037109e+00, 5.49728394e-01, 0., 7.95724869e-01,
+       6.87583923e-01, 0., 3.60113144e-01, 1.73294067e-01, 0.,
+       1.78890228e-02, 1.00128174e-01, 1.85823135e+01, 2.57952671e+01,
+       7.50000000e+00, 1.77382889e+01, 2.45979710e+01, 7.50000000e+00,
+       1.77802200e+01, 2.31256466e+01, 7.50000000e+00, 1.71104889e+01,
+       2.49927425e+01, 7.49999237e+00, 1.71753769e+01, 2.46889973e+01,
+       7.49999237e+00, 1.72726288e+01, 2.42337666e+01, 7.50000000e+00,
+       1.78218613e+01, 2.16629391e+01, 7.50000000e+00, 1.80149384e+01,
+       2.07591343e+01, 7.50000000e+00, 1.71866837e+01, 2.33720798e+01,
+       7.50000000e+00, 1.72513123e+01, 2.30699253e+01, 7.50000000e+00,
+       1.71334305e+01, 2.23642712e+01, 7.50000000e+00, 1.63375931e+01,
+       2.48244686e+01, 7.50000000e+00, 1.74657593e+01, 1.95661564e+01,
+       7.50000763e+00, 1.65774155e+01, 2.24614239e+01, 7.50000000e+00,
+       1.68350449e+01, 2.12623577e+01, 7.50000000e+00, 1.70598984e+01,
+       2.02158260e+01, 7.50000000e+00, 1.64617920e+01, 2.17611027e+01,
+       7.50000000e+00, 1.69754257e+01, 1.93738079e+01, 7.50000000e+00,
+       1.69233246e+01, 1.83878269e+01, 7.50000000e+00, 1.63924255e+01,
+       1.96277828e+01, 7.50000763e+00, 1.69352188e+01, 1.71119709e+01,
+       7.50000000e+00, 1.71895828e+01, 1.59330082e+01, 7.50000000e+00,
+       1.56689224e+01, 2.17596951e+01, 7.50000000e+00, 1.71055832e+01,
+       1.51099224e+01, 7.50000763e+00, 1.72638855e+01, 1.43772221e+01,
+       7.50000000e+00, 1.47825317e+01, 2.46425533e+01, 7.50000000e+00,
+       1.50734177e+01, 2.32979832e+01, 7.50000000e+00, 1.52668686e+01,
+       2.24038677e+01, 7.49999237e+00, 1.71799927e+01, 1.35608311e+01,
+       7.50000000e+00, 1.71280212e+01, 1.26031666e+01, 7.50000000e+00,
+       1.42709045e+01, 2.45827007e+01, 7.50000000e+00, 1.70449066e+01,
+       1.17954731e+01, 7.50000000e+00, 1.38706970e+01, 2.52233868e+01,
+       7.50000000e+00, 1.69935608e+01, 1.08474751e+01, 7.50000000e+00,
+       1.71814804e+01, 9.98241234e+00, 7.50000000e+00, 1.82084122e+01,
+       5.25498581e+00, 7.50000000e+00, 1.36979294e+01, 2.48206043e+01,
+       7.50000000e+00, 1.53339462e+01, 1.72994289e+01, 7.50000000e+00,
+       1.76901474e+01, 6.46737289e+00, 7.50000000e+00, 1.81853256e+01,
+       4.19091988e+00, 7.50000000e+00, 1.33964996e+01, 2.50133114e+01,
+       7.50000763e+00, 1.36872940e+01, 2.36782665e+01, 7.50000000e+00,
+       1.53821564e+01, 1.58969593e+01, 7.50000763e+00, 1.71720810e+01,
+       7.67929077e+00, 7.50000000e+00, 1.87454758e+01, 4.55732346e-01,
+       7.50000000e+00, 1.53036423e+01, 1.50831089e+01, 7.50000000e+00,
+       1.71519165e+01, 6.60883522e+00, 7.50000000e+00, 1.79858932e+01,
+       2.78505135e+00, 7.50000763e+00, 1.30547409e+01, 2.42129688e+01,
+       7.50000000e+00, 1.66789246e+01, 6.46585274e+00, 7.50000000e+00,
+       1.70810623e+01, 4.62698174e+00, 7.50000000e+00, 1.72660828e+01,
+       3.78088760e+00, 7.50000000e+00, 1.75429611e+01, 2.51483917e+00,
+       7.50000000e+00, 1.78190079e+01, 1.25247574e+00, 7.50000000e+00,
+       1.53842316e+01, 1.12326527e+01, 7.50000000e+00, 1.69380875e+01,
+       4.13651085e+00, 7.50000000e+00, 1.74606705e+01, 1.74997520e+00,
+       7.50000000e+00, 1.43008347e+01, 1.50268764e+01, 7.50000000e+00,
+       1.54940262e+01, 9.58497810e+00, 7.50000000e+00, 1.73788071e+01,
+       9.88864899e-01, 7.50000000e+00, 1.26041565e+01, 2.16081448e+01,
+       7.50000000e+00, 1.25007935e+01, 2.09280033e+01, 7.50000000e+00,
+       1.26287384e+01, 2.03460522e+01, 7.50000000e+00, 1.61745529e+01,
+       4.21637154e+00, 7.50000000e+00, 1.13379517e+01, 2.50665836e+01,
+       7.50000000e+00, 1.12374802e+01, 2.43778515e+01, 7.50000000e+00,
+       1.41589966e+01, 1.11223698e+01, 7.50000000e+00, 1.47826004e+01,
+       8.29294395e+00, 7.50000000e+00, 1.48758011e+01, 7.87011147e+00,
+       7.50000000e+00, 1.49689026e+01, 7.44768143e+00, 7.50000000e+00,
+       1.53712997e+01, 5.62188911e+00, 7.50000000e+00, 1.18747787e+01,
+       2.03512897e+01, 7.50000000e+00, 1.27649155e+01, 1.63177547e+01,
+       7.50000000e+00, 1.37410049e+01, 1.18947773e+01, 7.50000000e+00,
+       1.44277649e+01, 8.78276634e+00, 7.50000000e+00, 1.48622665e+01,
+       6.81389236e+00, 7.50000000e+00, 1.56640091e+01, 3.18088531e+00,
+       7.50000763e+00, 1.07484131e+01, 2.43201580e+01, 7.50000000e+00,
+       1.13265686e+01, 2.17036648e+01, 7.50000763e+00, 1.28833160e+01,
+       1.46584911e+01, 7.50000000e+00, 1.42602463e+01, 8.42708397e+00,
+       7.50000000e+00, 1.53416595e+01, 3.53308105e+00, 7.50000763e+00,
+       1.55258255e+01, 2.69962120e+00, 7.50000000e+00, 1.55871429e+01,
+       2.42215538e+00, 7.50000000e+00, 1.57096329e+01, 1.86775780e+00,
+       7.50000000e+00, 1.20229034e+01, 1.74310398e+01, 7.50000000e+00,
+       1.44342041e+01, 6.53239632e+00, 7.50000000e+00, 1.08402252e+01,
+       2.16547794e+01, 7.50000000e+00, 1.11597366e+01, 2.02124653e+01,
+       7.50000000e+00, 1.12872543e+01, 1.96368580e+01, 7.49999237e+00,
+       1.15735550e+01, 1.83444729e+01, 7.50000000e+00, 1.36788406e+01,
+       8.84098625e+00, 7.50000000e+00, 1.38341293e+01, 8.13997841e+00,
+       7.50000000e+00, 1.07739944e+01, 2.08378658e+01, 7.50000000e+00,
+       1.11882782e+01, 1.89701252e+01, 7.50000000e+00, 1.23892822e+01,
+       1.35555134e+01, 7.50000000e+00, 1.30778885e+01, 1.04510059e+01,
+       7.50000000e+00, 1.51147537e+01, 1.26793671e+00, 7.50000000e+00,
+       1.51758041e+01, 9.92668152e-01, 7.50000000e+00, 9.58638000e+00,
+       2.50758343e+01, 7.50000000e+00, 9.87603760e+00, 2.37715359e+01,
+       7.50000000e+00, 1.03569336e+01, 2.16061954e+01, 7.50000000e+00,
+       1.14699478e+01, 1.65945988e+01, 7.50000000e+00, 1.15647507e+01,
+       1.61676693e+01, 7.50000000e+00, 1.22572632e+01, 1.30494900e+01,
+       7.50000000e+00, 1.29137192e+01, 1.00935879e+01, 7.50000000e+00,
+       1.31004639e+01, 9.25270271e+00, 7.50000763e+00, 1.39055710e+01,
+       5.62749672e+00, 7.50000000e+00, 1.14027557e+01, 1.57972469e+01,
+       7.50000000e+00, 1.22822800e+01, 1.18419018e+01, 7.50000000e+00,
+       1.33396912e+01, 7.08656311e+00, 7.50000000e+00, 9.20326233e+00,
+       2.45826473e+01, 7.50000000e+00, 9.97251892e+00, 2.11275005e+01,
+       7.50000000e+00, 1.07358093e+01, 1.76991291e+01, 7.50000000e+00,
+       1.09889221e+01, 1.65622387e+01, 7.50000000e+00, 1.22759705e+01,
+       1.07813969e+01, 7.50000000e+00, 1.34230194e+01, 5.62934113e+00,
+       7.50000000e+00, 1.43737106e+01, 1.35927391e+00, 7.50000000e+00,
+       9.62170410e+00, 2.16055584e+01, 7.50000000e+00, 9.94071960e+00,
+       2.01744938e+01, 7.50000000e+00, 1.00043945e+01, 1.98888378e+01,
+       7.50000000e+00, 1.03221741e+01, 1.84633121e+01, 7.50000000e+00,
+       1.13007812e+01, 1.40732708e+01, 7.50000000e+00, 1.32598572e+01,
+       5.28487587e+00, 7.50000000e+00, 9.94084167e+00, 1.90841312e+01,
+       7.50000000e+00, 1.01946106e+01, 1.79471684e+01, 7.50000000e+00,
+       1.05740356e+01, 1.62472057e+01, 7.50000000e+00, 1.11717911e+01,
+       1.35689640e+01, 7.50000000e+00, 1.12971725e+01, 1.30071964e+01,
+       7.50000000e+00, 1.18594131e+01, 1.04881382e+01, 7.50000000e+00,
+       1.23254700e+01, 8.39995766e+00, 7.50000000e+00, 1.25112686e+01,
+       7.56747246e+00, 7.50000000e+00, 1.26658325e+01, 6.87494659e+00,
+       7.50000000e+00, 1.28201599e+01, 6.18352890e+00, 7.50000000e+00,
+       1.36798325e+01, 2.33177376e+00, 7.50000000e+00, 8.53743744e+00,
+       2.42806377e+01, 7.50000000e+00, 9.24169922e+00, 2.11290646e+01,
+       7.50000000e+00, 9.43290710e+00, 2.02734280e+01, 7.50000000e+00,
+       9.59196472e+00, 1.95616627e+01, 7.50000000e+00, 1.02572174e+01,
+       1.65847073e+01, 7.50000000e+00, 1.11685486e+01, 1.25065212e+01,
+       7.50000000e+00, 1.13872681e+01, 1.15277882e+01, 7.50000000e+00,
+       1.18232269e+01, 9.57686043e+00, 7.50000000e+00, 1.26585541e+01,
+       5.83882713e+00, 7.50000000e+00, 1.08215790e+01, 1.29862461e+01,
+       7.50000000e+00, 1.19111328e+01, 8.11645699e+00, 7.50000000e+00,
+       1.19730377e+01, 7.83981514e+00, 7.50000000e+00, 1.25898361e+01,
+       5.08304596e+00, 7.50000000e+00, 8.00087738e+00, 2.45109272e+01,
+       7.50000000e+00, 8.92810059e+00, 2.03717785e+01, 7.50000000e+00,
+       9.53090668e+00, 1.76807766e+01, 7.50000763e+00, 1.02871399e+01,
+       1.43049526e+01, 7.50000000e+00, 1.18750381e+01, 7.21650124e+00,
+       7.50000000e+00, 1.20601654e+01, 6.39008522e+00, 7.50000000e+00,
+       1.22141724e+01, 5.70260048e+00, 7.50000000e+00, 1.22756958e+01,
+       5.42790794e+00, 7.50000763e+00, 1.24600677e+01, 4.60488510e+00,
+       7.50000000e+00, 8.42193604e+00, 2.15570927e+01, 7.50000763e+00,
+       8.54946136e+00, 2.09885540e+01, 7.50000000e+00, 9.59523773e+00,
+       1.63257809e+01, 7.50000000e+00, 1.05676575e+01, 1.19901600e+01,
+       7.49999237e+00, 1.11899414e+01, 9.21558189e+00, 7.50000000e+00,
+       1.30333862e+01, 9.96374130e-01, 7.50000000e+00, 8.42626190e+00,
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+       6.78523254e+00, 0., 2.50769215e+01, 2.06906891e+00, 0.,
+       2.16966038e+01, 2.77597046e+00, 0., 1.90223141e+01,
+       3.33523560e+00, 0., 1.07307301e+01, 5.06920624e+00, 0.,
+       9.42392159e+00, 5.34249115e+00, 7.62939453e-06, 2.67685127e+00,
+       6.75345612e+00, 0., 1.04640388e+00, 7.09442902e+00, 0.,
+       2.36546535e+01, 2.17910767e+00, 0., 2.14132137e+01,
+       2.64942932e+00, 0., 1.85864544e+01, 3.24256897e+00,
+       7.62939453e-06, 1.79665203e+01, 3.37265778e+00, 0.,
+       1.67636395e+01, 3.44216156e+00, 0., 1.07722301e+01,
+       4.70358276e+00, 0., 6.31674194e+00, 5.64163208e+00, 0.,
+       9.30160522e-01, 6.77571869e+00, 0., 6.60230637e-01,
+       6.83255768e+00, 0., 2.14816151e+01, 2.26220703e+00, 0.,
+       2.06882000e+01, 2.42981720e+00, 0., 1.98995533e+01,
+       2.59642029e+00, 0., 8.61472511e+00, 4.98032379e+00, 0.,
+       8.18356133e+00, 5.07140350e+00, 0., 1.80558910e+01,
+       2.80130768e+00, 0., 1.72821751e+01, 2.96530151e+00,
+       7.62939453e-06, 1.63597927e+01, 3.16080475e+00, 0.,
+       1.12546787e+01, 4.24288940e+00, 0., 4.66116524e+00,
+       5.64044952e+00, 7.62939453e-06, 9.48883057e-01, 6.42729950e+00,
+       0., 6.78348541e-01, 6.48464966e+00, 0., 2.36413708e+01,
+       1.42845154e+00, 0., 1.20150623e+01, 3.90106201e+00, 0.,
+       1.06880741e+01, 4.18326569e+00, 0., 9.95684624e+00,
+       4.33878326e+00, 0., 3.70034981e+00, 5.66936493e+00, 0.,
+       2.17447033e+01, 1.64382935e+00, 0., 1.99965725e+01,
+       2.01686096e+00, 0., 8.95889854e+00, 4.37216187e+00, 0.,
+       2.50228214e+01, 7.53593445e-01, 0., 2.14594822e+01,
+       1.51651764e+00, 0., 1.47629147e+01, 2.95026398e+00,
+       7.62939453e-06, 1.28050137e+01, 3.36945343e+00, 0.,
+       1.08768024e+01, 3.78228760e+00, 0., 4.28259850e+00,
+       5.19412994e+00, 0., 1.88015347e+01, 1.89891815e+00, 0.,
+       1.61637211e+01, 2.46557617e+00, 0., 1.58569012e+01,
+       2.53148651e+00, 7.62939453e-06, 1.52454586e+01, 2.66282654e+00,
+       0., 1.43337078e+01, 2.85868835e+00, 7.62939453e-06,
+       1.19337406e+01, 3.37425232e+00, 0., 1.14887562e+01,
+       3.46984863e+00, 0., 1.03097210e+01, 3.72312164e+00, 0.,
+       9.43263435e+00, 3.91155243e+00, 0., 7.55309296e+00,
+       4.31529999e+00, 0., 2.21704483e+00, 5.46158600e+00,
+       7.62939453e-06, 2.51012554e+01, 3.54011536e-01, 7.62939453e-06,
+       1.55776882e+01, 2.40671539e+00, 0., 1.40561924e+01,
+       2.73465729e+00, 7.62939453e-06, 8.29059029e+00, 3.97735596e+00,
+       7.62939453e-06, 1.90208912e+01, 1.47695160e+00, 0.,
+       1.87065716e+01, 1.54492950e+00, 0., 1.59114780e+01,
+       2.14939880e+00, 0., 1.25757656e+01, 2.87076569e+00, 0.,
+       1.09401188e+01, 3.22449493e+00, 0., 8.88860512e+00,
+       3.66815948e+00, 7.62939453e-06, 1.76419582e+01, 1.58814240e+00,
+       0., 1.45619907e+01, 2.25643921e+00, 0., 1.39547596e+01,
+       2.38820648e+00, 0., 1.73598499e+01, 1.46215820e+00, 0.,
+       1.42833424e+01, 2.13192749e+00, 0., 1.32237720e+01,
+       2.36260223e+00, -7.62939453e-06, 1.05390491e+01, 2.94707489e+00,
+       0., 4.34903526e+00, 4.29466248e+00, 0., 1.02458572e+00,
+       5.01840973e+00, 7.62939453e-06, 7.51605988e-01, 5.07782745e+00,
+       7.62939453e-06, 1.66120968e+01, 1.43788910e+00, 0.,
+       1.58397121e+01, 1.60659790e+00, 7.62939453e-06, 1.01173115e+01,
+       2.85652924e+00, -7.62939453e-06, 8.79908562e+00, 3.14448547e+00,
+       0., 1.38778515e+01, 1.84965515e+00, 0., 1.22185154e+01,
+       2.21331024e+00, 0., 8.23560143e+00, 3.08618927e+00,
+       7.62939453e-06, 6.79200554e+00, 3.40255737e+00, 0.,
+       2.28261375e+00, 4.39081573e+00, 0., 2.06116238e+01,
+       1.83151245e-01, 0., 1.45123386e+01, 1.52429199e+00, 0.,
+       1.31449146e+01, 1.82495880e+00, 0., 1.10466022e+01,
+       2.28633881e+00, 0., 7.24012375e+00, 3.12331390e+00,
+       7.62939453e-06, 1.22642994e+01, 1.83351135e+00, 0.,
+       7.88711548e-01, 4.36516571e+00, 0., 1.94008656e+01,
+       6.84204102e-02, 0., 1.19867764e+01, 1.70947266e+00,
+       7.62939453e-06, 9.33336830e+00, 2.11306763e+00, 0.,
+       8.01641655e+00, 2.40553284e+00, 0., 1.05365772e+01,
+       1.66087341e+00, 7.62939453e-06, 6.58535004e+00, 2.54124451e+00,
+       0., 2.19885063e+00, 3.51861572e+00, 0., 9.22486687e+00,
+       1.76873016e+00, 0., 7.17968941e+00, 2.22591400e+00, 0.,
+       5.02514076e+00, 2.70755005e+00, 0., 4.45688438e+00,
+       2.83457947e+00, 0., 1.55946026e+01, 1.55296326e-01, 0.,
+       1.11760044e+01, 1.14631653e+00, 7.62939453e-06, 5.32487679e+00,
+       2.45861816e+00, 7.62939453e-06, 6.48934174e+00, 2.01425934e+00,
+       0., 5.91309929e+00, 2.14393616e+00, 7.62939453e-06,
+       3.91718102e+00, 2.59305573e+00, 0., 9.43087959e+00,
+       1.16661072e+00, 0., 6.37683487e+00, 1.67221069e+00, 0.,
+       7.26432037e+00, 1.28625488e+00, 0., 5.52735138e+00,
+       1.68098450e+00, 7.62939453e-06, 2.26507187e+00, 2.42231750e+00,
+       0., 1.01186180e+00, 2.70711517e+00, 0., 1.15869274e+01,
+       1.15409851e-01, 7.62939453e-06, 6.40878868e+00, 1.29598236e+00,
+       0., 7.44474411e-01, 2.58740234e+00, 7.62939453e-06,
+       1.08554211e+01, 9.37728882e-02, 0., 3.84036446e+00,
+       1.69839478e+00, 7.62939453e-06, 3.72404099e+00, 1.35765076e+00,
+       0., 8.38072395e+00, 9.77478027e-02, 7.62939453e-06,
+       4.16493416e+00, 1.07154846e+00, 0., 2.18023109e+00,
+       1.52999878e+00, 7.62939453e-06, 7.51407814e+00, 1.10420227e-01,
+       0., 6.94420052e+00, 5.50003052e-02, 0., 4.78033066e+00,
+       3.71833801e-01, 0., 5.51800919e+00, 1.25503540e-02, 0.,
+       3.51556969e+00, 2.95043945e-01, 7.62939453e-06, 8.29629898e-01,
+       9.25621033e-01, 7.62939453e-06, 1.40040588e+00, 6.06719971e-01,
+       0., 7.08726883e-01, 5.84869385e-01, 0., 4.56521988e-01,
+       8.83483887e-02, 7.62939453e-06, 4.55284119e-02, 5.34057617e-04,
+       1.79255066e+01, 2.47443943e+01, 7.50000000e+00, 1.78975220e+01,
+       2.33396626e+01, 7.50000000e+00, 1.79084091e+01, 2.17636662e+01,
+       7.50000000e+00, 1.81015472e+01, 2.08590717e+01, 7.50000000e+00,
+       1.72232285e+01, 2.34533253e+01, 7.50000763e+00, 1.71205292e+01,
+       2.24244862e+01, 7.50000000e+00, 1.76993790e+01, 1.97226849e+01,
+       7.50000000e+00, 1.62820206e+01, 2.48334522e+01, 7.50000763e+00,
+       1.64924316e+01, 2.23608036e+01, 7.50000000e+00, 1.66084061e+01,
+       2.18212910e+01, 7.50000000e+00, 1.67242432e+01, 2.12824306e+01,
+       7.50000763e+00, 1.71093597e+01, 1.94909649e+01, 7.50000000e+00,
+       1.70080414e+01, 1.84847546e+01, 7.50000000e+00, 1.59465408e+01,
+       2.19393101e+01, 7.49999237e+00, 1.69838028e+01, 1.71302586e+01,
+       7.50000000e+00, 1.70738907e+01, 1.52566051e+01, 7.50000000e+00,
+       1.47473984e+01, 2.45617657e+01, 7.50000000e+00, 1.50188751e+01,
+       2.33073444e+01, 7.49999237e+00, 1.51736450e+01, 2.25921116e+01,
+       7.50000000e+00, 1.72767868e+01, 1.28734379e+01, 7.50000000e+00,
+       1.72142181e+01, 1.17283306e+01, 7.50000000e+00, 1.72647781e+01,
+       1.00712948e+01, 7.50000000e+00, 1.83105927e+01, 5.25436592e+00,
+       7.50000000e+00, 1.37324295e+01, 2.49010334e+01, 7.50000000e+00,
+       1.77255325e+01, 6.53880692e+00, 7.49999237e+00, 1.82084503e+01,
+       4.31804657e+00, 7.50000763e+00, 1.36808472e+01, 2.37078915e+01,
+       7.50000000e+00, 1.71409607e+01, 7.82213402e+00, 7.50000000e+00,
+       1.82177582e+01, 2.87848663e+00, 7.50000000e+00, 1.32815552e+01,
+       2.41177845e+01, 7.50000000e+00, 1.38093109e+01, 2.02890987e+01,
+       7.50000763e+00, 1.71671295e+01, 4.92226791e+00, 7.50000000e+00,
+       1.73893127e+01, 3.90550613e+00, 7.50000000e+00, 1.79424820e+01,
+       1.37398148e+00, 7.50000000e+00, 1.54655380e+01, 1.13217335e+01,
+       7.50000000e+00, 1.70322037e+01, 4.16337013e+00, 7.50000000e+00,
+       1.73645935e+01, 2.64464760e+00, 7.50000000e+00, 1.30944366e+01,
+       2.07606030e+01, 7.50000000e+00, 1.42779770e+01, 1.53613338e+01,
+       7.49999237e+00, 1.55595322e+01, 9.51485252e+00, 7.50000000e+00,
+       1.63954163e+01, 4.33956337e+00, 7.50000000e+00, 1.25761261e+01,
+       2.03560886e+01, 7.50000000e+00, 1.12202148e+01, 2.51425343e+01,
+       7.50000000e+00, 1.13364105e+01, 2.46148891e+01, 7.50000000e+00,
+       1.48715057e+01, 8.56314659e+00, 7.50000000e+00, 1.49834213e+01,
+       8.05500221e+00, 7.50000000e+00, 1.50951996e+01, 7.54744911e+00,
+       7.50000000e+00, 1.28630142e+01, 1.63241215e+01, 7.50000000e+00,
+       1.38078918e+01, 1.20404072e+01, 7.50000000e+00, 1.44825134e+01,
+       8.98186684e+00, 7.50000000e+00, 1.49296494e+01, 6.95468712e+00,
+       7.50000000e+00, 1.13657761e+01, 2.17520695e+01, 7.50000000e+00,
+       1.23219910e+01, 1.74235287e+01, 7.50000000e+00, 1.28533936e+01,
+       1.50179882e+01, 7.50000000e+00, 1.53937683e+01, 3.51833344e+00,
+       7.50000763e+00, 1.55411377e+01, 2.85125160e+00, 7.50000000e+00,
+       1.56882935e+01, 2.18519974e+00, 7.49999237e+00, 1.15142593e+01,
+       1.97300434e+01, 7.50000000e+00, 1.18578873e+01, 1.81769047e+01,
+       7.50000000e+00, 1.34456406e+01, 1.10005398e+01, 7.50000000e+00,
+       1.38945465e+01, 8.97155571e+00, 7.50000000e+00, 1.44156494e+01,
+       6.61627579e+00, 7.50000000e+00, 1.09356613e+01, 2.10004940e+01,
+       7.50000000e+00, 1.20413818e+01, 1.60103436e+01, 7.50000000e+00,
+       1.38071976e+01, 8.04135704e+00, 7.50000000e+00, 1.00109711e+01,
+       2.38316288e+01, 7.49999237e+00, 1.05495758e+01, 2.14045773e+01,
+       7.50000000e+00, 1.08560257e+01, 2.00236454e+01, 7.50000000e+00,
+       1.09324951e+01, 1.96790867e+01, 7.50000000e+00, 1.10470734e+01,
+       1.91627483e+01, 7.50000000e+00, 1.15800400e+01, 1.67611370e+01,
+       7.50000000e+00, 1.22987213e+01, 1.35226345e+01, 7.49999237e+00,
+       1.23740616e+01, 1.31831226e+01, 7.50000000e+00, 1.30121384e+01,
+       1.03078709e+01, 7.50000000e+00, 1.31990128e+01, 9.46579170e+00,
+       7.50000000e+00, 1.49381714e+01, 1.62887383e+00, 7.50000000e+00,
+       1.14990311e+01, 1.58032207e+01, 7.50000763e+00, 1.23661575e+01,
+       1.19016819e+01, 7.50000000e+00, 1.25536575e+01, 1.10580997e+01,
+       7.50000000e+00, 1.33743286e+01, 7.36555672e+00, 7.50000000e+00,
+       9.24143982e+00, 2.46317997e+01, 7.50000000e+00, 1.02022400e+01,
+       2.03152637e+01, 7.50000000e+00, 1.08122559e+01, 1.75746250e+01,
+       7.50000000e+00, 1.10021133e+01, 1.67216587e+01, 7.50000000e+00,
+       1.34372406e+01, 5.78150177e+00, 7.50000000e+00, 1.35112076e+01,
+       5.44919014e+00, 7.50000000e+00, 1.00107574e+01, 1.98602810e+01,
+       7.50000000e+00, 1.03538895e+01, 1.83210087e+01, 7.50000000e+00,
+       1.10743561e+01, 1.50889874e+01, 7.50000000e+00, 1.13761292e+01,
+       1.37352161e+01, 7.50000000e+00, 1.25367966e+01, 8.52851295e+00,
+       7.50000000e+00, 1.27227097e+01, 7.69450378e+00, 7.50000000e+00,
+       1.39041977e+01, 2.39438820e+00, 7.49999237e+00, 9.59107971e+00,
+       2.04336491e+01, 7.50000000e+00, 1.04285202e+01, 1.66824780e+01,
+       7.50000000e+00, 1.12212906e+01, 1.31313915e+01, 7.49999237e+00,
+       1.13340073e+01, 1.26264286e+01, 7.50000000e+00, 1.28247833e+01,
+       5.94878006e+00, 7.50000000e+00, 9.78272247e+00, 1.82758579e+01,
+       7.49999237e+00, 1.17032013e+01, 9.68596840e+00, 7.50000000e+00,
+       1.36232147e+01, 1.09826088e+00, 7.50000000e+00, 8.06295776e+00,
+       2.46658688e+01, 7.50000763e+00, 8.71641541e+00, 2.17473660e+01,
+       7.50000763e+00, 8.98425293e+00, 2.05511990e+01, 7.50000000e+00,
+       9.28945160e+00, 1.91881046e+01, 7.50000000e+00, 9.63169098e+00,
+       1.76596317e+01, 7.49999237e+00, 1.03502808e+01, 1.44501743e+01,
+       7.50000000e+00, 1.21056137e+01, 6.61054420e+00, 7.50000000e+00,
+       1.22905045e+01, 5.78476715e+00, 7.50000000e+00, 1.25119171e+01,
+       4.79590988e+00, 7.50000000e+00, 9.59502411e+00, 1.65398464e+01,
+       7.50000000e+00, 1.06116867e+01, 1.20058537e+01, 7.49999237e+00,
+       1.12464447e+01, 9.17500114e+00, 7.50000000e+00, 1.17661133e+01,
+       6.85741997e+00, 7.50000000e+00, 9.06675720e+00, 1.76172123e+01,
+       7.50000000e+00, 9.25621796e+00, 1.67735271e+01, 7.50000000e+00,
+       9.40752411e+00, 1.60997448e+01, 7.50000000e+00, 1.13165207e+01,
+       7.59849548e+00, 7.50000000e+00, 8.08203125e+00, 2.07259731e+01,
+       7.50000000e+00, 9.93544006e+00, 1.24841976e+01, 7.50000000e+00,
+       1.01226196e+01, 1.16518269e+01, 7.50000000e+00, 1.15705185e+01,
+       5.21323776e+00, 7.50000763e+00, 9.11047363e+00, 1.48910465e+01,
+       7.50000000e+00, 9.37376404e+00, 1.37219028e+01, 7.50000000e+00,
+       1.06427231e+01, 8.08718681e+00, 7.50000000e+00, 7.52397919e+00,
+       2.06722889e+01, 7.50000000e+00, 7.79064941e+00, 1.94898739e+01,
+       7.50000000e+00, 9.30086517e+00, 1.27933979e+01, 7.50000000e+00,
+       9.74948120e+00, 1.08042202e+01, 7.50000000e+00, 1.04556198e+01,
+       7.67308426e+00, 7.50000000e+00, 1.10831528e+01, 4.89048195e+00,
+       7.50000763e+00, 1.18163376e+01, 1.63951302e+00, 7.50000000e+00,
+       6.77932739e+00, 2.14623508e+01, 7.50000000e+00, 8.29508972e+00,
+       1.47602673e+01, 7.50000000e+00, 1.00100937e+01, 7.17727470e+00,
+       7.50000000e+00, 1.04894028e+01, 5.05792427e+00, 7.50000000e+00,
+       1.11857758e+01, 1.97890854e+00, 7.50000000e+00, 5.98741913e+00,
+       2.37150822e+01, 7.50000000e+00, 6.06410980e+00, 2.33764439e+01,
+       7.50000000e+00, 8.63737488e+00, 1.20145664e+01, 7.50000000e+00,
+       8.00669098e+00, 1.35709476e+01, 7.50000000e+00, 9.78937531e+00,
+       5.71080208e+00, 7.50000000e+00, 5.21003723e+00, 2.46643391e+01,
+       7.50000000e+00, 6.12774658e+00, 2.06235943e+01, 7.50000000e+00,
+       7.26321411e+00, 1.56240711e+01, 7.50000000e+00, 9.12740326e+00,
+       7.41599274e+00, 7.50000000e+00, 7.12185669e+00, 1.50284290e+01,
+       7.50000763e+00, 7.19697571e+00, 1.46981831e+01, 7.50000000e+00,
+       7.27202606e+00, 1.43681850e+01, 7.50000000e+00, 7.45941162e+00,
+       1.35442715e+01, 7.50000000e+00, 1.00098419e+01, 2.33013916e+00,
+       7.50000000e+00, 6.37936401e+00, 1.70783253e+01, 7.50000000e+00,
+       9.20626068e+00, 4.66567230e+00, 7.50000763e+00, 1.00097733e+01,
+       1.13757515e+00, 7.50000000e+00, 4.37796021e+00, 2.46470699e+01,
+       7.50000000e+00, 7.06558228e+00, 1.28621540e+01, 7.50000000e+00,
+       4.66346741e+00, 2.21854458e+01, 7.49999237e+00, 3.95590973e+00,
+       2.40773067e+01, 7.50000000e+00, 4.03244781e+00, 2.37426357e+01,
+       7.50000000e+00, 4.10892487e+00, 2.34082165e+01, 7.50000000e+00,
+       4.29985809e+00, 2.25732632e+01, 7.50000000e+00, 4.98425293e+00,
+       1.95804081e+01, 7.50000000e+00, 5.06001282e+00, 1.92491207e+01,
+       7.50000000e+00, 5.13571930e+00, 1.89180698e+01, 7.50000000e+00,
+       6.11471558e+00, 1.46369915e+01, 7.50000000e+00, 6.74969482e+00,
+       1.18602085e+01, 7.50000000e+00, 4.20405579e+00, 2.17948055e+01,
+       7.50000000e+00, 5.26438141e+00, 1.71643543e+01, 7.50000000e+00,
+       6.23907471e+00, 1.29078045e+01, 7.50000000e+00, 6.94541931e+00,
+       9.82317543e+00, 7.50000000e+00, 8.12387085e+00, 4.67679977e+00,
+       7.50000000e+00, 8.74430084e+00, 1.96738052e+00, 7.50000000e+00,
+       3.72821808e+00, 2.26801586e+01, 7.50000000e+00, 4.79019928e+00,
+       1.80486889e+01, 7.50000000e+00, 5.24194336e+00, 1.60785580e+01,
+       7.50000000e+00, 2.94717407e+00, 2.48966351e+01, 7.50000000e+00,
+       4.65628052e+00, 1.74528904e+01, 7.50000000e+00, 5.14469910e+00,
+       1.53256397e+01, 7.50000000e+00, 7.03825378e+00, 7.07854652e+00,
+       7.50000763e+00, 3.35083771e+00, 2.19584522e+01, 7.50000000e+00,
+       4.67327881e+00, 1.62064228e+01, 7.50000000e+00, 5.04797363e+00,
+       1.45766811e+01, 7.50000000e+00, 7.37698364e+00, 4.44656563e+00,
+       7.49999237e+00, 8.06886292e+00, 1.43716240e+00, 7.50000000e+00,
+       5.43574524e+00, 1.17292843e+01, 7.50000000e+00, 5.54711151e+00,
+       1.12455578e+01, 7.49999237e+00, 5.99133301e+00, 9.31597710e+00,
+       7.50000000e+00, 6.36000824e+00, 7.71447563e+00, 7.50000763e+00,
+       6.50710297e+00, 7.07552147e+00, 7.50000000e+00, 6.58057404e+00,
+       6.75639915e+00, 7.50000000e+00, 6.65399170e+00, 6.43750954e+00,
+       7.49999237e+00, 2.13872528e+00, 2.48783627e+01, 7.50000000e+00,
+       5.41308594e+00, 1.06739559e+01, 7.50000000e+00, 5.81964874e+00,
+       8.91027641e+00, 7.50000000e+00, 5.89338684e+00, 8.59036827e+00,
+       7.50000763e+00, 6.51803589e+00, 5.88061714e+00, 7.50000000e+00,
+       6.70101166e+00, 5.08683586e+00, 7.50000000e+00, 2.12570190e+00,
+       2.37695141e+01, 7.50000000e+00, 2.50634766e+00, 2.21204281e+01,
+       7.49999237e+00, 2.69613647e+00, 2.12981815e+01, 7.50000000e+00,
+       5.05766296e+00, 1.10671787e+01, 7.50000000e+00, 2.18877411e+00,
+       2.23384113e+01, 7.50000000e+00, 2.79489136e+00, 1.97159138e+01,
+       7.50000000e+00, 4.66609192e+00, 1.16197681e+01, 7.50000000e+00,
+       5.55213928e+00, 7.78610420e+00, 7.50000000e+00, 5.95565033e+00,
+       6.04020882e+00, 7.50000000e+00, 1.33883667e+00, 2.48602848e+01,
+       7.50000000e+00, 4.68280792e+00, 1.04107151e+01, 7.50000000e+00,
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+       2.21169872e+01, 7.49999237e+00, 2.31365967e+00, 1.95049801e+01,
+       7.50000000e+00, 1.99897766e+00, 1.97251148e+01, 7.50000000e+00,
+       6.02942657e+00, 2.35407639e+00, 7.50000000e+00, 2.28700256e+00,
+       1.73544445e+01, 7.49999237e+00, 4.76892090e+00, 6.67113304e+00,
+       7.50000000e+00, 2.27378082e+00, 1.62887020e+01, 7.50000000e+00,
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+       5.45359802e+00, 1.52027321e+00, 7.50000000e+00, 2.24758148e+00,
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+       4.65222931e+00, 2.77498055e+00, 7.50000000e+00, 0.,
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+       7.49999237e+00, 4.74073792e+00, 1.31323433e+00, 7.50000000e+00,
+       3.81784058e+00, 4.17956352e+00, 7.50000000e+00, 0.,
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+       7.50000000e+00, 2.09718323e+00, 5.12197113e+00, 7.49999237e+00,
+       2.42290497e+00, 3.74061203e+00, 7.50000000e+00, 0.,
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+       7.62939453e-06, 2.00851727e+01, 4.35991669e+00, 0.,
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+       4.05622864e+00, 0., 1.26616955e+01, 5.66439056e+00, 0.,
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+       6.86940765e+00, 7.62939453e-06, 5.44649506e+00, 7.14489746e+00,
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+       5.19064331e+00, 0., 2.69516182e+00, 6.88742828e+00, 0.,
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+       7.62939453e-06, 7.64465332e-01, 6.87927246e+00, 0.,
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+       7.62939453e-06, 8.03127480e+00, 2.54846954e+00, 0.,
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+       -7.62939453e-06, 1.56821728e+01, 1.73606873e-01, 0.,
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+       2.58032227e+00, 0., 6.56647110e+00, 1.77650452e+00, 0.,
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+       2.64159393e+00, 0., 3.86618042e+00, 1.72915649e+00, 0.,
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+       7.50000000e+00, 1.26277695e+01, 1.63088436e+01, 7.50000000e+00,
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+       7.50000000e+00, 1.57655716e+01, 2.10046959e+00, 7.50000000e+00,
+       1.18883743e+01, 1.80391102e+01, 7.50000000e+00, 1.34756393e+01,
+       1.08649807e+01, 7.50000000e+00, 1.41033249e+01, 8.02791405e+00,
+       7.49999237e+00, 1.07355499e+01, 2.16353970e+01, 7.50000000e+00,
+       1.11493759e+01, 1.97684155e+01, 7.50000000e+00, 1.19717865e+01,
+       1.60579739e+01, 7.50000000e+00, 1.26066895e+01, 1.31935558e+01,
+       7.50000763e+00, 1.51935425e+01, 1.52278137e+00, 7.49999237e+00,
+       9.90301514e+00, 2.37835484e+01, 7.50000000e+00, 1.14641037e+01,
+       1.67532101e+01, 7.50000000e+00, 1.30902939e+01, 9.42974663e+00,
+       7.50000000e+00, 1.32693176e+01, 8.62354469e+00, 7.50000000e+00,
+       9.39499664e+00, 2.44721241e+01, 7.50000000e+00, 1.13220215e+01,
+       1.58094807e+01, 7.50000000e+00, 1.24063950e+01, 1.09348545e+01,
+       7.50000000e+00, 1.32118149e+01, 7.31420517e+00, 7.50000000e+00,
+       1.35232391e+01, 5.91426086e+00, 7.49999237e+00, 1.04074326e+01,
+       1.83426189e+01, 7.50000000e+00, 1.14523926e+01, 1.36535053e+01,
+       7.50000000e+00, 1.27542343e+01, 7.81175041e+00, 7.50000763e+00,
+       1.39948425e+01, 2.24478722e+00, 7.50000000e+00, 1.13565521e+01,
+       1.25255032e+01, 7.49999237e+00, 9.31050110e+00, 2.01284924e+01,
+       7.50000000e+00, 9.40210724e+00, 1.97189159e+01, 7.50000000e+00,
+       9.76766205e+00, 1.80843716e+01, 7.50000000e+00, 1.16648178e+01,
+       9.60133934e+00, 7.50000000e+00, 1.20220337e+01, 8.00399208e+00,
+       7.50000763e+00, 1.25111084e+01, 5.81716537e+00, 7.50000000e+00,
+       9.76853943e+00, 1.65344410e+01, 7.50000000e+00, 1.02217789e+01,
+       1.45113506e+01, 7.50000000e+00, 1.24128647e+01, 4.73115540e+00,
+       7.50000000e+00, 1.11176071e+01, 8.98940086e+00, 7.50000000e+00,
+       1.13850403e+01, 7.79778481e+00, 7.50000000e+00, 1.17848206e+01,
+       6.01644516e+00, 7.50000000e+00, 8.13424683e+00, 2.07483463e+01,
+       7.50000000e+00, 9.18260193e+00, 1.60851307e+01, 7.50000000e+00,
+       9.99537659e+00, 1.24698315e+01, 7.49999237e+00, 1.02199554e+01,
+       1.14708385e+01, 7.50000763e+00, 1.16452637e+01, 5.13090515e+00,
+       7.50000763e+00, 9.14060211e+00, 1.47572689e+01, 7.50000000e+00,
+       1.06204681e+01, 8.18599510e+00, 7.49999237e+00, 7.73884583e+00,
+       1.94681034e+01, 7.50000000e+00, 9.23389435e+00, 1.28408184e+01,
+       7.50000000e+00, 9.72725677e+00, 1.06537685e+01, 7.50000000e+00,
+       1.18078613e+01, 1.43077660e+00, 7.50000000e+00, 6.92591858e+00,
+       2.15637608e+01, 7.50000000e+00, 7.15486145e+00, 2.05506039e+01,
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+       1.46420479e+00, 7.49999237e+00, 0., 2.49219723e+01,
+       6.69159698e+00, 2.40904999e+00, 9.11569405e+00, 7.50000000e+00,
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+       7.50000000e+00, 1.86722565e+00, 6.30731964e+00, 7.50000000e+00,
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+       6.79345703e+00, 2.24388885e+00, 3.45429230e+00, 7.49999237e+00,
+       2.46021271e+00, 2.53800011e+00, 7.50000000e+00, 0.,
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+       5.47710419e+00, 2.48744965e+00, 1.17749977e+00, 7.50000000e+00,
+       1.52307892e+00, 4.01406288e+00, 7.50000000e+00, 1.55363464e+00,
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+       0., 1.11487255e+01, 6.85879517e+00, 1.62696075e+00,
+       1.11768723e+00, 7.50000000e+00, 0., 1.99135647e+01,
+       4.30760193e+00, 7.24342346e-01, 8.28971863e-02, 7.49999237e+00,
+       7.62939453e-06, 2.13635616e+01, 3.48171997e+00, 3.73100281e-01,
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+       3.48838806e+00, 0., 2.51659718e+01, 2.15581512e+00, 0.,
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+       2.65129089e+00, 0., 1.85703716e+01, 3.26802063e+00, 0.,
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+       3.22859955e+00, 0., 8.68282318e-01, 6.73374939e+00, 0.,
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+       3.23608398e+00, 0., 1.18808422e+01, 4.15344238e+00, 0.,
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+       4.99681854e+00, 0., 2.37461452e+01, 1.36831665e+00, 0.,
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+       7.62939453e-06, 2.21710720e+01, 1.43212891e+00, 0.,
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+       2.87781525e+00, 0., 1.28025646e+01, 3.43553925e+00,
+       7.62939453e-06, 1.15182934e+01, 3.71016693e+00, 0.,
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+       1.78894043e+00, 7.62939453e-06, 1.39184551e+01, 2.93321991e+00,
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+       5.47219849e+00, 0., 2.50887661e+01, 2.56927490e-01, 0.,
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+       2.04298401e+00, 0., 1.61503773e+01, 2.18683624e+00, 0.,
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+       4.43871307e+00, 0., 1.42448330e+01, 2.06620789e+00,
+       -7.62939453e-06, 1.12164974e+01, 2.72637177e+00, 0.,
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+       4.70300293e+00, 0., 7.66204834e-01, 5.00446320e+00, 0.,
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+       1.62443542e+00, 0., 9.39085197e+00, 2.33544159e+00,
+       7.62939453e-06, 2.21186638e+00, 3.66597748e+00, 0.,
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+       2.30967712e+00, 0., 5.68158913e+00, 2.63357544e+00, 0.,
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+       2.67031097e+00, 0., 3.93439865e+00, 1.71356964e+00, 0.,
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+       7.50000000e+00, 4.63388824e+00, 8.54804420e+00, 7.50000000e+00,
+       6.05357361e+00, 2.42800903e+00, 7.50000000e+00, 1.66243744e+00,
+       1.97268505e+01, 7.50000000e+00, 4.65785980e+00, 6.83783150e+00,
+       7.49999237e+00, 5.86294556e+00, 1.65244865e+00, 7.50000000e+00,
+       2.13138580e+00, 1.60961475e+01, 7.50000763e+00, 2.48748016e+00,
+       1.29706287e+01, 7.50000000e+00, 4.46820831e+00, 2.91176224e+00,
+       7.50000000e+00, 4.78048706e+00, 1.57538223e+00, 7.50000000e+00,
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+       9.18834496e+00, 7.50000000e+00, 3.42597961e+00, 4.26208687e+00,
+       7.50000000e+00, 2.93365479e+00, 4.82257271e+00, 7.50000763e+00,
+       1.84976959e+00, 6.38134193e+00, 7.50000000e+00, 2.14558411e+00,
+       3.62049484e+00, 7.50000000e+00, 0., 2.35792027e+01,
+       5.03440857e+00, 0., 2.19426174e+01, 5.36028290e+00,
+       1.66080475e+00, 4.17622566e+00, 7.50000000e+00, 2.07608795e+00,
+       2.42077065e+00, 7.50000000e+00, 0., 2.04378338e+01,
+       5.03732300e+00, 1.31945801e+00, 2.65728569e+00, 7.50000000e+00,
+       1.62953186e+00, 1.35104370e+00, 7.50000000e+00, 0.,
+       2.15766277e+01, 4.49355316e+00, 0., 1.94743214e+01,
+       4.60674286e+00, 8.67218018e-01, 2.01017380e-01, 7.50000763e+00,
+       7.58438110e-02, 6.58544540e-01, 7.50000000e+00, 0.,
+       1.91531734e+01, 3.41085052e+00, 0., 1.10673466e+01,
+       5.09860229e+00, 0., 2.38755322e+01, 2.10121155e+00, 0.,
+       1.78651524e+01, 3.36309052e+00, 0., 2.37246571e+01,
+       1.48184967e+00, 7.62939453e-06, 9.91206932e+00, 4.41570282e+00,
+       0., 2.15611744e+01, 1.61676788e+00, 0., 1.30110722e+01,
+       3.44339752e+00, 0., 1.14694386e+01, 3.77275848e+00, 0.,
+       1.07056065e+01, 3.93593597e+00, 0., 1.94250431e+01,
+       1.74998474e+00, 0., 1.54050617e+01, 2.61378479e+00, 0.,
+       1.40924511e+01, 2.89584351e+00, 7.62939453e-06, 7.47755814e+00,
+       4.31722260e+00, 0., 2.37962532e+00, 5.41265106e+00, 0.,
+       2.56230259e+01, 8.61511230e-02, 0., 1.86642323e+01,
+       1.59008789e+00, 0., 1.70477352e+01, 1.93944550e+00, 0.,
+       1.44418240e+01, 2.18334961e+00, 0., 1.28744030e+01,
+       2.52405548e+00, 7.62939453e-06, 1.10698338e+01, 2.91630554e+00,
+       0., 9.79645348e+00, 3.19309998e+00, -7.62939453e-06,
+       4.58558464e+00, 4.32578278e+00, 0., 9.32394600e+00,
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+       4.71600006e+02, 1.76400009e+02, 2.31600006e+02, 1.77600006e+02,
+       4.16400024e+02, 1.77600006e+02, 4.21200012e+02, 1.77600006e+02,
+       4.32000031e+02, 1.77600006e+02, 4.65600006e+02, 1.77600006e+02,
+       1.81200012e+02, 1.78800003e+02, 1.84800003e+02, 1.78800003e+02,
+       2.12400009e+02, 1.78800003e+02, 4.12800018e+02, 1.78800003e+02,
+       4.38000031e+02, 1.78800003e+02, 1.87200012e+02, 180.,
+       2.32800003e+02, 180., 3.33600006e+02, 180., 4.02000031e+02, 180.,
+       4.24800018e+02, 180., 4.72800018e+02, 180., 2.18400009e+02,
+       1.81200012e+02, 2.38800003e+02, 1.81200012e+02, 2.67600006e+02,
+       1.81200012e+02, 3.44400024e+02, 1.81200012e+02, 372.,
+       1.81200012e+02, 3.76800018e+02, 1.81200012e+02, 3.79200012e+02,
+       1.81200012e+02, 3.85200012e+02, 1.81200012e+02, 4.46400024e+02,
+       1.81200012e+02, 4.66800018e+02, 1.81200012e+02, 1.78800003e+02,
+       1.82400009e+02, 1.82400009e+02, 1.82400009e+02, 2.35200012e+02,
+       1.82400009e+02, 2.78400024e+02, 1.82400009e+02, 3.04800018e+02,
+       1.82400009e+02, 3.10800018e+02, 1.82400009e+02, 3.15600006e+02,
+       1.82400009e+02, 3.21600006e+02, 1.82400009e+02, 336.,
+       1.82400009e+02, 4.00800018e+02, 1.82400009e+02, 4.32000031e+02,
+       1.82400009e+02, 4.64400024e+02, 1.82400009e+02, 4.71600006e+02,
+       1.82400009e+02, 2.08800003e+02, 1.83600006e+02, 2.65200012e+02,
+       1.83600006e+02, 282., 1.83600006e+02, 4.34400024e+02,
+       1.83600006e+02, 4.38000031e+02, 1.83600006e+02, 4.41600006e+02,
+       1.83600006e+02, 4.48800018e+02, 1.83600006e+02, 4.58400024e+02,
+       1.83600006e+02, 4.62000031e+02, 1.83600006e+02, 2.14800003e+02,
+       1.84800003e+02, 2.25600006e+02, 1.84800003e+02, 2.36400009e+02,
+       1.84800003e+02, 2.77200012e+02, 1.84800003e+02, 2.86800018e+02,
+       1.84800003e+02, 3.02400024e+02, 1.84800003e+02, 3.16800018e+02,
+       1.84800003e+02, 3.25200012e+02, 1.84800003e+02, 378.,
+       1.84800003e+02, 4.46400024e+02, 1.84800003e+02, 4.70400024e+02,
+       1.84800003e+02, 258., 186., 2.66400024e+02, 186., 2.90400024e+02,
+       186., 294., 186., 2.98800018e+02, 186., 3.33600006e+02, 186.,
+       3.39600006e+02, 186., 4.32000031e+02, 186., 4.87200012e+02, 186.,
+       2.06400009e+02, 1.87200012e+02, 2.35200012e+02, 1.87200012e+02,
+       3.13200012e+02, 1.87200012e+02, 3.69600006e+02, 1.87200012e+02,
+       3.98400024e+02, 1.87200012e+02, 4.11600006e+02, 1.87200012e+02,
+       4.66800018e+02, 1.87200012e+02, 1.71600006e+02, 1.88400009e+02,
+       1.95600006e+02, 1.88400009e+02, 2.13600006e+02, 1.88400009e+02,
+       2.31600006e+02, 1.88400009e+02, 2.53200012e+02, 1.88400009e+02,
+       3.28800018e+02, 1.88400009e+02, 3.87600006e+02, 1.88400009e+02,
+       3.91200012e+02, 1.88400009e+02, 3.94800018e+02, 1.88400009e+02,
+       2.37600006e+02, 1.89600006e+02, 3.16800018e+02, 1.89600006e+02,
+       3.69600006e+02, 1.89600006e+02, 4.63200012e+02, 1.89600006e+02,
+       1.72800003e+02, 1.90800003e+02, 1.95600006e+02, 1.90800003e+02,
+       2.22000015e+02, 1.90800003e+02, 2.32800003e+02, 1.90800003e+02,
+       2.44800003e+02, 1.90800003e+02, 2.74800018e+02, 1.90800003e+02,
+       2.79600006e+02, 1.90800003e+02, 3.03600006e+02, 1.90800003e+02,
+       3.10800018e+02, 1.90800003e+02, 3.46800018e+02, 1.90800003e+02,
+       3.75600006e+02, 1.90800003e+02, 4.35600006e+02, 1.90800003e+02,
+       4.65600006e+02, 1.90800003e+02, 1.87200012e+02, 192.,
+       1.89600006e+02, 192., 2.77200012e+02, 192., 282., 192., 294.,
+       192., 2.96400024e+02, 192., 318., 192., 3.33600006e+02, 192.,
+       3.62400024e+02, 192., 3.82800018e+02, 192., 3.90000031e+02, 192.,
+       4.03200012e+02, 192., 2.08800003e+02, 1.93200012e+02,
+       2.12400009e+02, 1.93200012e+02, 3.28800018e+02, 1.93200012e+02,
+       336., 1.93200012e+02, 3.40800018e+02, 1.93200012e+02,
+       3.52800018e+02, 1.93200012e+02, 4.17600006e+02, 1.93200012e+02,
+       1.70400009e+02, 1.94400009e+02, 1.75200012e+02, 1.94400009e+02,
+       2.31600006e+02, 1.94400009e+02, 2.37600006e+02, 1.94400009e+02,
+       2.41200012e+02, 1.94400009e+02, 276., 1.94400009e+02,
+       3.10800018e+02, 1.94400009e+02, 3.86400024e+02, 1.94400009e+02,
+       3.88800018e+02, 1.94400009e+02, 4.58400024e+02, 1.94400009e+02,
+       2.56800018e+02, 1.95600006e+02, 288., 1.95600006e+02,
+       3.08400024e+02, 1.95600006e+02, 3.81600006e+02, 1.95600006e+02,
+       3.97200012e+02, 1.95600006e+02, 4.35600006e+02, 1.95600006e+02,
+       4.40400024e+02, 1.95600006e+02, 1.72800003e+02, 1.96800003e+02,
+       1.82400009e+02, 1.96800003e+02, 1.98000015e+02, 1.96800003e+02,
+       2.31600006e+02, 1.96800003e+02, 2.44800003e+02, 1.96800003e+02,
+       2.65200012e+02, 1.96800003e+02, 2.68800018e+02, 1.96800003e+02,
+       3.15600006e+02, 1.96800003e+02, 3.20400024e+02, 1.96800003e+02,
+       330., 1.96800003e+02, 3.39600006e+02, 1.96800003e+02,
+       3.67200012e+02, 1.96800003e+02, 378., 1.96800003e+02,
+       4.10400024e+02, 1.96800003e+02, 4.30800018e+02, 1.96800003e+02,
+       4.62000031e+02, 1.96800003e+02, 1.90800003e+02, 1.98000015e+02,
+       2.07600006e+02, 1.98000015e+02, 2.11200012e+02, 1.98000015e+02,
+       2.20800003e+02, 1.98000015e+02, 2.52000015e+02, 1.98000015e+02,
+       2.60400024e+02, 1.98000015e+02, 3.03600006e+02, 1.98000015e+02,
+       3.08400024e+02, 1.98000015e+02, 3.64800018e+02, 1.98000015e+02,
+       4.39200012e+02, 1.98000015e+02, 4.45200012e+02, 1.98000015e+02,
+       2.28000015e+02, 1.99200012e+02, 2.38800003e+02, 1.99200012e+02,
+       2.72400024e+02, 1.99200012e+02, 312., 1.99200012e+02,
+       3.52800018e+02, 1.99200012e+02, 3.68400024e+02, 1.99200012e+02,
+       3.81600006e+02, 1.99200012e+02, 3.97200012e+02, 1.99200012e+02,
+       4.06800018e+02, 1.99200012e+02, 4.23600006e+02, 1.99200012e+02,
+       4.64400024e+02, 1.99200012e+02, 1.75200012e+02, 2.00400009e+02,
+       2.04000015e+02, 2.00400009e+02, 2.34000015e+02, 2.00400009e+02,
+       2.67600006e+02, 2.00400009e+02, 3.08400024e+02, 2.00400009e+02,
+       318., 2.00400009e+02, 330., 2.00400009e+02, 3.45600006e+02,
+       2.00400009e+02, 384., 2.00400009e+02, 3.86400024e+02,
+       2.00400009e+02, 4.00800018e+02, 2.00400009e+02, 4.12800018e+02,
+       2.00400009e+02, 1.96800003e+02, 2.01600006e+02, 2.10000015e+02,
+       2.01600006e+02, 2.22000015e+02, 2.01600006e+02, 2.73600006e+02,
+       2.01600006e+02, 3.21600006e+02, 2.01600006e+02, 3.37200012e+02,
+       2.01600006e+02, 3.92400024e+02, 2.01600006e+02, 3.98400024e+02,
+       2.01600006e+02, 4.60800018e+02, 2.01600006e+02, 2.38800003e+02,
+       2.02800003e+02, 2.67600006e+02, 2.02800003e+02, 294.,
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+       2.02800003e+02, 3.10800018e+02, 2.02800003e+02, 3.16800018e+02,
+       2.02800003e+02, 3.69600006e+02, 2.02800003e+02, 4.10400024e+02,
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+       2.02800003e+02, 4.50000031e+02, 2.02800003e+02, 1.70400009e+02,
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+       2.04000015e+02, 3.98400024e+02, 2.04000015e+02, 4.12800018e+02,
+       2.04000015e+02, 4.15200012e+02, 2.04000015e+02, 4.53600006e+02,
+       2.04000015e+02, 4.59600006e+02, 2.04000015e+02, 1.66800003e+02,
+       2.05200012e+02, 2.02800003e+02, 2.05200012e+02, 2.46000015e+02,
+       2.05200012e+02, 2.48400009e+02, 2.05200012e+02, 2.50800003e+02,
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+       2.05200012e+02, 3.96000031e+02, 2.05200012e+02, 4.03200012e+02,
+       2.05200012e+02, 1.64400009e+02, 2.06400009e+02, 2.14800003e+02,
+       2.06400009e+02, 2.66400024e+02, 2.06400009e+02, 270.,
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+       2.06400009e+02, 3.43200012e+02, 2.06400009e+02, 354.,
+       2.06400009e+02, 3.70800018e+02, 2.06400009e+02, 384.,
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+       2.07600006e+02, 2.26800003e+02, 2.07600006e+02, 2.32800003e+02,
+       2.07600006e+02, 2.44800003e+02, 2.07600006e+02, 2.61600006e+02,
+       2.07600006e+02, 3.21600006e+02, 2.07600006e+02, 3.28800018e+02,
+       2.07600006e+02, 3.61200012e+02, 2.07600006e+02, 3.91200012e+02,
+       2.07600006e+02, 4.17600006e+02, 2.07600006e+02, 1.59600006e+02,
+       2.08800003e+02, 1.78800003e+02, 2.08800003e+02, 1.96800003e+02,
+       2.08800003e+02, 2.79600006e+02, 2.08800003e+02, 2.91600006e+02,
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+       2.08800003e+02, 3.96000031e+02, 2.08800003e+02, 4.54800018e+02,
+       2.08800003e+02, 4.57200012e+02, 2.08800003e+02, 4.59600006e+02,
+       2.08800003e+02, 1.57200012e+02, 2.10000015e+02, 1.70400009e+02,
+       2.10000015e+02, 1.90800003e+02, 2.10000015e+02, 2.10000015e+02,
+       2.10000015e+02, 2.86800018e+02, 2.10000015e+02, 294.,
+       2.10000015e+02, 3.04800018e+02, 2.10000015e+02, 3.10800018e+02,
+       2.10000015e+02, 3.20400024e+02, 2.10000015e+02, 3.27600006e+02,
+       2.10000015e+02, 354., 2.10000015e+02, 3.70800018e+02,
+       2.10000015e+02, 3.73200012e+02, 2.10000015e+02, 4.03200012e+02,
+       2.10000015e+02, 4.45200012e+02, 2.10000015e+02, 1.96800003e+02,
+       2.11200012e+02, 2.02800003e+02, 2.11200012e+02, 3.14400024e+02,
+       2.11200012e+02, 3.32400024e+02, 2.11200012e+02, 3.58800018e+02,
+       2.11200012e+02, 3.79200012e+02, 2.11200012e+02, 2.62800018e+02,
+       2.12400009e+02, 282., 2.12400009e+02, 3.39600006e+02,
+       2.12400009e+02, 3.45600006e+02, 2.12400009e+02, 3.62400024e+02,
+       2.12400009e+02, 3.67200012e+02, 2.12400009e+02, 4.10400024e+02,
+       2.12400009e+02, 4.05600006e+02, 2.13600006e+02, 2.02800003e+02,
+       2.14800003e+02, 2.10000015e+02, 2.14800003e+02, 2.24400009e+02,
+       2.14800003e+02, 2.49600006e+02, 2.14800003e+02, 2.91600006e+02,
+       2.14800003e+02, 3.31200012e+02, 2.14800003e+02, 3.82800018e+02,
+       2.14800003e+02, 4.51200012e+02, 2.14800003e+02, 1.54800003e+02,
+       2.16000015e+02, 1.84800003e+02, 2.16000015e+02, 2.05200012e+02,
+       2.16000015e+02, 2.60400024e+02, 2.16000015e+02, 264.,
+       2.16000015e+02, 2.68800018e+02, 2.16000015e+02, 2.83200012e+02,
+       2.16000015e+02, 3.01200012e+02, 2.16000015e+02, 3.70800018e+02,
+       2.16000015e+02, 3.73200012e+02, 2.16000015e+02, 4.05600006e+02,
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+       2.16000015e+02, 4.54800018e+02, 2.16000015e+02, 1.64400009e+02,
+       2.17200012e+02, 1.66800003e+02, 2.17200012e+02, 2.56800018e+02,
+       2.17200012e+02, 2.90400024e+02, 2.17200012e+02, 3.81600006e+02,
+       2.17200012e+02, 2.06400009e+02, 2.18400009e+02, 2.84400024e+02,
+       2.18400009e+02, 3.01200012e+02, 2.18400009e+02, 318.,
+       2.18400009e+02, 3.46800018e+02, 2.18400009e+02, 378.,
+       2.18400009e+02, 3.90000031e+02, 2.18400009e+02, 4.06800018e+02,
+       2.18400009e+02, 4.50000031e+02, 2.18400009e+02, 4.53600006e+02,
+       2.18400009e+02, 168., 2.19600006e+02, 2.74800018e+02,
+       2.19600006e+02, 3.96000031e+02, 2.19600006e+02, 4.04400024e+02,
+       2.19600006e+02, 4.09200012e+02, 2.19600006e+02, 1.59600006e+02,
+       2.20800003e+02, 174., 2.20800003e+02, 2.05200012e+02,
+       2.20800003e+02, 270., 2.20800003e+02, 2.72400024e+02,
+       2.20800003e+02, 282., 2.20800003e+02, 2.85600006e+02,
+       2.20800003e+02, 3.08400024e+02, 2.20800003e+02, 3.14400024e+02,
+       2.20800003e+02, 4.06800018e+02, 2.20800003e+02, 150.,
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+       2.22000015e+02, 2.77200012e+02, 2.22000015e+02, 2.89200012e+02,
+       2.22000015e+02, 294., 2.22000015e+02, 3.21600006e+02,
+       2.22000015e+02, 3.31200012e+02, 2.22000015e+02, 3.58800018e+02,
+       2.22000015e+02, 366., 2.22000015e+02, 3.69600006e+02,
+       2.22000015e+02, 3.73200012e+02, 2.22000015e+02, 3.82800018e+02,
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+       2.22000015e+02, 4.36800018e+02, 2.22000015e+02, 1.52400009e+02,
+       2.23200012e+02, 1.76400009e+02, 2.23200012e+02, 1.81200012e+02,
+       2.23200012e+02, 2.55600006e+02, 2.23200012e+02, 2.73600006e+02,
+       2.23200012e+02, 3.19200012e+02, 2.23200012e+02, 3.49200012e+02,
+       2.23200012e+02, 3.97200012e+02, 2.23200012e+02, 1.46400009e+02,
+       2.24400009e+02, 1.63200012e+02, 2.24400009e+02, 2.61600006e+02,
+       2.24400009e+02, 3.55200012e+02, 2.24400009e+02, 3.81600006e+02,
+       2.24400009e+02, 3.94800018e+02, 2.24400009e+02, 4.06800018e+02,
+       2.24400009e+02, 4.30800018e+02, 2.24400009e+02, 4.35600006e+02,
+       2.24400009e+02, 4.47600006e+02, 2.24400009e+02, 150.,
+       2.25600006e+02, 1.53600006e+02, 2.25600006e+02, 192.,
+       2.25600006e+02, 2.05200012e+02, 2.25600006e+02, 2.11200012e+02,
+       2.25600006e+02, 1.57200012e+02, 2.26800003e+02, 1.99200012e+02,
+       2.26800003e+02, 2.72400024e+02, 2.26800003e+02, 2.80800018e+02,
+       2.26800003e+02, 3.09600006e+02, 2.26800003e+02, 3.15600006e+02,
+       2.26800003e+02, 3.92400024e+02, 2.26800003e+02, 4.08000031e+02,
+       2.26800003e+02, 4.35600006e+02, 2.26800003e+02, 4.52400024e+02,
+       2.26800003e+02, 1.46400009e+02, 2.28000015e+02, 2.05200012e+02,
+       2.28000015e+02, 2.92800018e+02, 2.28000015e+02, 3.04800018e+02,
+       2.28000015e+02, 324., 2.28000015e+02, 3.99600006e+02,
+       2.28000015e+02, 4.29600006e+02, 2.28000015e+02, 1.42800003e+02,
+       2.29200012e+02, 2.28000015e+02, 2.29200012e+02, 2.32800003e+02,
+       2.29200012e+02, 2.44800003e+02, 2.29200012e+02, 4.23600006e+02,
+       2.29200012e+02, 4.33200012e+02, 2.29200012e+02, 2.02800003e+02,
+       2.30400009e+02, 2.20800003e+02, 2.30400009e+02, 2.67600006e+02,
+       2.30400009e+02, 4.42800018e+02, 2.30400009e+02, 1.47600006e+02,
+       2.31600006e+02, 1.59600006e+02, 2.31600006e+02, 2.07600006e+02,
+       2.31600006e+02, 4.02000031e+02, 2.31600006e+02, 4.12800018e+02,
+       2.31600006e+02, 4.33200012e+02, 2.31600006e+02, 4.45200012e+02,
+       2.31600006e+02, 4.47600006e+02, 2.31600006e+02, 1.76400009e+02,
+       2.32800003e+02, 2.25600006e+02, 2.32800003e+02, 2.74800018e+02,
+       2.32800003e+02, 3.55200012e+02, 2.32800003e+02, 3.97200012e+02,
+       2.32800003e+02, 144., 2.34000015e+02, 180., 2.34000015e+02,
+       2.16000015e+02, 2.34000015e+02, 2.67600006e+02, 2.34000015e+02,
+       2.79600006e+02, 2.34000015e+02, 282., 2.34000015e+02, 294.,
+       2.34000015e+02, 300., 2.34000015e+02, 4.11600006e+02,
+       2.34000015e+02, 4.42800018e+02, 2.34000015e+02, 4.46400024e+02,
+       2.34000015e+02, 1.63200012e+02, 2.35200012e+02, 2.13600006e+02,
+       2.35200012e+02, 2.85600006e+02, 2.35200012e+02, 3.07200012e+02,
+       2.35200012e+02, 4.48800018e+02, 2.35200012e+02, 1.59600006e+02,
+       2.36400009e+02, 1.66800003e+02, 2.36400009e+02, 1.71600006e+02,
+       2.36400009e+02, 2.19600006e+02, 2.36400009e+02, 2.68800018e+02,
+       2.36400009e+02, 1.36800003e+02, 2.37600006e+02, 1.76400009e+02,
+       2.37600006e+02, 2.31600006e+02, 2.37600006e+02, 2.36400009e+02,
+       2.37600006e+02, 3.33600006e+02, 2.37600006e+02, 3.90000031e+02,
+       2.37600006e+02, 4.00800018e+02, 2.37600006e+02, 4.47600006e+02,
+       2.37600006e+02, 1.48800003e+02, 2.38800003e+02, 2.01600006e+02,
+       2.38800003e+02, 2.08800003e+02, 2.38800003e+02, 2.25600006e+02,
+       2.38800003e+02, 2.44800003e+02, 2.38800003e+02, 2.95200012e+02,
+       2.38800003e+02, 2.98800018e+02, 2.38800003e+02, 3.01200012e+02,
+       2.38800003e+02, 3.64800018e+02, 2.38800003e+02, 4.45200012e+02,
+       2.38800003e+02, 1.42800003e+02, 2.40000015e+02, 1.51200012e+02,
+       2.40000015e+02, 1.60800003e+02, 2.40000015e+02, 1.71600006e+02,
+       2.40000015e+02, 1.76400009e+02, 2.40000015e+02, 2.14800003e+02,
+       2.40000015e+02, 2.66400024e+02, 2.40000015e+02, 3.69600006e+02,
+       2.40000015e+02, 3.99600006e+02, 2.40000015e+02, 1.39200012e+02,
+       2.41200012e+02, 1.82400009e+02, 2.41200012e+02, 1.98000015e+02,
+       2.41200012e+02, 2.01600006e+02, 2.41200012e+02, 2.06400009e+02,
+       2.41200012e+02, 2.60400024e+02, 2.41200012e+02, 3.51600006e+02,
+       2.41200012e+02, 3.73200012e+02, 2.41200012e+02, 4.44000031e+02,
+       2.41200012e+02, 1.33200012e+02, 2.42400009e+02, 1.41600006e+02,
+       2.42400009e+02, 174., 2.42400009e+02, 180., 2.42400009e+02,
+       1.94400009e+02, 2.42400009e+02, 2.32800003e+02, 2.42400009e+02,
+       3.93600006e+02, 2.42400009e+02, 3.98400024e+02, 2.42400009e+02,
+       4.35600006e+02, 2.42400009e+02, 2.17200012e+02, 2.43600006e+02,
+       2.46000015e+02, 2.43600006e+02, 3.91200012e+02, 2.43600006e+02,
+       4.39200012e+02, 2.43600006e+02, 4.42800018e+02, 2.43600006e+02,
+       1.36800003e+02, 2.44800003e+02, 1.40400009e+02, 2.44800003e+02,
+       1.48800003e+02, 2.44800003e+02, 1.69200012e+02, 2.44800003e+02,
+       1.75200012e+02, 2.44800003e+02, 1.83600006e+02, 2.44800003e+02,
+       1.90800003e+02, 2.44800003e+02, 2.08800003e+02, 2.44800003e+02,
+       2.19600006e+02, 2.44800003e+02, 2.26800003e+02, 2.44800003e+02,
+       2.32800003e+02, 2.44800003e+02, 2.48400009e+02, 2.44800003e+02,
+       2.56800018e+02, 2.44800003e+02, 2.66400024e+02, 2.44800003e+02,
+       3.04800018e+02, 2.44800003e+02, 354., 2.44800003e+02,
+       3.63600006e+02, 2.44800003e+02, 3.73200012e+02, 2.44800003e+02,
+       1.30800003e+02, 2.46000015e+02, 1.33200012e+02, 2.46000015e+02,
+       1.63200012e+02, 2.46000015e+02, 1.72800003e+02, 2.46000015e+02,
+       1.78800003e+02, 2.46000015e+02, 2.24400009e+02, 2.46000015e+02,
+       2.40000015e+02, 2.46000015e+02, 2.60400024e+02, 2.46000015e+02,
+       2.92800018e+02, 2.46000015e+02, 3.08400024e+02, 2.46000015e+02,
+       3.56400024e+02, 2.46000015e+02, 3.67200012e+02, 2.46000015e+02,
+       3.69600006e+02, 2.46000015e+02, 4.29600006e+02, 2.46000015e+02,
+       4.35600006e+02, 2.46000015e+02, 4.41600006e+02, 2.46000015e+02,
+       1.84800003e+02, 2.47200012e+02, 1.90800003e+02, 2.47200012e+02,
+       2.36400009e+02, 2.47200012e+02, 2.43600006e+02, 2.47200012e+02,
+       2.48400009e+02, 2.47200012e+02, 3.34800018e+02, 2.47200012e+02,
+       3.38400024e+02, 2.47200012e+02, 3.46800018e+02, 2.47200012e+02,
+       3.51600006e+02, 2.47200012e+02, 3.58800018e+02, 2.47200012e+02,
+       3.80400024e+02, 2.47200012e+02, 3.87600006e+02, 2.47200012e+02,
+       3.93600006e+02, 2.47200012e+02, 3.98400024e+02, 2.47200012e+02,
+       138., 2.48400009e+02, 1.75200012e+02, 2.48400009e+02,
+       2.53200012e+02, 2.48400009e+02, 2.85600006e+02, 2.48400009e+02,
+       3.15600006e+02, 2.48400009e+02, 3.56400024e+02, 2.48400009e+02,
+       3.73200012e+02, 2.48400009e+02, 3.75600006e+02, 2.48400009e+02,
+       4.40400024e+02, 2.48400009e+02, 1.30800003e+02, 2.49600006e+02,
+       1.51200012e+02, 2.49600006e+02, 1.77600006e+02, 2.49600006e+02,
+       2.68800018e+02, 2.49600006e+02, 3.03600006e+02, 2.49600006e+02,
+       342., 2.49600006e+02, 3.62400024e+02, 2.49600006e+02,
+       3.82800018e+02, 2.49600006e+02, 4.36800018e+02, 2.49600006e+02,
+       4.42800018e+02, 2.49600006e+02, 1.41600006e+02, 2.50800003e+02,
+       1.48800003e+02, 2.50800003e+02, 1.65600006e+02, 2.50800003e+02,
+       1.69200012e+02, 2.50800003e+02, 1.71600006e+02, 2.50800003e+02,
+       1.81200012e+02, 2.50800003e+02, 2.59200012e+02, 2.50800003e+02,
+       2.91600006e+02, 2.50800003e+02, 3.34800018e+02, 2.50800003e+02,
+       3.44400024e+02, 2.50800003e+02, 3.51600006e+02, 2.50800003e+02,
+       366., 2.50800003e+02, 3.69600006e+02, 2.50800003e+02, 378.,
+       2.50800003e+02, 4.39200012e+02, 2.50800003e+02, 1.27200005e+02,
+       2.52000015e+02, 1.36800003e+02, 2.52000015e+02, 1.96800003e+02,
+       2.52000015e+02, 2.68800018e+02, 2.52000015e+02, 3.14400024e+02,
+       2.52000015e+02, 3.40800018e+02, 2.52000015e+02, 3.56400024e+02,
+       2.52000015e+02, 3.58800018e+02, 2.52000015e+02, 3.85200012e+02,
+       2.52000015e+02, 4.41600006e+02, 2.52000015e+02, 132.,
+       2.53200012e+02, 1.45200012e+02, 2.53200012e+02, 1.57200012e+02,
+       2.53200012e+02, 168., 2.53200012e+02, 1.72800003e+02,
+       2.53200012e+02, 192., 2.53200012e+02, 2.80800018e+02,
+       2.53200012e+02, 318., 2.53200012e+02, 3.21600006e+02,
+       2.53200012e+02, 3.27600006e+02, 2.53200012e+02, 3.34800018e+02,
+       2.53200012e+02, 4.24800018e+02, 2.53200012e+02, 1.51200012e+02,
+       2.54400009e+02, 288., 2.54400009e+02, 3.70800018e+02,
+       2.54400009e+02, 4.03200012e+02, 2.54400009e+02, 4.14000031e+02,
+       2.54400009e+02, 4.27200012e+02, 2.54400009e+02, 132.,
+       2.55600006e+02, 1.36800003e+02, 2.55600006e+02, 1.63200012e+02,
+       2.55600006e+02, 1.83600006e+02, 2.55600006e+02, 1.96800003e+02,
+       2.55600006e+02, 2.98800018e+02, 2.55600006e+02, 360.,
+       2.55600006e+02, 3.74400024e+02, 2.55600006e+02, 4.18800018e+02,
+       2.55600006e+02, 1.23600006e+02, 2.56800018e+02, 1.45200012e+02,
+       2.56800018e+02, 1.48800003e+02, 2.56800018e+02, 1.94400009e+02,
+       2.56800018e+02, 2.90400024e+02, 2.56800018e+02, 3.08400024e+02,
+       2.56800018e+02, 3.13200012e+02, 2.56800018e+02, 3.32400024e+02,
+       2.56800018e+02, 348., 2.56800018e+02, 3.55200012e+02,
+       2.56800018e+02, 3.80400024e+02, 2.56800018e+02, 1.30800003e+02,
+       258., 1.35600006e+02, 258., 1.41600006e+02, 258., 1.54800003e+02,
+       258., 1.89600006e+02, 258., 2.24400009e+02, 258., 2.29200012e+02,
+       258., 2.98800018e+02, 258., 3.16800018e+02, 258., 3.22800018e+02,
+       258., 3.52800018e+02, 258., 3.63600006e+02, 258., 3.70800018e+02,
+       258., 3.74400024e+02, 258., 378., 258., 4.12800018e+02, 258.,
+       4.17600006e+02, 258., 4.22400024e+02, 258., 4.36800018e+02, 258.,
+       1.47600006e+02, 2.59200012e+02, 162., 2.59200012e+02,
+       1.64400009e+02, 2.59200012e+02, 1.70400009e+02, 2.59200012e+02,
+       4.27200012e+02, 2.59200012e+02, 1.45200012e+02, 2.60400024e+02,
+       1.84800003e+02, 2.60400024e+02, 2.36400009e+02, 2.60400024e+02,
+       2.43600006e+02, 2.60400024e+02, 2.48400009e+02, 2.60400024e+02,
+       3.27600006e+02, 2.60400024e+02, 3.61200012e+02, 2.60400024e+02,
+       3.64800018e+02, 2.60400024e+02, 4.17600006e+02, 2.60400024e+02,
+       1.12800003e+02, 2.61600006e+02, 1.52400009e+02, 2.61600006e+02,
+       1.75200012e+02, 2.61600006e+02, 1.90800003e+02, 2.61600006e+02,
+       2.22000015e+02, 2.61600006e+02, 2.41200012e+02, 2.61600006e+02,
+       2.53200012e+02, 2.61600006e+02, 3.37200012e+02, 2.61600006e+02,
+       372., 2.61600006e+02, 3.75600006e+02, 2.61600006e+02,
+       4.34400024e+02, 2.61600006e+02, 1.72800003e+02, 2.62800018e+02,
+       1.78800003e+02, 2.62800018e+02, 1.96800003e+02, 2.62800018e+02,
+       2.60400024e+02, 2.62800018e+02, 3.39600006e+02, 2.62800018e+02,
+       348., 2.62800018e+02, 3.96000031e+02, 2.62800018e+02,
+       4.09200012e+02, 2.62800018e+02, 4.17600006e+02, 2.62800018e+02,
+       4.23600006e+02, 2.62800018e+02, 4.64400024e+02, 2.62800018e+02,
+       1.69200012e+02, 264., 1.81200012e+02, 264., 2.29200012e+02, 264.,
+       2.35200012e+02, 264., 2.71200012e+02, 264., 3.56400024e+02, 264.,
+       3.98400024e+02, 264., 4.02000031e+02, 264., 1.77600006e+02,
+       2.65200012e+02, 1.89600006e+02, 2.65200012e+02, 2.44800003e+02,
+       2.65200012e+02, 2.50800003e+02, 2.65200012e+02, 264.,
+       2.65200012e+02, 2.77200012e+02, 2.65200012e+02, 3.94800018e+02,
+       2.65200012e+02, 4.10400024e+02, 2.65200012e+02, 4.27200012e+02,
+       2.65200012e+02, 4.35600006e+02, 2.65200012e+02, 2.01600006e+02,
+       2.66400024e+02, 258., 2.66400024e+02, 2.80800018e+02,
+       2.66400024e+02, 3.98400024e+02, 2.66400024e+02, 4.17600006e+02,
+       2.66400024e+02, 192., 2.67600006e+02, 2.83200012e+02,
+       2.67600006e+02, 2.95200012e+02, 2.67600006e+02, 2.00400009e+02,
+       2.68800018e+02, 2.12400009e+02, 2.68800018e+02, 2.68800018e+02,
+       2.68800018e+02, 288., 2.68800018e+02, 3.68400024e+02,
+       2.68800018e+02, 3.92400024e+02, 2.68800018e+02, 4.04400024e+02,
+       2.68800018e+02, 4.10400024e+02, 2.68800018e+02, 4.16400024e+02,
+       2.68800018e+02, 4.32000031e+02, 2.68800018e+02, 1.29600006e+02,
+       270., 2.18400009e+02, 270., 2.29200012e+02, 270., 276., 270.,
+       2.83200012e+02, 270., 2.97600006e+02, 270., 300., 270.,
+       3.07200012e+02, 270., 384., 270., 2.16000015e+02, 2.71200012e+02,
+       2.26800003e+02, 2.71200012e+02, 2.86800018e+02, 2.71200012e+02,
+       312., 2.71200012e+02, 3.70800018e+02, 2.71200012e+02,
+       4.02000031e+02, 2.71200012e+02, 4.06800018e+02, 2.71200012e+02,
+       4.16400024e+02, 2.71200012e+02, 4.27200012e+02, 2.71200012e+02,
+       4.33200012e+02, 2.71200012e+02, 1.29600006e+02, 2.72400024e+02,
+       144., 2.72400024e+02, 2.24400009e+02, 2.72400024e+02,
+       2.38800003e+02, 2.72400024e+02, 294., 2.72400024e+02,
+       2.98800018e+02, 2.72400024e+02, 3.19200012e+02, 2.72400024e+02,
+       3.25200012e+02, 2.72400024e+02, 3.96000031e+02, 2.72400024e+02,
+       4.09200012e+02, 2.72400024e+02, 1.52400009e+02, 2.73600006e+02,
+       306., 2.73600006e+02, 3.08400024e+02, 2.73600006e+02,
+       3.88800018e+02, 2.73600006e+02, 4.27200012e+02, 2.73600006e+02,
+       4.29600006e+02, 2.73600006e+02, 1.40400009e+02, 2.74800018e+02,
+       144., 2.74800018e+02, 2.38800003e+02, 2.74800018e+02,
+       2.49600006e+02, 2.74800018e+02, 3.70800018e+02, 2.74800018e+02,
+       3.81600006e+02, 2.74800018e+02, 3.93600006e+02, 2.74800018e+02,
+       3.99600006e+02, 2.74800018e+02, 4.24800018e+02, 2.74800018e+02,
+       1.26000008e+02, 276., 1.48800003e+02, 276., 1.52400009e+02, 276.,
+       156., 276., 168., 276., 2.46000015e+02, 276., 2.59200012e+02,
+       276., 2.62800018e+02, 276., 3.15600006e+02, 276., 3.19200012e+02,
+       276., 3.57600006e+02, 276., 3.74400024e+02, 276., 384., 276.,
+       4.18800018e+02, 276., 1.75200012e+02, 2.77200012e+02,
+       2.71200012e+02, 2.77200012e+02, 3.87600006e+02, 2.77200012e+02,
+       4.28400024e+02, 2.77200012e+02, 168., 2.78400024e+02,
+       2.62800018e+02, 2.78400024e+02, 360., 2.78400024e+02, 378.,
+       2.78400024e+02, 3.80400024e+02, 2.78400024e+02, 3.96000031e+02,
+       2.78400024e+02, 4.21200012e+02, 2.78400024e+02, 1.90800003e+02,
+       2.79600006e+02, 270., 2.79600006e+02, 294., 2.79600006e+02,
+       3.52800018e+02, 2.79600006e+02, 3.73200012e+02, 2.79600006e+02,
+       1.77600006e+02, 2.80800018e+02, 1.87200012e+02, 2.80800018e+02,
+       1.99200012e+02, 2.80800018e+02, 2.90400024e+02, 2.80800018e+02,
+       3.01200012e+02, 2.80800018e+02, 3.55200012e+02, 2.80800018e+02,
+       3.63600006e+02, 2.80800018e+02, 3.96000031e+02, 2.80800018e+02,
+       4.12800018e+02, 2.80800018e+02, 4.28400024e+02, 2.80800018e+02,
+       1.84800003e+02, 282., 1.90800003e+02, 282., 288., 282.,
+       2.98800018e+02, 282., 366., 282., 3.70800018e+02, 282.,
+       3.81600006e+02, 282., 4.26000031e+02, 282., 1.94400009e+02,
+       2.83200012e+02, 2.14800003e+02, 2.83200012e+02, 2.95200012e+02,
+       2.83200012e+02, 3.52800018e+02, 2.83200012e+02, 4.23600006e+02,
+       2.83200012e+02, 1.40400009e+02, 2.84400024e+02, 1.99200012e+02,
+       2.84400024e+02, 2.23200012e+02, 2.84400024e+02, 3.55200012e+02,
+       2.84400024e+02, 3.57600006e+02, 2.84400024e+02, 3.63600006e+02,
+       2.84400024e+02, 3.79200012e+02, 2.84400024e+02, 3.82800018e+02,
+       2.84400024e+02, 4.02000031e+02, 2.84400024e+02, 4.05600006e+02,
+       2.84400024e+02, 1.42800003e+02, 2.85600006e+02, 162.,
+       2.85600006e+02, 2.14800003e+02, 2.85600006e+02, 3.10800018e+02,
+       2.85600006e+02, 360., 2.85600006e+02, 366., 2.85600006e+02,
+       3.86400024e+02, 2.85600006e+02, 1.69200012e+02, 2.86800018e+02,
+       1.71600006e+02, 2.86800018e+02, 2.18400009e+02, 2.86800018e+02,
+       2.25600006e+02, 2.86800018e+02, 2.37600006e+02, 2.86800018e+02,
+       3.19200012e+02, 2.86800018e+02, 3.31200012e+02, 2.86800018e+02,
+       336., 2.86800018e+02, 4.15200012e+02, 2.86800018e+02,
+       4.17600006e+02, 2.86800018e+02, 4.26000031e+02, 2.86800018e+02,
+       1.40400009e+02, 288., 144., 288., 1.58400009e+02, 288.,
+       1.77600006e+02, 288., 186., 288., 2.23200012e+02, 288.,
+       2.46000015e+02, 288., 3.38400024e+02, 288., 3.44400024e+02, 288.,
+       3.56400024e+02, 288., 3.68400024e+02, 288., 3.74400024e+02, 288.,
+       3.93600006e+02, 288., 4.00800018e+02, 288., 4.03200012e+02, 288.,
+       1.26000008e+02, 2.89200012e+02, 1.28400009e+02, 2.89200012e+02,
+       1.82400009e+02, 2.89200012e+02, 3.34800018e+02, 2.89200012e+02,
+       3.85200012e+02, 2.89200012e+02, 3.91200012e+02, 2.89200012e+02,
+       4.20000031e+02, 2.89200012e+02, 4.22400024e+02, 2.89200012e+02,
+       1.90800003e+02, 2.90400024e+02, 2.61600006e+02, 2.90400024e+02,
+       3.43200012e+02, 2.90400024e+02, 366., 2.90400024e+02,
+       1.42800003e+02, 2.91600006e+02, 1.60800003e+02, 2.91600006e+02,
+       180., 2.91600006e+02, 2.00400009e+02, 2.91600006e+02,
+       2.68800018e+02, 2.91600006e+02, 3.57600006e+02, 2.91600006e+02,
+       3.63600006e+02, 2.91600006e+02, 3.69600006e+02, 2.91600006e+02,
+       3.76800018e+02, 2.91600006e+02, 4.06800018e+02, 2.91600006e+02,
+       4.10400024e+02, 2.91600006e+02, 1.66800003e+02, 2.92800018e+02,
+       1.71600006e+02, 2.92800018e+02, 1.89600006e+02, 2.92800018e+02,
+       2.07600006e+02, 2.92800018e+02, 2.54400009e+02, 2.92800018e+02,
+       360., 2.92800018e+02, 366., 2.92800018e+02, 3.80400024e+02,
+       2.92800018e+02, 4.03200012e+02, 2.92800018e+02, 4.21200012e+02,
+       2.92800018e+02, 1.76400009e+02, 294., 1.98000015e+02, 294.,
+       2.13600006e+02, 294., 2.60400024e+02, 294., 2.85600006e+02, 294.,
+       3.68400024e+02, 294., 3.73200012e+02, 294., 3.97200012e+02, 294.,
+       1.27200005e+02, 2.95200012e+02, 1.29600006e+02, 2.95200012e+02,
+       1.72800003e+02, 2.95200012e+02, 2.18400009e+02, 2.95200012e+02,
+       2.68800018e+02, 2.95200012e+02, 294., 2.95200012e+02, 384.,
+       2.95200012e+02, 3.92400024e+02, 2.95200012e+02, 3.94800018e+02,
+       2.95200012e+02, 4.10400024e+02, 2.95200012e+02, 4.20000031e+02,
+       2.95200012e+02, 1.41600006e+02, 2.96400024e+02, 1.45200012e+02,
+       2.96400024e+02, 2.28000015e+02, 2.96400024e+02, 4.17600006e+02,
+       2.96400024e+02, 4.22400024e+02, 2.96400024e+02, 1.59600006e+02,
+       2.97600006e+02, 1.66800003e+02, 2.97600006e+02, 2.36400009e+02,
+       2.97600006e+02, 2.85600006e+02, 2.97600006e+02, 3.87600006e+02,
+       2.97600006e+02, 3.99600006e+02, 2.97600006e+02, 162.,
+       2.98800018e+02, 1.71600006e+02, 2.98800018e+02, 174.,
+       2.98800018e+02, 2.25600006e+02, 2.98800018e+02, 2.46000015e+02,
+       2.98800018e+02, 2.91600006e+02, 2.98800018e+02, 294.,
+       2.98800018e+02, 312., 2.98800018e+02, 3.96000031e+02,
+       2.98800018e+02, 4.08000031e+02, 2.98800018e+02, 4.17600006e+02,
+       2.98800018e+02, 1.76400009e+02, 300., 1.81200012e+02, 300.,
+       2.35200012e+02, 300., 2.61600006e+02, 300., 2.98800018e+02, 300.,
+       3.20400024e+02, 300., 4.15200012e+02, 300., 4.21200012e+02, 300.,
+       1.78800003e+02, 3.01200012e+02, 2.44800003e+02, 3.01200012e+02,
+       2.55600006e+02, 3.01200012e+02, 312., 3.01200012e+02,
+       4.11600006e+02, 3.01200012e+02, 144., 3.02400024e+02,
+       1.66800003e+02, 3.02400024e+02, 264., 3.02400024e+02,
+       3.32400024e+02, 3.02400024e+02, 4.20000031e+02, 3.02400024e+02,
+       1.72800003e+02, 3.03600006e+02, 2.74800018e+02, 3.03600006e+02,
+       3.40800018e+02, 3.03600006e+02, 1.83600006e+02, 3.04800018e+02,
+       2.62800018e+02, 3.04800018e+02, 2.83200012e+02, 3.04800018e+02,
+       3.32400024e+02, 3.04800018e+02, 162., 306., 1.75200012e+02, 306.,
+       2.72400024e+02, 306., 2.89200012e+02, 306., 2.91600006e+02, 306.,
+       3.40800018e+02, 306., 3.57600006e+02, 306., 3.61200012e+02, 306.,
+       1.29600006e+02, 3.07200012e+02, 144., 3.07200012e+02,
+       1.88400009e+02, 3.07200012e+02, 282., 3.07200012e+02,
+       2.97600006e+02, 3.07200012e+02, 366., 3.07200012e+02,
+       4.27200012e+02, 3.07200012e+02, 132., 3.08400024e+02,
+       1.47600006e+02, 3.08400024e+02, 180., 3.08400024e+02, 186.,
+       3.08400024e+02, 2.90400024e+02, 3.08400024e+02, 3.02400024e+02,
+       3.08400024e+02, 3.57600006e+02, 3.08400024e+02, 3.04800018e+02,
+       3.09600006e+02, 312., 3.09600006e+02, 3.62400024e+02,
+       3.09600006e+02, 366., 3.09600006e+02, 384., 3.09600006e+02,
+       4.23600006e+02, 3.09600006e+02, 1.33200012e+02, 3.10800018e+02,
+       162., 3.10800018e+02, 1.64400009e+02, 3.10800018e+02,
+       1.94400009e+02, 3.10800018e+02, 3.01200012e+02, 3.10800018e+02,
+       3.21600006e+02, 3.10800018e+02, 3.79200012e+02, 3.10800018e+02,
+       3.92400024e+02, 3.10800018e+02, 1.83600006e+02, 312., 192., 312.,
+       3.09600006e+02, 312., 3.26400024e+02, 312., 1.30800003e+02,
+       3.13200012e+02, 1.45200012e+02, 3.13200012e+02, 1.47600006e+02,
+       3.13200012e+02, 1.69200012e+02, 3.13200012e+02, 1.89600006e+02,
+       3.13200012e+02, 2.01600006e+02, 3.13200012e+02, 2.08800003e+02,
+       3.13200012e+02, 2.96400024e+02, 3.13200012e+02, 3.19200012e+02,
+       3.13200012e+02, 3.34800018e+02, 3.13200012e+02, 3.82800018e+02,
+       3.13200012e+02, 3.87600006e+02, 3.13200012e+02, 4.09200012e+02,
+       3.13200012e+02, 1.33200012e+02, 3.14400024e+02, 1.76400009e+02,
+       3.14400024e+02, 1.99200012e+02, 3.14400024e+02, 2.12400009e+02,
+       3.14400024e+02, 3.92400024e+02, 3.14400024e+02, 4.14000031e+02,
+       3.14400024e+02, 4.26000031e+02, 3.14400024e+02, 1.78800003e+02,
+       3.15600006e+02, 2.10000015e+02, 3.15600006e+02, 3.52800018e+02,
+       3.15600006e+02, 4.17600006e+02, 3.15600006e+02, 4.28400024e+02,
+       3.15600006e+02, 1.48800003e+02, 3.16800018e+02, 1.98000015e+02,
+       3.16800018e+02, 2.06400009e+02, 3.16800018e+02, 2.12400009e+02,
+       3.16800018e+02, 2.20800003e+02, 3.16800018e+02, 3.38400024e+02,
+       3.16800018e+02, 360., 3.16800018e+02, 4.08000031e+02,
+       3.16800018e+02, 1.64400009e+02, 318., 2.24400009e+02, 318.,
+       2.28000015e+02, 318., 3.08400024e+02, 318., 3.15600006e+02, 318.,
+       3.46800018e+02, 318., 366., 318., 4.14000031e+02, 318.,
+       4.17600006e+02, 318., 1.72800003e+02, 3.19200012e+02,
+       1.81200012e+02, 3.19200012e+02, 2.02800003e+02, 3.19200012e+02,
+       2.14800003e+02, 3.19200012e+02, 3.56400024e+02, 3.19200012e+02,
+       3.69600006e+02, 3.19200012e+02, 3.75600006e+02, 3.19200012e+02,
+       3.81600006e+02, 3.19200012e+02, 1.89600006e+02, 3.20400024e+02,
+       2.20800003e+02, 3.20400024e+02, 2.32800003e+02, 3.20400024e+02,
+       294., 3.20400024e+02, 312., 3.20400024e+02, 3.20400024e+02,
+       3.20400024e+02, 2.04000015e+02, 3.21600006e+02, 2.36400009e+02,
+       3.21600006e+02, 2.89200012e+02, 3.21600006e+02, 3.08400024e+02,
+       3.21600006e+02, 3.15600006e+02, 3.21600006e+02, 3.80400024e+02,
+       3.21600006e+02, 4.14000031e+02, 3.21600006e+02, 4.17600006e+02,
+       3.21600006e+02, 150., 3.22800018e+02, 1.90800003e+02,
+       3.22800018e+02, 2.24400009e+02, 3.22800018e+02, 2.91600006e+02,
+       3.22800018e+02, 2.96400024e+02, 3.22800018e+02, 1.65600006e+02,
+       324., 1.84800003e+02, 324., 1.95600006e+02, 324., 2.14800003e+02,
+       324., 2.17200012e+02, 324., 2.80800018e+02, 324., 312., 324.,
+       378., 324., 3.80400024e+02, 324., 150., 3.25200012e+02,
+       1.71600006e+02, 3.25200012e+02, 2.32800003e+02, 3.25200012e+02,
+       3.02400024e+02, 3.25200012e+02, 3.08400024e+02, 3.25200012e+02,
+       3.74400024e+02, 3.25200012e+02, 4.15200012e+02, 3.25200012e+02,
+       1.33200012e+02, 3.26400024e+02, 1.36800003e+02, 3.26400024e+02,
+       192., 3.26400024e+02, 2.44800003e+02, 3.26400024e+02,
+       2.67600006e+02, 3.26400024e+02, 2.71200012e+02, 3.26400024e+02,
+       2.79600006e+02, 3.26400024e+02, 2.95200012e+02, 3.26400024e+02,
+       3.04800018e+02, 3.26400024e+02, 3.14400024e+02, 3.26400024e+02,
+       1.94400009e+02, 3.27600006e+02, 2.11200012e+02, 3.27600006e+02,
+       2.31600006e+02, 3.27600006e+02, 2.35200012e+02, 3.27600006e+02,
+       2.49600006e+02, 3.27600006e+02, 2.53200012e+02, 3.27600006e+02,
+       288., 3.27600006e+02, 3.16800018e+02, 3.27600006e+02, 336.,
+       3.27600006e+02, 3.80400024e+02, 3.27600006e+02, 1.34400009e+02,
+       3.28800018e+02, 1.65600006e+02, 3.28800018e+02, 168.,
+       3.28800018e+02, 1.77600006e+02, 3.28800018e+02, 1.83600006e+02,
+       3.28800018e+02, 1.89600006e+02, 3.28800018e+02, 2.05200012e+02,
+       3.28800018e+02, 2.07600006e+02, 3.28800018e+02, 2.19600006e+02,
+       3.28800018e+02, 2.80800018e+02, 3.28800018e+02, 3.01200012e+02,
+       3.28800018e+02, 306., 3.28800018e+02, 3.10800018e+02,
+       3.28800018e+02, 3.32400024e+02, 3.28800018e+02, 3.99600006e+02,
+       3.28800018e+02, 1.36800003e+02, 330., 1.72800003e+02, 330.,
+       2.12400009e+02, 330., 2.22000015e+02, 330., 2.35200012e+02, 330.,
+       2.55600006e+02, 330., 324., 330., 3.40800018e+02, 330.,
+       1.41600006e+02, 3.31200012e+02, 1.69200012e+02, 3.31200012e+02,
+       2.02800003e+02, 3.31200012e+02, 2.31600006e+02, 3.31200012e+02,
+       2.42400009e+02, 3.31200012e+02, 2.50800003e+02, 3.31200012e+02,
+       258., 3.31200012e+02, 2.60400024e+02, 3.31200012e+02, 288.,
+       3.31200012e+02, 2.96400024e+02, 3.31200012e+02, 300.,
+       3.31200012e+02, 3.16800018e+02, 3.31200012e+02, 3.97200012e+02,
+       3.31200012e+02, 138., 3.32400024e+02, 1.78800003e+02,
+       3.32400024e+02, 2.07600006e+02, 3.32400024e+02, 2.17200012e+02,
+       3.32400024e+02, 2.29200012e+02, 3.32400024e+02, 2.37600006e+02,
+       3.32400024e+02, 2.44800003e+02, 3.32400024e+02, 2.55600006e+02,
+       3.32400024e+02, 270., 3.32400024e+02, 2.73600006e+02,
+       3.32400024e+02, 2.90400024e+02, 3.32400024e+02, 3.20400024e+02,
+       3.32400024e+02, 1.41600006e+02, 3.33600006e+02, 1.83600006e+02,
+       3.33600006e+02, 1.94400009e+02, 3.33600006e+02, 2.26800003e+02,
+       3.33600006e+02, 258., 3.33600006e+02, 2.61600006e+02,
+       3.33600006e+02, 330., 3.33600006e+02, 156., 3.34800018e+02,
+       2.02800003e+02, 3.34800018e+02, 2.11200012e+02, 3.34800018e+02,
+       2.19600006e+02, 3.34800018e+02, 2.36400009e+02, 3.34800018e+02,
+       2.38800003e+02, 3.34800018e+02, 2.65200012e+02, 3.34800018e+02,
+       2.92800018e+02, 3.34800018e+02, 300., 3.34800018e+02,
+       3.08400024e+02, 3.34800018e+02, 3.20400024e+02, 3.34800018e+02,
+       3.50400024e+02, 3.34800018e+02, 4.15200012e+02, 3.34800018e+02,
+       1.63200012e+02, 336., 1.96800003e+02, 336., 2.43600006e+02, 336.,
+       2.48400009e+02, 336., 2.56800018e+02, 336., 2.80800018e+02, 336.,
+       3.04800018e+02, 336., 3.33600006e+02, 336., 3.74400024e+02, 336.,
+       378., 336., 3.98400024e+02, 336., 4.00800018e+02, 336.,
+       4.18800018e+02, 336., 2.30400009e+02, 3.37200012e+02,
+       2.68800018e+02, 3.37200012e+02, 2.96400024e+02, 3.37200012e+02,
+       2.98800018e+02, 3.37200012e+02, 3.27600006e+02, 3.37200012e+02,
+       3.55200012e+02, 3.37200012e+02, 2.73600006e+02, 3.38400024e+02,
+       2.80800018e+02, 3.38400024e+02, 2.89200012e+02, 3.38400024e+02,
+       3.45600006e+02, 3.38400024e+02, 2.61600006e+02, 3.39600006e+02,
+       2.95200012e+02, 3.39600006e+02, 2.98800018e+02, 3.39600006e+02,
+       3.09600006e+02, 3.39600006e+02, 3.28800018e+02, 3.39600006e+02,
+       336., 3.39600006e+02, 3.98400024e+02, 3.39600006e+02,
+       4.00800018e+02, 3.39600006e+02, 186., 3.40800018e+02,
+       2.14800003e+02, 3.40800018e+02, 2.23200012e+02, 3.40800018e+02,
+       2.54400009e+02, 3.40800018e+02, 258., 3.40800018e+02,
+       2.71200012e+02, 3.40800018e+02, 2.77200012e+02, 3.40800018e+02,
+       3.21600006e+02, 3.40800018e+02, 3.39600006e+02, 3.40800018e+02,
+       2.28000015e+02, 342., 2.36400009e+02, 342., 2.80800018e+02, 342.,
+       3.27600006e+02, 342., 4.15200012e+02, 342., 4.18800018e+02, 342.,
+       2.00400009e+02, 3.43200012e+02, 2.44800003e+02, 3.43200012e+02,
+       270., 3.43200012e+02, 2.83200012e+02, 3.43200012e+02,
+       3.22800018e+02, 3.43200012e+02, 2.07600006e+02, 3.44400024e+02,
+       2.98800018e+02, 3.44400024e+02, 3.27600006e+02, 3.44400024e+02,
+       2.50800003e+02, 3.45600006e+02, 2.80800018e+02, 3.45600006e+02,
+       2.89200012e+02, 3.45600006e+02, 2.92800018e+02, 3.45600006e+02,
+       3.14400024e+02, 3.45600006e+02, 4.16400024e+02, 3.45600006e+02,
+       2.14800003e+02, 3.46800018e+02, 2.19600006e+02, 3.46800018e+02,
+       2.60400024e+02, 3.46800018e+02, 2.62800018e+02, 3.46800018e+02,
+       3.27600006e+02, 3.46800018e+02, 2.26800003e+02, 348.,
+       2.71200012e+02, 348., 300., 348., 3.04800018e+02, 348.,
+       3.15600006e+02, 348., 3.39600006e+02, 348., 3.46800018e+02, 348.,
+       3.64800018e+02, 348., 2.84400024e+02, 3.49200012e+02,
+       3.70800018e+02, 3.49200012e+02, 2.43600006e+02, 3.50400024e+02,
+       2.78400024e+02, 3.50400024e+02, 294., 3.50400024e+02,
+       3.32400024e+02, 3.50400024e+02, 2.86800018e+02, 3.51600006e+02,
+       3.56400024e+02, 3.51600006e+02, 3.64800018e+02, 3.51600006e+02,
+       3.69600006e+02, 3.51600006e+02, 3.79200012e+02, 3.51600006e+02,
+       4.16400024e+02, 3.51600006e+02, 2.50800003e+02, 3.52800018e+02,
+       2.92800018e+02, 3.52800018e+02, 2.95200012e+02, 3.52800018e+02,
+       3.50400024e+02, 3.52800018e+02, 2.54400009e+02, 354.,
+       3.01200012e+02, 354., 3.14400024e+02, 354., 3.34800018e+02, 354.,
+       3.45600006e+02, 354., 3.79200012e+02, 354., 2.67600006e+02,
+       3.55200012e+02, 3.07200012e+02, 3.55200012e+02, 3.21600006e+02,
+       3.55200012e+02, 3.82800018e+02, 3.55200012e+02, 4.15200012e+02,
+       3.55200012e+02, 4.18800018e+02, 3.55200012e+02, 276.,
+       3.56400024e+02, 3.15600006e+02, 3.56400024e+02, 3.31200012e+02,
+       3.56400024e+02, 3.51600006e+02, 3.56400024e+02, 3.99600006e+02,
+       3.56400024e+02, 3.40800018e+02, 3.57600006e+02, 360.,
+       3.57600006e+02, 3.73200012e+02, 3.57600006e+02, 2.90400024e+02,
+       3.58800018e+02, 3.49200012e+02, 3.58800018e+02, 3.67200012e+02,
+       3.58800018e+02, 2.98800018e+02, 360., 3.37200012e+02, 360., 342.,
+       360., 3.80400024e+02, 360., 3.82800018e+02, 360., 348.,
+       3.61200012e+02, 360., 3.61200012e+02, 4.16400024e+02,
+       3.61200012e+02, 4.20000031e+02, 3.61200012e+02, 3.13200012e+02,
+       3.62400024e+02, 3.56400024e+02, 3.62400024e+02, 3.70800018e+02,
+       3.62400024e+02, 4.00800018e+02, 3.62400024e+02, 3.21600006e+02,
+       3.63600006e+02, 3.62400024e+02, 3.63600006e+02, 3.82800018e+02,
+       3.63600006e+02, 3.68400024e+02, 3.64800018e+02, 3.80400024e+02,
+       3.64800018e+02, 4.17600006e+02, 3.64800018e+02, 336., 366., 378.,
+       366., 4.02000031e+02, 366., 3.81600006e+02, 3.67200012e+02,
+       3.58800018e+02, 3.70800018e+02, 3.62400024e+02, 3.70800018e+02,
+       3.67200012e+02, 3.70800018e+02, 4.17600006e+02, 3.70800018e+02,
+       3.70800018e+02, 372., 3.62400024e+02, 3.73200012e+02,
+       3.70800018e+02, 3.74400024e+02, 3.87600006e+02, 3.74400024e+02,
+       3.92400024e+02, 3.74400024e+02, 4.16400024e+02, 3.74400024e+02,
+       4.20000031e+02, 3.74400024e+02, 3.96000031e+02, 3.75600006e+02,
+       3.87600006e+02, 3.76800018e+02, 4.11600006e+02, 3.76800018e+02,
+       3.96000031e+02, 378., 4.09200012e+02, 378., 4.20000031e+02, 378.,
+       4.20000031e+02, 3.80400024e+02, 4.27200012e+02, 384.,
+       4.29600006e+02, 3.85200012e+02, 2.05920013e+02, 1.31040009e+02,
+       2.13120010e+02, 1.36800003e+02, 2.08800003e+02, 1.39680008e+02,
+       2.28960007e+02, 1.39680008e+02, 2.46240005e+02, 1.41120010e+02,
+       2.53440002e+02, 1.41120010e+02, 2.07360016e+02, 1.42560013e+02,
+       2.11680008e+02, 1.42560013e+02, 2.27520004e+02, 1.42560013e+02,
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+       2.46240005e+02, 2.75040009e+02, 2.63520020e+02, 2.75040009e+02,
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+       1.75680008e+02, 3.15360016e+02, 180., 3.15360016e+02,
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+       1.90080002e+02, 3.19680023e+02, 2.20320007e+02, 3.19680023e+02,
+       2.28960007e+02, 3.19680023e+02, 3.13920013e+02, 3.19680023e+02,
+       3.21120026e+02, 3.19680023e+02, 3.75840027e+02, 3.19680023e+02,
+       2.10240005e+02, 3.21120026e+02, 288., 3.21120026e+02,
+       2.93760010e+02, 3.21120026e+02, 3.09600006e+02, 3.21120026e+02,
+       3.68640015e+02, 3.21120026e+02, 4.14720032e+02, 3.21120026e+02,
+       4.17600006e+02, 3.21120026e+02, 1.49760010e+02, 3.22559998e+02,
+       1.95840012e+02, 3.22559998e+02, 2.80800018e+02, 3.22559998e+02,
+       2.13120010e+02, 324., 3.03840027e+02, 324., 3.15360016e+02, 324.,
+       1.36800003e+02, 3.25440002e+02, 1.49760010e+02, 3.25440002e+02,
+       1.71360001e+02, 3.25440002e+02, 1.91520004e+02, 3.25440002e+02,
+       2.00160004e+02, 3.25440002e+02, 2.49120010e+02, 3.25440002e+02,
+       2.70720001e+02, 3.25440002e+02, 2.82240021e+02, 3.25440002e+02,
+       3.74400024e+02, 3.25440002e+02, 2.04480011e+02, 3.26880005e+02,
+       2.31840012e+02, 3.26880005e+02, 2.36160004e+02, 3.26880005e+02,
+       2.44800003e+02, 3.26880005e+02, 3.36960022e+02, 3.26880005e+02,
+       1.33919998e+02, 3.28320007e+02, 1.65600006e+02, 3.28320007e+02,
+       1.84320007e+02, 3.28320007e+02, 1.90080002e+02, 3.28320007e+02,
+       1.97280014e+02, 3.28320007e+02, 2.08800003e+02, 3.28320007e+02,
+       2.14560013e+02, 3.28320007e+02, 2.80800018e+02, 3.28320007e+02,
+       2.86559998e+02, 3.28320007e+02, 2.92320007e+02, 3.28320007e+02,
+       3.00960022e+02, 3.28320007e+02, 3.11040009e+02, 3.28320007e+02,
+       3.32640015e+02, 3.28320007e+02, 4.00320007e+02, 3.28320007e+02,
+       1.36800003e+02, 3.29760010e+02, 2.11680008e+02, 3.29760010e+02,
+       2.21760010e+02, 3.29760010e+02, 2.26080002e+02, 3.29760010e+02,
+       2.34720016e+02, 3.29760010e+02, 3.25440002e+02, 3.29760010e+02,
+       2.03040009e+02, 3.31200012e+02, 2.08800003e+02, 3.31200012e+02,
+       2.54880005e+02, 3.31200012e+02, 2.93760010e+02, 3.31200012e+02,
+       2.96640015e+02, 3.31200012e+02, 3.18240021e+02, 3.31200012e+02,
+       3.97440002e+02, 3.31200012e+02, 2.17440002e+02, 3.32640015e+02,
+       2.26080002e+02, 3.32640015e+02, 2.46240005e+02, 3.32640015e+02,
+       2.50560013e+02, 3.32640015e+02, 2.59200012e+02, 3.32640015e+02,
+       2.73600006e+02, 3.32640015e+02, 3.11040009e+02, 3.32640015e+02,
+       3.81600006e+02, 3.32640015e+02, 1.58400009e+02, 3.34080017e+02,
+       2.10240005e+02, 3.34080017e+02, 2.20320007e+02, 3.34080017e+02,
+       2.99520020e+02, 3.34080017e+02, 3.21120026e+02, 3.34080017e+02,
+       3.44160004e+02, 3.34080017e+02, 4.14720032e+02, 3.34080017e+02,
+       1.62720001e+02, 3.35520020e+02, 1.88640015e+02, 3.35520020e+02,
+       1.95840012e+02, 3.35520020e+02, 2.56320007e+02, 3.35520020e+02,
+       2.64960022e+02, 3.35520020e+02, 3.03840027e+02, 3.35520020e+02,
+       3.74400024e+02, 3.35520020e+02, 3.78720001e+02, 3.35520020e+02,
+       3.98880005e+02, 3.35520020e+02, 4.19040009e+02, 3.35520020e+02,
+       2.30400009e+02, 3.36960022e+02, 2.39040009e+02, 3.36960022e+02,
+       2.83680023e+02, 3.36960022e+02, 2.62080017e+02, 3.38400024e+02,
+       2.80800018e+02, 3.38400024e+02, 3.26880005e+02, 3.38400024e+02,
+       3.45600006e+02, 3.38400024e+02, 4.00320007e+02, 3.38400024e+02,
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+    3.2965274047851562e+02, 1.1107863616943359e+02,
+    1.5744473266601562e+02, 2.1600815216515912e-06, 7, -1,
+    2.9382092285156250e+02, 3.3323590087890625e+02,
+    1.1107863616943359e+02, 2.8683276367187500e+02,
+    7.4569259595591575e-05, 7, -1, 3.6906771850585938e+02,
+    3.3323590087890625e+02, 1.1107863616943359e+02,
+    1.2719861602783203e+02, 5.0363956688670442e-05, 7, -1,
+    2.5440591430664062e+02, 3.3681909179687500e+02,
+    1.1107863616943359e+02, 2.8909362792968750e+02,
+    2.9645327231264673e-05, 7, -1, 3.1173681640625000e+02,
+    3.3681909179687500e+02, 1.1107863616943359e+02,
+    2.9189529418945312e+02, 1.9618873920990154e-05, 7, -1,
+    2.6873864746093750e+02, 3.4040228271484375e+02,
+    1.1107863616943359e+02, 2.8703833007812500e+02,
+    2.6950818210025318e-05, 7, -1, 3.2606954956054688e+02,
+    3.4040228271484375e+02, 1.1107863616943359e+02,
+    2.8406396484375000e+02, 1.1423299838497769e-05, 7, -1,
+    2.7590499877929688e+02, 3.4398547363281250e+02,
+    1.1107863616943359e+02, 2.8553250122070312e+02,
+    3.3666347007965669e-05, 7, -1, 3.7981729125976562e+02,
+    3.5831817626953125e+02, 1.1107863616943359e+02,
+    2.5144844055175781e+02, 2.8380200092215091e-06, 7, -1 ]
+descriptors: !!opencv-matrix
+   rows: 5914
+   cols: 32
+   dt: u
+   data: [ 3, 178, 85, 153, 235, 209, 184, 71, 159, 91, 80, 247, 172,
+       158, 230, 143, 231, 59, 183, 149, 151, 92, 162, 209, 14, 82, 90,
+       235, 158, 4, 45, 221, 189, 69, 105, 236, 124, 75, 198, 248, 86,
+       224, 253, 78, 243, 200, 185, 32, 122, 236, 22, 239, 237, 34, 79,
+       159, 246, 207, 165, 188, 125, 187, 88, 128, 255, 244, 45, 99, 45,
+       95, 95, 184, 19, 254, 157, 141, 235, 76, 219, 55, 221, 236, 221,
+       127, 237, 86, 237, 190, 175, 219, 237, 189, 22, 191, 86, 124, 94,
+       180, 33, 250, 57, 229, 154, 232, 31, 223, 153, 171, 253, 222, 93,
+       34, 223, 219, 253, 243, 42, 67, 251, 247, 187, 221, 143, 255, 23,
+       39, 39, 119, 56, 133, 112, 235, 213, 221, 86, 239, 87, 33, 125,
+       26, 27, 185, 60, 128, 217, 155, 151, 1, 94, 58, 88, 151, 107, 221,
+       132, 103, 119, 14, 220, 130, 210, 117, 23, 220, 42, 199, 59, 76,
+       174, 168, 67, 34, 220, 222, 96, 99, 166, 61, 123, 227, 67, 69,
+       186, 213, 181, 176, 11, 190, 20, 19, 165, 179, 255, 245, 233, 227,
+       189, 93, 223, 141, 91, 252, 151, 169, 219, 125, 223, 46, 221, 212,
+       253, 251, 236, 118, 253, 162, 235, 217, 141, 247, 134, 255, 214,
+       118, 163, 212, 105, 139, 84, 215, 239, 253, 95, 85, 92, 150, 48,
+       196, 190, 100, 89, 8, 19, 141, 231, 22, 124, 215, 37, 28, 158,
+       228, 29, 30, 208, 252, 70, 244, 177, 250, 191, 68, 154, 136, 139,
+       17, 153, 58, 236, 255, 76, 198, 223, 211, 255, 211, 91, 71, 251,
+       243, 185, 222, 143, 254, 149, 7, 165, 98, 34, 35, 110, 204, 78,
+       211, 216, 76, 143, 188, 252, 43, 64, 201, 118, 66, 232, 172, 239,
+       193, 6, 123, 139, 213, 86, 57, 137, 191, 117, 10, 126, 202, 66,
+       33, 127, 220, 79, 193, 187, 72, 206, 148, 232, 2, 112, 223, 117,
+       98, 248, 125, 123, 225, 66, 99, 186, 219, 85, 60, 139, 47, 85, 35,
+       117, 226, 163, 208, 33, 203, 84, 214, 175, 253, 94, 85, 85, 150,
+       176, 92, 190, 100, 92, 9, 19, 141, 243, 158, 124, 215, 37, 44,
+       138, 196, 29, 134, 176, 252, 131, 113, 23, 205, 14, 199, 169, 72,
+       174, 224, 66, 66, 212, 214, 116, 96, 162, 61, 123, 235, 65, 213,
+       155, 212, 133, 56, 139, 46, 28, 16, 17, 178, 34, 161, 254, 252,
+       76, 192, 177, 200, 142, 148, 248, 35, 96, 255, 110, 2, 217, 121,
+       99, 208, 2, 99, 234, 217, 93, 162, 207, 47, 81, 42, 100, 226, 4,
+       169, 191, 255, 93, 192, 177, 232, 158, 149, 104, 2, 244, 247, 105,
+       98, 249, 123, 35, 208, 2, 99, 186, 125, 77, 162, 207, 79, 81, 42,
+       101, 226, 52, 144, 149, 251, 141, 101, 198, 200, 142, 19, 169, 18,
+       92, 118, 105, 239, 249, 83, 250, 50, 51, 99, 91, 209, 145, 214,
+       83, 127, 153, 123, 231, 178, 147, 201, 62, 184, 159, 213, 150,
+       230, 196, 64, 194, 2, 56, 24, 54, 97, 232, 163, 26, 209, 253, 169,
+       22, 253, 185, 11, 158, 75, 61, 12, 185, 14, 13, 209, 151, 215, 21,
+       206, 161, 184, 254, 208, 66, 66, 244, 241, 40, 227, 113, 116, 58,
+       120, 33, 240, 59, 125, 13, 174, 71, 68, 128, 42, 101, 32, 48, 99,
+       78, 140, 92, 67, 193, 76, 94, 161, 122, 138, 82, 136, 118, 128,
+       122, 205, 98, 193, 73, 251, 143, 93, 28, 34, 225, 5, 29, 42, 248,
+       136, 139, 28, 47, 223, 72, 214, 185, 114, 180, 86, 214, 150, 249,
+       94, 183, 39, 108, 113, 155, 239, 225, 205, 54, 237, 71, 43, 234,
+       128, 15, 165, 53, 252, 147, 94, 7, 159, 26, 246, 136, 222, 156,
+       90, 216, 199, 236, 78, 183, 201, 206, 35, 159, 165, 231, 133, 119,
+       125, 160, 50, 218, 130, 29, 84, 33, 221, 130, 99, 71, 205, 94,
+       131, 170, 72, 206, 164, 194, 66, 64, 202, 116, 64, 232, 45, 107,
+       225, 64, 227, 155, 221, 20, 40, 139, 44, 85, 19, 33, 136, 18, 96,
+       31, 173, 14, 195, 170, 72, 174, 176, 65, 70, 197, 202, 113, 66,
+       178, 109, 107, 227, 67, 213, 155, 93, 148, 160, 139, 45, 28, 35,
+       17, 130, 41, 193, 142, 156, 95, 211, 129, 232, 146, 245, 100, 175,
+       114, 224, 234, 0, 121, 236, 162, 96, 12, 114, 190, 29, 92, 7, 239,
+       109, 209, 40, 124, 218, 139, 196, 134, 147, 193, 118, 236, 182,
+       52, 115, 70, 150, 89, 38, 186, 239, 109, 198, 178, 174, 229, 212,
+       61, 196, 70, 107, 254, 132, 47, 212, 185, 220, 4, 219, 143, 159,
+       89, 198, 161, 232, 150, 212, 228, 6, 116, 230, 43, 1, 121, 106,
+       34, 244, 33, 243, 58, 125, 93, 3, 207, 69, 208, 40, 37, 242, 16,
+       240, 143, 157, 20, 202, 161, 168, 190, 220, 66, 102, 244, 242,
+       168, 194, 113, 108, 170, 112, 67, 209, 187, 93, 140, 34, 239, 68,
+       8, 42, 53, 120, 7, 236, 229, 21, 202, 71, 172, 191, 238, 114, 18,
+       199, 124, 124, 29, 43, 55, 71, 123, 239, 231, 212, 29, 125, 44,
+       10, 255, 196, 109, 240, 131, 212, 151, 78, 78, 190, 4, 130, 202,
+       96, 212, 2, 219, 198, 113, 195, 177, 65, 122, 232, 23, 239, 236,
+       151, 12, 46, 144, 170, 170, 128, 61, 187, 112, 136, 173, 33, 232,
+       99, 236, 93, 207, 216, 82, 242, 53, 24, 83, 221, 223, 56, 24, 200,
+       119, 106, 218, 114, 255, 32, 79, 201, 229, 61, 119, 251, 222, 224,
+       61, 85, 32, 164, 183, 118, 23, 255, 81, 234, 159, 166, 95, 117,
+       187, 229, 95, 86, 149, 47, 249, 147, 125, 142, 251, 231, 173, 151,
+       182, 254, 180, 117, 12, 154, 142, 159, 221, 214, 165, 232, 150,
+       222, 197, 38, 120, 244, 171, 201, 121, 106, 162, 0, 37, 243, 58,
+       125, 93, 7, 103, 69, 216, 40, 45, 210, 28, 210, 143, 181, 21, 206,
+       161, 184, 190, 221, 70, 103, 244, 226, 106, 194, 113, 108, 170,
+       177, 3, 241, 187, 93, 157, 35, 239, 68, 8, 42, 61, 82, 167, 241,
+       233, 18, 228, 21, 207, 216, 82, 234, 149, 222, 80, 196, 255, 44,
+       93, 200, 22, 239, 235, 102, 252, 115, 64, 24, 173, 188, 93, 187,
+       210, 244, 63, 213, 135, 134, 179, 118, 15, 189, 17, 233, 95, 228,
+       76, 119, 170, 228, 95, 70, 149, 60, 185, 211, 121, 140, 170, 246,
+       207, 198, 174, 246, 168, 245, 226, 69, 108, 204, 77, 117, 216,
+       238, 201, 84, 172, 11, 32, 12, 63, 39, 200, 195, 211, 225, 166,
+       35, 242, 253, 23, 56, 202, 59, 85, 93, 94, 206, 44, 150, 138, 156,
+       85, 83, 133, 248, 18, 238, 244, 47, 104, 230, 171, 133, 121, 236,
+       166, 160, 45, 82, 122, 31, 127, 7, 255, 173, 155, 108, 62, 219,
+       12, 154, 143, 159, 213, 214, 177, 248, 150, 220, 214, 102, 116,
+       244, 171, 107, 249, 106, 166, 48, 165, 241, 58, 125, 93, 7, 103,
+       199, 216, 40, 45, 247, 28, 146, 143, 151, 21, 222, 161, 184, 190,
+       221, 214, 103, 244, 246, 170, 75, 113, 100, 174, 176, 37, 241, 59,
+       125, 217, 39, 239, 199, 136, 40, 45, 83, 150, 247, 123, 178, 242,
+       197, 31, 244, 24, 93, 17, 255, 29, 223, 232, 49, 183, 217, 149,
+       247, 227, 86, 184, 231, 249, 129, 47, 238, 44, 147, 167, 241, 95,
+       156, 247, 182, 178, 2, 30, 248, 187, 130, 145, 227, 253, 255, 185,
+       97, 55, 247, 61, 231, 168, 73, 14, 255, 186, 207, 239, 190, 181,
+       247, 33, 1, 221, 199, 151, 187, 166, 0, 174, 128, 236, 16, 219,
+       66, 205, 226, 169, 207, 115, 71, 42, 254, 67, 193, 143, 224, 180,
+       162, 239, 192, 175, 243, 161, 164, 183, 4, 99, 204, 70, 54, 234,
+       120, 85, 194, 83, 214, 81, 76, 53, 233, 126, 168, 19, 175, 237,
+       183, 52, 206, 19, 46, 203, 4, 125, 237, 112, 244, 162, 61, 103,
+       142, 77, 100, 184, 106, 137, 196, 208, 131, 44, 188, 117, 3, 236,
+       243, 19, 197, 36, 43, 50, 232, 19, 16, 202, 171, 21, 109, 53, 222,
+       130, 9, 31, 154, 68, 132, 168, 192, 140, 18, 64, 66, 180, 210,
+       101, 73, 236, 59, 19, 195, 64, 159, 18, 224, 21, 16, 202, 8, 16,
+       9, 33, 138, 0, 146, 142, 157, 20, 66, 161, 248, 22, 216, 214, 6,
+       116, 226, 106, 193, 121, 232, 162, 224, 35, 240, 27, 93, 76, 3,
+       239, 69, 153, 40, 41, 208, 133, 207, 23, 187, 230, 130, 175, 212,
+       196, 18, 219, 66, 213, 67, 185, 77, 123, 226, 42, 254, 67, 144,
+       15, 117, 180, 162, 239, 196, 189, 251, 161, 160, 20, 150, 142,
+       149, 150, 78, 33, 184, 182, 222, 86, 102, 240, 226, 234, 65, 113,
+       108, 46, 160, 33, 241, 59, 93, 121, 39, 231, 196, 168, 40, 45,
+       113, 230, 249, 59, 218, 239, 213, 158, 212, 139, 92, 60, 47, 44,
+       221, 103, 61, 142, 91, 151, 83, 199, 35, 186, 241, 51, 89, 12,
+       235, 151, 95, 167, 223, 210, 28, 118, 212, 71, 244, 184, 98, 137,
+       202, 152, 167, 44, 190, 55, 15, 238, 241, 151, 229, 164, 139, 50,
+       236, 83, 56, 202, 170, 5, 37, 37, 223, 129, 46, 137, 165, 116, 3,
+       103, 122, 84, 162, 74, 210, 243, 34, 128, 64, 89, 76, 2, 172, 41,
+       186, 77, 14, 236, 134, 165, 36, 60, 234, 48, 168, 150, 12, 82,
+       196, 101, 162, 254, 226, 169, 130, 186, 3, 12, 170, 53, 85, 238,
+       241, 31, 227, 96, 139, 0, 236, 147, 24, 202, 3, 5, 97, 33, 142,
+       25, 7, 81, 229, 52, 3, 79, 59, 116, 162, 90, 66, 243, 35, 129,
+       225, 122, 238, 12, 238, 105, 152, 77, 14, 228, 143, 165, 132, 40,
+       242, 32, 40, 39, 140, 225, 214, 244, 3, 238, 234, 211, 146, 177,
+       250, 113, 105, 253, 35, 221, 242, 23, 175, 248, 106, 78, 255, 46,
+       30, 199, 174, 213, 250, 112, 136, 164, 239, 81, 155, 236, 161,
+       206, 196, 86, 50, 249, 218, 245, 225, 249, 0, 91, 234, 2, 94, 122,
+       178, 78, 51, 36, 128, 175, 56, 213, 251, 209, 160, 253, 97, 192,
+       69, 172, 27, 78, 152, 65, 160, 182, 206, 83, 1, 209, 182, 88, 196,
+       76, 110, 201, 227, 213, 8, 178, 201, 165, 52, 111, 251, 90, 32,
+       29, 72, 246, 229, 87, 30, 123, 180, 97, 192, 118, 130, 89, 61,
+       183, 107, 110, 244, 181, 236, 136, 248, 53, 236, 87, 239, 210,
+       133, 103, 189, 112, 74, 86, 84, 241, 246, 151, 106, 207, 136, 91,
+       151, 49, 58, 199, 127, 40, 47, 59, 241, 5, 177, 48, 100, 188, 202,
+       185, 214, 207, 63, 165, 123, 213, 98, 7, 173, 29, 187, 248, 165,
+       186, 227, 142, 25, 89, 80, 188, 243, 40, 8, 135, 59, 27, 23, 147,
+       73, 10, 245, 12, 22, 122, 232, 144, 67, 129, 161, 32, 160, 206,
+       188, 84, 3, 160, 105, 18, 176, 224, 11, 100, 226, 32, 1, 121, 204,
+       34, 233, 32, 250, 15, 29, 28, 6, 223, 44, 145, 40, 112, 136, 6,
+       167, 104, 139, 215, 179, 186, 75, 30, 5, 93, 179, 200, 236, 190,
+       128, 251, 11, 147, 181, 150, 26, 14, 247, 46, 85, 155, 239, 149,
+       79, 189, 199, 60, 72, 110, 236, 69, 86, 207, 116, 85, 134, 246, 2,
+       91, 57, 51, 249, 120, 228, 147, 234, 104, 179, 52, 140, 115, 239,
+       192, 1, 119, 249, 116, 226, 20, 169, 150, 158, 29, 128, 160, 232,
+       158, 145, 224, 2, 96, 224, 108, 198, 233, 235, 106, 208, 10, 107,
+       138, 113, 25, 178, 199, 75, 81, 42, 116, 142, 73, 161, 109, 229,
+       102, 194, 121, 25, 98, 244, 87, 162, 221, 77, 210, 98, 54, 156,
+       53, 237, 131, 208, 175, 221, 78, 235, 163, 132, 39, 128, 20, 113,
+       84, 136, 134, 151, 29, 128, 160, 224, 182, 145, 195, 3, 102, 226,
+       105, 66, 233, 238, 42, 81, 14, 249, 155, 113, 153, 162, 207, 67,
+       128, 42, 120, 14, 60, 68, 106, 108, 69, 86, 207, 112, 81, 134,
+       244, 2, 83, 249, 51, 121, 120, 236, 19, 234, 104, 179, 48, 136,
+       115, 239, 193, 9, 247, 251, 116, 226, 39, 73, 107, 92, 76, 70,
+       239, 112, 197, 194, 117, 2, 80, 249, 181, 111, 120, 224, 18, 234,
+       193, 163, 54, 232, 85, 62, 195, 8, 87, 251, 116, 228, 216, 132,
+       248, 228, 118, 10, 94, 187, 25, 130, 58, 170, 255, 127, 217, 114,
+       119, 213, 21, 173, 104, 14, 204, 207, 250, 239, 175, 172, 36, 232,
+       101, 40, 236, 244, 233, 225, 208, 70, 125, 185, 50, 245, 5, 159,
+       81, 71, 88, 19, 53, 156, 81, 188, 251, 86, 249, 6, 111, 137, 173,
+       236, 165, 128, 214, 242, 74, 252, 97, 178, 81, 197, 91, 174, 59,
+       117, 8, 9, 189, 31, 72, 17, 135, 219, 17, 215, 106, 78, 250, 247,
+       233, 221, 159, 124, 20, 17, 7, 122, 67, 131, 147, 154, 252, 141,
+       186, 97, 142, 9, 89, 96, 252, 251, 108, 64, 214, 59, 55, 1, 18,
+       10, 138, 245, 12, 60, 58, 234, 148, 10, 161, 161, 38, 145, 59,
+       154, 252, 229, 152, 201, 143, 89, 153, 111, 220, 252, 108, 32,
+       220, 49, 183, 21, 146, 35, 26, 213, 217, 20, 11, 254, 208, 11,
+       181, 215, 145, 46, 145, 173, 148, 35, 79, 107, 84, 162, 72, 194,
+       211, 99, 144, 64, 123, 76, 2, 174, 105, 186, 77, 14, 172, 134,
+       165, 4, 184, 234, 96, 136, 1, 134, 142, 157, 22, 2, 160, 106, 86,
+       128, 226, 66, 229, 226, 32, 192, 121, 100, 42, 168, 32, 201, 15,
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+       213, 123, 190, 144, 97, 122, 233, 247, 218, 248, 31, 110, 181,
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+       211, 249, 83, 58, 99, 219, 179, 251, 223, 85, 127, 132, 219, 246,
+       114 ]
diff --git a/samples/cpp/tutorial_code/calib3d/real_time_pose_estimation/Data/resized_IMG_3875.JPG b/samples/cpp/tutorial_code/calib3d/real_time_pose_estimation/Data/resized_IMG_3875.JPG
new file mode 100644
index 0000000000000000000000000000000000000000..11b3d5b6e079b631c98910047a9942402698990a
GIT binary patch
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From 550e3721aef4312e57d1bc5864aedd09e5bd0c1d Mon Sep 17 00:00:00 2001
From: edgarriba <edgar.riba@gmail.com>
Date: Wed, 30 Jul 2014 12:51:59 +0200
Subject: [PATCH 032/112] Code tutorial

---
 .../real_time_pose_estimation/include/Mesh.h  | 86 +++++++++++++++++++
 1 file changed, 86 insertions(+)
 create mode 100644 samples/cpp/tutorial_code/calib3d/real_time_pose_estimation/include/Mesh.h

diff --git a/samples/cpp/tutorial_code/calib3d/real_time_pose_estimation/include/Mesh.h b/samples/cpp/tutorial_code/calib3d/real_time_pose_estimation/include/Mesh.h
new file mode 100644
index 0000000000..2ca625d3c3
--- /dev/null
+++ b/samples/cpp/tutorial_code/calib3d/real_time_pose_estimation/include/Mesh.h
@@ -0,0 +1,86 @@
+/*
+ * Mesh.h
+ *
+ *  Created on: Apr 9, 2014
+ *      Author: edgar
+ */
+
+#ifndef MESH_H_
+#define MESH_H_
+
+#include <iostream>
+#include <opencv2/core/core.hpp>
+
+
+// --------------------------------------------------- //
+//                 TRIANGLE CLASS                      //
+// --------------------------------------------------- //
+
+class Triangle {
+public:
+
+  explicit Triangle(int id, cv::Point3f V0, cv::Point3f V1, cv::Point3f V2);
+  virtual ~Triangle();
+
+  cv::Point3f getV0() const { return v0_; }
+  cv::Point3f getV1() const { return v1_; }
+  cv::Point3f getV2() const { return v2_; }
+
+private:
+  /** The identifier number of the triangle */
+  int id_;
+  /** The three vertices that defines the triangle */
+  cv::Point3f v0_, v1_, v2_;
+};
+
+
+// --------------------------------------------------- //
+//                     RAY CLASS                       //
+// --------------------------------------------------- //
+
+class Ray {
+public:
+
+  explicit Ray(cv::Point3f P0, cv::Point3f P1);
+  virtual ~Ray();
+
+  cv::Point3f getP0() { return p0_; }
+  cv::Point3f getP1() { return p1_; }
+
+private:
+  /** The two points that defines the ray */
+  cv::Point3f p0_, p1_;
+};
+
+
+// --------------------------------------------------- //
+//                OBJECT MESH CLASS                    //
+// --------------------------------------------------- //
+
+class Mesh
+{
+public:
+
+  Mesh();
+  virtual ~Mesh();
+
+  std::vector<std::vector<int> > getTrianglesList() const { return list_triangles_; }
+  cv::Point3f getVertex(int pos) const { return list_vertex_[pos]; }
+  int getNumVertices() const { return num_vertexs_; }
+
+  void load(const std::string path_file);
+
+private:
+  /** The identification number of the mesh */
+  int id_;
+  /** The current number of vertices in the mesh */
+  int num_vertexs_;
+  /** The current number of triangles in the mesh */
+  int num_triangles_;
+  /* The list of triangles of the mesh */
+  std::vector<cv::Point3f> list_vertex_;
+  /* The list of triangles of the mesh */
+  std::vector<std::vector<int> > list_triangles_;
+};
+
+#endif /* OBJECTMESH_H_ */

From be4c1afb0bdfc983bdf77bd6ea38a9ad660e2147 Mon Sep 17 00:00:00 2001
From: edgarriba <edgar.riba@gmail.com>
Date: Wed, 30 Jul 2014 12:53:06 +0200
Subject: [PATCH 033/112] Code tutorial

---
 .../real_time_pose_estimation/include/Utils.h | 75 +++++++++++++++++++
 1 file changed, 75 insertions(+)
 create mode 100644 samples/cpp/tutorial_code/calib3d/real_time_pose_estimation/include/Utils.h

diff --git a/samples/cpp/tutorial_code/calib3d/real_time_pose_estimation/include/Utils.h b/samples/cpp/tutorial_code/calib3d/real_time_pose_estimation/include/Utils.h
new file mode 100644
index 0000000000..b6a227fbd3
--- /dev/null
+++ b/samples/cpp/tutorial_code/calib3d/real_time_pose_estimation/include/Utils.h
@@ -0,0 +1,75 @@
+/*
+ * Utils.h
+ *
+ *  Created on: Mar 28, 2014
+ *      Author: Edgar Riba
+ */
+
+#ifndef UTILS_H_
+#define UTILS_H_
+
+#include <iostream>
+#include <time.h>
+#include <cv.h>
+
+
+// Draw a text with the question point
+void drawQuestion(cv::Mat image, cv::Point3f point, cv::Scalar color);
+
+// Draw a text in the left of the image
+void drawText(cv::Mat image, std::string text, cv::Scalar color);
+void drawText2(cv::Mat image, std::string text, cv::Scalar color);
+void drawFPS(cv::Mat image, double fps, cv::Scalar color);
+void drawConfidence(cv::Mat image, double confidence, cv::Scalar color);
+
+// Draw a text with the number of registered points
+void drawCounter(cv::Mat image, int n, int n_max, cv::Scalar color);
+
+// Draw the points and the coordinates
+void drawPoints(cv::Mat image, std::vector<cv::Point2f> &list_points_2d, std::vector<cv::Point3f> &list_points_3d, cv::Scalar color);
+
+// Draw only the points
+void draw2DPoints(cv::Mat image, std::vector<cv::Point2f> &list_points, cv::Scalar color);
+
+// Draw the object mesh
+void drawObjectMesh(cv::Mat image, const Mesh *mesh, PnPProblem *pnpProblem, cv::Scalar color);
+
+// Draw an arrow into the image
+void drawArrow(cv::Mat image, cv::Point2i p, cv::Point2i q, cv::Scalar color, int arrowMagnitude = 9, int thickness=1, int line_type=8, int shift=0);
+
+// Draw the 3D coordinate axes
+void draw3DCoordinateAxes(cv::Mat image, const std::vector<cv::Point2f> &list_points2d);
+
+// Compute the 2D points with the esticv::Mated pose
+std::vector<cv::Point2f> verification_points(PnPProblem *p);
+
+bool equal_point(const cv::Point2f &p1, const cv::Point2f &p2);
+
+double get_translation_error(const cv::Mat &t_true, const cv::Mat &t);
+double get_rotation_error(const cv::Mat &R_true, const cv::Mat &R);
+double get_variance(const std::vector<cv::Point3f> list_points3d);
+cv::Mat rot2quat(cv::Mat &rotationMatrix);
+cv::Mat quat2rot(cv::Mat &q);
+cv::Mat euler2rot(const cv::Mat & euler);
+cv::Mat rot2euler(const cv::Mat & rotationMatrix);
+cv::Mat quat2euler(const cv::Mat & q);
+
+class Timer
+{
+public:
+  Timer();
+    void start() { tstart = (double)clock()/CLOCKS_PER_SEC; }
+    void stop()  { tstop = (double)clock()/CLOCKS_PER_SEC; }
+    void reset()  { tstart = 0;  tstop = 0;}
+
+    double getTimeMilli() const { return (tstop-tstart)*1000; }
+    double getTimeSec()   const {  return tstop-tstart; }
+
+private:
+    double tstart, tstop, ttime;
+};
+
+
+
+
+#endif /* UTILS_H_ */

From 3b24aa2441694733bb755489cc1284e4dab07f92 Mon Sep 17 00:00:00 2001
From: edgarriba <edgar.riba@gmail.com>
Date: Wed, 30 Jul 2014 12:53:14 +0200
Subject: [PATCH 034/112] Code tutorial

---
 .../include/PnPProblem.h                      | 53 +++++++++++++++++++
 1 file changed, 53 insertions(+)
 create mode 100644 samples/cpp/tutorial_code/calib3d/real_time_pose_estimation/include/PnPProblem.h

diff --git a/samples/cpp/tutorial_code/calib3d/real_time_pose_estimation/include/PnPProblem.h b/samples/cpp/tutorial_code/calib3d/real_time_pose_estimation/include/PnPProblem.h
new file mode 100644
index 0000000000..da189d0a0e
--- /dev/null
+++ b/samples/cpp/tutorial_code/calib3d/real_time_pose_estimation/include/PnPProblem.h
@@ -0,0 +1,53 @@
+/*
+ * PnPProblem.h
+ *
+ *  Created on: Mar 28, 2014
+ *      Author: Edgar Riba
+ */
+
+#ifndef PNPPROBLEM_H_
+#define PNPPROBLEM_H_
+
+#include <iostream>
+
+#include <opencv2/core/core.hpp>
+#include <opencv2/highgui/highgui.hpp>
+
+#include "Mesh.h"
+#include "ModelRegistration.h"
+
+class PnPProblem
+{
+
+public:
+  explicit PnPProblem(const double param[]);  // custom constructor
+  virtual ~PnPProblem();
+
+  bool backproject2DPoint(const Mesh *mesh, const cv::Point2f &point2d, cv::Point3f &point3d);
+  bool intersect_MollerTrumbore(Ray &R, Triangle &T, double *out);
+  std::vector<cv::Point2f> verify_points(Mesh *mesh);
+  cv::Point2f backproject3DPoint(const cv::Point3f &point3d);
+  bool estimatePose(const std::vector<cv::Point3f> &list_points3d, const std::vector<cv::Point2f> &list_points2d, int flags);
+  void estimatePoseRANSAC( const std::vector<cv::Point3f> &list_points3d, const std::vector<cv::Point2f> &list_points2d,
+                           int flags, cv::Mat &inliers,
+                           int iterationsCount, float reprojectionError, float confidence );
+
+  cv::Mat get_A_matrix() const { return _A_matrix; }
+  cv::Mat get_R_matrix() const { return _R_matrix; }
+  cv::Mat get_t_matrix() const { return _t_matrix; }
+  cv::Mat get_P_matrix() const { return _P_matrix; }
+
+  void set_P_matrix( const cv::Mat &R_matrix, const cv::Mat &t_matrix);
+
+private:
+  /** The calibration matrix */
+  cv::Mat _A_matrix;
+  /** The computed rotation matrix */
+  cv::Mat _R_matrix;
+  /** The computed translation matrix */
+  cv::Mat _t_matrix;
+  /** The computed projection matrix */
+  cv::Mat _P_matrix;
+};
+
+#endif /* PNPPROBLEM_H_ */

From 924e062426415a8596cd66ea896b8b3a4a9be9de Mon Sep 17 00:00:00 2001
From: edgarriba <edgar.riba@gmail.com>
Date: Wed, 30 Jul 2014 12:53:24 +0200
Subject: [PATCH 035/112] Code tutorial

---
 .../include/RobustMatcher.h                   | 83 +++++++++++++++++++
 1 file changed, 83 insertions(+)
 create mode 100644 samples/cpp/tutorial_code/calib3d/real_time_pose_estimation/include/RobustMatcher.h

diff --git a/samples/cpp/tutorial_code/calib3d/real_time_pose_estimation/include/RobustMatcher.h b/samples/cpp/tutorial_code/calib3d/real_time_pose_estimation/include/RobustMatcher.h
new file mode 100644
index 0000000000..fc03c74faa
--- /dev/null
+++ b/samples/cpp/tutorial_code/calib3d/real_time_pose_estimation/include/RobustMatcher.h
@@ -0,0 +1,83 @@
+/*
+ * RobustMatcher.h
+ *
+ *  Created on: Jun 4, 2014
+ *      Author: eriba
+ */
+
+#ifndef ROBUSTMATCHER_H_
+#define ROBUSTMATCHER_H_
+
+#include <iostream>
+#include <boost/shared_ptr.hpp>
+
+#include <opencv2/core/core.hpp>
+#include <opencv2/highgui/highgui.hpp>
+#include <opencv2/features2d/features2d.hpp>
+#include <opencv2/nonfree/nonfree.hpp>
+
+class RobustMatcher {
+public:
+  RobustMatcher() : ratio_(0.8f)
+  {
+    // ORB is the default feature
+    detector_ = new cv::OrbFeatureDetector();
+    extractor_ = new cv::OrbDescriptorExtractor();
+
+    // BruteFroce matcher with Norm Hamming is the default matcher
+    matcher_ = new cv::BFMatcher(cv::NORM_HAMMING, false);
+
+  }
+  virtual ~RobustMatcher();
+
+  // Set the feature detector
+  void setFeatureDetector(cv::FeatureDetector * detect) {  detector_ = detect; }
+
+  // Set the descriptor extractor
+  void setDescriptorExtractor(cv::DescriptorExtractor * desc) { extractor_ = desc; }
+
+  // Set the matcher
+  void setDescriptorMatcher(cv::DescriptorMatcher * match) {  matcher_ = match; }
+
+  // Compute the keypoints of an image
+  void computeKeyPoints( const cv::Mat& image, std::vector<cv::KeyPoint>& keypoints);
+
+  // Compute the descriptors of an image given its keypoints
+  void computeDescriptors( const cv::Mat& image, std::vector<cv::KeyPoint>& keypoints, cv::Mat& descriptors);
+
+  // Set ratio parameter for the ratio test
+  void setRatio( float rat) { ratio_ = rat; }
+
+  // Clear matches for which NN ratio is > than threshold
+  // return the number of removed points
+  // (corresponding entries being cleared,
+  // i.e. size will be 0)
+  int ratioTest(std::vector<std::vector<cv::DMatch> > &matches);
+
+  // Insert symmetrical matches in symMatches vector
+  void symmetryTest( const std::vector<std::vector<cv::DMatch> >& matches1,
+                     const std::vector<std::vector<cv::DMatch> >& matches2,
+                     std::vector<cv::DMatch>& symMatches );
+
+  // Match feature points using ratio and symmetry test
+  void robustMatch( const cv::Mat& frame, std::vector<cv::DMatch>& good_matches,
+                      std::vector<cv::KeyPoint>& keypoints_frame,
+                      const cv::Mat& descriptors_model );
+
+ // Match feature points using ratio test
+ void fastRobustMatch( const cv::Mat& frame, std::vector<cv::DMatch>& good_matches,
+                       std::vector<cv::KeyPoint>& keypoints_frame,
+                       const cv::Mat& descriptors_model );
+
+private:
+  // pointer to the feature point detector object
+  cv::FeatureDetector * detector_;
+  // pointer to the feature descriptor extractor object
+  cv::DescriptorExtractor * extractor_;
+  // pointer to the matcher object
+  cv::DescriptorMatcher * matcher_;
+  // max ratio between 1st and 2nd NN
+  float ratio_;
+};
+
+#endif /* ROBUSTMATCHER_H_ */

From 319dbd2eb74e77ac1c50048d3b6bd20fad604887 Mon Sep 17 00:00:00 2001
From: edgarriba <edgar.riba@gmail.com>
Date: Wed, 30 Jul 2014 12:53:43 +0200
Subject: [PATCH 036/112] Code tutorial

---
 .../real_time_pose_estimation/include/Model.h | 54 +++++++++++++++++++
 1 file changed, 54 insertions(+)
 create mode 100644 samples/cpp/tutorial_code/calib3d/real_time_pose_estimation/include/Model.h

diff --git a/samples/cpp/tutorial_code/calib3d/real_time_pose_estimation/include/Model.h b/samples/cpp/tutorial_code/calib3d/real_time_pose_estimation/include/Model.h
new file mode 100644
index 0000000000..79af18f0fb
--- /dev/null
+++ b/samples/cpp/tutorial_code/calib3d/real_time_pose_estimation/include/Model.h
@@ -0,0 +1,54 @@
+/*
+ * Model.h
+ *
+ *  Created on: Apr 9, 2014
+ *      Author: edgar
+ */
+
+#ifndef MODEL_H_
+#define MODEL_H_
+
+#include <iostream>
+#include <opencv2/core/core.hpp>
+#include <opencv2/features2d/features2d.hpp>
+
+class Model
+{
+public:
+  Model();
+  virtual ~Model();
+
+  std::vector<cv::Point2f> get_points2d_in() const { return list_points2d_in_; }
+  std::vector<cv::Point2f> get_points2d_out() const { return list_points2d_out_; }
+  std::vector<cv::Point3f> get_points3d() const { return list_points3d_in_; }
+  std::vector<cv::KeyPoint> get_keypoints() const { return list_keypoints_; }
+  cv::Mat get_descriptors() const { return descriptors_; }
+  int get_numDescriptors() const { return descriptors_.rows; }
+
+
+  void add_correspondence(const cv::Point2f &point2d, const cv::Point3f &point3d);
+  void add_outlier(const cv::Point2f &point2d);
+  void add_descriptor(const cv::Mat &descriptor);
+  void add_keypoint(const cv::KeyPoint &kp);
+
+
+  void save(const std::string path);
+  void load(const std::string path);
+
+
+private:
+  /** The current number of correspondecnes */
+  int n_correspondences_;
+  /** The list of 2D points on the model surface */
+  std::vector<cv::KeyPoint> list_keypoints_;
+  /** The list of 2D points on the model surface */
+  std::vector<cv::Point2f> list_points2d_in_;
+  /** The list of 2D points outside the model surface */
+  std::vector<cv::Point2f> list_points2d_out_;
+  /** The list of 3D points on the model surface */
+  std::vector<cv::Point3f> list_points3d_in_;
+  /** The list of 2D points descriptors */
+  cv::Mat descriptors_;
+};
+
+#endif /* OBJECTMODEL_H_ */

From 2848f43acc0a1cb81cf4ec9cda5a7fcd90a2a880 Mon Sep 17 00:00:00 2001
From: edgarriba <edgar.riba@gmail.com>
Date: Wed, 30 Jul 2014 12:54:49 +0200
Subject: [PATCH 037/112] Code tutorial

---
 .../include/CsvReader.h                       | 41 ++++++++++++++++++
 .../include/ModelRegistration.h               | 43 +++++++++++++++++++
 2 files changed, 84 insertions(+)
 create mode 100644 samples/cpp/tutorial_code/calib3d/real_time_pose_estimation/include/CsvReader.h
 create mode 100644 samples/cpp/tutorial_code/calib3d/real_time_pose_estimation/include/ModelRegistration.h

diff --git a/samples/cpp/tutorial_code/calib3d/real_time_pose_estimation/include/CsvReader.h b/samples/cpp/tutorial_code/calib3d/real_time_pose_estimation/include/CsvReader.h
new file mode 100644
index 0000000000..1df3835d72
--- /dev/null
+++ b/samples/cpp/tutorial_code/calib3d/real_time_pose_estimation/include/CsvReader.h
@@ -0,0 +1,41 @@
+#ifndef CSVREADER_H
+#define	CSVREADER_H
+
+#include <iostream>
+#include <fstream>
+
+#include <opencv2/core/core.hpp>
+#include "Mesh.h"
+
+using namespace std;
+using namespace cv;
+
+class CsvReader {
+public:
+  /**
+  * The default constructor of the CSV reader Class.
+  * The default separator is ' ' (empty space)
+  *
+  * @param path - The path of the file to read
+  * @param separator - The separator character between words per line
+  * @return
+  */
+  CsvReader(const std::string &path, const char &separator = ' ');
+
+  /**
+  * Read a plane text file with .ply format
+  *
+  * @param list_vertex - The container of the vertices list of the mesh
+  * @param list_triangle - The container of the triangles list of the mesh
+  * @return
+  */
+  void readPLY(std::vector<cv::Point3f> &list_vertex, std::vector<std::vector<int> > &list_triangles);
+
+private:
+  /** The current stream file for the reader */
+  ifstream _file;
+  /** The separator character between words for each line */
+  char _separator;
+};
+
+#endif
diff --git a/samples/cpp/tutorial_code/calib3d/real_time_pose_estimation/include/ModelRegistration.h b/samples/cpp/tutorial_code/calib3d/real_time_pose_estimation/include/ModelRegistration.h
new file mode 100644
index 0000000000..f1e7aca469
--- /dev/null
+++ b/samples/cpp/tutorial_code/calib3d/real_time_pose_estimation/include/ModelRegistration.h
@@ -0,0 +1,43 @@
+/*
+ * ModelRegistration.h
+ *
+ *  Created on: Apr 18, 2014
+ *      Author: edgar
+ */
+
+#ifndef MODELREGISTRATION_H_
+#define MODELREGISTRATION_H_
+
+#include <iostream>
+#include <opencv2/core/core.hpp>
+
+class ModelRegistration
+{
+public:
+
+  ModelRegistration();
+  virtual ~ModelRegistration();
+
+  void setNumMax(int n) { max_registrations_ = n; }
+
+  std::vector<cv::Point2f> get_points2d() const { return list_points2d_; }
+  std::vector<cv::Point3f> get_points3d() const { return list_points3d_; }
+  int getNumMax() const { return max_registrations_; }
+  int getNumRegist() const { return n_registrations_; }
+
+  bool is_registrable() const { return (n_registrations_ < max_registrations_); }
+  void registerPoint(const cv::Point2f &point2d, const cv::Point3f &point3d);
+  void reset();
+
+private:
+/** The current number of registered points */
+int n_registrations_;
+/** The total number of points to register */
+int max_registrations_;
+/** The list of 2D points to register the model */
+std::vector<cv::Point2f> list_points2d_;
+/** The list of 3D points to register the model */
+std::vector<cv::Point3f> list_points3d_;
+};
+
+#endif /* MODELREGISTRATION_H_ */

From 6f5876f8f76c5614bdb5d23d030ca3d5170a044f Mon Sep 17 00:00:00 2001
From: edgarriba <edgar.riba@gmail.com>
Date: Wed, 30 Jul 2014 12:55:35 +0200
Subject: [PATCH 038/112] Code tutorial

---
 .../include/CsvWriter.h                       |  22 ++
 .../real_time_pose_estimation/src/Utils.cpp   | 276 ++++++++++++++++++
 2 files changed, 298 insertions(+)
 create mode 100644 samples/cpp/tutorial_code/calib3d/real_time_pose_estimation/include/CsvWriter.h
 create mode 100644 samples/cpp/tutorial_code/calib3d/real_time_pose_estimation/src/Utils.cpp

diff --git a/samples/cpp/tutorial_code/calib3d/real_time_pose_estimation/include/CsvWriter.h b/samples/cpp/tutorial_code/calib3d/real_time_pose_estimation/include/CsvWriter.h
new file mode 100644
index 0000000000..c2eea752d6
--- /dev/null
+++ b/samples/cpp/tutorial_code/calib3d/real_time_pose_estimation/include/CsvWriter.h
@@ -0,0 +1,22 @@
+#ifndef CSVWRITER_H
+#define	CSVWRITER_H
+
+#include <fstream>
+#include <iostream>
+
+#include <opencv2/core/core.hpp>
+
+class CsvWriter {
+public:
+  CsvWriter(const std::string &path, const std::string &separator = " ");
+  ~CsvWriter();
+  void writeXYZ(const std::vector<cv::Point3f> &list_points3d);
+  void writeUVXYZ(const std::vector<cv::Point3f> &list_points3d, const std::vector<cv::Point2f> &list_points2d, const cv::Mat &descriptors);
+
+private:
+  std::ofstream _file;
+  std::string _separator;
+  bool _isFirstTerm;
+};
+
+#endif
diff --git a/samples/cpp/tutorial_code/calib3d/real_time_pose_estimation/src/Utils.cpp b/samples/cpp/tutorial_code/calib3d/real_time_pose_estimation/src/Utils.cpp
new file mode 100644
index 0000000000..b28727ac1a
--- /dev/null
+++ b/samples/cpp/tutorial_code/calib3d/real_time_pose_estimation/src/Utils.cpp
@@ -0,0 +1,276 @@
+/*
+ * Utils.cpp
+ *
+ *  Created on: Mar 28, 2014
+ *      Author: Edgar Riba
+ */
+
+#include <iostream>
+#include <boost/lexical_cast.hpp>
+
+#include "PnPProblem.h"
+#include "ModelRegistration.h"
+#include "Utils.h"
+
+#include <opencv2/imgproc/imgproc.hpp>
+#include <opencv2/calib3d/calib3d.hpp>
+#include <opencv2/nonfree/features2d.hpp>
+
+
+// For text
+int fontFace = cv::FONT_ITALIC;
+double fontScale = 0.75;
+double thickness_font = 2;
+
+// For circles
+int lineType = 8;
+int radius = 4;
+double thickness_circ = -1;
+
+// Draw a text with the question point
+void drawQuestion(cv::Mat image, cv::Point3f point, cv::Scalar color)
+{
+  std::string x = boost::lexical_cast< std::string >((int)point.x);
+  std::string y = boost::lexical_cast< std::string >((int)point.y);
+  std::string z = boost::lexical_cast< std::string >((int)point.z);
+
+  std::string text = " Where is point (" + x + ","  + y + "," + z + ") ?";
+  cv::putText(image, text, cv::Point(25,50), fontFace, fontScale, color, thickness_font, 8);
+}
+
+// Draw a text with the number of entered points
+void drawText(cv::Mat image, std::string text, cv::Scalar color)
+{
+  cv::putText(image, text, cv::Point(25,50), fontFace, fontScale, color, thickness_font, 8);
+}
+
+// Draw a text with the number of entered points
+void drawText2(cv::Mat image, std::string text, cv::Scalar color)
+{
+  cv::putText(image, text, cv::Point(25,75), fontFace, fontScale, color, thickness_font, 8);
+}
+
+// Draw a text with the frame ratio
+void drawFPS(cv::Mat image, double fps, cv::Scalar color)
+{
+  std::string fps_str = boost::lexical_cast< std::string >((int)fps);
+  std::string text = fps_str + " FPS";
+  cv::putText(image, text, cv::Point(500,50), fontFace, fontScale, color, thickness_font, 8);
+}
+
+// Draw a text with the frame ratio
+void drawConfidence(cv::Mat image, double confidence, cv::Scalar color)
+{
+  std::string conf_str = boost::lexical_cast< std::string >((int)confidence);
+  std::string text = conf_str + " %";
+  cv::putText(image, text, cv::Point(500,75), fontFace, fontScale, color, thickness_font, 8);
+}
+
+// Draw a text with the number of entered points
+void drawCounter(cv::Mat image, int n, int n_max, cv::Scalar color)
+{
+  std::string n_str = boost::lexical_cast< std::string >(n);
+  std::string n_max_str = boost::lexical_cast< std::string >(n_max);
+  std::string text = n_str + " of " + n_max_str + " points";
+  cv::putText(image, text, cv::Point(500,50), fontFace, fontScale, color, thickness_font, 8);
+}
+
+// Draw the points and the coordinates
+void drawPoints(cv::Mat image, std::vector<cv::Point2f> &list_points_2d, std::vector<cv::Point3f> &list_points_3d, cv::Scalar color)
+{
+  for (unsigned int i = 0; i < list_points_2d.size(); ++i)
+  {
+    cv::Point2f point_2d = list_points_2d[i];
+    cv::Point3f point_3d = list_points_3d[i];
+
+    // Draw Selected points
+    cv::circle(image, point_2d, radius, color, -1, lineType );
+
+    std::string idx = boost::lexical_cast< std::string >(i+1);
+    std::string x = boost::lexical_cast< std::string >((int)point_3d.x);
+    std::string y = boost::lexical_cast< std::string >((int)point_3d.y);
+    std::string z = boost::lexical_cast< std::string >((int)point_3d.z);
+    std::string text = "P" + idx + " (" + x + "," + y + "," + z +")";
+
+    point_2d.x = point_2d.x + 10;
+    point_2d.y = point_2d.y - 10;
+    cv::putText(image, text, point_2d, fontFace, fontScale*0.5, color, thickness_font, 8);
+  }
+}
+
+// Draw only the points
+void draw2DPoints(cv::Mat image, std::vector<cv::Point2f> &list_points, cv::Scalar color)
+{
+  for( size_t i = 0; i < list_points.size(); i++)
+  {
+    cv::Point2f point_2d = list_points[i];
+
+    // Draw Selected points
+    cv::circle(image, point_2d, radius, color, -1, lineType );
+  }
+}
+
+void drawArrow(cv::Mat image, cv::Point2i p, cv::Point2i q, cv::Scalar color, int arrowMagnitude, int thickness, int line_type, int shift)
+{
+  //Draw the principle line
+  cv::line(image, p, q, color, thickness, line_type, shift);
+  const double PI = 3.141592653;
+  //compute the angle alpha
+  double angle = atan2((double)p.y-q.y, (double)p.x-q.x);
+  //compute the coordinates of the first segment
+  p.x = (int) ( q.x +  arrowMagnitude * cos(angle + PI/4));
+  p.y = (int) ( q.y +  arrowMagnitude * sin(angle + PI/4));
+  //Draw the first segment
+  cv::line(image, p, q, color, thickness, line_type, shift);
+  //compute the coordinates of the second segment
+  p.x = (int) ( q.x +  arrowMagnitude * cos(angle - PI/4));
+  p.y = (int) ( q.y +  arrowMagnitude * sin(angle - PI/4));
+  //Draw the second segment
+  cv::line(image, p, q, color, thickness, line_type, shift);
+}
+
+void draw3DCoordinateAxes(cv::Mat image, const std::vector<cv::Point2f> &list_points2d)
+{
+  cv::Scalar red(0, 0, 255);
+  cv::Scalar green(0,255,0);
+  cv::Scalar blue(255,0,0);
+  cv::Scalar black(0,0,0);
+
+  const double PI = 3.141592653;
+  int length = 50;
+
+  cv::Point2i origin = list_points2d[0];
+  cv::Point2i pointX = list_points2d[1];
+  cv::Point2i pointY = list_points2d[2];
+  cv::Point2i pointZ = list_points2d[3];
+
+  drawArrow(image, origin, pointX, red, 9, 2);
+  drawArrow(image, origin, pointY, blue, 9, 2);
+  drawArrow(image, origin, pointZ, green, 9, 2);
+  cv::circle(image, origin, radius/2, black, -1, lineType );
+
+}
+
+// Draw the object mesh
+void drawObjectMesh(cv::Mat image, const Mesh *mesh, PnPProblem *pnpProblem, cv::Scalar color)
+{
+  std::vector<std::vector<int> > list_triangles = mesh->getTrianglesList();
+  for( size_t i = 0; i < list_triangles.size(); i++)
+  {
+    std::vector<int> tmp_triangle = list_triangles.at(i);
+
+    cv::Point3f point_3d_0 = mesh->getVertex(tmp_triangle[0]);
+    cv::Point3f point_3d_1 = mesh->getVertex(tmp_triangle[1]);
+    cv::Point3f point_3d_2 = mesh->getVertex(tmp_triangle[2]);
+
+    cv::Point2f point_2d_0 = pnpProblem->backproject3DPoint(point_3d_0);
+    cv::Point2f point_2d_1 = pnpProblem->backproject3DPoint(point_3d_1);
+    cv::Point2f point_2d_2 = pnpProblem->backproject3DPoint(point_3d_2);
+
+    cv::line(image, point_2d_0, point_2d_1, color, 1);
+    cv::line(image, point_2d_1, point_2d_2, color, 1);
+    cv::line(image, point_2d_2, point_2d_0, color, 1);
+  }
+}
+
+bool equal_point(const cv::Point2f &p1, const cv::Point2f &p2)
+{
+  return ( (p1.x == p2.x) && (p1.y == p2.y) );
+}
+
+double get_translation_error(const cv::Mat &t_true, const cv::Mat &t)
+{
+  return cv::norm( t_true - t );
+}
+
+double get_rotation_error(const cv::Mat &R_true, const cv::Mat &R)
+{
+  cv::Mat error_vec, error_mat;
+  error_mat = R_true * cv::Mat(R.inv()).mul(-1);
+  cv::Rodrigues(error_mat, error_vec);
+
+  return cv::norm(error_vec);
+}
+
+cv::Mat rot2euler(const cv::Mat & rotationMatrix)
+{
+  cv::Mat euler(3,1,CV_64F);
+
+  double m00 = rotationMatrix.at<double>(0,0);
+  double m01 = rotationMatrix.at<double>(0,1);
+  double m02 = rotationMatrix.at<double>(0,2);
+  double m10 = rotationMatrix.at<double>(1,0);
+  double m11 = rotationMatrix.at<double>(1,1);
+  double m12 = rotationMatrix.at<double>(1,2);
+  double m20 = rotationMatrix.at<double>(2,0);
+  double m21 = rotationMatrix.at<double>(2,1);
+  double m22 = rotationMatrix.at<double>(2,2);
+
+  double x, y, z;
+
+  // Assuming the angles are in radians.
+  if (m10 > 0.998) { // singularity at north pole
+    x = 0;
+    y = CV_PI/2;
+    z = atan2(m02,m22);
+  }
+  else if (m10 < -0.998) { // singularity at south pole
+    x = 0;
+    y = -CV_PI/2;
+    z = atan2(m02,m22);
+  }
+  else
+  {
+    x = atan2(-m12,m11);
+    y = asin(m10);
+    z = atan2(-m20,m00);
+  }
+
+  euler.at<double>(0) = x;
+  euler.at<double>(1) = y;
+  euler.at<double>(2) = z;
+
+  return euler;
+}
+
+cv::Mat euler2rot(const cv::Mat & euler)
+{
+  cv::Mat rotationMatrix(3,3,CV_64F);
+
+  double x = euler.at<double>(0);
+  double y = euler.at<double>(1);
+  double z = euler.at<double>(2);
+
+  // Assuming the angles are in radians.
+  double ch = cos(z);
+  double sh = sin(z);
+  double ca = cos(y);
+  double sa = sin(y);
+  double cb = cos(x);
+  double sb = sin(x);
+
+  double m00, m01, m02, m10, m11, m12, m20, m21, m22;
+
+  m00 = ch * ca;
+  m01 = sh*sb - ch*sa*cb;
+  m02 = ch*sa*sb + sh*cb;
+  m10 = sa;
+  m11 = ca*cb;
+  m12 = -ca*sb;
+  m20 = -sh*ca;
+  m21 = sh*sa*cb + ch*sb;
+  m22 = -sh*sa*sb + ch*cb;
+
+  rotationMatrix.at<double>(0,0) = m00;
+  rotationMatrix.at<double>(0,1) = m01;
+  rotationMatrix.at<double>(0,2) = m02;
+  rotationMatrix.at<double>(1,0) = m10;
+  rotationMatrix.at<double>(1,1) = m11;
+  rotationMatrix.at<double>(1,2) = m12;
+  rotationMatrix.at<double>(2,0) = m20;
+  rotationMatrix.at<double>(2,1) = m21;
+  rotationMatrix.at<double>(2,2) = m22;
+
+  return rotationMatrix;
+}
+

From 9d18f5c4583aa160c19ac9fd457a2e91b3fe6e28 Mon Sep 17 00:00:00 2001
From: edgarriba <edgar.riba@gmail.com>
Date: Wed, 30 Jul 2014 12:56:22 +0200
Subject: [PATCH 039/112] Code tutorial

---
 .../src/RobustMatcher.cpp                     | 152 ++++++++++++++++++
 1 file changed, 152 insertions(+)
 create mode 100644 samples/cpp/tutorial_code/calib3d/real_time_pose_estimation/src/RobustMatcher.cpp

diff --git a/samples/cpp/tutorial_code/calib3d/real_time_pose_estimation/src/RobustMatcher.cpp b/samples/cpp/tutorial_code/calib3d/real_time_pose_estimation/src/RobustMatcher.cpp
new file mode 100644
index 0000000000..7ef9f887a6
--- /dev/null
+++ b/samples/cpp/tutorial_code/calib3d/real_time_pose_estimation/src/RobustMatcher.cpp
@@ -0,0 +1,152 @@
+/*
+ * RobustMatcher.cpp
+ *
+ *  Created on: Jun 4, 2014
+ *      Author: eriba
+ */
+
+#include "RobustMatcher.h"
+#include <time.h>
+
+#include <opencv2/features2d/features2d.hpp>
+
+RobustMatcher::~RobustMatcher()
+{
+  // TODO Auto-generated destructor stub
+}
+
+void RobustMatcher::computeKeyPoints( const cv::Mat& image, std::vector<cv::KeyPoint>& keypoints)
+{
+  detector_->detect(image, keypoints);
+}
+
+void RobustMatcher::computeDescriptors( const cv::Mat& image, std::vector<cv::KeyPoint>& keypoints, cv::Mat& descriptors)
+{
+  extractor_->compute(image, keypoints, descriptors);
+}
+
+int RobustMatcher::ratioTest(std::vector<std::vector<cv::DMatch> > &matches)
+{
+  int removed = 0;
+  // for all matches
+  for ( std::vector<std::vector<cv::DMatch> >::iterator
+        matchIterator= matches.begin(); matchIterator!= matches.end(); ++matchIterator)
+  {
+    // if 2 NN has been identified
+    if (matchIterator->size() > 1)
+    {
+      // check distance ratio
+      if ((*matchIterator)[0].distance / (*matchIterator)[1].distance > ratio_)
+      {
+        matchIterator->clear(); // remove match
+        removed++;
+      }
+    }
+    else
+    { // does not have 2 neighbours
+      matchIterator->clear(); // remove match
+      removed++;
+    }
+  }
+  return removed;
+}
+
+void RobustMatcher::symmetryTest( const std::vector<std::vector<cv::DMatch> >& matches1,
+                     const std::vector<std::vector<cv::DMatch> >& matches2,
+                     std::vector<cv::DMatch>& symMatches )
+{
+
+  // for all matches image 1 -> image 2
+   for (std::vector<std::vector<cv::DMatch> >::const_iterator
+       matchIterator1 = matches1.begin(); matchIterator1 != matches1.end(); ++matchIterator1)
+   {
+
+      // ignore deleted matches
+      if (matchIterator1->empty() || matchIterator1->size() < 2)
+         continue;
+
+      // for all matches image 2 -> image 1
+      for (std::vector<std::vector<cv::DMatch> >::const_iterator
+          matchIterator2 = matches2.begin(); matchIterator2 != matches2.end(); ++matchIterator2)
+      {
+        // ignore deleted matches
+        if (matchIterator2->empty() || matchIterator2->size() < 2)
+           continue;
+
+        // Match symmetry test
+        if ((*matchIterator1)[0].queryIdx ==
+            (*matchIterator2)[0].trainIdx &&
+            (*matchIterator2)[0].queryIdx ==
+            (*matchIterator1)[0].trainIdx)
+        {
+            // add symmetrical match
+            symMatches.push_back(
+              cv::DMatch((*matchIterator1)[0].queryIdx,
+                         (*matchIterator1)[0].trainIdx,
+                         (*matchIterator1)[0].distance));
+            break; // next match in image 1 -> image 2
+        }
+      }
+   }
+
+}
+
+void RobustMatcher::robustMatch( const cv::Mat& frame, std::vector<cv::DMatch>& good_matches,
+              std::vector<cv::KeyPoint>& keypoints_frame, const cv::Mat& descriptors_model )
+{
+
+  // 1a. Detection of the ORB features
+  this->computeKeyPoints(frame, keypoints_frame);
+
+  // 1b. Extraction of the ORB descriptors
+  cv::Mat descriptors_frame;
+  this->computeDescriptors(frame, keypoints_frame, descriptors_frame);
+
+  // 2. Match the two image descriptors
+  std::vector<std::vector<cv::DMatch> > matches12, matches21;
+
+  // 2a. From image 1 to image 2
+  matcher_->knnMatch(descriptors_frame, descriptors_model, matches12, 2); // return 2 nearest neighbours
+
+  // 2b. From image 2 to image 1
+  matcher_->knnMatch(descriptors_model, descriptors_frame, matches21, 2); // return 2 nearest neighbours
+
+  // 3. Remove matches for which NN ratio is > than threshold
+  // clean image 1 -> image 2 matches
+  int removed1 = ratioTest(matches12);
+  // clean image 2 -> image 1 matches
+  int removed2 = ratioTest(matches21);
+
+  // 4. Remove non-symmetrical matches
+  symmetryTest(matches12, matches21, good_matches);
+
+}
+
+void RobustMatcher::fastRobustMatch( const cv::Mat& frame, std::vector<cv::DMatch>& good_matches,
+                                 std::vector<cv::KeyPoint>& keypoints_frame,
+                                 const cv::Mat& descriptors_model )
+{
+  good_matches.clear();
+
+  // 1a. Detection of the ORB features
+  this->computeKeyPoints(frame, keypoints_frame);
+
+  // 1b. Extraction of the ORB descriptors
+  cv::Mat descriptors_frame;
+  this->computeDescriptors(frame, keypoints_frame, descriptors_frame);
+
+  // 2. Match the two image descriptors
+  std::vector<std::vector<cv::DMatch> > matches;
+  matcher_->knnMatch(descriptors_frame, descriptors_model, matches, 2);
+
+  // 3. Remove matches for which NN ratio is > than threshold
+  int removed = ratioTest(matches);
+
+  // 4. Fill good matches container
+  for ( std::vector<std::vector<cv::DMatch> >::iterator
+         matchIterator= matches.begin(); matchIterator!= matches.end(); ++matchIterator)
+  {
+    if (!matchIterator->empty()) good_matches.push_back((*matchIterator)[0]);
+  }
+
+}

From b33a2f24fabd1f3fba4d8d2a490b5253b5d05c1b Mon Sep 17 00:00:00 2001
From: edgarriba <edgar.riba@gmail.com>
Date: Wed, 30 Jul 2014 12:56:30 +0200
Subject: [PATCH 040/112] Code tutorial

---
 .../src/PnPProblem.cpp                        | 315 ++++++++++++++++++
 1 file changed, 315 insertions(+)
 create mode 100644 samples/cpp/tutorial_code/calib3d/real_time_pose_estimation/src/PnPProblem.cpp

diff --git a/samples/cpp/tutorial_code/calib3d/real_time_pose_estimation/src/PnPProblem.cpp b/samples/cpp/tutorial_code/calib3d/real_time_pose_estimation/src/PnPProblem.cpp
new file mode 100644
index 0000000000..be4254e14d
--- /dev/null
+++ b/samples/cpp/tutorial_code/calib3d/real_time_pose_estimation/src/PnPProblem.cpp
@@ -0,0 +1,315 @@
+/*
+ * PnPProblem.cpp
+ *
+ *  Created on: Mar 28, 2014
+ *      Author: Edgar Riba
+ */
+
+#include <iostream>
+#include <sstream>
+
+#include "PnPProblem.h"
+#include "Mesh.h"
+
+#include <opencv2/calib3d/calib3d.hpp>
+
+
+/* Functions for Möller–Trumbore intersection algorithm
+ * */
+cv::Point3f CROSS(cv::Point3f v1, cv::Point3f v2)
+{
+  cv::Point3f tmp_p;
+  tmp_p.x =  v1.y*v2.z - v1.z*v2.y;
+  tmp_p.y =  v1.z*v2.x - v1.x*v2.z;
+  tmp_p.z =  v1.x*v2.y - v1.y*v2.x;
+  return tmp_p;
+}
+
+double DOT(cv::Point3f v1, cv::Point3f v2)
+{
+  return v1.x*v2.x + v1.y*v2.y + v1.z*v2.z;
+}
+
+cv::Point3f SUB(cv::Point3f v1, cv::Point3f v2)
+{
+  cv::Point3f tmp_p;
+  tmp_p.x =  v1.x - v2.x;
+  tmp_p.y =  v1.y - v2.y;
+  tmp_p.z =  v1.z - v2.z;
+  return tmp_p;
+}
+
+/* End functions for Möller–Trumbore intersection algorithm
+ *  */
+
+// Function to get the nearest 3D point to the Ray origin
+cv::Point3f get_nearest_3D_point(std::vector<cv::Point3f> &points_list, cv::Point3f origin)
+{
+  cv::Point3f p1 = points_list[0];
+  cv::Point3f p2 = points_list[1];
+
+  double d1 = std::sqrt( std::pow(p1.x-origin.x, 2) + std::pow(p1.y-origin.y, 2) + std::pow(p1.z-origin.z, 2) );
+  double d2 = std::sqrt( std::pow(p2.x-origin.x, 2) + std::pow(p2.y-origin.y, 2) + std::pow(p2.z-origin.z, 2) );
+
+  if(d1 < d2)
+  {
+      return p1;
+  }
+  else
+  {
+      return p2;
+  }
+}
+
+// Custom constructor given the intrinsic camera parameters
+
+PnPProblem::PnPProblem(const double params[])
+{
+  _A_matrix = cv::Mat::zeros(3, 3, CV_64FC1);   // intrinsic camera parameters
+  _A_matrix.at<double>(0, 0) = params[0];       //      [ fx   0  cx ]
+  _A_matrix.at<double>(1, 1) = params[1];       //      [  0  fy  cy ]
+  _A_matrix.at<double>(0, 2) = params[2];       //      [  0   0   1 ]
+  _A_matrix.at<double>(1, 2) = params[3];
+  _A_matrix.at<double>(2, 2) = 1;
+  _R_matrix = cv::Mat::zeros(3, 3, CV_64FC1);   // rotation matrix
+  _t_matrix = cv::Mat::zeros(3, 1, CV_64FC1);   // translation matrix
+  _P_matrix = cv::Mat::zeros(3, 4, CV_64FC1);   // rotation-translation matrix
+
+}
+
+PnPProblem::~PnPProblem()
+{
+  // TODO Auto-generated destructor stub
+}
+
+void PnPProblem::set_P_matrix( const cv::Mat &R_matrix, const cv::Mat &t_matrix)
+{
+  // Rotation-Translation Matrix Definition
+  _P_matrix.at<double>(0,0) = R_matrix.at<double>(0,0);
+  _P_matrix.at<double>(0,1) = R_matrix.at<double>(0,1);
+  _P_matrix.at<double>(0,2) = R_matrix.at<double>(0,2);
+  _P_matrix.at<double>(1,0) = R_matrix.at<double>(1,0);
+  _P_matrix.at<double>(1,1) = R_matrix.at<double>(1,1);
+  _P_matrix.at<double>(1,2) = R_matrix.at<double>(1,2);
+  _P_matrix.at<double>(2,0) = R_matrix.at<double>(2,0);
+  _P_matrix.at<double>(2,1) = R_matrix.at<double>(2,1);
+  _P_matrix.at<double>(0,3) = t_matrix.at<double>(0);
+  _P_matrix.at<double>(1,3) = t_matrix.at<double>(1);
+  _P_matrix.at<double>(2,3) = t_matrix.at<double>(2);
+}
+
+
+// Estimate the pose given a list of 2D/3D correspondences and the method to use
+bool PnPProblem::estimatePose( const std::vector<cv::Point3f> &list_points3d,
+                               const std::vector<cv::Point2f> &list_points2d,
+                               int flags)
+{
+  cv::Mat distCoeffs = cv::Mat::zeros(4, 1, CV_64FC1);
+  cv::Mat rvec = cv::Mat::zeros(3, 1, CV_64FC1);
+  cv::Mat tvec = cv::Mat::zeros(3, 1, CV_64FC1);
+
+  bool useExtrinsicGuess = false;
+
+  // Pose estimation
+  bool correspondence = cv::solvePnP( list_points3d, list_points2d, _A_matrix, distCoeffs, rvec, tvec,
+                                      useExtrinsicGuess, flags);
+
+  // Transforms Rotation Vector to Matrix
+  Rodrigues(rvec,_R_matrix);
+  _t_matrix = tvec;
+
+  // Set projection matrix
+  this->set_P_matrix(_R_matrix, _t_matrix);
+
+  return correspondence;
+}
+
+// Estimate the pose given a list of 2D/3D correspondences with RANSAC and the method to use
+
+void PnPProblem::estimatePoseRANSAC( const std::vector<cv::Point3f> &list_points3d, // list with model 3D coordinates
+                               const std::vector<cv::Point2f> &list_points2d,     // list with scene 2D coordinates
+                               int flags, cv::Mat &inliers, int iterationsCount,  // PnP method; inliers container
+                               float reprojectionError, float confidence )    // Ransac parameters
+{
+  cv::Mat distCoeffs = cv::Mat::zeros(4, 1, CV_64FC1);  // vector of distortion coefficients
+  cv::Mat rvec = cv::Mat::zeros(3, 1, CV_64FC1);          // output rotation vector
+  cv::Mat tvec = cv::Mat::zeros(3, 1, CV_64FC1);    // output translation vector
+
+  bool useExtrinsicGuess = false;   // if true the function uses the provided rvec and tvec values as
+            // initial approximations of the rotation and translation vectors
+
+  cv::solvePnPRansac( list_points3d, list_points2d, _A_matrix, distCoeffs, rvec, tvec,
+                useExtrinsicGuess, iterationsCount, reprojectionError, confidence,
+                inliers, flags );
+
+  Rodrigues(rvec,_R_matrix);      // converts Rotation Vector to Matrix
+  _t_matrix = tvec;       // set translation matrix
+
+  this->set_P_matrix(_R_matrix, _t_matrix); // set rotation-translation matrix
+
+}
+
+// Given the mesh, backproject the 3D points to 2D to verify the pose estimation
+std::vector<cv::Point2f> PnPProblem::verify_points(Mesh *mesh)
+{
+  std::vector<cv::Point2f> verified_points_2d;
+  for( int i = 0; i < mesh->getNumVertices(); i++)
+  {
+    cv::Point3f point3d = mesh->getVertex(i);
+    cv::Point2f point2d = this->backproject3DPoint(point3d);
+    verified_points_2d.push_back(point2d);
+  }
+
+  return verified_points_2d;
+}
+
+
+// Backproject a 3D point to 2D using the estimated pose parameters
+
+cv::Point2f PnPProblem::backproject3DPoint(const cv::Point3f &point3d)
+{
+  // 3D point vector [x y z 1]'
+  cv::Mat point3d_vec = cv::Mat(4, 1, CV_64FC1);
+  point3d_vec.at<double>(0) = point3d.x;
+  point3d_vec.at<double>(1) = point3d.y;
+  point3d_vec.at<double>(2) = point3d.z;
+  point3d_vec.at<double>(3) = 1;
+
+  // 2D point vector [u v 1]'
+  cv::Mat point2d_vec = cv::Mat(4, 1, CV_64FC1);
+  point2d_vec = _A_matrix * _P_matrix * point3d_vec;
+
+  // Normalization of [u v]'
+  cv::Point2f point2d;
+  point2d.x = point2d_vec.at<double>(0) / point2d_vec.at<double>(2);
+  point2d.y = point2d_vec.at<double>(1) / point2d_vec.at<double>(2);
+
+  return point2d;
+}
+
+// Back project a 2D point to 3D and returns if it's on the object surface
+bool PnPProblem::backproject2DPoint(const Mesh *mesh, const cv::Point2f &point2d, cv::Point3f &point3d)
+{
+  // Triangles list of the object mesh
+  std::vector<std::vector<int> > triangles_list = mesh->getTrianglesList();
+
+  double lambda = 8;
+  double u = point2d.x;
+  double v = point2d.y;
+
+  // Point in vector form
+  cv::Mat point2d_vec = cv::Mat::ones(3, 1, CV_64F); // 3x1
+  point2d_vec.at<double>(0) = u * lambda;
+  point2d_vec.at<double>(1) = v * lambda;
+  point2d_vec.at<double>(2) = lambda;
+
+  // Point in camera coordinates
+  cv::Mat X_c = _A_matrix.inv() * point2d_vec ; // 3x1
+
+  // Point in world coordinates
+  cv::Mat X_w = _R_matrix.inv() * ( X_c - _t_matrix ); // 3x1
+
+  // Center of projection
+  cv::Mat C_op = cv::Mat(_R_matrix.inv()).mul(-1) * _t_matrix; // 3x1
+
+  // Ray direction vector
+  cv::Mat ray = X_w - C_op; // 3x1
+  ray = ray / cv::norm(ray); // 3x1
+
+  // Set up Ray
+  Ray R((cv::Point3f)C_op, (cv::Point3f)ray);
+
+  // A vector to store the intersections found
+  std::vector<cv::Point3f> intersections_list;
+
+  // Loop for all the triangles and check the intersection
+  for (unsigned int i = 0; i < triangles_list.size(); i++)
+  {
+    cv::Point3f V0 = mesh->getVertex(triangles_list[i][0]);
+    cv::Point3f V1 = mesh->getVertex(triangles_list[i][1]);
+    cv::Point3f V2 = mesh->getVertex(triangles_list[i][2]);
+
+    Triangle T(i, V0, V1, V2);
+
+    double out;
+    if(this->intersect_MollerTrumbore(R, T, &out))
+    {
+      cv::Point3f tmp_pt = R.getP0() + out*R.getP1(); // P = O + t*D
+      intersections_list.push_back(tmp_pt);
+    }
+  }
+
+  // If there are intersection, find the nearest one
+  if (!intersections_list.empty())
+  {
+    point3d = get_nearest_3D_point(intersections_list, R.getP0());
+    return true;
+  }
+  else
+  {
+    return false;
+  }
+}
+
+// Möller–Trumbore intersection algorithm
+bool PnPProblem::intersect_MollerTrumbore(Ray &Ray, Triangle &Triangle, double *out)
+{
+  const double EPSILON = 0.000001;
+
+  cv::Point3f e1, e2;
+  cv::Point3f P, Q, T;
+  double det, inv_det, u, v;
+  double t;
+
+  cv::Point3f V1 = Triangle.getV0();  // Triangle vertices
+  cv::Point3f V2 = Triangle.getV1();
+  cv::Point3f V3 = Triangle.getV2();
+
+  cv::Point3f O = Ray.getP0(); // Ray origin
+  cv::Point3f D = Ray.getP1(); // Ray direction
+
+  //Find vectors for two edges sharing V1
+  e1 = SUB(V2, V1);
+  e2 = SUB(V3, V1);
+
+  // Begin calculation determinant - also used to calculate U parameter
+  P = CROSS(D, e2);
+
+  // If determinant is near zero, ray lie in plane of triangle
+  det = DOT(e1, P);
+
+  //NOT CULLING
+  if(det > -EPSILON && det < EPSILON) return false;
+  inv_det = 1.f / det;
+
+  //calculate distance from V1 to ray origin
+  T = SUB(O, V1);
+
+  //Calculate u parameter and test bound
+  u = DOT(T, P) * inv_det;
+
+  //The intersection lies outside of the triangle
+  if(u < 0.f || u > 1.f) return false;
+
+  //Prepare to test v parameter
+  Q = CROSS(T, e1);
+
+  //Calculate V parameter and test bound
+  v = DOT(D, Q) * inv_det;
+
+  //The intersection lies outside of the triangle
+  if(v < 0.f || u + v  > 1.f) return false;
+
+  t = DOT(e2, Q) * inv_det;
+
+  if(t > EPSILON) { //ray intersection
+    *out = t;
+    return true;
+  }
+
+  // No hit, no win
+  return false;
+}
+
+
+

From 31bec459987260759e633715c676e7aad0e16157 Mon Sep 17 00:00:00 2001
From: edgarriba <edgar.riba@gmail.com>
Date: Wed, 30 Jul 2014 12:56:46 +0200
Subject: [PATCH 041/112] Code tutorial

---
 .../src/ModelRegistration.cpp                 | 38 +++++++++++++++++++
 1 file changed, 38 insertions(+)
 create mode 100644 samples/cpp/tutorial_code/calib3d/real_time_pose_estimation/src/ModelRegistration.cpp

diff --git a/samples/cpp/tutorial_code/calib3d/real_time_pose_estimation/src/ModelRegistration.cpp b/samples/cpp/tutorial_code/calib3d/real_time_pose_estimation/src/ModelRegistration.cpp
new file mode 100644
index 0000000000..5f39a0ffcf
--- /dev/null
+++ b/samples/cpp/tutorial_code/calib3d/real_time_pose_estimation/src/ModelRegistration.cpp
@@ -0,0 +1,38 @@
+/*
+ * ModelRegistration.cpp
+ *
+ *  Created on: Apr 18, 2014
+ *      Author: edgar
+ */
+
+#include "ModelRegistration.h"
+
+ModelRegistration::ModelRegistration()
+{
+  n_registrations_ = 0;
+  max_registrations_ = 0;
+}
+
+ModelRegistration::~ModelRegistration()
+{
+  // TODO Auto-generated destructor stub
+}
+
+void ModelRegistration::registerPoint(const cv::Point2f &point2d, const cv::Point3f &point3d)
+ {
+   // add correspondence at the end of the vector
+    list_points2d_.push_back(point2d);
+    list_points3d_.push_back(point3d);
+    n_registrations_++;
+ }
+
+void ModelRegistration::reset()
+{
+  n_registrations_ = 0;
+  max_registrations_ = 0;
+  list_points2d_.clear();
+  list_points3d_.clear();
+}
+
+
+

From 38c2cc85219486c608038baed267e56a9c5983e2 Mon Sep 17 00:00:00 2001
From: edgarriba <edgar.riba@gmail.com>
Date: Wed, 30 Jul 2014 12:56:55 +0200
Subject: [PATCH 042/112] Code tutorial

---
 .../real_time_pose_estimation/src/Model.cpp   | 75 +++++++++++++++++++
 1 file changed, 75 insertions(+)
 create mode 100644 samples/cpp/tutorial_code/calib3d/real_time_pose_estimation/src/Model.cpp

diff --git a/samples/cpp/tutorial_code/calib3d/real_time_pose_estimation/src/Model.cpp b/samples/cpp/tutorial_code/calib3d/real_time_pose_estimation/src/Model.cpp
new file mode 100644
index 0000000000..258e8dd41c
--- /dev/null
+++ b/samples/cpp/tutorial_code/calib3d/real_time_pose_estimation/src/Model.cpp
@@ -0,0 +1,75 @@
+/*
+ * Model.cpp
+ *
+ *  Created on: Apr 9, 2014
+ *      Author: edgar
+ */
+
+#include "Model.h"
+#include "CsvWriter.h"
+
+Model::Model() : list_points2d_in_(0), list_points2d_out_(0), list_points3d_in_(0)
+{
+  n_correspondences_ = 0;
+}
+
+Model::~Model()
+{
+  // TODO Auto-generated destructor stub
+}
+
+void Model::add_correspondence(const cv::Point2f &point2d, const cv::Point3f &point3d)
+{
+  list_points2d_in_.push_back(point2d);
+  list_points3d_in_.push_back(point3d);
+  n_correspondences_++;
+}
+
+void Model::add_outlier(const cv::Point2f &point2d)
+{
+  list_points2d_out_.push_back(point2d);
+}
+
+void Model::add_descriptor(const cv::Mat &descriptor)
+{
+  descriptors_.push_back(descriptor);
+}
+
+void Model::add_keypoint(const cv::KeyPoint &kp)
+{
+  list_keypoints_.push_back(kp);
+}
+
+
+/** Save a CSV file and fill the object mesh */
+void Model::save(const std::string path)
+{
+  cv::Mat points3dmatrix = cv::Mat(list_points3d_in_);
+  cv::Mat points2dmatrix = cv::Mat(list_points2d_in_);
+  //cv::Mat keyPointmatrix = cv::Mat(list_keypoints_);
+
+  cv::FileStorage storage(path, cv::FileStorage::WRITE);
+  storage << "points_3d" << points3dmatrix;
+  storage << "points_2d" << points2dmatrix;
+  storage << "keypoints" << list_keypoints_;
+  storage << "descriptors" << descriptors_;
+
+  storage.release();
+}
+
+/** Load a YAML file using OpenCv functions **/
+void Model::load(const std::string path)
+{
+  cv::Mat points3d_mat;
+
+  cv::FileStorage storage(path, cv::FileStorage::READ);
+  storage["points_3d"] >> points3d_mat;
+  storage["descriptors"] >> descriptors_;
+
+  points3d_mat.copyTo(list_points3d_in_);
+
+  storage.release();
+
+}
+
+

From b58979d0579e6ab795f0424d39fbbb96092f80e0 Mon Sep 17 00:00:00 2001
From: edgarriba <edgar.riba@gmail.com>
Date: Wed, 30 Jul 2014 12:57:04 +0200
Subject: [PATCH 043/112] Code tutorial

---
 .../real_time_pose_estimation/src/Mesh.cpp    | 82 +++++++++++++++++++
 1 file changed, 82 insertions(+)
 create mode 100644 samples/cpp/tutorial_code/calib3d/real_time_pose_estimation/src/Mesh.cpp

diff --git a/samples/cpp/tutorial_code/calib3d/real_time_pose_estimation/src/Mesh.cpp b/samples/cpp/tutorial_code/calib3d/real_time_pose_estimation/src/Mesh.cpp
new file mode 100644
index 0000000000..6458cfde36
--- /dev/null
+++ b/samples/cpp/tutorial_code/calib3d/real_time_pose_estimation/src/Mesh.cpp
@@ -0,0 +1,82 @@
+/*
+ * Mesh.cpp
+ *
+ *  Created on: Apr 9, 2014
+ *      Author: edgar
+ */
+
+#include "Mesh.h"
+#include "CsvReader.h"
+
+
+// --------------------------------------------------- //
+//                   TRIANGLE CLASS                    //
+// --------------------------------------------------- //
+
+/**  The custom constructor of the Triangle Class */
+Triangle::Triangle(int id, cv::Point3f V0, cv::Point3f V1, cv::Point3f V2)
+{
+  id_ = id; v0_ = V0; v1_ = V1; v2_ = V2;
+}
+
+/**  The default destructor of the Class */
+Triangle::~Triangle()
+{
+  // TODO Auto-generated destructor stub
+}
+
+
+// --------------------------------------------------- //
+//                     RAY CLASS                       //
+// --------------------------------------------------- //
+
+/**  The custom constructor of the Ray Class */
+Ray::Ray(cv::Point3f P0, cv::Point3f P1) {
+  p0_ = P0; p1_ = P1;
+}
+
+/**  The default destructor of the Class */
+Ray::~Ray()
+{
+  // TODO Auto-generated destructor stub
+}
+
+
+// --------------------------------------------------- //
+//                 OBJECT MESH CLASS                   //
+// --------------------------------------------------- //
+
+/** The default constructor of the ObjectMesh Class */
+Mesh::Mesh() : list_vertex_(0) , list_triangles_(0)
+{
+  id_ = 0;
+  num_vertexs_ = 0;
+  num_triangles_ = 0;
+}
+
+/** The default destructor of the ObjectMesh Class */
+Mesh::~Mesh()
+{
+  // TODO Auto-generated destructor stub
+}
+
+
+/** Load a CSV with *.ply format **/
+void Mesh::load(const std::string path)
+{
+
+  // Create the reader
+  CsvReader csvReader(path);
+
+  // Clear previous data
+  list_vertex_.clear();
+  list_triangles_.clear();
+
+  // Read from .ply file
+  csvReader.readPLY(list_vertex_, list_triangles_);
+
+  // Update mesh attributes
+  num_vertexs_ = list_vertex_.size();
+  num_triangles_ = list_triangles_.size();
+
+}

From 94968c81e000ec80f2e4318f4e4504a1a1c57645 Mon Sep 17 00:00:00 2001
From: edgarriba <edgar.riba@gmail.com>
Date: Wed, 30 Jul 2014 12:57:11 +0200
Subject: [PATCH 044/112] Code tutorial

---
 .../src/main_registration.cpp                 | 280 ++++++++++++++++++
 1 file changed, 280 insertions(+)
 create mode 100644 samples/cpp/tutorial_code/calib3d/real_time_pose_estimation/src/main_registration.cpp

diff --git a/samples/cpp/tutorial_code/calib3d/real_time_pose_estimation/src/main_registration.cpp b/samples/cpp/tutorial_code/calib3d/real_time_pose_estimation/src/main_registration.cpp
new file mode 100644
index 0000000000..cdb00dec0e
--- /dev/null
+++ b/samples/cpp/tutorial_code/calib3d/real_time_pose_estimation/src/main_registration.cpp
@@ -0,0 +1,280 @@
+#include <iostream>
+#include <boost/lexical_cast.hpp>
+
+#include "Mesh.h"
+#include "Model.h"
+#include "PnPProblem.h"
+#include "RobustMatcher.h"
+#include "ModelRegistration.h"
+#include "Utils.h"
+
+#include <opencv2/core/core.hpp>
+#include <opencv2/imgproc/imgproc.hpp>
+#include <opencv2/calib3d/calib3d.hpp>
+#include <opencv2/features2d/features2d.hpp>
+#include <opencv2/nonfree/features2d.hpp>
+
+  /*
+   * Set up the images paths
+   */
+
+  // COOKIES BOX [718x480]
+  std::string img_path = "../Data/resized_IMG_3875.JPG"; // f 55
+ 
+  // COOKIES BOX MESH
+  std::string ply_read_path = "../Data/box.ply";
+
+  // YAML writting path
+  std::string write_path = "../Data/cookies_ORB.yml";
+
+  // Boolean the know if the registration it's done
+  bool end_registration = false;
+
+  /*
+   * Set up the intrinsic camera parameters: CANON
+   */
+  double f = 45; // focal length in mm
+  double sx = 22.3, sy = 14.9;
+  double width = 2592, height = 1944;
+  double params_CANON[] = { width*f/sx,   // fx
+                            height*f/sy,  // fy
+                            width/2,      // cx
+                            height/2};    // cy
+
+
+  // Setup the points to register in the image
+  // In the order of the *.ply file and starting at 1
+  int n = 8;
+  int pts[] = {1, 2, 3, 4, 5, 6, 7, 8}; // 3 -> 4
+
+  /*
+   * Set up some basic colors
+   */
+  cv::Scalar red(0, 0, 255);
+  cv::Scalar green(0,255,0);
+  cv::Scalar blue(255,0,0);
+  cv::Scalar yellow(0,255,255);
+
+  /*
+   * CREATE MODEL REGISTRATION OBJECT
+   * CREATE OBJECT MESH
+   * CREATE OBJECT MODEL
+   * CREATE PNP OBJECT
+   */
+  ModelRegistration registration;
+  Model model;
+  Mesh mesh;
+  PnPProblem pnp_registration(params_CANON);
+
+
+// Mouse events for model registration
+static void onMouseModelRegistration( int event, int x, int y, int, void* )
+{
+  if  ( event == cv::EVENT_LBUTTONUP )
+  {
+      int n_regist = registration.getNumRegist();
+      int n_vertex = pts[n_regist];
+
+      cv::Point2f point_2d = cv::Point2f(x,y);
+      cv::Point3f point_3d = mesh.getVertex(n_vertex-1);
+
+      bool is_registrable = registration.is_registrable();
+      if (is_registrable)
+      {
+        registration.registerPoint(point_2d, point_3d);
+        if( registration.getNumRegist() == registration.getNumMax() ) end_registration = true;
+      }
+  }
+}
+
+/*
+ *   MAIN PROGRAM
+ *
+ */
+
+int main(int argc, char *argv[])
+{
+
+  std::cout << "!!!Hello Registration!!!" << std::endl;
+
+  // load a mesh given the *.ply file path
+  mesh.load(ply_read_path);
+
+  // set parameters
+  int numKeyPoints = 10000;
+
+  //Instantiate robust matcher: detector, extractor, matcher
+  RobustMatcher rmatcher;
+  cv::FeatureDetector * detector = new cv::OrbFeatureDetector(numKeyPoints);
+  //rmatcher.setFeatureDetector(detector);
+
+  /*
+   * GROUND TRUTH OF THE FIRST IMAGE
+   *
+   * by the moment it is the reference image
+   */
+
+  // Create & Open Window
+  cv::namedWindow("MODEL REGISTRATION", cv::WINDOW_KEEPRATIO);
+
+  // Set up the mouse events
+  cv::setMouseCallback("MODEL REGISTRATION", onMouseModelRegistration, 0 );
+
+  // Open the image to register
+  cv::Mat img_in = cv::imread(img_path, cv::IMREAD_COLOR);
+  cv::Mat img_vis = img_in.clone();
+
+  if (!img_in.data) {
+    std::cout << "Could not open or find the image" << std::endl;
+    return -1;
+  }
+
+  // Set the number of points to register
+  int num_registrations = n;
+  registration.setNumMax(num_registrations);
+
+  std::cout << "Click the box corners ..." << std::endl;
+  std::cout << "Waiting ..." << std::endl;
+
+  // Loop until all the points are registered
+  while ( cv::waitKey(30) < 0 )
+  {
+    // Refresh debug image
+    img_vis = img_in.clone();
+
+    // Current registered points
+    std::vector<cv::Point2f> list_points2d = registration.get_points2d();
+    std::vector<cv::Point3f> list_points3d = registration.get_points3d();
+
+    // Draw current registered points
+    drawPoints(img_vis, list_points2d, list_points3d, red);
+
+    // If the registration is not finished, draw which 3D point we have to register.
+    // If the registration is finished, breaks the loop.
+    if (!end_registration)
+    {
+      // Draw debug text
+      int n_regist = registration.getNumRegist();
+      int n_vertex = pts[n_regist];
+      cv::Point3f current_poin3d = mesh.getVertex(n_vertex-1);
+
+      drawQuestion(img_vis, current_poin3d, green);
+      drawCounter(img_vis, registration.getNumRegist(), registration.getNumMax(), red);
+    }
+    else
+    {
+      // Draw debug text
+      drawText(img_vis, "END REGISTRATION", green);
+      drawCounter(img_vis, registration.getNumRegist(), registration.getNumMax(), green);
+      break;
+    }
+
+    // Show the image
+    cv::imshow("MODEL REGISTRATION", img_vis);
+  }
+
+
+  /*
+   *
+   * COMPUTE CAMERA POSE
+   *
+   */
+
+  std::cout << "COMPUTING POSE ..." << std::endl;
+
+  // The list of registered points
+  std::vector<cv::Point2f> list_points2d = registration.get_points2d();
+  std::vector<cv::Point3f> list_points3d = registration.get_points3d();
+
+  // Estimate pose given the registered points
+  bool is_correspondence = pnp_registration.estimatePose(list_points3d, list_points2d, cv::ITERATIVE);
+  if ( is_correspondence )
+  {
+    std::cout << "Correspondence found" << std::endl;
+
+    // Compute all the 2D points of the mesh to verify the algorithm and draw it
+    std::vector<cv::Point2f> list_points2d_mesh = pnp_registration.verify_points(&mesh);
+    draw2DPoints(img_vis, list_points2d_mesh, green);
+
+  } else {
+    std::cout << "Correspondence not found" << std::endl << std::endl;
+  }
+
+  // Show the image
+  cv::imshow("MODEL REGISTRATION", img_vis);
+
+  // Show image until ESC pressed
+  cv::waitKey(0);
+
+
+   /*
+    *
+    * COMPUTE 3D of the image Keypoints
+    *
+    */
+
+
+  // Containers for keypoints and descriptors of the model
+  std::vector<cv::KeyPoint> keypoints_model;
+  cv::Mat descriptors;
+
+  // Compute keypoints and descriptors
+  rmatcher.computeKeyPoints(img_in, keypoints_model);
+  rmatcher.computeDescriptors(img_in, keypoints_model, descriptors);
+
+  // Check if keypoints are on the surface of the registration image and add to the model
+  for (unsigned int i = 0; i < keypoints_model.size(); ++i) {
+    cv::Point2f point2d(keypoints_model[i].pt);
+    cv::Point3f point3d;
+    bool on_surface = pnp_registration.backproject2DPoint(&mesh, point2d, point3d);
+    if (on_surface)
+    {
+        model.add_correspondence(point2d, point3d);
+        model.add_descriptor(descriptors.row(i));
+        model.add_keypoint(keypoints_model[i]);
+    }
+    else
+    {
+        model.add_outlier(point2d);
+    }
+  }
+
+  // save the model into a *.yaml file
+  model.save(write_path);
+
+  // Out image
+  img_vis = img_in.clone();
+
+  // The list of the points2d of the model
+  std::vector<cv::Point2f> list_points_in = model.get_points2d_in();
+  std::vector<cv::Point2f> list_points_out = model.get_points2d_out();
+
+  // Draw some debug text
+  std::string num = boost::lexical_cast< std::string >(list_points_in.size());
+  std::string text = "There are " + num + " inliers";
+  drawText(img_vis, text, green);
+
+  // Draw some debug text
+  num = boost::lexical_cast< std::string >(list_points_out.size());
+  text = "There are " + num + " outliers";
+  drawText2(img_vis, text, red);
+
+  // Draw the object mesh
+  drawObjectMesh(img_vis, &mesh, &pnp_registration, blue);
+
+  // Draw found keypoints depending on if are or not on the surface
+  draw2DPoints(img_vis, list_points_in, green);
+  draw2DPoints(img_vis, list_points_out, red);
+
+  // Show the image
+  cv::imshow("MODEL REGISTRATION", img_vis);
+
+  // Wait until ESC pressed
+  cv::waitKey(0);
+
+  // Close and Destroy Window
+  cv::destroyWindow("MODEL REGISTRATION");
+
+  std::cout << "GOODBYE" << std::endl;
+
+}

From 6ff58f02e2150a5c541ac14838a58b9f9eac4208 Mon Sep 17 00:00:00 2001
From: edgarriba <edgar.riba@gmail.com>
Date: Wed, 30 Jul 2014 12:57:18 +0200
Subject: [PATCH 045/112] Code tutorial

---
 .../src/CsvReader.cpp                         | 81 +++++++++++++++++++
 1 file changed, 81 insertions(+)
 create mode 100644 samples/cpp/tutorial_code/calib3d/real_time_pose_estimation/src/CsvReader.cpp

diff --git a/samples/cpp/tutorial_code/calib3d/real_time_pose_estimation/src/CsvReader.cpp b/samples/cpp/tutorial_code/calib3d/real_time_pose_estimation/src/CsvReader.cpp
new file mode 100644
index 0000000000..8061df6bc1
--- /dev/null
+++ b/samples/cpp/tutorial_code/calib3d/real_time_pose_estimation/src/CsvReader.cpp
@@ -0,0 +1,81 @@
+#include <boost/lexical_cast.hpp>
+#include "CsvReader.h"
+
+/** The default constructor of the CSV reader Class */
+CsvReader::CsvReader(const std::string &path, const char &separator){
+	_file.open(path.c_str(), ifstream::in);
+	_separator = separator;
+}
+
+/* Read a plane text file with .ply format */
+void CsvReader::readPLY(std::vector<cv::Point3f> &list_vertex, std::vector<std::vector<int> > &list_triangles)
+{
+std::string line, tmp_str, n;
+  int num_vertex, num_triangles;
+  int count = 0;
+  bool end_header = false;
+  bool end_vertex = false;
+
+  // Read the whole *.ply file
+  while (getline(_file, line)) {
+    stringstream liness(line);
+
+    // read header
+    if(!end_header)
+    {
+      getline(liness, tmp_str, _separator);
+      if( tmp_str == "element" )
+      {
+          getline(liness, tmp_str, _separator);
+          getline(liness, n);
+          if(tmp_str == "vertex") num_vertex = boost::lexical_cast< int >(n);
+          if(tmp_str == "face") num_triangles = boost::lexical_cast< int >(n);
+      }
+      if(tmp_str == "end_header") end_header = true;
+    }
+
+    // read file content
+    else if(end_header)
+    {
+      // read vertex and add into 'list_vertex'
+      if(!end_vertex && count < num_vertex)
+      {
+        string x, y, z;
+        getline(liness, x, _separator);
+        getline(liness, y, _separator);
+        getline(liness, z);
+
+        cv::Point3f tmp_p;
+        tmp_p.x = boost::lexical_cast< float >(x);
+        tmp_p.y = boost::lexical_cast< float >(y);
+        tmp_p.z = boost::lexical_cast< float >(z);
+        list_vertex.push_back(tmp_p);
+
+        count++;
+        if(count == num_vertex)
+        {
+          count = 0;
+          end_vertex = !end_vertex;
+        }
+      }
+      // read faces and add into 'list_triangles'
+      else if(end_vertex  && count < num_triangles)
+      {
+    	  std::string num_pts_per_face, id0, id1, id2;
+        getline(liness, num_pts_per_face, _separator);
+        getline(liness, id0, _separator);
+        getline(liness, id1, _separator);
+        getline(liness, id2);
+
+        std::vector<int> tmp_triangle(3);
+        tmp_triangle[0] = boost::lexical_cast< int >(id0);
+        tmp_triangle[1] = boost::lexical_cast< int >(id1);
+        tmp_triangle[2] = boost::lexical_cast< int >(id2);
+        list_triangles.push_back(tmp_triangle);
+
+        count++;
+      }
+    }
+  }
+}
+

From 69f1ee87323fee090178e27a6330e40094e97794 Mon Sep 17 00:00:00 2001
From: edgarriba <edgar.riba@gmail.com>
Date: Wed, 30 Jul 2014 13:08:19 +0200
Subject: [PATCH 046/112] Code tutorial

---
 .../src/CsvWriter.cpp                         | 50 +++++++++++++++++++
 1 file changed, 50 insertions(+)
 create mode 100644 samples/cpp/tutorial_code/calib3d/real_time_pose_estimation/src/CsvWriter.cpp

diff --git a/samples/cpp/tutorial_code/calib3d/real_time_pose_estimation/src/CsvWriter.cpp b/samples/cpp/tutorial_code/calib3d/real_time_pose_estimation/src/CsvWriter.cpp
new file mode 100644
index 0000000000..c8dc9449da
--- /dev/null
+++ b/samples/cpp/tutorial_code/calib3d/real_time_pose_estimation/src/CsvWriter.cpp
@@ -0,0 +1,50 @@
+#include <boost/lexical_cast.hpp>
+#include "CsvWriter.h"
+
+CsvWriter::CsvWriter(const std::string &path, const std::string &separator){
+  _file.open(path.c_str(), std::ofstream::out);
+  _isFirstTerm = true;
+  _separator = separator;
+}
+
+CsvWriter::~CsvWriter() {
+  _file.flush();
+  _file.close();
+}
+
+void CsvWriter::writeXYZ(const std::vector<cv::Point3f> &list_points3d)
+{
+  std::string x, y, z;
+  for(unsigned int i = 0; i < list_points3d.size(); ++i)
+  {
+    x = boost::lexical_cast< std::string >(list_points3d[i].x);
+    y = boost::lexical_cast< std::string >(list_points3d[i].y);
+    z = boost::lexical_cast< std::string >(list_points3d[i].z);
+
+    _file << x << _separator << y << _separator << z << std::endl;
+  }
+
+}
+
+void CsvWriter::writeUVXYZ(const std::vector<cv::Point3f> &list_points3d, const std::vector<cv::Point2f> &list_points2d, const cv::Mat &descriptors)
+{
+  std::string u, v, x, y, z, descriptor_str;
+  for(int i = 0; i < list_points3d.size(); ++i)
+  {
+    u = boost::lexical_cast< std::string >(list_points2d[i].x);
+    v = boost::lexical_cast< std::string >(list_points2d[i].y);
+    x = boost::lexical_cast< std::string >(list_points3d[i].x);
+    y = boost::lexical_cast< std::string >(list_points3d[i].y);
+    z = boost::lexical_cast< std::string >(list_points3d[i].z);
+
+    _file << u << _separator << v << _separator << x << _separator << y << _separator << z;
+
+    for(int j = 0; j < 32; ++j)
+    {
+      std::cout << descriptors.at<float>(i,j) << std::endl;
+      descriptor_str = boost::lexical_cast< std::string >(descriptors.at<float>(i,j));
+      _file << _separator << descriptor_str;
+    }
+    _file << std::endl;
+  }
+}

From 4a86900761a3e5e8b25c3f9a56377b6cd78aaba5 Mon Sep 17 00:00:00 2001
From: edgarriba <edgar.riba@gmail.com>
Date: Wed, 30 Jul 2014 13:32:27 +0200
Subject: [PATCH 047/112] Added help()

---
 .../src/main_detection.cpp                       | 16 ++++++++++++++--
 1 file changed, 14 insertions(+), 2 deletions(-)

diff --git a/samples/cpp/tutorial_code/calib3d/real_time_pose_estimation/src/main_detection.cpp b/samples/cpp/tutorial_code/calib3d/real_time_pose_estimation/src/main_detection.cpp
index 16b1ba7b17..faa26f8581 100644
--- a/samples/cpp/tutorial_code/calib3d/real_time_pose_estimation/src/main_detection.cpp
+++ b/samples/cpp/tutorial_code/calib3d/real_time_pose_estimation/src/main_detection.cpp
@@ -24,6 +24,19 @@ std::string yml_read_path = "../Data/cookies_ORB.yml"; // 3dpts + descriptors
 // COOKIES BOX MESH
 std::string ply_read_path = "../Data/box.ply";   // mesh
 
+void help()
+{
+std::cout
+<< "--------------------------------------------------------------------------"   << std::endl
+<< "This program shows how to detect an object given its 3D textured model. You can choose to "
+<< "use a recorded video or the webcam." << std::endl
+<< "Usage:"                                                                       << std::endl
+<< "./pnp_detection ~/path_to_video/box.mp4"                                      << std::endl
+<< "./pnp_detection "                                                             << std::endl
+<< "--------------------------------------------------------------------------"   << std::endl
+<< std::endl;
+}
+
 
 /*
  * Set up the intrinsic camera parameters: UVC WEBCAM
@@ -39,7 +52,6 @@ double params_WEBCAM[] = { width*f/sx,   // fx
                            height/2};    // cy
 
 
-
 /*
  * Set up some basic colors
  */
@@ -92,7 +104,7 @@ void fillMeasurements( cv::Mat &measurements,
 int main(int argc, char *argv[])
 {
 
-  std::cout << "!!!Hello Detection!!!" << std::endl;
+  help();
 
   PnPProblem pnp_detection(params_WEBCAM);
   PnPProblem pnp_detection_est(params_WEBCAM);

From 85ccac2633fcc986a439401cdae74cbff3314896 Mon Sep 17 00:00:00 2001
From: edgarriba <edgar.riba@gmail.com>
Date: Wed, 30 Jul 2014 15:23:52 +0200
Subject: [PATCH 048/112] Added help()

---
 .../src/main_registration.cpp                   | 17 ++++++++++++++---
 1 file changed, 14 insertions(+), 3 deletions(-)

diff --git a/samples/cpp/tutorial_code/calib3d/real_time_pose_estimation/src/main_registration.cpp b/samples/cpp/tutorial_code/calib3d/real_time_pose_estimation/src/main_registration.cpp
index cdb00dec0e..4f8903c8f5 100644
--- a/samples/cpp/tutorial_code/calib3d/real_time_pose_estimation/src/main_registration.cpp
+++ b/samples/cpp/tutorial_code/calib3d/real_time_pose_estimation/src/main_registration.cpp
@@ -20,13 +20,24 @@
 
   // COOKIES BOX [718x480]
   std::string img_path = "../Data/resized_IMG_3875.JPG"; // f 55
- 
+
   // COOKIES BOX MESH
   std::string ply_read_path = "../Data/box.ply";
 
   // YAML writting path
   std::string write_path = "../Data/cookies_ORB.yml";
 
+  void help()
+  {
+  std::cout
+  << "--------------------------------------------------------------------------"   << std::endl
+  << "This program shows how to create your 3D textured model. "                    << std::endl
+  << "Usage:"                                                                       << std::endl
+  << "./pnp_registration "                                                          << std::endl
+  << "--------------------------------------------------------------------------"   << std::endl
+  << std::endl;
+  }
+
   // Boolean the know if the registration it's done
   bool end_registration = false;
 
@@ -95,7 +106,7 @@ static void onMouseModelRegistration( int event, int x, int y, int, void* )
 int main(int argc, char *argv[])
 {
 
-  std::cout << "!!!Hello Registration!!!" << std::endl;
+  help();
 
   // load a mesh given the *.ply file path
   mesh.load(ply_read_path);
@@ -106,7 +117,7 @@ int main(int argc, char *argv[])
   //Instantiate robust matcher: detector, extractor, matcher
   RobustMatcher rmatcher;
   cv::FeatureDetector * detector = new cv::OrbFeatureDetector(numKeyPoints);
-  //rmatcher.setFeatureDetector(detector);
+  rmatcher.setFeatureDetector(detector);
 
   /*
    * GROUND TRUTH OF THE FIRST IMAGE

From 9a25cb012d831d9887bac74ed18a324a90030732 Mon Sep 17 00:00:00 2001
From: edgarriba <edgar.riba@gmail.com>
Date: Wed, 30 Jul 2014 17:05:06 +0200
Subject: [PATCH 049/112] Update some text

---
 .../calib3d/real_time_pose/real_time_pose.rst | 59 ++++++++++---------
 1 file changed, 32 insertions(+), 27 deletions(-)

diff --git a/doc/tutorials/calib3d/real_time_pose/real_time_pose.rst b/doc/tutorials/calib3d/real_time_pose/real_time_pose.rst
index d2564e403b..ca824e4a7e 100644
--- a/doc/tutorials/calib3d/real_time_pose/real_time_pose.rst
+++ b/doc/tutorials/calib3d/real_time_pose/real_time_pose.rst
@@ -19,8 +19,8 @@ The application will have the followings parts:
    + Take input from Camera or Video.
    + Extract ORB features and descriptors from the scene.
    + Match scene descriptors with model descriptors using Flann matcher.
-   + Estimate pose using PnP + Ransac.
-   + Use Linear Kalman Filter to reject bad poses.
+   + Pose estimation using PnP + Ransac.
+   + Linear Kalman Filter for bad poses rejection.
 
 
 Theory
@@ -80,7 +80,7 @@ Here is explained in detail the code for the real time application:
 
 **1. Read 3D textured object model and object mesh.**
 
-In order to load the textured model I implemented the *class* **Model** which has the function *load()* that opens a YAML file and take the stored 3D points with its corresponding descriptors. You can find an example of a 3D textured model in :file:`samples/cpp/tutorial_code/calib3d/real_time_pose_estimation/Data/cookies_ORB.yml` or :download:`download from here <./../../../samples/cpp/tutorial_code/calib3d/real_time_pose_estimation/Data/cookies_ORB.yml>`.
+In order to load the textured model I implemented the *class* **Model** which has the function *load()* that opens a YAML file and take the stored 3D points with its corresponding descriptors. You can find an example of a 3D textured model in :file:`samples/cpp/tutorial_code/calib3d/real_time_pose_estimation/Data/cookies_ORB.yml`.
 
    .. code-block:: cpp
 
@@ -108,7 +108,7 @@ In the main program the model is loaded as follows:
 
 
 
-In order to read the model mesh I implemented a *class* **Mesh** which has a function *load()* that opens a *.ply file and store the 3D points of the object and also the composed triangles. You can find an example of a model mesh in :file:`samples/cpp/tutorial_code/calib3d/real_time_pose_estimation/Data/box.ply` or :download:`download from here <./../../../samples/cpp/tutorial_code/calib3d/real_time_pose_estimation/Data/box.ply>`.
+In order to read the model mesh I implemented a *class* **Mesh** which has a function *load()* that opens a :math:`*`.ply file and store the 3D points of the object and also the composed triangles. You can find an example of a model mesh in :file:`samples/cpp/tutorial_code/calib3d/real_time_pose_estimation/Data/box.ply`.
 
    .. code-block:: cpp
 
@@ -142,7 +142,7 @@ In the main program the mesh is loaded as follows:
 
 **2. Take input from Camera or Video**
 
-To detect is necessary capture video. It's done loading a recorded video by passing the absolute path where it is located in your machine or using the default camera device:
+To detect is necessary capture video. It's done loading a recorded video by passing the absolute path where it is located in your machine or using the default camera device. In order to test the application you can find a recorded video in :file:`samples/cpp/tutorial_code/calib3d/real_time_pose_estimation/Data/box.mp4`.
 
   .. code-block:: cpp
 
@@ -195,7 +195,7 @@ The features and descriptors will be computed by the *RobustMatcher* inside the
 
 It is the first step in our detection algorithm. The main idea is to match the scene descriptors with our model descriptors in order to know the 3D coordinates of the found features into the current scene.
 
-First, we have to set which matcher we want to use. In this case is used *FlannBased* matcher which in terms of computational cost is faster than the *BruteForce* matcher as we increase the trained collectction of features. Then, for FlannBased matcher the index created is *Multi-Probe LSH: Efficient Indexing for High-Dimensional Similarity Search* due to *ORB* descriptors are binary. 
+Firstly, we have to set which matcher we want to use. In this case is used *FlannBased* matcher which in terms of computational cost is faster than the *BruteForce* matcher as we increase the trained collectction of features. Then, for FlannBased matcher the index created is *Multi-Probe LSH: Efficient Indexing for High-Dimensional Similarity Search* due to *ORB* descriptors are binary. 
 
 You can tune the *LSH* and search parameters to improve the matching efficiency:
 
@@ -208,7 +208,7 @@ You can tune the *LSH* and search parameters to improve the matching efficiency:
 	rmatcher.setDescriptorMatcher(matcher);                                                         // set matcher
 
 
-Secondly, we have to call the matcher by using *robustMatch()* or *fastRobustMatch()* function. The difference of using this two functions is its computational cost. The first method is slower but more robust at filtering good matches due to that uses two ratio test and a symmetry test. In contrast, the second method is faster but less robust due to that only applies a single ratio test to the matches.
+Secondly, we have to call the matcher by using *robustMatch()* or *fastRobustMatch()* function. The difference of using this two functions is its computational cost. The first method is slower but more robust at filtering good matches because uses two ratio test and a symmetry test. In contrast, the second method is faster but less robust because only applies a single ratio test to the matches.
 
 The following code is to get the model 3D points and its descriptors and then call the matcher in the main program:
 
@@ -235,7 +235,7 @@ The following code is to get the model 3D points and its descriptors and then ca
 		rmatcher.robustMatch(frame, good_matches, keypoints_scene, descriptors_model);
 	}
 
-The following code corresponds to the *robustMatch()* function which belongs to the *RobustMatcher* class. This function uses the given image to detect the keypoints and extract the descriptors, match using *2 Nearest Neighbour* the extracted descriptors with the given model descriptors and vice versa. Then, is applied a ratio test to the two direction matches in order to remove these matches which its distance ratio between the first and second best match is larger than a given threshold. Finally, a symmetry test is applied in order the remove non symmetrical matches.
+The following code corresponds to the *robustMatch()* function which belongs to the *RobustMatcher* class. This function uses the given image to detect the keypoints and extract the descriptors, match using *two Nearest Neighbour* the extracted descriptors with the given model descriptors and vice versa. Then, a ratio test is applied to the two direction matches in order to remove these matches which its distance ratio between the first and second best match is larger than a given threshold. Finally, a symmetry test is applied in order the remove non symmetrical matches.
 
    .. code-block:: cpp
 
@@ -271,7 +271,7 @@ The following code corresponds to the *robustMatch()* function which belongs to
 
 	}
 
-After the matches filtering we have to get the 2D an 3D correspondences using the obtained *DMatches* vector. For more information about :core:`DMatch <dmatch>` check the documentation.
+After the matches filtering we have to subtract the 2D and 3D correspondences from the found scene keypoints and our 3D model using the obtained *DMatches* vector. For more information about :core:`DMatch <dmatch>` check the documentation.
 
    .. code-block:: cpp
 
@@ -289,11 +289,11 @@ After the matches filtering we have to get the 2D an 3D correspondences using th
 	}
 
 
-**5. Estimate pose using PnP + Ransac**
+**5. Pose estimation using PnP + Ransac**
 
-With the 2D and 3D correspondences we have to apply the PnP algorithm using :calib3d:`solvePnPRansac() <solvepnpransac>` function in order to estimate the camera pose. The reason why we have to use :calib3d:`solvePnPRansac() <solvepnpransac>` instead of :calib3d:`solvePnP() <solvepnp>` is due to the fact that after the matching not all the found correspondences are correct and may be there are bad correspondences or also called *outliers*. The `Random Sample Consensus <http://en.wikipedia.org/wiki/RANSAC>`_ or *Ransac* is a non-deterministic iterative method which estimate parameters of a mathematical model from observed data producing an aproximate result as the number of iterations increase. After appyling *Ransac* all these *outliers* will be eliminated to then estimate the camera pose with a certain probability.
+Once with the 2D and 3D correspondences we have to apply the PnP algorithm using :calib3d:`solvePnPRansac <solvepnpransac>` function in order to estimate the camera pose. The reason why we have to use :calib3d:`solvePnPRansac <solvepnpransac>` instead of :calib3d:`solvePnP <solvepnp>` is due to the fact that after the matching not all the found correspondences are correct and, as like as not, there are false correspondences or also called *outliers*. The `Random Sample Consensus <http://en.wikipedia.org/wiki/RANSAC>`_ or *Ransac* is a non-deterministic iterative method which estimate parameters of a mathematical model from observed data producing an aproximate result as the number of iterations increase. After appyling *Ransac* all the *outliers* will be eliminated to then estimate the camera pose with a certain probability to obtain a good solution.
 
-For the camera pose estimation I have implemented a *class* **PnPProblem**. This *class* has 4 atributes: a given calibration matrix, the rotation matrix, the translation matrix and the rotation-translation matrix. To declare it we need the intrinsic calibration parameters of the camera which you will use to estimate the pose. To obtain these parameters you can check :ref:`CameraCalibrationSquareChessBoardTutorial` and :ref:`cameraCalibrationOpenCV` tutorials. 
+For the camera pose estimation I have implemented a *class* **PnPProblem**. This *class* has 4 atributes: a given calibration matrix, the rotation matrix, the translation matrix and the rotation-translation matrix. The intrinsic calibration parameters of the camera which you are using to estimate the pose are necessary. In order to obtain the parameters you can check :ref:`CameraCalibrationSquareChessBoardTutorial` and :ref:`cameraCalibrationOpenCV` tutorials. 
 
 The following code is how to declare the *PnPProblem class* in the main program:
 
@@ -334,11 +334,11 @@ The following code is how the *PnPProblem class* initialises its atributes:
 
 	}
 
-OpenCV provides four PnP methods: ITERATIVE, EPNP, P3P and ? . If we want a real time time application the more suitable methods are EPNP and P3P due to are faster than ITERATIVE finding a solution. Otherwise, EPNP and P3P are not robust especially in front of planar surfaces and sometimes the pose estimation seems to have like a mirror effect. Therefore, in this this tutorial is used ITERATIVE method due to the object to be detected has planar surfaces.
+OpenCV provides four PnP methods: ITERATIVE, EPNP, P3P and DLS. Depending on the application that we want, the estimation method will be different. In the case that we want a real time time application the more suitable methods are EPNP and P3P due to that are faster than ITERATIVE and DLS at finding an optimal solution. Otherwise, EPNP and P3P are not especially robust in front of planar surfaces and sometimes the pose estimation seems to have like a mirror effect. Therefore, in this this tutorial is used ITERATIVE method due to the object to be detected has planar surfaces.
 
 The OpenCV Ransac implementation wants you to provide three parameters: the maximum number of iterations until stop the algorithm, the maximum allowed distance between the observed and computed point projections to consider it an inlier and the confidence to obtain a result. You can tune these paramaters in order to improve your algorithm performance. Increasing the number of iterations you will have a more accurate solution, but will take more time to find a solution. Increasing the reprojection error will reduce the computation time, but your solution will be unaccurate. Decreasing the confidence your arlgorithm will be faster, but the obtained solution will also be unaccurate.
 
-The following parameters works for this application:
+The following parameters work for this application:
   
    .. code-block:: cpp
 
@@ -378,7 +378,7 @@ The following code corresponds to the *estimatePoseRANSAC()* function which belo
 
 	}   
 
-In the following code are the 3th and 4th steps of the main algorithm. The first, calling the above function and the second taking the output inliers vector from Ransac to get the 2D scene points for drawing purpose. As seen in the code we must be sure to apply Ransac if we have matches, in the other case, the function :calib3d:`solvePnPRansac() <solvepnpransac>` crashes due to some OpenCV *bug*.
+In the following code are the 3th and 4th steps of the main algorithm. The first, calling the above function and the second taking the output inliers vector from Ransac to get the 2D scene points for drawing purpose. As seen in the code we must be sure to apply Ransac if we have matches, in the other case, the function :calib3d:`solvePnPRansac <solvepnpransac>` crashes due to any OpenCV *bug*.
 
    .. code-block:: cpp
 
@@ -402,7 +402,7 @@ In the following code are the 3th and 4th steps of the main algorithm. The first
 
 Finally, once the camera pose has been estimated we can use the :math:`R` and :math:`t` in order to compute the 2D projection onto the image of a given 3D point expressed in a world reference frame using the showed formula on *Theory*. 
 
-The following code corresponds to the *backproject3DPoint()* function which belongs to the *PnPProblem class*. This function backproject a given 3D point expressed in a world reference frame onto a 2D image:
+The following code corresponds to the *backproject3DPoint()* function which belongs to the *PnPProblem class*. The function backproject a given 3D point expressed in a world reference frame onto a 2D image:
 
    .. code-block:: cpp
 
@@ -429,22 +429,22 @@ The following code corresponds to the *backproject3DPoint()* function which belo
 		return point2d;
 	}
 
-The above function then is used to compute all the 3D points of the object *Mesh* to show the pose of the object.
+The above function is used to compute all the 3D points of the object *Mesh* to show the pose of the object.
 
 
-**6. Use Linear Kalman Filter to reject bad poses**
+**6. Linear Kalman Filter for bad poses rejection**
 
-Is it common in computer vision or robotics fields that after applying detection or tracking techniques bad results are obtained due to some sensor errors. In order to avoid these bad detections in this tutorialis explained how to implement a Linear Kalman Filter after getting a good pose estimation. The definition of a good pose is arbitrary, so here we will define good pose as a detection with high number of inliers.
+Is it common in computer vision or robotics fields that after applying detection or tracking techniques, bad results are obtained due to some sensor errors. In order to avoid these bad detections in this tutorial is explained how to implement a Linear Kalman Filter. The Kalman Filter will be applied after detected a given number of inliers.
 
 You can find more information about what `Kalman Filter <http://en.wikipedia.org/wiki/Kalman_filter>`_ is. In this tutorial it's used the OpenCV implementation of the :video:`Kalman Filter <kalmanfilter>` based on `Linear Kalman Filter for position and orientation tracking <http://campar.in.tum.de/Chair/KalmanFilter>`_ to set the dynamics and measurement models.
 
-First, we have to define our state vector which will have 18 states: the positional data (x,y,z) with its first and second derivatives (velocity and acceleration), then rotation is added in form of three euler angles (roll, pitch, jaw) together with their first and second derivatives (angular velocity and acceleration)
+Firstly, we have to define our state vector which will have 18 states: the positional data (x,y,z) with its first and second derivatives (velocity and acceleration), then rotation is added in form of three euler angles (roll, pitch, jaw) together with their first and second derivatives (angular velocity and acceleration)
 
    .. math::
 
 	X = (x,y,z,\dot x,\dot y,\dot z,\ddot x,\ddot y,\ddot z,\psi,\theta,\phi,\dot \psi,\dot \theta,\dot \phi,\ddot \psi,\ddot \theta,\ddot \phi)^T
 
-Secondly, we have to define the number of measuremnts which will be 6: from :math:`R` and :math:`t` we can extract :math:`(x,y,z)` and :math:`(\psi,\theta,\phi)`. Thirdly, we have t define the number of control actions to apply to the system which in this case will be *zero*. Finally, we have to define the differential time between the measurements which in this case is :math:`1/T`, where *T* is the frame rate of the video.
+Secondly, we have to define the number of measuremnts which will be 6: from :math:`R` and :math:`t` we can extract :math:`(x,y,z)` and :math:`(\psi,\theta,\phi)`. In addition, we have to define the number of control actions to apply to the system which in this case will be *zero*. Finally, we have to define the differential time between measurements which in this case is :math:`1/T`, where *T* is the frame rate of the video.
 
    .. code-block:: cpp
 
@@ -459,9 +459,9 @@ Secondly, we have to define the number of measuremnts which will be 6: from :mat
 	initKalmanFilter(KF, nStates, nMeasurements, nInputs, dt);    // init function
 
 
-The following code corresponds to the Kalman Filter initialisation. First, is set the process noise, the measurement noise and the error covariance matrix. Secondly, are set the transition matrix which is the dynamic model and then the measurement matrix which is the measurement model. 
+The following code corresponds to the Kalman Filter initialisation. Firstly, is set the process noise, the measurement noise and the error covariance matrix. Secondly, are set the transition matrix which is the dynamic model and finally the measurement matrix, which is the measurement model. 
 
-You can tune the process and measurement noise to improve the Kalman Filter performance. As you reduce the measurement noise the faster will converge but will be more sensible in front of bad measurements.
+You can tune the process and measurement noise to improve the Kalman Filter performance. As the measurement noise is reduced the faster will converge doing the algorithm sensitive in front of bad measurements.
 
    .. code-block:: cpp
 
@@ -540,7 +540,7 @@ You can tune the process and measurement noise to improve the Kalman Filter perf
 
 	}
 
-In the following code is 5th step of the main algorithm. When the obtained number of inliers after *Ransac* is over the threshold, the measurements matrix is filled and then the Kalman Filter is updated:
+In the following code is the 5th step of the main algorithm. When the obtained number of inliers after *Ransac* is over the threshold, the measurements matrix is filled and then the Kalman Filter is updated:
 
    .. code-block:: cpp
 
@@ -651,7 +651,7 @@ The last and optional step is draw the found pose. To do it I implemented a func
 Results
 =======
 
-The following videos are the results of pose estimation in real time using the explained detection algorithm with the following parameters:
+The following videos are the results of pose estimation in real time using the explained detection algorithm using the following parameters:
 
    .. code-block:: cpp
 
@@ -674,10 +674,15 @@ The following videos are the results of pose estimation in real time using the e
 	int minInliersKalman = 30;    // Kalman threshold updating
 
 
+You can watch the real time pose estimation on the `YouTube here <https://www.youtube.com/watch?v=msFFuHsiUns>`_.
+
+
 .. raw:: html
 
    <div align="center">
-   <iframe width="560" height="315" src="//www.youtube.com/embed/msFFuHsiUns?rel=0" frameborder="0" allowfullscreen></iframe>
+   <iframe></iframe>
    </div>
 
-
+   <div align="center">
+   <iframe title=" Pose estimation for the Google Summer Code 2014 using OpenCV libraries." width="560" height="349" src="http://www.youtube.com/embed/msFFuHsiUns?rel=0&loop=1" frameborder="0" allowfullscreen align="middle"></iframe>
+   </div>

From 08e8f9ca45f4020559fda136679a24ad1fd4d8f2 Mon Sep 17 00:00:00 2001
From: edgarriba <edgar.riba@gmail.com>
Date: Thu, 31 Jul 2014 11:47:26 +0200
Subject: [PATCH 050/112] Added some definitions

---
 doc/conf.py | 2 ++
 1 file changed, 2 insertions(+)

diff --git a/doc/conf.py b/doc/conf.py
index a0c231c3b5..ab40faad30 100755
--- a/doc/conf.py
+++ b/doc/conf.py
@@ -323,6 +323,7 @@ extlinks = {
             'imgproc_geometric' : ('http://docs.opencv.org/modules/imgproc/doc/geometric_transformations.html#%s', None ),
             'miscellaneous_transformations' : ('http://docs.opencv.org/modules/imgproc/doc/miscellaneous_transformations.html#%s', None),
             'user_interface' : ('http://docs.opencv.org/modules/highgui/doc/user_interface.html#%s', None),
+            'video' : ('http://docs.opencv.org/modules/video/doc/motion_analysis_and_object_tracking.html#%s', None),
 
             # 'opencv_group' : ('http://answers.opencv.org/%s', None),
             'opencv_qa' : ('http://answers.opencv.org/%s', None),
@@ -400,6 +401,7 @@ extlinks = {
             'contour_area' : ('http://docs.opencv.org/modules/imgproc/doc/structural_analysis_and_shape_descriptors.html?highlight=contourarea#contourarea%s', None),
             'arc_length' : ('http://docs.opencv.org/modules/imgproc/doc/structural_analysis_and_shape_descriptors.html?highlight=arclength#arclength%s', None),
             'point_polygon_test' : ('http://docs.opencv.org/modules/imgproc/doc/structural_analysis_and_shape_descriptors.html?highlight=pointpolygontest#pointpolygontest%s', None),
+            'feature_detection_and_description' : ('http://docs.opencv.org/modules/features2d/doc/feature_detection_and_description.html#%s', None),
             'feature_detector' : ( 'http://docs.opencv.org/modules/features2d/doc/common_interfaces_of_feature_detectors.html?highlight=featuredetector#FeatureDetector%s', None),
             'feature_detector_detect' : ('http://docs.opencv.org/modules/features2d/doc/common_interfaces_of_feature_detectors.html?highlight=detect#featuredetector-detect%s', None ),
             'surf_feature_detector' : ('http://docs.opencv.org/modules/features2d/doc/common_interfaces_of_feature_detectors.html?highlight=surffeaturedetector#surffeaturedetector%s', None ),

From 56704b5e95dcc6b7c9fe521e97383c4130e661b7 Mon Sep 17 00:00:00 2001
From: edgarriba <edgar.riba@gmail.com>
Date: Thu, 31 Jul 2014 11:47:59 +0200
Subject: [PATCH 051/112] Update tutorial

---
 .../calib3d/real_time_pose/real_time_pose.rst | 27 +++++++++----------
 1 file changed, 12 insertions(+), 15 deletions(-)

diff --git a/doc/tutorials/calib3d/real_time_pose/real_time_pose.rst b/doc/tutorials/calib3d/real_time_pose/real_time_pose.rst
index ca824e4a7e..7b05143e8b 100644
--- a/doc/tutorials/calib3d/real_time_pose/real_time_pose.rst
+++ b/doc/tutorials/calib3d/real_time_pose/real_time_pose.rst
@@ -70,7 +70,7 @@ The application starts up extracting the ORB features and descriptors from the i
 
 The aim of this application is estimate in real time the object pose given its 3D textured model. 
 
-The application starts up loading the 3D textured model in YAML file format with the same structure explained in the model registration program. From the scene the ORB features and descriptors are detected and extracted. Then, is used :features2d:`FlannBasedMatcher <flannbasedmatcher>` with :flann:`LshIndexParams <flann-index-t-index>` to do the matching between the scene descriptors and the model descriptors. Using the found matches along with :calib3d:`solvePnPRansac() <solvepnpransac>` function the :math:`R` and :math:`t` of the camera are computed. Finally, a :video:`Linear Kalman Filter <kalmanfilter>` is applied in order to reject bad poses.
+The application starts up loading the 3D textured model in YAML file format with the same structure explained in the model registration program. From the scene the ORB features and descriptors are detected and extracted. Then, is used :flann_based_matcher:`FlannBasedMatcher<>` with :flann:`LshIndexParams <flann-index-t-index>` to do the matching between the scene descriptors and the model descriptors. Using the found matches along with :calib3d:`solvePnPRansac <solvepnpransac>` function the :math:`R` and :math:`t` of the camera are computed. Finally, a :video:`KalmanFilter<kalmanfilter>` is applied in order to reject bad poses.
 
 
 Explanation
@@ -174,7 +174,7 @@ Then the algorithm is computed frame per frame:
 
 **3. Extract ORB features and descriptors from the scene**
 
-The next step is to detect the scene features and extract it descriptors. For this task I implemented a *class* **RobustMatcher** which has a function for keypoints detection and features extraction. You can find it in :file:`samples/cpp/tutorial_code/calib3d/real_time_pose_estimation/src/RobusMatcher.cpp`. In your *RobusMatch* object you can use any of the 2D features detectors of OpenCV. In this case I used ORB features because is based on FAST to detect the keypoints and BRIEF to extract the descriptors which means that is fast and robust to rotations. You can find more detailed information about ORB :features2d:`here <orb>` in the documentation. 
+The next step is to detect the scene features and extract it descriptors. For this task I implemented a *class* **RobustMatcher** which has a function for keypoints detection and features extraction. You can find it in :file:`samples/cpp/tutorial_code/calib3d/real_time_pose_estimation/src/RobusMatcher.cpp`. In your *RobusMatch* object you can use any of the 2D features detectors of OpenCV. In this case I used :feature_detection_and_description:`ORB<orb>` features because is based on :feature_detection_and_description:`FAST<fast>` to detect the keypoints and :descriptor_extractor:`BRIEF<briefdescriptorextractor>` to extract the descriptors which means that is fast and robust to rotations. You can find more detailed information about *ORB* in the documentation. 
 
 The following code is how to instantiate and set the features detector and the descriptors extractor:
 
@@ -195,7 +195,7 @@ The features and descriptors will be computed by the *RobustMatcher* inside the
 
 It is the first step in our detection algorithm. The main idea is to match the scene descriptors with our model descriptors in order to know the 3D coordinates of the found features into the current scene.
 
-Firstly, we have to set which matcher we want to use. In this case is used *FlannBased* matcher which in terms of computational cost is faster than the *BruteForce* matcher as we increase the trained collectction of features. Then, for FlannBased matcher the index created is *Multi-Probe LSH: Efficient Indexing for High-Dimensional Similarity Search* due to *ORB* descriptors are binary. 
+Firstly, we have to set which matcher we want to use. In this case is used :flann_based_matcher:`FlannBasedMatcher<>` matcher which in terms of computational cost is faster than the :brute_force_matcher:`BruteForceMatcher<bfmatcher>` matcher as we increase the trained collectction of features. Then, for FlannBased matcher the index created is *Multi-Probe LSH: Efficient Indexing for High-Dimensional Similarity Search* due to *ORB* descriptors are binary. 
 
 You can tune the *LSH* and search parameters to improve the matching efficiency:
 
@@ -271,7 +271,7 @@ The following code corresponds to the *robustMatch()* function which belongs to
 
 	}
 
-After the matches filtering we have to subtract the 2D and 3D correspondences from the found scene keypoints and our 3D model using the obtained *DMatches* vector. For more information about :core:`DMatch <dmatch>` check the documentation.
+After the matches filtering we have to subtract the 2D and 3D correspondences from the found scene keypoints and our 3D model using the obtained *DMatches* vector. For more information about :basicstructures:`DMatch <dmatch>` check the documentation.
 
    .. code-block:: cpp
 
@@ -291,7 +291,7 @@ After the matches filtering we have to subtract the 2D and 3D correspondences fr
 
 **5. Pose estimation using PnP + Ransac**
 
-Once with the 2D and 3D correspondences we have to apply the PnP algorithm using :calib3d:`solvePnPRansac <solvepnpransac>` function in order to estimate the camera pose. The reason why we have to use :calib3d:`solvePnPRansac <solvepnpransac>` instead of :calib3d:`solvePnP <solvepnp>` is due to the fact that after the matching not all the found correspondences are correct and, as like as not, there are false correspondences or also called *outliers*. The `Random Sample Consensus <http://en.wikipedia.org/wiki/RANSAC>`_ or *Ransac* is a non-deterministic iterative method which estimate parameters of a mathematical model from observed data producing an aproximate result as the number of iterations increase. After appyling *Ransac* all the *outliers* will be eliminated to then estimate the camera pose with a certain probability to obtain a good solution.
+Once with the 2D and 3D correspondences we have to apply a PnP algorithm in order to estimate the camera pose. The reason why we have to use :calib3d:`solvePnPRansac <solvepnpransac>` instead of :calib3d:`solvePnP <solvepnp>` is due to the fact that after the matching not all the found correspondences are correct and, as like as not, there are false correspondences or also called *outliers*. The `Random Sample Consensus <http://en.wikipedia.org/wiki/RANSAC>`_ or *Ransac* is a non-deterministic iterative method which estimate parameters of a mathematical model from observed data producing an aproximate result as the number of iterations increase. After appyling *Ransac* all the *outliers* will be eliminated to then estimate the camera pose with a certain probability to obtain a good solution.
 
 For the camera pose estimation I have implemented a *class* **PnPProblem**. This *class* has 4 atributes: a given calibration matrix, the rotation matrix, the translation matrix and the rotation-translation matrix. The intrinsic calibration parameters of the camera which you are using to estimate the pose are necessary. In order to obtain the parameters you can check :ref:`CameraCalibrationSquareChessBoardTutorial` and :ref:`cameraCalibrationOpenCV` tutorials. 
 
@@ -334,9 +334,9 @@ The following code is how the *PnPProblem class* initialises its atributes:
 
 	}
 
-OpenCV provides four PnP methods: ITERATIVE, EPNP, P3P and DLS. Depending on the application that we want, the estimation method will be different. In the case that we want a real time time application the more suitable methods are EPNP and P3P due to that are faster than ITERATIVE and DLS at finding an optimal solution. Otherwise, EPNP and P3P are not especially robust in front of planar surfaces and sometimes the pose estimation seems to have like a mirror effect. Therefore, in this this tutorial is used ITERATIVE method due to the object to be detected has planar surfaces.
+OpenCV provides four PnP methods: ITERATIVE, EPNP, P3P and DLS. Depending on the application type, the estimation method will be different. In the case that we want to make a real time application, the more suitable methods are EPNP and P3P due to that are faster than ITERATIVE and DLS at finding an optimal solution. However, EPNP and P3P are not especially robust in front of planar surfaces and sometimes the pose estimation seems to have a mirror effect. Therefore, in this this tutorial is used ITERATIVE method due to the object to be detected has planar surfaces.
 
-The OpenCV Ransac implementation wants you to provide three parameters: the maximum number of iterations until stop the algorithm, the maximum allowed distance between the observed and computed point projections to consider it an inlier and the confidence to obtain a result. You can tune these paramaters in order to improve your algorithm performance. Increasing the number of iterations you will have a more accurate solution, but will take more time to find a solution. Increasing the reprojection error will reduce the computation time, but your solution will be unaccurate. Decreasing the confidence your arlgorithm will be faster, but the obtained solution will also be unaccurate.
+The OpenCV Ransac implementation wants you to provide three parameters: the maximum number of iterations until stop the algorithm, the maximum allowed distance between the observed and computed point projections to consider it an inlier and the confidence to obtain a good result. You can tune these paramaters in order to improve your algorithm performance. Increasing the number of iterations you will have a more accurate solution, but will take more time to find a solution. Increasing the reprojection error will reduce the computation time, but your solution will be unaccurate. Decreasing the confidence your arlgorithm will be faster, but the obtained solution will be unaccurate.
 
 The following parameters work for this application:
   
@@ -459,9 +459,9 @@ Secondly, we have to define the number of measuremnts which will be 6: from :mat
 	initKalmanFilter(KF, nStates, nMeasurements, nInputs, dt);    // init function
 
 
-The following code corresponds to the Kalman Filter initialisation. Firstly, is set the process noise, the measurement noise and the error covariance matrix. Secondly, are set the transition matrix which is the dynamic model and finally the measurement matrix, which is the measurement model. 
+The following code corresponds to the *Kalman Filter* initialisation. Firstly, is set the process noise, the measurement noise and the error covariance matrix. Secondly, are set the transition matrix which is the dynamic model and finally the measurement matrix, which is the measurement model. 
 
-You can tune the process and measurement noise to improve the Kalman Filter performance. As the measurement noise is reduced the faster will converge doing the algorithm sensitive in front of bad measurements.
+You can tune the process and measurement noise to improve the *Kalman Filter* performance. As the measurement noise is reduced the faster will converge doing the algorithm sensitive in front of bad measurements.
 
    .. code-block:: cpp
 
@@ -540,7 +540,7 @@ You can tune the process and measurement noise to improve the Kalman Filter perf
 
 	}
 
-In the following code is the 5th step of the main algorithm. When the obtained number of inliers after *Ransac* is over the threshold, the measurements matrix is filled and then the Kalman Filter is updated:
+In the following code is the 5th step of the main algorithm. When the obtained number of inliers after *Ransac* is over the threshold, the measurements matrix is filled and then the *Kalman Filter* is updated:
 
    .. code-block:: cpp
 
@@ -676,13 +676,10 @@ The following videos are the results of pose estimation in real time using the e
 
 You can watch the real time pose estimation on the `YouTube here <https://www.youtube.com/watch?v=msFFuHsiUns>`_.
 
-
 .. raw:: html
 
-   <div align="center">
-   <iframe></iframe>
-   </div>
-
    <div align="center">
    <iframe title=" Pose estimation for the Google Summer Code 2014 using OpenCV libraries." width="560" height="349" src="http://www.youtube.com/embed/msFFuHsiUns?rel=0&loop=1" frameborder="0" allowfullscreen align="middle"></iframe>
    </div>
+
+

From 3e2a57ff3561dea07a772250b2dc54dcd8352a09 Mon Sep 17 00:00:00 2001
From: edgarriba <edgar.riba@gmail.com>
Date: Fri, 1 Aug 2014 10:48:39 +0200
Subject: [PATCH 052/112] Update for non Eigen users

---
 modules/calib3d/src/dls.cpp      |  17 +-
 modules/calib3d/src/dls.h        | 694 ++++++++++++++++++++++++++++++-
 modules/calib3d/src/solvepnp.cpp |   8 +-
 3 files changed, 702 insertions(+), 17 deletions(-)

diff --git a/modules/calib3d/src/dls.cpp b/modules/calib3d/src/dls.cpp
index c8d9260fba..ef1ad58140 100644
--- a/modules/calib3d/src/dls.cpp
+++ b/modules/calib3d/src/dls.cpp
@@ -12,15 +12,12 @@
 #  include "opencv2/core/eigen.hpp"
 #endif
 
-
-//#include <Eigen/Eigenvalues>
-//#include <Eigen/Core>
-
 using namespace std;
 
 dls::dls(const cv::Mat& opoints, const cv::Mat& ipoints)
 {
 
+
 	N =  std::max(opoints.checkVector(3, CV_32F), opoints.checkVector(3, CV_64F));
 	p = cv::Mat(3, N, CV_64F);
 	z = cv::Mat(3, N, CV_64F);
@@ -136,8 +133,6 @@ void dls::run_kernel(const cv::Mat& pp)
 	int count = 0;
 	for (int k = 0; k < 27; ++k)
 	{
-		// TODO: solve implementation for complex numbers
-
 		//  V(:,k) = V(:,k)/V(1,k);
 		cv::Mat V_kA = eigenvec_r.col(k); // 27x1
 		cv::Mat V_kB = cv::Mat(1, 1, z.depth(), V_kA.at<double>(0)); // 1x1
@@ -145,9 +140,11 @@ void dls::run_kernel(const cv::Mat& pp)
 		cv::Mat( V_k.t()).copyTo( eigenvec_r.col(k) );
 
 		//if (imag(V(2,k)) == 0)
+#ifdef HAVE_EIGEN
 		const double epsilon = 1e-4;
 	    if( eigenval_i.at<double>(k,0) >= -epsilon && eigenval_i.at<double>(k,0) <= epsilon )
-		{ // it should work without checking imaginari part
+#endif
+		{
 
 			double stmp[3];
 			stmp[0] = eigenvec_r.at<double>(9, k);
@@ -282,8 +279,6 @@ void dls::build_coeff_matrix(const cv::Mat& pp, cv::Mat& Mtilde, cv::Mat& D)
 void dls::compute_eigenvec(const cv::Mat& Mtilde, cv::Mat& eigenval_real, cv::Mat& eigenval_imag,
         										  cv::Mat& eigenvec_real, cv::Mat& eigenvec_imag)
 {
-	// EIGENVALUES AND EIGENVECTORS
-
 #ifdef HAVE_EIGEN
 	Eigen::MatrixXd Mtilde_eig, zeros_eig;
 	cv::cv2eigen(Mtilde, Mtilde_eig);
@@ -305,6 +300,10 @@ void dls::compute_eigenvec(const cv::Mat& Mtilde, cv::Mat& eigenval_real, cv::Ma
 	cv::eigen2cv(eigval_imag, eigenval_imag);
 	cv::eigen2cv(eigvec_real, eigenvec_real);
 	cv::eigen2cv(eigvec_imag, eigenvec_imag);
+#else
+	EigenvalueDecomposition es(Mtilde);
+	eigenval_real = es.eigenvalues();
+	eigenvec_real = es.eigenvectors();
 #endif
 
 }
diff --git a/modules/calib3d/src/dls.h b/modules/calib3d/src/dls.h
index a8250fa5c0..83f014f805 100644
--- a/modules/calib3d/src/dls.h
+++ b/modules/calib3d/src/dls.h
@@ -4,7 +4,7 @@
 #include "precomp.hpp"
 
 using namespace std;
-
+using namespace cv;
 
 class dls
 {
@@ -66,4 +66,696 @@ private:
 	double cost__;							// optimal found solution
 };
 
+
+class EigenvalueDecomposition {
+private:
+
+    // Holds the data dimension.
+    int n;
+
+    // Stores real/imag part of a complex division.
+    double cdivr, cdivi;
+
+    // Pointer to internal memory.
+    double *d, *e, *ort;
+    double **V, **H;
+
+    // Holds the computed eigenvalues.
+    Mat _eigenvalues;
+
+    // Holds the computed eigenvectors.
+    Mat _eigenvectors;
+
+    // Allocates memory.
+    template<typename _Tp>
+    _Tp *alloc_1d(int m) {
+        return new _Tp[m];
+    }
+
+    // Allocates memory.
+    template<typename _Tp>
+    _Tp *alloc_1d(int m, _Tp val) {
+        _Tp *arr = alloc_1d<_Tp> (m);
+        for (int i = 0; i < m; i++)
+            arr[i] = val;
+        return arr;
+    }
+
+    // Allocates memory.
+    template<typename _Tp>
+    _Tp **alloc_2d(int m, int _n) {
+        _Tp **arr = new _Tp*[m];
+        for (int i = 0; i < m; i++)
+            arr[i] = new _Tp[_n];
+        return arr;
+    }
+
+    // Allocates memory.
+    template<typename _Tp>
+    _Tp **alloc_2d(int m, int _n, _Tp val) {
+        _Tp **arr = alloc_2d<_Tp> (m, _n);
+        for (int i = 0; i < m; i++) {
+            for (int j = 0; j < _n; j++) {
+                arr[i][j] = val;
+            }
+        }
+        return arr;
+    }
+
+    void cdiv(double xr, double xi, double yr, double yi) {
+        double r, dv;
+        if (std::abs(yr) > std::abs(yi)) {
+            r = yi / yr;
+            dv = yr + r * yi;
+            cdivr = (xr + r * xi) / dv;
+            cdivi = (xi - r * xr) / dv;
+        } else {
+            r = yr / yi;
+            dv = yi + r * yr;
+            cdivr = (r * xr + xi) / dv;
+            cdivi = (r * xi - xr) / dv;
+        }
+    }
+
+    // Nonsymmetric reduction from Hessenberg to real Schur form.
+
+    void hqr2() {
+
+        //  This is derived from the Algol procedure hqr2,
+        //  by Martin and Wilkinson, Handbook for Auto. Comp.,
+        //  Vol.ii-Linear Algebra, and the corresponding
+        //  Fortran subroutine in EISPACK.
+
+        // Initialize
+        int nn = this->n;
+        int n1 = nn - 1;
+        int low = 0;
+        int high = nn - 1;
+        double eps = std::pow(2.0, -52.0);
+        double exshift = 0.0;
+        double p = 0, q = 0, r = 0, s = 0, z = 0, t, w, x, y;
+
+        // Store roots isolated by balanc and compute matrix norm
+
+        double norm = 0.0;
+        for (int i = 0; i < nn; i++) {
+            if (i < low || i > high) {
+                d[i] = H[i][i];
+                e[i] = 0.0;
+            }
+            for (int j = std::max(i - 1, 0); j < nn; j++) {
+                norm = norm + std::abs(H[i][j]);
+            }
+        }
+
+        // Outer loop over eigenvalue index
+        int iter = 0;
+        while (n1 >= low) {
+
+            // Look for single small sub-diagonal element
+            int l = n1;
+            while (l > low) {
+                s = std::abs(H[l - 1][l - 1]) + std::abs(H[l][l]);
+                if (s == 0.0) {
+                    s = norm;
+                }
+                if (std::abs(H[l][l - 1]) < eps * s) {
+                    break;
+                }
+                l--;
+            }
+
+            // Check for convergence
+            // One root found
+
+            if (l == n1) {
+                H[n1][n1] = H[n1][n1] + exshift;
+                d[n1] = H[n1][n1];
+                e[n1] = 0.0;
+                n1--;
+                iter = 0;
+
+                // Two roots found
+
+            } else if (l == n1 - 1) {
+                w = H[n1][n1 - 1] * H[n1 - 1][n1];
+                p = (H[n1 - 1][n1 - 1] - H[n1][n1]) / 2.0;
+                q = p * p + w;
+                z = std::sqrt(std::abs(q));
+                H[n1][n1] = H[n1][n1] + exshift;
+                H[n1 - 1][n1 - 1] = H[n1 - 1][n1 - 1] + exshift;
+                x = H[n1][n1];
+
+                // Real pair
+
+                if (q >= 0) {
+                    if (p >= 0) {
+                        z = p + z;
+                    } else {
+                        z = p - z;
+                    }
+                    d[n1 - 1] = x + z;
+                    d[n1] = d[n1 - 1];
+                    if (z != 0.0) {
+                        d[n1] = x - w / z;
+                    }
+                    e[n1 - 1] = 0.0;
+                    e[n1] = 0.0;
+                    x = H[n1][n1 - 1];
+                    s = std::abs(x) + std::abs(z);
+                    p = x / s;
+                    q = z / s;
+                    r = std::sqrt(p * p + q * q);
+                    p = p / r;
+                    q = q / r;
+
+                    // Row modification
+
+                    for (int j = n1 - 1; j < nn; j++) {
+                        z = H[n1 - 1][j];
+                        H[n1 - 1][j] = q * z + p * H[n1][j];
+                        H[n1][j] = q * H[n1][j] - p * z;
+                    }
+
+                    // Column modification
+
+                    for (int i = 0; i <= n1; i++) {
+                        z = H[i][n1 - 1];
+                        H[i][n1 - 1] = q * z + p * H[i][n1];
+                        H[i][n1] = q * H[i][n1] - p * z;
+                    }
+
+                    // Accumulate transformations
+
+                    for (int i = low; i <= high; i++) {
+                        z = V[i][n1 - 1];
+                        V[i][n1 - 1] = q * z + p * V[i][n1];
+                        V[i][n1] = q * V[i][n1] - p * z;
+                    }
+
+                    // Complex pair
+
+                } else {
+                    d[n1 - 1] = x + p;
+                    d[n1] = x + p;
+                    e[n1 - 1] = z;
+                    e[n1] = -z;
+                }
+                n1 = n1 - 2;
+                iter = 0;
+
+                // No convergence yet
+
+            } else {
+
+                // Form shift
+
+                x = H[n1][n1];
+                y = 0.0;
+                w = 0.0;
+                if (l < n1) {
+                    y = H[n1 - 1][n1 - 1];
+                    w = H[n1][n1 - 1] * H[n1 - 1][n1];
+                }
+
+                // Wilkinson's original ad hoc shift
+
+                if (iter == 10) {
+                    exshift += x;
+                    for (int i = low; i <= n1; i++) {
+                        H[i][i] -= x;
+                    }
+                    s = std::abs(H[n1][n1 - 1]) + std::abs(H[n1 - 1][n1 - 2]);
+                    x = y = 0.75 * s;
+                    w = -0.4375 * s * s;
+                }
+
+                // MATLAB's new ad hoc shift
+
+                if (iter == 30) {
+                    s = (y - x) / 2.0;
+                    s = s * s + w;
+                    if (s > 0) {
+                        s = std::sqrt(s);
+                        if (y < x) {
+                            s = -s;
+                        }
+                        s = x - w / ((y - x) / 2.0 + s);
+                        for (int i = low; i <= n1; i++) {
+                            H[i][i] -= s;
+                        }
+                        exshift += s;
+                        x = y = w = 0.964;
+                    }
+                }
+
+                iter = iter + 1; // (Could check iteration count here.)
+
+                // Look for two consecutive small sub-diagonal elements
+                int m = n1 - 2;
+                while (m >= l) {
+                    z = H[m][m];
+                    r = x - z;
+                    s = y - z;
+                    p = (r * s - w) / H[m + 1][m] + H[m][m + 1];
+                    q = H[m + 1][m + 1] - z - r - s;
+                    r = H[m + 2][m + 1];
+                    s = std::abs(p) + std::abs(q) + std::abs(r);
+                    p = p / s;
+                    q = q / s;
+                    r = r / s;
+                    if (m == l) {
+                        break;
+                    }
+                    if (std::abs(H[m][m - 1]) * (std::abs(q) + std::abs(r)) < eps * (std::abs(p)
+                                                                                     * (std::abs(H[m - 1][m - 1]) + std::abs(z) + std::abs(
+                                                                                                                                           H[m + 1][m + 1])))) {
+                        break;
+                    }
+                    m--;
+                }
+
+                for (int i = m + 2; i <= n1; i++) {
+                    H[i][i - 2] = 0.0;
+                    if (i > m + 2) {
+                        H[i][i - 3] = 0.0;
+                    }
+                }
+
+                // Double QR step involving rows l:n and columns m:n
+
+                for (int k = m; k <= n1 - 1; k++) {
+                    bool notlast = (k != n1 - 1);
+                    if (k != m) {
+                        p = H[k][k - 1];
+                        q = H[k + 1][k - 1];
+                        r = (notlast ? H[k + 2][k - 1] : 0.0);
+                        x = std::abs(p) + std::abs(q) + std::abs(r);
+                        if (x != 0.0) {
+                            p = p / x;
+                            q = q / x;
+                            r = r / x;
+                        }
+                    }
+                    if (x == 0.0) {
+                        break;
+                    }
+                    s = std::sqrt(p * p + q * q + r * r);
+                    if (p < 0) {
+                        s = -s;
+                    }
+                    if (s != 0) {
+                        if (k != m) {
+                            H[k][k - 1] = -s * x;
+                        } else if (l != m) {
+                            H[k][k - 1] = -H[k][k - 1];
+                        }
+                        p = p + s;
+                        x = p / s;
+                        y = q / s;
+                        z = r / s;
+                        q = q / p;
+                        r = r / p;
+
+                        // Row modification
+
+                        for (int j = k; j < nn; j++) {
+                            p = H[k][j] + q * H[k + 1][j];
+                            if (notlast) {
+                                p = p + r * H[k + 2][j];
+                                H[k + 2][j] = H[k + 2][j] - p * z;
+                            }
+                            H[k][j] = H[k][j] - p * x;
+                            H[k + 1][j] = H[k + 1][j] - p * y;
+                        }
+
+                        // Column modification
+
+                        for (int i = 0; i <= std::min(n1, k + 3); i++) {
+                            p = x * H[i][k] + y * H[i][k + 1];
+                            if (notlast) {
+                                p = p + z * H[i][k + 2];
+                                H[i][k + 2] = H[i][k + 2] - p * r;
+                            }
+                            H[i][k] = H[i][k] - p;
+                            H[i][k + 1] = H[i][k + 1] - p * q;
+                        }
+
+                        // Accumulate transformations
+
+                        for (int i = low; i <= high; i++) {
+                            p = x * V[i][k] + y * V[i][k + 1];
+                            if (notlast) {
+                                p = p + z * V[i][k + 2];
+                                V[i][k + 2] = V[i][k + 2] - p * r;
+                            }
+                            V[i][k] = V[i][k] - p;
+                            V[i][k + 1] = V[i][k + 1] - p * q;
+                        }
+                    } // (s != 0)
+                } // k loop
+            } // check convergence
+        } // while (n1 >= low)
+
+        // Backsubstitute to find vectors of upper triangular form
+
+        if (norm == 0.0) {
+            return;
+        }
+
+        for (n1 = nn - 1; n1 >= 0; n1--) {
+            p = d[n1];
+            q = e[n1];
+
+            // Real vector
+
+            if (q == 0) {
+                int l = n1;
+                H[n1][n1] = 1.0;
+                for (int i = n1 - 1; i >= 0; i--) {
+                    w = H[i][i] - p;
+                    r = 0.0;
+                    for (int j = l; j <= n1; j++) {
+                        r = r + H[i][j] * H[j][n1];
+                    }
+                    if (e[i] < 0.0) {
+                        z = w;
+                        s = r;
+                    } else {
+                        l = i;
+                        if (e[i] == 0.0) {
+                            if (w != 0.0) {
+                                H[i][n1] = -r / w;
+                            } else {
+                                H[i][n1] = -r / (eps * norm);
+                            }
+
+                            // Solve real equations
+
+                        } else {
+                            x = H[i][i + 1];
+                            y = H[i + 1][i];
+                            q = (d[i] - p) * (d[i] - p) + e[i] * e[i];
+                            t = (x * s - z * r) / q;
+                            H[i][n1] = t;
+                            if (std::abs(x) > std::abs(z)) {
+                                H[i + 1][n1] = (-r - w * t) / x;
+                            } else {
+                                H[i + 1][n1] = (-s - y * t) / z;
+                            }
+                        }
+
+                        // Overflow control
+
+                        t = std::abs(H[i][n1]);
+                        if ((eps * t) * t > 1) {
+                            for (int j = i; j <= n1; j++) {
+                                H[j][n1] = H[j][n1] / t;
+                            }
+                        }
+                    }
+                }
+                // Complex vector
+            } else if (q < 0) {
+                int l = n1 - 1;
+
+                // Last vector component imaginary so matrix is triangular
+
+                if (std::abs(H[n1][n1 - 1]) > std::abs(H[n1 - 1][n1])) {
+                    H[n1 - 1][n1 - 1] = q / H[n1][n1 - 1];
+                    H[n1 - 1][n1] = -(H[n1][n1] - p) / H[n1][n1 - 1];
+                } else {
+                    cdiv(0.0, -H[n1 - 1][n1], H[n1 - 1][n1 - 1] - p, q);
+                    H[n1 - 1][n1 - 1] = cdivr;
+                    H[n1 - 1][n1] = cdivi;
+                }
+                H[n1][n1 - 1] = 0.0;
+                H[n1][n1] = 1.0;
+                for (int i = n1 - 2; i >= 0; i--) {
+                    double ra, sa, vr, vi;
+                    ra = 0.0;
+                    sa = 0.0;
+                    for (int j = l; j <= n1; j++) {
+                        ra = ra + H[i][j] * H[j][n1 - 1];
+                        sa = sa + H[i][j] * H[j][n1];
+                    }
+                    w = H[i][i] - p;
+
+                    if (e[i] < 0.0) {
+                        z = w;
+                        r = ra;
+                        s = sa;
+                    } else {
+                        l = i;
+                        if (e[i] == 0) {
+                            cdiv(-ra, -sa, w, q);
+                            H[i][n1 - 1] = cdivr;
+                            H[i][n1] = cdivi;
+                        } else {
+
+                            // Solve complex equations
+
+                            x = H[i][i + 1];
+                            y = H[i + 1][i];
+                            vr = (d[i] - p) * (d[i] - p) + e[i] * e[i] - q * q;
+                            vi = (d[i] - p) * 2.0 * q;
+                            if (vr == 0.0 && vi == 0.0) {
+                                vr = eps * norm * (std::abs(w) + std::abs(q) + std::abs(x)
+                                                   + std::abs(y) + std::abs(z));
+                            }
+                            cdiv(x * r - z * ra + q * sa,
+                                 x * s - z * sa - q * ra, vr, vi);
+                            H[i][n1 - 1] = cdivr;
+                            H[i][n1] = cdivi;
+                            if (std::abs(x) > (std::abs(z) + std::abs(q))) {
+                                H[i + 1][n1 - 1] = (-ra - w * H[i][n1 - 1] + q
+                                                   * H[i][n1]) / x;
+                                H[i + 1][n1] = (-sa - w * H[i][n1] - q * H[i][n1
+                                                                            - 1]) / x;
+                            } else {
+                                cdiv(-r - y * H[i][n1 - 1], -s - y * H[i][n1], z,
+                                     q);
+                                H[i + 1][n1 - 1] = cdivr;
+                                H[i + 1][n1] = cdivi;
+                            }
+                        }
+
+                        // Overflow control
+
+                        t = std::max(std::abs(H[i][n1 - 1]), std::abs(H[i][n1]));
+                        if ((eps * t) * t > 1) {
+                            for (int j = i; j <= n1; j++) {
+                                H[j][n1 - 1] = H[j][n1 - 1] / t;
+                                H[j][n1] = H[j][n1] / t;
+                            }
+                        }
+                    }
+                }
+            }
+        }
+
+        // Vectors of isolated roots
+
+        for (int i = 0; i < nn; i++) {
+            if (i < low || i > high) {
+                for (int j = i; j < nn; j++) {
+                    V[i][j] = H[i][j];
+                }
+            }
+        }
+
+        // Back transformation to get eigenvectors of original matrix
+
+        for (int j = nn - 1; j >= low; j--) {
+            for (int i = low; i <= high; i++) {
+                z = 0.0;
+                for (int k = low; k <= std::min(j, high); k++) {
+                    z = z + V[i][k] * H[k][j];
+                }
+                V[i][j] = z;
+            }
+        }
+    }
+
+    // Nonsymmetric reduction to Hessenberg form.
+    void orthes() {
+        //  This is derived from the Algol procedures orthes and ortran,
+        //  by Martin and Wilkinson, Handbook for Auto. Comp.,
+        //  Vol.ii-Linear Algebra, and the corresponding
+        //  Fortran subroutines in EISPACK.
+        int low = 0;
+        int high = n - 1;
+
+        for (int m = low + 1; m <= high - 1; m++) {
+
+            // Scale column.
+
+            double scale = 0.0;
+            for (int i = m; i <= high; i++) {
+                scale = scale + std::abs(H[i][m - 1]);
+            }
+            if (scale != 0.0) {
+
+                // Compute Householder transformation.
+
+                double h = 0.0;
+                for (int i = high; i >= m; i--) {
+                    ort[i] = H[i][m - 1] / scale;
+                    h += ort[i] * ort[i];
+                }
+                double g = std::sqrt(h);
+                if (ort[m] > 0) {
+                    g = -g;
+                }
+                h = h - ort[m] * g;
+                ort[m] = ort[m] - g;
+
+                // Apply Householder similarity transformation
+                // H = (I-u*u'/h)*H*(I-u*u')/h)
+
+                for (int j = m; j < n; j++) {
+                    double f = 0.0;
+                    for (int i = high; i >= m; i--) {
+                        f += ort[i] * H[i][j];
+                    }
+                    f = f / h;
+                    for (int i = m; i <= high; i++) {
+                        H[i][j] -= f * ort[i];
+                    }
+                }
+
+                for (int i = 0; i <= high; i++) {
+                    double f = 0.0;
+                    for (int j = high; j >= m; j--) {
+                        f += ort[j] * H[i][j];
+                    }
+                    f = f / h;
+                    for (int j = m; j <= high; j++) {
+                        H[i][j] -= f * ort[j];
+                    }
+                }
+                ort[m] = scale * ort[m];
+                H[m][m - 1] = scale * g;
+            }
+        }
+
+        // Accumulate transformations (Algol's ortran).
+
+        for (int i = 0; i < n; i++) {
+            for (int j = 0; j < n; j++) {
+                V[i][j] = (i == j ? 1.0 : 0.0);
+            }
+        }
+
+        for (int m = high - 1; m >= low + 1; m--) {
+            if (H[m][m - 1] != 0.0) {
+                for (int i = m + 1; i <= high; i++) {
+                    ort[i] = H[i][m - 1];
+                }
+                for (int j = m; j <= high; j++) {
+                    double g = 0.0;
+                    for (int i = m; i <= high; i++) {
+                        g += ort[i] * V[i][j];
+                    }
+                    // Double division avoids possible underflow
+                    g = (g / ort[m]) / H[m][m - 1];
+                    for (int i = m; i <= high; i++) {
+                        V[i][j] += g * ort[i];
+                    }
+                }
+            }
+        }
+    }
+
+    // Releases all internal working memory.
+    void release() {
+        // releases the working data
+        delete[] d;
+        delete[] e;
+        delete[] ort;
+        for (int i = 0; i < n; i++) {
+            delete[] H[i];
+            delete[] V[i];
+        }
+        delete[] H;
+        delete[] V;
+    }
+
+    // Computes the Eigenvalue Decomposition for a matrix given in H.
+    void compute() {
+        // Allocate memory for the working data.
+        V = alloc_2d<double> (n, n, 0.0);
+        d = alloc_1d<double> (n);
+        e = alloc_1d<double> (n);
+        ort = alloc_1d<double> (n);
+        // Reduce to Hessenberg form.
+        orthes();
+        // Reduce Hessenberg to real Schur form.
+        hqr2();
+        // Copy eigenvalues to OpenCV Matrix.
+        _eigenvalues.create(1, n, CV_64FC1);
+        for (int i = 0; i < n; i++) {
+            _eigenvalues.at<double> (0, i) = d[i];
+        }
+        // Copy eigenvectors to OpenCV Matrix.
+        _eigenvectors.create(n, n, CV_64FC1);
+        for (int i = 0; i < n; i++)
+            for (int j = 0; j < n; j++)
+                _eigenvectors.at<double> (i, j) = V[i][j];
+        // Deallocate the memory by releasing all internal working data.
+        release();
+    }
+
+public:
+    EigenvalueDecomposition()
+    : n(0) { }
+
+    // Initializes & computes the Eigenvalue Decomposition for a general matrix
+    // given in src. This function is a port of the EigenvalueSolver in JAMA,
+    // which has been released to public domain by The MathWorks and the
+    // National Institute of Standards and Technology (NIST).
+    EigenvalueDecomposition(InputArray src) {
+        compute(src);
+    }
+
+    // This function computes the Eigenvalue Decomposition for a general matrix
+    // given in src. This function is a port of the EigenvalueSolver in JAMA,
+    // which has been released to public domain by The MathWorks and the
+    // National Institute of Standards and Technology (NIST).
+    void compute(InputArray src)
+    {
+        /*if(isSymmetric(src)) {
+            // Fall back to OpenCV for a symmetric matrix!
+            cv::eigen(src, _eigenvalues, _eigenvectors);
+        } else {*/
+            Mat tmp;
+            // Convert the given input matrix to double. Is there any way to
+            // prevent allocating the temporary memory? Only used for copying
+            // into working memory and deallocated after.
+            src.getMat().convertTo(tmp, CV_64FC1);
+            // Get dimension of the matrix.
+            this->n = tmp.cols;
+            // Allocate the matrix data to work on.
+            this->H = alloc_2d<double> (n, n);
+            // Now safely copy the data.
+            for (int i = 0; i < tmp.rows; i++) {
+                for (int j = 0; j < tmp.cols; j++) {
+                    this->H[i][j] = tmp.at<double>(i, j);
+                }
+            }
+            // Deallocates the temporary matrix before computing.
+            tmp.release();
+            // Performs the eigenvalue decomposition of H.
+            compute();
+       // }
+    }
+
+    ~EigenvalueDecomposition() {}
+
+    // Returns the eigenvalues of the Eigenvalue Decomposition.
+    Mat eigenvalues() {  return _eigenvalues; }
+    // Returns the eigenvectors of the Eigenvalue Decomposition.
+    Mat eigenvectors() { return _eigenvectors; }
+};
+
 #endif // DLS_H
diff --git a/modules/calib3d/src/solvepnp.cpp b/modules/calib3d/src/solvepnp.cpp
index 73eda92674..4c1e80b2e2 100644
--- a/modules/calib3d/src/solvepnp.cpp
+++ b/modules/calib3d/src/solvepnp.cpp
@@ -96,21 +96,15 @@ bool cv::solvePnP( InputArray _opoints, InputArray _ipoints,
     }
     else if (flags == DLS)
     {
-    	bool result = false;
-#ifdef HAVE_EIGEN
-
     	cv::Mat undistortedPoints;
     	cv::undistortPoints(ipoints, undistortedPoints, cameraMatrix, distCoeffs);
 
     	dls PnP(opoints, undistortedPoints);
 
     	cv::Mat R, rvec = _rvec.getMat(), tvec = _tvec.getMat();
-    	result = PnP.compute_pose(R, tvec);
+    	bool result = PnP.compute_pose(R, tvec);
         if (result)
         	cv::Rodrigues(R, rvec);
-#else
-        std::cout << "EIGEN library needed for DLS" << std::endl;
-#endif
         return result;
     }
     else

From dfa3ccdea98c00f08761b9e4cebd3c8709fad550 Mon Sep 17 00:00:00 2001
From: edgarriba <edgar.riba@gmail.com>
Date: Tue, 5 Aug 2014 13:43:01 +0200
Subject: [PATCH 053/112] Update for Boost libraries

---
 .../calib3d/real_time_pose_estimation/CMakeLists.txt       | 7 ++++---
 1 file changed, 4 insertions(+), 3 deletions(-)

diff --git a/samples/cpp/tutorial_code/calib3d/real_time_pose_estimation/CMakeLists.txt b/samples/cpp/tutorial_code/calib3d/real_time_pose_estimation/CMakeLists.txt
index 6a878a9738..74c7f8a94c 100644
--- a/samples/cpp/tutorial_code/calib3d/real_time_pose_estimation/CMakeLists.txt
+++ b/samples/cpp/tutorial_code/calib3d/real_time_pose_estimation/CMakeLists.txt
@@ -1,10 +1,11 @@
 cmake_minimum_required(VERSION 2.8)
 project( PNP_DEMO )
 
-find_package( OpenCV REQUIRED )
+find_package( Boost OpenCV REQUIRED )
 
 include_directories( 
 	$(PNP_DEMO_SOURCE_DIR)/include 
+	${Boost_INCLUDE_DIR}
 	${OpenCV_INCLUDE_DIRS} 
 )
 
@@ -34,5 +35,5 @@ pnp_detection
 	src/RobustMatcher.cpp
 )
 
-target_link_libraries( pnp_registration ${OpenCV_LIBS} )
-target_link_libraries( pnp_detection ${OpenCV_LIBS} )
+target_link_libraries( pnp_registration ${Boost_LIBRARIES} ${OpenCV_LIBS} )
+target_link_libraries( pnp_detection ${Boost_LIBRARIES} ${OpenCV_LIBS} )

From 1727e0acf62c12440fff0fa21064296f6bfd3328 Mon Sep 17 00:00:00 2001
From: edgarriba <edgar.riba@gmail.com>
Date: Tue, 5 Aug 2014 14:00:23 +0200
Subject: [PATCH 054/112] Update for Boost libraries

---
 .../calib3d/real_time_pose_estimation/CMakeLists.txt           | 3 ++-
 1 file changed, 2 insertions(+), 1 deletion(-)

diff --git a/samples/cpp/tutorial_code/calib3d/real_time_pose_estimation/CMakeLists.txt b/samples/cpp/tutorial_code/calib3d/real_time_pose_estimation/CMakeLists.txt
index 74c7f8a94c..f9bd84cf2a 100644
--- a/samples/cpp/tutorial_code/calib3d/real_time_pose_estimation/CMakeLists.txt
+++ b/samples/cpp/tutorial_code/calib3d/real_time_pose_estimation/CMakeLists.txt
@@ -1,7 +1,8 @@
 cmake_minimum_required(VERSION 2.8)
 project( PNP_DEMO )
 
-find_package( Boost OpenCV REQUIRED )
+find_package( Boost REQUIRED )
+find_package( Boost REQUIRED )
 
 include_directories( 
 	$(PNP_DEMO_SOURCE_DIR)/include 

From 16e750dd373e1698bf049de525e2427e9ce57830 Mon Sep 17 00:00:00 2001
From: edgarriba <edgar.riba@gmail.com>
Date: Tue, 5 Aug 2014 14:02:23 +0200
Subject: [PATCH 055/112] Update for Boost libraries

---
 .../calib3d/real_time_pose_estimation/CMakeLists.txt            | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/samples/cpp/tutorial_code/calib3d/real_time_pose_estimation/CMakeLists.txt b/samples/cpp/tutorial_code/calib3d/real_time_pose_estimation/CMakeLists.txt
index f9bd84cf2a..32a1da5966 100644
--- a/samples/cpp/tutorial_code/calib3d/real_time_pose_estimation/CMakeLists.txt
+++ b/samples/cpp/tutorial_code/calib3d/real_time_pose_estimation/CMakeLists.txt
@@ -2,7 +2,7 @@ cmake_minimum_required(VERSION 2.8)
 project( PNP_DEMO )
 
 find_package( Boost REQUIRED )
-find_package( Boost REQUIRED )
+find_package( OpenCV REQUIRED )
 
 include_directories( 
 	$(PNP_DEMO_SOURCE_DIR)/include 

From 23785faf029f67364a1173330d8d4c40e7fdcf9c Mon Sep 17 00:00:00 2001
From: edgarriba <edgar.riba@gmail.com>
Date: Tue, 5 Aug 2014 14:47:06 +0200
Subject: [PATCH 056/112] Update for NON BOOST libraries

---
 .../real_time_pose_estimation/CMakeLists.txt  | 32 ++++++++++++++++---
 .../src/CsvReader.cpp                         | 18 +++++------
 .../src/CsvWriter.cpp                         | 20 ++++++------
 3 files changed, 47 insertions(+), 23 deletions(-)

diff --git a/samples/cpp/tutorial_code/calib3d/real_time_pose_estimation/CMakeLists.txt b/samples/cpp/tutorial_code/calib3d/real_time_pose_estimation/CMakeLists.txt
index 32a1da5966..a87f9e5116 100644
--- a/samples/cpp/tutorial_code/calib3d/real_time_pose_estimation/CMakeLists.txt
+++ b/samples/cpp/tutorial_code/calib3d/real_time_pose_estimation/CMakeLists.txt
@@ -1,12 +1,16 @@
 cmake_minimum_required(VERSION 2.8)
 project( PNP_DEMO )
 
-find_package( Boost REQUIRED )
+ADD_DEFINITIONS(
+    -std=c++11 
+    -std=c++0x
+    # Other flags
+)
+
 find_package( OpenCV REQUIRED )
 
 include_directories( 
 	$(PNP_DEMO_SOURCE_DIR)/include 
-	${Boost_INCLUDE_DIR}
 	${OpenCV_INCLUDE_DIRS} 
 )
 
@@ -23,6 +27,19 @@ pnp_registration
 	src/RobustMatcher.cpp
 )
 
+add_executable( 
+pnp_verification 
+	src/main_verification.cpp
+	src/CsvReader.cpp 
+	src/CsvWriter.cpp
+	src/ModelRegistration.cpp
+	src/Mesh.cpp
+	src/Model.cpp
+	src/PnPProblem.cpp
+	src/Utils.cpp
+	src/RobustMatcher.cpp
+)
+
 add_executable( 
 pnp_detection 
 	src/main_detection.cpp
@@ -36,5 +53,12 @@ pnp_detection
 	src/RobustMatcher.cpp
 )
 
-target_link_libraries( pnp_registration ${Boost_LIBRARIES} ${OpenCV_LIBS} )
-target_link_libraries( pnp_detection ${Boost_LIBRARIES} ${OpenCV_LIBS} )
+add_executable( 
+pnp_test 
+	src/test_pnp.cpp
+)
+
+target_link_libraries( pnp_registration ${OpenCV_LIBS} )
+target_link_libraries( pnp_verification ${OpenCV_LIBS} )
+target_link_libraries( pnp_detection ${OpenCV_LIBS} )
+target_link_libraries( pnp_test ${OpenCV_LIBS} )
diff --git a/samples/cpp/tutorial_code/calib3d/real_time_pose_estimation/src/CsvReader.cpp b/samples/cpp/tutorial_code/calib3d/real_time_pose_estimation/src/CsvReader.cpp
index 8061df6bc1..6f38c5c9a8 100644
--- a/samples/cpp/tutorial_code/calib3d/real_time_pose_estimation/src/CsvReader.cpp
+++ b/samples/cpp/tutorial_code/calib3d/real_time_pose_estimation/src/CsvReader.cpp
@@ -1,4 +1,4 @@
-#include <boost/lexical_cast.hpp>
+#include <string>
 #include "CsvReader.h"
 
 /** The default constructor of the CSV reader Class */
@@ -28,8 +28,8 @@ std::string line, tmp_str, n;
       {
           getline(liness, tmp_str, _separator);
           getline(liness, n);
-          if(tmp_str == "vertex") num_vertex = boost::lexical_cast< int >(n);
-          if(tmp_str == "face") num_triangles = boost::lexical_cast< int >(n);
+          if(tmp_str == "vertex") num_vertex = std::stoi(n);
+          if(tmp_str == "face") num_triangles = std::stoi(n);
       }
       if(tmp_str == "end_header") end_header = true;
     }
@@ -46,9 +46,9 @@ std::string line, tmp_str, n;
         getline(liness, z);
 
         cv::Point3f tmp_p;
-        tmp_p.x = boost::lexical_cast< float >(x);
-        tmp_p.y = boost::lexical_cast< float >(y);
-        tmp_p.z = boost::lexical_cast< float >(z);
+        tmp_p.x = std::stof(x);
+        tmp_p.y = std::stof(y);
+        tmp_p.z = std::stof(z);
         list_vertex.push_back(tmp_p);
 
         count++;
@@ -68,9 +68,9 @@ std::string line, tmp_str, n;
         getline(liness, id2);
 
         std::vector<int> tmp_triangle(3);
-        tmp_triangle[0] = boost::lexical_cast< int >(id0);
-        tmp_triangle[1] = boost::lexical_cast< int >(id1);
-        tmp_triangle[2] = boost::lexical_cast< int >(id2);
+        tmp_triangle[0] = std::stoi(id0);
+        tmp_triangle[1] = std::stoi(id1);
+        tmp_triangle[2] = std::stoi(id2);
         list_triangles.push_back(tmp_triangle);
 
         count++;
diff --git a/samples/cpp/tutorial_code/calib3d/real_time_pose_estimation/src/CsvWriter.cpp b/samples/cpp/tutorial_code/calib3d/real_time_pose_estimation/src/CsvWriter.cpp
index c8dc9449da..65a8beaa5c 100644
--- a/samples/cpp/tutorial_code/calib3d/real_time_pose_estimation/src/CsvWriter.cpp
+++ b/samples/cpp/tutorial_code/calib3d/real_time_pose_estimation/src/CsvWriter.cpp
@@ -1,4 +1,4 @@
-#include <boost/lexical_cast.hpp>
+#include <string>
 #include "CsvWriter.h"
 
 CsvWriter::CsvWriter(const std::string &path, const std::string &separator){
@@ -17,9 +17,9 @@ void CsvWriter::writeXYZ(const std::vector<cv::Point3f> &list_points3d)
   std::string x, y, z;
   for(unsigned int i = 0; i < list_points3d.size(); ++i)
   {
-    x = boost::lexical_cast< std::string >(list_points3d[i].x);
-    y = boost::lexical_cast< std::string >(list_points3d[i].y);
-    z = boost::lexical_cast< std::string >(list_points3d[i].z);
+    x = std::to_string(list_points3d[i].x);
+    y = std::to_string(list_points3d[i].y);
+    z = std::to_string(list_points3d[i].z);
 
     _file << x << _separator << y << _separator << z << std::endl;
   }
@@ -31,18 +31,18 @@ void CsvWriter::writeUVXYZ(const std::vector<cv::Point3f> &list_points3d, const
   std::string u, v, x, y, z, descriptor_str;
   for(int i = 0; i < list_points3d.size(); ++i)
   {
-    u = boost::lexical_cast< std::string >(list_points2d[i].x);
-    v = boost::lexical_cast< std::string >(list_points2d[i].y);
-    x = boost::lexical_cast< std::string >(list_points3d[i].x);
-    y = boost::lexical_cast< std::string >(list_points3d[i].y);
-    z = boost::lexical_cast< std::string >(list_points3d[i].z);
+    u = std::to_string(list_points2d[i].x);
+    v = std::to_string(list_points2d[i].y);
+    x = std::to_string(list_points3d[i].x);
+    y = std::to_string(list_points3d[i].y);
+    z = std::to_string(list_points3d[i].z);
 
     _file << u << _separator << v << _separator << x << _separator << y << _separator << z;
 
     for(int j = 0; j < 32; ++j)
     {
       std::cout << descriptors.at<float>(i,j) << std::endl;
-      descriptor_str = boost::lexical_cast< std::string >(descriptors.at<float>(i,j));
+      descriptor_str = std::to_string(descriptors.at<float>(i,j));
       _file << _separator << descriptor_str;
     }
     _file << std::endl;

From 55819ae464023fadfe47e50ed0c4ba73587c45c8 Mon Sep 17 00:00:00 2001
From: edgarriba <edgar.riba@gmail.com>
Date: Tue, 5 Aug 2014 15:48:54 +0200
Subject: [PATCH 057/112] Tutorial code restructure

---
 .../real_time_pose_estimation/CMakeLists.txt  |   2 -
 .../{include => src}/CsvReader.h              |   0
 .../{include => src}/CsvWriter.h              |   0
 .../{include => src}/Mesh.h                   |   0
 .../{include => src}/Model.h                  |   0
 .../{include => src}/ModelRegistration.h      |   0
 .../{include => src}/PnPProblem.h             |   0
 .../{include => src}/RobustMatcher.h          |   0
 .../{include => src}/Utils.h                  |   0
 .../src/main_detection.cpp                    |   4 +-
 .../src/main_verification.cpp                 | 328 ++++++++++++++++++
 .../src/test_pnp.cpp                          | 144 ++++++++
 12 files changed, 474 insertions(+), 4 deletions(-)
 rename samples/cpp/tutorial_code/calib3d/real_time_pose_estimation/{include => src}/CsvReader.h (100%)
 rename samples/cpp/tutorial_code/calib3d/real_time_pose_estimation/{include => src}/CsvWriter.h (100%)
 rename samples/cpp/tutorial_code/calib3d/real_time_pose_estimation/{include => src}/Mesh.h (100%)
 rename samples/cpp/tutorial_code/calib3d/real_time_pose_estimation/{include => src}/Model.h (100%)
 rename samples/cpp/tutorial_code/calib3d/real_time_pose_estimation/{include => src}/ModelRegistration.h (100%)
 rename samples/cpp/tutorial_code/calib3d/real_time_pose_estimation/{include => src}/PnPProblem.h (100%)
 rename samples/cpp/tutorial_code/calib3d/real_time_pose_estimation/{include => src}/RobustMatcher.h (100%)
 rename samples/cpp/tutorial_code/calib3d/real_time_pose_estimation/{include => src}/Utils.h (100%)
 create mode 100644 samples/cpp/tutorial_code/calib3d/real_time_pose_estimation/src/main_verification.cpp
 create mode 100644 samples/cpp/tutorial_code/calib3d/real_time_pose_estimation/src/test_pnp.cpp

diff --git a/samples/cpp/tutorial_code/calib3d/real_time_pose_estimation/CMakeLists.txt b/samples/cpp/tutorial_code/calib3d/real_time_pose_estimation/CMakeLists.txt
index a87f9e5116..4382fd1e68 100644
--- a/samples/cpp/tutorial_code/calib3d/real_time_pose_estimation/CMakeLists.txt
+++ b/samples/cpp/tutorial_code/calib3d/real_time_pose_estimation/CMakeLists.txt
@@ -3,14 +3,12 @@ project( PNP_DEMO )
 
 ADD_DEFINITIONS(
     -std=c++11 
-    -std=c++0x
     # Other flags
 )
 
 find_package( OpenCV REQUIRED )
 
 include_directories( 
-	$(PNP_DEMO_SOURCE_DIR)/include 
 	${OpenCV_INCLUDE_DIRS} 
 )
 
diff --git a/samples/cpp/tutorial_code/calib3d/real_time_pose_estimation/include/CsvReader.h b/samples/cpp/tutorial_code/calib3d/real_time_pose_estimation/src/CsvReader.h
similarity index 100%
rename from samples/cpp/tutorial_code/calib3d/real_time_pose_estimation/include/CsvReader.h
rename to samples/cpp/tutorial_code/calib3d/real_time_pose_estimation/src/CsvReader.h
diff --git a/samples/cpp/tutorial_code/calib3d/real_time_pose_estimation/include/CsvWriter.h b/samples/cpp/tutorial_code/calib3d/real_time_pose_estimation/src/CsvWriter.h
similarity index 100%
rename from samples/cpp/tutorial_code/calib3d/real_time_pose_estimation/include/CsvWriter.h
rename to samples/cpp/tutorial_code/calib3d/real_time_pose_estimation/src/CsvWriter.h
diff --git a/samples/cpp/tutorial_code/calib3d/real_time_pose_estimation/include/Mesh.h b/samples/cpp/tutorial_code/calib3d/real_time_pose_estimation/src/Mesh.h
similarity index 100%
rename from samples/cpp/tutorial_code/calib3d/real_time_pose_estimation/include/Mesh.h
rename to samples/cpp/tutorial_code/calib3d/real_time_pose_estimation/src/Mesh.h
diff --git a/samples/cpp/tutorial_code/calib3d/real_time_pose_estimation/include/Model.h b/samples/cpp/tutorial_code/calib3d/real_time_pose_estimation/src/Model.h
similarity index 100%
rename from samples/cpp/tutorial_code/calib3d/real_time_pose_estimation/include/Model.h
rename to samples/cpp/tutorial_code/calib3d/real_time_pose_estimation/src/Model.h
diff --git a/samples/cpp/tutorial_code/calib3d/real_time_pose_estimation/include/ModelRegistration.h b/samples/cpp/tutorial_code/calib3d/real_time_pose_estimation/src/ModelRegistration.h
similarity index 100%
rename from samples/cpp/tutorial_code/calib3d/real_time_pose_estimation/include/ModelRegistration.h
rename to samples/cpp/tutorial_code/calib3d/real_time_pose_estimation/src/ModelRegistration.h
diff --git a/samples/cpp/tutorial_code/calib3d/real_time_pose_estimation/include/PnPProblem.h b/samples/cpp/tutorial_code/calib3d/real_time_pose_estimation/src/PnPProblem.h
similarity index 100%
rename from samples/cpp/tutorial_code/calib3d/real_time_pose_estimation/include/PnPProblem.h
rename to samples/cpp/tutorial_code/calib3d/real_time_pose_estimation/src/PnPProblem.h
diff --git a/samples/cpp/tutorial_code/calib3d/real_time_pose_estimation/include/RobustMatcher.h b/samples/cpp/tutorial_code/calib3d/real_time_pose_estimation/src/RobustMatcher.h
similarity index 100%
rename from samples/cpp/tutorial_code/calib3d/real_time_pose_estimation/include/RobustMatcher.h
rename to samples/cpp/tutorial_code/calib3d/real_time_pose_estimation/src/RobustMatcher.h
diff --git a/samples/cpp/tutorial_code/calib3d/real_time_pose_estimation/include/Utils.h b/samples/cpp/tutorial_code/calib3d/real_time_pose_estimation/src/Utils.h
similarity index 100%
rename from samples/cpp/tutorial_code/calib3d/real_time_pose_estimation/include/Utils.h
rename to samples/cpp/tutorial_code/calib3d/real_time_pose_estimation/src/Utils.h
diff --git a/samples/cpp/tutorial_code/calib3d/real_time_pose_estimation/src/main_detection.cpp b/samples/cpp/tutorial_code/calib3d/real_time_pose_estimation/src/main_detection.cpp
index faa26f8581..750f1472c6 100644
--- a/samples/cpp/tutorial_code/calib3d/real_time_pose_estimation/src/main_detection.cpp
+++ b/samples/cpp/tutorial_code/calib3d/real_time_pose_estimation/src/main_detection.cpp
@@ -160,7 +160,7 @@ int main(int argc, char *argv[])
 
 
   cv::VideoCapture cap;                           // instantiate VideoCapture
-  (argc < 2) ? cap.open(0) : cap.open(argv[1]);   // open the default camera device
+  (argc < 2) ? cap.open(1) : cap.open(argv[1]);   // open the default camera device
                                                   // or a recorder video
 
   if(!cap.isOpened())   // check if we succeeded
@@ -238,7 +238,7 @@ int main(int argc, char *argv[])
 
       // -- Step 3: Estimate the pose using RANSAC approach
       pnp_detection.estimatePoseRANSAC( list_points3d_model_match, list_points2d_scene_match,
-                                        cv::ITERATIVE, inliers_idx,
+                                        cv::DLS, inliers_idx,
                                         iterationsCount, reprojectionError, confidence );
 
       // -- Step 4: Catch the inliers keypoints to draw
diff --git a/samples/cpp/tutorial_code/calib3d/real_time_pose_estimation/src/main_verification.cpp b/samples/cpp/tutorial_code/calib3d/real_time_pose_estimation/src/main_verification.cpp
new file mode 100644
index 0000000000..1c6b15bedc
--- /dev/null
+++ b/samples/cpp/tutorial_code/calib3d/real_time_pose_estimation/src/main_verification.cpp
@@ -0,0 +1,328 @@
+#include <iostream>
+#include <boost/lexical_cast.hpp>
+
+#include "cv.h"
+#include "highgui.h"
+
+#include <opencv2/core/core.hpp>
+#include <opencv2/imgproc/imgproc.hpp>
+#include <opencv2/nonfree/features2d.hpp>
+#include <opencv2/calib3d/calib3d.hpp>
+
+#include "Mesh.h"
+#include "Model.h"
+#include "PnPProblem.h"
+#include "RobustMatcher.h"
+#include "ModelRegistration.h"
+#include "Utils.h"
+
+#include "CsvWriter.h"
+
+
+  /*
+   * Set up the images paths
+   */
+
+  std::string img_verification_path = "../Data/resized_IMG_3872.JPG";
+  std::string ply_read_path = "../Data/box.ply";
+  std::string yml_read_path = "../Data/cookies_ORB.yml";
+
+  // Boolean the know if the registration it's done
+  bool end_registration = false;
+
+  // Setup the points to register in the image
+  // In the order of the *.ply file and starting at 1
+  int n = 7;
+  int pts[] = {1, 2, 3, 5, 6, 7, 8};
+
+  /*
+   * Set up the intrinsic camera parameters: CANON
+   */
+  double f = 43;
+  double sx = 22.3, sy = 14.9;
+  double width = 718, height = 480;
+  double params_CANON[] = { width*f/sx,   // fx
+                            height*f/sy,  // fy
+                            width/2,      // cx
+                            height/2};    // cy
+
+  /*
+   * Set up some basic colors
+   */
+  cv::Scalar red(0, 0, 255);
+  cv::Scalar green(0,255,0);
+  cv::Scalar blue(255,0,0);
+  cv::Scalar yellow(0,255,255);
+
+  /*
+   * CREATE MODEL REGISTRATION OBJECT
+   * CREATE OBJECT MESH
+   * CREATE OBJECT MODEL
+   * CREATE PNP OBJECT
+   */
+  Mesh mesh;
+  ModelRegistration registration;
+  PnPProblem pnp_verification_epnp(params_CANON);
+  PnPProblem pnp_verification_iter(params_CANON);
+  PnPProblem pnp_verification_p3p(params_CANON);
+  PnPProblem pnp_verification_dls(params_CANON);
+  PnPProblem pnp_verification_gt(params_CANON); // groud truth
+
+
+// Mouse events for model registration
+static void onMouseModelVerification( int event, int x, int y, int, void* )
+{
+  if  ( event == cv::EVENT_LBUTTONUP )
+  {
+      int n_regist = registration.getNumRegist();
+      int n_vertex = pts[n_regist];
+
+      cv::Point2f point_2d = cv::Point2f(x,y);
+      cv::Point3f point_3d = mesh.getVertex(n_vertex-1);
+
+      bool is_registrable = registration.is_registrable();
+      if (is_registrable)
+      {
+        registration.registerPoint(point_2d, point_3d);
+        if( registration.getNumRegist() == registration.getNumMax() ) end_registration = true;
+      }
+  }
+}
+
+
+/*
+ *   MAIN PROGRAM
+ *
+ */
+
+int main(int, char**)
+{
+
+  std::cout << "!!!Hello Verification!!!" << std::endl; // prints !!!Hello World!!!
+
+  // load a mesh given the *.ply file path
+  mesh.load(ply_read_path);
+
+  // load the 3D textured object model
+  Model model;
+  model.load(yml_read_path);
+
+  // set parameters
+  int numKeyPoints = 10000;
+
+  //Instantiate robust matcher: detector, extractor, matcher
+  RobustMatcher rmatcher;
+  cv::FeatureDetector * detector = new cv::OrbFeatureDetector(numKeyPoints);
+  rmatcher.setFeatureDetector(detector);
+  rmatcher.setRatio(0.80);
+
+  // RANSAC parameters
+  int iterationsCount = 500;
+  float reprojectionError = 2.0;
+  float confidence = 0.99;
+
+
+  /*
+  * GROUND TRUTH SECOND IMAGE
+  *
+  */
+
+  cv::Mat img_in, img_vis;
+
+  // Setup for new registration
+  registration.setNumMax(n);
+
+  // Create & Open Window
+  cv::namedWindow("MODEL GROUND TRUTH", CV_WINDOW_KEEPRATIO);
+
+  // Set up the mouse events
+  cv::setMouseCallback("MODEL GROUND TRUTH", onMouseModelVerification, 0 );
+
+  // Open the image to register
+  img_in = cv::imread(img_verification_path, cv::IMREAD_COLOR);
+
+  if (!img_in.data)
+  {
+    std::cout << "Could not open or find the image" << std::endl;
+    return -1;
+  }
+
+  std::cout << "Click the box corners ..." << std::endl;
+  std::cout << "Waiting ..." << std::endl;
+
+  // Loop until all the points are registered
+  while ( cv::waitKey(30) < 0 )
+  {
+    // Refresh debug image
+    img_vis = img_in.clone();
+
+    // Current registered points
+    std::vector<cv::Point2f> list_points2d = registration.get_points2d();
+    std::vector<cv::Point3f> list_points3d = registration.get_points3d();
+
+    // Draw current registered points
+    drawPoints(img_vis, list_points2d, list_points3d, red);
+
+    // If the registration is not finished, draw which 3D point we have to register.
+    // If the registration is finished, breaks the loop.
+    if (!end_registration)
+    {
+      // Draw debug text
+      int n_regist = registration.getNumRegist();
+      int n_vertex = pts[n_regist];
+      cv::Point3f current_poin3d = mesh.getVertex(n_vertex-1);
+
+      drawQuestion(img_vis, current_poin3d, green);
+      drawCounter(img_vis, registration.getNumRegist(), registration.getNumMax(), red);
+    }
+    else
+    {
+      // Draw debug text
+      drawText(img_vis, "GROUND TRUTH", green);
+      drawCounter(img_vis, registration.getNumRegist(), registration.getNumMax(), green);
+      break;
+    }
+
+    // Show the image
+    cv::imshow("MODEL GROUND TRUTH", img_vis);
+  }
+
+  // The list of registered points
+  std::vector<cv::Point2f> list_points2d = registration.get_points2d();
+  std::vector<cv::Point3f> list_points3d = registration.get_points3d();
+
+  // Estimate pose given the registered points
+  bool is_correspondence = pnp_verification_gt.estimatePose(list_points3d, list_points2d, cv::ITERATIVE);
+
+  // Compute and draw all mesh object 2D points
+  std::vector<cv::Point2f> pts_2d_ground_truth = pnp_verification_gt.verify_points(&mesh);
+  draw2DPoints(img_vis, pts_2d_ground_truth, green);
+
+  // Draw the ground truth mesh
+  drawObjectMesh(img_vis, &mesh, &pnp_verification_gt, blue);
+
+  // Show the image
+  cv::imshow("MODEL GROUND TRUTH", img_vis);
+
+  // Show image until ESC pressed
+  cv::waitKey(0);
+
+
+  /*
+   * EXTRACT CORRRESPONDENCES
+   *
+   */
+
+   // refresh visualisation image
+  img_vis = img_in.clone();
+
+  // Get the MODEL INFO
+  std::vector<cv::Point2f> list_points2d_model = model.get_points2d_in();
+  std::vector<cv::Point3f> list_points3d_model = model.get_points3d();
+  std::vector<cv::KeyPoint> keypoints_model = model.get_keypoints();
+  cv::Mat descriptors_model = model.get_descriptors();
+
+  // -- Step 1: Robust matching between model descriptors and scene descriptors
+
+  std::vector<cv::DMatch> good_matches;       // to obtain the 3D points of the model
+  std::vector<cv::KeyPoint> keypoints_scene;  // to obtain the 2D points of the scene
+
+  //rmatcher.fastRobustMatch(frame, good_matches, keypoints_scene, descriptors_model);
+  rmatcher.robustMatch(img_vis, good_matches, keypoints_scene, descriptors_model);
+
+  cv::Mat inliers_idx;
+  std::vector<cv::DMatch> matches_inliers;
+  std::vector<cv::Point2f> list_points2d_inliers;
+  std::vector<cv::Point3f> list_points3d_inliers;
+
+    // -- Step 2: Find out the 2D/3D correspondences
+
+    std::vector<cv::Point3f> list_points3d_model_match; // container for the model 3D coordinates found in the scene
+    std::vector<cv::Point2f> list_points2d_scene_match; // container for the model 2D coordinates found in the scene
+
+    for(unsigned int match_index = 0; match_index < good_matches.size(); ++match_index)
+    {
+      cv::Point3f point3d_model = list_points3d_model[ good_matches[match_index].trainIdx ];  // 3D point from model
+      cv::Point2f point2d_scene = keypoints_scene[ good_matches[match_index].queryIdx ].pt; // 2D point from the scene
+      list_points3d_model_match.push_back(point3d_model);         // add 3D point
+      list_points2d_scene_match.push_back(point2d_scene);         // add 2D point
+    }
+
+    // Draw outliers
+    //draw2DPoints(img_vis, list_points2d_scene_match, red);
+
+  /*
+   * COMPUTE PNP ERRORS:
+   * Calculation of the rotation and translation error
+   *
+   */
+
+  pnp_verification_epnp.estimatePose( list_points3d_model_match, list_points2d_scene_match, cv::EPNP);
+  pnp_verification_iter.estimatePose( list_points3d_model_match, list_points2d_scene_match, cv::ITERATIVE);
+  //pnp_verification_p3p.estimatePose( list_points3d_model_match, list_points2d_scene_match, cv::P3P);
+  pnp_verification_dls.estimatePose( list_points3d_model_match, list_points2d_scene_match, cv::DLS);
+
+  // Draw mesh
+  drawObjectMesh(img_vis, &mesh, &pnp_verification_dls, green);
+  drawObjectMesh(img_vis, &mesh, &pnp_verification_gt, yellow);
+
+   cv::imshow("MODEL GROUND TRUTH", img_vis);
+
+  cv::Mat t_true = pnp_verification_gt.get_t_matrix();
+  cv::Mat t_epnp = pnp_verification_epnp.get_t_matrix();
+  cv::Mat t_iter = pnp_verification_iter.get_t_matrix();
+  cv::Mat t_p3p = pnp_verification_p3p.get_t_matrix();
+  cv::Mat t_dls = pnp_verification_dls.get_t_matrix();
+
+  cv::Mat R_true = pnp_verification_gt.get_R_matrix();
+  cv::Mat R_epnp = pnp_verification_epnp.get_R_matrix();
+  cv::Mat R_iter = pnp_verification_iter.get_R_matrix();
+  cv::Mat R_p3p = pnp_verification_p3p.get_R_matrix();
+  cv::Mat R_dls = pnp_verification_dls.get_R_matrix();
+
+  double error_trans_epnp = get_translation_error(t_true, t_epnp);
+  double error_rot_epnp = get_rotation_error(R_true, R_epnp)*180/CV_PI;
+
+  double error_trans_iter = get_translation_error(t_true, t_iter);
+  double error_rot_iter = get_rotation_error(R_true, R_iter)*180/CV_PI;
+
+  double error_trans_p3p = get_translation_error(t_true, t_p3p);
+  double error_rot_p3p = get_rotation_error(R_true, R_p3p)*180/CV_PI;
+
+  double error_trans_dls = get_translation_error(t_true, t_dls);
+  double error_rot_dls = get_rotation_error(R_true, R_dls)*180/CV_PI;
+
+
+  std::cout << std::endl << "****  EPNP ERRORS  **** " << std::endl;
+
+  std::cout << "Translation error: " << error_trans_epnp << " m." << std::endl;
+  std::cout << "Rotation error: " << error_rot_epnp << " deg." << std::endl;
+
+
+  std::cout << std::endl << "****  ITERATIVE ERRORS  **** " << std::endl;
+
+  std::cout << "Translation error: " << error_trans_iter << " m." << std::endl;
+  std::cout << "Rotation error: " << error_rot_iter << " deg." << std::endl;
+
+
+  std::cout << std::endl << "****  P3P ERRORS  **** " << std::endl;
+
+  std::cout << "Translation error: " << error_trans_p3p << " m." << std::endl;
+  std::cout << "Rotation error: " << error_rot_p3p << " deg." << std::endl;
+
+
+  std::cout << std::endl << "****  DLS ERRORS  **** " << std::endl;
+
+  std::cout << "Translation error: " << error_trans_dls << " m." << std::endl;
+  std::cout << "Rotation error: " << error_rot_dls << " deg." << std::endl;
+
+
+  // Show image until ESC pressed
+  cv::waitKey(0);
+
+  // Close and Destroy Window
+  cv::destroyWindow("MODEL GROUND TRUTH");
+
+  std::cout << "GOODBYE" << std::endl;
+
+}
diff --git a/samples/cpp/tutorial_code/calib3d/real_time_pose_estimation/src/test_pnp.cpp b/samples/cpp/tutorial_code/calib3d/real_time_pose_estimation/src/test_pnp.cpp
new file mode 100644
index 0000000000..5717a91c4b
--- /dev/null
+++ b/samples/cpp/tutorial_code/calib3d/real_time_pose_estimation/src/test_pnp.cpp
@@ -0,0 +1,144 @@
+#include <opencv2/core/core.hpp>
+#include <opencv2/calib3d/calib3d.hpp>
+#include <opencv2/contrib/contrib.hpp>
+
+#include <iostream>
+#include <fstream>
+
+using namespace std;
+using namespace cv;
+
+void generate3DPointCloud(vector<Point3f>& points, Point3f pmin = Point3f(-1,
+        -1, 5), Point3f pmax = Point3f(1, 1, 10))
+    {
+        const Point3f delta = pmax - pmin;
+        for (size_t i = 0; i < points.size(); i++)
+        {
+            Point3f p(float(rand()) / RAND_MAX, float(rand()) / RAND_MAX,
+                float(rand()) / RAND_MAX);
+            p.x *= delta.x;
+            p.y *= delta.y;
+            p.z *= delta.z;
+            p = p + pmin;
+            points[i] = p;
+        }
+    }
+
+void generateCameraMatrix(Mat& cameraMatrix, RNG& rng)
+{
+    const double fcMinVal = 1e-3;
+    const double fcMaxVal = 100;
+    cameraMatrix.create(3, 3, CV_64FC1);
+    cameraMatrix.setTo(Scalar(0));
+    cameraMatrix.at<double>(0,0) = rng.uniform(fcMinVal, fcMaxVal);
+    cameraMatrix.at<double>(1,1) = rng.uniform(fcMinVal, fcMaxVal);
+    cameraMatrix.at<double>(0,2) = rng.uniform(fcMinVal, fcMaxVal);
+    cameraMatrix.at<double>(1,2) = rng.uniform(fcMinVal, fcMaxVal);
+    cameraMatrix.at<double>(2,2) = 1;
+}
+
+void generateDistCoeffs(Mat& distCoeffs, RNG& rng)
+{
+    distCoeffs = Mat::zeros(4, 1, CV_64FC1);
+    for (int i = 0; i < 3; i++)
+        distCoeffs.at<double>(i,0) = rng.uniform(0.0, 1.0e-6);
+}
+
+void generatePose(Mat& rvec, Mat& tvec, RNG& rng)
+{
+    const double minVal = 1.0e-3;
+    const double maxVal = 1.0;
+    rvec.create(3, 1, CV_64FC1);
+    tvec.create(3, 1, CV_64FC1);
+    for (int i = 0; i < 3; i++)
+    {
+        rvec.at<double>(i,0) = rng.uniform(minVal, maxVal);
+        tvec.at<double>(i,0) = rng.uniform(minVal, maxVal/10);
+    }
+}
+
+void data2file(const string& path, const vector<vector<double> >& data)
+{
+  std::fstream fs;
+  fs.open(path.c_str(), std::fstream::in | std::fstream::out | std::fstream::app);
+
+  for (int method = 0; method < data.size(); ++method)
+  {
+    for (int i = 0; i < data[method].size(); ++i)
+    {
+      fs << data[method][i] << " ";
+    }
+    fs << endl;
+  }
+
+  fs.close();
+}
+
+
+int main(int argc, char *argv[])
+{
+
+  RNG rng;
+ // TickMeter tm;
+  vector<vector<double> > error_trans(4), error_rot(4), comp_time(4);
+
+  int maxpoints = 2000;
+  for (int npoints = 10; npoints < maxpoints+10; ++npoints)
+  {
+    // generate 3D point cloud
+    vector<Point3f> points;
+    points.resize(npoints);
+    generate3DPointCloud(points);
+
+    // generate cameramatrix
+    Mat rvec, tvec;
+    Mat trueRvec, trueTvec;
+    Mat intrinsics, distCoeffs;
+    generateCameraMatrix(intrinsics, rng);
+
+    // generate distorsion coefficients
+    generateDistCoeffs(distCoeffs, rng);
+
+    // generate groud truth pose
+    generatePose(trueRvec, trueTvec, rng);
+
+    for (int method = 0; method < 4; ++method)
+    {
+      std::vector<Point3f> opoints;
+      if (method == 2)
+      {
+        opoints = std::vector<Point3f>(points.begin(), points.begin()+4);
+      }
+      else
+        opoints = points;
+
+      vector<Point2f> projectedPoints;
+      projectedPoints.resize(opoints.size());
+      projectPoints(Mat(opoints), trueRvec, trueTvec, intrinsics, distCoeffs, projectedPoints);
+
+      //tm.reset(); tm.start();
+
+      solvePnP(opoints, projectedPoints, intrinsics, distCoeffs, rvec, tvec, false, method);
+
+     // tm.stop();
+
+    //  double compTime = tm.getTimeMilli();
+      double rvecDiff = norm(rvec-trueRvec), tvecDiff = norm(tvec-trueTvec);
+
+      error_rot[method].push_back(rvecDiff);
+      error_trans[method].push_back(tvecDiff);
+      //comp_time[method].push_back(compTime);
+
+    }
+
+    //system("clear");
+    cout << "Completed " << npoints+1 << "/" << maxpoints << endl;
+
+  }
+
+  data2file("translation_error.txt", error_trans);
+  data2file("rotation_error.txt", error_rot);
+  data2file("computation_time.txt", comp_time);
+
+}
+

From e3afc326937f52ff4dd1d67ec2041f9c400a7f06 Mon Sep 17 00:00:00 2001
From: edgarriba <edgar.riba@gmail.com>
Date: Tue, 5 Aug 2014 16:16:05 +0200
Subject: [PATCH 058/112] Removed whitespace

---
 doc/tutorials/calib3d/real_time_pose/real_time_pose.rst | 6 +-----
 1 file changed, 1 insertion(+), 5 deletions(-)

diff --git a/doc/tutorials/calib3d/real_time_pose/real_time_pose.rst b/doc/tutorials/calib3d/real_time_pose/real_time_pose.rst
index 7b05143e8b..3b4fcf4b13 100644
--- a/doc/tutorials/calib3d/real_time_pose/real_time_pose.rst
+++ b/doc/tutorials/calib3d/real_time_pose/real_time_pose.rst
@@ -26,9 +26,7 @@ The application will have the followings parts:
 Theory
 ======
 
-In computer vision estimate the camera pose from *n* 3D-to-2D point correspondences is a fundamental and well understood problem. The most general version of the problem requires estimating the six degrees of freedom of the pose and five calibration parameters: focal length,
-principal point, aspect ratio and skew. It could be established with a minimum of 6 correspondences, using the well known Direct Linear Transform (DLT) algorithm. There are, though, several simplifications to the problem which turn into an extensive list of
-different algorithms that improve the accuracy of the DLT. 
+In computer vision estimate the camera pose from *n* 3D-to-2D point correspondences is a fundamental and well understood problem. The most general version of the problem requires estimating the six degrees of freedom of the pose and five calibration parameters: focal length, principal point, aspect ratio and skew. It could be established with a minimum of 6 correspondences, using the well known Direct Linear Transform (DLT) algorithm. There are, though, several simplifications to the problem which turn into an extensive list of different algorithms that improve the accuracy of the DLT. 
 
 The most common simplification is to assume known calibration parameters which is the so-called Perspective-*n*-Point problem:
 
@@ -681,5 +679,3 @@ You can watch the real time pose estimation on the `YouTube here <https://www.yo
    <div align="center">
    <iframe title=" Pose estimation for the Google Summer Code 2014 using OpenCV libraries." width="560" height="349" src="http://www.youtube.com/embed/msFFuHsiUns?rel=0&loop=1" frameborder="0" allowfullscreen align="middle"></iframe>
    </div>
-
-

From 4447dbe265a8c637b525b21e6a460ec09a1c896c Mon Sep 17 00:00:00 2001
From: edgarriba <edgar.riba@gmail.com>
Date: Tue, 5 Aug 2014 16:41:07 +0200
Subject: [PATCH 059/112] Removed whitespace

---
 .../calib3d/real_time_pose/real_time_pose.rst | 670 +++++++++---------
 1 file changed, 335 insertions(+), 335 deletions(-)

diff --git a/doc/tutorials/calib3d/real_time_pose/real_time_pose.rst b/doc/tutorials/calib3d/real_time_pose/real_time_pose.rst
index 3b4fcf4b13..62c14d96ca 100644
--- a/doc/tutorials/calib3d/real_time_pose/real_time_pose.rst
+++ b/doc/tutorials/calib3d/real_time_pose/real_time_pose.rst
@@ -26,7 +26,7 @@ The application will have the followings parts:
 Theory
 ======
 
-In computer vision estimate the camera pose from *n* 3D-to-2D point correspondences is a fundamental and well understood problem. The most general version of the problem requires estimating the six degrees of freedom of the pose and five calibration parameters: focal length, principal point, aspect ratio and skew. It could be established with a minimum of 6 correspondences, using the well known Direct Linear Transform (DLT) algorithm. There are, though, several simplifications to the problem which turn into an extensive list of different algorithms that improve the accuracy of the DLT. 
+In computer vision estimate the camera pose from *n* 3D-to-2D point correspondences is a fundamental and well understood problem. The most general version of the problem requires estimating the six degrees of freedom of the pose and five calibration parameters: focal length, principal point, aspect ratio and skew. It could be established with a minimum of 6 correspondences, using the well known Direct Linear Transform (DLT) algorithm. There are, though, several simplifications to the problem which turn into an extensive list of different algorithms that improve the accuracy of the DLT.
 
 The most common simplification is to assume known calibration parameters which is the so-called Perspective-*n*-Point problem:
 
@@ -49,9 +49,9 @@ Source code
 
 You can find the source code of this tutorial in the :file:`samples/cpp/tutorial_code/calib3d/real_time_pose_estimation/` folder of the OpenCV source library.
 
-The tutorial consists of two main programs: 
+The tutorial consists of two main programs:
 
-**1. Model registration** 
+1. **Model registration**
 
 This applicaton is exclusive to whom don't have a 3D textured model of the object to be detected. You can use this program to create your own textured 3D model. This program only works for planar objects, then if you want to model an object with complex shape you should use a sophisticated software to create it.
 
@@ -64,9 +64,9 @@ The application starts up extracting the ORB features and descriptors from the i
    :align: center
 
 
-**2. Model detection** 
+#. **Model detection**
 
-The aim of this application is estimate in real time the object pose given its 3D textured model. 
+The aim of this application is estimate in real time the object pose given its 3D textured model.
 
 The application starts up loading the 3D textured model in YAML file format with the same structure explained in the model registration program. From the scene the ORB features and descriptors are detected and extracted. Then, is used :flann_based_matcher:`FlannBasedMatcher<>` with :flann:`LshIndexParams <flann-index-t-index>` to do the matching between the scene descriptors and the model descriptors. Using the found matches along with :calib3d:`solvePnPRansac <solvepnpransac>` function the :math:`R` and :math:`t` of the camera are computed. Finally, a :video:`KalmanFilter<kalmanfilter>` is applied in order to reject bad poses.
 
@@ -76,33 +76,33 @@ Explanation
 
 Here is explained in detail the code for the real time application:
 
-**1. Read 3D textured object model and object mesh.**
+1. **Read 3D textured object model and object mesh.**
 
 In order to load the textured model I implemented the *class* **Model** which has the function *load()* that opens a YAML file and take the stored 3D points with its corresponding descriptors. You can find an example of a 3D textured model in :file:`samples/cpp/tutorial_code/calib3d/real_time_pose_estimation/Data/cookies_ORB.yml`.
 
    .. code-block:: cpp
 
-	/** Load a YAML file using OpenCV **/
-	void Model::load(const std::string path)
-	{
-		cv::Mat points3d_mat;
+    /** Load a YAML file using OpenCV **/
+    void Model::load(const std::string path)
+    {
+        cv::Mat points3d_mat;
 
-		cv::FileStorage storage(path, cv::FileStorage::READ);
-		storage["points_3d"] >> points3d_mat;
-		storage["descriptors"] >> descriptors_;
+        cv::FileStorage storage(path, cv::FileStorage::READ);
+        storage["points_3d"] >> points3d_mat;
+        storage["descriptors"] >> descriptors_;
 
-		points3d_mat.copyTo(list_points3d_in_);
+        points3d_mat.copyTo(list_points3d_in_);
 
-		storage.release();
+        storage.release();
 
-	}
+    }
 
 In the main program the model is loaded as follows:
 
   .. code-block:: cpp
 
-	Model model;               // instantiate Model object
-	model.load(yml_read_path); // load a 3D textured object model
+    Model model;               // instantiate Model object
+    model.load(yml_read_path); // load a 3D textured object model
 
 
 
@@ -110,100 +110,100 @@ In order to read the model mesh I implemented a *class* **Mesh** which has a fun
 
    .. code-block:: cpp
 
-	/** Load a CSV with *.ply format **/
-	void Mesh::load(const std::string path) 
-	{
+    /** Load a CSV with *.ply format **/
+    void Mesh::load(const std::string path) 
+    {
 
-		// Create the reader
-		CsvReader csvReader(path);
+        // Create the reader
+        CsvReader csvReader(path);
 
-		// Clear previous data
-		list_vertex_.clear();
-		list_triangles_.clear();
+        // Clear previous data
+        list_vertex_.clear();
+        list_triangles_.clear();
 
-		// Read from .ply file
-		csvReader.readPLY(list_vertex_, list_triangles_);
+        // Read from .ply file
+        csvReader.readPLY(list_vertex_, list_triangles_);
 
-		// Update mesh attributes
-		num_vertexs_ = list_vertex_.size();
-		num_triangles_ = list_triangles_.size();
+        // Update mesh attributes
+        num_vertexs_ = list_vertex_.size();
+        num_triangles_ = list_triangles_.size();
 
-	}
+    }
 
 In the main program the mesh is loaded as follows:
 
   .. code-block:: cpp
 
-	Mesh mesh;                // instantiate Mesh object
-	mesh.load(ply_read_path); // load an object mesh
+    Mesh mesh;                // instantiate Mesh object
+    mesh.load(ply_read_path); // load an object mesh
 
 
-**2. Take input from Camera or Video**
+#. **Take input from Camera or Video**
 
 To detect is necessary capture video. It's done loading a recorded video by passing the absolute path where it is located in your machine or using the default camera device. In order to test the application you can find a recorded video in :file:`samples/cpp/tutorial_code/calib3d/real_time_pose_estimation/Data/box.mp4`.
 
   .. code-block:: cpp
 
-	cv::VideoCapture cap;                           // instantiate VideoCapture
-	(argc < 2) ? cap.open(0) : cap.open(argv[1]);   // open the default camera device
-							// or a recorder video
+    cv::VideoCapture cap;                           // instantiate VideoCapture
+    (argc < 2) ? cap.open(0) : cap.open(argv[1]);   // open the default camera device
+                            // or a recorder video
 
-	if(!cap.isOpened())                             // check if we succeeded
-	{
-		std::cout << "Could not open the camera device" << std::endl;
-		return -1;
-	}
+    if(!cap.isOpened())                             // check if we succeeded
+    {
+        std::cout << "Could not open the camera device" << std::endl;
+        return -1;
+    }
 
 Then the algorithm is computed frame per frame:
 
   .. code-block:: cpp
 
-	cv::Mat frame, frame_vis;
+    cv::Mat frame, frame_vis;
 
-	while(cap.read(frame) && cv::waitKey(30) != 27) // capture frame until ESC is pressed
-	{
+    while(cap.read(frame) && cv::waitKey(30) != 27) // capture frame until ESC is pressed
+    {
 
-		frame_vis = frame.clone();  	// refresh visualisation frame
+        frame_vis = frame.clone();      // refresh visualisation frame
 
-		// MAIN ALGORITHM
+        // MAIN ALGORITHM
 
-	}
+    }
 
 
-**3. Extract ORB features and descriptors from the scene**
+#. **Extract ORB features and descriptors from the scene**
 
-The next step is to detect the scene features and extract it descriptors. For this task I implemented a *class* **RobustMatcher** which has a function for keypoints detection and features extraction. You can find it in :file:`samples/cpp/tutorial_code/calib3d/real_time_pose_estimation/src/RobusMatcher.cpp`. In your *RobusMatch* object you can use any of the 2D features detectors of OpenCV. In this case I used :feature_detection_and_description:`ORB<orb>` features because is based on :feature_detection_and_description:`FAST<fast>` to detect the keypoints and :descriptor_extractor:`BRIEF<briefdescriptorextractor>` to extract the descriptors which means that is fast and robust to rotations. You can find more detailed information about *ORB* in the documentation. 
+The next step is to detect the scene features and extract it descriptors. For this task I implemented a *class* **RobustMatcher** which has a function for keypoints detection and features extraction. You can find it in :file:`samples/cpp/tutorial_code/calib3d/real_time_pose_estimation/src/RobusMatcher.cpp`. In your *RobusMatch* object you can use any of the 2D features detectors of OpenCV. In this case I used :feature_detection_and_description:`ORB<orb>` features because is based on :feature_detection_and_description:`FAST<fast>` to detect the keypoints and :descriptor_extractor:`BRIEF<briefdescriptorextractor>` to extract the descriptors which means that is fast and robust to rotations. You can find more detailed information about *ORB* in the documentation.
 
 The following code is how to instantiate and set the features detector and the descriptors extractor:
 
   .. code-block:: cpp
 
-	RobustMatcher rmatcher;                                                          // instantiate RobustMatcher
+    RobustMatcher rmatcher;                                                          // instantiate RobustMatcher
 
-	cv::FeatureDetector * detector = new cv::OrbFeatureDetector(numKeyPoints);       // instatiate ORB feature detector
-	cv::DescriptorExtractor * extractor = new cv::OrbDescriptorExtractor();          // instatiate ORB descriptor extractor
+    cv::FeatureDetector * detector = new cv::OrbFeatureDetector(numKeyPoints);       // instatiate ORB feature detector
+    cv::DescriptorExtractor * extractor = new cv::OrbDescriptorExtractor();          // instatiate ORB descriptor extractor
 
-	rmatcher.setFeatureDetector(detector);                                           // set feature detector
-	rmatcher.setDescriptorExtractor(extractor);                                      // set descriptor extractor
+    rmatcher.setFeatureDetector(detector);                                           // set feature detector
+    rmatcher.setDescriptorExtractor(extractor);                                      // set descriptor extractor
 
 The features and descriptors will be computed by the *RobustMatcher* inside the matching function.
 
 
-**4. Match scene descriptors with model descriptors using Flann matcher**
+#. **Match scene descriptors with model descriptors using Flann matcher**
 
 It is the first step in our detection algorithm. The main idea is to match the scene descriptors with our model descriptors in order to know the 3D coordinates of the found features into the current scene.
 
-Firstly, we have to set which matcher we want to use. In this case is used :flann_based_matcher:`FlannBasedMatcher<>` matcher which in terms of computational cost is faster than the :brute_force_matcher:`BruteForceMatcher<bfmatcher>` matcher as we increase the trained collectction of features. Then, for FlannBased matcher the index created is *Multi-Probe LSH: Efficient Indexing for High-Dimensional Similarity Search* due to *ORB* descriptors are binary. 
+Firstly, we have to set which matcher we want to use. In this case is used :flann_based_matcher:`FlannBasedMatcher<>` matcher which in terms of computational cost is faster than the :brute_force_matcher:`BruteForceMatcher<bfmatcher>` matcher as we increase the trained collectction of features. Then, for FlannBased matcher the index created is *Multi-Probe LSH: Efficient Indexing for High-Dimensional Similarity Search* due to *ORB* descriptors are binary.
 
 You can tune the *LSH* and search parameters to improve the matching efficiency:
 
  .. code-block:: cpp
 
-	cv::Ptr<cv::flann::IndexParams> indexParams = cv::makePtr<cv::flann::LshIndexParams>(6, 12, 1); // instantiate LSH index parameters
-	cv::Ptr<cv::flann::SearchParams> searchParams = cv::makePtr<cv::flann::SearchParams>(50);       // instantiate flann search parameters
+    cv::Ptr<cv::flann::IndexParams> indexParams = cv::makePtr<cv::flann::LshIndexParams>(6, 12, 1); // instantiate LSH index parameters
+    cv::Ptr<cv::flann::SearchParams> searchParams = cv::makePtr<cv::flann::SearchParams>(50);       // instantiate flann search parameters
 
-	cv::DescriptorMatcher * matcher = new cv::FlannBasedMatcher(indexParams, searchParams);         // instantiate FlannBased matcher
-	rmatcher.setDescriptorMatcher(matcher);                                                         // set matcher
+    cv::DescriptorMatcher * matcher = new cv::FlannBasedMatcher(indexParams, searchParams);         // instantiate FlannBased matcher
+    rmatcher.setDescriptorMatcher(matcher);                                                         // set matcher
 
 
 Secondly, we have to call the matcher by using *robustMatch()* or *fastRobustMatch()* function. The difference of using this two functions is its computational cost. The first method is slower but more robust at filtering good matches because uses two ratio test and a symmetry test. In contrast, the second method is faster but less robust because only applies a single ratio test to the matches.
@@ -212,225 +212,225 @@ The following code is to get the model 3D points and its descriptors and then ca
 
    .. code-block:: cpp
 
-	// Get the MODEL INFO
+    // Get the MODEL INFO
 
-	std::vector<cv::Point3f> list_points3d_model = model.get_points3d();  // list with model 3D coordinates
-	cv::Mat descriptors_model = model.get_descriptors();                  // list with descriptors of each 3D coordinate
+    std::vector<cv::Point3f> list_points3d_model = model.get_points3d();  // list with model 3D coordinates
+    cv::Mat descriptors_model = model.get_descriptors();                  // list with descriptors of each 3D coordinate
 
    .. code-block:: cpp
 
-	// -- Step 1: Robust matching between model descriptors and scene descriptors
+    // -- Step 1: Robust matching between model descriptors and scene descriptors
  
-	std::vector<cv::DMatch> good_matches;       // to obtain the model 3D points  in the scene
-	std::vector<cv::KeyPoint> keypoints_scene;  // to obtain the 2D points of the scene
+    std::vector<cv::DMatch> good_matches;       // to obtain the model 3D points  in the scene
+    std::vector<cv::KeyPoint> keypoints_scene;  // to obtain the 2D points of the scene
 
-	if(fast_match)
-	{
-		rmatcher.fastRobustMatch(frame, good_matches, keypoints_scene, descriptors_model);
-	}
-	else
-	{
-		rmatcher.robustMatch(frame, good_matches, keypoints_scene, descriptors_model);
-	}
+    if(fast_match)
+    {
+        rmatcher.fastRobustMatch(frame, good_matches, keypoints_scene, descriptors_model);
+    }
+    else
+    {
+        rmatcher.robustMatch(frame, good_matches, keypoints_scene, descriptors_model);
+    }
 
 The following code corresponds to the *robustMatch()* function which belongs to the *RobustMatcher* class. This function uses the given image to detect the keypoints and extract the descriptors, match using *two Nearest Neighbour* the extracted descriptors with the given model descriptors and vice versa. Then, a ratio test is applied to the two direction matches in order to remove these matches which its distance ratio between the first and second best match is larger than a given threshold. Finally, a symmetry test is applied in order the remove non symmetrical matches.
 
    .. code-block:: cpp
 
-	void RobustMatcher::robustMatch( const cv::Mat& frame, std::vector<cv::DMatch>& good_matches,
-		                         std::vector<cv::KeyPoint>& keypoints_frame, 
+    void RobustMatcher::robustMatch( const cv::Mat& frame, std::vector<cv::DMatch>& good_matches,
+                                 std::vector<cv::KeyPoint>& keypoints_frame,
                                          const std::vector<cv::KeyPoint>& keypoints_model, const cv::Mat& descriptors_model )
-	{
+    {
 
-		// 1a. Detection of the ORB features
-		this->computeKeyPoints(frame, keypoints_frame);
+        // 1a. Detection of the ORB features
+        this->computeKeyPoints(frame, keypoints_frame);
 
-		// 1b. Extraction of the ORB descriptors
-		cv::Mat descriptors_frame;
-		this->computeDescriptors(frame, keypoints_frame, descriptors_frame);
+        // 1b. Extraction of the ORB descriptors
+        cv::Mat descriptors_frame;
+        this->computeDescriptors(frame, keypoints_frame, descriptors_frame);
 
-		// 2. Match the two image descriptors
-		std::vector<std::vector<cv::DMatch> > matches12, matches21;
+        // 2. Match the two image descriptors
+        std::vector<std::vector<cv::DMatch> > matches12, matches21;
 
-		// 2a. From image 1 to image 2
-		matcher_->knnMatch(descriptors_frame, descriptors_model, matches12, 2); // return 2 nearest neighbours
+        // 2a. From image 1 to image 2
+        matcher_->knnMatch(descriptors_frame, descriptors_model, matches12, 2); // return 2 nearest neighbours
 
-		// 2b. From image 2 to image 1
-		matcher_->knnMatch(descriptors_model, descriptors_frame, matches21, 2); // return 2 nearest neighbours
+        // 2b. From image 2 to image 1
+        matcher_->knnMatch(descriptors_model, descriptors_frame, matches21, 2); // return 2 nearest neighbours
 
-		// 3. Remove matches for which NN ratio is > than threshold
-		// clean image 1 -> image 2 matches
-		int removed1 = ratioTest(matches12);
-		// clean image 2 -> image 1 matches
-		int removed2 = ratioTest(matches21);
+        // 3. Remove matches for which NN ratio is > than threshold
+        // clean image 1 -> image 2 matches
+        int removed1 = ratioTest(matches12);
+        // clean image 2 -> image 1 matches
+        int removed2 = ratioTest(matches21);
 
-		// 4. Remove non-symmetrical matches
-		symmetryTest(matches12, matches21, good_matches);
+        // 4. Remove non-symmetrical matches
+        symmetryTest(matches12, matches21, good_matches);
 
-	}
+    }
 
 After the matches filtering we have to subtract the 2D and 3D correspondences from the found scene keypoints and our 3D model using the obtained *DMatches* vector. For more information about :basicstructures:`DMatch <dmatch>` check the documentation.
 
    .. code-block:: cpp
 
-	// -- Step 2: Find out the 2D/3D correspondences
+    // -- Step 2: Find out the 2D/3D correspondences
 
-	std::vector<cv::Point3f> list_points3d_model_match;	// container for the model 3D coordinates found in the scene
-	std::vector<cv::Point2f> list_points2d_scene_match;	// container for the model 2D coordinates found in the scene
+    std::vector<cv::Point3f> list_points3d_model_match;    // container for the model 3D coordinates found in the scene
+    std::vector<cv::Point2f> list_points2d_scene_match;    // container for the model 2D coordinates found in the scene
 
-	for(unsigned int match_index = 0; match_index < good_matches.size(); ++match_index)
-	{
-		cv::Point3f point3d_model = list_points3d_model[ good_matches[match_index].trainIdx ];	// 3D point from model
-		cv::Point2f point2d_scene = keypoints_scene[ good_matches[match_index].queryIdx ].pt;	// 2D point from the scene
-		list_points3d_model_match.push_back(point3d_model);					// add 3D point
-		list_points2d_scene_match.push_back(point2d_scene);					// add 2D point
-	}
+    for(unsigned int match_index = 0; match_index < good_matches.size(); ++match_index)
+    {
+        cv::Point3f point3d_model = list_points3d_model[ good_matches[match_index].trainIdx ];    // 3D point from model
+        cv::Point2f point2d_scene = keypoints_scene[ good_matches[match_index].queryIdx ].pt;    // 2D point from the scene
+        list_points3d_model_match.push_back(point3d_model);                    // add 3D point
+        list_points2d_scene_match.push_back(point2d_scene);                    // add 2D point
+    }
 
 
-**5. Pose estimation using PnP + Ransac**
+#. **Pose estimation using PnP + Ransac**
 
 Once with the 2D and 3D correspondences we have to apply a PnP algorithm in order to estimate the camera pose. The reason why we have to use :calib3d:`solvePnPRansac <solvepnpransac>` instead of :calib3d:`solvePnP <solvepnp>` is due to the fact that after the matching not all the found correspondences are correct and, as like as not, there are false correspondences or also called *outliers*. The `Random Sample Consensus <http://en.wikipedia.org/wiki/RANSAC>`_ or *Ransac* is a non-deterministic iterative method which estimate parameters of a mathematical model from observed data producing an aproximate result as the number of iterations increase. After appyling *Ransac* all the *outliers* will be eliminated to then estimate the camera pose with a certain probability to obtain a good solution.
 
-For the camera pose estimation I have implemented a *class* **PnPProblem**. This *class* has 4 atributes: a given calibration matrix, the rotation matrix, the translation matrix and the rotation-translation matrix. The intrinsic calibration parameters of the camera which you are using to estimate the pose are necessary. In order to obtain the parameters you can check :ref:`CameraCalibrationSquareChessBoardTutorial` and :ref:`cameraCalibrationOpenCV` tutorials. 
+For the camera pose estimation I have implemented a *class* **PnPProblem**. This *class* has 4 atributes: a given calibration matrix, the rotation matrix, the translation matrix and the rotation-translation matrix. The intrinsic calibration parameters of the camera which you are using to estimate the pose are necessary. In order to obtain the parameters you can check :ref:`CameraCalibrationSquareChessBoardTutorial` and :ref:`cameraCalibrationOpenCV` tutorials.
 
 The following code is how to declare the *PnPProblem class* in the main program:
 
    .. code-block:: cpp
 
-	/*
-	 * Set up the intrinsic camera parameters: UVC WEBCAM
-	 */
+    /*
+     * Set up the intrinsic camera parameters: UVC WEBCAM
+     */
 
-	double f = 55;                           // focal length in mm
-	double sx = 22.3, sy = 14.9;             // sensor size
-	double width = 640, height = 480;        // image size
+    double f = 55;                           // focal length in mm
+    double sx = 22.3, sy = 14.9;             // sensor size
+    double width = 640, height = 480;        // image size
 
-	double params_WEBCAM[] = { width*f/sx,   // fx
-		                   height*f/sy,  // fy
-		                   width/2,      // cx
-		                   height/2};    // cy
+    double params_WEBCAM[] = { width*f/sx,   // fx
+                           height*f/sy,  // fy
+                           width/2,      // cx
+                           height/2};    // cy
 
-	PnPProblem pnp_detection(params_WEBCAM); // instantiate PnPProblem class
+    PnPProblem pnp_detection(params_WEBCAM); // instantiate PnPProblem class
 
 The following code is how the *PnPProblem class* initialises its atributes:
 
    .. code-block:: cpp
 
-	// Custom constructor given the intrinsic camera parameters
+    // Custom constructor given the intrinsic camera parameters
 
-	PnPProblem::PnPProblem(const double params[])
-	{
-	  _A_matrix = cv::Mat::zeros(3, 3, CV_64FC1);   // intrinsic camera parameters
-	  _A_matrix.at<double>(0, 0) = params[0];       //      [ fx   0  cx ]
-	  _A_matrix.at<double>(1, 1) = params[1];       //      [  0  fy  cy ]
-	  _A_matrix.at<double>(0, 2) = params[2];       //      [  0   0   1 ]
-	  _A_matrix.at<double>(1, 2) = params[3];
-	  _A_matrix.at<double>(2, 2) = 1;
-	  _R_matrix = cv::Mat::zeros(3, 3, CV_64FC1);   // rotation matrix
-	  _t_matrix = cv::Mat::zeros(3, 1, CV_64FC1);   // translation matrix
-	  _P_matrix = cv::Mat::zeros(3, 4, CV_64FC1);   // rotation-translation matrix
+    PnPProblem::PnPProblem(const double params[])
+    {
+      _A_matrix = cv::Mat::zeros(3, 3, CV_64FC1);   // intrinsic camera parameters
+      _A_matrix.at<double>(0, 0) = params[0];       //      [ fx   0  cx ]
+      _A_matrix.at<double>(1, 1) = params[1];       //      [  0  fy  cy ]
+      _A_matrix.at<double>(0, 2) = params[2];       //      [  0   0   1 ]
+      _A_matrix.at<double>(1, 2) = params[3];
+      _A_matrix.at<double>(2, 2) = 1;
+      _R_matrix = cv::Mat::zeros(3, 3, CV_64FC1);   // rotation matrix
+      _t_matrix = cv::Mat::zeros(3, 1, CV_64FC1);   // translation matrix
+      _P_matrix = cv::Mat::zeros(3, 4, CV_64FC1);   // rotation-translation matrix
 
-	}
+    }
 
 OpenCV provides four PnP methods: ITERATIVE, EPNP, P3P and DLS. Depending on the application type, the estimation method will be different. In the case that we want to make a real time application, the more suitable methods are EPNP and P3P due to that are faster than ITERATIVE and DLS at finding an optimal solution. However, EPNP and P3P are not especially robust in front of planar surfaces and sometimes the pose estimation seems to have a mirror effect. Therefore, in this this tutorial is used ITERATIVE method due to the object to be detected has planar surfaces.
 
 The OpenCV Ransac implementation wants you to provide three parameters: the maximum number of iterations until stop the algorithm, the maximum allowed distance between the observed and computed point projections to consider it an inlier and the confidence to obtain a good result. You can tune these paramaters in order to improve your algorithm performance. Increasing the number of iterations you will have a more accurate solution, but will take more time to find a solution. Increasing the reprojection error will reduce the computation time, but your solution will be unaccurate. Decreasing the confidence your arlgorithm will be faster, but the obtained solution will be unaccurate.
 
 The following parameters work for this application:
-  
+
    .. code-block:: cpp
 
-	// RANSAC parameters	
-	
-	int iterationsCount = 500;	// number of Ransac iterations.
-	float reprojectionError = 2.0;	// maximum allowed distance to consider it an inlier.
-	float confidence = 0.95;	// ransac successful confidence.
+    // RANSAC parameters
+    
+    int iterationsCount = 500;    // number of Ransac iterations.
+    float reprojectionError = 2.0;    // maximum allowed distance to consider it an inlier.
+    float confidence = 0.95;    // ransac successful confidence.
 
 
 The following code corresponds to the *estimatePoseRANSAC()* function which belongs to the *PnPProblem class*. This function estimates the rotation and translation matrix given a set of 2D/3D correspondences, the desired PnP method to use, the output inliers container and the Ransac parameters:
 
    .. code-block:: cpp
 
-	// Estimate the pose given a list of 2D/3D correspondences with RANSAC and the method to use
+    // Estimate the pose given a list of 2D/3D correspondences with RANSAC and the method to use
 
-	void PnPProblem::estimatePoseRANSAC( const std::vector<cv::Point3f> &list_points3d,	// list with model 3D coordinates
-		                             const std::vector<cv::Point2f> &list_points2d,     // list with scene 2D coordinates
-		                             int flags, cv::Mat &inliers, int iterationsCount,  // PnP method; inliers container
-		                             float reprojectionError, float confidence )       // Ransac parameters
-	{
-		cv::Mat distCoeffs = cv::Mat::zeros(4, 1, CV_64FC1);	// vector of distortion coefficients
-		cv::Mat rvec = cv::Mat::zeros(3, 1, CV_64FC1);          // output rotation vector
-		cv::Mat tvec = cv::Mat::zeros(3, 1, CV_64FC1);		// output translation vector
+    void PnPProblem::estimatePoseRANSAC( const std::vector<cv::Point3f> &list_points3d,    // list with model 3D coordinates
+                                     const std::vector<cv::Point2f> &list_points2d,     // list with scene 2D coordinates
+                                     int flags, cv::Mat &inliers, int iterationsCount,  // PnP method; inliers container
+                                     float reprojectionError, float confidence )       // Ransac parameters
+    {
+        cv::Mat distCoeffs = cv::Mat::zeros(4, 1, CV_64FC1);    // vector of distortion coefficients
+        cv::Mat rvec = cv::Mat::zeros(3, 1, CV_64FC1);          // output rotation vector
+        cv::Mat tvec = cv::Mat::zeros(3, 1, CV_64FC1);        // output translation vector
 
-		bool useExtrinsicGuess = false;   // if true the function uses the provided rvec and tvec values as
-						  // initial approximations of the rotation and translation vectors
+        bool useExtrinsicGuess = false;   // if true the function uses the provided rvec and tvec values as
+                          // initial approximations of the rotation and translation vectors
 
-		cv::solvePnPRansac( list_points3d, list_points2d, _A_matrix, distCoeffs, rvec, tvec,
-			            useExtrinsicGuess, iterationsCount, reprojectionError, confidence,
-			            inliers, flags );
+        cv::solvePnPRansac( list_points3d, list_points2d, _A_matrix, distCoeffs, rvec, tvec,
+                        useExtrinsicGuess, iterationsCount, reprojectionError, confidence,
+                        inliers, flags );
 
-		Rodrigues(rvec,_R_matrix); 			// converts Rotation Vector to Matrix
-		_t_matrix = tvec;				// set translation matrix
+        Rodrigues(rvec,_R_matrix);             // converts Rotation Vector to Matrix
+        _t_matrix = tvec;                // set translation matrix
 
-		this->set_P_matrix(_R_matrix, _t_matrix);	// set rotation-translation matrix
+        this->set_P_matrix(_R_matrix, _t_matrix);    // set rotation-translation matrix
 
-	}   
+    }
 
 In the following code are the 3th and 4th steps of the main algorithm. The first, calling the above function and the second taking the output inliers vector from Ransac to get the 2D scene points for drawing purpose. As seen in the code we must be sure to apply Ransac if we have matches, in the other case, the function :calib3d:`solvePnPRansac <solvepnpransac>` crashes due to any OpenCV *bug*.
 
    .. code-block:: cpp
 
-	if(good_matches.size() > 0) // None matches, then RANSAC crashes
-	{
+    if(good_matches.size() > 0) // None matches, then RANSAC crashes
+    {
 
-		// -- Step 3: Estimate the pose using RANSAC approach
-		pnp_detection.estimatePoseRANSAC( list_points3d_model_match, list_points2d_scene_match,
-				                  cv::ITERATIVE, inliers_idx,
-				                  iterationsCount, reprojectionError, minInliersCount );
+        // -- Step 3: Estimate the pose using RANSAC approach
+        pnp_detection.estimatePoseRANSAC( list_points3d_model_match, list_points2d_scene_match,
+                                  cv::ITERATIVE, inliers_idx,
+                                  iterationsCount, reprojectionError, minInliersCount );
 
 
-		// -- Step 4: Catch the inliers keypoints to draw
-		for(int inliers_index = 0; inliers_index < inliers_idx.rows; ++inliers_index)
-		{
-		int n = inliers_idx.at<int>(inliers_index);         // i-inlier
-		cv::Point2f point2d = list_points2d_scene_match[n]; // i-inlier point 2D
-		list_points2d_inliers.push_back(point2d);           // add i-inlier to list
-	}
+        // -- Step 4: Catch the inliers keypoints to draw
+        for(int inliers_index = 0; inliers_index < inliers_idx.rows; ++inliers_index)
+        {
+        int n = inliers_idx.at<int>(inliers_index);         // i-inlier
+        cv::Point2f point2d = list_points2d_scene_match[n]; // i-inlier point 2D
+        list_points2d_inliers.push_back(point2d);           // add i-inlier to list
+    }
 
 
-Finally, once the camera pose has been estimated we can use the :math:`R` and :math:`t` in order to compute the 2D projection onto the image of a given 3D point expressed in a world reference frame using the showed formula on *Theory*. 
+Finally, once the camera pose has been estimated we can use the :math:`R` and :math:`t` in order to compute the 2D projection onto the image of a given 3D point expressed in a world reference frame using the showed formula on *Theory*.
 
 The following code corresponds to the *backproject3DPoint()* function which belongs to the *PnPProblem class*. The function backproject a given 3D point expressed in a world reference frame onto a 2D image:
 
    .. code-block:: cpp
 
-	// Backproject a 3D point to 2D using the estimated pose parameters
+    // Backproject a 3D point to 2D using the estimated pose parameters
 
-	cv::Point2f PnPProblem::backproject3DPoint(const cv::Point3f &point3d)
-	{
-		// 3D point vector [x y z 1]'
-		cv::Mat point3d_vec = cv::Mat(4, 1, CV_64FC1);
-		point3d_vec.at<double>(0) = point3d.x;
-		point3d_vec.at<double>(1) = point3d.y;
-		point3d_vec.at<double>(2) = point3d.z;
-		point3d_vec.at<double>(3) = 1;
+    cv::Point2f PnPProblem::backproject3DPoint(const cv::Point3f &point3d)
+    {
+        // 3D point vector [x y z 1]'
+        cv::Mat point3d_vec = cv::Mat(4, 1, CV_64FC1);
+        point3d_vec.at<double>(0) = point3d.x;
+        point3d_vec.at<double>(1) = point3d.y;
+        point3d_vec.at<double>(2) = point3d.z;
+        point3d_vec.at<double>(3) = 1;
 
-		// 2D point vector [u v 1]'
-		cv::Mat point2d_vec = cv::Mat(4, 1, CV_64FC1);
-		point2d_vec = _A_matrix * _P_matrix * point3d_vec;
+        // 2D point vector [u v 1]'
+        cv::Mat point2d_vec = cv::Mat(4, 1, CV_64FC1);
+        point2d_vec = _A_matrix * _P_matrix * point3d_vec;
 
-		// Normalization of [u v]'
-		cv::Point2f point2d;
-		point2d.x = point2d_vec.at<double>(0) / point2d_vec.at<double>(2);
-		point2d.y = point2d_vec.at<double>(1) / point2d_vec.at<double>(2);
+        // Normalization of [u v]'
+        cv::Point2f point2d;
+        point2d.x = point2d_vec.at<double>(0) / point2d_vec.at<double>(2);
+        point2d.y = point2d_vec.at<double>(1) / point2d_vec.at<double>(2);
 
-		return point2d;
-	}
+        return point2d;
+    }
 
 The above function is used to compute all the 3D points of the object *Mesh* to show the pose of the object.
 
 
-**6. Linear Kalman Filter for bad poses rejection**
+#. **Linear Kalman Filter for bad poses rejection**
 
 Is it common in computer vision or robotics fields that after applying detection or tracking techniques, bad results are obtained due to some sensor errors. In order to avoid these bad detections in this tutorial is explained how to implement a Linear Kalman Filter. The Kalman Filter will be applied after detected a given number of inliers.
 
@@ -440,210 +440,210 @@ Firstly, we have to define our state vector which will have 18 states: the posit
 
    .. math::
 
-	X = (x,y,z,\dot x,\dot y,\dot z,\ddot x,\ddot y,\ddot z,\psi,\theta,\phi,\dot \psi,\dot \theta,\dot \phi,\ddot \psi,\ddot \theta,\ddot \phi)^T
+    X = (x,y,z,\dot x,\dot y,\dot z,\ddot x,\ddot y,\ddot z,\psi,\theta,\phi,\dot \psi,\dot \theta,\dot \phi,\ddot \psi,\ddot \theta,\ddot \phi)^T
 
 Secondly, we have to define the number of measuremnts which will be 6: from :math:`R` and :math:`t` we can extract :math:`(x,y,z)` and :math:`(\psi,\theta,\phi)`. In addition, we have to define the number of control actions to apply to the system which in this case will be *zero*. Finally, we have to define the differential time between measurements which in this case is :math:`1/T`, where *T* is the frame rate of the video.
 
    .. code-block:: cpp
 
-	cv::KalmanFilter KF;         // instantiate Kalman Filter
+    cv::KalmanFilter KF;         // instantiate Kalman Filter
 
-	int nStates = 18;            // the number of states
-	int nMeasurements = 6;       // the number of measured states
-	int nInputs = 0;             // the number of action control
+    int nStates = 18;            // the number of states
+    int nMeasurements = 6;       // the number of measured states
+    int nInputs = 0;             // the number of action control
 
-	double dt = 0.125;           // time between measurements (1/FPS)
+    double dt = 0.125;           // time between measurements (1/FPS)
 
-	initKalmanFilter(KF, nStates, nMeasurements, nInputs, dt);    // init function
+    initKalmanFilter(KF, nStates, nMeasurements, nInputs, dt);    // init function
 
 
-The following code corresponds to the *Kalman Filter* initialisation. Firstly, is set the process noise, the measurement noise and the error covariance matrix. Secondly, are set the transition matrix which is the dynamic model and finally the measurement matrix, which is the measurement model. 
+The following code corresponds to the *Kalman Filter* initialisation. Firstly, is set the process noise, the measurement noise and the error covariance matrix. Secondly, are set the transition matrix which is the dynamic model and finally the measurement matrix, which is the measurement model.
 
 You can tune the process and measurement noise to improve the *Kalman Filter* performance. As the measurement noise is reduced the faster will converge doing the algorithm sensitive in front of bad measurements.
 
    .. code-block:: cpp
 
-	void initKalmanFilter(cv::KalmanFilter &KF, int nStates, int nMeasurements, int nInputs, double dt)
-	{
+    void initKalmanFilter(cv::KalmanFilter &KF, int nStates, int nMeasurements, int nInputs, double dt)
+    {
 
-	  KF.init(nStates, nMeasurements, nInputs, CV_64F);                 // init Kalman Filter
+      KF.init(nStates, nMeasurements, nInputs, CV_64F);                 // init Kalman Filter
 
-	  cv::setIdentity(KF.processNoiseCov, cv::Scalar::all(1e-5));       // set process noise
-	  cv::setIdentity(KF.measurementNoiseCov, cv::Scalar::all(1e-4));   // set measurement noise
-	  cv::setIdentity(KF.errorCovPost, cv::Scalar::all(1));             // error covariance
+      cv::setIdentity(KF.processNoiseCov, cv::Scalar::all(1e-5));       // set process noise
+      cv::setIdentity(KF.measurementNoiseCov, cv::Scalar::all(1e-4));   // set measurement noise
+      cv::setIdentity(KF.errorCovPost, cv::Scalar::all(1));             // error covariance
 
 
-		             /** DYNAMIC MODEL **/
+                     /** DYNAMIC MODEL **/
 
-	  //  [1 0 0 dt  0  0 dt2   0   0 0 0 0  0  0  0   0   0   0]
-	  //  [0 1 0  0 dt  0   0 dt2   0 0 0 0  0  0  0   0   0   0]
-	  //  [0 0 1  0  0 dt   0   0 dt2 0 0 0  0  0  0   0   0   0]
-	  //  [0 0 0  1  0  0  dt   0   0 0 0 0  0  0  0   0   0   0]
-	  //  [0 0 0  0  1  0   0  dt   0 0 0 0  0  0  0   0   0   0]
-	  //  [0 0 0  0  0  1   0   0  dt 0 0 0  0  0  0   0   0   0]
-	  //  [0 0 0  0  0  0   1   0   0 0 0 0  0  0  0   0   0   0]
-	  //  [0 0 0  0  0  0   0   1   0 0 0 0  0  0  0   0   0   0]
-	  //  [0 0 0  0  0  0   0   0   1 0 0 0  0  0  0   0   0   0]
-	  //  [0 0 0  0  0  0   0   0   0 1 0 0 dt  0  0 dt2   0   0]
-	  //  [0 0 0  0  0  0   0   0   0 0 1 0  0 dt  0   0 dt2   0]
-	  //  [0 0 0  0  0  0   0   0   0 0 0 1  0  0 dt   0   0 dt2]
-	  //  [0 0 0  0  0  0   0   0   0 0 0 0  1  0  0  dt   0   0]
-	  //  [0 0 0  0  0  0   0   0   0 0 0 0  0  1  0   0  dt   0]
-	  //  [0 0 0  0  0  0   0   0   0 0 0 0  0  0  1   0   0  dt]
-	  //  [0 0 0  0  0  0   0   0   0 0 0 0  0  0  0   1   0   0]
-	  //  [0 0 0  0  0  0   0   0   0 0 0 0  0  0  0   0   1   0]
-	  //  [0 0 0  0  0  0   0   0   0 0 0 0  0  0  0   0   0   1]
+      //  [1 0 0 dt  0  0 dt2   0   0 0 0 0  0  0  0   0   0   0]
+      //  [0 1 0  0 dt  0   0 dt2   0 0 0 0  0  0  0   0   0   0]
+      //  [0 0 1  0  0 dt   0   0 dt2 0 0 0  0  0  0   0   0   0]
+      //  [0 0 0  1  0  0  dt   0   0 0 0 0  0  0  0   0   0   0]
+      //  [0 0 0  0  1  0   0  dt   0 0 0 0  0  0  0   0   0   0]
+      //  [0 0 0  0  0  1   0   0  dt 0 0 0  0  0  0   0   0   0]
+      //  [0 0 0  0  0  0   1   0   0 0 0 0  0  0  0   0   0   0]
+      //  [0 0 0  0  0  0   0   1   0 0 0 0  0  0  0   0   0   0]
+      //  [0 0 0  0  0  0   0   0   1 0 0 0  0  0  0   0   0   0]
+      //  [0 0 0  0  0  0   0   0   0 1 0 0 dt  0  0 dt2   0   0]
+      //  [0 0 0  0  0  0   0   0   0 0 1 0  0 dt  0   0 dt2   0]
+      //  [0 0 0  0  0  0   0   0   0 0 0 1  0  0 dt   0   0 dt2]
+      //  [0 0 0  0  0  0   0   0   0 0 0 0  1  0  0  dt   0   0]
+      //  [0 0 0  0  0  0   0   0   0 0 0 0  0  1  0   0  dt   0]
+      //  [0 0 0  0  0  0   0   0   0 0 0 0  0  0  1   0   0  dt]
+      //  [0 0 0  0  0  0   0   0   0 0 0 0  0  0  0   1   0   0]
+      //  [0 0 0  0  0  0   0   0   0 0 0 0  0  0  0   0   1   0]
+      //  [0 0 0  0  0  0   0   0   0 0 0 0  0  0  0   0   0   1]
 
-	  // position
-	  KF.transitionMatrix.at<double>(0,3) = dt;
-	  KF.transitionMatrix.at<double>(1,4) = dt;
-	  KF.transitionMatrix.at<double>(2,5) = dt;
-	  KF.transitionMatrix.at<double>(3,6) = dt;
-	  KF.transitionMatrix.at<double>(4,7) = dt;
-	  KF.transitionMatrix.at<double>(5,8) = dt;
-	  KF.transitionMatrix.at<double>(0,6) = 0.5*pow(dt,2);
-	  KF.transitionMatrix.at<double>(1,7) = 0.5*pow(dt,2);
-	  KF.transitionMatrix.at<double>(2,8) = 0.5*pow(dt,2);
+      // position
+      KF.transitionMatrix.at<double>(0,3) = dt;
+      KF.transitionMatrix.at<double>(1,4) = dt;
+      KF.transitionMatrix.at<double>(2,5) = dt;
+      KF.transitionMatrix.at<double>(3,6) = dt;
+      KF.transitionMatrix.at<double>(4,7) = dt;
+      KF.transitionMatrix.at<double>(5,8) = dt;
+      KF.transitionMatrix.at<double>(0,6) = 0.5*pow(dt,2);
+      KF.transitionMatrix.at<double>(1,7) = 0.5*pow(dt,2);
+      KF.transitionMatrix.at<double>(2,8) = 0.5*pow(dt,2);
 
-	  // orientation
-	  KF.transitionMatrix.at<double>(9,12) = dt;
-	  KF.transitionMatrix.at<double>(10,13) = dt;
-	  KF.transitionMatrix.at<double>(11,14) = dt;
-	  KF.transitionMatrix.at<double>(12,15) = dt;
-	  KF.transitionMatrix.at<double>(13,16) = dt;
-	  KF.transitionMatrix.at<double>(14,17) = dt;
-	  KF.transitionMatrix.at<double>(9,15) = 0.5*pow(dt,2);
-	  KF.transitionMatrix.at<double>(10,16) = 0.5*pow(dt,2);
-	  KF.transitionMatrix.at<double>(11,17) = 0.5*pow(dt,2);
+      // orientation
+      KF.transitionMatrix.at<double>(9,12) = dt;
+      KF.transitionMatrix.at<double>(10,13) = dt;
+      KF.transitionMatrix.at<double>(11,14) = dt;
+      KF.transitionMatrix.at<double>(12,15) = dt;
+      KF.transitionMatrix.at<double>(13,16) = dt;
+      KF.transitionMatrix.at<double>(14,17) = dt;
+      KF.transitionMatrix.at<double>(9,15) = 0.5*pow(dt,2);
+      KF.transitionMatrix.at<double>(10,16) = 0.5*pow(dt,2);
+      KF.transitionMatrix.at<double>(11,17) = 0.5*pow(dt,2);
 
 
-		   /** MEASUREMENT MODEL **/
+           /** MEASUREMENT MODEL **/
 
-	  //  [1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0]
-	  //  [0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0]
-	  //  [0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0]
-	  //  [0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0]
-	  //  [0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0]
-	  //  [0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0]
+      //  [1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0]
+      //  [0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0]
+      //  [0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0]
+      //  [0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0]
+      //  [0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0]
+      //  [0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0]
 
-	  KF.measurementMatrix.at<double>(0,0) = 1;  // x
-	  KF.measurementMatrix.at<double>(1,1) = 1;  // y
-	  KF.measurementMatrix.at<double>(2,2) = 1;  // z
-	  KF.measurementMatrix.at<double>(3,9) = 1;  // roll
-	  KF.measurementMatrix.at<double>(4,10) = 1; // pitch
-	  KF.measurementMatrix.at<double>(5,11) = 1; // yaw
+      KF.measurementMatrix.at<double>(0,0) = 1;  // x
+      KF.measurementMatrix.at<double>(1,1) = 1;  // y
+      KF.measurementMatrix.at<double>(2,2) = 1;  // z
+      KF.measurementMatrix.at<double>(3,9) = 1;  // roll
+      KF.measurementMatrix.at<double>(4,10) = 1; // pitch
+      KF.measurementMatrix.at<double>(5,11) = 1; // yaw
 
-	  std::cout << "A " << std::endl << KF.transitionMatrix << std::endl;
-	  std::cout << "C " << std::endl << KF.measurementMatrix << std::endl;
+      std::cout << "A " << std::endl << KF.transitionMatrix << std::endl;
+      std::cout << "C " << std::endl << KF.measurementMatrix << std::endl;
 
-	}
+    }
 
 In the following code is the 5th step of the main algorithm. When the obtained number of inliers after *Ransac* is over the threshold, the measurements matrix is filled and then the *Kalman Filter* is updated:
 
    .. code-block:: cpp
 
-	// -- Step 5: Kalman Filter
+    // -- Step 5: Kalman Filter
 
-	// GOOD MEASUREMENT
-	if( inliers_idx.rows >= minInliersKalman )
-	{
+    // GOOD MEASUREMENT
+    if( inliers_idx.rows >= minInliersKalman )
+    {
 
-		// Get the measured translation
-		cv::Mat translation_measured(3, 1, CV_64F);
-		translation_measured = pnp_detection.get_t_matrix();
+        // Get the measured translation
+        cv::Mat translation_measured(3, 1, CV_64F);
+        translation_measured = pnp_detection.get_t_matrix();
 
-		// Get the measured rotation
-		cv::Mat rotation_measured(3, 3, CV_64F);
-		rotation_measured = pnp_detection.get_R_matrix();
+        // Get the measured rotation
+        cv::Mat rotation_measured(3, 3, CV_64F);
+        rotation_measured = pnp_detection.get_R_matrix();
 
-		// fill the measurements vector
-		fillMeasurements(measurements, translation_measured, rotation_measured);
+        // fill the measurements vector
+        fillMeasurements(measurements, translation_measured, rotation_measured);
 
-	}
+    }
 
-	// Instantiate estimated translation and rotation
-	cv::Mat translation_estimated(3, 1, CV_64F);
-	cv::Mat rotation_estimated(3, 3, CV_64F);
+    // Instantiate estimated translation and rotation
+    cv::Mat translation_estimated(3, 1, CV_64F);
+    cv::Mat rotation_estimated(3, 3, CV_64F);
 
-	// update the Kalman filter with good measurements
-	updateKalmanFilter( KF, measurements,
-		          translation_estimated, rotation_estimated);
+    // update the Kalman filter with good measurements
+    updateKalmanFilter( KF, measurements,
+                  translation_estimated, rotation_estimated);
 
 The following code corresponds to the *fillMeasurements()* function which converts the measured `Rotation Matrix to Eulers angles <http://euclideanspace.com/maths/geometry/rotations/conversions/matrixToEuler/index.htm>`_ and fill the measurements matrix along with the measured  translation vector:
 
    .. code-block:: cpp
 
-	void fillMeasurements( cv::Mat &measurements,
-		               const cv::Mat &translation_measured, const cv::Mat &rotation_measured)
-	{
-		// Convert rotation matrix to euler angles
-		cv::Mat measured_eulers(3, 1, CV_64F);
-		measured_eulers = rot2euler(rotation_measured);
+    void fillMeasurements( cv::Mat &measurements,
+                       const cv::Mat &translation_measured, const cv::Mat &rotation_measured)
+    {
+        // Convert rotation matrix to euler angles
+        cv::Mat measured_eulers(3, 1, CV_64F);
+        measured_eulers = rot2euler(rotation_measured);
 
-		// Set measurement to predict
-		measurements.at<double>(0) = translation_measured.at<double>(0); // x
-		measurements.at<double>(1) = translation_measured.at<double>(1); // y
-		measurements.at<double>(2) = translation_measured.at<double>(2); // z
-		measurements.at<double>(3) = measured_eulers.at<double>(0);      // roll
-		measurements.at<double>(4) = measured_eulers.at<double>(1);      // pitch
-		measurements.at<double>(5) = measured_eulers.at<double>(2);      // yaw
-	}
+        // Set measurement to predict
+        measurements.at<double>(0) = translation_measured.at<double>(0); // x
+        measurements.at<double>(1) = translation_measured.at<double>(1); // y
+        measurements.at<double>(2) = translation_measured.at<double>(2); // z
+        measurements.at<double>(3) = measured_eulers.at<double>(0);      // roll
+        measurements.at<double>(4) = measured_eulers.at<double>(1);      // pitch
+        measurements.at<double>(5) = measured_eulers.at<double>(2);      // yaw
+    }
 
 
 The following code corresponds to the *updateKalmanFilter()* function which update the Kalman Filter and set the estimated Rotation Matrix and translation vector. The estimated Rotation Matrix comes from the estimated `Euler angles to Rotation Matrix <http://euclideanspace.com/maths/geometry/rotations/conversions/eulerToMatrix/index.htm>`_.
 
    .. code-block:: cpp
 
-	void updateKalmanFilter( cv::KalmanFilter &KF, cv::Mat &measurement,
-		                 cv::Mat &translation_estimated, cv::Mat &rotation_estimated )
-	{
+    void updateKalmanFilter( cv::KalmanFilter &KF, cv::Mat &measurement,
+                         cv::Mat &translation_estimated, cv::Mat &rotation_estimated )
+    {
 
-		// First predict, to update the internal statePre variable
-		cv::Mat prediction = KF.predict();
+        // First predict, to update the internal statePre variable
+        cv::Mat prediction = KF.predict();
 
-		// The "correct" phase that is going to use the predicted value and our measurement
-		cv::Mat estimated = KF.correct(measurement);
+        // The "correct" phase that is going to use the predicted value and our measurement
+        cv::Mat estimated = KF.correct(measurement);
 
-		// Estimated translation
-		translation_estimated.at<double>(0) = estimated.at<double>(0);
-		translation_estimated.at<double>(1) = estimated.at<double>(1);
-		translation_estimated.at<double>(2) = estimated.at<double>(2);
+        // Estimated translation
+        translation_estimated.at<double>(0) = estimated.at<double>(0);
+        translation_estimated.at<double>(1) = estimated.at<double>(1);
+        translation_estimated.at<double>(2) = estimated.at<double>(2);
 
-		// Estimated euler angles
-		cv::Mat eulers_estimated(3, 1, CV_64F);
-		eulers_estimated.at<double>(0) = estimated.at<double>(9);
-		eulers_estimated.at<double>(1) = estimated.at<double>(10);
-		eulers_estimated.at<double>(2) = estimated.at<double>(11);
+        // Estimated euler angles
+        cv::Mat eulers_estimated(3, 1, CV_64F);
+        eulers_estimated.at<double>(0) = estimated.at<double>(9);
+        eulers_estimated.at<double>(1) = estimated.at<double>(10);
+        eulers_estimated.at<double>(2) = estimated.at<double>(11);
 
-		// Convert estimated quaternion to rotation matrix
-		rotation_estimated = euler2rot(eulers_estimated);
+        // Convert estimated quaternion to rotation matrix
+        rotation_estimated = euler2rot(eulers_estimated);
 
-	}
+    }
 
 The 6th step is set the estimated rotation-translation matrix:
 
    .. code-block:: cpp
 
-	// -- Step 6: Set estimated projection matrix
-	pnp_detection_est.set_P_matrix(rotation_estimated, translation_estimated);
+    // -- Step 6: Set estimated projection matrix
+    pnp_detection_est.set_P_matrix(rotation_estimated, translation_estimated);
 
 
 The last and optional step is draw the found pose. To do it I implemented a function to draw all the mesh 3D points and an extra reference axis:
 
    .. code-block:: cpp
 
-	// -- Step X: Draw pose
+    // -- Step X: Draw pose
 
-	drawObjectMesh(frame_vis, &mesh, &pnp_detection, green);				// draw current pose 
-	drawObjectMesh(frame_vis, &mesh, &pnp_detection_est, yellow);				// draw estimated pose
-	
-	double l = 5;
-	std::vector<cv::Point2f> pose_points2d;
-	pose_points2d.push_back(pnp_detection_est.backproject3DPoint(cv::Point3f(0,0,0)));	// axis center
-	pose_points2d.push_back(pnp_detection_est.backproject3DPoint(cv::Point3f(l,0,0)));	// axis x
-	pose_points2d.push_back(pnp_detection_est.backproject3DPoint(cv::Point3f(0,l,0)));	// axis y
-	pose_points2d.push_back(pnp_detection_est.backproject3DPoint(cv::Point3f(0,0,l)));	// axis z
-	draw3DCoordinateAxes(frame_vis, pose_points2d);						// draw axes
+    drawObjectMesh(frame_vis, &mesh, &pnp_detection, green);                // draw current pose 
+    drawObjectMesh(frame_vis, &mesh, &pnp_detection_est, yellow);                // draw estimated pose
+    
+    double l = 5;
+    std::vector<cv::Point2f> pose_points2d;
+    pose_points2d.push_back(pnp_detection_est.backproject3DPoint(cv::Point3f(0,0,0)));    // axis center
+    pose_points2d.push_back(pnp_detection_est.backproject3DPoint(cv::Point3f(l,0,0)));    // axis x
+    pose_points2d.push_back(pnp_detection_est.backproject3DPoint(cv::Point3f(0,l,0)));    // axis y
+    pose_points2d.push_back(pnp_detection_est.backproject3DPoint(cv::Point3f(0,0,l)));    // axis z
+    draw3DCoordinateAxes(frame_vis, pose_points2d);                        // draw axes
 
 
 Results
@@ -653,23 +653,23 @@ The following videos are the results of pose estimation in real time using the e
 
    .. code-block:: cpp
 
-	// Robust Matcher parameters
+    // Robust Matcher parameters
 
-	int numKeyPoints = 2000;      // number of detected keypoints
-	float ratio = 0.70f;          // ratio test
-	bool fast_match = true;       // fastRobustMatch() or robustMatch()
+    int numKeyPoints = 2000;      // number of detected keypoints
+    float ratio = 0.70f;          // ratio test
+    bool fast_match = true;       // fastRobustMatch() or robustMatch()
 
 
-	// RANSAC parameters
+    // RANSAC parameters
 
-	int iterationsCount = 500;    // number of Ransac iterations.
-	int reprojectionError = 2.0;  // maximum allowed distance to consider it an inlier.
-	float confidence = 0.95;      // ransac successful confidence.
+    int iterationsCount = 500;    // number of Ransac iterations.
+    int reprojectionError = 2.0;  // maximum allowed distance to consider it an inlier.
+    float confidence = 0.95;      // ransac successful confidence.
 
 
-	// Kalman Filter parameters
+    // Kalman Filter parameters
 
-	int minInliersKalman = 30;    // Kalman threshold updating
+    int minInliersKalman = 30;    // Kalman threshold updating
 
 
 You can watch the real time pose estimation on the `YouTube here <https://www.youtube.com/watch?v=msFFuHsiUns>`_.

From 2353436cb5c8075189a8548d57ffd7ac9c95959a Mon Sep 17 00:00:00 2001
From: edgarriba <edgar.riba@gmail.com>
Date: Tue, 5 Aug 2014 16:53:30 +0200
Subject: [PATCH 060/112] Removed whitespace

---
 doc/tutorials/calib3d/real_time_pose/real_time_pose.rst | 8 ++++----
 1 file changed, 4 insertions(+), 4 deletions(-)

diff --git a/doc/tutorials/calib3d/real_time_pose/real_time_pose.rst b/doc/tutorials/calib3d/real_time_pose/real_time_pose.rst
index 62c14d96ca..24aa48e5f7 100644
--- a/doc/tutorials/calib3d/real_time_pose/real_time_pose.rst
+++ b/doc/tutorials/calib3d/real_time_pose/real_time_pose.rst
@@ -111,7 +111,7 @@ In order to read the model mesh I implemented a *class* **Mesh** which has a fun
    .. code-block:: cpp
 
     /** Load a CSV with *.ply format **/
-    void Mesh::load(const std::string path) 
+    void Mesh::load(const std::string path)
     {
 
         // Create the reader
@@ -220,7 +220,7 @@ The following code is to get the model 3D points and its descriptors and then ca
    .. code-block:: cpp
 
     // -- Step 1: Robust matching between model descriptors and scene descriptors
- 
+
     std::vector<cv::DMatch> good_matches;       // to obtain the model 3D points  in the scene
     std::vector<cv::KeyPoint> keypoints_scene;  // to obtain the 2D points of the scene
 
@@ -634,9 +634,9 @@ The last and optional step is draw the found pose. To do it I implemented a func
 
     // -- Step X: Draw pose
 
-    drawObjectMesh(frame_vis, &mesh, &pnp_detection, green);                // draw current pose 
+    drawObjectMesh(frame_vis, &mesh, &pnp_detection, green);                // draw current pose
     drawObjectMesh(frame_vis, &mesh, &pnp_detection_est, yellow);                // draw estimated pose
-    
+
     double l = 5;
     std::vector<cv::Point2f> pose_points2d;
     pose_points2d.push_back(pnp_detection_est.backproject3DPoint(cv::Point3f(0,0,0)));    // axis center

From 0d2bc9b0a14ced53d8563be5cbbf78fd0a42abeb Mon Sep 17 00:00:00 2001
From: edgarriba <edgar.riba@gmail.com>
Date: Tue, 5 Aug 2014 17:02:06 +0200
Subject: [PATCH 061/112] Removed whitespaces

---
 modules/calib3d/src/dls.cpp                   | 965 +++++++++---------
 modules/calib3d/src/dls.h                     |  88 +-
 modules/calib3d/src/solvepnp.cpp              | 310 +-----
 .../real_time_pose_estimation/CMakeLists.txt  |  74 +-
 4 files changed, 609 insertions(+), 828 deletions(-)

diff --git a/modules/calib3d/src/dls.cpp b/modules/calib3d/src/dls.cpp
index ef1ad58140..1bc00a8370 100644
--- a/modules/calib3d/src/dls.cpp
+++ b/modules/calib3d/src/dls.cpp
@@ -17,30 +17,29 @@ using namespace std;
 dls::dls(const cv::Mat& opoints, const cv::Mat& ipoints)
 {
 
+    N =  std::max(opoints.checkVector(3, CV_32F), opoints.checkVector(3, CV_64F));
+    p = cv::Mat(3, N, CV_64F);
+    z = cv::Mat(3, N, CV_64F);
 
-	N =  std::max(opoints.checkVector(3, CV_32F), opoints.checkVector(3, CV_64F));
-	p = cv::Mat(3, N, CV_64F);
-	z = cv::Mat(3, N, CV_64F);
+    cost__ = 9999;
 
-	cost__ = 9999;
+    f1coeff.resize(21);
+    f2coeff.resize(21);
+    f3coeff.resize(21);
 
-	f1coeff.resize(21);
-	f2coeff.resize(21);
-	f3coeff.resize(21);
+    if (opoints.depth() == ipoints.depth())
+    {
+        if (opoints.depth() == CV_32F)
+            init_points<cv::Point3f, cv::Point2f>(opoints, ipoints);
+        else
+            init_points<cv::Point3d, cv::Point2d>(opoints, ipoints);
+    }
+    else if (opoints.depth() == CV_32F)
+        init_points<cv::Point3f, cv::Point2d>(opoints, ipoints);
+    else
+        init_points<cv::Point3d, cv::Point2f>(opoints, ipoints);
 
-	if (opoints.depth() == ipoints.depth())
-	{
-		if (opoints.depth() == CV_32F)
-			init_points<cv::Point3f, cv::Point2f>(opoints, ipoints);
-	    else
-	    	init_points<cv::Point3d, cv::Point2d>(opoints, ipoints);
-	}
-	else if (opoints.depth() == CV_32F)
-		init_points<cv::Point3f, cv::Point2d>(opoints, ipoints);
-	else
-		init_points<cv::Point3d, cv::Point2f>(opoints, ipoints);
-
-	norm_z_vector();
+    norm_z_vector();
 
 }
 
@@ -51,617 +50,617 @@ dls::~dls()
 
 void dls::norm_z_vector()
 {
-	// make z into unit vectors from normalized pixel coords
-	for (int i = 0; i < N; ++i)
-	{
-		cv::Mat col_i = z.col(i);
-		double sr = std::pow(col_i.at<double>(0), 2) +
-				    std::pow(col_i.at<double>(1), 2) +
-				    std::pow(col_i.at<double>(2), 2);
-		sr = std::sqrt(sr);
+    // make z into unit vectors from normalized pixel coords
+    for (int i = 0; i < N; ++i)
+    {
+        cv::Mat col_i = z.col(i);
+        double sr = std::pow(col_i.at<double>(0), 2) +
+                    std::pow(col_i.at<double>(1), 2) +
+                    std::pow(col_i.at<double>(2), 2);
+        sr = std::sqrt(sr);
 
-		z.at<double>(0, i) /= sr;
-		z.at<double>(1, i) /= sr;
-		z.at<double>(2, i) /= sr;
-	}
+        z.at<double>(0, i) /= sr;
+        z.at<double>(1, i) /= sr;
+        z.at<double>(2, i) /= sr;
+    }
 }
 
 bool dls::compute_pose(cv::Mat& R, cv::Mat& t)
 {
 
-	std::vector<cv::Mat> R_;
-	R_.push_back(rotx(CV_PI/2));
-	R_.push_back(roty(CV_PI/2));
-	R_.push_back(rotz(CV_PI/2));
+    std::vector<cv::Mat> R_;
+    R_.push_back(rotx(CV_PI/2));
+    R_.push_back(roty(CV_PI/2));
+    R_.push_back(rotz(CV_PI/2));
 
-	cv::Mat t_mean = this->mean(p);
+    cv::Mat t_mean = this->mean(p);
 
-	// version that calls dls 3 times, to avoid Cayley singularity
-	for (int i = 0; i < 3; ++i)
-	{
-		// Make a random rotation
-		cv::Mat pp = R_[i] * ( p - cv::repeat(t_mean, 1, p.cols) );
+    // version that calls dls 3 times, to avoid Cayley singularity
+    for (int i = 0; i < 3; ++i)
+    {
+        // Make a random rotation
+        cv::Mat pp = R_[i] * ( p - cv::repeat(t_mean, 1, p.cols) );
 
-		// clear for new data
-		C_est_.clear();
-		t_est_.clear();
-		cost_.clear();
+        // clear for new data
+        C_est_.clear();
+        t_est_.clear();
+        cost_.clear();
 
-		this->run_kernel(pp); // run dls_pnp()
+        this->run_kernel(pp); // run dls_pnp()
 
-		// find global minimum
-		for (unsigned int j = 0; j < cost_.size(); ++j)
-		{
-			if( cost_[j] < cost__ )
-			{
-				t_est__ = t_est_[j] - C_est_[j] * R_[i] * t_mean;
-				C_est__ = C_est_[j] * R_[i];
-				cost__ = cost_[j];
-			}
-		}
+        // find global minimum
+        for (unsigned int j = 0; j < cost_.size(); ++j)
+        {
+            if( cost_[j] < cost__ )
+            {
+                t_est__ = t_est_[j] - C_est_[j] * R_[i] * t_mean;
+                C_est__ = C_est_[j] * R_[i];
+                cost__ = cost_[j];
+            }
+        }
 
-	}
+    }
 
-	if(C_est__.cols > 0 && C_est__.rows > 0)
-	{
-		C_est__.copyTo(R);
-		t_est__.copyTo(t);
-		return true;
-	}
+    if(C_est__.cols > 0 && C_est__.rows > 0)
+    {
+        C_est__.copyTo(R);
+        t_est__.copyTo(t);
+        return true;
+    }
 
-	return false;
+    return false;
 }
 
 void dls::run_kernel(const cv::Mat& pp)
 {
-	cv::Mat Mtilde(27, 27, CV_64F);
-	cv::Mat D = cv::Mat::zeros(9, 9, CV_64F);
-	build_coeff_matrix(pp, Mtilde, D);
+    cv::Mat Mtilde(27, 27, CV_64F);
+    cv::Mat D = cv::Mat::zeros(9, 9, CV_64F);
+    build_coeff_matrix(pp, Mtilde, D);
 
-	cv::Mat eigenval_r, eigenval_i, eigenvec_r, eigenvec_i;
-	compute_eigenvec(Mtilde, eigenval_r, eigenval_i, eigenvec_r, eigenvec_i);
+    cv::Mat eigenval_r, eigenval_i, eigenvec_r, eigenvec_i;
+    compute_eigenvec(Mtilde, eigenval_r, eigenval_i, eigenvec_r, eigenvec_i);
 
-	/*
-	 *  Now check the solutions
-	 */
+    /*
+     *  Now check the solutions
+     */
 
-	// extract the optimal solutions from the eigen decomposition of the
-	// Multiplication matrix
+    // extract the optimal solutions from the eigen decomposition of the
+    // Multiplication matrix
 
-	cv::Mat sols = cv::Mat::zeros(3, 27, CV_64F);
-	std::vector<double> cost;
-	int count = 0;
-	for (int k = 0; k < 27; ++k)
-	{
-		//  V(:,k) = V(:,k)/V(1,k);
-		cv::Mat V_kA = eigenvec_r.col(k); // 27x1
-		cv::Mat V_kB = cv::Mat(1, 1, z.depth(), V_kA.at<double>(0)); // 1x1
-		cv::Mat V_k; cv::solve(V_kB.t(), V_kA.t(), V_k); // A/B = B'\A'
-		cv::Mat( V_k.t()).copyTo( eigenvec_r.col(k) );
+    cv::Mat sols = cv::Mat::zeros(3, 27, CV_64F);
+    std::vector<double> cost;
+    int count = 0;
+    for (int k = 0; k < 27; ++k)
+    {
+        //  V(:,k) = V(:,k)/V(1,k);
+        cv::Mat V_kA = eigenvec_r.col(k); // 27x1
+        cv::Mat V_kB = cv::Mat(1, 1, z.depth(), V_kA.at<double>(0)); // 1x1
+        cv::Mat V_k; cv::solve(V_kB.t(), V_kA.t(), V_k); // A/B = B'\A'
+        cv::Mat( V_k.t()).copyTo( eigenvec_r.col(k) );
 
-		//if (imag(V(2,k)) == 0)
+        //if (imag(V(2,k)) == 0)
 #ifdef HAVE_EIGEN
-		const double epsilon = 1e-4;
-	    if( eigenval_i.at<double>(k,0) >= -epsilon && eigenval_i.at<double>(k,0) <= epsilon )
+        const double epsilon = 1e-4;
+        if( eigenval_i.at<double>(k,0) >= -epsilon && eigenval_i.at<double>(k,0) <= epsilon )
 #endif
-		{
+        {
 
-			double stmp[3];
-			stmp[0] = eigenvec_r.at<double>(9, k);
-			stmp[1] = eigenvec_r.at<double>(3, k);
-			stmp[2] = eigenvec_r.at<double>(1, k);
+            double stmp[3];
+            stmp[0] = eigenvec_r.at<double>(9, k);
+            stmp[1] = eigenvec_r.at<double>(3, k);
+            stmp[2] = eigenvec_r.at<double>(1, k);
 
-			cv::Mat H = Hessian(stmp);
+            cv::Mat H = Hessian(stmp);
 
-			cv::Mat eigenvalues, eigenvectors;
-			cv::eigen(H, eigenvalues, eigenvectors);
+            cv::Mat eigenvalues, eigenvectors;
+            cv::eigen(H, eigenvalues, eigenvectors);
 
-			if(positive_eigenvalues(&eigenvalues))
-			{
+            if(positive_eigenvalues(&eigenvalues))
+            {
 
-				// sols(:,i) = stmp;
-				cv::Mat stmp_mat(3, 1, CV_64F, &stmp);
+                // sols(:,i) = stmp;
+                cv::Mat stmp_mat(3, 1, CV_64F, &stmp);
 
-				stmp_mat.copyTo( sols.col(count) );
+                stmp_mat.copyTo( sols.col(count) );
 
-				cv::Mat Cbar = cayley2rotbar(stmp_mat);
-				cv::Mat Cbarvec = Cbar.reshape(1,1).t();
+                cv::Mat Cbar = cayley2rotbar(stmp_mat);
+                cv::Mat Cbarvec = Cbar.reshape(1,1).t();
 
-				// cost(i) = CbarVec' * D * CbarVec;
-				cv::Mat cost_mat =  Cbarvec.t() * D * Cbarvec;
-				cost.push_back( cost_mat.at<double>(0) );
+                // cost(i) = CbarVec' * D * CbarVec;
+                cv::Mat cost_mat =  Cbarvec.t() * D * Cbarvec;
+                cost.push_back( cost_mat.at<double>(0) );
 
-				count++;
-			}
-		}
-	}
+                count++;
+            }
+        }
+    }
 
-	// extract solutions
-	sols = sols.clone().colRange(0, count);
+    // extract solutions
+    sols = sols.clone().colRange(0, count);
 
-	std::vector<cv::Mat> C_est, t_est;
-	for (int j = 0; j < sols.cols; ++j)
-	{
-		// recover the optimal orientation
-		// C_est(:,:,j) = 1/(1 + sols(:,j)' * sols(:,j)) * cayley2rotbar(sols(:,j));
+    std::vector<cv::Mat> C_est, t_est;
+    for (int j = 0; j < sols.cols; ++j)
+    {
+        // recover the optimal orientation
+        // C_est(:,:,j) = 1/(1 + sols(:,j)' * sols(:,j)) * cayley2rotbar(sols(:,j));
 
-		cv::Mat sols_j = sols.col(j);
-		double sols_mult = 1./(1.+cv::Mat( sols_j.t() * sols_j ).at<double>(0));
-		cv::Mat C_est_j = cayley2rotbar(sols_j).mul(sols_mult);
-		C_est.push_back( C_est_j );
+        cv::Mat sols_j = sols.col(j);
+        double sols_mult = 1./(1.+cv::Mat( sols_j.t() * sols_j ).at<double>(0));
+        cv::Mat C_est_j = cayley2rotbar(sols_j).mul(sols_mult);
+        C_est.push_back( C_est_j );
 
-		cv::Mat A2 = cv::Mat::zeros(3, 3, CV_64F);
-		cv::Mat b2 = cv::Mat::zeros(3, 1, CV_64F);
-		for (int i = 0; i < N; ++i)
-		{
-			cv::Mat eye = cv::Mat::eye(3, 3, CV_64F);
-			cv::Mat z_mul = z.col(i)*z.col(i).t();
+        cv::Mat A2 = cv::Mat::zeros(3, 3, CV_64F);
+        cv::Mat b2 = cv::Mat::zeros(3, 1, CV_64F);
+        for (int i = 0; i < N; ++i)
+        {
+            cv::Mat eye = cv::Mat::eye(3, 3, CV_64F);
+            cv::Mat z_mul = z.col(i)*z.col(i).t();
 
-			A2 += eye - z_mul;
-			b2 += (z_mul - eye) * C_est_j * pp.col(i);
-		}
+            A2 += eye - z_mul;
+            b2 += (z_mul - eye) * C_est_j * pp.col(i);
+        }
 
-		// recover the optimal translation
-		cv::Mat X2; cv::solve(A2, b2, X2); // A\B
-		t_est.push_back(X2);
+        // recover the optimal translation
+        cv::Mat X2; cv::solve(A2, b2, X2); // A\B
+        t_est.push_back(X2);
 
-	}
+    }
 
-	// check that the points are infront of the center of perspectivity
-	for (int k = 0; k < sols.cols; ++k)
-	{
-		cv::Mat cam_points = C_est[k] * pp + cv::repeat(t_est[k], 1, pp.cols);
-		cv::Mat cam_points_k = cam_points.row(2);
+    // check that the points are infront of the center of perspectivity
+    for (int k = 0; k < sols.cols; ++k)
+    {
+        cv::Mat cam_points = C_est[k] * pp + cv::repeat(t_est[k], 1, pp.cols);
+        cv::Mat cam_points_k = cam_points.row(2);
 
-		if(is_empty(&cam_points_k))
-		{
-			cv::Mat C_valid = C_est[k], t_valid = t_est[k];
-			double cost_valid = cost[k];
+        if(is_empty(&cam_points_k))
+        {
+            cv::Mat C_valid = C_est[k], t_valid = t_est[k];
+            double cost_valid = cost[k];
 
-			C_est_.push_back(C_valid);
-			t_est_.push_back(t_valid);
-			cost_.push_back(cost_valid);
-		}
-	}
+            C_est_.push_back(C_valid);
+            t_est_.push_back(t_valid);
+            cost_.push_back(cost_valid);
+        }
+    }
 
 }
 
 void dls::build_coeff_matrix(const cv::Mat& pp, cv::Mat& Mtilde, cv::Mat& D)
 {
-	cv::Mat eye = cv::Mat::eye(3, 3, CV_64F);
+    cv::Mat eye = cv::Mat::eye(3, 3, CV_64F);
 
-	// build coeff matrix
-	// An intermediate matrix, the inverse of what is called "H" in the paper
-	// (see eq. 25)
+    // build coeff matrix
+    // An intermediate matrix, the inverse of what is called "H" in the paper
+    // (see eq. 25)
 
-	cv::Mat H = cv::Mat::zeros(3, 3, CV_64F);
-	cv::Mat A = cv::Mat::zeros(3, 9, CV_64F);
+    cv::Mat H = cv::Mat::zeros(3, 3, CV_64F);
+    cv::Mat A = cv::Mat::zeros(3, 9, CV_64F);
 
-	for (int i = 0; i < N; ++i)
-	{
-		cv::Mat z_dot = z.col(i)*z.col(i).t();
-		H += eye - z_dot;
-		A += ( z_dot - eye ) * LeftMultVec(pp.col(i));
-	}
+    for (int i = 0; i < N; ++i)
+    {
+        cv::Mat z_dot = z.col(i)*z.col(i).t();
+        H += eye - z_dot;
+        A += ( z_dot - eye ) * LeftMultVec(pp.col(i));
+    }
 
-	// A\B
-	cv::solve(H, A, A);
+    // A\B
+    cv::solve(H, A, A);
 
-	for (int i = 0; i < N; ++i)
-	{
-		cv::Mat z_dot = z.col(i)*z.col(i).t();
-		D += cv::Mat( LeftMultVec(pp.col(i)) + A ).t() * (eye-z_dot) * ( LeftMultVec(pp.col(i)) + A );
-	}
+    for (int i = 0; i < N; ++i)
+    {
+        cv::Mat z_dot = z.col(i)*z.col(i).t();
+        D += cv::Mat( LeftMultVec(pp.col(i)) + A ).t() * (eye-z_dot) * ( LeftMultVec(pp.col(i)) + A );
+    }
 
-	// fill the coefficients
-	fill_coeff(&D);
+    // fill the coefficients
+    fill_coeff(&D);
 
-	// generate random samples
-	std::vector<double> u(5);
-	cv::randn(u, 0, 200);
+    // generate random samples
+    std::vector<double> u(5);
+    cv::randn(u, 0, 200);
 
-	cv::Mat M2 = cayley_LS_M(f1coeff, f2coeff, f3coeff, u);
+    cv::Mat M2 = cayley_LS_M(f1coeff, f2coeff, f3coeff, u);
 
-	cv::Mat M2_1 = M2(cv::Range(0,27), cv::Range(0,27));
-	cv::Mat M2_2 = M2(cv::Range(0,27), cv::Range(27,120));
-	cv::Mat M2_3 = M2(cv::Range(27,120), cv::Range(27,120));
-	cv::Mat M2_4 = M2(cv::Range(27,120), cv::Range(0,27));
+    cv::Mat M2_1 = M2(cv::Range(0,27), cv::Range(0,27));
+    cv::Mat M2_2 = M2(cv::Range(0,27), cv::Range(27,120));
+    cv::Mat M2_3 = M2(cv::Range(27,120), cv::Range(27,120));
+    cv::Mat M2_4 = M2(cv::Range(27,120), cv::Range(0,27));
 
-	// A/B = B'\A'
-	cv::Mat M2_5; cv::solve(M2_3.t(), M2_2.t(), M2_5);
+    // A/B = B'\A'
+    cv::Mat M2_5; cv::solve(M2_3.t(), M2_2.t(), M2_5);
 
-	// construct the multiplication matrix via schur compliment of the Macaulay
-	// matrix
-	Mtilde = M2_1 - M2_5.t()*M2_4;
+    // construct the multiplication matrix via schur compliment of the Macaulay
+    // matrix
+    Mtilde = M2_1 - M2_5.t()*M2_4;
 
 }
 
 void dls::compute_eigenvec(const cv::Mat& Mtilde, cv::Mat& eigenval_real, cv::Mat& eigenval_imag,
-        										  cv::Mat& eigenvec_real, cv::Mat& eigenvec_imag)
+                                                  cv::Mat& eigenvec_real, cv::Mat& eigenvec_imag)
 {
 #ifdef HAVE_EIGEN
-	Eigen::MatrixXd Mtilde_eig, zeros_eig;
-	cv::cv2eigen(Mtilde, Mtilde_eig);
-	cv::cv2eigen(cv::Mat::zeros(27, 27, CV_64F), zeros_eig);
+    Eigen::MatrixXd Mtilde_eig, zeros_eig;
+    cv::cv2eigen(Mtilde, Mtilde_eig);
+    cv::cv2eigen(cv::Mat::zeros(27, 27, CV_64F), zeros_eig);
 
-	Eigen::MatrixXcd Mtilde_eig_cmplx(27, 27);
-	Mtilde_eig_cmplx.real() = Mtilde_eig;
-	Mtilde_eig_cmplx.imag() = zeros_eig;
+    Eigen::MatrixXcd Mtilde_eig_cmplx(27, 27);
+    Mtilde_eig_cmplx.real() = Mtilde_eig;
+    Mtilde_eig_cmplx.imag() = zeros_eig;
 
-	Eigen::ComplexEigenSolver<Eigen::MatrixXcd> ces;
-	ces.compute(Mtilde_eig_cmplx);
+    Eigen::ComplexEigenSolver<Eigen::MatrixXcd> ces;
+    ces.compute(Mtilde_eig_cmplx);
 
-	Eigen::MatrixXd eigval_real = ces.eigenvalues().real();
-	Eigen::MatrixXd eigval_imag = ces.eigenvalues().imag();
-	Eigen::MatrixXd eigvec_real = ces.eigenvectors().real();
-	Eigen::MatrixXd eigvec_imag = ces.eigenvectors().imag();
+    Eigen::MatrixXd eigval_real = ces.eigenvalues().real();
+    Eigen::MatrixXd eigval_imag = ces.eigenvalues().imag();
+    Eigen::MatrixXd eigvec_real = ces.eigenvectors().real();
+    Eigen::MatrixXd eigvec_imag = ces.eigenvectors().imag();
 
-	cv::eigen2cv(eigval_real, eigenval_real);
-	cv::eigen2cv(eigval_imag, eigenval_imag);
-	cv::eigen2cv(eigvec_real, eigenvec_real);
-	cv::eigen2cv(eigvec_imag, eigenvec_imag);
+    cv::eigen2cv(eigval_real, eigenval_real);
+    cv::eigen2cv(eigval_imag, eigenval_imag);
+    cv::eigen2cv(eigvec_real, eigenvec_real);
+    cv::eigen2cv(eigvec_imag, eigenvec_imag);
 #else
-	EigenvalueDecomposition es(Mtilde);
-	eigenval_real = es.eigenvalues();
-	eigenvec_real = es.eigenvectors();
+    EigenvalueDecomposition es(Mtilde);
+    eigenval_real = es.eigenvalues();
+    eigenvec_real = es.eigenvectors();
 #endif
 
 }
 
 void dls::fill_coeff(const cv::Mat * D_mat)
 {
-	// TODO: shift D and coefficients one position to left
+    // TODO: shift D and coefficients one position to left
 
-	double D[10][10]; // put D_mat into array
+    double D[10][10]; // put D_mat into array
 
-	for (int i = 0; i < D_mat->rows; ++i)
-	{
-	    const double* Di = D_mat->ptr<double>(i);
-		for (int j = 0; j < D_mat->cols; ++j)
-		{
-			D[i+1][j+1] = Di[j];
-		}
-	}
+    for (int i = 0; i < D_mat->rows; ++i)
+    {
+        const double* Di = D_mat->ptr<double>(i);
+        for (int j = 0; j < D_mat->cols; ++j)
+        {
+            D[i+1][j+1] = Di[j];
+        }
+    }
 
-	// F1 COEFFICIENT
+    // F1 COEFFICIENT
 
-	f1coeff[1] = 2*D[1][6] - 2*D[1][8] + 2*D[5][6] - 2*D[5][8] + 2*D[6][1] + 2*D[6][5] + 2*D[6][9] - 2*D[8][1] - 2*D[8][5] - 2*D[8][9] + 2*D[9][6] - 2*D[9][8]; // constant term
-	f1coeff[2] = 6*D[1][2] + 6*D[1][4] + 6*D[2][1] - 6*D[2][5] - 6*D[2][9] + 6*D[4][1] - 6*D[4][5] - 6*D[4][9] - 6*D[5][2] - 6*D[5][4] - 6*D[9][2] - 6*D[9][4]; // s1^2  * s2
-	f1coeff[3] = 4*D[1][7] - 4*D[1][3] + 8*D[2][6] - 8*D[2][8] - 4*D[3][1] + 4*D[3][5] + 4*D[3][9] + 8*D[4][6] - 8*D[4][8] + 4*D[5][3] - 4*D[5][7] + 8*D[6][2] + 8*D[6][4] + 4*D[7][1] - 4*D[7][5] - 4*D[7][9] - 8*D[8][2] - 8*D[8][4] + 4*D[9][3] - 4*D[9][7]; // s1 * s2
-	f1coeff[4] = 4*D[1][2] - 4*D[1][4] + 4*D[2][1] - 4*D[2][5] - 4*D[2][9] + 8*D[3][6] - 8*D[3][8] - 4*D[4][1] + 4*D[4][5] + 4*D[4][9] - 4*D[5][2] + 4*D[5][4] + 8*D[6][3] + 8*D[6][7] + 8*D[7][6] - 8*D[7][8] - 8*D[8][3] - 8*D[8][7] - 4*D[9][2] + 4*D[9][4]; //s1 * s3
-	f1coeff[5] = 8*D[2][2] - 8*D[3][3] - 8*D[4][4] + 8*D[6][6] + 8*D[7][7] - 8*D[8][8]; // s2 * s3
-	f1coeff[6] = 4*D[2][6] - 2*D[1][7] - 2*D[1][3] + 4*D[2][8] - 2*D[3][1] + 2*D[3][5] - 2*D[3][9] + 4*D[4][6] + 4*D[4][8] + 2*D[5][3] + 2*D[5][7] + 4*D[6][2] + 4*D[6][4] - 2*D[7][1] + 2*D[7][5] - 2*D[7][9] + 4*D[8][2] + 4*D[8][4] - 2*D[9][3] - 2*D[9][7]; // s2^2 * s3
-	f1coeff[7] = 2*D[2][5] - 2*D[1][4] - 2*D[2][1] - 2*D[1][2] - 2*D[2][9] - 2*D[4][1] + 2*D[4][5] - 2*D[4][9] + 2*D[5][2] + 2*D[5][4] - 2*D[9][2] - 2*D[9][4]; //s2^3
-	f1coeff[8] = 4*D[1][9] - 4*D[1][1] + 8*D[3][3] + 8*D[3][7] + 4*D[5][5] + 8*D[7][3] + 8*D[7][7] + 4*D[9][1] - 4*D[9][9]; // s1 * s3^2
-	f1coeff[9] = 4*D[1][1] - 4*D[5][5] - 4*D[5][9] + 8*D[6][6] - 8*D[6][8] - 8*D[8][6] + 8*D[8][8] - 4*D[9][5] - 4*D[9][9]; // s1
-	f1coeff[10] = 2*D[1][3] + 2*D[1][7] + 4*D[2][6] - 4*D[2][8] + 2*D[3][1] + 2*D[3][5] + 2*D[3][9] - 4*D[4][6] + 4*D[4][8] + 2*D[5][3] + 2*D[5][7] + 4*D[6][2] - 4*D[6][4] + 2*D[7][1] + 2*D[7][5] + 2*D[7][9] - 4*D[8][2] + 4*D[8][4] + 2*D[9][3] + 2*D[9][7]; // s3
-	f1coeff[11] = 2*D[1][2] + 2*D[1][4] + 2*D[2][1] + 2*D[2][5] + 2*D[2][9] - 4*D[3][6] + 4*D[3][8] + 2*D[4][1] + 2*D[4][5] + 2*D[4][9] + 2*D[5][2] + 2*D[5][4] - 4*D[6][3] + 4*D[6][7] + 4*D[7][6] - 4*D[7][8] + 4*D[8][3] - 4*D[8][7] + 2*D[9][2] + 2*D[9][4]; // s2
-	f1coeff[12] = 2*D[2][9] - 2*D[1][4] - 2*D[2][1] - 2*D[2][5] - 2*D[1][2] + 4*D[3][6] + 4*D[3][8] - 2*D[4][1] - 2*D[4][5] + 2*D[4][9] - 2*D[5][2] - 2*D[5][4] + 4*D[6][3] + 4*D[6][7] + 4*D[7][6] + 4*D[7][8] + 4*D[8][3] + 4*D[8][7] + 2*D[9][2] + 2*D[9][4]; // s2 * s3^2
-	f1coeff[13] = 6*D[1][6] - 6*D[1][8] - 6*D[5][6] + 6*D[5][8] + 6*D[6][1] - 6*D[6][5] - 6*D[6][9] - 6*D[8][1] + 6*D[8][5] + 6*D[8][9] - 6*D[9][6] + 6*D[9][8]; // s1^2
-	f1coeff[14] = 2*D[1][8] - 2*D[1][6] + 4*D[2][3] + 4*D[2][7] + 4*D[3][2] - 4*D[3][4] - 4*D[4][3] - 4*D[4][7] - 2*D[5][6] + 2*D[5][8] - 2*D[6][1] - 2*D[6][5] + 2*D[6][9] + 4*D[7][2] - 4*D[7][4] + 2*D[8][1] + 2*D[8][5] - 2*D[8][9] + 2*D[9][6] - 2*D[9][8]; // s3^2
-	f1coeff[15] = 2*D[1][8] - 2*D[1][6] - 4*D[2][3] + 4*D[2][7] - 4*D[3][2] - 4*D[3][4] - 4*D[4][3] + 4*D[4][7] + 2*D[5][6] - 2*D[5][8] - 2*D[6][1] + 2*D[6][5] - 2*D[6][9] + 4*D[7][2] + 4*D[7][4] + 2*D[8][1] - 2*D[8][5] + 2*D[8][9] - 2*D[9][6] + 2*D[9][8]; // s2^2
-	f1coeff[16] = 2*D[3][9] - 2*D[1][7] - 2*D[3][1] - 2*D[3][5] - 2*D[1][3] - 2*D[5][3] - 2*D[5][7] - 2*D[7][1] - 2*D[7][5] + 2*D[7][9] + 2*D[9][3] + 2*D[9][7]; // s3^3
-	f1coeff[17] = 4*D[1][6] + 4*D[1][8] + 8*D[2][3] + 8*D[2][7] + 8*D[3][2] + 8*D[3][4] + 8*D[4][3] + 8*D[4][7] - 4*D[5][6] - 4*D[5][8] + 4*D[6][1] - 4*D[6][5] - 4*D[6][9] + 8*D[7][2] + 8*D[7][4] + 4*D[8][1] - 4*D[8][5] - 4*D[8][9] - 4*D[9][6] - 4*D[9][8]; // s1 * s2 * s3
-	f1coeff[18] = 4*D[1][5] - 4*D[1][1] + 8*D[2][2] + 8*D[2][4] + 8*D[4][2] + 8*D[4][4] + 4*D[5][1] - 4*D[5][5] + 4*D[9][9]; // s1 * s2^2
-	f1coeff[19] = 6*D[1][3] + 6*D[1][7] + 6*D[3][1] - 6*D[3][5] - 6*D[3][9] - 6*D[5][3] - 6*D[5][7] + 6*D[7][1] - 6*D[7][5] - 6*D[7][9] - 6*D[9][3] - 6*D[9][7]; // s1^2 * s3
-	f1coeff[20] = 4*D[1][1] - 4*D[1][5] - 4*D[1][9] - 4*D[5][1] + 4*D[5][5] + 4*D[5][9] - 4*D[9][1] + 4*D[9][5] + 4*D[9][9]; // s1^3
+    f1coeff[1] = 2*D[1][6] - 2*D[1][8] + 2*D[5][6] - 2*D[5][8] + 2*D[6][1] + 2*D[6][5] + 2*D[6][9] - 2*D[8][1] - 2*D[8][5] - 2*D[8][9] + 2*D[9][6] - 2*D[9][8]; // constant term
+    f1coeff[2] = 6*D[1][2] + 6*D[1][4] + 6*D[2][1] - 6*D[2][5] - 6*D[2][9] + 6*D[4][1] - 6*D[4][5] - 6*D[4][9] - 6*D[5][2] - 6*D[5][4] - 6*D[9][2] - 6*D[9][4]; // s1^2  * s2
+    f1coeff[3] = 4*D[1][7] - 4*D[1][3] + 8*D[2][6] - 8*D[2][8] - 4*D[3][1] + 4*D[3][5] + 4*D[3][9] + 8*D[4][6] - 8*D[4][8] + 4*D[5][3] - 4*D[5][7] + 8*D[6][2] + 8*D[6][4] + 4*D[7][1] - 4*D[7][5] - 4*D[7][9] - 8*D[8][2] - 8*D[8][4] + 4*D[9][3] - 4*D[9][7]; // s1 * s2
+    f1coeff[4] = 4*D[1][2] - 4*D[1][4] + 4*D[2][1] - 4*D[2][5] - 4*D[2][9] + 8*D[3][6] - 8*D[3][8] - 4*D[4][1] + 4*D[4][5] + 4*D[4][9] - 4*D[5][2] + 4*D[5][4] + 8*D[6][3] + 8*D[6][7] + 8*D[7][6] - 8*D[7][8] - 8*D[8][3] - 8*D[8][7] - 4*D[9][2] + 4*D[9][4]; //s1 * s3
+    f1coeff[5] = 8*D[2][2] - 8*D[3][3] - 8*D[4][4] + 8*D[6][6] + 8*D[7][7] - 8*D[8][8]; // s2 * s3
+    f1coeff[6] = 4*D[2][6] - 2*D[1][7] - 2*D[1][3] + 4*D[2][8] - 2*D[3][1] + 2*D[3][5] - 2*D[3][9] + 4*D[4][6] + 4*D[4][8] + 2*D[5][3] + 2*D[5][7] + 4*D[6][2] + 4*D[6][4] - 2*D[7][1] + 2*D[7][5] - 2*D[7][9] + 4*D[8][2] + 4*D[8][4] - 2*D[9][3] - 2*D[9][7]; // s2^2 * s3
+    f1coeff[7] = 2*D[2][5] - 2*D[1][4] - 2*D[2][1] - 2*D[1][2] - 2*D[2][9] - 2*D[4][1] + 2*D[4][5] - 2*D[4][9] + 2*D[5][2] + 2*D[5][4] - 2*D[9][2] - 2*D[9][4]; //s2^3
+    f1coeff[8] = 4*D[1][9] - 4*D[1][1] + 8*D[3][3] + 8*D[3][7] + 4*D[5][5] + 8*D[7][3] + 8*D[7][7] + 4*D[9][1] - 4*D[9][9]; // s1 * s3^2
+    f1coeff[9] = 4*D[1][1] - 4*D[5][5] - 4*D[5][9] + 8*D[6][6] - 8*D[6][8] - 8*D[8][6] + 8*D[8][8] - 4*D[9][5] - 4*D[9][9]; // s1
+    f1coeff[10] = 2*D[1][3] + 2*D[1][7] + 4*D[2][6] - 4*D[2][8] + 2*D[3][1] + 2*D[3][5] + 2*D[3][9] - 4*D[4][6] + 4*D[4][8] + 2*D[5][3] + 2*D[5][7] + 4*D[6][2] - 4*D[6][4] + 2*D[7][1] + 2*D[7][5] + 2*D[7][9] - 4*D[8][2] + 4*D[8][4] + 2*D[9][3] + 2*D[9][7]; // s3
+    f1coeff[11] = 2*D[1][2] + 2*D[1][4] + 2*D[2][1] + 2*D[2][5] + 2*D[2][9] - 4*D[3][6] + 4*D[3][8] + 2*D[4][1] + 2*D[4][5] + 2*D[4][9] + 2*D[5][2] + 2*D[5][4] - 4*D[6][3] + 4*D[6][7] + 4*D[7][6] - 4*D[7][8] + 4*D[8][3] - 4*D[8][7] + 2*D[9][2] + 2*D[9][4]; // s2
+    f1coeff[12] = 2*D[2][9] - 2*D[1][4] - 2*D[2][1] - 2*D[2][5] - 2*D[1][2] + 4*D[3][6] + 4*D[3][8] - 2*D[4][1] - 2*D[4][5] + 2*D[4][9] - 2*D[5][2] - 2*D[5][4] + 4*D[6][3] + 4*D[6][7] + 4*D[7][6] + 4*D[7][8] + 4*D[8][3] + 4*D[8][7] + 2*D[9][2] + 2*D[9][4]; // s2 * s3^2
+    f1coeff[13] = 6*D[1][6] - 6*D[1][8] - 6*D[5][6] + 6*D[5][8] + 6*D[6][1] - 6*D[6][5] - 6*D[6][9] - 6*D[8][1] + 6*D[8][5] + 6*D[8][9] - 6*D[9][6] + 6*D[9][8]; // s1^2
+    f1coeff[14] = 2*D[1][8] - 2*D[1][6] + 4*D[2][3] + 4*D[2][7] + 4*D[3][2] - 4*D[3][4] - 4*D[4][3] - 4*D[4][7] - 2*D[5][6] + 2*D[5][8] - 2*D[6][1] - 2*D[6][5] + 2*D[6][9] + 4*D[7][2] - 4*D[7][4] + 2*D[8][1] + 2*D[8][5] - 2*D[8][9] + 2*D[9][6] - 2*D[9][8]; // s3^2
+    f1coeff[15] = 2*D[1][8] - 2*D[1][6] - 4*D[2][3] + 4*D[2][7] - 4*D[3][2] - 4*D[3][4] - 4*D[4][3] + 4*D[4][7] + 2*D[5][6] - 2*D[5][8] - 2*D[6][1] + 2*D[6][5] - 2*D[6][9] + 4*D[7][2] + 4*D[7][4] + 2*D[8][1] - 2*D[8][5] + 2*D[8][9] - 2*D[9][6] + 2*D[9][8]; // s2^2
+    f1coeff[16] = 2*D[3][9] - 2*D[1][7] - 2*D[3][1] - 2*D[3][5] - 2*D[1][3] - 2*D[5][3] - 2*D[5][7] - 2*D[7][1] - 2*D[7][5] + 2*D[7][9] + 2*D[9][3] + 2*D[9][7]; // s3^3
+    f1coeff[17] = 4*D[1][6] + 4*D[1][8] + 8*D[2][3] + 8*D[2][7] + 8*D[3][2] + 8*D[3][4] + 8*D[4][3] + 8*D[4][7] - 4*D[5][6] - 4*D[5][8] + 4*D[6][1] - 4*D[6][5] - 4*D[6][9] + 8*D[7][2] + 8*D[7][4] + 4*D[8][1] - 4*D[8][5] - 4*D[8][9] - 4*D[9][6] - 4*D[9][8]; // s1 * s2 * s3
+    f1coeff[18] = 4*D[1][5] - 4*D[1][1] + 8*D[2][2] + 8*D[2][4] + 8*D[4][2] + 8*D[4][4] + 4*D[5][1] - 4*D[5][5] + 4*D[9][9]; // s1 * s2^2
+    f1coeff[19] = 6*D[1][3] + 6*D[1][7] + 6*D[3][1] - 6*D[3][5] - 6*D[3][9] - 6*D[5][3] - 6*D[5][7] + 6*D[7][1] - 6*D[7][5] - 6*D[7][9] - 6*D[9][3] - 6*D[9][7]; // s1^2 * s3
+    f1coeff[20] = 4*D[1][1] - 4*D[1][5] - 4*D[1][9] - 4*D[5][1] + 4*D[5][5] + 4*D[5][9] - 4*D[9][1] + 4*D[9][5] + 4*D[9][9]; // s1^3
 
 
-	// F2 COEFFICIENT
+    // F2 COEFFICIENT
 
-	f2coeff[1] = - 2*D[1][3] + 2*D[1][7] - 2*D[3][1] - 2*D[3][5] - 2*D[3][9] - 2*D[5][3] + 2*D[5][7] + 2*D[7][1] + 2*D[7][5] + 2*D[7][9] - 2*D[9][3] + 2*D[9][7]; // constant term
-	f2coeff[2] = 4*D[1][5] - 4*D[1][1] + 8*D[2][2] + 8*D[2][4] + 8*D[4][2] + 8*D[4][4] + 4*D[5][1] - 4*D[5][5] + 4*D[9][9]; // s1^2  * s2
-	f2coeff[3] = 4*D[1][8] - 4*D[1][6] - 8*D[2][3] + 8*D[2][7] - 8*D[3][2] - 8*D[3][4] - 8*D[4][3] + 8*D[4][7] + 4*D[5][6] - 4*D[5][8] - 4*D[6][1] + 4*D[6][5] - 4*D[6][9] + 8*D[7][2] + 8*D[7][4] + 4*D[8][1] - 4*D[8][5] + 4*D[8][9] - 4*D[9][6] + 4*D[9][8]; // s1 * s2
-	f2coeff[4] = 8*D[2][2] - 8*D[3][3] - 8*D[4][4] + 8*D[6][6] + 8*D[7][7] - 8*D[8][8]; // s1 * s3
-	f2coeff[5] = 4*D[1][4] - 4*D[1][2] - 4*D[2][1] + 4*D[2][5] - 4*D[2][9] - 8*D[3][6] - 8*D[3][8] + 4*D[4][1] - 4*D[4][5] + 4*D[4][9] + 4*D[5][2] - 4*D[5][4] - 8*D[6][3] + 8*D[6][7] + 8*D[7][6] + 8*D[7][8] - 8*D[8][3] + 8*D[8][7] - 4*D[9][2] + 4*D[9][4]; // s2 * s3
-	f2coeff[6] = 6*D[5][6] - 6*D[1][8] - 6*D[1][6] + 6*D[5][8] - 6*D[6][1] + 6*D[6][5] - 6*D[6][9] - 6*D[8][1] + 6*D[8][5] - 6*D[8][9] - 6*D[9][6] - 6*D[9][8]; // s2^2 * s3
-	f2coeff[7] = 4*D[1][1] - 4*D[1][5] + 4*D[1][9] - 4*D[5][1] + 4*D[5][5] - 4*D[5][9] + 4*D[9][1] - 4*D[9][5] + 4*D[9][9]; // s2^3
-	f2coeff[8] = 2*D[2][9] - 2*D[1][4] - 2*D[2][1] - 2*D[2][5] - 2*D[1][2] + 4*D[3][6] + 4*D[3][8] - 2*D[4][1] - 2*D[4][5] + 2*D[4][9] - 2*D[5][2] - 2*D[5][4] + 4*D[6][3] + 4*D[6][7] + 4*D[7][6] + 4*D[7][8] + 4*D[8][3] + 4*D[8][7] + 2*D[9][2] + 2*D[9][4]; // s1 * s3^2
-	f2coeff[9] = 2*D[1][2] + 2*D[1][4] + 2*D[2][1] + 2*D[2][5] + 2*D[2][9] - 4*D[3][6] + 4*D[3][8] + 2*D[4][1] + 2*D[4][5] + 2*D[4][9] + 2*D[5][2] + 2*D[5][4] - 4*D[6][3] + 4*D[6][7] + 4*D[7][6] - 4*D[7][8] + 4*D[8][3] - 4*D[8][7] + 2*D[9][2] + 2*D[9][4]; // s1
-	f2coeff[10] = 2*D[1][6] + 2*D[1][8] - 4*D[2][3] + 4*D[2][7] - 4*D[3][2] + 4*D[3][4] + 4*D[4][3] - 4*D[4][7] + 2*D[5][6] + 2*D[5][8] + 2*D[6][1] + 2*D[6][5] + 2*D[6][9] + 4*D[7][2] - 4*D[7][4] + 2*D[8][1] + 2*D[8][5] + 2*D[8][9] + 2*D[9][6] + 2*D[9][8]; // s3
-	f2coeff[11] = 8*D[3][3] - 4*D[1][9] - 4*D[1][1] - 8*D[3][7] + 4*D[5][5] - 8*D[7][3] + 8*D[7][7] - 4*D[9][1] - 4*D[9][9]; // s2
-	f2coeff[12] = 4*D[1][1] - 4*D[5][5] + 4*D[5][9] + 8*D[6][6] + 8*D[6][8] + 8*D[8][6] + 8*D[8][8] + 4*D[9][5] - 4*D[9][9]; // s2 * s3^2
-	f2coeff[13] = 2*D[1][7] - 2*D[1][3] + 4*D[2][6] - 4*D[2][8] - 2*D[3][1] + 2*D[3][5] + 2*D[3][9] + 4*D[4][6] - 4*D[4][8] + 2*D[5][3] - 2*D[5][7] + 4*D[6][2] + 4*D[6][4] + 2*D[7][1] - 2*D[7][5] - 2*D[7][9] - 4*D[8][2] - 4*D[8][4] + 2*D[9][3] - 2*D[9][7]; // s1^2
-	f2coeff[14] = 2*D[1][3] - 2*D[1][7] + 4*D[2][6] + 4*D[2][8] + 2*D[3][1] + 2*D[3][5] - 2*D[3][9] - 4*D[4][6] - 4*D[4][8] + 2*D[5][3] - 2*D[5][7] + 4*D[6][2] - 4*D[6][4] - 2*D[7][1] - 2*D[7][5] + 2*D[7][9] + 4*D[8][2] - 4*D[8][4] - 2*D[9][3] + 2*D[9][7]; // s3^2
-	f2coeff[15] = 6*D[1][3] - 6*D[1][7] + 6*D[3][1] - 6*D[3][5] + 6*D[3][9] - 6*D[5][3] + 6*D[5][7] - 6*D[7][1] + 6*D[7][5] - 6*D[7][9] + 6*D[9][3] - 6*D[9][7]; // s2^2
-	f2coeff[16] = 2*D[6][9] - 2*D[1][8] - 2*D[5][6] - 2*D[5][8] - 2*D[6][1] - 2*D[6][5] - 2*D[1][6] - 2*D[8][1] - 2*D[8][5] + 2*D[8][9] + 2*D[9][6] + 2*D[9][8]; // s3^3
-	f2coeff[17] = 8*D[2][6] - 4*D[1][7] - 4*D[1][3] + 8*D[2][8] - 4*D[3][1] + 4*D[3][5] - 4*D[3][9] + 8*D[4][6] + 8*D[4][8] + 4*D[5][3] + 4*D[5][7] + 8*D[6][2] + 8*D[6][4] - 4*D[7][1] + 4*D[7][5] - 4*D[7][9] + 8*D[8][2] + 8*D[8][4] - 4*D[9][3] - 4*D[9][7]; // s1 * s2 * s3
-	f2coeff[18] = 6*D[2][5] - 6*D[1][4] - 6*D[2][1] - 6*D[1][2] - 6*D[2][9] - 6*D[4][1] + 6*D[4][5] - 6*D[4][9] + 6*D[5][2] + 6*D[5][4] - 6*D[9][2] - 6*D[9][4]; // s1 * s2^2
-	f2coeff[19] = 2*D[1][6] + 2*D[1][8] + 4*D[2][3] + 4*D[2][7] + 4*D[3][2] + 4*D[3][4] + 4*D[4][3] + 4*D[4][7] - 2*D[5][6] - 2*D[5][8] + 2*D[6][1] - 2*D[6][5] - 2*D[6][9] + 4*D[7][2] + 4*D[7][4] + 2*D[8][1] - 2*D[8][5] - 2*D[8][9] - 2*D[9][6] - 2*D[9][8]; // s1^2 * s3
-	f2coeff[20] = 2*D[1][2] + 2*D[1][4] + 2*D[2][1] - 2*D[2][5] - 2*D[2][9] + 2*D[4][1] - 2*D[4][5] - 2*D[4][9] - 2*D[5][2] - 2*D[5][4] - 2*D[9][2] - 2*D[9][4]; // s1^3
+    f2coeff[1] = - 2*D[1][3] + 2*D[1][7] - 2*D[3][1] - 2*D[3][5] - 2*D[3][9] - 2*D[5][3] + 2*D[5][7] + 2*D[7][1] + 2*D[7][5] + 2*D[7][9] - 2*D[9][3] + 2*D[9][7]; // constant term
+    f2coeff[2] = 4*D[1][5] - 4*D[1][1] + 8*D[2][2] + 8*D[2][4] + 8*D[4][2] + 8*D[4][4] + 4*D[5][1] - 4*D[5][5] + 4*D[9][9]; // s1^2  * s2
+    f2coeff[3] = 4*D[1][8] - 4*D[1][6] - 8*D[2][3] + 8*D[2][7] - 8*D[3][2] - 8*D[3][4] - 8*D[4][3] + 8*D[4][7] + 4*D[5][6] - 4*D[5][8] - 4*D[6][1] + 4*D[6][5] - 4*D[6][9] + 8*D[7][2] + 8*D[7][4] + 4*D[8][1] - 4*D[8][5] + 4*D[8][9] - 4*D[9][6] + 4*D[9][8]; // s1 * s2
+    f2coeff[4] = 8*D[2][2] - 8*D[3][3] - 8*D[4][4] + 8*D[6][6] + 8*D[7][7] - 8*D[8][8]; // s1 * s3
+    f2coeff[5] = 4*D[1][4] - 4*D[1][2] - 4*D[2][1] + 4*D[2][5] - 4*D[2][9] - 8*D[3][6] - 8*D[3][8] + 4*D[4][1] - 4*D[4][5] + 4*D[4][9] + 4*D[5][2] - 4*D[5][4] - 8*D[6][3] + 8*D[6][7] + 8*D[7][6] + 8*D[7][8] - 8*D[8][3] + 8*D[8][7] - 4*D[9][2] + 4*D[9][4]; // s2 * s3
+    f2coeff[6] = 6*D[5][6] - 6*D[1][8] - 6*D[1][6] + 6*D[5][8] - 6*D[6][1] + 6*D[6][5] - 6*D[6][9] - 6*D[8][1] + 6*D[8][5] - 6*D[8][9] - 6*D[9][6] - 6*D[9][8]; // s2^2 * s3
+    f2coeff[7] = 4*D[1][1] - 4*D[1][5] + 4*D[1][9] - 4*D[5][1] + 4*D[5][5] - 4*D[5][9] + 4*D[9][1] - 4*D[9][5] + 4*D[9][9]; // s2^3
+    f2coeff[8] = 2*D[2][9] - 2*D[1][4] - 2*D[2][1] - 2*D[2][5] - 2*D[1][2] + 4*D[3][6] + 4*D[3][8] - 2*D[4][1] - 2*D[4][5] + 2*D[4][9] - 2*D[5][2] - 2*D[5][4] + 4*D[6][3] + 4*D[6][7] + 4*D[7][6] + 4*D[7][8] + 4*D[8][3] + 4*D[8][7] + 2*D[9][2] + 2*D[9][4]; // s1 * s3^2
+    f2coeff[9] = 2*D[1][2] + 2*D[1][4] + 2*D[2][1] + 2*D[2][5] + 2*D[2][9] - 4*D[3][6] + 4*D[3][8] + 2*D[4][1] + 2*D[4][5] + 2*D[4][9] + 2*D[5][2] + 2*D[5][4] - 4*D[6][3] + 4*D[6][7] + 4*D[7][6] - 4*D[7][8] + 4*D[8][3] - 4*D[8][7] + 2*D[9][2] + 2*D[9][4]; // s1
+    f2coeff[10] = 2*D[1][6] + 2*D[1][8] - 4*D[2][3] + 4*D[2][7] - 4*D[3][2] + 4*D[3][4] + 4*D[4][3] - 4*D[4][7] + 2*D[5][6] + 2*D[5][8] + 2*D[6][1] + 2*D[6][5] + 2*D[6][9] + 4*D[7][2] - 4*D[7][4] + 2*D[8][1] + 2*D[8][5] + 2*D[8][9] + 2*D[9][6] + 2*D[9][8]; // s3
+    f2coeff[11] = 8*D[3][3] - 4*D[1][9] - 4*D[1][1] - 8*D[3][7] + 4*D[5][5] - 8*D[7][3] + 8*D[7][7] - 4*D[9][1] - 4*D[9][9]; // s2
+    f2coeff[12] = 4*D[1][1] - 4*D[5][5] + 4*D[5][9] + 8*D[6][6] + 8*D[6][8] + 8*D[8][6] + 8*D[8][8] + 4*D[9][5] - 4*D[9][9]; // s2 * s3^2
+    f2coeff[13] = 2*D[1][7] - 2*D[1][3] + 4*D[2][6] - 4*D[2][8] - 2*D[3][1] + 2*D[3][5] + 2*D[3][9] + 4*D[4][6] - 4*D[4][8] + 2*D[5][3] - 2*D[5][7] + 4*D[6][2] + 4*D[6][4] + 2*D[7][1] - 2*D[7][5] - 2*D[7][9] - 4*D[8][2] - 4*D[8][4] + 2*D[9][3] - 2*D[9][7]; // s1^2
+    f2coeff[14] = 2*D[1][3] - 2*D[1][7] + 4*D[2][6] + 4*D[2][8] + 2*D[3][1] + 2*D[3][5] - 2*D[3][9] - 4*D[4][6] - 4*D[4][8] + 2*D[5][3] - 2*D[5][7] + 4*D[6][2] - 4*D[6][4] - 2*D[7][1] - 2*D[7][5] + 2*D[7][9] + 4*D[8][2] - 4*D[8][4] - 2*D[9][3] + 2*D[9][7]; // s3^2
+    f2coeff[15] = 6*D[1][3] - 6*D[1][7] + 6*D[3][1] - 6*D[3][5] + 6*D[3][9] - 6*D[5][3] + 6*D[5][7] - 6*D[7][1] + 6*D[7][5] - 6*D[7][9] + 6*D[9][3] - 6*D[9][7]; // s2^2
+    f2coeff[16] = 2*D[6][9] - 2*D[1][8] - 2*D[5][6] - 2*D[5][8] - 2*D[6][1] - 2*D[6][5] - 2*D[1][6] - 2*D[8][1] - 2*D[8][5] + 2*D[8][9] + 2*D[9][6] + 2*D[9][8]; // s3^3
+    f2coeff[17] = 8*D[2][6] - 4*D[1][7] - 4*D[1][3] + 8*D[2][8] - 4*D[3][1] + 4*D[3][5] - 4*D[3][9] + 8*D[4][6] + 8*D[4][8] + 4*D[5][3] + 4*D[5][7] + 8*D[6][2] + 8*D[6][4] - 4*D[7][1] + 4*D[7][5] - 4*D[7][9] + 8*D[8][2] + 8*D[8][4] - 4*D[9][3] - 4*D[9][7]; // s1 * s2 * s3
+    f2coeff[18] = 6*D[2][5] - 6*D[1][4] - 6*D[2][1] - 6*D[1][2] - 6*D[2][9] - 6*D[4][1] + 6*D[4][5] - 6*D[4][9] + 6*D[5][2] + 6*D[5][4] - 6*D[9][2] - 6*D[9][4]; // s1 * s2^2
+    f2coeff[19] = 2*D[1][6] + 2*D[1][8] + 4*D[2][3] + 4*D[2][7] + 4*D[3][2] + 4*D[3][4] + 4*D[4][3] + 4*D[4][7] - 2*D[5][6] - 2*D[5][8] + 2*D[6][1] - 2*D[6][5] - 2*D[6][9] + 4*D[7][2] + 4*D[7][4] + 2*D[8][1] - 2*D[8][5] - 2*D[8][9] - 2*D[9][6] - 2*D[9][8]; // s1^2 * s3
+    f2coeff[20] = 2*D[1][2] + 2*D[1][4] + 2*D[2][1] - 2*D[2][5] - 2*D[2][9] + 2*D[4][1] - 2*D[4][5] - 2*D[4][9] - 2*D[5][2] - 2*D[5][4] - 2*D[9][2] - 2*D[9][4]; // s1^3
 
 
-	// F3 COEFFICIENT
+    // F3 COEFFICIENT
 
-	f3coeff[1] = 2*D[1][2] - 2*D[1][4] + 2*D[2][1] + 2*D[2][5] + 2*D[2][9] - 2*D[4][1] - 2*D[4][5] - 2*D[4][9] + 2*D[5][2] - 2*D[5][4] + 2*D[9][2] - 2*D[9][4]; // constant term
-	f3coeff[2] = 2*D[1][6] + 2*D[1][8] + 4*D[2][3] + 4*D[2][7] + 4*D[3][2] + 4*D[3][4] + 4*D[4][3] + 4*D[4][7] - 2*D[5][6] - 2*D[5][8] + 2*D[6][1] - 2*D[6][5] - 2*D[6][9] + 4*D[7][2] + 4*D[7][4] + 2*D[8][1] - 2*D[8][5] - 2*D[8][9] - 2*D[9][6] - 2*D[9][8]; // s1^2  * s2
-	f3coeff[3] = 8*D[2][2] - 8*D[3][3] - 8*D[4][4] + 8*D[6][6] + 8*D[7][7] - 8*D[8][8]; // s1 * s2
-	f3coeff[4] = 4*D[1][8] - 4*D[1][6] + 8*D[2][3] + 8*D[2][7] + 8*D[3][2] - 8*D[3][4] - 8*D[4][3] - 8*D[4][7] - 4*D[5][6] + 4*D[5][8] - 4*D[6][1] - 4*D[6][5] + 4*D[6][9] + 8*D[7][2] - 8*D[7][4] + 4*D[8][1] + 4*D[8][5] - 4*D[8][9] + 4*D[9][6] - 4*D[9][8]; // s1 * s3
-	f3coeff[5] = 4*D[1][3] - 4*D[1][7] + 8*D[2][6] + 8*D[2][8] + 4*D[3][1] + 4*D[3][5] - 4*D[3][9] - 8*D[4][6] - 8*D[4][8] + 4*D[5][3] - 4*D[5][7] + 8*D[6][2] - 8*D[6][4] - 4*D[7][1] - 4*D[7][5] + 4*D[7][9] + 8*D[8][2] - 8*D[8][4] - 4*D[9][3] + 4*D[9][7]; // s2 * s3
-	f3coeff[6] = 4*D[1][1] - 4*D[5][5] + 4*D[5][9] + 8*D[6][6] + 8*D[6][8] + 8*D[8][6] + 8*D[8][8] + 4*D[9][5] - 4*D[9][9]; // s2^2 * s3
-	f3coeff[7] = 2*D[5][6] - 2*D[1][8] - 2*D[1][6] + 2*D[5][8] - 2*D[6][1] + 2*D[6][5] - 2*D[6][9] - 2*D[8][1] + 2*D[8][5] - 2*D[8][9] - 2*D[9][6] - 2*D[9][8]; // s2^3
-	f3coeff[8] = 6*D[3][9] - 6*D[1][7] - 6*D[3][1] - 6*D[3][5] - 6*D[1][3] - 6*D[5][3] - 6*D[5][7] - 6*D[7][1] - 6*D[7][5] + 6*D[7][9] + 6*D[9][3] + 6*D[9][7]; // s1 * s3^2
-	f3coeff[9] = 2*D[1][3] + 2*D[1][7] + 4*D[2][6] - 4*D[2][8] + 2*D[3][1] + 2*D[3][5] + 2*D[3][9] - 4*D[4][6] + 4*D[4][8] + 2*D[5][3] + 2*D[5][7] + 4*D[6][2] - 4*D[6][4] + 2*D[7][1] + 2*D[7][5] + 2*D[7][9] - 4*D[8][2] + 4*D[8][4] + 2*D[9][3] + 2*D[9][7]; // s1
-	f3coeff[10] = 8*D[2][2] - 4*D[1][5] - 4*D[1][1] - 8*D[2][4] - 8*D[4][2] + 8*D[4][4] - 4*D[5][1] - 4*D[5][5] + 4*D[9][9]; // s3
-	f3coeff[11] = 2*D[1][6] + 2*D[1][8] - 4*D[2][3] + 4*D[2][7] - 4*D[3][2] + 4*D[3][4] + 4*D[4][3] - 4*D[4][7] + 2*D[5][6] + 2*D[5][8] + 2*D[6][1] + 2*D[6][5] + 2*D[6][9] + 4*D[7][2] - 4*D[7][4] + 2*D[8][1] + 2*D[8][5] + 2*D[8][9] + 2*D[9][6] + 2*D[9][8]; // s2
-	f3coeff[12] = 6*D[6][9] - 6*D[1][8] - 6*D[5][6] - 6*D[5][8] - 6*D[6][1] - 6*D[6][5] - 6*D[1][6] - 6*D[8][1] - 6*D[8][5] + 6*D[8][9] + 6*D[9][6] + 6*D[9][8]; // s2 * s3^2
-	f3coeff[13] = 2*D[1][2] - 2*D[1][4] + 2*D[2][1] - 2*D[2][5] - 2*D[2][9] + 4*D[3][6] - 4*D[3][8] - 2*D[4][1] + 2*D[4][5] + 2*D[4][9] - 2*D[5][2] + 2*D[5][4] + 4*D[6][3] + 4*D[6][7] + 4*D[7][6] - 4*D[7][8] - 4*D[8][3] - 4*D[8][7] - 2*D[9][2] + 2*D[9][4]; // s1^2
-	f3coeff[14] = 6*D[1][4] - 6*D[1][2] - 6*D[2][1] - 6*D[2][5] + 6*D[2][9] + 6*D[4][1] + 6*D[4][5] - 6*D[4][9] - 6*D[5][2] + 6*D[5][4] + 6*D[9][2] - 6*D[9][4]; // s3^2
-	f3coeff[15] = 2*D[1][4] - 2*D[1][2] - 2*D[2][1] + 2*D[2][5] - 2*D[2][9] - 4*D[3][6] - 4*D[3][8] + 2*D[4][1] - 2*D[4][5] + 2*D[4][9] + 2*D[5][2] - 2*D[5][4] - 4*D[6][3] + 4*D[6][7] + 4*D[7][6] + 4*D[7][8] - 4*D[8][3] + 4*D[8][7] - 2*D[9][2] + 2*D[9][4]; // s2^2
-	f3coeff[16] = 4*D[1][1] + 4*D[1][5] - 4*D[1][9] + 4*D[5][1] + 4*D[5][5] - 4*D[5][9] - 4*D[9][1] - 4*D[9][5] + 4*D[9][9]; // s3^3
-	f3coeff[17] = 4*D[2][9] - 4*D[1][4] - 4*D[2][1] - 4*D[2][5] - 4*D[1][2] + 8*D[3][6] + 8*D[3][8] - 4*D[4][1] - 4*D[4][5] + 4*D[4][9] - 4*D[5][2] - 4*D[5][4] + 8*D[6][3] + 8*D[6][7] + 8*D[7][6] + 8*D[7][8] + 8*D[8][3] + 8*D[8][7] + 4*D[9][2] + 4*D[9][4]; // s1 * s2 * s3
-	f3coeff[18] = 4*D[2][6] - 2*D[1][7] - 2*D[1][3] + 4*D[2][8] - 2*D[3][1] + 2*D[3][5] - 2*D[3][9] + 4*D[4][6] + 4*D[4][8] + 2*D[5][3] + 2*D[5][7] + 4*D[6][2] + 4*D[6][4] - 2*D[7][1] + 2*D[7][5] - 2*D[7][9] + 4*D[8][2] + 4*D[8][4] - 2*D[9][3] - 2*D[9][7]; // s1 * s2^2
-	f3coeff[19] = 4*D[1][9] - 4*D[1][1] + 8*D[3][3] + 8*D[3][7] + 4*D[5][5] + 8*D[7][3] + 8*D[7][7] + 4*D[9][1] - 4*D[9][9]; // s1^2 * s3
-	f3coeff[20] = 2*D[1][3] + 2*D[1][7] + 2*D[3][1] - 2*D[3][5] - 2*D[3][9] - 2*D[5][3] - 2*D[5][7] + 2*D[7][1] - 2*D[7][5] - 2*D[7][9] - 2*D[9][3] - 2*D[9][7]; // s1^3
+    f3coeff[1] = 2*D[1][2] - 2*D[1][4] + 2*D[2][1] + 2*D[2][5] + 2*D[2][9] - 2*D[4][1] - 2*D[4][5] - 2*D[4][9] + 2*D[5][2] - 2*D[5][4] + 2*D[9][2] - 2*D[9][4]; // constant term
+    f3coeff[2] = 2*D[1][6] + 2*D[1][8] + 4*D[2][3] + 4*D[2][7] + 4*D[3][2] + 4*D[3][4] + 4*D[4][3] + 4*D[4][7] - 2*D[5][6] - 2*D[5][8] + 2*D[6][1] - 2*D[6][5] - 2*D[6][9] + 4*D[7][2] + 4*D[7][4] + 2*D[8][1] - 2*D[8][5] - 2*D[8][9] - 2*D[9][6] - 2*D[9][8]; // s1^2  * s2
+    f3coeff[3] = 8*D[2][2] - 8*D[3][3] - 8*D[4][4] + 8*D[6][6] + 8*D[7][7] - 8*D[8][8]; // s1 * s2
+    f3coeff[4] = 4*D[1][8] - 4*D[1][6] + 8*D[2][3] + 8*D[2][7] + 8*D[3][2] - 8*D[3][4] - 8*D[4][3] - 8*D[4][7] - 4*D[5][6] + 4*D[5][8] - 4*D[6][1] - 4*D[6][5] + 4*D[6][9] + 8*D[7][2] - 8*D[7][4] + 4*D[8][1] + 4*D[8][5] - 4*D[8][9] + 4*D[9][6] - 4*D[9][8]; // s1 * s3
+    f3coeff[5] = 4*D[1][3] - 4*D[1][7] + 8*D[2][6] + 8*D[2][8] + 4*D[3][1] + 4*D[3][5] - 4*D[3][9] - 8*D[4][6] - 8*D[4][8] + 4*D[5][3] - 4*D[5][7] + 8*D[6][2] - 8*D[6][4] - 4*D[7][1] - 4*D[7][5] + 4*D[7][9] + 8*D[8][2] - 8*D[8][4] - 4*D[9][3] + 4*D[9][7]; // s2 * s3
+    f3coeff[6] = 4*D[1][1] - 4*D[5][5] + 4*D[5][9] + 8*D[6][6] + 8*D[6][8] + 8*D[8][6] + 8*D[8][8] + 4*D[9][5] - 4*D[9][9]; // s2^2 * s3
+    f3coeff[7] = 2*D[5][6] - 2*D[1][8] - 2*D[1][6] + 2*D[5][8] - 2*D[6][1] + 2*D[6][5] - 2*D[6][9] - 2*D[8][1] + 2*D[8][5] - 2*D[8][9] - 2*D[9][6] - 2*D[9][8]; // s2^3
+    f3coeff[8] = 6*D[3][9] - 6*D[1][7] - 6*D[3][1] - 6*D[3][5] - 6*D[1][3] - 6*D[5][3] - 6*D[5][7] - 6*D[7][1] - 6*D[7][5] + 6*D[7][9] + 6*D[9][3] + 6*D[9][7]; // s1 * s3^2
+    f3coeff[9] = 2*D[1][3] + 2*D[1][7] + 4*D[2][6] - 4*D[2][8] + 2*D[3][1] + 2*D[3][5] + 2*D[3][9] - 4*D[4][6] + 4*D[4][8] + 2*D[5][3] + 2*D[5][7] + 4*D[6][2] - 4*D[6][4] + 2*D[7][1] + 2*D[7][5] + 2*D[7][9] - 4*D[8][2] + 4*D[8][4] + 2*D[9][3] + 2*D[9][7]; // s1
+    f3coeff[10] = 8*D[2][2] - 4*D[1][5] - 4*D[1][1] - 8*D[2][4] - 8*D[4][2] + 8*D[4][4] - 4*D[5][1] - 4*D[5][5] + 4*D[9][9]; // s3
+    f3coeff[11] = 2*D[1][6] + 2*D[1][8] - 4*D[2][3] + 4*D[2][7] - 4*D[3][2] + 4*D[3][4] + 4*D[4][3] - 4*D[4][7] + 2*D[5][6] + 2*D[5][8] + 2*D[6][1] + 2*D[6][5] + 2*D[6][9] + 4*D[7][2] - 4*D[7][4] + 2*D[8][1] + 2*D[8][5] + 2*D[8][9] + 2*D[9][6] + 2*D[9][8]; // s2
+    f3coeff[12] = 6*D[6][9] - 6*D[1][8] - 6*D[5][6] - 6*D[5][8] - 6*D[6][1] - 6*D[6][5] - 6*D[1][6] - 6*D[8][1] - 6*D[8][5] + 6*D[8][9] + 6*D[9][6] + 6*D[9][8]; // s2 * s3^2
+    f3coeff[13] = 2*D[1][2] - 2*D[1][4] + 2*D[2][1] - 2*D[2][5] - 2*D[2][9] + 4*D[3][6] - 4*D[3][8] - 2*D[4][1] + 2*D[4][5] + 2*D[4][9] - 2*D[5][2] + 2*D[5][4] + 4*D[6][3] + 4*D[6][7] + 4*D[7][6] - 4*D[7][8] - 4*D[8][3] - 4*D[8][7] - 2*D[9][2] + 2*D[9][4]; // s1^2
+    f3coeff[14] = 6*D[1][4] - 6*D[1][2] - 6*D[2][1] - 6*D[2][5] + 6*D[2][9] + 6*D[4][1] + 6*D[4][5] - 6*D[4][9] - 6*D[5][2] + 6*D[5][4] + 6*D[9][2] - 6*D[9][4]; // s3^2
+    f3coeff[15] = 2*D[1][4] - 2*D[1][2] - 2*D[2][1] + 2*D[2][5] - 2*D[2][9] - 4*D[3][6] - 4*D[3][8] + 2*D[4][1] - 2*D[4][5] + 2*D[4][9] + 2*D[5][2] - 2*D[5][4] - 4*D[6][3] + 4*D[6][7] + 4*D[7][6] + 4*D[7][8] - 4*D[8][3] + 4*D[8][7] - 2*D[9][2] + 2*D[9][4]; // s2^2
+    f3coeff[16] = 4*D[1][1] + 4*D[1][5] - 4*D[1][9] + 4*D[5][1] + 4*D[5][5] - 4*D[5][9] - 4*D[9][1] - 4*D[9][5] + 4*D[9][9]; // s3^3
+    f3coeff[17] = 4*D[2][9] - 4*D[1][4] - 4*D[2][1] - 4*D[2][5] - 4*D[1][2] + 8*D[3][6] + 8*D[3][8] - 4*D[4][1] - 4*D[4][5] + 4*D[4][9] - 4*D[5][2] - 4*D[5][4] + 8*D[6][3] + 8*D[6][7] + 8*D[7][6] + 8*D[7][8] + 8*D[8][3] + 8*D[8][7] + 4*D[9][2] + 4*D[9][4]; // s1 * s2 * s3
+    f3coeff[18] = 4*D[2][6] - 2*D[1][7] - 2*D[1][3] + 4*D[2][8] - 2*D[3][1] + 2*D[3][5] - 2*D[3][9] + 4*D[4][6] + 4*D[4][8] + 2*D[5][3] + 2*D[5][7] + 4*D[6][2] + 4*D[6][4] - 2*D[7][1] + 2*D[7][5] - 2*D[7][9] + 4*D[8][2] + 4*D[8][4] - 2*D[9][3] - 2*D[9][7]; // s1 * s2^2
+    f3coeff[19] = 4*D[1][9] - 4*D[1][1] + 8*D[3][3] + 8*D[3][7] + 4*D[5][5] + 8*D[7][3] + 8*D[7][7] + 4*D[9][1] - 4*D[9][9]; // s1^2 * s3
+    f3coeff[20] = 2*D[1][3] + 2*D[1][7] + 2*D[3][1] - 2*D[3][5] - 2*D[3][9] - 2*D[5][3] - 2*D[5][7] + 2*D[7][1] - 2*D[7][5] - 2*D[7][9] - 2*D[9][3] - 2*D[9][7]; // s1^3
 
 }
 
 cv::Mat dls::LeftMultVec(const cv::Mat& v)
 {
-	cv::Mat mat, row1, row2, row3;
-	cv::Mat zeros16 = cv::Mat::zeros(1, 6, CV_64F);
-	cv::Mat zeros13 = cv::Mat::zeros(1, 3, CV_64F);
+    cv::Mat mat, row1, row2, row3;
+    cv::Mat zeros16 = cv::Mat::zeros(1, 6, CV_64F);
+    cv::Mat zeros13 = cv::Mat::zeros(1, 3, CV_64F);
 
-	cv::hconcat(v.clone().t(), zeros16, row1);	// first row
-	cv::hconcat(zeros13, v.clone().t(), row2);	// second row
-	cv::hconcat(row2, zeros13, row2);			// second row
-	cv::hconcat(zeros16, v.clone().t(), row3);	// third row
+    cv::hconcat(v.clone().t(), zeros16, row1);    // first row
+    cv::hconcat(zeros13, v.clone().t(), row2);    // second row
+    cv::hconcat(row2, zeros13, row2);            // second row
+    cv::hconcat(zeros16, v.clone().t(), row3);    // third row
 
-	mat.push_back(row1);
-	mat.push_back(row2);
-	mat.push_back(row3);
+    mat.push_back(row1);
+    mat.push_back(row2);
+    mat.push_back(row3);
 
-	return mat;
+    return mat;
 }
 
 cv::Mat dls::cayley_LS_M(const std::vector<double>& a, const std::vector<double>& b, const std::vector<double>& c, const std::vector<double>& u)
 {
-	// TODO: input matrix pointer
-	// TODO: shift coefficients one position to left
-	
-	cv::Mat M = cv::Mat::zeros(120, 120, CV_64F);
+    // TODO: input matrix pointer
+    // TODO: shift coefficients one position to left
+    
+    cv::Mat M = cv::Mat::zeros(120, 120, CV_64F);
 
-	M.at<double>(0,0)=u[1]; M.at<double>(0,35)=a[1]; M.at<double>(0,83)=b[1]; M.at<double>(0,118)=c[1];
-	M.at<double>(1,0)=u[4]; M.at<double>(1,1)=u[1]; M.at<double>(1,34)=a[1]; M.at<double>(1,35)=a[10]; M.at<double>(1,54)=b[1]; M.at<double>(1,83)=b[10]; M.at<double>(1,99)=c[1]; M.at<double>(1,118)=c[10];
-	M.at<double>(2,1)=u[4]; M.at<double>(2,2)=u[1]; M.at<double>(2,34)=a[10]; M.at<double>(2,35)=a[14]; M.at<double>(2,51)=a[1]; M.at<double>(2,54)=b[10]; M.at<double>(2,65)=b[1]; M.at<double>(2,83)=b[14]; M.at<double>(2,89)=c[1]; M.at<double>(2,99)=c[10]; M.at<double>(2,118)=c[14];
-	M.at<double>(3,0)=u[3]; M.at<double>(3,3)=u[1]; M.at<double>(3,35)=a[11]; M.at<double>(3,49)=a[1]; M.at<double>(3,76)=b[1]; M.at<double>(3,83)=b[11]; M.at<double>(3,118)=c[11]; M.at<double>(3,119)=c[1];
-	M.at<double>(4,1)=u[3]; M.at<double>(4,3)=u[4]; M.at<double>(4,4)=u[1]; M.at<double>(4,34)=a[11]; M.at<double>(4,35)=a[5]; M.at<double>(4,43)=a[1]; M.at<double>(4,49)=a[10]; M.at<double>(4,54)=b[11]; M.at<double>(4,71)=b[1]; M.at<double>(4,76)=b[10]; M.at<double>(4,83)=b[5]; M.at<double>(4,99)=c[11]; M.at<double>(4,100)=c[1]; M.at<double>(4,118)=c[5]; M.at<double>(4,119)=c[10];
-	M.at<double>(5,2)=u[3]; M.at<double>(5,4)=u[4]; M.at<double>(5,5)=u[1]; M.at<double>(5,34)=a[5]; M.at<double>(5,35)=a[12]; M.at<double>(5,41)=a[1]; M.at<double>(5,43)=a[10]; M.at<double>(5,49)=a[14]; M.at<double>(5,51)=a[11]; M.at<double>(5,54)=b[5]; M.at<double>(5,62)=b[1]; M.at<double>(5,65)=b[11]; M.at<double>(5,71)=b[10]; M.at<double>(5,76)=b[14]; M.at<double>(5,83)=b[12]; M.at<double>(5,89)=c[11]; M.at<double>(5,99)=c[5]; M.at<double>(5,100)=c[10]; M.at<double>(5,111)=c[1]; M.at<double>(5,118)=c[12]; M.at<double>(5,119)=c[14];
-	M.at<double>(6,3)=u[3]; M.at<double>(6,6)=u[1]; M.at<double>(6,30)=a[1]; M.at<double>(6,35)=a[15]; M.at<double>(6,49)=a[11]; M.at<double>(6,75)=b[1]; M.at<double>(6,76)=b[11]; M.at<double>(6,83)=b[15]; M.at<double>(6,107)=c[1]; M.at<double>(6,118)=c[15]; M.at<double>(6,119)=c[11];
-	M.at<double>(7,4)=u[3]; M.at<double>(7,6)=u[4]; M.at<double>(7,7)=u[1]; M.at<double>(7,30)=a[10]; M.at<double>(7,34)=a[15]; M.at<double>(7,35)=a[6]; M.at<double>(7,43)=a[11]; M.at<double>(7,45)=a[1]; M.at<double>(7,49)=a[5]; M.at<double>(7,54)=b[15]; M.at<double>(7,63)=b[1]; M.at<double>(7,71)=b[11]; M.at<double>(7,75)=b[10]; M.at<double>(7,76)=b[5]; M.at<double>(7,83)=b[6]; M.at<double>(7,99)=c[15]; M.at<double>(7,100)=c[11]; M.at<double>(7,107)=c[10]; M.at<double>(7,112)=c[1]; M.at<double>(7,118)=c[6]; M.at<double>(7,119)=c[5];
-	M.at<double>(8,5)=u[3]; M.at<double>(8,7)=u[4]; M.at<double>(8,8)=u[1]; M.at<double>(8,30)=a[14]; M.at<double>(8,34)=a[6]; M.at<double>(8,41)=a[11]; M.at<double>(8,43)=a[5]; M.at<double>(8,45)=a[10]; M.at<double>(8,46)=a[1]; M.at<double>(8,49)=a[12]; M.at<double>(8,51)=a[15]; M.at<double>(8,54)=b[6]; M.at<double>(8,62)=b[11]; M.at<double>(8,63)=b[10]; M.at<double>(8,65)=b[15]; M.at<double>(8,66)=b[1]; M.at<double>(8,71)=b[5]; M.at<double>(8,75)=b[14]; M.at<double>(8,76)=b[12]; M.at<double>(8,89)=c[15]; M.at<double>(8,99)=c[6]; M.at<double>(8,100)=c[5]; M.at<double>(8,102)=c[1]; M.at<double>(8,107)=c[14]; M.at<double>(8,111)=c[11]; M.at<double>(8,112)=c[10]; M.at<double>(8,119)=c[12];
-	M.at<double>(9,0)=u[2]; M.at<double>(9,9)=u[1]; M.at<double>(9,35)=a[9]; M.at<double>(9,36)=a[1]; M.at<double>(9,83)=b[9]; M.at<double>(9,84)=b[1]; M.at<double>(9,88)=c[1]; M.at<double>(9,118)=c[9];
-	M.at<double>(10,1)=u[2]; M.at<double>(10,9)=u[4]; M.at<double>(10,10)=u[1]; M.at<double>(10,33)=a[1]; M.at<double>(10,34)=a[9]; M.at<double>(10,35)=a[4]; M.at<double>(10,36)=a[10]; M.at<double>(10,54)=b[9]; M.at<double>(10,59)=b[1]; M.at<double>(10,83)=b[4]; M.at<double>(10,84)=b[10]; M.at<double>(10,88)=c[10]; M.at<double>(10,99)=c[9]; M.at<double>(10,117)=c[1]; M.at<double>(10,118)=c[4];
-	M.at<double>(11,2)=u[2]; M.at<double>(11,10)=u[4]; M.at<double>(11,11)=u[1]; M.at<double>(11,28)=a[1]; M.at<double>(11,33)=a[10]; M.at<double>(11,34)=a[4]; M.at<double>(11,35)=a[8]; M.at<double>(11,36)=a[14]; M.at<double>(11,51)=a[9]; M.at<double>(11,54)=b[4]; M.at<double>(11,57)=b[1]; M.at<double>(11,59)=b[10]; M.at<double>(11,65)=b[9]; M.at<double>(11,83)=b[8]; M.at<double>(11,84)=b[14]; M.at<double>(11,88)=c[14]; M.at<double>(11,89)=c[9]; M.at<double>(11,99)=c[4]; M.at<double>(11,114)=c[1]; M.at<double>(11,117)=c[10]; M.at<double>(11,118)=c[8];
-	M.at<double>(12,3)=u[2]; M.at<double>(12,9)=u[3]; M.at<double>(12,12)=u[1]; M.at<double>(12,35)=a[3]; M.at<double>(12,36)=a[11]; M.at<double>(12,39)=a[1]; M.at<double>(12,49)=a[9]; M.at<double>(12,76)=b[9]; M.at<double>(12,79)=b[1]; M.at<double>(12,83)=b[3]; M.at<double>(12,84)=b[11]; M.at<double>(12,88)=c[11]; M.at<double>(12,96)=c[1]; M.at<double>(12,118)=c[3]; M.at<double>(12,119)=c[9];
-	M.at<double>(13,4)=u[2]; M.at<double>(13,10)=u[3]; M.at<double>(13,12)=u[4]; M.at<double>(13,13)=u[1]; M.at<double>(13,33)=a[11]; M.at<double>(13,34)=a[3]; M.at<double>(13,35)=a[17]; M.at<double>(13,36)=a[5]; M.at<double>(13,39)=a[10]; M.at<double>(13,43)=a[9]; M.at<double>(13,47)=a[1]; M.at<double>(13,49)=a[4]; M.at<double>(13,54)=b[3]; M.at<double>(13,59)=b[11]; M.at<double>(13,60)=b[1]; M.at<double>(13,71)=b[9]; M.at<double>(13,76)=b[4]; M.at<double>(13,79)=b[10]; M.at<double>(13,83)=b[17]; M.at<double>(13,84)=b[5]; M.at<double>(13,88)=c[5]; M.at<double>(13,90)=c[1]; M.at<double>(13,96)=c[10]; M.at<double>(13,99)=c[3]; M.at<double>(13,100)=c[9]; M.at<double>(13,117)=c[11]; M.at<double>(13,118)=c[17]; M.at<double>(13,119)=c[4];
-	M.at<double>(14,5)=u[2]; M.at<double>(14,11)=u[3]; M.at<double>(14,13)=u[4]; M.at<double>(14,14)=u[1]; M.at<double>(14,28)=a[11]; M.at<double>(14,33)=a[5]; M.at<double>(14,34)=a[17]; M.at<double>(14,36)=a[12]; M.at<double>(14,39)=a[14]; M.at<double>(14,41)=a[9]; M.at<double>(14,42)=a[1]; M.at<double>(14,43)=a[4]; M.at<double>(14,47)=a[10]; M.at<double>(14,49)=a[8]; M.at<double>(14,51)=a[3]; M.at<double>(14,54)=b[17]; M.at<double>(14,56)=b[1]; M.at<double>(14,57)=b[11]; M.at<double>(14,59)=b[5]; M.at<double>(14,60)=b[10]; M.at<double>(14,62)=b[9]; M.at<double>(14,65)=b[3]; M.at<double>(14,71)=b[4]; M.at<double>(14,76)=b[8]; M.at<double>(14,79)=b[14]; M.at<double>(14,84)=b[12]; M.at<double>(14,88)=c[12]; M.at<double>(14,89)=c[3]; M.at<double>(14,90)=c[10]; M.at<double>(14,96)=c[14]; M.at<double>(14,99)=c[17]; M.at<double>(14,100)=c[4]; M.at<double>(14,106)=c[1]; M.at<double>(14,111)=c[9]; M.at<double>(14,114)=c[11]; M.at<double>(14,117)=c[5]; M.at<double>(14,119)=c[8];
-	M.at<double>(15,6)=u[2]; M.at<double>(15,12)=u[3]; M.at<double>(15,15)=u[1]; M.at<double>(15,29)=a[1]; M.at<double>(15,30)=a[9]; M.at<double>(15,35)=a[18]; M.at<double>(15,36)=a[15]; M.at<double>(15,39)=a[11]; M.at<double>(15,49)=a[3]; M.at<double>(15,74)=b[1]; M.at<double>(15,75)=b[9]; M.at<double>(15,76)=b[3]; M.at<double>(15,79)=b[11]; M.at<double>(15,83)=b[18]; M.at<double>(15,84)=b[15]; M.at<double>(15,88)=c[15]; M.at<double>(15,94)=c[1]; M.at<double>(15,96)=c[11]; M.at<double>(15,107)=c[9]; M.at<double>(15,118)=c[18]; M.at<double>(15,119)=c[3];
-	M.at<double>(16,7)=u[2]; M.at<double>(16,13)=u[3]; M.at<double>(16,15)=u[4]; M.at<double>(16,16)=u[1]; M.at<double>(16,29)=a[10]; M.at<double>(16,30)=a[4]; M.at<double>(16,33)=a[15]; M.at<double>(16,34)=a[18]; M.at<double>(16,36)=a[6]; M.at<double>(16,39)=a[5]; M.at<double>(16,43)=a[3]; M.at<double>(16,44)=a[1]; M.at<double>(16,45)=a[9]; M.at<double>(16,47)=a[11]; M.at<double>(16,49)=a[17]; M.at<double>(16,54)=b[18]; M.at<double>(16,59)=b[15]; M.at<double>(16,60)=b[11]; M.at<double>(16,63)=b[9]; M.at<double>(16,68)=b[1]; M.at<double>(16,71)=b[3]; M.at<double>(16,74)=b[10]; M.at<double>(16,75)=b[4]; M.at<double>(16,76)=b[17]; M.at<double>(16,79)=b[5]; M.at<double>(16,84)=b[6]; M.at<double>(16,88)=c[6]; M.at<double>(16,90)=c[11]; M.at<double>(16,94)=c[10]; M.at<double>(16,96)=c[5]; M.at<double>(16,97)=c[1]; M.at<double>(16,99)=c[18]; M.at<double>(16,100)=c[3]; M.at<double>(16,107)=c[4]; M.at<double>(16,112)=c[9]; M.at<double>(16,117)=c[15]; M.at<double>(16,119)=c[17];
-	M.at<double>(17,8)=u[2]; M.at<double>(17,14)=u[3]; M.at<double>(17,16)=u[4]; M.at<double>(17,17)=u[1]; M.at<double>(17,28)=a[15]; M.at<double>(17,29)=a[14]; M.at<double>(17,30)=a[8]; M.at<double>(17,33)=a[6]; M.at<double>(17,39)=a[12]; M.at<double>(17,41)=a[3]; M.at<double>(17,42)=a[11]; M.at<double>(17,43)=a[17]; M.at<double>(17,44)=a[10]; M.at<double>(17,45)=a[4]; M.at<double>(17,46)=a[9]; M.at<double>(17,47)=a[5]; M.at<double>(17,51)=a[18]; M.at<double>(17,56)=b[11]; M.at<double>(17,57)=b[15]; M.at<double>(17,59)=b[6]; M.at<double>(17,60)=b[5]; M.at<double>(17,62)=b[3]; M.at<double>(17,63)=b[4]; M.at<double>(17,65)=b[18]; M.at<double>(17,66)=b[9]; M.at<double>(17,68)=b[10]; M.at<double>(17,71)=b[17]; M.at<double>(17,74)=b[14]; M.at<double>(17,75)=b[8]; M.at<double>(17,79)=b[12]; M.at<double>(17,89)=c[18]; M.at<double>(17,90)=c[5]; M.at<double>(17,94)=c[14]; M.at<double>(17,96)=c[12]; M.at<double>(17,97)=c[10]; M.at<double>(17,100)=c[17]; M.at<double>(17,102)=c[9]; M.at<double>(17,106)=c[11]; M.at<double>(17,107)=c[8]; M.at<double>(17,111)=c[3]; M.at<double>(17,112)=c[4]; M.at<double>(17,114)=c[15]; M.at<double>(17,117)=c[6];
-	M.at<double>(18,9)=u[2]; M.at<double>(18,18)=u[1]; M.at<double>(18,35)=a[13]; M.at<double>(18,36)=a[9]; M.at<double>(18,53)=a[1]; M.at<double>(18,82)=b[1]; M.at<double>(18,83)=b[13]; M.at<double>(18,84)=b[9]; M.at<double>(18,87)=c[1]; M.at<double>(18,88)=c[9]; M.at<double>(18,118)=c[13];
-	M.at<double>(19,10)=u[2]; M.at<double>(19,18)=u[4]; M.at<double>(19,19)=u[1]; M.at<double>(19,32)=a[1]; M.at<double>(19,33)=a[9]; M.at<double>(19,34)=a[13]; M.at<double>(19,35)=a[19]; M.at<double>(19,36)=a[4]; M.at<double>(19,53)=a[10]; M.at<double>(19,54)=b[13]; M.at<double>(19,59)=b[9]; M.at<double>(19,61)=b[1]; M.at<double>(19,82)=b[10]; M.at<double>(19,83)=b[19]; M.at<double>(19,84)=b[4]; M.at<double>(19,87)=c[10]; M.at<double>(19,88)=c[4]; M.at<double>(19,99)=c[13]; M.at<double>(19,116)=c[1]; M.at<double>(19,117)=c[9]; M.at<double>(19,118)=c[19];
-	M.at<double>(20,11)=u[2]; M.at<double>(20,19)=u[4]; M.at<double>(20,20)=u[1]; M.at<double>(20,27)=a[1]; M.at<double>(20,28)=a[9]; M.at<double>(20,32)=a[10]; M.at<double>(20,33)=a[4]; M.at<double>(20,34)=a[19]; M.at<double>(20,36)=a[8]; M.at<double>(20,51)=a[13]; M.at<double>(20,53)=a[14]; M.at<double>(20,54)=b[19]; M.at<double>(20,55)=b[1]; M.at<double>(20,57)=b[9]; M.at<double>(20,59)=b[4]; M.at<double>(20,61)=b[10]; M.at<double>(20,65)=b[13]; M.at<double>(20,82)=b[14]; M.at<double>(20,84)=b[8]; M.at<double>(20,87)=c[14]; M.at<double>(20,88)=c[8]; M.at<double>(20,89)=c[13]; M.at<double>(20,99)=c[19]; M.at<double>(20,113)=c[1]; M.at<double>(20,114)=c[9]; M.at<double>(20,116)=c[10]; M.at<double>(20,117)=c[4];
-	M.at<double>(21,12)=u[2]; M.at<double>(21,18)=u[3]; M.at<double>(21,21)=u[1]; M.at<double>(21,35)=a[2]; M.at<double>(21,36)=a[3]; M.at<double>(21,38)=a[1]; M.at<double>(21,39)=a[9]; M.at<double>(21,49)=a[13]; M.at<double>(21,53)=a[11]; M.at<double>(21,76)=b[13]; M.at<double>(21,78)=b[1]; M.at<double>(21,79)=b[9]; M.at<double>(21,82)=b[11]; M.at<double>(21,83)=b[2]; M.at<double>(21,84)=b[3]; M.at<double>(21,87)=c[11]; M.at<double>(21,88)=c[3]; M.at<double>(21,92)=c[1]; M.at<double>(21,96)=c[9]; M.at<double>(21,118)=c[2]; M.at<double>(21,119)=c[13];
-	M.at<double>(22,13)=u[2]; M.at<double>(22,19)=u[3]; M.at<double>(22,21)=u[4]; M.at<double>(22,22)=u[1]; M.at<double>(22,32)=a[11]; M.at<double>(22,33)=a[3]; M.at<double>(22,34)=a[2]; M.at<double>(22,36)=a[17]; M.at<double>(22,38)=a[10]; M.at<double>(22,39)=a[4]; M.at<double>(22,40)=a[1]; M.at<double>(22,43)=a[13]; M.at<double>(22,47)=a[9]; M.at<double>(22,49)=a[19]; M.at<double>(22,53)=a[5]; M.at<double>(22,54)=b[2]; M.at<double>(22,59)=b[3]; M.at<double>(22,60)=b[9]; M.at<double>(22,61)=b[11]; M.at<double>(22,71)=b[13]; M.at<double>(22,72)=b[1]; M.at<double>(22,76)=b[19]; M.at<double>(22,78)=b[10]; M.at<double>(22,79)=b[4]; M.at<double>(22,82)=b[5]; M.at<double>(22,84)=b[17]; M.at<double>(22,87)=c[5]; M.at<double>(22,88)=c[17]; M.at<double>(22,90)=c[9]; M.at<double>(22,92)=c[10]; M.at<double>(22,95)=c[1]; M.at<double>(22,96)=c[4]; M.at<double>(22,99)=c[2]; M.at<double>(22,100)=c[13]; M.at<double>(22,116)=c[11]; M.at<double>(22,117)=c[3]; M.at<double>(22,119)=c[19];
-	M.at<double>(23,14)=u[2]; M.at<double>(23,20)=u[3]; M.at<double>(23,22)=u[4]; M.at<double>(23,23)=u[1]; M.at<double>(23,27)=a[11]; M.at<double>(23,28)=a[3]; M.at<double>(23,32)=a[5]; M.at<double>(23,33)=a[17]; M.at<double>(23,38)=a[14]; M.at<double>(23,39)=a[8]; M.at<double>(23,40)=a[10]; M.at<double>(23,41)=a[13]; M.at<double>(23,42)=a[9]; M.at<double>(23,43)=a[19]; M.at<double>(23,47)=a[4]; M.at<double>(23,51)=a[2]; M.at<double>(23,53)=a[12]; M.at<double>(23,55)=b[11]; M.at<double>(23,56)=b[9]; M.at<double>(23,57)=b[3]; M.at<double>(23,59)=b[17]; M.at<double>(23,60)=b[4]; M.at<double>(23,61)=b[5]; M.at<double>(23,62)=b[13]; M.at<double>(23,65)=b[2]; M.at<double>(23,71)=b[19]; M.at<double>(23,72)=b[10]; M.at<double>(23,78)=b[14]; M.at<double>(23,79)=b[8]; M.at<double>(23,82)=b[12]; M.at<double>(23,87)=c[12]; M.at<double>(23,89)=c[2]; M.at<double>(23,90)=c[4]; M.at<double>(23,92)=c[14]; M.at<double>(23,95)=c[10]; M.at<double>(23,96)=c[8]; M.at<double>(23,100)=c[19]; M.at<double>(23,106)=c[9]; M.at<double>(23,111)=c[13]; M.at<double>(23,113)=c[11]; M.at<double>(23,114)=c[3]; M.at<double>(23,116)=c[5]; M.at<double>(23,117)=c[17];
-	M.at<double>(24,15)=u[2]; M.at<double>(24,21)=u[3]; M.at<double>(24,24)=u[1]; M.at<double>(24,29)=a[9]; M.at<double>(24,30)=a[13]; M.at<double>(24,36)=a[18]; M.at<double>(24,38)=a[11]; M.at<double>(24,39)=a[3]; M.at<double>(24,49)=a[2]; M.at<double>(24,52)=a[1]; M.at<double>(24,53)=a[15]; M.at<double>(24,73)=b[1]; M.at<double>(24,74)=b[9]; M.at<double>(24,75)=b[13]; M.at<double>(24,76)=b[2]; M.at<double>(24,78)=b[11]; M.at<double>(24,79)=b[3]; M.at<double>(24,82)=b[15]; M.at<double>(24,84)=b[18]; M.at<double>(24,87)=c[15]; M.at<double>(24,88)=c[18]; M.at<double>(24,92)=c[11]; M.at<double>(24,93)=c[1]; M.at<double>(24,94)=c[9]; M.at<double>(24,96)=c[3]; M.at<double>(24,107)=c[13]; M.at<double>(24,119)=c[2];
-	M.at<double>(25,16)=u[2]; M.at<double>(25,22)=u[3]; M.at<double>(25,24)=u[4]; M.at<double>(25,25)=u[1]; M.at<double>(25,29)=a[4]; M.at<double>(25,30)=a[19]; M.at<double>(25,32)=a[15]; M.at<double>(25,33)=a[18]; M.at<double>(25,38)=a[5]; M.at<double>(25,39)=a[17]; M.at<double>(25,40)=a[11]; M.at<double>(25,43)=a[2]; M.at<double>(25,44)=a[9]; M.at<double>(25,45)=a[13]; M.at<double>(25,47)=a[3]; M.at<double>(25,52)=a[10]; M.at<double>(25,53)=a[6]; M.at<double>(25,59)=b[18]; M.at<double>(25,60)=b[3]; M.at<double>(25,61)=b[15]; M.at<double>(25,63)=b[13]; M.at<double>(25,68)=b[9]; M.at<double>(25,71)=b[2]; M.at<double>(25,72)=b[11]; M.at<double>(25,73)=b[10]; M.at<double>(25,74)=b[4]; M.at<double>(25,75)=b[19]; M.at<double>(25,78)=b[5]; M.at<double>(25,79)=b[17]; M.at<double>(25,82)=b[6]; M.at<double>(25,87)=c[6]; M.at<double>(25,90)=c[3]; M.at<double>(25,92)=c[5]; M.at<double>(25,93)=c[10]; M.at<double>(25,94)=c[4]; M.at<double>(25,95)=c[11]; M.at<double>(25,96)=c[17]; M.at<double>(25,97)=c[9]; M.at<double>(25,100)=c[2]; M.at<double>(25,107)=c[19]; M.at<double>(25,112)=c[13]; M.at<double>(25,116)=c[15]; M.at<double>(25,117)=c[18];
-	M.at<double>(26,17)=u[2]; M.at<double>(26,23)=u[3]; M.at<double>(26,25)=u[4]; M.at<double>(26,26)=u[1]; M.at<double>(26,27)=a[15]; M.at<double>(26,28)=a[18]; M.at<double>(26,29)=a[8]; M.at<double>(26,32)=a[6]; M.at<double>(26,38)=a[12]; M.at<double>(26,40)=a[5]; M.at<double>(26,41)=a[2]; M.at<double>(26,42)=a[3]; M.at<double>(26,44)=a[4]; M.at<double>(26,45)=a[19]; M.at<double>(26,46)=a[13]; M.at<double>(26,47)=a[17]; M.at<double>(26,52)=a[14]; M.at<double>(26,55)=b[15]; M.at<double>(26,56)=b[3]; M.at<double>(26,57)=b[18]; M.at<double>(26,60)=b[17]; M.at<double>(26,61)=b[6]; M.at<double>(26,62)=b[2]; M.at<double>(26,63)=b[19]; M.at<double>(26,66)=b[13]; M.at<double>(26,68)=b[4]; M.at<double>(26,72)=b[5]; M.at<double>(26,73)=b[14]; M.at<double>(26,74)=b[8]; M.at<double>(26,78)=b[12]; M.at<double>(26,90)=c[17]; M.at<double>(26,92)=c[12]; M.at<double>(26,93)=c[14]; M.at<double>(26,94)=c[8]; M.at<double>(26,95)=c[5]; M.at<double>(26,97)=c[4]; M.at<double>(26,102)=c[13]; M.at<double>(26,106)=c[3]; M.at<double>(26,111)=c[2]; M.at<double>(26,112)=c[19]; M.at<double>(26,113)=c[15]; M.at<double>(26,114)=c[18]; M.at<double>(26,116)=c[6];
-	M.at<double>(27,15)=u[3]; M.at<double>(27,29)=a[11]; M.at<double>(27,30)=a[3]; M.at<double>(27,36)=a[7]; M.at<double>(27,39)=a[15]; M.at<double>(27,49)=a[18]; M.at<double>(27,69)=b[9]; M.at<double>(27,70)=b[1]; M.at<double>(27,74)=b[11]; M.at<double>(27,75)=b[3]; M.at<double>(27,76)=b[18]; M.at<double>(27,79)=b[15]; M.at<double>(27,84)=b[7]; M.at<double>(27,88)=c[7]; M.at<double>(27,91)=c[1]; M.at<double>(27,94)=c[11]; M.at<double>(27,96)=c[15]; M.at<double>(27,107)=c[3]; M.at<double>(27,110)=c[9]; M.at<double>(27,119)=c[18];
-	M.at<double>(28,6)=u[3]; M.at<double>(28,30)=a[11]; M.at<double>(28,35)=a[7]; M.at<double>(28,49)=a[15]; M.at<double>(28,69)=b[1]; M.at<double>(28,75)=b[11]; M.at<double>(28,76)=b[15]; M.at<double>(28,83)=b[7]; M.at<double>(28,107)=c[11]; M.at<double>(28,110)=c[1]; M.at<double>(28,118)=c[7]; M.at<double>(28,119)=c[15];
-	M.at<double>(29,24)=u[3]; M.at<double>(29,29)=a[3]; M.at<double>(29,30)=a[2]; M.at<double>(29,38)=a[15]; M.at<double>(29,39)=a[18]; M.at<double>(29,52)=a[11]; M.at<double>(29,53)=a[7]; M.at<double>(29,69)=b[13]; M.at<double>(29,70)=b[9]; M.at<double>(29,73)=b[11]; M.at<double>(29,74)=b[3]; M.at<double>(29,75)=b[2]; M.at<double>(29,78)=b[15]; M.at<double>(29,79)=b[18]; M.at<double>(29,82)=b[7]; M.at<double>(29,87)=c[7]; M.at<double>(29,91)=c[9]; M.at<double>(29,92)=c[15]; M.at<double>(29,93)=c[11]; M.at<double>(29,94)=c[3]; M.at<double>(29,96)=c[18]; M.at<double>(29,107)=c[2]; M.at<double>(29,110)=c[13];
-	M.at<double>(30,37)=a[18]; M.at<double>(30,48)=a[7]; M.at<double>(30,52)=a[2]; M.at<double>(30,70)=b[20]; M.at<double>(30,73)=b[2]; M.at<double>(30,77)=b[18]; M.at<double>(30,81)=b[7]; M.at<double>(30,85)=c[7]; M.at<double>(30,91)=c[20]; M.at<double>(30,93)=c[2]; M.at<double>(30,98)=c[18];
-	M.at<double>(31,29)=a[2]; M.at<double>(31,37)=a[15]; M.at<double>(31,38)=a[18]; M.at<double>(31,50)=a[7]; M.at<double>(31,52)=a[3]; M.at<double>(31,69)=b[20]; M.at<double>(31,70)=b[13]; M.at<double>(31,73)=b[3]; M.at<double>(31,74)=b[2]; M.at<double>(31,77)=b[15]; M.at<double>(31,78)=b[18]; M.at<double>(31,80)=b[7]; M.at<double>(31,86)=c[7]; M.at<double>(31,91)=c[13]; M.at<double>(31,92)=c[18]; M.at<double>(31,93)=c[3]; M.at<double>(31,94)=c[2]; M.at<double>(31,98)=c[15]; M.at<double>(31,110)=c[20];
-	M.at<double>(32,48)=a[9]; M.at<double>(32,50)=a[13]; M.at<double>(32,53)=a[20]; M.at<double>(32,80)=b[13]; M.at<double>(32,81)=b[9]; M.at<double>(32,82)=b[20]; M.at<double>(32,85)=c[9]; M.at<double>(32,86)=c[13]; M.at<double>(32,87)=c[20];
-	M.at<double>(33,29)=a[15]; M.at<double>(33,30)=a[18]; M.at<double>(33,39)=a[7]; M.at<double>(33,64)=b[9]; M.at<double>(33,69)=b[3]; M.at<double>(33,70)=b[11]; M.at<double>(33,74)=b[15]; M.at<double>(33,75)=b[18]; M.at<double>(33,79)=b[7]; M.at<double>(33,91)=c[11]; M.at<double>(33,94)=c[15]; M.at<double>(33,96)=c[7]; M.at<double>(33,103)=c[9]; M.at<double>(33,107)=c[18]; M.at<double>(33,110)=c[3];
-	M.at<double>(34,29)=a[18]; M.at<double>(34,38)=a[7]; M.at<double>(34,52)=a[15]; M.at<double>(34,64)=b[13]; M.at<double>(34,69)=b[2]; M.at<double>(34,70)=b[3]; M.at<double>(34,73)=b[15]; M.at<double>(34,74)=b[18]; M.at<double>(34,78)=b[7]; M.at<double>(34,91)=c[3]; M.at<double>(34,92)=c[7]; M.at<double>(34,93)=c[15]; M.at<double>(34,94)=c[18]; M.at<double>(34,103)=c[13]; M.at<double>(34,110)=c[2];
-	M.at<double>(35,37)=a[7]; M.at<double>(35,52)=a[18]; M.at<double>(35,64)=b[20]; M.at<double>(35,70)=b[2]; M.at<double>(35,73)=b[18]; M.at<double>(35,77)=b[7]; M.at<double>(35,91)=c[2]; M.at<double>(35,93)=c[18]; M.at<double>(35,98)=c[7]; M.at<double>(35,103)=c[20];
-	M.at<double>(36,5)=u[4]; M.at<double>(36,34)=a[12]; M.at<double>(36,41)=a[10]; M.at<double>(36,43)=a[14]; M.at<double>(36,49)=a[16]; M.at<double>(36,51)=a[5]; M.at<double>(36,54)=b[12]; M.at<double>(36,62)=b[10]; M.at<double>(36,65)=b[5]; M.at<double>(36,71)=b[14]; M.at<double>(36,76)=b[16]; M.at<double>(36,89)=c[5]; M.at<double>(36,99)=c[12]; M.at<double>(36,100)=c[14]; M.at<double>(36,101)=c[1]; M.at<double>(36,109)=c[11]; M.at<double>(36,111)=c[10]; M.at<double>(36,119)=c[16];
-	M.at<double>(37,2)=u[4]; M.at<double>(37,34)=a[14]; M.at<double>(37,35)=a[16]; M.at<double>(37,51)=a[10]; M.at<double>(37,54)=b[14]; M.at<double>(37,65)=b[10]; M.at<double>(37,83)=b[16]; M.at<double>(37,89)=c[10]; M.at<double>(37,99)=c[14]; M.at<double>(37,109)=c[1]; M.at<double>(37,118)=c[16];
-	M.at<double>(38,30)=a[15]; M.at<double>(38,49)=a[7]; M.at<double>(38,64)=b[1]; M.at<double>(38,69)=b[11]; M.at<double>(38,75)=b[15]; M.at<double>(38,76)=b[7]; M.at<double>(38,103)=c[1]; M.at<double>(38,107)=c[15]; M.at<double>(38,110)=c[11]; M.at<double>(38,119)=c[7];
-	M.at<double>(39,28)=a[14]; M.at<double>(39,33)=a[16]; M.at<double>(39,51)=a[8]; M.at<double>(39,57)=b[14]; M.at<double>(39,59)=b[16]; M.at<double>(39,65)=b[8]; M.at<double>(39,89)=c[8]; M.at<double>(39,105)=c[9]; M.at<double>(39,108)=c[10]; M.at<double>(39,109)=c[4]; M.at<double>(39,114)=c[14]; M.at<double>(39,117)=c[16];
-	M.at<double>(40,27)=a[14]; M.at<double>(40,28)=a[8]; M.at<double>(40,32)=a[16]; M.at<double>(40,55)=b[14]; M.at<double>(40,57)=b[8]; M.at<double>(40,61)=b[16]; M.at<double>(40,105)=c[13]; M.at<double>(40,108)=c[4]; M.at<double>(40,109)=c[19]; M.at<double>(40,113)=c[14]; M.at<double>(40,114)=c[8]; M.at<double>(40,116)=c[16];
-	M.at<double>(41,30)=a[7]; M.at<double>(41,64)=b[11]; M.at<double>(41,69)=b[15]; M.at<double>(41,75)=b[7]; M.at<double>(41,103)=c[11]; M.at<double>(41,107)=c[7]; M.at<double>(41,110)=c[15];
-	M.at<double>(42,27)=a[8]; M.at<double>(42,31)=a[16]; M.at<double>(42,55)=b[8]; M.at<double>(42,58)=b[16]; M.at<double>(42,105)=c[20]; M.at<double>(42,108)=c[19]; M.at<double>(42,113)=c[8]; M.at<double>(42,115)=c[16];
-	M.at<double>(43,29)=a[7]; M.at<double>(43,64)=b[3]; M.at<double>(43,69)=b[18]; M.at<double>(43,70)=b[15]; M.at<double>(43,74)=b[7]; M.at<double>(43,91)=c[15]; M.at<double>(43,94)=c[7]; M.at<double>(43,103)=c[3]; M.at<double>(43,110)=c[18];
-	M.at<double>(44,28)=a[16]; M.at<double>(44,57)=b[16]; M.at<double>(44,105)=c[4]; M.at<double>(44,108)=c[14]; M.at<double>(44,109)=c[8]; M.at<double>(44,114)=c[16];
-	M.at<double>(45,27)=a[16]; M.at<double>(45,55)=b[16]; M.at<double>(45,105)=c[19]; M.at<double>(45,108)=c[8]; M.at<double>(45,113)=c[16];
-	M.at<double>(46,52)=a[7]; M.at<double>(46,64)=b[2]; M.at<double>(46,70)=b[18]; M.at<double>(46,73)=b[7]; M.at<double>(46,91)=c[18]; M.at<double>(46,93)=c[7]; M.at<double>(46,103)=c[2];
-	M.at<double>(47,40)=a[7]; M.at<double>(47,44)=a[18]; M.at<double>(47,52)=a[6]; M.at<double>(47,64)=b[19]; M.at<double>(47,67)=b[2]; M.at<double>(47,68)=b[18]; M.at<double>(47,70)=b[17]; M.at<double>(47,72)=b[7]; M.at<double>(47,73)=b[6]; M.at<double>(47,91)=c[17]; M.at<double>(47,93)=c[6]; M.at<double>(47,95)=c[7]; M.at<double>(47,97)=c[18]; M.at<double>(47,103)=c[19]; M.at<double>(47,104)=c[2];
-	M.at<double>(48,30)=a[6]; M.at<double>(48,43)=a[7]; M.at<double>(48,45)=a[15]; M.at<double>(48,63)=b[15]; M.at<double>(48,64)=b[10]; M.at<double>(48,67)=b[11]; M.at<double>(48,69)=b[5]; M.at<double>(48,71)=b[7]; M.at<double>(48,75)=b[6]; M.at<double>(48,100)=c[7]; M.at<double>(48,103)=c[10]; M.at<double>(48,104)=c[11]; M.at<double>(48,107)=c[6]; M.at<double>(48,110)=c[5]; M.at<double>(48,112)=c[15];
-	M.at<double>(49,41)=a[12]; M.at<double>(49,45)=a[16]; M.at<double>(49,46)=a[14]; M.at<double>(49,62)=b[12]; M.at<double>(49,63)=b[16]; M.at<double>(49,66)=b[14]; M.at<double>(49,101)=c[5]; M.at<double>(49,102)=c[14]; M.at<double>(49,105)=c[15]; M.at<double>(49,109)=c[6]; M.at<double>(49,111)=c[12]; M.at<double>(49,112)=c[16];
-	M.at<double>(50,41)=a[16]; M.at<double>(50,62)=b[16]; M.at<double>(50,101)=c[14]; M.at<double>(50,105)=c[5]; M.at<double>(50,109)=c[12]; M.at<double>(50,111)=c[16];
-	M.at<double>(51,64)=b[18]; M.at<double>(51,70)=b[7]; M.at<double>(51,91)=c[7]; M.at<double>(51,103)=c[18];
-	M.at<double>(52,41)=a[6]; M.at<double>(52,45)=a[12]; M.at<double>(52,46)=a[5]; M.at<double>(52,62)=b[6]; M.at<double>(52,63)=b[12]; M.at<double>(52,66)=b[5]; M.at<double>(52,67)=b[14]; M.at<double>(52,69)=b[16]; M.at<double>(52,101)=c[15]; M.at<double>(52,102)=c[5]; M.at<double>(52,104)=c[14]; M.at<double>(52,109)=c[7]; M.at<double>(52,110)=c[16]; M.at<double>(52,111)=c[6]; M.at<double>(52,112)=c[12];
-	M.at<double>(53,64)=b[15]; M.at<double>(53,69)=b[7]; M.at<double>(53,103)=c[15]; M.at<double>(53,110)=c[7];
-	M.at<double>(54,105)=c[14]; M.at<double>(54,109)=c[16];
-	M.at<double>(55,44)=a[7]; M.at<double>(55,64)=b[17]; M.at<double>(55,67)=b[18]; M.at<double>(55,68)=b[7]; M.at<double>(55,70)=b[6]; M.at<double>(55,91)=c[6]; M.at<double>(55,97)=c[7]; M.at<double>(55,103)=c[17]; M.at<double>(55,104)=c[18];
-	M.at<double>(56,105)=c[8]; M.at<double>(56,108)=c[16];
-	M.at<double>(57,64)=b[6]; M.at<double>(57,67)=b[7]; M.at<double>(57,103)=c[6]; M.at<double>(57,104)=c[7];
-	M.at<double>(58,46)=a[7]; M.at<double>(58,64)=b[12]; M.at<double>(58,66)=b[7]; M.at<double>(58,67)=b[6]; M.at<double>(58,102)=c[7]; M.at<double>(58,103)=c[12]; M.at<double>(58,104)=c[6];
-	M.at<double>(59,8)=u[4]; M.at<double>(59,30)=a[16]; M.at<double>(59,41)=a[5]; M.at<double>(59,43)=a[12]; M.at<double>(59,45)=a[14]; M.at<double>(59,46)=a[10]; M.at<double>(59,51)=a[6]; M.at<double>(59,62)=b[5]; M.at<double>(59,63)=b[14]; M.at<double>(59,65)=b[6]; M.at<double>(59,66)=b[10]; M.at<double>(59,71)=b[12]; M.at<double>(59,75)=b[16]; M.at<double>(59,89)=c[6]; M.at<double>(59,100)=c[12]; M.at<double>(59,101)=c[11]; M.at<double>(59,102)=c[10]; M.at<double>(59,107)=c[16]; M.at<double>(59,109)=c[15]; M.at<double>(59,111)=c[5]; M.at<double>(59,112)=c[14];
-	M.at<double>(60,8)=u[3]; M.at<double>(60,30)=a[12]; M.at<double>(60,41)=a[15]; M.at<double>(60,43)=a[6]; M.at<double>(60,45)=a[5]; M.at<double>(60,46)=a[11]; M.at<double>(60,51)=a[7]; M.at<double>(60,62)=b[15]; M.at<double>(60,63)=b[5]; M.at<double>(60,65)=b[7]; M.at<double>(60,66)=b[11]; M.at<double>(60,67)=b[10]; M.at<double>(60,69)=b[14]; M.at<double>(60,71)=b[6]; M.at<double>(60,75)=b[12]; M.at<double>(60,89)=c[7]; M.at<double>(60,100)=c[6]; M.at<double>(60,102)=c[11]; M.at<double>(60,104)=c[10]; M.at<double>(60,107)=c[12]; M.at<double>(60,110)=c[14]; M.at<double>(60,111)=c[15]; M.at<double>(60,112)=c[5];
-	M.at<double>(61,42)=a[16]; M.at<double>(61,56)=b[16]; M.at<double>(61,101)=c[8]; M.at<double>(61,105)=c[17]; M.at<double>(61,106)=c[16]; M.at<double>(61,108)=c[12];
-	M.at<double>(62,64)=b[7]; M.at<double>(62,103)=c[7];
-	M.at<double>(63,105)=c[16];
-	M.at<double>(64,46)=a[12]; M.at<double>(64,66)=b[12]; M.at<double>(64,67)=b[16]; M.at<double>(64,101)=c[6]; M.at<double>(64,102)=c[12]; M.at<double>(64,104)=c[16]; M.at<double>(64,105)=c[7];
-	M.at<double>(65,46)=a[6]; M.at<double>(65,64)=b[16]; M.at<double>(65,66)=b[6]; M.at<double>(65,67)=b[12]; M.at<double>(65,101)=c[7]; M.at<double>(65,102)=c[6]; M.at<double>(65,103)=c[16]; M.at<double>(65,104)=c[12];
-	M.at<double>(66,46)=a[16]; M.at<double>(66,66)=b[16]; M.at<double>(66,101)=c[12]; M.at<double>(66,102)=c[16]; M.at<double>(66,105)=c[6];
-	M.at<double>(67,101)=c[16]; M.at<double>(67,105)=c[12];
-	M.at<double>(68,41)=a[14]; M.at<double>(68,43)=a[16]; M.at<double>(68,51)=a[12]; M.at<double>(68,62)=b[14]; M.at<double>(68,65)=b[12]; M.at<double>(68,71)=b[16]; M.at<double>(68,89)=c[12]; M.at<double>(68,100)=c[16]; M.at<double>(68,101)=c[10]; M.at<double>(68,105)=c[11]; M.at<double>(68,109)=c[5]; M.at<double>(68,111)=c[14];
-	M.at<double>(69,37)=a[2]; M.at<double>(69,48)=a[18]; M.at<double>(69,52)=a[20]; M.at<double>(69,73)=b[20]; M.at<double>(69,77)=b[2]; M.at<double>(69,81)=b[18]; M.at<double>(69,85)=c[18]; M.at<double>(69,93)=c[20]; M.at<double>(69,98)=c[2];
-	M.at<double>(70,20)=u[2]; M.at<double>(70,27)=a[9]; M.at<double>(70,28)=a[13]; M.at<double>(70,31)=a[10]; M.at<double>(70,32)=a[4]; M.at<double>(70,33)=a[19]; M.at<double>(70,50)=a[14]; M.at<double>(70,51)=a[20]; M.at<double>(70,53)=a[8]; M.at<double>(70,55)=b[9]; M.at<double>(70,57)=b[13]; M.at<double>(70,58)=b[10]; M.at<double>(70,59)=b[19]; M.at<double>(70,61)=b[4]; M.at<double>(70,65)=b[20]; M.at<double>(70,80)=b[14]; M.at<double>(70,82)=b[8]; M.at<double>(70,86)=c[14]; M.at<double>(70,87)=c[8]; M.at<double>(70,89)=c[20]; M.at<double>(70,113)=c[9]; M.at<double>(70,114)=c[13]; M.at<double>(70,115)=c[10]; M.at<double>(70,116)=c[4]; M.at<double>(70,117)=c[19];
-	M.at<double>(71,45)=a[7]; M.at<double>(71,63)=b[7]; M.at<double>(71,64)=b[5]; M.at<double>(71,67)=b[15]; M.at<double>(71,69)=b[6]; M.at<double>(71,103)=c[5]; M.at<double>(71,104)=c[15]; M.at<double>(71,110)=c[6]; M.at<double>(71,112)=c[7];
-	M.at<double>(72,41)=a[7]; M.at<double>(72,45)=a[6]; M.at<double>(72,46)=a[15]; M.at<double>(72,62)=b[7]; M.at<double>(72,63)=b[6]; M.at<double>(72,64)=b[14]; M.at<double>(72,66)=b[15]; M.at<double>(72,67)=b[5]; M.at<double>(72,69)=b[12]; M.at<double>(72,102)=c[15]; M.at<double>(72,103)=c[14]; M.at<double>(72,104)=c[5]; M.at<double>(72,110)=c[12]; M.at<double>(72,111)=c[7]; M.at<double>(72,112)=c[6];
-	M.at<double>(73,48)=a[13]; M.at<double>(73,50)=a[20]; M.at<double>(73,80)=b[20]; M.at<double>(73,81)=b[13]; M.at<double>(73,85)=c[13]; M.at<double>(73,86)=c[20];
-	M.at<double>(74,25)=u[3]; M.at<double>(74,29)=a[17]; M.at<double>(74,32)=a[7]; M.at<double>(74,38)=a[6]; M.at<double>(74,40)=a[15]; M.at<double>(74,44)=a[3]; M.at<double>(74,45)=a[2]; M.at<double>(74,47)=a[18]; M.at<double>(74,52)=a[5]; M.at<double>(74,60)=b[18]; M.at<double>(74,61)=b[7]; M.at<double>(74,63)=b[2]; M.at<double>(74,67)=b[13]; M.at<double>(74,68)=b[3]; M.at<double>(74,69)=b[19]; M.at<double>(74,70)=b[4]; M.at<double>(74,72)=b[15]; M.at<double>(74,73)=b[5]; M.at<double>(74,74)=b[17]; M.at<double>(74,78)=b[6]; M.at<double>(74,90)=c[18]; M.at<double>(74,91)=c[4]; M.at<double>(74,92)=c[6]; M.at<double>(74,93)=c[5]; M.at<double>(74,94)=c[17]; M.at<double>(74,95)=c[15]; M.at<double>(74,97)=c[3]; M.at<double>(74,104)=c[13]; M.at<double>(74,110)=c[19]; M.at<double>(74,112)=c[2]; M.at<double>(74,116)=c[7];
-	M.at<double>(75,21)=u[2]; M.at<double>(75,36)=a[2]; M.at<double>(75,37)=a[1]; M.at<double>(75,38)=a[9]; M.at<double>(75,39)=a[13]; M.at<double>(75,49)=a[20]; M.at<double>(75,50)=a[11]; M.at<double>(75,53)=a[3]; M.at<double>(75,76)=b[20]; M.at<double>(75,77)=b[1]; M.at<double>(75,78)=b[9]; M.at<double>(75,79)=b[13]; M.at<double>(75,80)=b[11]; M.at<double>(75,82)=b[3]; M.at<double>(75,84)=b[2]; M.at<double>(75,86)=c[11]; M.at<double>(75,87)=c[3]; M.at<double>(75,88)=c[2]; M.at<double>(75,92)=c[9]; M.at<double>(75,96)=c[13]; M.at<double>(75,98)=c[1]; M.at<double>(75,119)=c[20];
-	M.at<double>(76,48)=a[20]; M.at<double>(76,81)=b[20]; M.at<double>(76,85)=c[20];
-	M.at<double>(77,34)=a[16]; M.at<double>(77,51)=a[14]; M.at<double>(77,54)=b[16]; M.at<double>(77,65)=b[14]; M.at<double>(77,89)=c[14]; M.at<double>(77,99)=c[16]; M.at<double>(77,105)=c[1]; M.at<double>(77,109)=c[10];
-	M.at<double>(78,27)=a[17]; M.at<double>(78,31)=a[12]; M.at<double>(78,37)=a[16]; M.at<double>(78,40)=a[8]; M.at<double>(78,42)=a[19]; M.at<double>(78,55)=b[17]; M.at<double>(78,56)=b[19]; M.at<double>(78,58)=b[12]; M.at<double>(78,72)=b[8]; M.at<double>(78,77)=b[16]; M.at<double>(78,95)=c[8]; M.at<double>(78,98)=c[16]; M.at<double>(78,101)=c[20]; M.at<double>(78,106)=c[19]; M.at<double>(78,108)=c[2]; M.at<double>(78,113)=c[17]; M.at<double>(78,115)=c[12];
-	M.at<double>(79,42)=a[12]; M.at<double>(79,44)=a[16]; M.at<double>(79,46)=a[8]; M.at<double>(79,56)=b[12]; M.at<double>(79,66)=b[8]; M.at<double>(79,68)=b[16]; M.at<double>(79,97)=c[16]; M.at<double>(79,101)=c[17]; M.at<double>(79,102)=c[8]; M.at<double>(79,105)=c[18]; M.at<double>(79,106)=c[12]; M.at<double>(79,108)=c[6];
-	M.at<double>(80,14)=u[4]; M.at<double>(80,28)=a[5]; M.at<double>(80,33)=a[12]; M.at<double>(80,39)=a[16]; M.at<double>(80,41)=a[4]; M.at<double>(80,42)=a[10]; M.at<double>(80,43)=a[8]; M.at<double>(80,47)=a[14]; M.at<double>(80,51)=a[17]; M.at<double>(80,56)=b[10]; M.at<double>(80,57)=b[5]; M.at<double>(80,59)=b[12]; M.at<double>(80,60)=b[14]; M.at<double>(80,62)=b[4]; M.at<double>(80,65)=b[17]; M.at<double>(80,71)=b[8]; M.at<double>(80,79)=b[16]; M.at<double>(80,89)=c[17]; M.at<double>(80,90)=c[14]; M.at<double>(80,96)=c[16]; M.at<double>(80,100)=c[8]; M.at<double>(80,101)=c[9]; M.at<double>(80,106)=c[10]; M.at<double>(80,108)=c[11]; M.at<double>(80,109)=c[3]; M.at<double>(80,111)=c[4]; M.at<double>(80,114)=c[5]; M.at<double>(80,117)=c[12];
-	M.at<double>(81,31)=a[3]; M.at<double>(81,32)=a[2]; M.at<double>(81,37)=a[4]; M.at<double>(81,38)=a[19]; M.at<double>(81,40)=a[13]; M.at<double>(81,47)=a[20]; M.at<double>(81,48)=a[5]; M.at<double>(81,50)=a[17]; M.at<double>(81,58)=b[3]; M.at<double>(81,60)=b[20]; M.at<double>(81,61)=b[2]; M.at<double>(81,72)=b[13]; M.at<double>(81,77)=b[4]; M.at<double>(81,78)=b[19]; M.at<double>(81,80)=b[17]; M.at<double>(81,81)=b[5]; M.at<double>(81,85)=c[5]; M.at<double>(81,86)=c[17]; M.at<double>(81,90)=c[20]; M.at<double>(81,92)=c[19]; M.at<double>(81,95)=c[13]; M.at<double>(81,98)=c[4]; M.at<double>(81,115)=c[3]; M.at<double>(81,116)=c[2];
-	M.at<double>(82,29)=a[6]; M.at<double>(82,44)=a[15]; M.at<double>(82,45)=a[18]; M.at<double>(82,47)=a[7]; M.at<double>(82,60)=b[7]; M.at<double>(82,63)=b[18]; M.at<double>(82,64)=b[4]; M.at<double>(82,67)=b[3]; M.at<double>(82,68)=b[15]; M.at<double>(82,69)=b[17]; M.at<double>(82,70)=b[5]; M.at<double>(82,74)=b[6]; M.at<double>(82,90)=c[7]; M.at<double>(82,91)=c[5]; M.at<double>(82,94)=c[6]; M.at<double>(82,97)=c[15]; M.at<double>(82,103)=c[4]; M.at<double>(82,104)=c[3]; M.at<double>(82,110)=c[17]; M.at<double>(82,112)=c[18];
-	M.at<double>(83,26)=u[2]; M.at<double>(83,27)=a[18]; M.at<double>(83,31)=a[6]; M.at<double>(83,37)=a[12]; M.at<double>(83,40)=a[17]; M.at<double>(83,42)=a[2]; M.at<double>(83,44)=a[19]; M.at<double>(83,46)=a[20]; M.at<double>(83,52)=a[8]; M.at<double>(83,55)=b[18]; M.at<double>(83,56)=b[2]; M.at<double>(83,58)=b[6]; M.at<double>(83,66)=b[20]; M.at<double>(83,68)=b[19]; M.at<double>(83,72)=b[17]; M.at<double>(83,73)=b[8]; M.at<double>(83,77)=b[12]; M.at<double>(83,93)=c[8]; M.at<double>(83,95)=c[17]; M.at<double>(83,97)=c[19]; M.at<double>(83,98)=c[12]; M.at<double>(83,102)=c[20]; M.at<double>(83,106)=c[2]; M.at<double>(83,113)=c[18]; M.at<double>(83,115)=c[6];
-	M.at<double>(84,16)=u[3]; M.at<double>(84,29)=a[5]; M.at<double>(84,30)=a[17]; M.at<double>(84,33)=a[7]; M.at<double>(84,39)=a[6]; M.at<double>(84,43)=a[18]; M.at<double>(84,44)=a[11]; M.at<double>(84,45)=a[3]; M.at<double>(84,47)=a[15]; M.at<double>(84,59)=b[7]; M.at<double>(84,60)=b[15]; M.at<double>(84,63)=b[3]; M.at<double>(84,67)=b[9]; M.at<double>(84,68)=b[11]; M.at<double>(84,69)=b[4]; M.at<double>(84,70)=b[10]; M.at<double>(84,71)=b[18]; M.at<double>(84,74)=b[5]; M.at<double>(84,75)=b[17]; M.at<double>(84,79)=b[6]; M.at<double>(84,90)=c[15]; M.at<double>(84,91)=c[10]; M.at<double>(84,94)=c[5]; M.at<double>(84,96)=c[6]; M.at<double>(84,97)=c[11]; M.at<double>(84,100)=c[18]; M.at<double>(84,104)=c[9]; M.at<double>(84,107)=c[17]; M.at<double>(84,110)=c[4]; M.at<double>(84,112)=c[3]; M.at<double>(84,117)=c[7];
-	M.at<double>(85,25)=u[2]; M.at<double>(85,29)=a[19]; M.at<double>(85,31)=a[15]; M.at<double>(85,32)=a[18]; M.at<double>(85,37)=a[5]; M.at<double>(85,38)=a[17]; M.at<double>(85,40)=a[3]; M.at<double>(85,44)=a[13]; M.at<double>(85,45)=a[20]; M.at<double>(85,47)=a[2]; M.at<double>(85,50)=a[6]; M.at<double>(85,52)=a[4]; M.at<double>(85,58)=b[15]; M.at<double>(85,60)=b[2]; M.at<double>(85,61)=b[18]; M.at<double>(85,63)=b[20]; M.at<double>(85,68)=b[13]; M.at<double>(85,72)=b[3]; M.at<double>(85,73)=b[4]; M.at<double>(85,74)=b[19]; M.at<double>(85,77)=b[5]; M.at<double>(85,78)=b[17]; M.at<double>(85,80)=b[6]; M.at<double>(85,86)=c[6]; M.at<double>(85,90)=c[2]; M.at<double>(85,92)=c[17]; M.at<double>(85,93)=c[4]; M.at<double>(85,94)=c[19]; M.at<double>(85,95)=c[3]; M.at<double>(85,97)=c[13]; M.at<double>(85,98)=c[5]; M.at<double>(85,112)=c[20]; M.at<double>(85,115)=c[15]; M.at<double>(85,116)=c[18];
-	M.at<double>(86,31)=a[18]; M.at<double>(86,37)=a[17]; M.at<double>(86,40)=a[2]; M.at<double>(86,44)=a[20]; M.at<double>(86,48)=a[6]; M.at<double>(86,52)=a[19]; M.at<double>(86,58)=b[18]; M.at<double>(86,68)=b[20]; M.at<double>(86,72)=b[2]; M.at<double>(86,73)=b[19]; M.at<double>(86,77)=b[17]; M.at<double>(86,81)=b[6]; M.at<double>(86,85)=c[6]; M.at<double>(86,93)=c[19]; M.at<double>(86,95)=c[2]; M.at<double>(86,97)=c[20]; M.at<double>(86,98)=c[17]; M.at<double>(86,115)=c[18];
-	M.at<double>(87,22)=u[2]; M.at<double>(87,31)=a[11]; M.at<double>(87,32)=a[3]; M.at<double>(87,33)=a[2]; M.at<double>(87,37)=a[10]; M.at<double>(87,38)=a[4]; M.at<double>(87,39)=a[19]; M.at<double>(87,40)=a[9]; M.at<double>(87,43)=a[20]; M.at<double>(87,47)=a[13]; M.at<double>(87,50)=a[5]; M.at<double>(87,53)=a[17]; M.at<double>(87,58)=b[11]; M.at<double>(87,59)=b[2]; M.at<double>(87,60)=b[13]; M.at<double>(87,61)=b[3]; M.at<double>(87,71)=b[20]; M.at<double>(87,72)=b[9]; M.at<double>(87,77)=b[10]; M.at<double>(87,78)=b[4]; M.at<double>(87,79)=b[19]; M.at<double>(87,80)=b[5]; M.at<double>(87,82)=b[17]; M.at<double>(87,86)=c[5]; M.at<double>(87,87)=c[17]; M.at<double>(87,90)=c[13]; M.at<double>(87,92)=c[4]; M.at<double>(87,95)=c[9]; M.at<double>(87,96)=c[19]; M.at<double>(87,98)=c[10]; M.at<double>(87,100)=c[20]; M.at<double>(87,115)=c[11]; M.at<double>(87,116)=c[3]; M.at<double>(87,117)=c[2];
-	M.at<double>(88,27)=a[2]; M.at<double>(88,31)=a[17]; M.at<double>(88,37)=a[8]; M.at<double>(88,40)=a[19]; M.at<double>(88,42)=a[20]; M.at<double>(88,48)=a[12]; M.at<double>(88,55)=b[2]; M.at<double>(88,56)=b[20]; M.at<double>(88,58)=b[17]; M.at<double>(88,72)=b[19]; M.at<double>(88,77)=b[8]; M.at<double>(88,81)=b[12]; M.at<double>(88,85)=c[12]; M.at<double>(88,95)=c[19]; M.at<double>(88,98)=c[8]; M.at<double>(88,106)=c[20]; M.at<double>(88,113)=c[2]; M.at<double>(88,115)=c[17];
-	M.at<double>(89,31)=a[7]; M.at<double>(89,37)=a[6]; M.at<double>(89,40)=a[18]; M.at<double>(89,44)=a[2]; M.at<double>(89,52)=a[17]; M.at<double>(89,58)=b[7]; M.at<double>(89,67)=b[20]; M.at<double>(89,68)=b[2]; M.at<double>(89,70)=b[19]; M.at<double>(89,72)=b[18]; M.at<double>(89,73)=b[17]; M.at<double>(89,77)=b[6]; M.at<double>(89,91)=c[19]; M.at<double>(89,93)=c[17]; M.at<double>(89,95)=c[18]; M.at<double>(89,97)=c[2]; M.at<double>(89,98)=c[6]; M.at<double>(89,104)=c[20]; M.at<double>(89,115)=c[7];
-	M.at<double>(90,27)=a[12]; M.at<double>(90,40)=a[16]; M.at<double>(90,42)=a[8]; M.at<double>(90,55)=b[12]; M.at<double>(90,56)=b[8]; M.at<double>(90,72)=b[16]; M.at<double>(90,95)=c[16]; M.at<double>(90,101)=c[19]; M.at<double>(90,105)=c[2]; M.at<double>(90,106)=c[8]; M.at<double>(90,108)=c[17]; M.at<double>(90,113)=c[12];
-	M.at<double>(91,23)=u[2]; M.at<double>(91,27)=a[3]; M.at<double>(91,28)=a[2]; M.at<double>(91,31)=a[5]; M.at<double>(91,32)=a[17]; M.at<double>(91,37)=a[14]; M.at<double>(91,38)=a[8]; M.at<double>(91,40)=a[4]; M.at<double>(91,41)=a[20]; M.at<double>(91,42)=a[13]; M.at<double>(91,47)=a[19]; M.at<double>(91,50)=a[12]; M.at<double>(91,55)=b[3]; M.at<double>(91,56)=b[13]; M.at<double>(91,57)=b[2]; M.at<double>(91,58)=b[5]; M.at<double>(91,60)=b[19]; M.at<double>(91,61)=b[17]; M.at<double>(91,62)=b[20]; M.at<double>(91,72)=b[4]; M.at<double>(91,77)=b[14]; M.at<double>(91,78)=b[8]; M.at<double>(91,80)=b[12]; M.at<double>(91,86)=c[12]; M.at<double>(91,90)=c[19]; M.at<double>(91,92)=c[8]; M.at<double>(91,95)=c[4]; M.at<double>(91,98)=c[14]; M.at<double>(91,106)=c[13]; M.at<double>(91,111)=c[20]; M.at<double>(91,113)=c[3]; M.at<double>(91,114)=c[2]; M.at<double>(91,115)=c[5]; M.at<double>(91,116)=c[17];
-	M.at<double>(92,17)=u[4]; M.at<double>(92,28)=a[6]; M.at<double>(92,29)=a[16]; M.at<double>(92,41)=a[17]; M.at<double>(92,42)=a[5]; M.at<double>(92,44)=a[14]; M.at<double>(92,45)=a[8]; M.at<double>(92,46)=a[4]; M.at<double>(92,47)=a[12]; M.at<double>(92,56)=b[5]; M.at<double>(92,57)=b[6]; M.at<double>(92,60)=b[12]; M.at<double>(92,62)=b[17]; M.at<double>(92,63)=b[8]; M.at<double>(92,66)=b[4]; M.at<double>(92,68)=b[14]; M.at<double>(92,74)=b[16]; M.at<double>(92,90)=c[12]; M.at<double>(92,94)=c[16]; M.at<double>(92,97)=c[14]; M.at<double>(92,101)=c[3]; M.at<double>(92,102)=c[4]; M.at<double>(92,106)=c[5]; M.at<double>(92,108)=c[15]; M.at<double>(92,109)=c[18]; M.at<double>(92,111)=c[17]; M.at<double>(92,112)=c[8]; M.at<double>(92,114)=c[6];
-	M.at<double>(93,17)=u[3]; M.at<double>(93,28)=a[7]; M.at<double>(93,29)=a[12]; M.at<double>(93,41)=a[18]; M.at<double>(93,42)=a[15]; M.at<double>(93,44)=a[5]; M.at<double>(93,45)=a[17]; M.at<double>(93,46)=a[3]; M.at<double>(93,47)=a[6]; M.at<double>(93,56)=b[15]; M.at<double>(93,57)=b[7]; M.at<double>(93,60)=b[6]; M.at<double>(93,62)=b[18]; M.at<double>(93,63)=b[17]; M.at<double>(93,66)=b[3]; M.at<double>(93,67)=b[4]; M.at<double>(93,68)=b[5]; M.at<double>(93,69)=b[8]; M.at<double>(93,70)=b[14]; M.at<double>(93,74)=b[12]; M.at<double>(93,90)=c[6]; M.at<double>(93,91)=c[14]; M.at<double>(93,94)=c[12]; M.at<double>(93,97)=c[5]; M.at<double>(93,102)=c[3]; M.at<double>(93,104)=c[4]; M.at<double>(93,106)=c[15]; M.at<double>(93,110)=c[8]; M.at<double>(93,111)=c[18]; M.at<double>(93,112)=c[17]; M.at<double>(93,114)=c[7];
-	M.at<double>(94,31)=a[2]; M.at<double>(94,37)=a[19]; M.at<double>(94,40)=a[20]; M.at<double>(94,48)=a[17]; M.at<double>(94,58)=b[2]; M.at<double>(94,72)=b[20]; M.at<double>(94,77)=b[19]; M.at<double>(94,81)=b[17]; M.at<double>(94,85)=c[17]; M.at<double>(94,95)=c[20]; M.at<double>(94,98)=c[19]; M.at<double>(94,115)=c[2];
-	M.at<double>(95,26)=u[4]; M.at<double>(95,27)=a[6]; M.at<double>(95,40)=a[12]; M.at<double>(95,42)=a[17]; M.at<double>(95,44)=a[8]; M.at<double>(95,46)=a[19]; M.at<double>(95,52)=a[16]; M.at<double>(95,55)=b[6]; M.at<double>(95,56)=b[17]; M.at<double>(95,66)=b[19]; M.at<double>(95,68)=b[8]; M.at<double>(95,72)=b[12]; M.at<double>(95,73)=b[16]; M.at<double>(95,93)=c[16]; M.at<double>(95,95)=c[12]; M.at<double>(95,97)=c[8]; M.at<double>(95,101)=c[2]; M.at<double>(95,102)=c[19]; M.at<double>(95,106)=c[17]; M.at<double>(95,108)=c[18]; M.at<double>(95,113)=c[6];
-	M.at<double>(96,23)=u[4]; M.at<double>(96,27)=a[5]; M.at<double>(96,28)=a[17]; M.at<double>(96,32)=a[12]; M.at<double>(96,38)=a[16]; M.at<double>(96,40)=a[14]; M.at<double>(96,41)=a[19]; M.at<double>(96,42)=a[4]; M.at<double>(96,47)=a[8]; M.at<double>(96,55)=b[5]; M.at<double>(96,56)=b[4]; M.at<double>(96,57)=b[17]; M.at<double>(96,60)=b[8]; M.at<double>(96,61)=b[12]; M.at<double>(96,62)=b[19]; M.at<double>(96,72)=b[14]; M.at<double>(96,78)=b[16]; M.at<double>(96,90)=c[8]; M.at<double>(96,92)=c[16]; M.at<double>(96,95)=c[14]; M.at<double>(96,101)=c[13]; M.at<double>(96,106)=c[4]; M.at<double>(96,108)=c[3]; M.at<double>(96,109)=c[2]; M.at<double>(96,111)=c[19]; M.at<double>(96,113)=c[5]; M.at<double>(96,114)=c[17]; M.at<double>(96,116)=c[12];
-	M.at<double>(97,42)=a[6]; M.at<double>(97,44)=a[12]; M.at<double>(97,46)=a[17]; M.at<double>(97,56)=b[6]; M.at<double>(97,66)=b[17]; M.at<double>(97,67)=b[8]; M.at<double>(97,68)=b[12]; M.at<double>(97,70)=b[16]; M.at<double>(97,91)=c[16]; M.at<double>(97,97)=c[12]; M.at<double>(97,101)=c[18]; M.at<double>(97,102)=c[17]; M.at<double>(97,104)=c[8]; M.at<double>(97,106)=c[6]; M.at<double>(97,108)=c[7];
-	M.at<double>(98,28)=a[12]; M.at<double>(98,41)=a[8]; M.at<double>(98,42)=a[14]; M.at<double>(98,47)=a[16]; M.at<double>(98,56)=b[14]; M.at<double>(98,57)=b[12]; M.at<double>(98,60)=b[16]; M.at<double>(98,62)=b[8]; M.at<double>(98,90)=c[16]; M.at<double>(98,101)=c[4]; M.at<double>(98,105)=c[3]; M.at<double>(98,106)=c[14]; M.at<double>(98,108)=c[5]; M.at<double>(98,109)=c[17]; M.at<double>(98,111)=c[8]; M.at<double>(98,114)=c[12];
-	M.at<double>(99,42)=a[7]; M.at<double>(99,44)=a[6]; M.at<double>(99,46)=a[18]; M.at<double>(99,56)=b[7]; M.at<double>(99,64)=b[8]; M.at<double>(99,66)=b[18]; M.at<double>(99,67)=b[17]; M.at<double>(99,68)=b[6]; M.at<double>(99,70)=b[12]; M.at<double>(99,91)=c[12]; M.at<double>(99,97)=c[6]; M.at<double>(99,102)=c[18]; M.at<double>(99,103)=c[8]; M.at<double>(99,104)=c[17]; M.at<double>(99,106)=c[7];
-	M.at<double>(100,51)=a[16]; M.at<double>(100,65)=b[16]; M.at<double>(100,89)=c[16]; M.at<double>(100,105)=c[10]; M.at<double>(100,109)=c[14];
-	M.at<double>(101,37)=a[9]; M.at<double>(101,38)=a[13]; M.at<double>(101,39)=a[20]; M.at<double>(101,48)=a[11]; M.at<double>(101,50)=a[3]; M.at<double>(101,53)=a[2]; M.at<double>(101,77)=b[9]; M.at<double>(101,78)=b[13]; M.at<double>(101,79)=b[20]; M.at<double>(101,80)=b[3]; M.at<double>(101,81)=b[11]; M.at<double>(101,82)=b[2]; M.at<double>(101,85)=c[11]; M.at<double>(101,86)=c[3]; M.at<double>(101,87)=c[2]; M.at<double>(101,92)=c[13]; M.at<double>(101,96)=c[20]; M.at<double>(101,98)=c[9];
-	M.at<double>(102,37)=a[13]; M.at<double>(102,38)=a[20]; M.at<double>(102,48)=a[3]; M.at<double>(102,50)=a[2]; M.at<double>(102,77)=b[13]; M.at<double>(102,78)=b[20]; M.at<double>(102,80)=b[2]; M.at<double>(102,81)=b[3]; M.at<double>(102,85)=c[3]; M.at<double>(102,86)=c[2]; M.at<double>(102,92)=c[20]; M.at<double>(102,98)=c[13];
-	M.at<double>(103,37)=a[20]; M.at<double>(103,48)=a[2]; M.at<double>(103,77)=b[20]; M.at<double>(103,81)=b[2]; M.at<double>(103,85)=c[2]; M.at<double>(103,98)=c[20];
-	M.at<double>(104,11)=u[4]; M.at<double>(104,28)=a[10]; M.at<double>(104,33)=a[14]; M.at<double>(104,34)=a[8]; M.at<double>(104,36)=a[16]; M.at<double>(104,51)=a[4]; M.at<double>(104,54)=b[8]; M.at<double>(104,57)=b[10]; M.at<double>(104,59)=b[14]; M.at<double>(104,65)=b[4]; M.at<double>(104,84)=b[16]; M.at<double>(104,88)=c[16]; M.at<double>(104,89)=c[4]; M.at<double>(104,99)=c[8]; M.at<double>(104,108)=c[1]; M.at<double>(104,109)=c[9]; M.at<double>(104,114)=c[10]; M.at<double>(104,117)=c[14];
-	M.at<double>(105,20)=u[4]; M.at<double>(105,27)=a[10]; M.at<double>(105,28)=a[4]; M.at<double>(105,32)=a[14]; M.at<double>(105,33)=a[8]; M.at<double>(105,51)=a[19]; M.at<double>(105,53)=a[16]; M.at<double>(105,55)=b[10]; M.at<double>(105,57)=b[4]; M.at<double>(105,59)=b[8]; M.at<double>(105,61)=b[14]; M.at<double>(105,65)=b[19]; M.at<double>(105,82)=b[16]; M.at<double>(105,87)=c[16]; M.at<double>(105,89)=c[19]; M.at<double>(105,108)=c[9]; M.at<double>(105,109)=c[13]; M.at<double>(105,113)=c[10]; M.at<double>(105,114)=c[4]; M.at<double>(105,116)=c[14]; M.at<double>(105,117)=c[8];
-	M.at<double>(106,27)=a[4]; M.at<double>(106,28)=a[19]; M.at<double>(106,31)=a[14]; M.at<double>(106,32)=a[8]; M.at<double>(106,50)=a[16]; M.at<double>(106,55)=b[4]; M.at<double>(106,57)=b[19]; M.at<double>(106,58)=b[14]; M.at<double>(106,61)=b[8]; M.at<double>(106,80)=b[16]; M.at<double>(106,86)=c[16]; M.at<double>(106,108)=c[13]; M.at<double>(106,109)=c[20]; M.at<double>(106,113)=c[4]; M.at<double>(106,114)=c[19]; M.at<double>(106,115)=c[14]; M.at<double>(106,116)=c[8];
-	M.at<double>(107,27)=a[19]; M.at<double>(107,31)=a[8]; M.at<double>(107,48)=a[16]; M.at<double>(107,55)=b[19]; M.at<double>(107,58)=b[8]; M.at<double>(107,81)=b[16]; M.at<double>(107,85)=c[16]; M.at<double>(107,108)=c[20]; M.at<double>(107,113)=c[19]; M.at<double>(107,115)=c[8];
-	M.at<double>(108,36)=a[20]; M.at<double>(108,48)=a[1]; M.at<double>(108,50)=a[9]; M.at<double>(108,53)=a[13]; M.at<double>(108,80)=b[9]; M.at<double>(108,81)=b[1]; M.at<double>(108,82)=b[13]; M.at<double>(108,84)=b[20]; M.at<double>(108,85)=c[1]; M.at<double>(108,86)=c[9]; M.at<double>(108,87)=c[13]; M.at<double>(108,88)=c[20];
-	M.at<double>(109,26)=u[3]; M.at<double>(109,27)=a[7]; M.at<double>(109,40)=a[6]; M.at<double>(109,42)=a[18]; M.at<double>(109,44)=a[17]; M.at<double>(109,46)=a[2]; M.at<double>(109,52)=a[12]; M.at<double>(109,55)=b[7]; M.at<double>(109,56)=b[18]; M.at<double>(109,66)=b[2]; M.at<double>(109,67)=b[19]; M.at<double>(109,68)=b[17]; M.at<double>(109,70)=b[8]; M.at<double>(109,72)=b[6]; M.at<double>(109,73)=b[12]; M.at<double>(109,91)=c[8]; M.at<double>(109,93)=c[12]; M.at<double>(109,95)=c[6]; M.at<double>(109,97)=c[17]; M.at<double>(109,102)=c[2]; M.at<double>(109,104)=c[19]; M.at<double>(109,106)=c[18]; M.at<double>(109,113)=c[7];
-	M.at<double>(110,7)=u[3]; M.at<double>(110,30)=a[5]; M.at<double>(110,34)=a[7]; M.at<double>(110,43)=a[15]; M.at<double>(110,45)=a[11]; M.at<double>(110,49)=a[6]; M.at<double>(110,54)=b[7]; M.at<double>(110,63)=b[11]; M.at<double>(110,67)=b[1]; M.at<double>(110,69)=b[10]; M.at<double>(110,71)=b[15]; M.at<double>(110,75)=b[5]; M.at<double>(110,76)=b[6]; M.at<double>(110,99)=c[7]; M.at<double>(110,100)=c[15]; M.at<double>(110,104)=c[1]; M.at<double>(110,107)=c[5]; M.at<double>(110,110)=c[10]; M.at<double>(110,112)=c[11]; M.at<double>(110,119)=c[6];
-	M.at<double>(111,18)=u[2]; M.at<double>(111,35)=a[20]; M.at<double>(111,36)=a[13]; M.at<double>(111,50)=a[1]; M.at<double>(111,53)=a[9]; M.at<double>(111,80)=b[1]; M.at<double>(111,82)=b[9]; M.at<double>(111,83)=b[20]; M.at<double>(111,84)=b[13]; M.at<double>(111,86)=c[1]; M.at<double>(111,87)=c[9]; M.at<double>(111,88)=c[13]; M.at<double>(111,118)=c[20];
-	M.at<double>(112,19)=u[2]; M.at<double>(112,31)=a[1]; M.at<double>(112,32)=a[9]; M.at<double>(112,33)=a[13]; M.at<double>(112,34)=a[20]; M.at<double>(112,36)=a[19]; M.at<double>(112,50)=a[10]; M.at<double>(112,53)=a[4]; M.at<double>(112,54)=b[20]; M.at<double>(112,58)=b[1]; M.at<double>(112,59)=b[13]; M.at<double>(112,61)=b[9]; M.at<double>(112,80)=b[10]; M.at<double>(112,82)=b[4]; M.at<double>(112,84)=b[19]; M.at<double>(112,86)=c[10]; M.at<double>(112,87)=c[4]; M.at<double>(112,88)=c[19]; M.at<double>(112,99)=c[20]; M.at<double>(112,115)=c[1]; M.at<double>(112,116)=c[9]; M.at<double>(112,117)=c[13];
-	M.at<double>(113,31)=a[9]; M.at<double>(113,32)=a[13]; M.at<double>(113,33)=a[20]; M.at<double>(113,48)=a[10]; M.at<double>(113,50)=a[4]; M.at<double>(113,53)=a[19]; M.at<double>(113,58)=b[9]; M.at<double>(113,59)=b[20]; M.at<double>(113,61)=b[13]; M.at<double>(113,80)=b[4]; M.at<double>(113,81)=b[10]; M.at<double>(113,82)=b[19]; M.at<double>(113,85)=c[10]; M.at<double>(113,86)=c[4]; M.at<double>(113,87)=c[19]; M.at<double>(113,115)=c[9]; M.at<double>(113,116)=c[13]; M.at<double>(113,117)=c[20];
-	M.at<double>(114,31)=a[13]; M.at<double>(114,32)=a[20]; M.at<double>(114,48)=a[4]; M.at<double>(114,50)=a[19]; M.at<double>(114,58)=b[13]; M.at<double>(114,61)=b[20]; M.at<double>(114,80)=b[19]; M.at<double>(114,81)=b[4]; M.at<double>(114,85)=c[4]; M.at<double>(114,86)=c[19]; M.at<double>(114,115)=c[13]; M.at<double>(114,116)=c[20];
-	M.at<double>(115,31)=a[20]; M.at<double>(115,48)=a[19]; M.at<double>(115,58)=b[20]; M.at<double>(115,81)=b[19]; M.at<double>(115,85)=c[19]; M.at<double>(115,115)=c[20];
-	M.at<double>(116,24)=u[2]; M.at<double>(116,29)=a[13]; M.at<double>(116,30)=a[20]; M.at<double>(116,37)=a[11]; M.at<double>(116,38)=a[3]; M.at<double>(116,39)=a[2]; M.at<double>(116,50)=a[15]; M.at<double>(116,52)=a[9]; M.at<double>(116,53)=a[18]; M.at<double>(116,73)=b[9]; M.at<double>(116,74)=b[13]; M.at<double>(116,75)=b[20]; M.at<double>(116,77)=b[11]; M.at<double>(116,78)=b[3]; M.at<double>(116,79)=b[2]; M.at<double>(116,80)=b[15]; M.at<double>(116,82)=b[18]; M.at<double>(116,86)=c[15]; M.at<double>(116,87)=c[18]; M.at<double>(116,92)=c[3]; M.at<double>(116,93)=c[9]; M.at<double>(116,94)=c[13]; M.at<double>(116,96)=c[2]; M.at<double>(116,98)=c[11]; M.at<double>(116,107)=c[20];
-	M.at<double>(117,29)=a[20]; M.at<double>(117,37)=a[3]; M.at<double>(117,38)=a[2]; M.at<double>(117,48)=a[15]; M.at<double>(117,50)=a[18]; M.at<double>(117,52)=a[13]; M.at<double>(117,73)=b[13]; M.at<double>(117,74)=b[20]; M.at<double>(117,77)=b[3]; M.at<double>(117,78)=b[2]; M.at<double>(117,80)=b[18]; M.at<double>(117,81)=b[15]; M.at<double>(117,85)=c[15]; M.at<double>(117,86)=c[18]; M.at<double>(117,92)=c[2]; M.at<double>(117,93)=c[13]; M.at<double>(117,94)=c[20]; M.at<double>(117,98)=c[3];
-	M.at<double>(118,27)=a[13]; M.at<double>(118,28)=a[20]; M.at<double>(118,31)=a[4]; M.at<double>(118,32)=a[19]; M.at<double>(118,48)=a[14]; M.at<double>(118,50)=a[8]; M.at<double>(118,55)=b[13]; M.at<double>(118,57)=b[20]; M.at<double>(118,58)=b[4]; M.at<double>(118,61)=b[19]; M.at<double>(118,80)=b[8]; M.at<double>(118,81)=b[14]; M.at<double>(118,85)=c[14]; M.at<double>(118,86)=c[8]; M.at<double>(118,113)=c[13]; M.at<double>(118,114)=c[20]; M.at<double>(118,115)=c[4]; M.at<double>(118,116)=c[19];
-	M.at<double>(119,27)=a[20]; M.at<double>(119,31)=a[19]; M.at<double>(119,48)=a[8]; M.at<double>(119,55)=b[20]; M.at<double>(119,58)=b[19]; M.at<double>(119,81)=b[8]; M.at<double>(119,85)=c[8]; M.at<double>(119,113)=c[20]; M.at<double>(119,115)=c[19];
+    M.at<double>(0,0)=u[1]; M.at<double>(0,35)=a[1]; M.at<double>(0,83)=b[1]; M.at<double>(0,118)=c[1];
+    M.at<double>(1,0)=u[4]; M.at<double>(1,1)=u[1]; M.at<double>(1,34)=a[1]; M.at<double>(1,35)=a[10]; M.at<double>(1,54)=b[1]; M.at<double>(1,83)=b[10]; M.at<double>(1,99)=c[1]; M.at<double>(1,118)=c[10];
+    M.at<double>(2,1)=u[4]; M.at<double>(2,2)=u[1]; M.at<double>(2,34)=a[10]; M.at<double>(2,35)=a[14]; M.at<double>(2,51)=a[1]; M.at<double>(2,54)=b[10]; M.at<double>(2,65)=b[1]; M.at<double>(2,83)=b[14]; M.at<double>(2,89)=c[1]; M.at<double>(2,99)=c[10]; M.at<double>(2,118)=c[14];
+    M.at<double>(3,0)=u[3]; M.at<double>(3,3)=u[1]; M.at<double>(3,35)=a[11]; M.at<double>(3,49)=a[1]; M.at<double>(3,76)=b[1]; M.at<double>(3,83)=b[11]; M.at<double>(3,118)=c[11]; M.at<double>(3,119)=c[1];
+    M.at<double>(4,1)=u[3]; M.at<double>(4,3)=u[4]; M.at<double>(4,4)=u[1]; M.at<double>(4,34)=a[11]; M.at<double>(4,35)=a[5]; M.at<double>(4,43)=a[1]; M.at<double>(4,49)=a[10]; M.at<double>(4,54)=b[11]; M.at<double>(4,71)=b[1]; M.at<double>(4,76)=b[10]; M.at<double>(4,83)=b[5]; M.at<double>(4,99)=c[11]; M.at<double>(4,100)=c[1]; M.at<double>(4,118)=c[5]; M.at<double>(4,119)=c[10];
+    M.at<double>(5,2)=u[3]; M.at<double>(5,4)=u[4]; M.at<double>(5,5)=u[1]; M.at<double>(5,34)=a[5]; M.at<double>(5,35)=a[12]; M.at<double>(5,41)=a[1]; M.at<double>(5,43)=a[10]; M.at<double>(5,49)=a[14]; M.at<double>(5,51)=a[11]; M.at<double>(5,54)=b[5]; M.at<double>(5,62)=b[1]; M.at<double>(5,65)=b[11]; M.at<double>(5,71)=b[10]; M.at<double>(5,76)=b[14]; M.at<double>(5,83)=b[12]; M.at<double>(5,89)=c[11]; M.at<double>(5,99)=c[5]; M.at<double>(5,100)=c[10]; M.at<double>(5,111)=c[1]; M.at<double>(5,118)=c[12]; M.at<double>(5,119)=c[14];
+    M.at<double>(6,3)=u[3]; M.at<double>(6,6)=u[1]; M.at<double>(6,30)=a[1]; M.at<double>(6,35)=a[15]; M.at<double>(6,49)=a[11]; M.at<double>(6,75)=b[1]; M.at<double>(6,76)=b[11]; M.at<double>(6,83)=b[15]; M.at<double>(6,107)=c[1]; M.at<double>(6,118)=c[15]; M.at<double>(6,119)=c[11];
+    M.at<double>(7,4)=u[3]; M.at<double>(7,6)=u[4]; M.at<double>(7,7)=u[1]; M.at<double>(7,30)=a[10]; M.at<double>(7,34)=a[15]; M.at<double>(7,35)=a[6]; M.at<double>(7,43)=a[11]; M.at<double>(7,45)=a[1]; M.at<double>(7,49)=a[5]; M.at<double>(7,54)=b[15]; M.at<double>(7,63)=b[1]; M.at<double>(7,71)=b[11]; M.at<double>(7,75)=b[10]; M.at<double>(7,76)=b[5]; M.at<double>(7,83)=b[6]; M.at<double>(7,99)=c[15]; M.at<double>(7,100)=c[11]; M.at<double>(7,107)=c[10]; M.at<double>(7,112)=c[1]; M.at<double>(7,118)=c[6]; M.at<double>(7,119)=c[5];
+    M.at<double>(8,5)=u[3]; M.at<double>(8,7)=u[4]; M.at<double>(8,8)=u[1]; M.at<double>(8,30)=a[14]; M.at<double>(8,34)=a[6]; M.at<double>(8,41)=a[11]; M.at<double>(8,43)=a[5]; M.at<double>(8,45)=a[10]; M.at<double>(8,46)=a[1]; M.at<double>(8,49)=a[12]; M.at<double>(8,51)=a[15]; M.at<double>(8,54)=b[6]; M.at<double>(8,62)=b[11]; M.at<double>(8,63)=b[10]; M.at<double>(8,65)=b[15]; M.at<double>(8,66)=b[1]; M.at<double>(8,71)=b[5]; M.at<double>(8,75)=b[14]; M.at<double>(8,76)=b[12]; M.at<double>(8,89)=c[15]; M.at<double>(8,99)=c[6]; M.at<double>(8,100)=c[5]; M.at<double>(8,102)=c[1]; M.at<double>(8,107)=c[14]; M.at<double>(8,111)=c[11]; M.at<double>(8,112)=c[10]; M.at<double>(8,119)=c[12];
+    M.at<double>(9,0)=u[2]; M.at<double>(9,9)=u[1]; M.at<double>(9,35)=a[9]; M.at<double>(9,36)=a[1]; M.at<double>(9,83)=b[9]; M.at<double>(9,84)=b[1]; M.at<double>(9,88)=c[1]; M.at<double>(9,118)=c[9];
+    M.at<double>(10,1)=u[2]; M.at<double>(10,9)=u[4]; M.at<double>(10,10)=u[1]; M.at<double>(10,33)=a[1]; M.at<double>(10,34)=a[9]; M.at<double>(10,35)=a[4]; M.at<double>(10,36)=a[10]; M.at<double>(10,54)=b[9]; M.at<double>(10,59)=b[1]; M.at<double>(10,83)=b[4]; M.at<double>(10,84)=b[10]; M.at<double>(10,88)=c[10]; M.at<double>(10,99)=c[9]; M.at<double>(10,117)=c[1]; M.at<double>(10,118)=c[4];
+    M.at<double>(11,2)=u[2]; M.at<double>(11,10)=u[4]; M.at<double>(11,11)=u[1]; M.at<double>(11,28)=a[1]; M.at<double>(11,33)=a[10]; M.at<double>(11,34)=a[4]; M.at<double>(11,35)=a[8]; M.at<double>(11,36)=a[14]; M.at<double>(11,51)=a[9]; M.at<double>(11,54)=b[4]; M.at<double>(11,57)=b[1]; M.at<double>(11,59)=b[10]; M.at<double>(11,65)=b[9]; M.at<double>(11,83)=b[8]; M.at<double>(11,84)=b[14]; M.at<double>(11,88)=c[14]; M.at<double>(11,89)=c[9]; M.at<double>(11,99)=c[4]; M.at<double>(11,114)=c[1]; M.at<double>(11,117)=c[10]; M.at<double>(11,118)=c[8];
+    M.at<double>(12,3)=u[2]; M.at<double>(12,9)=u[3]; M.at<double>(12,12)=u[1]; M.at<double>(12,35)=a[3]; M.at<double>(12,36)=a[11]; M.at<double>(12,39)=a[1]; M.at<double>(12,49)=a[9]; M.at<double>(12,76)=b[9]; M.at<double>(12,79)=b[1]; M.at<double>(12,83)=b[3]; M.at<double>(12,84)=b[11]; M.at<double>(12,88)=c[11]; M.at<double>(12,96)=c[1]; M.at<double>(12,118)=c[3]; M.at<double>(12,119)=c[9];
+    M.at<double>(13,4)=u[2]; M.at<double>(13,10)=u[3]; M.at<double>(13,12)=u[4]; M.at<double>(13,13)=u[1]; M.at<double>(13,33)=a[11]; M.at<double>(13,34)=a[3]; M.at<double>(13,35)=a[17]; M.at<double>(13,36)=a[5]; M.at<double>(13,39)=a[10]; M.at<double>(13,43)=a[9]; M.at<double>(13,47)=a[1]; M.at<double>(13,49)=a[4]; M.at<double>(13,54)=b[3]; M.at<double>(13,59)=b[11]; M.at<double>(13,60)=b[1]; M.at<double>(13,71)=b[9]; M.at<double>(13,76)=b[4]; M.at<double>(13,79)=b[10]; M.at<double>(13,83)=b[17]; M.at<double>(13,84)=b[5]; M.at<double>(13,88)=c[5]; M.at<double>(13,90)=c[1]; M.at<double>(13,96)=c[10]; M.at<double>(13,99)=c[3]; M.at<double>(13,100)=c[9]; M.at<double>(13,117)=c[11]; M.at<double>(13,118)=c[17]; M.at<double>(13,119)=c[4];
+    M.at<double>(14,5)=u[2]; M.at<double>(14,11)=u[3]; M.at<double>(14,13)=u[4]; M.at<double>(14,14)=u[1]; M.at<double>(14,28)=a[11]; M.at<double>(14,33)=a[5]; M.at<double>(14,34)=a[17]; M.at<double>(14,36)=a[12]; M.at<double>(14,39)=a[14]; M.at<double>(14,41)=a[9]; M.at<double>(14,42)=a[1]; M.at<double>(14,43)=a[4]; M.at<double>(14,47)=a[10]; M.at<double>(14,49)=a[8]; M.at<double>(14,51)=a[3]; M.at<double>(14,54)=b[17]; M.at<double>(14,56)=b[1]; M.at<double>(14,57)=b[11]; M.at<double>(14,59)=b[5]; M.at<double>(14,60)=b[10]; M.at<double>(14,62)=b[9]; M.at<double>(14,65)=b[3]; M.at<double>(14,71)=b[4]; M.at<double>(14,76)=b[8]; M.at<double>(14,79)=b[14]; M.at<double>(14,84)=b[12]; M.at<double>(14,88)=c[12]; M.at<double>(14,89)=c[3]; M.at<double>(14,90)=c[10]; M.at<double>(14,96)=c[14]; M.at<double>(14,99)=c[17]; M.at<double>(14,100)=c[4]; M.at<double>(14,106)=c[1]; M.at<double>(14,111)=c[9]; M.at<double>(14,114)=c[11]; M.at<double>(14,117)=c[5]; M.at<double>(14,119)=c[8];
+    M.at<double>(15,6)=u[2]; M.at<double>(15,12)=u[3]; M.at<double>(15,15)=u[1]; M.at<double>(15,29)=a[1]; M.at<double>(15,30)=a[9]; M.at<double>(15,35)=a[18]; M.at<double>(15,36)=a[15]; M.at<double>(15,39)=a[11]; M.at<double>(15,49)=a[3]; M.at<double>(15,74)=b[1]; M.at<double>(15,75)=b[9]; M.at<double>(15,76)=b[3]; M.at<double>(15,79)=b[11]; M.at<double>(15,83)=b[18]; M.at<double>(15,84)=b[15]; M.at<double>(15,88)=c[15]; M.at<double>(15,94)=c[1]; M.at<double>(15,96)=c[11]; M.at<double>(15,107)=c[9]; M.at<double>(15,118)=c[18]; M.at<double>(15,119)=c[3];
+    M.at<double>(16,7)=u[2]; M.at<double>(16,13)=u[3]; M.at<double>(16,15)=u[4]; M.at<double>(16,16)=u[1]; M.at<double>(16,29)=a[10]; M.at<double>(16,30)=a[4]; M.at<double>(16,33)=a[15]; M.at<double>(16,34)=a[18]; M.at<double>(16,36)=a[6]; M.at<double>(16,39)=a[5]; M.at<double>(16,43)=a[3]; M.at<double>(16,44)=a[1]; M.at<double>(16,45)=a[9]; M.at<double>(16,47)=a[11]; M.at<double>(16,49)=a[17]; M.at<double>(16,54)=b[18]; M.at<double>(16,59)=b[15]; M.at<double>(16,60)=b[11]; M.at<double>(16,63)=b[9]; M.at<double>(16,68)=b[1]; M.at<double>(16,71)=b[3]; M.at<double>(16,74)=b[10]; M.at<double>(16,75)=b[4]; M.at<double>(16,76)=b[17]; M.at<double>(16,79)=b[5]; M.at<double>(16,84)=b[6]; M.at<double>(16,88)=c[6]; M.at<double>(16,90)=c[11]; M.at<double>(16,94)=c[10]; M.at<double>(16,96)=c[5]; M.at<double>(16,97)=c[1]; M.at<double>(16,99)=c[18]; M.at<double>(16,100)=c[3]; M.at<double>(16,107)=c[4]; M.at<double>(16,112)=c[9]; M.at<double>(16,117)=c[15]; M.at<double>(16,119)=c[17];
+    M.at<double>(17,8)=u[2]; M.at<double>(17,14)=u[3]; M.at<double>(17,16)=u[4]; M.at<double>(17,17)=u[1]; M.at<double>(17,28)=a[15]; M.at<double>(17,29)=a[14]; M.at<double>(17,30)=a[8]; M.at<double>(17,33)=a[6]; M.at<double>(17,39)=a[12]; M.at<double>(17,41)=a[3]; M.at<double>(17,42)=a[11]; M.at<double>(17,43)=a[17]; M.at<double>(17,44)=a[10]; M.at<double>(17,45)=a[4]; M.at<double>(17,46)=a[9]; M.at<double>(17,47)=a[5]; M.at<double>(17,51)=a[18]; M.at<double>(17,56)=b[11]; M.at<double>(17,57)=b[15]; M.at<double>(17,59)=b[6]; M.at<double>(17,60)=b[5]; M.at<double>(17,62)=b[3]; M.at<double>(17,63)=b[4]; M.at<double>(17,65)=b[18]; M.at<double>(17,66)=b[9]; M.at<double>(17,68)=b[10]; M.at<double>(17,71)=b[17]; M.at<double>(17,74)=b[14]; M.at<double>(17,75)=b[8]; M.at<double>(17,79)=b[12]; M.at<double>(17,89)=c[18]; M.at<double>(17,90)=c[5]; M.at<double>(17,94)=c[14]; M.at<double>(17,96)=c[12]; M.at<double>(17,97)=c[10]; M.at<double>(17,100)=c[17]; M.at<double>(17,102)=c[9]; M.at<double>(17,106)=c[11]; M.at<double>(17,107)=c[8]; M.at<double>(17,111)=c[3]; M.at<double>(17,112)=c[4]; M.at<double>(17,114)=c[15]; M.at<double>(17,117)=c[6];
+    M.at<double>(18,9)=u[2]; M.at<double>(18,18)=u[1]; M.at<double>(18,35)=a[13]; M.at<double>(18,36)=a[9]; M.at<double>(18,53)=a[1]; M.at<double>(18,82)=b[1]; M.at<double>(18,83)=b[13]; M.at<double>(18,84)=b[9]; M.at<double>(18,87)=c[1]; M.at<double>(18,88)=c[9]; M.at<double>(18,118)=c[13];
+    M.at<double>(19,10)=u[2]; M.at<double>(19,18)=u[4]; M.at<double>(19,19)=u[1]; M.at<double>(19,32)=a[1]; M.at<double>(19,33)=a[9]; M.at<double>(19,34)=a[13]; M.at<double>(19,35)=a[19]; M.at<double>(19,36)=a[4]; M.at<double>(19,53)=a[10]; M.at<double>(19,54)=b[13]; M.at<double>(19,59)=b[9]; M.at<double>(19,61)=b[1]; M.at<double>(19,82)=b[10]; M.at<double>(19,83)=b[19]; M.at<double>(19,84)=b[4]; M.at<double>(19,87)=c[10]; M.at<double>(19,88)=c[4]; M.at<double>(19,99)=c[13]; M.at<double>(19,116)=c[1]; M.at<double>(19,117)=c[9]; M.at<double>(19,118)=c[19];
+    M.at<double>(20,11)=u[2]; M.at<double>(20,19)=u[4]; M.at<double>(20,20)=u[1]; M.at<double>(20,27)=a[1]; M.at<double>(20,28)=a[9]; M.at<double>(20,32)=a[10]; M.at<double>(20,33)=a[4]; M.at<double>(20,34)=a[19]; M.at<double>(20,36)=a[8]; M.at<double>(20,51)=a[13]; M.at<double>(20,53)=a[14]; M.at<double>(20,54)=b[19]; M.at<double>(20,55)=b[1]; M.at<double>(20,57)=b[9]; M.at<double>(20,59)=b[4]; M.at<double>(20,61)=b[10]; M.at<double>(20,65)=b[13]; M.at<double>(20,82)=b[14]; M.at<double>(20,84)=b[8]; M.at<double>(20,87)=c[14]; M.at<double>(20,88)=c[8]; M.at<double>(20,89)=c[13]; M.at<double>(20,99)=c[19]; M.at<double>(20,113)=c[1]; M.at<double>(20,114)=c[9]; M.at<double>(20,116)=c[10]; M.at<double>(20,117)=c[4];
+    M.at<double>(21,12)=u[2]; M.at<double>(21,18)=u[3]; M.at<double>(21,21)=u[1]; M.at<double>(21,35)=a[2]; M.at<double>(21,36)=a[3]; M.at<double>(21,38)=a[1]; M.at<double>(21,39)=a[9]; M.at<double>(21,49)=a[13]; M.at<double>(21,53)=a[11]; M.at<double>(21,76)=b[13]; M.at<double>(21,78)=b[1]; M.at<double>(21,79)=b[9]; M.at<double>(21,82)=b[11]; M.at<double>(21,83)=b[2]; M.at<double>(21,84)=b[3]; M.at<double>(21,87)=c[11]; M.at<double>(21,88)=c[3]; M.at<double>(21,92)=c[1]; M.at<double>(21,96)=c[9]; M.at<double>(21,118)=c[2]; M.at<double>(21,119)=c[13];
+    M.at<double>(22,13)=u[2]; M.at<double>(22,19)=u[3]; M.at<double>(22,21)=u[4]; M.at<double>(22,22)=u[1]; M.at<double>(22,32)=a[11]; M.at<double>(22,33)=a[3]; M.at<double>(22,34)=a[2]; M.at<double>(22,36)=a[17]; M.at<double>(22,38)=a[10]; M.at<double>(22,39)=a[4]; M.at<double>(22,40)=a[1]; M.at<double>(22,43)=a[13]; M.at<double>(22,47)=a[9]; M.at<double>(22,49)=a[19]; M.at<double>(22,53)=a[5]; M.at<double>(22,54)=b[2]; M.at<double>(22,59)=b[3]; M.at<double>(22,60)=b[9]; M.at<double>(22,61)=b[11]; M.at<double>(22,71)=b[13]; M.at<double>(22,72)=b[1]; M.at<double>(22,76)=b[19]; M.at<double>(22,78)=b[10]; M.at<double>(22,79)=b[4]; M.at<double>(22,82)=b[5]; M.at<double>(22,84)=b[17]; M.at<double>(22,87)=c[5]; M.at<double>(22,88)=c[17]; M.at<double>(22,90)=c[9]; M.at<double>(22,92)=c[10]; M.at<double>(22,95)=c[1]; M.at<double>(22,96)=c[4]; M.at<double>(22,99)=c[2]; M.at<double>(22,100)=c[13]; M.at<double>(22,116)=c[11]; M.at<double>(22,117)=c[3]; M.at<double>(22,119)=c[19];
+    M.at<double>(23,14)=u[2]; M.at<double>(23,20)=u[3]; M.at<double>(23,22)=u[4]; M.at<double>(23,23)=u[1]; M.at<double>(23,27)=a[11]; M.at<double>(23,28)=a[3]; M.at<double>(23,32)=a[5]; M.at<double>(23,33)=a[17]; M.at<double>(23,38)=a[14]; M.at<double>(23,39)=a[8]; M.at<double>(23,40)=a[10]; M.at<double>(23,41)=a[13]; M.at<double>(23,42)=a[9]; M.at<double>(23,43)=a[19]; M.at<double>(23,47)=a[4]; M.at<double>(23,51)=a[2]; M.at<double>(23,53)=a[12]; M.at<double>(23,55)=b[11]; M.at<double>(23,56)=b[9]; M.at<double>(23,57)=b[3]; M.at<double>(23,59)=b[17]; M.at<double>(23,60)=b[4]; M.at<double>(23,61)=b[5]; M.at<double>(23,62)=b[13]; M.at<double>(23,65)=b[2]; M.at<double>(23,71)=b[19]; M.at<double>(23,72)=b[10]; M.at<double>(23,78)=b[14]; M.at<double>(23,79)=b[8]; M.at<double>(23,82)=b[12]; M.at<double>(23,87)=c[12]; M.at<double>(23,89)=c[2]; M.at<double>(23,90)=c[4]; M.at<double>(23,92)=c[14]; M.at<double>(23,95)=c[10]; M.at<double>(23,96)=c[8]; M.at<double>(23,100)=c[19]; M.at<double>(23,106)=c[9]; M.at<double>(23,111)=c[13]; M.at<double>(23,113)=c[11]; M.at<double>(23,114)=c[3]; M.at<double>(23,116)=c[5]; M.at<double>(23,117)=c[17];
+    M.at<double>(24,15)=u[2]; M.at<double>(24,21)=u[3]; M.at<double>(24,24)=u[1]; M.at<double>(24,29)=a[9]; M.at<double>(24,30)=a[13]; M.at<double>(24,36)=a[18]; M.at<double>(24,38)=a[11]; M.at<double>(24,39)=a[3]; M.at<double>(24,49)=a[2]; M.at<double>(24,52)=a[1]; M.at<double>(24,53)=a[15]; M.at<double>(24,73)=b[1]; M.at<double>(24,74)=b[9]; M.at<double>(24,75)=b[13]; M.at<double>(24,76)=b[2]; M.at<double>(24,78)=b[11]; M.at<double>(24,79)=b[3]; M.at<double>(24,82)=b[15]; M.at<double>(24,84)=b[18]; M.at<double>(24,87)=c[15]; M.at<double>(24,88)=c[18]; M.at<double>(24,92)=c[11]; M.at<double>(24,93)=c[1]; M.at<double>(24,94)=c[9]; M.at<double>(24,96)=c[3]; M.at<double>(24,107)=c[13]; M.at<double>(24,119)=c[2];
+    M.at<double>(25,16)=u[2]; M.at<double>(25,22)=u[3]; M.at<double>(25,24)=u[4]; M.at<double>(25,25)=u[1]; M.at<double>(25,29)=a[4]; M.at<double>(25,30)=a[19]; M.at<double>(25,32)=a[15]; M.at<double>(25,33)=a[18]; M.at<double>(25,38)=a[5]; M.at<double>(25,39)=a[17]; M.at<double>(25,40)=a[11]; M.at<double>(25,43)=a[2]; M.at<double>(25,44)=a[9]; M.at<double>(25,45)=a[13]; M.at<double>(25,47)=a[3]; M.at<double>(25,52)=a[10]; M.at<double>(25,53)=a[6]; M.at<double>(25,59)=b[18]; M.at<double>(25,60)=b[3]; M.at<double>(25,61)=b[15]; M.at<double>(25,63)=b[13]; M.at<double>(25,68)=b[9]; M.at<double>(25,71)=b[2]; M.at<double>(25,72)=b[11]; M.at<double>(25,73)=b[10]; M.at<double>(25,74)=b[4]; M.at<double>(25,75)=b[19]; M.at<double>(25,78)=b[5]; M.at<double>(25,79)=b[17]; M.at<double>(25,82)=b[6]; M.at<double>(25,87)=c[6]; M.at<double>(25,90)=c[3]; M.at<double>(25,92)=c[5]; M.at<double>(25,93)=c[10]; M.at<double>(25,94)=c[4]; M.at<double>(25,95)=c[11]; M.at<double>(25,96)=c[17]; M.at<double>(25,97)=c[9]; M.at<double>(25,100)=c[2]; M.at<double>(25,107)=c[19]; M.at<double>(25,112)=c[13]; M.at<double>(25,116)=c[15]; M.at<double>(25,117)=c[18];
+    M.at<double>(26,17)=u[2]; M.at<double>(26,23)=u[3]; M.at<double>(26,25)=u[4]; M.at<double>(26,26)=u[1]; M.at<double>(26,27)=a[15]; M.at<double>(26,28)=a[18]; M.at<double>(26,29)=a[8]; M.at<double>(26,32)=a[6]; M.at<double>(26,38)=a[12]; M.at<double>(26,40)=a[5]; M.at<double>(26,41)=a[2]; M.at<double>(26,42)=a[3]; M.at<double>(26,44)=a[4]; M.at<double>(26,45)=a[19]; M.at<double>(26,46)=a[13]; M.at<double>(26,47)=a[17]; M.at<double>(26,52)=a[14]; M.at<double>(26,55)=b[15]; M.at<double>(26,56)=b[3]; M.at<double>(26,57)=b[18]; M.at<double>(26,60)=b[17]; M.at<double>(26,61)=b[6]; M.at<double>(26,62)=b[2]; M.at<double>(26,63)=b[19]; M.at<double>(26,66)=b[13]; M.at<double>(26,68)=b[4]; M.at<double>(26,72)=b[5]; M.at<double>(26,73)=b[14]; M.at<double>(26,74)=b[8]; M.at<double>(26,78)=b[12]; M.at<double>(26,90)=c[17]; M.at<double>(26,92)=c[12]; M.at<double>(26,93)=c[14]; M.at<double>(26,94)=c[8]; M.at<double>(26,95)=c[5]; M.at<double>(26,97)=c[4]; M.at<double>(26,102)=c[13]; M.at<double>(26,106)=c[3]; M.at<double>(26,111)=c[2]; M.at<double>(26,112)=c[19]; M.at<double>(26,113)=c[15]; M.at<double>(26,114)=c[18]; M.at<double>(26,116)=c[6];
+    M.at<double>(27,15)=u[3]; M.at<double>(27,29)=a[11]; M.at<double>(27,30)=a[3]; M.at<double>(27,36)=a[7]; M.at<double>(27,39)=a[15]; M.at<double>(27,49)=a[18]; M.at<double>(27,69)=b[9]; M.at<double>(27,70)=b[1]; M.at<double>(27,74)=b[11]; M.at<double>(27,75)=b[3]; M.at<double>(27,76)=b[18]; M.at<double>(27,79)=b[15]; M.at<double>(27,84)=b[7]; M.at<double>(27,88)=c[7]; M.at<double>(27,91)=c[1]; M.at<double>(27,94)=c[11]; M.at<double>(27,96)=c[15]; M.at<double>(27,107)=c[3]; M.at<double>(27,110)=c[9]; M.at<double>(27,119)=c[18];
+    M.at<double>(28,6)=u[3]; M.at<double>(28,30)=a[11]; M.at<double>(28,35)=a[7]; M.at<double>(28,49)=a[15]; M.at<double>(28,69)=b[1]; M.at<double>(28,75)=b[11]; M.at<double>(28,76)=b[15]; M.at<double>(28,83)=b[7]; M.at<double>(28,107)=c[11]; M.at<double>(28,110)=c[1]; M.at<double>(28,118)=c[7]; M.at<double>(28,119)=c[15];
+    M.at<double>(29,24)=u[3]; M.at<double>(29,29)=a[3]; M.at<double>(29,30)=a[2]; M.at<double>(29,38)=a[15]; M.at<double>(29,39)=a[18]; M.at<double>(29,52)=a[11]; M.at<double>(29,53)=a[7]; M.at<double>(29,69)=b[13]; M.at<double>(29,70)=b[9]; M.at<double>(29,73)=b[11]; M.at<double>(29,74)=b[3]; M.at<double>(29,75)=b[2]; M.at<double>(29,78)=b[15]; M.at<double>(29,79)=b[18]; M.at<double>(29,82)=b[7]; M.at<double>(29,87)=c[7]; M.at<double>(29,91)=c[9]; M.at<double>(29,92)=c[15]; M.at<double>(29,93)=c[11]; M.at<double>(29,94)=c[3]; M.at<double>(29,96)=c[18]; M.at<double>(29,107)=c[2]; M.at<double>(29,110)=c[13];
+    M.at<double>(30,37)=a[18]; M.at<double>(30,48)=a[7]; M.at<double>(30,52)=a[2]; M.at<double>(30,70)=b[20]; M.at<double>(30,73)=b[2]; M.at<double>(30,77)=b[18]; M.at<double>(30,81)=b[7]; M.at<double>(30,85)=c[7]; M.at<double>(30,91)=c[20]; M.at<double>(30,93)=c[2]; M.at<double>(30,98)=c[18];
+    M.at<double>(31,29)=a[2]; M.at<double>(31,37)=a[15]; M.at<double>(31,38)=a[18]; M.at<double>(31,50)=a[7]; M.at<double>(31,52)=a[3]; M.at<double>(31,69)=b[20]; M.at<double>(31,70)=b[13]; M.at<double>(31,73)=b[3]; M.at<double>(31,74)=b[2]; M.at<double>(31,77)=b[15]; M.at<double>(31,78)=b[18]; M.at<double>(31,80)=b[7]; M.at<double>(31,86)=c[7]; M.at<double>(31,91)=c[13]; M.at<double>(31,92)=c[18]; M.at<double>(31,93)=c[3]; M.at<double>(31,94)=c[2]; M.at<double>(31,98)=c[15]; M.at<double>(31,110)=c[20];
+    M.at<double>(32,48)=a[9]; M.at<double>(32,50)=a[13]; M.at<double>(32,53)=a[20]; M.at<double>(32,80)=b[13]; M.at<double>(32,81)=b[9]; M.at<double>(32,82)=b[20]; M.at<double>(32,85)=c[9]; M.at<double>(32,86)=c[13]; M.at<double>(32,87)=c[20];
+    M.at<double>(33,29)=a[15]; M.at<double>(33,30)=a[18]; M.at<double>(33,39)=a[7]; M.at<double>(33,64)=b[9]; M.at<double>(33,69)=b[3]; M.at<double>(33,70)=b[11]; M.at<double>(33,74)=b[15]; M.at<double>(33,75)=b[18]; M.at<double>(33,79)=b[7]; M.at<double>(33,91)=c[11]; M.at<double>(33,94)=c[15]; M.at<double>(33,96)=c[7]; M.at<double>(33,103)=c[9]; M.at<double>(33,107)=c[18]; M.at<double>(33,110)=c[3];
+    M.at<double>(34,29)=a[18]; M.at<double>(34,38)=a[7]; M.at<double>(34,52)=a[15]; M.at<double>(34,64)=b[13]; M.at<double>(34,69)=b[2]; M.at<double>(34,70)=b[3]; M.at<double>(34,73)=b[15]; M.at<double>(34,74)=b[18]; M.at<double>(34,78)=b[7]; M.at<double>(34,91)=c[3]; M.at<double>(34,92)=c[7]; M.at<double>(34,93)=c[15]; M.at<double>(34,94)=c[18]; M.at<double>(34,103)=c[13]; M.at<double>(34,110)=c[2];
+    M.at<double>(35,37)=a[7]; M.at<double>(35,52)=a[18]; M.at<double>(35,64)=b[20]; M.at<double>(35,70)=b[2]; M.at<double>(35,73)=b[18]; M.at<double>(35,77)=b[7]; M.at<double>(35,91)=c[2]; M.at<double>(35,93)=c[18]; M.at<double>(35,98)=c[7]; M.at<double>(35,103)=c[20];
+    M.at<double>(36,5)=u[4]; M.at<double>(36,34)=a[12]; M.at<double>(36,41)=a[10]; M.at<double>(36,43)=a[14]; M.at<double>(36,49)=a[16]; M.at<double>(36,51)=a[5]; M.at<double>(36,54)=b[12]; M.at<double>(36,62)=b[10]; M.at<double>(36,65)=b[5]; M.at<double>(36,71)=b[14]; M.at<double>(36,76)=b[16]; M.at<double>(36,89)=c[5]; M.at<double>(36,99)=c[12]; M.at<double>(36,100)=c[14]; M.at<double>(36,101)=c[1]; M.at<double>(36,109)=c[11]; M.at<double>(36,111)=c[10]; M.at<double>(36,119)=c[16];
+    M.at<double>(37,2)=u[4]; M.at<double>(37,34)=a[14]; M.at<double>(37,35)=a[16]; M.at<double>(37,51)=a[10]; M.at<double>(37,54)=b[14]; M.at<double>(37,65)=b[10]; M.at<double>(37,83)=b[16]; M.at<double>(37,89)=c[10]; M.at<double>(37,99)=c[14]; M.at<double>(37,109)=c[1]; M.at<double>(37,118)=c[16];
+    M.at<double>(38,30)=a[15]; M.at<double>(38,49)=a[7]; M.at<double>(38,64)=b[1]; M.at<double>(38,69)=b[11]; M.at<double>(38,75)=b[15]; M.at<double>(38,76)=b[7]; M.at<double>(38,103)=c[1]; M.at<double>(38,107)=c[15]; M.at<double>(38,110)=c[11]; M.at<double>(38,119)=c[7];
+    M.at<double>(39,28)=a[14]; M.at<double>(39,33)=a[16]; M.at<double>(39,51)=a[8]; M.at<double>(39,57)=b[14]; M.at<double>(39,59)=b[16]; M.at<double>(39,65)=b[8]; M.at<double>(39,89)=c[8]; M.at<double>(39,105)=c[9]; M.at<double>(39,108)=c[10]; M.at<double>(39,109)=c[4]; M.at<double>(39,114)=c[14]; M.at<double>(39,117)=c[16];
+    M.at<double>(40,27)=a[14]; M.at<double>(40,28)=a[8]; M.at<double>(40,32)=a[16]; M.at<double>(40,55)=b[14]; M.at<double>(40,57)=b[8]; M.at<double>(40,61)=b[16]; M.at<double>(40,105)=c[13]; M.at<double>(40,108)=c[4]; M.at<double>(40,109)=c[19]; M.at<double>(40,113)=c[14]; M.at<double>(40,114)=c[8]; M.at<double>(40,116)=c[16];
+    M.at<double>(41,30)=a[7]; M.at<double>(41,64)=b[11]; M.at<double>(41,69)=b[15]; M.at<double>(41,75)=b[7]; M.at<double>(41,103)=c[11]; M.at<double>(41,107)=c[7]; M.at<double>(41,110)=c[15];
+    M.at<double>(42,27)=a[8]; M.at<double>(42,31)=a[16]; M.at<double>(42,55)=b[8]; M.at<double>(42,58)=b[16]; M.at<double>(42,105)=c[20]; M.at<double>(42,108)=c[19]; M.at<double>(42,113)=c[8]; M.at<double>(42,115)=c[16];
+    M.at<double>(43,29)=a[7]; M.at<double>(43,64)=b[3]; M.at<double>(43,69)=b[18]; M.at<double>(43,70)=b[15]; M.at<double>(43,74)=b[7]; M.at<double>(43,91)=c[15]; M.at<double>(43,94)=c[7]; M.at<double>(43,103)=c[3]; M.at<double>(43,110)=c[18];
+    M.at<double>(44,28)=a[16]; M.at<double>(44,57)=b[16]; M.at<double>(44,105)=c[4]; M.at<double>(44,108)=c[14]; M.at<double>(44,109)=c[8]; M.at<double>(44,114)=c[16];
+    M.at<double>(45,27)=a[16]; M.at<double>(45,55)=b[16]; M.at<double>(45,105)=c[19]; M.at<double>(45,108)=c[8]; M.at<double>(45,113)=c[16];
+    M.at<double>(46,52)=a[7]; M.at<double>(46,64)=b[2]; M.at<double>(46,70)=b[18]; M.at<double>(46,73)=b[7]; M.at<double>(46,91)=c[18]; M.at<double>(46,93)=c[7]; M.at<double>(46,103)=c[2];
+    M.at<double>(47,40)=a[7]; M.at<double>(47,44)=a[18]; M.at<double>(47,52)=a[6]; M.at<double>(47,64)=b[19]; M.at<double>(47,67)=b[2]; M.at<double>(47,68)=b[18]; M.at<double>(47,70)=b[17]; M.at<double>(47,72)=b[7]; M.at<double>(47,73)=b[6]; M.at<double>(47,91)=c[17]; M.at<double>(47,93)=c[6]; M.at<double>(47,95)=c[7]; M.at<double>(47,97)=c[18]; M.at<double>(47,103)=c[19]; M.at<double>(47,104)=c[2];
+    M.at<double>(48,30)=a[6]; M.at<double>(48,43)=a[7]; M.at<double>(48,45)=a[15]; M.at<double>(48,63)=b[15]; M.at<double>(48,64)=b[10]; M.at<double>(48,67)=b[11]; M.at<double>(48,69)=b[5]; M.at<double>(48,71)=b[7]; M.at<double>(48,75)=b[6]; M.at<double>(48,100)=c[7]; M.at<double>(48,103)=c[10]; M.at<double>(48,104)=c[11]; M.at<double>(48,107)=c[6]; M.at<double>(48,110)=c[5]; M.at<double>(48,112)=c[15];
+    M.at<double>(49,41)=a[12]; M.at<double>(49,45)=a[16]; M.at<double>(49,46)=a[14]; M.at<double>(49,62)=b[12]; M.at<double>(49,63)=b[16]; M.at<double>(49,66)=b[14]; M.at<double>(49,101)=c[5]; M.at<double>(49,102)=c[14]; M.at<double>(49,105)=c[15]; M.at<double>(49,109)=c[6]; M.at<double>(49,111)=c[12]; M.at<double>(49,112)=c[16];
+    M.at<double>(50,41)=a[16]; M.at<double>(50,62)=b[16]; M.at<double>(50,101)=c[14]; M.at<double>(50,105)=c[5]; M.at<double>(50,109)=c[12]; M.at<double>(50,111)=c[16];
+    M.at<double>(51,64)=b[18]; M.at<double>(51,70)=b[7]; M.at<double>(51,91)=c[7]; M.at<double>(51,103)=c[18];
+    M.at<double>(52,41)=a[6]; M.at<double>(52,45)=a[12]; M.at<double>(52,46)=a[5]; M.at<double>(52,62)=b[6]; M.at<double>(52,63)=b[12]; M.at<double>(52,66)=b[5]; M.at<double>(52,67)=b[14]; M.at<double>(52,69)=b[16]; M.at<double>(52,101)=c[15]; M.at<double>(52,102)=c[5]; M.at<double>(52,104)=c[14]; M.at<double>(52,109)=c[7]; M.at<double>(52,110)=c[16]; M.at<double>(52,111)=c[6]; M.at<double>(52,112)=c[12];
+    M.at<double>(53,64)=b[15]; M.at<double>(53,69)=b[7]; M.at<double>(53,103)=c[15]; M.at<double>(53,110)=c[7];
+    M.at<double>(54,105)=c[14]; M.at<double>(54,109)=c[16];
+    M.at<double>(55,44)=a[7]; M.at<double>(55,64)=b[17]; M.at<double>(55,67)=b[18]; M.at<double>(55,68)=b[7]; M.at<double>(55,70)=b[6]; M.at<double>(55,91)=c[6]; M.at<double>(55,97)=c[7]; M.at<double>(55,103)=c[17]; M.at<double>(55,104)=c[18];
+    M.at<double>(56,105)=c[8]; M.at<double>(56,108)=c[16];
+    M.at<double>(57,64)=b[6]; M.at<double>(57,67)=b[7]; M.at<double>(57,103)=c[6]; M.at<double>(57,104)=c[7];
+    M.at<double>(58,46)=a[7]; M.at<double>(58,64)=b[12]; M.at<double>(58,66)=b[7]; M.at<double>(58,67)=b[6]; M.at<double>(58,102)=c[7]; M.at<double>(58,103)=c[12]; M.at<double>(58,104)=c[6];
+    M.at<double>(59,8)=u[4]; M.at<double>(59,30)=a[16]; M.at<double>(59,41)=a[5]; M.at<double>(59,43)=a[12]; M.at<double>(59,45)=a[14]; M.at<double>(59,46)=a[10]; M.at<double>(59,51)=a[6]; M.at<double>(59,62)=b[5]; M.at<double>(59,63)=b[14]; M.at<double>(59,65)=b[6]; M.at<double>(59,66)=b[10]; M.at<double>(59,71)=b[12]; M.at<double>(59,75)=b[16]; M.at<double>(59,89)=c[6]; M.at<double>(59,100)=c[12]; M.at<double>(59,101)=c[11]; M.at<double>(59,102)=c[10]; M.at<double>(59,107)=c[16]; M.at<double>(59,109)=c[15]; M.at<double>(59,111)=c[5]; M.at<double>(59,112)=c[14];
+    M.at<double>(60,8)=u[3]; M.at<double>(60,30)=a[12]; M.at<double>(60,41)=a[15]; M.at<double>(60,43)=a[6]; M.at<double>(60,45)=a[5]; M.at<double>(60,46)=a[11]; M.at<double>(60,51)=a[7]; M.at<double>(60,62)=b[15]; M.at<double>(60,63)=b[5]; M.at<double>(60,65)=b[7]; M.at<double>(60,66)=b[11]; M.at<double>(60,67)=b[10]; M.at<double>(60,69)=b[14]; M.at<double>(60,71)=b[6]; M.at<double>(60,75)=b[12]; M.at<double>(60,89)=c[7]; M.at<double>(60,100)=c[6]; M.at<double>(60,102)=c[11]; M.at<double>(60,104)=c[10]; M.at<double>(60,107)=c[12]; M.at<double>(60,110)=c[14]; M.at<double>(60,111)=c[15]; M.at<double>(60,112)=c[5];
+    M.at<double>(61,42)=a[16]; M.at<double>(61,56)=b[16]; M.at<double>(61,101)=c[8]; M.at<double>(61,105)=c[17]; M.at<double>(61,106)=c[16]; M.at<double>(61,108)=c[12];
+    M.at<double>(62,64)=b[7]; M.at<double>(62,103)=c[7];
+    M.at<double>(63,105)=c[16];
+    M.at<double>(64,46)=a[12]; M.at<double>(64,66)=b[12]; M.at<double>(64,67)=b[16]; M.at<double>(64,101)=c[6]; M.at<double>(64,102)=c[12]; M.at<double>(64,104)=c[16]; M.at<double>(64,105)=c[7];
+    M.at<double>(65,46)=a[6]; M.at<double>(65,64)=b[16]; M.at<double>(65,66)=b[6]; M.at<double>(65,67)=b[12]; M.at<double>(65,101)=c[7]; M.at<double>(65,102)=c[6]; M.at<double>(65,103)=c[16]; M.at<double>(65,104)=c[12];
+    M.at<double>(66,46)=a[16]; M.at<double>(66,66)=b[16]; M.at<double>(66,101)=c[12]; M.at<double>(66,102)=c[16]; M.at<double>(66,105)=c[6];
+    M.at<double>(67,101)=c[16]; M.at<double>(67,105)=c[12];
+    M.at<double>(68,41)=a[14]; M.at<double>(68,43)=a[16]; M.at<double>(68,51)=a[12]; M.at<double>(68,62)=b[14]; M.at<double>(68,65)=b[12]; M.at<double>(68,71)=b[16]; M.at<double>(68,89)=c[12]; M.at<double>(68,100)=c[16]; M.at<double>(68,101)=c[10]; M.at<double>(68,105)=c[11]; M.at<double>(68,109)=c[5]; M.at<double>(68,111)=c[14];
+    M.at<double>(69,37)=a[2]; M.at<double>(69,48)=a[18]; M.at<double>(69,52)=a[20]; M.at<double>(69,73)=b[20]; M.at<double>(69,77)=b[2]; M.at<double>(69,81)=b[18]; M.at<double>(69,85)=c[18]; M.at<double>(69,93)=c[20]; M.at<double>(69,98)=c[2];
+    M.at<double>(70,20)=u[2]; M.at<double>(70,27)=a[9]; M.at<double>(70,28)=a[13]; M.at<double>(70,31)=a[10]; M.at<double>(70,32)=a[4]; M.at<double>(70,33)=a[19]; M.at<double>(70,50)=a[14]; M.at<double>(70,51)=a[20]; M.at<double>(70,53)=a[8]; M.at<double>(70,55)=b[9]; M.at<double>(70,57)=b[13]; M.at<double>(70,58)=b[10]; M.at<double>(70,59)=b[19]; M.at<double>(70,61)=b[4]; M.at<double>(70,65)=b[20]; M.at<double>(70,80)=b[14]; M.at<double>(70,82)=b[8]; M.at<double>(70,86)=c[14]; M.at<double>(70,87)=c[8]; M.at<double>(70,89)=c[20]; M.at<double>(70,113)=c[9]; M.at<double>(70,114)=c[13]; M.at<double>(70,115)=c[10]; M.at<double>(70,116)=c[4]; M.at<double>(70,117)=c[19];
+    M.at<double>(71,45)=a[7]; M.at<double>(71,63)=b[7]; M.at<double>(71,64)=b[5]; M.at<double>(71,67)=b[15]; M.at<double>(71,69)=b[6]; M.at<double>(71,103)=c[5]; M.at<double>(71,104)=c[15]; M.at<double>(71,110)=c[6]; M.at<double>(71,112)=c[7];
+    M.at<double>(72,41)=a[7]; M.at<double>(72,45)=a[6]; M.at<double>(72,46)=a[15]; M.at<double>(72,62)=b[7]; M.at<double>(72,63)=b[6]; M.at<double>(72,64)=b[14]; M.at<double>(72,66)=b[15]; M.at<double>(72,67)=b[5]; M.at<double>(72,69)=b[12]; M.at<double>(72,102)=c[15]; M.at<double>(72,103)=c[14]; M.at<double>(72,104)=c[5]; M.at<double>(72,110)=c[12]; M.at<double>(72,111)=c[7]; M.at<double>(72,112)=c[6];
+    M.at<double>(73,48)=a[13]; M.at<double>(73,50)=a[20]; M.at<double>(73,80)=b[20]; M.at<double>(73,81)=b[13]; M.at<double>(73,85)=c[13]; M.at<double>(73,86)=c[20];
+    M.at<double>(74,25)=u[3]; M.at<double>(74,29)=a[17]; M.at<double>(74,32)=a[7]; M.at<double>(74,38)=a[6]; M.at<double>(74,40)=a[15]; M.at<double>(74,44)=a[3]; M.at<double>(74,45)=a[2]; M.at<double>(74,47)=a[18]; M.at<double>(74,52)=a[5]; M.at<double>(74,60)=b[18]; M.at<double>(74,61)=b[7]; M.at<double>(74,63)=b[2]; M.at<double>(74,67)=b[13]; M.at<double>(74,68)=b[3]; M.at<double>(74,69)=b[19]; M.at<double>(74,70)=b[4]; M.at<double>(74,72)=b[15]; M.at<double>(74,73)=b[5]; M.at<double>(74,74)=b[17]; M.at<double>(74,78)=b[6]; M.at<double>(74,90)=c[18]; M.at<double>(74,91)=c[4]; M.at<double>(74,92)=c[6]; M.at<double>(74,93)=c[5]; M.at<double>(74,94)=c[17]; M.at<double>(74,95)=c[15]; M.at<double>(74,97)=c[3]; M.at<double>(74,104)=c[13]; M.at<double>(74,110)=c[19]; M.at<double>(74,112)=c[2]; M.at<double>(74,116)=c[7];
+    M.at<double>(75,21)=u[2]; M.at<double>(75,36)=a[2]; M.at<double>(75,37)=a[1]; M.at<double>(75,38)=a[9]; M.at<double>(75,39)=a[13]; M.at<double>(75,49)=a[20]; M.at<double>(75,50)=a[11]; M.at<double>(75,53)=a[3]; M.at<double>(75,76)=b[20]; M.at<double>(75,77)=b[1]; M.at<double>(75,78)=b[9]; M.at<double>(75,79)=b[13]; M.at<double>(75,80)=b[11]; M.at<double>(75,82)=b[3]; M.at<double>(75,84)=b[2]; M.at<double>(75,86)=c[11]; M.at<double>(75,87)=c[3]; M.at<double>(75,88)=c[2]; M.at<double>(75,92)=c[9]; M.at<double>(75,96)=c[13]; M.at<double>(75,98)=c[1]; M.at<double>(75,119)=c[20];
+    M.at<double>(76,48)=a[20]; M.at<double>(76,81)=b[20]; M.at<double>(76,85)=c[20];
+    M.at<double>(77,34)=a[16]; M.at<double>(77,51)=a[14]; M.at<double>(77,54)=b[16]; M.at<double>(77,65)=b[14]; M.at<double>(77,89)=c[14]; M.at<double>(77,99)=c[16]; M.at<double>(77,105)=c[1]; M.at<double>(77,109)=c[10];
+    M.at<double>(78,27)=a[17]; M.at<double>(78,31)=a[12]; M.at<double>(78,37)=a[16]; M.at<double>(78,40)=a[8]; M.at<double>(78,42)=a[19]; M.at<double>(78,55)=b[17]; M.at<double>(78,56)=b[19]; M.at<double>(78,58)=b[12]; M.at<double>(78,72)=b[8]; M.at<double>(78,77)=b[16]; M.at<double>(78,95)=c[8]; M.at<double>(78,98)=c[16]; M.at<double>(78,101)=c[20]; M.at<double>(78,106)=c[19]; M.at<double>(78,108)=c[2]; M.at<double>(78,113)=c[17]; M.at<double>(78,115)=c[12];
+    M.at<double>(79,42)=a[12]; M.at<double>(79,44)=a[16]; M.at<double>(79,46)=a[8]; M.at<double>(79,56)=b[12]; M.at<double>(79,66)=b[8]; M.at<double>(79,68)=b[16]; M.at<double>(79,97)=c[16]; M.at<double>(79,101)=c[17]; M.at<double>(79,102)=c[8]; M.at<double>(79,105)=c[18]; M.at<double>(79,106)=c[12]; M.at<double>(79,108)=c[6];
+    M.at<double>(80,14)=u[4]; M.at<double>(80,28)=a[5]; M.at<double>(80,33)=a[12]; M.at<double>(80,39)=a[16]; M.at<double>(80,41)=a[4]; M.at<double>(80,42)=a[10]; M.at<double>(80,43)=a[8]; M.at<double>(80,47)=a[14]; M.at<double>(80,51)=a[17]; M.at<double>(80,56)=b[10]; M.at<double>(80,57)=b[5]; M.at<double>(80,59)=b[12]; M.at<double>(80,60)=b[14]; M.at<double>(80,62)=b[4]; M.at<double>(80,65)=b[17]; M.at<double>(80,71)=b[8]; M.at<double>(80,79)=b[16]; M.at<double>(80,89)=c[17]; M.at<double>(80,90)=c[14]; M.at<double>(80,96)=c[16]; M.at<double>(80,100)=c[8]; M.at<double>(80,101)=c[9]; M.at<double>(80,106)=c[10]; M.at<double>(80,108)=c[11]; M.at<double>(80,109)=c[3]; M.at<double>(80,111)=c[4]; M.at<double>(80,114)=c[5]; M.at<double>(80,117)=c[12];
+    M.at<double>(81,31)=a[3]; M.at<double>(81,32)=a[2]; M.at<double>(81,37)=a[4]; M.at<double>(81,38)=a[19]; M.at<double>(81,40)=a[13]; M.at<double>(81,47)=a[20]; M.at<double>(81,48)=a[5]; M.at<double>(81,50)=a[17]; M.at<double>(81,58)=b[3]; M.at<double>(81,60)=b[20]; M.at<double>(81,61)=b[2]; M.at<double>(81,72)=b[13]; M.at<double>(81,77)=b[4]; M.at<double>(81,78)=b[19]; M.at<double>(81,80)=b[17]; M.at<double>(81,81)=b[5]; M.at<double>(81,85)=c[5]; M.at<double>(81,86)=c[17]; M.at<double>(81,90)=c[20]; M.at<double>(81,92)=c[19]; M.at<double>(81,95)=c[13]; M.at<double>(81,98)=c[4]; M.at<double>(81,115)=c[3]; M.at<double>(81,116)=c[2];
+    M.at<double>(82,29)=a[6]; M.at<double>(82,44)=a[15]; M.at<double>(82,45)=a[18]; M.at<double>(82,47)=a[7]; M.at<double>(82,60)=b[7]; M.at<double>(82,63)=b[18]; M.at<double>(82,64)=b[4]; M.at<double>(82,67)=b[3]; M.at<double>(82,68)=b[15]; M.at<double>(82,69)=b[17]; M.at<double>(82,70)=b[5]; M.at<double>(82,74)=b[6]; M.at<double>(82,90)=c[7]; M.at<double>(82,91)=c[5]; M.at<double>(82,94)=c[6]; M.at<double>(82,97)=c[15]; M.at<double>(82,103)=c[4]; M.at<double>(82,104)=c[3]; M.at<double>(82,110)=c[17]; M.at<double>(82,112)=c[18];
+    M.at<double>(83,26)=u[2]; M.at<double>(83,27)=a[18]; M.at<double>(83,31)=a[6]; M.at<double>(83,37)=a[12]; M.at<double>(83,40)=a[17]; M.at<double>(83,42)=a[2]; M.at<double>(83,44)=a[19]; M.at<double>(83,46)=a[20]; M.at<double>(83,52)=a[8]; M.at<double>(83,55)=b[18]; M.at<double>(83,56)=b[2]; M.at<double>(83,58)=b[6]; M.at<double>(83,66)=b[20]; M.at<double>(83,68)=b[19]; M.at<double>(83,72)=b[17]; M.at<double>(83,73)=b[8]; M.at<double>(83,77)=b[12]; M.at<double>(83,93)=c[8]; M.at<double>(83,95)=c[17]; M.at<double>(83,97)=c[19]; M.at<double>(83,98)=c[12]; M.at<double>(83,102)=c[20]; M.at<double>(83,106)=c[2]; M.at<double>(83,113)=c[18]; M.at<double>(83,115)=c[6];
+    M.at<double>(84,16)=u[3]; M.at<double>(84,29)=a[5]; M.at<double>(84,30)=a[17]; M.at<double>(84,33)=a[7]; M.at<double>(84,39)=a[6]; M.at<double>(84,43)=a[18]; M.at<double>(84,44)=a[11]; M.at<double>(84,45)=a[3]; M.at<double>(84,47)=a[15]; M.at<double>(84,59)=b[7]; M.at<double>(84,60)=b[15]; M.at<double>(84,63)=b[3]; M.at<double>(84,67)=b[9]; M.at<double>(84,68)=b[11]; M.at<double>(84,69)=b[4]; M.at<double>(84,70)=b[10]; M.at<double>(84,71)=b[18]; M.at<double>(84,74)=b[5]; M.at<double>(84,75)=b[17]; M.at<double>(84,79)=b[6]; M.at<double>(84,90)=c[15]; M.at<double>(84,91)=c[10]; M.at<double>(84,94)=c[5]; M.at<double>(84,96)=c[6]; M.at<double>(84,97)=c[11]; M.at<double>(84,100)=c[18]; M.at<double>(84,104)=c[9]; M.at<double>(84,107)=c[17]; M.at<double>(84,110)=c[4]; M.at<double>(84,112)=c[3]; M.at<double>(84,117)=c[7];
+    M.at<double>(85,25)=u[2]; M.at<double>(85,29)=a[19]; M.at<double>(85,31)=a[15]; M.at<double>(85,32)=a[18]; M.at<double>(85,37)=a[5]; M.at<double>(85,38)=a[17]; M.at<double>(85,40)=a[3]; M.at<double>(85,44)=a[13]; M.at<double>(85,45)=a[20]; M.at<double>(85,47)=a[2]; M.at<double>(85,50)=a[6]; M.at<double>(85,52)=a[4]; M.at<double>(85,58)=b[15]; M.at<double>(85,60)=b[2]; M.at<double>(85,61)=b[18]; M.at<double>(85,63)=b[20]; M.at<double>(85,68)=b[13]; M.at<double>(85,72)=b[3]; M.at<double>(85,73)=b[4]; M.at<double>(85,74)=b[19]; M.at<double>(85,77)=b[5]; M.at<double>(85,78)=b[17]; M.at<double>(85,80)=b[6]; M.at<double>(85,86)=c[6]; M.at<double>(85,90)=c[2]; M.at<double>(85,92)=c[17]; M.at<double>(85,93)=c[4]; M.at<double>(85,94)=c[19]; M.at<double>(85,95)=c[3]; M.at<double>(85,97)=c[13]; M.at<double>(85,98)=c[5]; M.at<double>(85,112)=c[20]; M.at<double>(85,115)=c[15]; M.at<double>(85,116)=c[18];
+    M.at<double>(86,31)=a[18]; M.at<double>(86,37)=a[17]; M.at<double>(86,40)=a[2]; M.at<double>(86,44)=a[20]; M.at<double>(86,48)=a[6]; M.at<double>(86,52)=a[19]; M.at<double>(86,58)=b[18]; M.at<double>(86,68)=b[20]; M.at<double>(86,72)=b[2]; M.at<double>(86,73)=b[19]; M.at<double>(86,77)=b[17]; M.at<double>(86,81)=b[6]; M.at<double>(86,85)=c[6]; M.at<double>(86,93)=c[19]; M.at<double>(86,95)=c[2]; M.at<double>(86,97)=c[20]; M.at<double>(86,98)=c[17]; M.at<double>(86,115)=c[18];
+    M.at<double>(87,22)=u[2]; M.at<double>(87,31)=a[11]; M.at<double>(87,32)=a[3]; M.at<double>(87,33)=a[2]; M.at<double>(87,37)=a[10]; M.at<double>(87,38)=a[4]; M.at<double>(87,39)=a[19]; M.at<double>(87,40)=a[9]; M.at<double>(87,43)=a[20]; M.at<double>(87,47)=a[13]; M.at<double>(87,50)=a[5]; M.at<double>(87,53)=a[17]; M.at<double>(87,58)=b[11]; M.at<double>(87,59)=b[2]; M.at<double>(87,60)=b[13]; M.at<double>(87,61)=b[3]; M.at<double>(87,71)=b[20]; M.at<double>(87,72)=b[9]; M.at<double>(87,77)=b[10]; M.at<double>(87,78)=b[4]; M.at<double>(87,79)=b[19]; M.at<double>(87,80)=b[5]; M.at<double>(87,82)=b[17]; M.at<double>(87,86)=c[5]; M.at<double>(87,87)=c[17]; M.at<double>(87,90)=c[13]; M.at<double>(87,92)=c[4]; M.at<double>(87,95)=c[9]; M.at<double>(87,96)=c[19]; M.at<double>(87,98)=c[10]; M.at<double>(87,100)=c[20]; M.at<double>(87,115)=c[11]; M.at<double>(87,116)=c[3]; M.at<double>(87,117)=c[2];
+    M.at<double>(88,27)=a[2]; M.at<double>(88,31)=a[17]; M.at<double>(88,37)=a[8]; M.at<double>(88,40)=a[19]; M.at<double>(88,42)=a[20]; M.at<double>(88,48)=a[12]; M.at<double>(88,55)=b[2]; M.at<double>(88,56)=b[20]; M.at<double>(88,58)=b[17]; M.at<double>(88,72)=b[19]; M.at<double>(88,77)=b[8]; M.at<double>(88,81)=b[12]; M.at<double>(88,85)=c[12]; M.at<double>(88,95)=c[19]; M.at<double>(88,98)=c[8]; M.at<double>(88,106)=c[20]; M.at<double>(88,113)=c[2]; M.at<double>(88,115)=c[17];
+    M.at<double>(89,31)=a[7]; M.at<double>(89,37)=a[6]; M.at<double>(89,40)=a[18]; M.at<double>(89,44)=a[2]; M.at<double>(89,52)=a[17]; M.at<double>(89,58)=b[7]; M.at<double>(89,67)=b[20]; M.at<double>(89,68)=b[2]; M.at<double>(89,70)=b[19]; M.at<double>(89,72)=b[18]; M.at<double>(89,73)=b[17]; M.at<double>(89,77)=b[6]; M.at<double>(89,91)=c[19]; M.at<double>(89,93)=c[17]; M.at<double>(89,95)=c[18]; M.at<double>(89,97)=c[2]; M.at<double>(89,98)=c[6]; M.at<double>(89,104)=c[20]; M.at<double>(89,115)=c[7];
+    M.at<double>(90,27)=a[12]; M.at<double>(90,40)=a[16]; M.at<double>(90,42)=a[8]; M.at<double>(90,55)=b[12]; M.at<double>(90,56)=b[8]; M.at<double>(90,72)=b[16]; M.at<double>(90,95)=c[16]; M.at<double>(90,101)=c[19]; M.at<double>(90,105)=c[2]; M.at<double>(90,106)=c[8]; M.at<double>(90,108)=c[17]; M.at<double>(90,113)=c[12];
+    M.at<double>(91,23)=u[2]; M.at<double>(91,27)=a[3]; M.at<double>(91,28)=a[2]; M.at<double>(91,31)=a[5]; M.at<double>(91,32)=a[17]; M.at<double>(91,37)=a[14]; M.at<double>(91,38)=a[8]; M.at<double>(91,40)=a[4]; M.at<double>(91,41)=a[20]; M.at<double>(91,42)=a[13]; M.at<double>(91,47)=a[19]; M.at<double>(91,50)=a[12]; M.at<double>(91,55)=b[3]; M.at<double>(91,56)=b[13]; M.at<double>(91,57)=b[2]; M.at<double>(91,58)=b[5]; M.at<double>(91,60)=b[19]; M.at<double>(91,61)=b[17]; M.at<double>(91,62)=b[20]; M.at<double>(91,72)=b[4]; M.at<double>(91,77)=b[14]; M.at<double>(91,78)=b[8]; M.at<double>(91,80)=b[12]; M.at<double>(91,86)=c[12]; M.at<double>(91,90)=c[19]; M.at<double>(91,92)=c[8]; M.at<double>(91,95)=c[4]; M.at<double>(91,98)=c[14]; M.at<double>(91,106)=c[13]; M.at<double>(91,111)=c[20]; M.at<double>(91,113)=c[3]; M.at<double>(91,114)=c[2]; M.at<double>(91,115)=c[5]; M.at<double>(91,116)=c[17];
+    M.at<double>(92,17)=u[4]; M.at<double>(92,28)=a[6]; M.at<double>(92,29)=a[16]; M.at<double>(92,41)=a[17]; M.at<double>(92,42)=a[5]; M.at<double>(92,44)=a[14]; M.at<double>(92,45)=a[8]; M.at<double>(92,46)=a[4]; M.at<double>(92,47)=a[12]; M.at<double>(92,56)=b[5]; M.at<double>(92,57)=b[6]; M.at<double>(92,60)=b[12]; M.at<double>(92,62)=b[17]; M.at<double>(92,63)=b[8]; M.at<double>(92,66)=b[4]; M.at<double>(92,68)=b[14]; M.at<double>(92,74)=b[16]; M.at<double>(92,90)=c[12]; M.at<double>(92,94)=c[16]; M.at<double>(92,97)=c[14]; M.at<double>(92,101)=c[3]; M.at<double>(92,102)=c[4]; M.at<double>(92,106)=c[5]; M.at<double>(92,108)=c[15]; M.at<double>(92,109)=c[18]; M.at<double>(92,111)=c[17]; M.at<double>(92,112)=c[8]; M.at<double>(92,114)=c[6];
+    M.at<double>(93,17)=u[3]; M.at<double>(93,28)=a[7]; M.at<double>(93,29)=a[12]; M.at<double>(93,41)=a[18]; M.at<double>(93,42)=a[15]; M.at<double>(93,44)=a[5]; M.at<double>(93,45)=a[17]; M.at<double>(93,46)=a[3]; M.at<double>(93,47)=a[6]; M.at<double>(93,56)=b[15]; M.at<double>(93,57)=b[7]; M.at<double>(93,60)=b[6]; M.at<double>(93,62)=b[18]; M.at<double>(93,63)=b[17]; M.at<double>(93,66)=b[3]; M.at<double>(93,67)=b[4]; M.at<double>(93,68)=b[5]; M.at<double>(93,69)=b[8]; M.at<double>(93,70)=b[14]; M.at<double>(93,74)=b[12]; M.at<double>(93,90)=c[6]; M.at<double>(93,91)=c[14]; M.at<double>(93,94)=c[12]; M.at<double>(93,97)=c[5]; M.at<double>(93,102)=c[3]; M.at<double>(93,104)=c[4]; M.at<double>(93,106)=c[15]; M.at<double>(93,110)=c[8]; M.at<double>(93,111)=c[18]; M.at<double>(93,112)=c[17]; M.at<double>(93,114)=c[7];
+    M.at<double>(94,31)=a[2]; M.at<double>(94,37)=a[19]; M.at<double>(94,40)=a[20]; M.at<double>(94,48)=a[17]; M.at<double>(94,58)=b[2]; M.at<double>(94,72)=b[20]; M.at<double>(94,77)=b[19]; M.at<double>(94,81)=b[17]; M.at<double>(94,85)=c[17]; M.at<double>(94,95)=c[20]; M.at<double>(94,98)=c[19]; M.at<double>(94,115)=c[2];
+    M.at<double>(95,26)=u[4]; M.at<double>(95,27)=a[6]; M.at<double>(95,40)=a[12]; M.at<double>(95,42)=a[17]; M.at<double>(95,44)=a[8]; M.at<double>(95,46)=a[19]; M.at<double>(95,52)=a[16]; M.at<double>(95,55)=b[6]; M.at<double>(95,56)=b[17]; M.at<double>(95,66)=b[19]; M.at<double>(95,68)=b[8]; M.at<double>(95,72)=b[12]; M.at<double>(95,73)=b[16]; M.at<double>(95,93)=c[16]; M.at<double>(95,95)=c[12]; M.at<double>(95,97)=c[8]; M.at<double>(95,101)=c[2]; M.at<double>(95,102)=c[19]; M.at<double>(95,106)=c[17]; M.at<double>(95,108)=c[18]; M.at<double>(95,113)=c[6];
+    M.at<double>(96,23)=u[4]; M.at<double>(96,27)=a[5]; M.at<double>(96,28)=a[17]; M.at<double>(96,32)=a[12]; M.at<double>(96,38)=a[16]; M.at<double>(96,40)=a[14]; M.at<double>(96,41)=a[19]; M.at<double>(96,42)=a[4]; M.at<double>(96,47)=a[8]; M.at<double>(96,55)=b[5]; M.at<double>(96,56)=b[4]; M.at<double>(96,57)=b[17]; M.at<double>(96,60)=b[8]; M.at<double>(96,61)=b[12]; M.at<double>(96,62)=b[19]; M.at<double>(96,72)=b[14]; M.at<double>(96,78)=b[16]; M.at<double>(96,90)=c[8]; M.at<double>(96,92)=c[16]; M.at<double>(96,95)=c[14]; M.at<double>(96,101)=c[13]; M.at<double>(96,106)=c[4]; M.at<double>(96,108)=c[3]; M.at<double>(96,109)=c[2]; M.at<double>(96,111)=c[19]; M.at<double>(96,113)=c[5]; M.at<double>(96,114)=c[17]; M.at<double>(96,116)=c[12];
+    M.at<double>(97,42)=a[6]; M.at<double>(97,44)=a[12]; M.at<double>(97,46)=a[17]; M.at<double>(97,56)=b[6]; M.at<double>(97,66)=b[17]; M.at<double>(97,67)=b[8]; M.at<double>(97,68)=b[12]; M.at<double>(97,70)=b[16]; M.at<double>(97,91)=c[16]; M.at<double>(97,97)=c[12]; M.at<double>(97,101)=c[18]; M.at<double>(97,102)=c[17]; M.at<double>(97,104)=c[8]; M.at<double>(97,106)=c[6]; M.at<double>(97,108)=c[7];
+    M.at<double>(98,28)=a[12]; M.at<double>(98,41)=a[8]; M.at<double>(98,42)=a[14]; M.at<double>(98,47)=a[16]; M.at<double>(98,56)=b[14]; M.at<double>(98,57)=b[12]; M.at<double>(98,60)=b[16]; M.at<double>(98,62)=b[8]; M.at<double>(98,90)=c[16]; M.at<double>(98,101)=c[4]; M.at<double>(98,105)=c[3]; M.at<double>(98,106)=c[14]; M.at<double>(98,108)=c[5]; M.at<double>(98,109)=c[17]; M.at<double>(98,111)=c[8]; M.at<double>(98,114)=c[12];
+    M.at<double>(99,42)=a[7]; M.at<double>(99,44)=a[6]; M.at<double>(99,46)=a[18]; M.at<double>(99,56)=b[7]; M.at<double>(99,64)=b[8]; M.at<double>(99,66)=b[18]; M.at<double>(99,67)=b[17]; M.at<double>(99,68)=b[6]; M.at<double>(99,70)=b[12]; M.at<double>(99,91)=c[12]; M.at<double>(99,97)=c[6]; M.at<double>(99,102)=c[18]; M.at<double>(99,103)=c[8]; M.at<double>(99,104)=c[17]; M.at<double>(99,106)=c[7];
+    M.at<double>(100,51)=a[16]; M.at<double>(100,65)=b[16]; M.at<double>(100,89)=c[16]; M.at<double>(100,105)=c[10]; M.at<double>(100,109)=c[14];
+    M.at<double>(101,37)=a[9]; M.at<double>(101,38)=a[13]; M.at<double>(101,39)=a[20]; M.at<double>(101,48)=a[11]; M.at<double>(101,50)=a[3]; M.at<double>(101,53)=a[2]; M.at<double>(101,77)=b[9]; M.at<double>(101,78)=b[13]; M.at<double>(101,79)=b[20]; M.at<double>(101,80)=b[3]; M.at<double>(101,81)=b[11]; M.at<double>(101,82)=b[2]; M.at<double>(101,85)=c[11]; M.at<double>(101,86)=c[3]; M.at<double>(101,87)=c[2]; M.at<double>(101,92)=c[13]; M.at<double>(101,96)=c[20]; M.at<double>(101,98)=c[9];
+    M.at<double>(102,37)=a[13]; M.at<double>(102,38)=a[20]; M.at<double>(102,48)=a[3]; M.at<double>(102,50)=a[2]; M.at<double>(102,77)=b[13]; M.at<double>(102,78)=b[20]; M.at<double>(102,80)=b[2]; M.at<double>(102,81)=b[3]; M.at<double>(102,85)=c[3]; M.at<double>(102,86)=c[2]; M.at<double>(102,92)=c[20]; M.at<double>(102,98)=c[13];
+    M.at<double>(103,37)=a[20]; M.at<double>(103,48)=a[2]; M.at<double>(103,77)=b[20]; M.at<double>(103,81)=b[2]; M.at<double>(103,85)=c[2]; M.at<double>(103,98)=c[20];
+    M.at<double>(104,11)=u[4]; M.at<double>(104,28)=a[10]; M.at<double>(104,33)=a[14]; M.at<double>(104,34)=a[8]; M.at<double>(104,36)=a[16]; M.at<double>(104,51)=a[4]; M.at<double>(104,54)=b[8]; M.at<double>(104,57)=b[10]; M.at<double>(104,59)=b[14]; M.at<double>(104,65)=b[4]; M.at<double>(104,84)=b[16]; M.at<double>(104,88)=c[16]; M.at<double>(104,89)=c[4]; M.at<double>(104,99)=c[8]; M.at<double>(104,108)=c[1]; M.at<double>(104,109)=c[9]; M.at<double>(104,114)=c[10]; M.at<double>(104,117)=c[14];
+    M.at<double>(105,20)=u[4]; M.at<double>(105,27)=a[10]; M.at<double>(105,28)=a[4]; M.at<double>(105,32)=a[14]; M.at<double>(105,33)=a[8]; M.at<double>(105,51)=a[19]; M.at<double>(105,53)=a[16]; M.at<double>(105,55)=b[10]; M.at<double>(105,57)=b[4]; M.at<double>(105,59)=b[8]; M.at<double>(105,61)=b[14]; M.at<double>(105,65)=b[19]; M.at<double>(105,82)=b[16]; M.at<double>(105,87)=c[16]; M.at<double>(105,89)=c[19]; M.at<double>(105,108)=c[9]; M.at<double>(105,109)=c[13]; M.at<double>(105,113)=c[10]; M.at<double>(105,114)=c[4]; M.at<double>(105,116)=c[14]; M.at<double>(105,117)=c[8];
+    M.at<double>(106,27)=a[4]; M.at<double>(106,28)=a[19]; M.at<double>(106,31)=a[14]; M.at<double>(106,32)=a[8]; M.at<double>(106,50)=a[16]; M.at<double>(106,55)=b[4]; M.at<double>(106,57)=b[19]; M.at<double>(106,58)=b[14]; M.at<double>(106,61)=b[8]; M.at<double>(106,80)=b[16]; M.at<double>(106,86)=c[16]; M.at<double>(106,108)=c[13]; M.at<double>(106,109)=c[20]; M.at<double>(106,113)=c[4]; M.at<double>(106,114)=c[19]; M.at<double>(106,115)=c[14]; M.at<double>(106,116)=c[8];
+    M.at<double>(107,27)=a[19]; M.at<double>(107,31)=a[8]; M.at<double>(107,48)=a[16]; M.at<double>(107,55)=b[19]; M.at<double>(107,58)=b[8]; M.at<double>(107,81)=b[16]; M.at<double>(107,85)=c[16]; M.at<double>(107,108)=c[20]; M.at<double>(107,113)=c[19]; M.at<double>(107,115)=c[8];
+    M.at<double>(108,36)=a[20]; M.at<double>(108,48)=a[1]; M.at<double>(108,50)=a[9]; M.at<double>(108,53)=a[13]; M.at<double>(108,80)=b[9]; M.at<double>(108,81)=b[1]; M.at<double>(108,82)=b[13]; M.at<double>(108,84)=b[20]; M.at<double>(108,85)=c[1]; M.at<double>(108,86)=c[9]; M.at<double>(108,87)=c[13]; M.at<double>(108,88)=c[20];
+    M.at<double>(109,26)=u[3]; M.at<double>(109,27)=a[7]; M.at<double>(109,40)=a[6]; M.at<double>(109,42)=a[18]; M.at<double>(109,44)=a[17]; M.at<double>(109,46)=a[2]; M.at<double>(109,52)=a[12]; M.at<double>(109,55)=b[7]; M.at<double>(109,56)=b[18]; M.at<double>(109,66)=b[2]; M.at<double>(109,67)=b[19]; M.at<double>(109,68)=b[17]; M.at<double>(109,70)=b[8]; M.at<double>(109,72)=b[6]; M.at<double>(109,73)=b[12]; M.at<double>(109,91)=c[8]; M.at<double>(109,93)=c[12]; M.at<double>(109,95)=c[6]; M.at<double>(109,97)=c[17]; M.at<double>(109,102)=c[2]; M.at<double>(109,104)=c[19]; M.at<double>(109,106)=c[18]; M.at<double>(109,113)=c[7];
+    M.at<double>(110,7)=u[3]; M.at<double>(110,30)=a[5]; M.at<double>(110,34)=a[7]; M.at<double>(110,43)=a[15]; M.at<double>(110,45)=a[11]; M.at<double>(110,49)=a[6]; M.at<double>(110,54)=b[7]; M.at<double>(110,63)=b[11]; M.at<double>(110,67)=b[1]; M.at<double>(110,69)=b[10]; M.at<double>(110,71)=b[15]; M.at<double>(110,75)=b[5]; M.at<double>(110,76)=b[6]; M.at<double>(110,99)=c[7]; M.at<double>(110,100)=c[15]; M.at<double>(110,104)=c[1]; M.at<double>(110,107)=c[5]; M.at<double>(110,110)=c[10]; M.at<double>(110,112)=c[11]; M.at<double>(110,119)=c[6];
+    M.at<double>(111,18)=u[2]; M.at<double>(111,35)=a[20]; M.at<double>(111,36)=a[13]; M.at<double>(111,50)=a[1]; M.at<double>(111,53)=a[9]; M.at<double>(111,80)=b[1]; M.at<double>(111,82)=b[9]; M.at<double>(111,83)=b[20]; M.at<double>(111,84)=b[13]; M.at<double>(111,86)=c[1]; M.at<double>(111,87)=c[9]; M.at<double>(111,88)=c[13]; M.at<double>(111,118)=c[20];
+    M.at<double>(112,19)=u[2]; M.at<double>(112,31)=a[1]; M.at<double>(112,32)=a[9]; M.at<double>(112,33)=a[13]; M.at<double>(112,34)=a[20]; M.at<double>(112,36)=a[19]; M.at<double>(112,50)=a[10]; M.at<double>(112,53)=a[4]; M.at<double>(112,54)=b[20]; M.at<double>(112,58)=b[1]; M.at<double>(112,59)=b[13]; M.at<double>(112,61)=b[9]; M.at<double>(112,80)=b[10]; M.at<double>(112,82)=b[4]; M.at<double>(112,84)=b[19]; M.at<double>(112,86)=c[10]; M.at<double>(112,87)=c[4]; M.at<double>(112,88)=c[19]; M.at<double>(112,99)=c[20]; M.at<double>(112,115)=c[1]; M.at<double>(112,116)=c[9]; M.at<double>(112,117)=c[13];
+    M.at<double>(113,31)=a[9]; M.at<double>(113,32)=a[13]; M.at<double>(113,33)=a[20]; M.at<double>(113,48)=a[10]; M.at<double>(113,50)=a[4]; M.at<double>(113,53)=a[19]; M.at<double>(113,58)=b[9]; M.at<double>(113,59)=b[20]; M.at<double>(113,61)=b[13]; M.at<double>(113,80)=b[4]; M.at<double>(113,81)=b[10]; M.at<double>(113,82)=b[19]; M.at<double>(113,85)=c[10]; M.at<double>(113,86)=c[4]; M.at<double>(113,87)=c[19]; M.at<double>(113,115)=c[9]; M.at<double>(113,116)=c[13]; M.at<double>(113,117)=c[20];
+    M.at<double>(114,31)=a[13]; M.at<double>(114,32)=a[20]; M.at<double>(114,48)=a[4]; M.at<double>(114,50)=a[19]; M.at<double>(114,58)=b[13]; M.at<double>(114,61)=b[20]; M.at<double>(114,80)=b[19]; M.at<double>(114,81)=b[4]; M.at<double>(114,85)=c[4]; M.at<double>(114,86)=c[19]; M.at<double>(114,115)=c[13]; M.at<double>(114,116)=c[20];
+    M.at<double>(115,31)=a[20]; M.at<double>(115,48)=a[19]; M.at<double>(115,58)=b[20]; M.at<double>(115,81)=b[19]; M.at<double>(115,85)=c[19]; M.at<double>(115,115)=c[20];
+    M.at<double>(116,24)=u[2]; M.at<double>(116,29)=a[13]; M.at<double>(116,30)=a[20]; M.at<double>(116,37)=a[11]; M.at<double>(116,38)=a[3]; M.at<double>(116,39)=a[2]; M.at<double>(116,50)=a[15]; M.at<double>(116,52)=a[9]; M.at<double>(116,53)=a[18]; M.at<double>(116,73)=b[9]; M.at<double>(116,74)=b[13]; M.at<double>(116,75)=b[20]; M.at<double>(116,77)=b[11]; M.at<double>(116,78)=b[3]; M.at<double>(116,79)=b[2]; M.at<double>(116,80)=b[15]; M.at<double>(116,82)=b[18]; M.at<double>(116,86)=c[15]; M.at<double>(116,87)=c[18]; M.at<double>(116,92)=c[3]; M.at<double>(116,93)=c[9]; M.at<double>(116,94)=c[13]; M.at<double>(116,96)=c[2]; M.at<double>(116,98)=c[11]; M.at<double>(116,107)=c[20];
+    M.at<double>(117,29)=a[20]; M.at<double>(117,37)=a[3]; M.at<double>(117,38)=a[2]; M.at<double>(117,48)=a[15]; M.at<double>(117,50)=a[18]; M.at<double>(117,52)=a[13]; M.at<double>(117,73)=b[13]; M.at<double>(117,74)=b[20]; M.at<double>(117,77)=b[3]; M.at<double>(117,78)=b[2]; M.at<double>(117,80)=b[18]; M.at<double>(117,81)=b[15]; M.at<double>(117,85)=c[15]; M.at<double>(117,86)=c[18]; M.at<double>(117,92)=c[2]; M.at<double>(117,93)=c[13]; M.at<double>(117,94)=c[20]; M.at<double>(117,98)=c[3];
+    M.at<double>(118,27)=a[13]; M.at<double>(118,28)=a[20]; M.at<double>(118,31)=a[4]; M.at<double>(118,32)=a[19]; M.at<double>(118,48)=a[14]; M.at<double>(118,50)=a[8]; M.at<double>(118,55)=b[13]; M.at<double>(118,57)=b[20]; M.at<double>(118,58)=b[4]; M.at<double>(118,61)=b[19]; M.at<double>(118,80)=b[8]; M.at<double>(118,81)=b[14]; M.at<double>(118,85)=c[14]; M.at<double>(118,86)=c[8]; M.at<double>(118,113)=c[13]; M.at<double>(118,114)=c[20]; M.at<double>(118,115)=c[4]; M.at<double>(118,116)=c[19];
+    M.at<double>(119,27)=a[20]; M.at<double>(119,31)=a[19]; M.at<double>(119,48)=a[8]; M.at<double>(119,55)=b[20]; M.at<double>(119,58)=b[19]; M.at<double>(119,81)=b[8]; M.at<double>(119,85)=c[8]; M.at<double>(119,113)=c[20]; M.at<double>(119,115)=c[19];
 
-	return M.t();
+    return M.t();
 }
 
 cv::Mat dls::Hessian(const double s[])
 {
-	// the vector of monomials is
-	// m = [ const ; s1^2 * s2 ; s1 * s2 ; s1 * s3 ; s2 * s3 ; s2^2 * s3 ; s2^3 ; ...
-	//       s1 * s3^2 ; s1 ; s3 ; s2 ; s2 * s3^2 ; s1^2 ; s3^2 ; s2^2 ; s3^3 ;   ...
-	//       s1 * s2 * s3 ; s1 * s2^2 ; s1^2 * s3 ; s1^3]
-	//
+    // the vector of monomials is
+    // m = [ const ; s1^2 * s2 ; s1 * s2 ; s1 * s3 ; s2 * s3 ; s2^2 * s3 ; s2^3 ; ...
+    //       s1 * s3^2 ; s1 ; s3 ; s2 ; s2 * s3^2 ; s1^2 ; s3^2 ; s2^2 ; s3^3 ;   ...
+    //       s1 * s2 * s3 ; s1 * s2^2 ; s1^2 * s3 ; s1^3]
+    //
 
-	// deriv of m w.r.t. s1
-	//Hs3 = [0 ; 2 * s(1) * s(2) ; s(2) ; s(3) ; 0 ; 0 ; 0 ; ...
-	//	     s(3)^2 ; 1 ; 0 ; 0 ; 0 ; 2 * s(1) ; 0 ; 0 ; 0 ; ...
-	//	     s(2) * s(3) ; s(2)^2 ; 2*s(1)*s(3); 3 * s(1)^2];
+    // deriv of m w.r.t. s1
+    //Hs3 = [0 ; 2 * s(1) * s(2) ; s(2) ; s(3) ; 0 ; 0 ; 0 ; ...
+    //         s(3)^2 ; 1 ; 0 ; 0 ; 0 ; 2 * s(1) ; 0 ; 0 ; 0 ; ...
+    //         s(2) * s(3) ; s(2)^2 ; 2*s(1)*s(3); 3 * s(1)^2];
 
-	double Hs1[20];
-	Hs1[0]=0; Hs1[1]=2*s[0]*s[1]; Hs1[2]=s[1]; Hs1[3]=s[2]; Hs1[4]=0; Hs1[5]=0; Hs1[6]=0;
-	Hs1[7]=s[2]*s[2]; Hs1[8]=1; Hs1[9]=0; Hs1[10]=0; Hs1[11]=0; Hs1[12]=2*s[0]; Hs1[13]=0;
-	Hs1[14]=0; Hs1[15]=0; Hs1[16]=s[1]*s[2]; Hs1[17]=s[1]*s[1]; Hs1[18]=2*s[0]*s[2]; Hs1[19]=3*s[0]*s[0];
+    double Hs1[20];
+    Hs1[0]=0; Hs1[1]=2*s[0]*s[1]; Hs1[2]=s[1]; Hs1[3]=s[2]; Hs1[4]=0; Hs1[5]=0; Hs1[6]=0;
+    Hs1[7]=s[2]*s[2]; Hs1[8]=1; Hs1[9]=0; Hs1[10]=0; Hs1[11]=0; Hs1[12]=2*s[0]; Hs1[13]=0;
+    Hs1[14]=0; Hs1[15]=0; Hs1[16]=s[1]*s[2]; Hs1[17]=s[1]*s[1]; Hs1[18]=2*s[0]*s[2]; Hs1[19]=3*s[0]*s[0];
 
-	// deriv of m w.r.t. s2
-	//Hs2 = [0 ; s(1)^2 ; s(1) ; 0 ; s(3) ; 2 * s(2) * s(3) ; 3 * s(2)^2 ; ...
-	//	     0 ; 0 ; 0 ; 1 ; s(3)^2 ; 0 ; 0 ; 2 * s(2) ; 0 ; ...
-	//	     s(1) * s(3) ; s(1) * 2 * s(2) ; 0 ; 0];
+    // deriv of m w.r.t. s2
+    //Hs2 = [0 ; s(1)^2 ; s(1) ; 0 ; s(3) ; 2 * s(2) * s(3) ; 3 * s(2)^2 ; ...
+    //         0 ; 0 ; 0 ; 1 ; s(3)^2 ; 0 ; 0 ; 2 * s(2) ; 0 ; ...
+    //         s(1) * s(3) ; s(1) * 2 * s(2) ; 0 ; 0];
 
-	double Hs2[20];
-	Hs2[0]=0; Hs2[1]=s[0]*s[0]; Hs2[2]=s[0]; Hs2[3]=0; Hs2[4]=s[2]; Hs2[5]=2*s[1]*s[2]; Hs2[6]=3*s[1]*s[1];
-	Hs2[7]=0; Hs2[8]=0; Hs2[9]=0; Hs2[10]=1; Hs2[11]=s[2]*s[2]; Hs2[12]=0; Hs2[13]=0;
-	Hs2[14]=2*s[1]; Hs2[15]=0; Hs2[16]=s[0]*s[2]; Hs2[17]=2*s[0]*s[1]; Hs2[18]=0; Hs2[19]=0;
+    double Hs2[20];
+    Hs2[0]=0; Hs2[1]=s[0]*s[0]; Hs2[2]=s[0]; Hs2[3]=0; Hs2[4]=s[2]; Hs2[5]=2*s[1]*s[2]; Hs2[6]=3*s[1]*s[1];
+    Hs2[7]=0; Hs2[8]=0; Hs2[9]=0; Hs2[10]=1; Hs2[11]=s[2]*s[2]; Hs2[12]=0; Hs2[13]=0;
+    Hs2[14]=2*s[1]; Hs2[15]=0; Hs2[16]=s[0]*s[2]; Hs2[17]=2*s[0]*s[1]; Hs2[18]=0; Hs2[19]=0;
 
-	// deriv of m w.r.t. s3
-	//Hs3 = [0 ; 0 ; 0 ; s(1) ; s(2) ; s(2)^2 ; 0 ; ...
-	//	     s(1) * 2 * s(3) ; 0 ; 1 ; 0 ; s(2) * 2 * s(3) ; 0 ; 2 * s(3) ; 0 ; 3 * s(3)^2 ; ...
-	//	     s(1) * s(2) ; 0 ; s(1)^2 ; 0];
+    // deriv of m w.r.t. s3
+    //Hs3 = [0 ; 0 ; 0 ; s(1) ; s(2) ; s(2)^2 ; 0 ; ...
+    //         s(1) * 2 * s(3) ; 0 ; 1 ; 0 ; s(2) * 2 * s(3) ; 0 ; 2 * s(3) ; 0 ; 3 * s(3)^2 ; ...
+    //         s(1) * s(2) ; 0 ; s(1)^2 ; 0];
 
-	double Hs3[20];
-	Hs3[0]=0; Hs3[1]=0; Hs3[2]=0; Hs3[3]=s[0]; Hs3[4]=s[1]; Hs3[5]=s[1]*s[1]; Hs3[6]=0;
-	Hs3[7]=2*s[0]*s[2]; Hs3[8]=0; Hs3[9]=1; Hs3[10]=0; Hs3[11]=2*s[1]*s[2]; Hs3[12]=0; Hs3[13]=2*s[2];
-	Hs3[14]=0; Hs3[15]=3*s[2]*s[2]; Hs3[16]=s[0]*s[1]; Hs3[17]=0; Hs3[18]=s[0]*s[0]; Hs3[19]=0;
+    double Hs3[20];
+    Hs3[0]=0; Hs3[1]=0; Hs3[2]=0; Hs3[3]=s[0]; Hs3[4]=s[1]; Hs3[5]=s[1]*s[1]; Hs3[6]=0;
+    Hs3[7]=2*s[0]*s[2]; Hs3[8]=0; Hs3[9]=1; Hs3[10]=0; Hs3[11]=2*s[1]*s[2]; Hs3[12]=0; Hs3[13]=2*s[2];
+    Hs3[14]=0; Hs3[15]=3*s[2]*s[2]; Hs3[16]=s[0]*s[1]; Hs3[17]=0; Hs3[18]=s[0]*s[0]; Hs3[19]=0;
 
-	// fill Hessian matrix
-	cv::Mat H(3, 3, CV_64F);
-	H.at<double>(0,0) = cv::Mat(cv::Mat(f1coeff).rowRange(1,21).t()*cv::Mat(20, 1, CV_64F, &Hs1)).at<double>(0,0);
-	H.at<double>(0,1) = cv::Mat(cv::Mat(f1coeff).rowRange(1,21).t()*cv::Mat(20, 1, CV_64F, &Hs2)).at<double>(0,0);
-	H.at<double>(0,2) = cv::Mat(cv::Mat(f1coeff).rowRange(1,21).t()*cv::Mat(20, 1, CV_64F, &Hs3)).at<double>(0,0);
+    // fill Hessian matrix
+    cv::Mat H(3, 3, CV_64F);
+    H.at<double>(0,0) = cv::Mat(cv::Mat(f1coeff).rowRange(1,21).t()*cv::Mat(20, 1, CV_64F, &Hs1)).at<double>(0,0);
+    H.at<double>(0,1) = cv::Mat(cv::Mat(f1coeff).rowRange(1,21).t()*cv::Mat(20, 1, CV_64F, &Hs2)).at<double>(0,0);
+    H.at<double>(0,2) = cv::Mat(cv::Mat(f1coeff).rowRange(1,21).t()*cv::Mat(20, 1, CV_64F, &Hs3)).at<double>(0,0);
 
-	H.at<double>(1,0) = cv::Mat(cv::Mat(f2coeff).rowRange(1,21).t()*cv::Mat(20, 1, CV_64F, &Hs1)).at<double>(0,0);
-	H.at<double>(1,1) = cv::Mat(cv::Mat(f2coeff).rowRange(1,21).t()*cv::Mat(20, 1, CV_64F, &Hs2)).at<double>(0,0);
-	H.at<double>(1,2) = cv::Mat(cv::Mat(f2coeff).rowRange(1,21).t()*cv::Mat(20, 1, CV_64F, &Hs3)).at<double>(0,0);
+    H.at<double>(1,0) = cv::Mat(cv::Mat(f2coeff).rowRange(1,21).t()*cv::Mat(20, 1, CV_64F, &Hs1)).at<double>(0,0);
+    H.at<double>(1,1) = cv::Mat(cv::Mat(f2coeff).rowRange(1,21).t()*cv::Mat(20, 1, CV_64F, &Hs2)).at<double>(0,0);
+    H.at<double>(1,2) = cv::Mat(cv::Mat(f2coeff).rowRange(1,21).t()*cv::Mat(20, 1, CV_64F, &Hs3)).at<double>(0,0);
 
-	H.at<double>(2,0) = cv::Mat(cv::Mat(f3coeff).rowRange(1,21).t()*cv::Mat(20, 1, CV_64F, &Hs1)).at<double>(0,0);
-	H.at<double>(2,1) = cv::Mat(cv::Mat(f3coeff).rowRange(1,21).t()*cv::Mat(20, 1, CV_64F, &Hs2)).at<double>(0,0);
-	H.at<double>(2,2) = cv::Mat(cv::Mat(f3coeff).rowRange(1,21).t()*cv::Mat(20, 1, CV_64F, &Hs3)).at<double>(0,0);
+    H.at<double>(2,0) = cv::Mat(cv::Mat(f3coeff).rowRange(1,21).t()*cv::Mat(20, 1, CV_64F, &Hs1)).at<double>(0,0);
+    H.at<double>(2,1) = cv::Mat(cv::Mat(f3coeff).rowRange(1,21).t()*cv::Mat(20, 1, CV_64F, &Hs2)).at<double>(0,0);
+    H.at<double>(2,2) = cv::Mat(cv::Mat(f3coeff).rowRange(1,21).t()*cv::Mat(20, 1, CV_64F, &Hs3)).at<double>(0,0);
 
-	return H;
+    return H;
 }
 
 cv::Mat dls::cayley2rotbar(const cv::Mat& s)
 {
-	double s_mul1 = cv::Mat(s.t()*s).at<double>(0,0);
-	cv::Mat s_mul2 = s*s.t();
-	cv::Mat eye = cv::Mat::eye(3, 3, CV_64F);
+    double s_mul1 = cv::Mat(s.t()*s).at<double>(0,0);
+    cv::Mat s_mul2 = s*s.t();
+    cv::Mat eye = cv::Mat::eye(3, 3, CV_64F);
 
-	return cv::Mat( eye.mul(1.-s_mul1) + skewsymm(&s).mul(2.) + s_mul2.mul(2.) ).t();
+    return cv::Mat( eye.mul(1.-s_mul1) + skewsymm(&s).mul(2.) + s_mul2.mul(2.) ).t();
 }
 
 cv::Mat dls::skewsymm(const cv::Mat * X1)
 {
-	cv::MatConstIterator_<double> it = X1->begin<double>();
-	return (cv::Mat_<double>(3,3) <<        0, -*(it+2),  *(it+1),
-									  *(it+2),        0, -*(it+0),
-									 -*(it+1),  *(it+0),       0);
+    cv::MatConstIterator_<double> it = X1->begin<double>();
+    return (cv::Mat_<double>(3,3) <<        0, -*(it+2),  *(it+1),
+                                      *(it+2),        0, -*(it+0),
+                                     -*(it+1),  *(it+0),       0);
 }
 
 cv::Mat dls::rotx(const double t)
 {
-	// rotx: rotation about y-axis
-	double ct = cos(t);
-	double st = sin(t);
-	return (cv::Mat_<double>(3,3) << 1, 0, 0, 0, ct, -st, 0, st, ct);
+    // rotx: rotation about y-axis
+    double ct = cos(t);
+    double st = sin(t);
+    return (cv::Mat_<double>(3,3) << 1, 0, 0, 0, ct, -st, 0, st, ct);
 }
 
 cv::Mat dls::roty(const double t)
 {
-	// roty: rotation about y-axis
-	double ct = cos(t);
-	double st = sin(t);
-	return (cv::Mat_<double>(3,3) << ct, 0, st, 0, 1, 0, -st, 0, ct);
+    // roty: rotation about y-axis
+    double ct = cos(t);
+    double st = sin(t);
+    return (cv::Mat_<double>(3,3) << ct, 0, st, 0, 1, 0, -st, 0, ct);
 }
 
 cv::Mat dls::rotz(const double t)
 {
-	// rotz: rotation about y-axis
-	double ct = cos(t);
-	double st = sin(t);
-	return (cv::Mat_<double>(3,3) << ct, -st, 0, st, ct, 0, 0, 0, 1);
+    // rotz: rotation about y-axis
+    double ct = cos(t);
+    double st = sin(t);
+    return (cv::Mat_<double>(3,3) << ct, -st, 0, st, ct, 0, 0, 0, 1);
 }
 
 cv::Mat dls::mean(const cv::Mat& M)
 {
-	cv::Mat m = cv::Mat::zeros(3, 1, CV_64F);
-	for (int i = 0; i < M.cols; ++i) m += M.col(i);
-	return m.mul(1./(double)M.cols);
+    cv::Mat m = cv::Mat::zeros(3, 1, CV_64F);
+    for (int i = 0; i < M.cols; ++i) m += M.col(i);
+    return m.mul(1./(double)M.cols);
 }
 
 bool dls::is_empty(const cv::Mat * M)
 {
-	cv::MatConstIterator_<double> it = M->begin<double>(), it_end = M->end<double>();
-	for(; it != it_end; ++it)
-	{
-		if(*it < 0) return false;
-	}
-	return true;
+    cv::MatConstIterator_<double> it = M->begin<double>(), it_end = M->end<double>();
+    for(; it != it_end; ++it)
+    {
+        if(*it < 0) return false;
+    }
+    return true;
 }
 
 bool dls::positive_eigenvalues(const cv::Mat * eigenvalues)
 {
-	cv::MatConstIterator_<double> it = eigenvalues->begin<double>();
-	return *(it) > 0 && *(it+1) > 0 && *(it+2) > 0;
+    cv::MatConstIterator_<double> it = eigenvalues->begin<double>();
+    return *(it) > 0 && *(it+1) > 0 && *(it+2) > 0;
 }
 
 
diff --git a/modules/calib3d/src/dls.h b/modules/calib3d/src/dls.h
index 83f014f805..ba6c40a79a 100644
--- a/modules/calib3d/src/dls.h
+++ b/modules/calib3d/src/dls.h
@@ -9,61 +9,61 @@ using namespace cv;
 class dls
 {
 public:
-	dls(const cv::Mat& opoints, const cv::Mat& ipoints);
-	~dls();
+    dls(const cv::Mat& opoints, const cv::Mat& ipoints);
+    ~dls();
 
-	bool compute_pose(cv::Mat& R, cv::Mat& t);
+    bool compute_pose(cv::Mat& R, cv::Mat& t);
 
 private:
 
-	// initialisation
-	template <typename OpointType, typename IpointType>
-	void init_points(const cv::Mat& opoints, const cv::Mat& ipoints)
-	{
-		for(int i = 0; i < N; i++)
-		{
-			p.at<double>(0,i) = opoints.at<OpointType>(0,i).x;
-			p.at<double>(1,i) = opoints.at<OpointType>(0,i).y;
-			p.at<double>(2,i) = opoints.at<OpointType>(0,i).z;
+    // initialisation
+    template <typename OpointType, typename IpointType>
+    void init_points(const cv::Mat& opoints, const cv::Mat& ipoints)
+    {
+        for(int i = 0; i < N; i++)
+        {
+            p.at<double>(0,i) = opoints.at<OpointType>(0,i).x;
+            p.at<double>(1,i) = opoints.at<OpointType>(0,i).y;
+            p.at<double>(2,i) = opoints.at<OpointType>(0,i).z;
 
-			z.at<double>(0,i) = ipoints.at<IpointType>(0,i).x;
-			z.at<double>(1,i) = ipoints.at<IpointType>(0,i).y;
-			z.at<double>(2,i) = (double)1;
-		}
-	}
+            z.at<double>(0,i) = ipoints.at<IpointType>(0,i).x;
+            z.at<double>(1,i) = ipoints.at<IpointType>(0,i).y;
+            z.at<double>(2,i) = (double)1;
+        }
+    }
 
-	void norm_z_vector();
+    void norm_z_vector();
 
-	// main algorithm
-	void run_kernel(const cv::Mat& pp);
-	void build_coeff_matrix(const cv::Mat& pp, cv::Mat& Mtilde, cv::Mat& D);
-	void compute_eigenvec(const cv::Mat& Mtilde, cv::Mat& eigenval_real, cv::Mat& eigenval_imag,
-			                                     cv::Mat& eigenvec_real, cv::Mat& eigenvec_imag);
-	void fill_coeff(const cv::Mat * D);
+    // main algorithm
+    void run_kernel(const cv::Mat& pp);
+    void build_coeff_matrix(const cv::Mat& pp, cv::Mat& Mtilde, cv::Mat& D);
+    void compute_eigenvec(const cv::Mat& Mtilde, cv::Mat& eigenval_real, cv::Mat& eigenval_imag,
+                                                 cv::Mat& eigenvec_real, cv::Mat& eigenvec_imag);
+    void fill_coeff(const cv::Mat * D);
 
-	// useful functions
-	cv::Mat LeftMultVec(const cv::Mat& v);
-	cv::Mat cayley_LS_M(const std::vector<double>& a, const std::vector<double>& b,
-			            const std::vector<double>& c, const std::vector<double>& u);
-	cv::Mat Hessian(const double s[]);
-	cv::Mat cayley2rotbar(const cv::Mat& s);
-	cv::Mat skewsymm(const cv::Mat * X1);
+    // useful functions
+    cv::Mat LeftMultVec(const cv::Mat& v);
+    cv::Mat cayley_LS_M(const std::vector<double>& a, const std::vector<double>& b,
+                        const std::vector<double>& c, const std::vector<double>& u);
+    cv::Mat Hessian(const double s[]);
+    cv::Mat cayley2rotbar(const cv::Mat& s);
+    cv::Mat skewsymm(const cv::Mat * X1);
 
-	// extra functions
-	cv::Mat rotx(const double t);
-	cv::Mat roty(const double t);
-	cv::Mat rotz(const double t);
-	cv::Mat mean(const cv::Mat& M);
-	bool is_empty(const cv::Mat * v);
-	bool positive_eigenvalues(const cv::Mat * eigenvalues);
+    // extra functions
+    cv::Mat rotx(const double t);
+    cv::Mat roty(const double t);
+    cv::Mat rotz(const double t);
+    cv::Mat mean(const cv::Mat& M);
+    bool is_empty(const cv::Mat * v);
+    bool positive_eigenvalues(const cv::Mat * eigenvalues);
 
 
-	cv::Mat p, z;		// object-image points
-	int N;				// number of input points
-	std::vector<double> f1coeff, f2coeff, f3coeff, cost_; // coefficient for coefficients matrix
-	std::vector<cv::Mat> C_est_, t_est_;	// optimal candidates
-	cv::Mat C_est__, t_est__;				// optimal found solution
-	double cost__;							// optimal found solution
+    cv::Mat p, z;        // object-image points
+    int N;                // number of input points
+    std::vector<double> f1coeff, f2coeff, f3coeff, cost_; // coefficient for coefficients matrix
+    std::vector<cv::Mat> C_est_, t_est_;    // optimal candidates
+    cv::Mat C_est__, t_est__;                // optimal found solution
+    double cost__;                            // optimal found solution
 };
 
 
diff --git a/modules/calib3d/src/solvepnp.cpp b/modules/calib3d/src/solvepnp.cpp
index 4c1e80b2e2..7c2ebafbe8 100644
--- a/modules/calib3d/src/solvepnp.cpp
+++ b/modules/calib3d/src/solvepnp.cpp
@@ -96,15 +96,15 @@ bool cv::solvePnP( InputArray _opoints, InputArray _ipoints,
     }
     else if (flags == DLS)
     {
-    	cv::Mat undistortedPoints;
-    	cv::undistortPoints(ipoints, undistortedPoints, cameraMatrix, distCoeffs);
+        cv::Mat undistortedPoints;
+        cv::undistortPoints(ipoints, undistortedPoints, cameraMatrix, distCoeffs);
 
-    	dls PnP(opoints, undistortedPoints);
+        dls PnP(opoints, undistortedPoints);
 
-    	cv::Mat R, rvec = _rvec.getMat(), tvec = _tvec.getMat();
-    	bool result = PnP.compute_pose(R, tvec);
+        cv::Mat R, rvec = _rvec.getMat(), tvec = _tvec.getMat();
+        bool result = PnP.compute_pose(R, tvec);
         if (result)
-        	cv::Rodrigues(R, rvec);
+            cv::Rodrigues(R, rvec);
         return result;
     }
     else
@@ -112,189 +112,14 @@ bool cv::solvePnP( InputArray _opoints, InputArray _ipoints,
     return false;
 }
 
-/*namespace cv
-{
-    namespace pnpransac
-    {
-        const int MIN_POINTS_COUNT = 4;
-
-        static void project3dPoints(const Mat& points, const Mat& rvec, const Mat& tvec, Mat& modif_points)
-        {
-            modif_points.create(1, points.cols, CV_32FC3);
-            Mat R(3, 3, CV_64FC1);
-            Rodrigues(rvec, R);
-            Mat transformation(3, 4, CV_64F);
-            Mat r = transformation.colRange(0, 3);
-            R.copyTo(r);
-            Mat t = transformation.colRange(3, 4);
-            tvec.copyTo(t);
-            transform(points, modif_points, transformation);
-        }
-
-        struct CameraParameters
-        {
-            void init(Mat _intrinsics, Mat _distCoeffs)
-            {
-                _intrinsics.copyTo(intrinsics);
-                _distCoeffs.copyTo(distortion);
-            }
-
-            Mat intrinsics;
-            Mat distortion;
-        };
-
-        struct Parameters
-        {
-            int iterationsCount;
-            float reprojectionError;
-            int minInliersCount;
-            bool useExtrinsicGuess;
-            int flags;
-            CameraParameters camera;
-        };
-
-        static void pnpTask(const std::vector<char>& pointsMask, const Mat& objectPoints, const Mat& imagePoints,
-                     const Parameters& params, std::vector<int>& inliers, Mat& rvec, Mat& tvec,
-                     const Mat& rvecInit, const Mat& tvecInit, Mutex& resultsMutex)
-        {
-            Mat modelObjectPoints(1, MIN_POINTS_COUNT, CV_32FC3), modelImagePoints(1, MIN_POINTS_COUNT, CV_32FC2);
-            for (int i = 0, colIndex = 0; i < (int)pointsMask.size(); i++)
-            {
-                if (pointsMask[i])
-                {
-                    Mat colModelImagePoints = modelImagePoints(Rect(colIndex, 0, 1, 1));
-                    imagePoints.col(i).copyTo(colModelImagePoints);
-                    Mat colModelObjectPoints = modelObjectPoints(Rect(colIndex, 0, 1, 1));
-                    objectPoints.col(i).copyTo(colModelObjectPoints);
-                    colIndex = colIndex+1;
-                }
-            }
-
-            //filter same 3d points, hang in solvePnP
-            double eps = 1e-10;
-            int num_same_points = 0;
-            for (int i = 0; i < MIN_POINTS_COUNT; i++)
-                for (int j = i + 1; j < MIN_POINTS_COUNT; j++)
-                {
-                    if (norm(modelObjectPoints.at<Vec3f>(0, i) - modelObjectPoints.at<Vec3f>(0, j)) < eps)
-                        num_same_points++;
-                }
-            if (num_same_points > 0)
-                return;
-
-            Mat localRvec, localTvec;
-            rvecInit.copyTo(localRvec);
-            tvecInit.copyTo(localTvec);
-
-            solvePnP(modelObjectPoints, modelImagePoints, params.camera.intrinsics, params.camera.distortion, localRvec, localTvec,
-                     params.useExtrinsicGuess, params.flags);
-
-
-            std::vector<Point2f> projected_points;
-            projected_points.resize(objectPoints.cols);
-            projectPoints(objectPoints, localRvec, localTvec, params.camera.intrinsics, params.camera.distortion, projected_points);
-
-            Mat rotatedPoints;
-            project3dPoints(objectPoints, localRvec, localTvec, rotatedPoints);
-
-            std::vector<int> localInliers;
-            for (int i = 0; i < objectPoints.cols; i++)
-            {
-                Point2f p(imagePoints.at<Vec2f>(0, i)[0], imagePoints.at<Vec2f>(0, i)[1]);
-                if ((norm(p - projected_points[i]) < params.reprojectionError)
-                    && (rotatedPoints.at<Vec3f>(0, i)[2] > 0)) //hack
-                {
-                    localInliers.push_back(i);
-                }
-            }
-
-            if (localInliers.size() > inliers.size())
-            {
-                resultsMutex.lock();
-
-                inliers.clear();
-                inliers.resize(localInliers.size());
-                memcpy(&inliers[0], &localInliers[0], sizeof(int) * localInliers.size());
-                localRvec.copyTo(rvec);
-                localTvec.copyTo(tvec);
-
-                resultsMutex.unlock();
-            }
-        }
-
-        class PnPSolver
-        {
-        public:
-            void operator()( const BlockedRange& r ) const
-            {
-                std::vector<char> pointsMask(objectPoints.cols, 0);
-                memset(&pointsMask[0], 1, MIN_POINTS_COUNT );
-                for( int i=r.begin(); i!=r.end(); ++i )
-                {
-                    generateVar(pointsMask);
-                    pnpTask(pointsMask, objectPoints, imagePoints, parameters,
-                            inliers, rvec, tvec, initRvec, initTvec, syncMutex);
-                    if ((int)inliers.size() >= parameters.minInliersCount)
-                    {
-#ifdef HAVE_TBB
-                        tbb::task::self().cancel_group_execution();
-#else
-                        break;
-#endif
-                    }
-                }
-            }
-            PnPSolver(const Mat& _objectPoints, const Mat& _imagePoints, const Parameters& _parameters,
-                      Mat& _rvec, Mat& _tvec, std::vector<int>& _inliers):
-            objectPoints(_objectPoints), imagePoints(_imagePoints), parameters(_parameters),
-            rvec(_rvec), tvec(_tvec), inliers(_inliers)
-            {
-                rvec.copyTo(initRvec);
-                tvec.copyTo(initTvec);
-
-                generator.state = theRNG().state; //to control it somehow...
-            }
-        private:
-            PnPSolver& operator=(const PnPSolver&);
-
-            const Mat& objectPoints;
-            const Mat& imagePoints;
-            const Parameters& parameters;
-            Mat &rvec, &tvec;
-            std::vector<int>& inliers;
-            Mat initRvec, initTvec;
-
-            static RNG generator;
-            static Mutex syncMutex;
-
-            void generateVar(std::vector<char>& mask) const
-            {
-                int size = (int)mask.size();
-                for (int i = 0; i < size; i++)
-                {
-                    int i1 = generator.uniform(0, size);
-                    int i2 = generator.uniform(0, size);
-                    char curr = mask[i1];
-                    mask[i1] = mask[i2];
-                    mask[i2] = curr;
-                }
-            }
-        };
-
-        Mutex PnPSolver::syncMutex;
-        RNG PnPSolver::generator;
-
-    }
-}*/
-
 class PnPRansacCallback : public PointSetRegistrator::Callback
 {
 public:
 
-	PnPRansacCallback(Mat _cameraMatrix=Mat(3,3,CV_64F), Mat _distCoeffs=Mat(4,1,CV_64F), int _flags=cv::ITERATIVE,
-			bool _useExtrinsicGuess=false, Mat _rvec=Mat(), Mat _tvec=Mat() )
-		: cameraMatrix(_cameraMatrix), distCoeffs(_distCoeffs), flags(_flags), useExtrinsicGuess(_useExtrinsicGuess),
-		  rvec(_rvec), tvec(_tvec) {}
+    PnPRansacCallback(Mat _cameraMatrix=Mat(3,3,CV_64F), Mat _distCoeffs=Mat(4,1,CV_64F), int _flags=cv::ITERATIVE,
+            bool _useExtrinsicGuess=false, Mat _rvec=Mat(), Mat _tvec=Mat() )
+        : cameraMatrix(_cameraMatrix), distCoeffs(_distCoeffs), flags(_flags), useExtrinsicGuess(_useExtrinsicGuess),
+          rvec(_rvec), tvec(_tvec) {}
 
     /* Pre: True */
     /* Post: compute _model with given points an return number of found models */
@@ -303,11 +128,11 @@ public:
         Mat opoints = _m1.getMat(), ipoints = _m2.getMat();
 
         bool correspondence = cv::solvePnP( _m1, _m2, cameraMatrix, distCoeffs,
-        		                            rvec, tvec, useExtrinsicGuess, flags );
+                                            rvec, tvec, useExtrinsicGuess, flags );
 
-    	Mat _local_model;
-    	cv::hconcat(rvec, tvec, _local_model);
-		_local_model.copyTo(_model);
+        Mat _local_model;
+        cv::hconcat(rvec, tvec, _local_model);
+        _local_model.copyTo(_model);
 
         return correspondence;
     }
@@ -333,7 +158,7 @@ public:
         float* err = _err.getMat().ptr<float>();
 
         for ( i = 0; i < count; ++i)
-        	err[i] = cv::norm( ipoints_ptr[i] - projpoints_ptr[i] );
+            err[i] = cv::norm( ipoints_ptr[i] - projpoints_ptr[i] );
 
     }
 
@@ -375,89 +200,46 @@ bool cv::solvePnPRansac(InputArray _opoints, InputArray _ipoints,
     Ptr<PointSetRegistrator::Callback> cb; // pointer to callback
     cb = makePtr<PnPRansacCallback>( cameraMatrix, distCoeffs, flags, useExtrinsicGuess, rvec, tvec);
 
-	int model_points = flags == cv::P3P ? 4 : 6; 	// minimum of number of model points
-	double param1 = reprojectionError;				// reprojection error
-	double param2 = confidence;						// confidence
-	int param3 = iterationsCount;					// number maximum iterations
+    int model_points = flags == cv::P3P ? 4 : 6;     // minimum of number of model points
+    double param1 = reprojectionError;                // reprojection error
+    double param2 = confidence;                        // confidence
+    int param3 = iterationsCount;                    // number maximum iterations
 
     cv::Mat _local_model(3, 2, CV_64FC1);
     cv::Mat _mask_local_inliers(1, opoints.rows, CV_8UC1);
 
-	// call Ransac
-	int result = createRANSACPointSetRegistrator(cb, model_points, param1, param2, param3)->run(opoints, ipoints, _local_model, _mask_local_inliers);
+    // call Ransac
+    int result = createRANSACPointSetRegistrator(cb, model_points, param1, param2, param3)->run(opoints, ipoints, _local_model, _mask_local_inliers);
 
-	if( result <= 0 || _local_model.rows <= 0)
-	{
-		_rvec.assign(rvec);	// output rotation vector
-		_tvec.assign(tvec);	// output translation vector
-
-		if( _inliers.needed() )
-			_inliers.release();
-
-		return false;
-	}
-	else
-	{
-		_rvec.assign(_local_model.col(0));	// output rotation vector
-		_tvec.assign(_local_model.col(1));	// output translation vector
-	}
-
-	if(_inliers.needed())
-	{
-		Mat _local_inliers;
-		int count = 0;
-		for (int i = 0; i < _mask_local_inliers.rows; ++i)
-		{
-			if((int)_mask_local_inliers.at<uchar>(i) == 1) // inliers mask
-			{
-				_local_inliers.push_back(count);	// output inliers vector
-				count++;
-			}
-		}
-		_local_inliers.copyTo(_inliers);
-	}
-
-	// OLD IMPLEMENTATION
-
-    /*std::vector<int> localInliers;
-    Mat localRvec, localTvec;
-    rvec.copyTo(localRvec);
-    tvec.copyTo(localTvec);
-
-    if (objectPoints.cols >= pnpransac::MIN_POINTS_COUNT)
+    if( result <= 0 || _local_model.rows <= 0)
     {
-        parallel_for(BlockedRange(0,iterationsCount), cv::pnpransac::PnPSolver(objectPoints, imagePoints, params,
-                                                                               localRvec, localTvec, localInliers));
-    }
+        _rvec.assign(rvec);    // output rotation vector
+        _tvec.assign(tvec);    // output translation vector
 
-    if (localInliers.size() >= (size_t)pnpransac::MIN_POINTS_COUNT)
-    {
-        if (flags != P3P)
-        {
-            int i, pointsCount = (int)localInliers.size();
-            Mat inlierObjectPoints(1, pointsCount, CV_32FC3), inlierImagePoints(1, pointsCount, CV_32FC2);
-            for (i = 0; i < pointsCount; i++)
-            {
-                int index = localInliers[i];
-                Mat colInlierImagePoints = inlierImagePoints(Rect(i, 0, 1, 1));
-                imagePoints.col(index).copyTo(colInlierImagePoints);
-                Mat colInlierObjectPoints = inlierObjectPoints(Rect(i, 0, 1, 1));
-                objectPoints.col(index).copyTo(colInlierObjectPoints);
-            }
-            solvePnP(inlierObjectPoints, inlierImagePoints, params.camera.intrinsics, params.camera.distortion, localRvec, localTvec, true, flags);
-        }
-        localRvec.copyTo(rvec);
-        localTvec.copyTo(tvec);
-        if (_inliers.needed())
-            Mat(localInliers).copyTo(_inliers);
+        if( _inliers.needed() )
+            _inliers.release();
+
+        return false;
     }
     else
     {
-        tvec.setTo(Scalar(0));
-        Mat R = Mat::eye(3, 3, CV_64F);
-        Rodrigues(R, rvec);
-        if( _inliers.needed() )
-            _inliers.release();
-    }*/
+        _rvec.assign(_local_model.col(0));    // output rotation vector
+        _tvec.assign(_local_model.col(1));    // output translation vector
+    }
+
+    if(_inliers.needed())
+    {
+        Mat _local_inliers;
+        int count = 0;
+        for (int i = 0; i < _mask_local_inliers.rows; ++i)
+        {
+            if((int)_mask_local_inliers.at<uchar>(i) == 1) // inliers mask
+            {
+                _local_inliers.push_back(count);    // output inliers vector
+                count++;
+            }
+        }
+        _local_inliers.copyTo(_inliers);
+    }
     return true;
 }
diff --git a/samples/cpp/tutorial_code/calib3d/real_time_pose_estimation/CMakeLists.txt b/samples/cpp/tutorial_code/calib3d/real_time_pose_estimation/CMakeLists.txt
index 4382fd1e68..629c437117 100644
--- a/samples/cpp/tutorial_code/calib3d/real_time_pose_estimation/CMakeLists.txt
+++ b/samples/cpp/tutorial_code/calib3d/real_time_pose_estimation/CMakeLists.txt
@@ -2,58 +2,58 @@ cmake_minimum_required(VERSION 2.8)
 project( PNP_DEMO )
 
 ADD_DEFINITIONS(
-    -std=c++11 
+    -std=c++11
     # Other flags
 )
 
 find_package( OpenCV REQUIRED )
 
 include_directories( 
-	${OpenCV_INCLUDE_DIRS} 
+    ${OpenCV_INCLUDE_DIRS} 
 )
 
-add_executable( 
-pnp_registration 
-	src/main_registration.cpp
-	src/CsvReader.cpp 
-	src/CsvWriter.cpp
-	src/ModelRegistration.cpp
-	src/Mesh.cpp
-	src/Model.cpp
-	src/PnPProblem.cpp
-	src/Utils.cpp
-	src/RobustMatcher.cpp
+add_executable(
+pnp_registration
+    src/main_registration.cpp
+    src/CsvReader.cpp
+    src/CsvWriter.cpp
+    src/ModelRegistration.cpp
+    src/Mesh.cpp
+    src/Model.cpp
+    src/PnPProblem.cpp
+    src/Utils.cpp
+    src/RobustMatcher.cpp
 )
 
-add_executable( 
-pnp_verification 
-	src/main_verification.cpp
-	src/CsvReader.cpp 
-	src/CsvWriter.cpp
-	src/ModelRegistration.cpp
-	src/Mesh.cpp
-	src/Model.cpp
-	src/PnPProblem.cpp
-	src/Utils.cpp
-	src/RobustMatcher.cpp
+add_executable(
+pnp_verification
+    src/main_verification.cpp
+    src/CsvReader.cpp
+    src/CsvWriter.cpp
+    src/ModelRegistration.cpp
+    src/Mesh.cpp
+    src/Model.cpp
+    src/PnPProblem.cpp
+    src/Utils.cpp
+    src/RobustMatcher.cpp
 )
 
-add_executable( 
+add_executable(
 pnp_detection 
-	src/main_detection.cpp
-	src/CsvReader.cpp 
-	src/CsvWriter.cpp
-	src/ModelRegistration.cpp
-	src/Mesh.cpp
-	src/Model.cpp
-	src/PnPProblem.cpp
-	src/Utils.cpp
-	src/RobustMatcher.cpp
+    src/main_detection.cpp
+    src/CsvReader.cpp 
+    src/CsvWriter.cpp
+    src/ModelRegistration.cpp
+    src/Mesh.cpp
+    src/Model.cpp
+    src/PnPProblem.cpp
+    src/Utils.cpp
+    src/RobustMatcher.cpp
 )
 
-add_executable( 
-pnp_test 
-	src/test_pnp.cpp
+add_executable(
+pnp_test
+    src/test_pnp.cpp
 )
 
 target_link_libraries( pnp_registration ${OpenCV_LIBS} )

From 7b0be9cf8f7151320aa8a7f069b0a7bcd07d967e Mon Sep 17 00:00:00 2001
From: edgarriba <edgar.riba@gmail.com>
Date: Tue, 5 Aug 2014 17:27:20 +0200
Subject: [PATCH 062/112] Update code

---
 .../calib3d/real_time_pose/real_time_pose.rst |   2 +-
 modules/calib3d/src/dls.cpp                   |  10 +-
 .../real_time_pose_estimation/CMakeLists.txt  |   8 +-
 .../src/CsvReader.cpp                         | 104 +++++++++---------
 .../real_time_pose_estimation/src/Model.cpp   |   2 -
 .../src/ModelRegistration.cpp                 |   3 -
 .../src/PnPProblem.cpp                        |   3 -
 .../real_time_pose_estimation/src/Utils.cpp   |   1 -
 .../src/test_pnp.cpp                          |   1 -
 9 files changed, 57 insertions(+), 77 deletions(-)

diff --git a/doc/tutorials/calib3d/real_time_pose/real_time_pose.rst b/doc/tutorials/calib3d/real_time_pose/real_time_pose.rst
index 24aa48e5f7..5b061b3efb 100644
--- a/doc/tutorials/calib3d/real_time_pose/real_time_pose.rst
+++ b/doc/tutorials/calib3d/real_time_pose/real_time_pose.rst
@@ -341,7 +341,7 @@ The following parameters work for this application:
    .. code-block:: cpp
 
     // RANSAC parameters
-    
+
     int iterationsCount = 500;    // number of Ransac iterations.
     float reprojectionError = 2.0;    // maximum allowed distance to consider it an inlier.
     float confidence = 0.95;    // ransac successful confidence.
diff --git a/modules/calib3d/src/dls.cpp b/modules/calib3d/src/dls.cpp
index 1bc00a8370..ced301618e 100644
--- a/modules/calib3d/src/dls.cpp
+++ b/modules/calib3d/src/dls.cpp
@@ -417,7 +417,7 @@ cv::Mat dls::cayley_LS_M(const std::vector<double>& a, const std::vector<double>
 {
     // TODO: input matrix pointer
     // TODO: shift coefficients one position to left
-    
+
     cv::Mat M = cv::Mat::zeros(120, 120, CV_64F);
 
     M.at<double>(0,0)=u[1]; M.at<double>(0,35)=a[1]; M.at<double>(0,83)=b[1]; M.at<double>(0,118)=c[1];
@@ -662,11 +662,3 @@ bool dls::positive_eigenvalues(const cv::Mat * eigenvalues)
     cv::MatConstIterator_<double> it = eigenvalues->begin<double>();
     return *(it) > 0 && *(it+1) > 0 && *(it+2) > 0;
 }
-
-
-
-
-
-
-
-
diff --git a/samples/cpp/tutorial_code/calib3d/real_time_pose_estimation/CMakeLists.txt b/samples/cpp/tutorial_code/calib3d/real_time_pose_estimation/CMakeLists.txt
index 629c437117..f5a20d8520 100644
--- a/samples/cpp/tutorial_code/calib3d/real_time_pose_estimation/CMakeLists.txt
+++ b/samples/cpp/tutorial_code/calib3d/real_time_pose_estimation/CMakeLists.txt
@@ -8,8 +8,8 @@ ADD_DEFINITIONS(
 
 find_package( OpenCV REQUIRED )
 
-include_directories( 
-    ${OpenCV_INCLUDE_DIRS} 
+include_directories(
+    ${OpenCV_INCLUDE_DIRS}
 )
 
 add_executable(
@@ -39,9 +39,9 @@ pnp_verification
 )
 
 add_executable(
-pnp_detection 
+pnp_detection
     src/main_detection.cpp
-    src/CsvReader.cpp 
+    src/CsvReader.cpp
     src/CsvWriter.cpp
     src/ModelRegistration.cpp
     src/Mesh.cpp
diff --git a/samples/cpp/tutorial_code/calib3d/real_time_pose_estimation/src/CsvReader.cpp b/samples/cpp/tutorial_code/calib3d/real_time_pose_estimation/src/CsvReader.cpp
index 6f38c5c9a8..4277e567aa 100644
--- a/samples/cpp/tutorial_code/calib3d/real_time_pose_estimation/src/CsvReader.cpp
+++ b/samples/cpp/tutorial_code/calib3d/real_time_pose_estimation/src/CsvReader.cpp
@@ -1,81 +1,79 @@
-#include <string>
 #include "CsvReader.h"
 
 /** The default constructor of the CSV reader Class */
 CsvReader::CsvReader(const std::string &path, const char &separator){
-	_file.open(path.c_str(), ifstream::in);
-	_separator = separator;
+    _file.open(path.c_str(), ifstream::in);
+    _separator = separator;
 }
 
 /* Read a plane text file with .ply format */
 void CsvReader::readPLY(std::vector<cv::Point3f> &list_vertex, std::vector<std::vector<int> > &list_triangles)
 {
-std::string line, tmp_str, n;
-  int num_vertex, num_triangles;
-  int count = 0;
-  bool end_header = false;
-  bool end_vertex = false;
+    std::string line, tmp_str, n;
+    int num_vertex, num_triangles;
+    int count = 0;
+    bool end_header = false;
+    bool end_vertex = false;
 
-  // Read the whole *.ply file
-  while (getline(_file, line)) {
+    // Read the whole *.ply file
+    while (getline(_file, line)) {
     stringstream liness(line);
 
     // read header
     if(!end_header)
     {
-      getline(liness, tmp_str, _separator);
-      if( tmp_str == "element" )
-      {
-          getline(liness, tmp_str, _separator);
-          getline(liness, n);
-          if(tmp_str == "vertex") num_vertex = std::stoi(n);
-          if(tmp_str == "face") num_triangles = std::stoi(n);
-      }
-      if(tmp_str == "end_header") end_header = true;
+        getline(liness, tmp_str, _separator);
+        if( tmp_str == "element" )
+        {
+            getline(liness, tmp_str, _separator);
+            getline(liness, n);
+            if(tmp_str == "vertex") num_vertex = StringToNumber(n);
+            if(tmp_str == "face") num_triangles = StringToNumber(n);
+        }
+        if(tmp_str == "end_header") end_header = true;
     }
 
     // read file content
     else if(end_header)
     {
-      // read vertex and add into 'list_vertex'
-      if(!end_vertex && count < num_vertex)
-      {
-        string x, y, z;
-        getline(liness, x, _separator);
-        getline(liness, y, _separator);
-        getline(liness, z);
+         // read vertex and add into 'list_vertex'
+         if(!end_vertex && count < num_vertex)
+         {
+             string x, y, z;
+             getline(liness, x, _separator);
+             getline(liness, y, _separator);
+             getline(liness, z);
 
-        cv::Point3f tmp_p;
-        tmp_p.x = std::stof(x);
-        tmp_p.y = std::stof(y);
-        tmp_p.z = std::stof(z);
-        list_vertex.push_back(tmp_p);
+             cv::Point3f tmp_p;
+             tmp_p.x = StringToNumber(x);
+             tmp_p.y = StringToNumber(y);
+             tmp_p.z = StringToNumber(z);
+             list_vertex.push_back(tmp_p);
 
-        count++;
-        if(count == num_vertex)
-        {
-          count = 0;
-          end_vertex = !end_vertex;
-        }
-      }
-      // read faces and add into 'list_triangles'
-      else if(end_vertex  && count < num_triangles)
-      {
-    	  std::string num_pts_per_face, id0, id1, id2;
-        getline(liness, num_pts_per_face, _separator);
-        getline(liness, id0, _separator);
-        getline(liness, id1, _separator);
-        getline(liness, id2);
+             count++;
+             if(count == num_vertex)
+             {
+                 count = 0;
+                 end_vertex = !end_vertex;
+             }
+         }
+         // read faces and add into 'list_triangles'
+         else if(end_vertex  && count < num_triangles)
+         {
+             std::string num_pts_per_face, id0, id1, id2;
+             getline(liness, num_pts_per_face, _separator);
+             getline(liness, id0, _separator);
+             getline(liness, id1, _separator);
+             getline(liness, id2);
 
-        std::vector<int> tmp_triangle(3);
-        tmp_triangle[0] = std::stoi(id0);
-        tmp_triangle[1] = std::stoi(id1);
-        tmp_triangle[2] = std::stoi(id2);
-        list_triangles.push_back(tmp_triangle);
+             std::vector<int> tmp_triangle(3);
+             tmp_triangle[0] = StringToNumber(id0);
+             tmp_triangle[1] = StringToNumber(id1);
+             tmp_triangle[2] = StringToNumber(id2);
+             list_triangles.push_back(tmp_triangle);
 
-        count++;
+             count++;
       }
     }
   }
 }
-
diff --git a/samples/cpp/tutorial_code/calib3d/real_time_pose_estimation/src/Model.cpp b/samples/cpp/tutorial_code/calib3d/real_time_pose_estimation/src/Model.cpp
index 258e8dd41c..3256cef057 100644
--- a/samples/cpp/tutorial_code/calib3d/real_time_pose_estimation/src/Model.cpp
+++ b/samples/cpp/tutorial_code/calib3d/real_time_pose_estimation/src/Model.cpp
@@ -71,5 +71,3 @@ void Model::load(const std::string path)
   storage.release();
 
 }
-
-
diff --git a/samples/cpp/tutorial_code/calib3d/real_time_pose_estimation/src/ModelRegistration.cpp b/samples/cpp/tutorial_code/calib3d/real_time_pose_estimation/src/ModelRegistration.cpp
index 5f39a0ffcf..e8da885685 100644
--- a/samples/cpp/tutorial_code/calib3d/real_time_pose_estimation/src/ModelRegistration.cpp
+++ b/samples/cpp/tutorial_code/calib3d/real_time_pose_estimation/src/ModelRegistration.cpp
@@ -33,6 +33,3 @@ void ModelRegistration::reset()
   list_points2d_.clear();
   list_points3d_.clear();
 }
-
-
-
diff --git a/samples/cpp/tutorial_code/calib3d/real_time_pose_estimation/src/PnPProblem.cpp b/samples/cpp/tutorial_code/calib3d/real_time_pose_estimation/src/PnPProblem.cpp
index be4254e14d..48c8be576d 100644
--- a/samples/cpp/tutorial_code/calib3d/real_time_pose_estimation/src/PnPProblem.cpp
+++ b/samples/cpp/tutorial_code/calib3d/real_time_pose_estimation/src/PnPProblem.cpp
@@ -310,6 +310,3 @@ bool PnPProblem::intersect_MollerTrumbore(Ray &Ray, Triangle &Triangle, double *
   // No hit, no win
   return false;
 }
-
-
-
diff --git a/samples/cpp/tutorial_code/calib3d/real_time_pose_estimation/src/Utils.cpp b/samples/cpp/tutorial_code/calib3d/real_time_pose_estimation/src/Utils.cpp
index b28727ac1a..ec8a69ccb4 100644
--- a/samples/cpp/tutorial_code/calib3d/real_time_pose_estimation/src/Utils.cpp
+++ b/samples/cpp/tutorial_code/calib3d/real_time_pose_estimation/src/Utils.cpp
@@ -273,4 +273,3 @@ cv::Mat euler2rot(const cv::Mat & euler)
 
   return rotationMatrix;
 }
-
diff --git a/samples/cpp/tutorial_code/calib3d/real_time_pose_estimation/src/test_pnp.cpp b/samples/cpp/tutorial_code/calib3d/real_time_pose_estimation/src/test_pnp.cpp
index 5717a91c4b..4843d32ceb 100644
--- a/samples/cpp/tutorial_code/calib3d/real_time_pose_estimation/src/test_pnp.cpp
+++ b/samples/cpp/tutorial_code/calib3d/real_time_pose_estimation/src/test_pnp.cpp
@@ -141,4 +141,3 @@ int main(int argc, char *argv[])
   data2file("computation_time.txt", comp_time);
 
 }
-

From 43301096d3723cc7c5d68f02c17a757cd559ad57 Mon Sep 17 00:00:00 2001
From: edgarriba <edgar.riba@gmail.com>
Date: Tue, 5 Aug 2014 20:06:47 +0200
Subject: [PATCH 063/112] Update tutorial

---
 .../real_time_pose_estimation/CMakeLists.txt  |  5 ---
 .../src/CsvReader.cpp                         | 17 +++----
 .../real_time_pose_estimation/src/CsvReader.h |  1 -
 .../src/CsvWriter.cpp                         | 20 ++++-----
 .../real_time_pose_estimation/src/Utils.cpp   | 44 ++++++++++++++-----
 .../real_time_pose_estimation/src/Utils.h     |  8 ++--
 .../src/main_detection.cpp                    |  9 ++--
 .../src/main_registration.cpp                 |  5 +--
 .../src/main_verification.cpp                 |  1 -
 9 files changed, 61 insertions(+), 49 deletions(-)

diff --git a/samples/cpp/tutorial_code/calib3d/real_time_pose_estimation/CMakeLists.txt b/samples/cpp/tutorial_code/calib3d/real_time_pose_estimation/CMakeLists.txt
index f5a20d8520..0e6dd14fc6 100644
--- a/samples/cpp/tutorial_code/calib3d/real_time_pose_estimation/CMakeLists.txt
+++ b/samples/cpp/tutorial_code/calib3d/real_time_pose_estimation/CMakeLists.txt
@@ -1,11 +1,6 @@
 cmake_minimum_required(VERSION 2.8)
 project( PNP_DEMO )
 
-ADD_DEFINITIONS(
-    -std=c++11
-    # Other flags
-)
-
 find_package( OpenCV REQUIRED )
 
 include_directories(
diff --git a/samples/cpp/tutorial_code/calib3d/real_time_pose_estimation/src/CsvReader.cpp b/samples/cpp/tutorial_code/calib3d/real_time_pose_estimation/src/CsvReader.cpp
index 4277e567aa..d97afdb73d 100644
--- a/samples/cpp/tutorial_code/calib3d/real_time_pose_estimation/src/CsvReader.cpp
+++ b/samples/cpp/tutorial_code/calib3d/real_time_pose_estimation/src/CsvReader.cpp
@@ -1,4 +1,5 @@
 #include "CsvReader.h"
+#include "Utils.h"
 
 /** The default constructor of the CSV reader Class */
 CsvReader::CsvReader(const std::string &path, const char &separator){
@@ -27,8 +28,8 @@ void CsvReader::readPLY(std::vector<cv::Point3f> &list_vertex, std::vector<std::
         {
             getline(liness, tmp_str, _separator);
             getline(liness, n);
-            if(tmp_str == "vertex") num_vertex = StringToNumber(n);
-            if(tmp_str == "face") num_triangles = StringToNumber(n);
+            if(tmp_str == "vertex") num_vertex = StringToInt(n);
+            if(tmp_str == "face") num_triangles = StringToInt(n);
         }
         if(tmp_str == "end_header") end_header = true;
     }
@@ -45,9 +46,9 @@ void CsvReader::readPLY(std::vector<cv::Point3f> &list_vertex, std::vector<std::
              getline(liness, z);
 
              cv::Point3f tmp_p;
-             tmp_p.x = StringToNumber(x);
-             tmp_p.y = StringToNumber(y);
-             tmp_p.z = StringToNumber(z);
+             tmp_p.x = StringToInt(x);
+             tmp_p.y = StringToInt(y);
+             tmp_p.z = StringToInt(z);
              list_vertex.push_back(tmp_p);
 
              count++;
@@ -67,9 +68,9 @@ void CsvReader::readPLY(std::vector<cv::Point3f> &list_vertex, std::vector<std::
              getline(liness, id2);
 
              std::vector<int> tmp_triangle(3);
-             tmp_triangle[0] = StringToNumber(id0);
-             tmp_triangle[1] = StringToNumber(id1);
-             tmp_triangle[2] = StringToNumber(id2);
+             tmp_triangle[0] = StringToInt(id0);
+             tmp_triangle[1] = StringToInt(id1);
+             tmp_triangle[2] = StringToInt(id2);
              list_triangles.push_back(tmp_triangle);
 
              count++;
diff --git a/samples/cpp/tutorial_code/calib3d/real_time_pose_estimation/src/CsvReader.h b/samples/cpp/tutorial_code/calib3d/real_time_pose_estimation/src/CsvReader.h
index 1df3835d72..ab94e4c1b9 100644
--- a/samples/cpp/tutorial_code/calib3d/real_time_pose_estimation/src/CsvReader.h
+++ b/samples/cpp/tutorial_code/calib3d/real_time_pose_estimation/src/CsvReader.h
@@ -5,7 +5,6 @@
 #include <fstream>
 
 #include <opencv2/core/core.hpp>
-#include "Mesh.h"
 
 using namespace std;
 using namespace cv;
diff --git a/samples/cpp/tutorial_code/calib3d/real_time_pose_estimation/src/CsvWriter.cpp b/samples/cpp/tutorial_code/calib3d/real_time_pose_estimation/src/CsvWriter.cpp
index 65a8beaa5c..4671fd098e 100644
--- a/samples/cpp/tutorial_code/calib3d/real_time_pose_estimation/src/CsvWriter.cpp
+++ b/samples/cpp/tutorial_code/calib3d/real_time_pose_estimation/src/CsvWriter.cpp
@@ -1,5 +1,5 @@
-#include <string>
 #include "CsvWriter.h"
+#include "Utils.h"
 
 CsvWriter::CsvWriter(const std::string &path, const std::string &separator){
   _file.open(path.c_str(), std::ofstream::out);
@@ -17,9 +17,9 @@ void CsvWriter::writeXYZ(const std::vector<cv::Point3f> &list_points3d)
   std::string x, y, z;
   for(unsigned int i = 0; i < list_points3d.size(); ++i)
   {
-    x = std::to_string(list_points3d[i].x);
-    y = std::to_string(list_points3d[i].y);
-    z = std::to_string(list_points3d[i].z);
+    x = FloatToString(list_points3d[i].x);
+    y = FloatToString(list_points3d[i].y);
+    z = FloatToString(list_points3d[i].z);
 
     _file << x << _separator << y << _separator << z << std::endl;
   }
@@ -31,18 +31,18 @@ void CsvWriter::writeUVXYZ(const std::vector<cv::Point3f> &list_points3d, const
   std::string u, v, x, y, z, descriptor_str;
   for(int i = 0; i < list_points3d.size(); ++i)
   {
-    u = std::to_string(list_points2d[i].x);
-    v = std::to_string(list_points2d[i].y);
-    x = std::to_string(list_points3d[i].x);
-    y = std::to_string(list_points3d[i].y);
-    z = std::to_string(list_points3d[i].z);
+    u = FloatToString(list_points2d[i].x);
+    v = FloatToString(list_points2d[i].y);
+    x = FloatToString(list_points3d[i].x);
+    y = FloatToString(list_points3d[i].y);
+    z = FloatToString(list_points3d[i].z);
 
     _file << u << _separator << v << _separator << x << _separator << y << _separator << z;
 
     for(int j = 0; j < 32; ++j)
     {
       std::cout << descriptors.at<float>(i,j) << std::endl;
-      descriptor_str = std::to_string(descriptors.at<float>(i,j));
+      descriptor_str = FloatToString(descriptors.at<float>(i,j));
       _file << _separator << descriptor_str;
     }
     _file << std::endl;
diff --git a/samples/cpp/tutorial_code/calib3d/real_time_pose_estimation/src/Utils.cpp b/samples/cpp/tutorial_code/calib3d/real_time_pose_estimation/src/Utils.cpp
index ec8a69ccb4..f66a10dd2a 100644
--- a/samples/cpp/tutorial_code/calib3d/real_time_pose_estimation/src/Utils.cpp
+++ b/samples/cpp/tutorial_code/calib3d/real_time_pose_estimation/src/Utils.cpp
@@ -6,7 +6,6 @@
  */
 
 #include <iostream>
-#include <boost/lexical_cast.hpp>
 
 #include "PnPProblem.h"
 #include "ModelRegistration.h"
@@ -30,9 +29,9 @@ double thickness_circ = -1;
 // Draw a text with the question point
 void drawQuestion(cv::Mat image, cv::Point3f point, cv::Scalar color)
 {
-  std::string x = boost::lexical_cast< std::string >((int)point.x);
-  std::string y = boost::lexical_cast< std::string >((int)point.y);
-  std::string z = boost::lexical_cast< std::string >((int)point.z);
+  std::string x = IntToString((int)point.x);
+  std::string y = IntToString((int)point.y);
+  std::string z = IntToString((int)point.z);
 
   std::string text = " Where is point (" + x + ","  + y + "," + z + ") ?";
   cv::putText(image, text, cv::Point(25,50), fontFace, fontScale, color, thickness_font, 8);
@@ -53,7 +52,7 @@ void drawText2(cv::Mat image, std::string text, cv::Scalar color)
 // Draw a text with the frame ratio
 void drawFPS(cv::Mat image, double fps, cv::Scalar color)
 {
-  std::string fps_str = boost::lexical_cast< std::string >((int)fps);
+  std::string fps_str = IntToString((int)fps);
   std::string text = fps_str + " FPS";
   cv::putText(image, text, cv::Point(500,50), fontFace, fontScale, color, thickness_font, 8);
 }
@@ -61,7 +60,7 @@ void drawFPS(cv::Mat image, double fps, cv::Scalar color)
 // Draw a text with the frame ratio
 void drawConfidence(cv::Mat image, double confidence, cv::Scalar color)
 {
-  std::string conf_str = boost::lexical_cast< std::string >((int)confidence);
+  std::string conf_str = IntToString((int)confidence);
   std::string text = conf_str + " %";
   cv::putText(image, text, cv::Point(500,75), fontFace, fontScale, color, thickness_font, 8);
 }
@@ -69,8 +68,8 @@ void drawConfidence(cv::Mat image, double confidence, cv::Scalar color)
 // Draw a text with the number of entered points
 void drawCounter(cv::Mat image, int n, int n_max, cv::Scalar color)
 {
-  std::string n_str = boost::lexical_cast< std::string >(n);
-  std::string n_max_str = boost::lexical_cast< std::string >(n_max);
+  std::string n_str = IntToString(n);
+  std::string n_max_str = IntToString(n_max);
   std::string text = n_str + " of " + n_max_str + " points";
   cv::putText(image, text, cv::Point(500,50), fontFace, fontScale, color, thickness_font, 8);
 }
@@ -86,10 +85,10 @@ void drawPoints(cv::Mat image, std::vector<cv::Point2f> &list_points_2d, std::ve
     // Draw Selected points
     cv::circle(image, point_2d, radius, color, -1, lineType );
 
-    std::string idx = boost::lexical_cast< std::string >(i+1);
-    std::string x = boost::lexical_cast< std::string >((int)point_3d.x);
-    std::string y = boost::lexical_cast< std::string >((int)point_3d.y);
-    std::string z = boost::lexical_cast< std::string >((int)point_3d.z);
+    std::string idx = IntToString(i+1);
+    std::string x = IntToString((int)point_3d.x);
+    std::string y = IntToString((int)point_3d.y);
+    std::string z = IntToString((int)point_3d.z);
     std::string text = "P" + idx + " (" + x + "," + y + "," + z +")";
 
     point_2d.x = point_2d.x + 10;
@@ -273,3 +272,24 @@ cv::Mat euler2rot(const cv::Mat & euler)
 
   return rotationMatrix;
 }
+
+int StringToInt ( const std::string &Text )
+{
+   std::istringstream ss(Text);
+   int result;
+   return ss >> result ? result : 0;
+}
+
+std::string FloatToString ( float Number )
+{
+  std::ostringstream ss;
+  ss << Number;
+  return ss.str();
+}
+
+std::string IntToString ( int Number )
+{
+  std::ostringstream ss;
+  ss << Number;
+  return ss.str();
+}
diff --git a/samples/cpp/tutorial_code/calib3d/real_time_pose_estimation/src/Utils.h b/samples/cpp/tutorial_code/calib3d/real_time_pose_estimation/src/Utils.h
index b6a227fbd3..d51eb28b39 100644
--- a/samples/cpp/tutorial_code/calib3d/real_time_pose_estimation/src/Utils.h
+++ b/samples/cpp/tutorial_code/calib3d/real_time_pose_estimation/src/Utils.h
@@ -9,9 +9,9 @@
 #define UTILS_H_
 
 #include <iostream>
-#include <time.h>
 #include <cv.h>
 
+#include "PnPProblem.h"
 
 // Draw a text with the question point
 void drawQuestion(cv::Mat image, cv::Point3f point, cv::Scalar color);
@@ -53,6 +53,9 @@ cv::Mat quat2rot(cv::Mat &q);
 cv::Mat euler2rot(const cv::Mat & euler);
 cv::Mat rot2euler(const cv::Mat & rotationMatrix);
 cv::Mat quat2euler(const cv::Mat & q);
+int StringToInt ( const std::string &Text );
+std::string FloatToString ( float Number );
+std::string IntToString ( int Number );
 
 class Timer
 {
@@ -69,7 +72,4 @@ private:
     double tstart, tstop, ttime;
 };
 
-
-
-
 #endif /* UTILS_H_ */
diff --git a/samples/cpp/tutorial_code/calib3d/real_time_pose_estimation/src/main_detection.cpp b/samples/cpp/tutorial_code/calib3d/real_time_pose_estimation/src/main_detection.cpp
index 750f1472c6..ff00e24e84 100644
--- a/samples/cpp/tutorial_code/calib3d/real_time_pose_estimation/src/main_detection.cpp
+++ b/samples/cpp/tutorial_code/calib3d/real_time_pose_estimation/src/main_detection.cpp
@@ -1,6 +1,5 @@
 #include <iostream>
 #include <time.h>
-#include <boost/lexical_cast.hpp>
 
 #include "cv.h"
 #include "highgui.h"
@@ -238,7 +237,7 @@ int main(int argc, char *argv[])
 
       // -- Step 3: Estimate the pose using RANSAC approach
       pnp_detection.estimatePoseRANSAC( list_points3d_model_match, list_points2d_scene_match,
-                                        cv::DLS, inliers_idx,
+                                        cv::ITERATIVE, inliers_idx,
                                         iterationsCount, reprojectionError, confidence );
 
       // -- Step 4: Catch the inliers keypoints to draw
@@ -330,9 +329,9 @@ int main(int argc, char *argv[])
     // Draw some debug text
     int inliers_int = inliers_idx.rows;
     int outliers_int = good_matches.size() - inliers_int;
-    std::string inliers_str = boost::lexical_cast< std::string >(inliers_int);
-    std::string outliers_str = boost::lexical_cast< std::string >(outliers_int);
-    std::string n = boost::lexical_cast< std::string >(good_matches.size());
+    std::string inliers_str = IntToString(inliers_int);
+    std::string outliers_str = IntToString(outliers_int);
+    std::string n = IntToString(good_matches.size());
     std::string text = "Found " + inliers_str + " of " + n + " matches";
     std::string text2 = "Inliers: " + inliers_str + " - Outliers: " + outliers_str;
 
diff --git a/samples/cpp/tutorial_code/calib3d/real_time_pose_estimation/src/main_registration.cpp b/samples/cpp/tutorial_code/calib3d/real_time_pose_estimation/src/main_registration.cpp
index 4f8903c8f5..3b2517b22f 100644
--- a/samples/cpp/tutorial_code/calib3d/real_time_pose_estimation/src/main_registration.cpp
+++ b/samples/cpp/tutorial_code/calib3d/real_time_pose_estimation/src/main_registration.cpp
@@ -1,5 +1,4 @@
 #include <iostream>
-#include <boost/lexical_cast.hpp>
 
 #include "Mesh.h"
 #include "Model.h"
@@ -261,12 +260,12 @@ int main(int argc, char *argv[])
   std::vector<cv::Point2f> list_points_out = model.get_points2d_out();
 
   // Draw some debug text
-  std::string num = boost::lexical_cast< std::string >(list_points_in.size());
+  std::string num = IntToString(list_points_in.size());
   std::string text = "There are " + num + " inliers";
   drawText(img_vis, text, green);
 
   // Draw some debug text
-  num = boost::lexical_cast< std::string >(list_points_out.size());
+  num = IntToString(list_points_out.size());
   text = "There are " + num + " outliers";
   drawText2(img_vis, text, red);
 
diff --git a/samples/cpp/tutorial_code/calib3d/real_time_pose_estimation/src/main_verification.cpp b/samples/cpp/tutorial_code/calib3d/real_time_pose_estimation/src/main_verification.cpp
index 1c6b15bedc..75456588de 100644
--- a/samples/cpp/tutorial_code/calib3d/real_time_pose_estimation/src/main_verification.cpp
+++ b/samples/cpp/tutorial_code/calib3d/real_time_pose_estimation/src/main_verification.cpp
@@ -1,5 +1,4 @@
 #include <iostream>
-#include <boost/lexical_cast.hpp>
 
 #include "cv.h"
 #include "highgui.h"

From 57d2cb89621555142ec674acea93182ae4ef7639 Mon Sep 17 00:00:00 2001
From: edgarriba <edgar.riba@gmail.com>
Date: Wed, 6 Aug 2014 08:11:03 +0200
Subject: [PATCH 064/112] 	deleted:    src/CsvReader.cpp 	deleted:   
 src/CsvReader.h 	deleted:    src/CsvWriter.cpp 	deleted:   
 src/CsvWriter.h 	deleted:    src/Mesh.cpp 	deleted:    src/Mesh.h
 	deleted:    src/Model.cpp 	deleted:    src/Model.h 
 deleted:    src/ModelRegistration.cpp 	deleted:    src/ModelRegistration.h 
 deleted:    src/PnPProblem.cpp 	deleted:    src/PnPProblem.h 
 deleted:    src/RobustMatcher.cpp 	deleted:    src/RobustMatcher.h 
 deleted:    src/Utils.cpp 	deleted:    src/Utils.h 	deleted:   
 src/main_detection.cpp 	deleted:    src/main_registration.cpp 
 deleted:    src/main_verification.cpp 	deleted:    src/test_pnp.cpp

---
 .../src/CsvReader.cpp                         |  80 ---
 .../real_time_pose_estimation/src/CsvReader.h |  40 --
 .../src/CsvWriter.cpp                         |  50 --
 .../real_time_pose_estimation/src/CsvWriter.h |  22 -
 .../real_time_pose_estimation/src/Mesh.cpp    |  82 ---
 .../real_time_pose_estimation/src/Mesh.h      |  86 ----
 .../real_time_pose_estimation/src/Model.cpp   |  73 ---
 .../real_time_pose_estimation/src/Model.h     |  54 --
 .../src/ModelRegistration.cpp                 |  35 --
 .../src/ModelRegistration.h                   |  43 --
 .../src/PnPProblem.cpp                        | 312 ------------
 .../src/PnPProblem.h                          |  53 --
 .../src/RobustMatcher.cpp                     | 152 ------
 .../src/RobustMatcher.h                       |  83 ---
 .../real_time_pose_estimation/src/Utils.cpp   | 295 -----------
 .../real_time_pose_estimation/src/Utils.h     |  75 ---
 .../src/main_detection.cpp                    | 472 ------------------
 .../src/main_registration.cpp                 | 290 -----------
 .../src/main_verification.cpp                 | 327 ------------
 .../src/test_pnp.cpp                          | 143 ------
 20 files changed, 2767 deletions(-)
 delete mode 100644 samples/cpp/tutorial_code/calib3d/real_time_pose_estimation/src/CsvReader.cpp
 delete mode 100644 samples/cpp/tutorial_code/calib3d/real_time_pose_estimation/src/CsvReader.h
 delete mode 100644 samples/cpp/tutorial_code/calib3d/real_time_pose_estimation/src/CsvWriter.cpp
 delete mode 100644 samples/cpp/tutorial_code/calib3d/real_time_pose_estimation/src/CsvWriter.h
 delete mode 100644 samples/cpp/tutorial_code/calib3d/real_time_pose_estimation/src/Mesh.cpp
 delete mode 100644 samples/cpp/tutorial_code/calib3d/real_time_pose_estimation/src/Mesh.h
 delete mode 100644 samples/cpp/tutorial_code/calib3d/real_time_pose_estimation/src/Model.cpp
 delete mode 100644 samples/cpp/tutorial_code/calib3d/real_time_pose_estimation/src/Model.h
 delete mode 100644 samples/cpp/tutorial_code/calib3d/real_time_pose_estimation/src/ModelRegistration.cpp
 delete mode 100644 samples/cpp/tutorial_code/calib3d/real_time_pose_estimation/src/ModelRegistration.h
 delete mode 100644 samples/cpp/tutorial_code/calib3d/real_time_pose_estimation/src/PnPProblem.cpp
 delete mode 100644 samples/cpp/tutorial_code/calib3d/real_time_pose_estimation/src/PnPProblem.h
 delete mode 100644 samples/cpp/tutorial_code/calib3d/real_time_pose_estimation/src/RobustMatcher.cpp
 delete mode 100644 samples/cpp/tutorial_code/calib3d/real_time_pose_estimation/src/RobustMatcher.h
 delete mode 100644 samples/cpp/tutorial_code/calib3d/real_time_pose_estimation/src/Utils.cpp
 delete mode 100644 samples/cpp/tutorial_code/calib3d/real_time_pose_estimation/src/Utils.h
 delete mode 100644 samples/cpp/tutorial_code/calib3d/real_time_pose_estimation/src/main_detection.cpp
 delete mode 100644 samples/cpp/tutorial_code/calib3d/real_time_pose_estimation/src/main_registration.cpp
 delete mode 100644 samples/cpp/tutorial_code/calib3d/real_time_pose_estimation/src/main_verification.cpp
 delete mode 100644 samples/cpp/tutorial_code/calib3d/real_time_pose_estimation/src/test_pnp.cpp

diff --git a/samples/cpp/tutorial_code/calib3d/real_time_pose_estimation/src/CsvReader.cpp b/samples/cpp/tutorial_code/calib3d/real_time_pose_estimation/src/CsvReader.cpp
deleted file mode 100644
index d97afdb73d..0000000000
--- a/samples/cpp/tutorial_code/calib3d/real_time_pose_estimation/src/CsvReader.cpp
+++ /dev/null
@@ -1,80 +0,0 @@
-#include "CsvReader.h"
-#include "Utils.h"
-
-/** The default constructor of the CSV reader Class */
-CsvReader::CsvReader(const std::string &path, const char &separator){
-    _file.open(path.c_str(), ifstream::in);
-    _separator = separator;
-}
-
-/* Read a plane text file with .ply format */
-void CsvReader::readPLY(std::vector<cv::Point3f> &list_vertex, std::vector<std::vector<int> > &list_triangles)
-{
-    std::string line, tmp_str, n;
-    int num_vertex, num_triangles;
-    int count = 0;
-    bool end_header = false;
-    bool end_vertex = false;
-
-    // Read the whole *.ply file
-    while (getline(_file, line)) {
-    stringstream liness(line);
-
-    // read header
-    if(!end_header)
-    {
-        getline(liness, tmp_str, _separator);
-        if( tmp_str == "element" )
-        {
-            getline(liness, tmp_str, _separator);
-            getline(liness, n);
-            if(tmp_str == "vertex") num_vertex = StringToInt(n);
-            if(tmp_str == "face") num_triangles = StringToInt(n);
-        }
-        if(tmp_str == "end_header") end_header = true;
-    }
-
-    // read file content
-    else if(end_header)
-    {
-         // read vertex and add into 'list_vertex'
-         if(!end_vertex && count < num_vertex)
-         {
-             string x, y, z;
-             getline(liness, x, _separator);
-             getline(liness, y, _separator);
-             getline(liness, z);
-
-             cv::Point3f tmp_p;
-             tmp_p.x = StringToInt(x);
-             tmp_p.y = StringToInt(y);
-             tmp_p.z = StringToInt(z);
-             list_vertex.push_back(tmp_p);
-
-             count++;
-             if(count == num_vertex)
-             {
-                 count = 0;
-                 end_vertex = !end_vertex;
-             }
-         }
-         // read faces and add into 'list_triangles'
-         else if(end_vertex  && count < num_triangles)
-         {
-             std::string num_pts_per_face, id0, id1, id2;
-             getline(liness, num_pts_per_face, _separator);
-             getline(liness, id0, _separator);
-             getline(liness, id1, _separator);
-             getline(liness, id2);
-
-             std::vector<int> tmp_triangle(3);
-             tmp_triangle[0] = StringToInt(id0);
-             tmp_triangle[1] = StringToInt(id1);
-             tmp_triangle[2] = StringToInt(id2);
-             list_triangles.push_back(tmp_triangle);
-
-             count++;
-      }
-    }
-  }
-}
diff --git a/samples/cpp/tutorial_code/calib3d/real_time_pose_estimation/src/CsvReader.h b/samples/cpp/tutorial_code/calib3d/real_time_pose_estimation/src/CsvReader.h
deleted file mode 100644
index ab94e4c1b9..0000000000
--- a/samples/cpp/tutorial_code/calib3d/real_time_pose_estimation/src/CsvReader.h
+++ /dev/null
@@ -1,40 +0,0 @@
-#ifndef CSVREADER_H
-#define	CSVREADER_H
-
-#include <iostream>
-#include <fstream>
-
-#include <opencv2/core/core.hpp>
-
-using namespace std;
-using namespace cv;
-
-class CsvReader {
-public:
-  /**
-  * The default constructor of the CSV reader Class.
-  * The default separator is ' ' (empty space)
-  *
-  * @param path - The path of the file to read
-  * @param separator - The separator character between words per line
-  * @return
-  */
-  CsvReader(const std::string &path, const char &separator = ' ');
-
-  /**
-  * Read a plane text file with .ply format
-  *
-  * @param list_vertex - The container of the vertices list of the mesh
-  * @param list_triangle - The container of the triangles list of the mesh
-  * @return
-  */
-  void readPLY(std::vector<cv::Point3f> &list_vertex, std::vector<std::vector<int> > &list_triangles);
-
-private:
-  /** The current stream file for the reader */
-  ifstream _file;
-  /** The separator character between words for each line */
-  char _separator;
-};
-
-#endif
diff --git a/samples/cpp/tutorial_code/calib3d/real_time_pose_estimation/src/CsvWriter.cpp b/samples/cpp/tutorial_code/calib3d/real_time_pose_estimation/src/CsvWriter.cpp
deleted file mode 100644
index 4671fd098e..0000000000
--- a/samples/cpp/tutorial_code/calib3d/real_time_pose_estimation/src/CsvWriter.cpp
+++ /dev/null
@@ -1,50 +0,0 @@
-#include "CsvWriter.h"
-#include "Utils.h"
-
-CsvWriter::CsvWriter(const std::string &path, const std::string &separator){
-  _file.open(path.c_str(), std::ofstream::out);
-  _isFirstTerm = true;
-  _separator = separator;
-}
-
-CsvWriter::~CsvWriter() {
-  _file.flush();
-  _file.close();
-}
-
-void CsvWriter::writeXYZ(const std::vector<cv::Point3f> &list_points3d)
-{
-  std::string x, y, z;
-  for(unsigned int i = 0; i < list_points3d.size(); ++i)
-  {
-    x = FloatToString(list_points3d[i].x);
-    y = FloatToString(list_points3d[i].y);
-    z = FloatToString(list_points3d[i].z);
-
-    _file << x << _separator << y << _separator << z << std::endl;
-  }
-
-}
-
-void CsvWriter::writeUVXYZ(const std::vector<cv::Point3f> &list_points3d, const std::vector<cv::Point2f> &list_points2d, const cv::Mat &descriptors)
-{
-  std::string u, v, x, y, z, descriptor_str;
-  for(int i = 0; i < list_points3d.size(); ++i)
-  {
-    u = FloatToString(list_points2d[i].x);
-    v = FloatToString(list_points2d[i].y);
-    x = FloatToString(list_points3d[i].x);
-    y = FloatToString(list_points3d[i].y);
-    z = FloatToString(list_points3d[i].z);
-
-    _file << u << _separator << v << _separator << x << _separator << y << _separator << z;
-
-    for(int j = 0; j < 32; ++j)
-    {
-      std::cout << descriptors.at<float>(i,j) << std::endl;
-      descriptor_str = FloatToString(descriptors.at<float>(i,j));
-      _file << _separator << descriptor_str;
-    }
-    _file << std::endl;
-  }
-}
diff --git a/samples/cpp/tutorial_code/calib3d/real_time_pose_estimation/src/CsvWriter.h b/samples/cpp/tutorial_code/calib3d/real_time_pose_estimation/src/CsvWriter.h
deleted file mode 100644
index c2eea752d6..0000000000
--- a/samples/cpp/tutorial_code/calib3d/real_time_pose_estimation/src/CsvWriter.h
+++ /dev/null
@@ -1,22 +0,0 @@
-#ifndef CSVWRITER_H
-#define	CSVWRITER_H
-
-#include <fstream>
-#include <iostream>
-
-#include <opencv2/core/core.hpp>
-
-class CsvWriter {
-public:
-  CsvWriter(const std::string &path, const std::string &separator = " ");
-  ~CsvWriter();
-  void writeXYZ(const std::vector<cv::Point3f> &list_points3d);
-  void writeUVXYZ(const std::vector<cv::Point3f> &list_points3d, const std::vector<cv::Point2f> &list_points2d, const cv::Mat &descriptors);
-
-private:
-  std::ofstream _file;
-  std::string _separator;
-  bool _isFirstTerm;
-};
-
-#endif
diff --git a/samples/cpp/tutorial_code/calib3d/real_time_pose_estimation/src/Mesh.cpp b/samples/cpp/tutorial_code/calib3d/real_time_pose_estimation/src/Mesh.cpp
deleted file mode 100644
index 6458cfde36..0000000000
--- a/samples/cpp/tutorial_code/calib3d/real_time_pose_estimation/src/Mesh.cpp
+++ /dev/null
@@ -1,82 +0,0 @@
-/*
- * Mesh.cpp
- *
- *  Created on: Apr 9, 2014
- *      Author: edgar
- */
-
-#include "Mesh.h"
-#include "CsvReader.h"
-
-
-// --------------------------------------------------- //
-//                   TRIANGLE CLASS                    //
-// --------------------------------------------------- //
-
-/**  The custom constructor of the Triangle Class */
-Triangle::Triangle(int id, cv::Point3f V0, cv::Point3f V1, cv::Point3f V2)
-{
-  id_ = id; v0_ = V0; v1_ = V1; v2_ = V2;
-}
-
-/**  The default destructor of the Class */
-Triangle::~Triangle()
-{
-  // TODO Auto-generated destructor stub
-}
-
-
-// --------------------------------------------------- //
-//                     RAY CLASS                       //
-// --------------------------------------------------- //
-
-/**  The custom constructor of the Ray Class */
-Ray::Ray(cv::Point3f P0, cv::Point3f P1) {
-  p0_ = P0; p1_ = P1;
-}
-
-/**  The default destructor of the Class */
-Ray::~Ray()
-{
-  // TODO Auto-generated destructor stub
-}
-
-
-// --------------------------------------------------- //
-//                 OBJECT MESH CLASS                   //
-// --------------------------------------------------- //
-
-/** The default constructor of the ObjectMesh Class */
-Mesh::Mesh() : list_vertex_(0) , list_triangles_(0)
-{
-  id_ = 0;
-  num_vertexs_ = 0;
-  num_triangles_ = 0;
-}
-
-/** The default destructor of the ObjectMesh Class */
-Mesh::~Mesh()
-{
-  // TODO Auto-generated destructor stub
-}
-
-
-/** Load a CSV with *.ply format **/
-void Mesh::load(const std::string path)
-{
-
-  // Create the reader
-  CsvReader csvReader(path);
-
-  // Clear previous data
-  list_vertex_.clear();
-  list_triangles_.clear();
-
-  // Read from .ply file
-  csvReader.readPLY(list_vertex_, list_triangles_);
-
-  // Update mesh attributes
-  num_vertexs_ = list_vertex_.size();
-  num_triangles_ = list_triangles_.size();
-
-}
diff --git a/samples/cpp/tutorial_code/calib3d/real_time_pose_estimation/src/Mesh.h b/samples/cpp/tutorial_code/calib3d/real_time_pose_estimation/src/Mesh.h
deleted file mode 100644
index 2ca625d3c3..0000000000
--- a/samples/cpp/tutorial_code/calib3d/real_time_pose_estimation/src/Mesh.h
+++ /dev/null
@@ -1,86 +0,0 @@
-/*
- * Mesh.h
- *
- *  Created on: Apr 9, 2014
- *      Author: edgar
- */
-
-#ifndef MESH_H_
-#define MESH_H_
-
-#include <iostream>
-#include <opencv2/core/core.hpp>
-
-
-// --------------------------------------------------- //
-//                 TRIANGLE CLASS                      //
-// --------------------------------------------------- //
-
-class Triangle {
-public:
-
-  explicit Triangle(int id, cv::Point3f V0, cv::Point3f V1, cv::Point3f V2);
-  virtual ~Triangle();
-
-  cv::Point3f getV0() const { return v0_; }
-  cv::Point3f getV1() const { return v1_; }
-  cv::Point3f getV2() const { return v2_; }
-
-private:
-  /** The identifier number of the triangle */
-  int id_;
-  /** The three vertices that defines the triangle */
-  cv::Point3f v0_, v1_, v2_;
-};
-
-
-// --------------------------------------------------- //
-//                     RAY CLASS                       //
-// --------------------------------------------------- //
-
-class Ray {
-public:
-
-  explicit Ray(cv::Point3f P0, cv::Point3f P1);
-  virtual ~Ray();
-
-  cv::Point3f getP0() { return p0_; }
-  cv::Point3f getP1() { return p1_; }
-
-private:
-  /** The two points that defines the ray */
-  cv::Point3f p0_, p1_;
-};
-
-
-// --------------------------------------------------- //
-//                OBJECT MESH CLASS                    //
-// --------------------------------------------------- //
-
-class Mesh
-{
-public:
-
-  Mesh();
-  virtual ~Mesh();
-
-  std::vector<std::vector<int> > getTrianglesList() const { return list_triangles_; }
-  cv::Point3f getVertex(int pos) const { return list_vertex_[pos]; }
-  int getNumVertices() const { return num_vertexs_; }
-
-  void load(const std::string path_file);
-
-private:
-  /** The identification number of the mesh */
-  int id_;
-  /** The current number of vertices in the mesh */
-  int num_vertexs_;
-  /** The current number of triangles in the mesh */
-  int num_triangles_;
-  /* The list of triangles of the mesh */
-  std::vector<cv::Point3f> list_vertex_;
-  /* The list of triangles of the mesh */
-  std::vector<std::vector<int> > list_triangles_;
-};
-
-#endif /* OBJECTMESH_H_ */
diff --git a/samples/cpp/tutorial_code/calib3d/real_time_pose_estimation/src/Model.cpp b/samples/cpp/tutorial_code/calib3d/real_time_pose_estimation/src/Model.cpp
deleted file mode 100644
index 3256cef057..0000000000
--- a/samples/cpp/tutorial_code/calib3d/real_time_pose_estimation/src/Model.cpp
+++ /dev/null
@@ -1,73 +0,0 @@
-/*
- * Model.cpp
- *
- *  Created on: Apr 9, 2014
- *      Author: edgar
- */
-
-#include "Model.h"
-#include "CsvWriter.h"
-
-Model::Model() : list_points2d_in_(0), list_points2d_out_(0), list_points3d_in_(0)
-{
-  n_correspondences_ = 0;
-}
-
-Model::~Model()
-{
-  // TODO Auto-generated destructor stub
-}
-
-void Model::add_correspondence(const cv::Point2f &point2d, const cv::Point3f &point3d)
-{
-  list_points2d_in_.push_back(point2d);
-  list_points3d_in_.push_back(point3d);
-  n_correspondences_++;
-}
-
-void Model::add_outlier(const cv::Point2f &point2d)
-{
-  list_points2d_out_.push_back(point2d);
-}
-
-void Model::add_descriptor(const cv::Mat &descriptor)
-{
-  descriptors_.push_back(descriptor);
-}
-
-void Model::add_keypoint(const cv::KeyPoint &kp)
-{
-  list_keypoints_.push_back(kp);
-}
-
-
-/** Save a CSV file and fill the object mesh */
-void Model::save(const std::string path)
-{
-  cv::Mat points3dmatrix = cv::Mat(list_points3d_in_);
-  cv::Mat points2dmatrix = cv::Mat(list_points2d_in_);
-  //cv::Mat keyPointmatrix = cv::Mat(list_keypoints_);
-
-  cv::FileStorage storage(path, cv::FileStorage::WRITE);
-  storage << "points_3d" << points3dmatrix;
-  storage << "points_2d" << points2dmatrix;
-  storage << "keypoints" << list_keypoints_;
-  storage << "descriptors" << descriptors_;
-
-  storage.release();
-}
-
-/** Load a YAML file using OpenCv functions **/
-void Model::load(const std::string path)
-{
-  cv::Mat points3d_mat;
-
-  cv::FileStorage storage(path, cv::FileStorage::READ);
-  storage["points_3d"] >> points3d_mat;
-  storage["descriptors"] >> descriptors_;
-
-  points3d_mat.copyTo(list_points3d_in_);
-
-  storage.release();
-
-}
diff --git a/samples/cpp/tutorial_code/calib3d/real_time_pose_estimation/src/Model.h b/samples/cpp/tutorial_code/calib3d/real_time_pose_estimation/src/Model.h
deleted file mode 100644
index 79af18f0fb..0000000000
--- a/samples/cpp/tutorial_code/calib3d/real_time_pose_estimation/src/Model.h
+++ /dev/null
@@ -1,54 +0,0 @@
-/*
- * Model.h
- *
- *  Created on: Apr 9, 2014
- *      Author: edgar
- */
-
-#ifndef MODEL_H_
-#define MODEL_H_
-
-#include <iostream>
-#include <opencv2/core/core.hpp>
-#include <opencv2/features2d/features2d.hpp>
-
-class Model
-{
-public:
-  Model();
-  virtual ~Model();
-
-  std::vector<cv::Point2f> get_points2d_in() const { return list_points2d_in_; }
-  std::vector<cv::Point2f> get_points2d_out() const { return list_points2d_out_; }
-  std::vector<cv::Point3f> get_points3d() const { return list_points3d_in_; }
-  std::vector<cv::KeyPoint> get_keypoints() const { return list_keypoints_; }
-  cv::Mat get_descriptors() const { return descriptors_; }
-  int get_numDescriptors() const { return descriptors_.rows; }
-
-
-  void add_correspondence(const cv::Point2f &point2d, const cv::Point3f &point3d);
-  void add_outlier(const cv::Point2f &point2d);
-  void add_descriptor(const cv::Mat &descriptor);
-  void add_keypoint(const cv::KeyPoint &kp);
-
-
-  void save(const std::string path);
-  void load(const std::string path);
-
-
-private:
-  /** The current number of correspondecnes */
-  int n_correspondences_;
-  /** The list of 2D points on the model surface */
-  std::vector<cv::KeyPoint> list_keypoints_;
-  /** The list of 2D points on the model surface */
-  std::vector<cv::Point2f> list_points2d_in_;
-  /** The list of 2D points outside the model surface */
-  std::vector<cv::Point2f> list_points2d_out_;
-  /** The list of 3D points on the model surface */
-  std::vector<cv::Point3f> list_points3d_in_;
-  /** The list of 2D points descriptors */
-  cv::Mat descriptors_;
-};
-
-#endif /* OBJECTMODEL_H_ */
diff --git a/samples/cpp/tutorial_code/calib3d/real_time_pose_estimation/src/ModelRegistration.cpp b/samples/cpp/tutorial_code/calib3d/real_time_pose_estimation/src/ModelRegistration.cpp
deleted file mode 100644
index e8da885685..0000000000
--- a/samples/cpp/tutorial_code/calib3d/real_time_pose_estimation/src/ModelRegistration.cpp
+++ /dev/null
@@ -1,35 +0,0 @@
-/*
- * ModelRegistration.cpp
- *
- *  Created on: Apr 18, 2014
- *      Author: edgar
- */
-
-#include "ModelRegistration.h"
-
-ModelRegistration::ModelRegistration()
-{
-  n_registrations_ = 0;
-  max_registrations_ = 0;
-}
-
-ModelRegistration::~ModelRegistration()
-{
-  // TODO Auto-generated destructor stub
-}
-
-void ModelRegistration::registerPoint(const cv::Point2f &point2d, const cv::Point3f &point3d)
- {
-   // add correspondence at the end of the vector
-    list_points2d_.push_back(point2d);
-    list_points3d_.push_back(point3d);
-    n_registrations_++;
- }
-
-void ModelRegistration::reset()
-{
-  n_registrations_ = 0;
-  max_registrations_ = 0;
-  list_points2d_.clear();
-  list_points3d_.clear();
-}
diff --git a/samples/cpp/tutorial_code/calib3d/real_time_pose_estimation/src/ModelRegistration.h b/samples/cpp/tutorial_code/calib3d/real_time_pose_estimation/src/ModelRegistration.h
deleted file mode 100644
index f1e7aca469..0000000000
--- a/samples/cpp/tutorial_code/calib3d/real_time_pose_estimation/src/ModelRegistration.h
+++ /dev/null
@@ -1,43 +0,0 @@
-/*
- * ModelRegistration.h
- *
- *  Created on: Apr 18, 2014
- *      Author: edgar
- */
-
-#ifndef MODELREGISTRATION_H_
-#define MODELREGISTRATION_H_
-
-#include <iostream>
-#include <opencv2/core/core.hpp>
-
-class ModelRegistration
-{
-public:
-
-  ModelRegistration();
-  virtual ~ModelRegistration();
-
-  void setNumMax(int n) { max_registrations_ = n; }
-
-  std::vector<cv::Point2f> get_points2d() const { return list_points2d_; }
-  std::vector<cv::Point3f> get_points3d() const { return list_points3d_; }
-  int getNumMax() const { return max_registrations_; }
-  int getNumRegist() const { return n_registrations_; }
-
-  bool is_registrable() const { return (n_registrations_ < max_registrations_); }
-  void registerPoint(const cv::Point2f &point2d, const cv::Point3f &point3d);
-  void reset();
-
-private:
-/** The current number of registered points */
-int n_registrations_;
-/** The total number of points to register */
-int max_registrations_;
-/** The list of 2D points to register the model */
-std::vector<cv::Point2f> list_points2d_;
-/** The list of 3D points to register the model */
-std::vector<cv::Point3f> list_points3d_;
-};
-
-#endif /* MODELREGISTRATION_H_ */
diff --git a/samples/cpp/tutorial_code/calib3d/real_time_pose_estimation/src/PnPProblem.cpp b/samples/cpp/tutorial_code/calib3d/real_time_pose_estimation/src/PnPProblem.cpp
deleted file mode 100644
index 48c8be576d..0000000000
--- a/samples/cpp/tutorial_code/calib3d/real_time_pose_estimation/src/PnPProblem.cpp
+++ /dev/null
@@ -1,312 +0,0 @@
-/*
- * PnPProblem.cpp
- *
- *  Created on: Mar 28, 2014
- *      Author: Edgar Riba
- */
-
-#include <iostream>
-#include <sstream>
-
-#include "PnPProblem.h"
-#include "Mesh.h"
-
-#include <opencv2/calib3d/calib3d.hpp>
-
-
-/* Functions for Möller–Trumbore intersection algorithm
- * */
-cv::Point3f CROSS(cv::Point3f v1, cv::Point3f v2)
-{
-  cv::Point3f tmp_p;
-  tmp_p.x =  v1.y*v2.z - v1.z*v2.y;
-  tmp_p.y =  v1.z*v2.x - v1.x*v2.z;
-  tmp_p.z =  v1.x*v2.y - v1.y*v2.x;
-  return tmp_p;
-}
-
-double DOT(cv::Point3f v1, cv::Point3f v2)
-{
-  return v1.x*v2.x + v1.y*v2.y + v1.z*v2.z;
-}
-
-cv::Point3f SUB(cv::Point3f v1, cv::Point3f v2)
-{
-  cv::Point3f tmp_p;
-  tmp_p.x =  v1.x - v2.x;
-  tmp_p.y =  v1.y - v2.y;
-  tmp_p.z =  v1.z - v2.z;
-  return tmp_p;
-}
-
-/* End functions for Möller–Trumbore intersection algorithm
- *  */
-
-// Function to get the nearest 3D point to the Ray origin
-cv::Point3f get_nearest_3D_point(std::vector<cv::Point3f> &points_list, cv::Point3f origin)
-{
-  cv::Point3f p1 = points_list[0];
-  cv::Point3f p2 = points_list[1];
-
-  double d1 = std::sqrt( std::pow(p1.x-origin.x, 2) + std::pow(p1.y-origin.y, 2) + std::pow(p1.z-origin.z, 2) );
-  double d2 = std::sqrt( std::pow(p2.x-origin.x, 2) + std::pow(p2.y-origin.y, 2) + std::pow(p2.z-origin.z, 2) );
-
-  if(d1 < d2)
-  {
-      return p1;
-  }
-  else
-  {
-      return p2;
-  }
-}
-
-// Custom constructor given the intrinsic camera parameters
-
-PnPProblem::PnPProblem(const double params[])
-{
-  _A_matrix = cv::Mat::zeros(3, 3, CV_64FC1);   // intrinsic camera parameters
-  _A_matrix.at<double>(0, 0) = params[0];       //      [ fx   0  cx ]
-  _A_matrix.at<double>(1, 1) = params[1];       //      [  0  fy  cy ]
-  _A_matrix.at<double>(0, 2) = params[2];       //      [  0   0   1 ]
-  _A_matrix.at<double>(1, 2) = params[3];
-  _A_matrix.at<double>(2, 2) = 1;
-  _R_matrix = cv::Mat::zeros(3, 3, CV_64FC1);   // rotation matrix
-  _t_matrix = cv::Mat::zeros(3, 1, CV_64FC1);   // translation matrix
-  _P_matrix = cv::Mat::zeros(3, 4, CV_64FC1);   // rotation-translation matrix
-
-}
-
-PnPProblem::~PnPProblem()
-{
-  // TODO Auto-generated destructor stub
-}
-
-void PnPProblem::set_P_matrix( const cv::Mat &R_matrix, const cv::Mat &t_matrix)
-{
-  // Rotation-Translation Matrix Definition
-  _P_matrix.at<double>(0,0) = R_matrix.at<double>(0,0);
-  _P_matrix.at<double>(0,1) = R_matrix.at<double>(0,1);
-  _P_matrix.at<double>(0,2) = R_matrix.at<double>(0,2);
-  _P_matrix.at<double>(1,0) = R_matrix.at<double>(1,0);
-  _P_matrix.at<double>(1,1) = R_matrix.at<double>(1,1);
-  _P_matrix.at<double>(1,2) = R_matrix.at<double>(1,2);
-  _P_matrix.at<double>(2,0) = R_matrix.at<double>(2,0);
-  _P_matrix.at<double>(2,1) = R_matrix.at<double>(2,1);
-  _P_matrix.at<double>(0,3) = t_matrix.at<double>(0);
-  _P_matrix.at<double>(1,3) = t_matrix.at<double>(1);
-  _P_matrix.at<double>(2,3) = t_matrix.at<double>(2);
-}
-
-
-// Estimate the pose given a list of 2D/3D correspondences and the method to use
-bool PnPProblem::estimatePose( const std::vector<cv::Point3f> &list_points3d,
-                               const std::vector<cv::Point2f> &list_points2d,
-                               int flags)
-{
-  cv::Mat distCoeffs = cv::Mat::zeros(4, 1, CV_64FC1);
-  cv::Mat rvec = cv::Mat::zeros(3, 1, CV_64FC1);
-  cv::Mat tvec = cv::Mat::zeros(3, 1, CV_64FC1);
-
-  bool useExtrinsicGuess = false;
-
-  // Pose estimation
-  bool correspondence = cv::solvePnP( list_points3d, list_points2d, _A_matrix, distCoeffs, rvec, tvec,
-                                      useExtrinsicGuess, flags);
-
-  // Transforms Rotation Vector to Matrix
-  Rodrigues(rvec,_R_matrix);
-  _t_matrix = tvec;
-
-  // Set projection matrix
-  this->set_P_matrix(_R_matrix, _t_matrix);
-
-  return correspondence;
-}
-
-// Estimate the pose given a list of 2D/3D correspondences with RANSAC and the method to use
-
-void PnPProblem::estimatePoseRANSAC( const std::vector<cv::Point3f> &list_points3d, // list with model 3D coordinates
-                               const std::vector<cv::Point2f> &list_points2d,     // list with scene 2D coordinates
-                               int flags, cv::Mat &inliers, int iterationsCount,  // PnP method; inliers container
-                               float reprojectionError, float confidence )    // Ransac parameters
-{
-  cv::Mat distCoeffs = cv::Mat::zeros(4, 1, CV_64FC1);  // vector of distortion coefficients
-  cv::Mat rvec = cv::Mat::zeros(3, 1, CV_64FC1);          // output rotation vector
-  cv::Mat tvec = cv::Mat::zeros(3, 1, CV_64FC1);    // output translation vector
-
-  bool useExtrinsicGuess = false;   // if true the function uses the provided rvec and tvec values as
-            // initial approximations of the rotation and translation vectors
-
-  cv::solvePnPRansac( list_points3d, list_points2d, _A_matrix, distCoeffs, rvec, tvec,
-                useExtrinsicGuess, iterationsCount, reprojectionError, confidence,
-                inliers, flags );
-
-  Rodrigues(rvec,_R_matrix);      // converts Rotation Vector to Matrix
-  _t_matrix = tvec;       // set translation matrix
-
-  this->set_P_matrix(_R_matrix, _t_matrix); // set rotation-translation matrix
-
-}
-
-// Given the mesh, backproject the 3D points to 2D to verify the pose estimation
-std::vector<cv::Point2f> PnPProblem::verify_points(Mesh *mesh)
-{
-  std::vector<cv::Point2f> verified_points_2d;
-  for( int i = 0; i < mesh->getNumVertices(); i++)
-  {
-    cv::Point3f point3d = mesh->getVertex(i);
-    cv::Point2f point2d = this->backproject3DPoint(point3d);
-    verified_points_2d.push_back(point2d);
-  }
-
-  return verified_points_2d;
-}
-
-
-// Backproject a 3D point to 2D using the estimated pose parameters
-
-cv::Point2f PnPProblem::backproject3DPoint(const cv::Point3f &point3d)
-{
-  // 3D point vector [x y z 1]'
-  cv::Mat point3d_vec = cv::Mat(4, 1, CV_64FC1);
-  point3d_vec.at<double>(0) = point3d.x;
-  point3d_vec.at<double>(1) = point3d.y;
-  point3d_vec.at<double>(2) = point3d.z;
-  point3d_vec.at<double>(3) = 1;
-
-  // 2D point vector [u v 1]'
-  cv::Mat point2d_vec = cv::Mat(4, 1, CV_64FC1);
-  point2d_vec = _A_matrix * _P_matrix * point3d_vec;
-
-  // Normalization of [u v]'
-  cv::Point2f point2d;
-  point2d.x = point2d_vec.at<double>(0) / point2d_vec.at<double>(2);
-  point2d.y = point2d_vec.at<double>(1) / point2d_vec.at<double>(2);
-
-  return point2d;
-}
-
-// Back project a 2D point to 3D and returns if it's on the object surface
-bool PnPProblem::backproject2DPoint(const Mesh *mesh, const cv::Point2f &point2d, cv::Point3f &point3d)
-{
-  // Triangles list of the object mesh
-  std::vector<std::vector<int> > triangles_list = mesh->getTrianglesList();
-
-  double lambda = 8;
-  double u = point2d.x;
-  double v = point2d.y;
-
-  // Point in vector form
-  cv::Mat point2d_vec = cv::Mat::ones(3, 1, CV_64F); // 3x1
-  point2d_vec.at<double>(0) = u * lambda;
-  point2d_vec.at<double>(1) = v * lambda;
-  point2d_vec.at<double>(2) = lambda;
-
-  // Point in camera coordinates
-  cv::Mat X_c = _A_matrix.inv() * point2d_vec ; // 3x1
-
-  // Point in world coordinates
-  cv::Mat X_w = _R_matrix.inv() * ( X_c - _t_matrix ); // 3x1
-
-  // Center of projection
-  cv::Mat C_op = cv::Mat(_R_matrix.inv()).mul(-1) * _t_matrix; // 3x1
-
-  // Ray direction vector
-  cv::Mat ray = X_w - C_op; // 3x1
-  ray = ray / cv::norm(ray); // 3x1
-
-  // Set up Ray
-  Ray R((cv::Point3f)C_op, (cv::Point3f)ray);
-
-  // A vector to store the intersections found
-  std::vector<cv::Point3f> intersections_list;
-
-  // Loop for all the triangles and check the intersection
-  for (unsigned int i = 0; i < triangles_list.size(); i++)
-  {
-    cv::Point3f V0 = mesh->getVertex(triangles_list[i][0]);
-    cv::Point3f V1 = mesh->getVertex(triangles_list[i][1]);
-    cv::Point3f V2 = mesh->getVertex(triangles_list[i][2]);
-
-    Triangle T(i, V0, V1, V2);
-
-    double out;
-    if(this->intersect_MollerTrumbore(R, T, &out))
-    {
-      cv::Point3f tmp_pt = R.getP0() + out*R.getP1(); // P = O + t*D
-      intersections_list.push_back(tmp_pt);
-    }
-  }
-
-  // If there are intersection, find the nearest one
-  if (!intersections_list.empty())
-  {
-    point3d = get_nearest_3D_point(intersections_list, R.getP0());
-    return true;
-  }
-  else
-  {
-    return false;
-  }
-}
-
-// Möller–Trumbore intersection algorithm
-bool PnPProblem::intersect_MollerTrumbore(Ray &Ray, Triangle &Triangle, double *out)
-{
-  const double EPSILON = 0.000001;
-
-  cv::Point3f e1, e2;
-  cv::Point3f P, Q, T;
-  double det, inv_det, u, v;
-  double t;
-
-  cv::Point3f V1 = Triangle.getV0();  // Triangle vertices
-  cv::Point3f V2 = Triangle.getV1();
-  cv::Point3f V3 = Triangle.getV2();
-
-  cv::Point3f O = Ray.getP0(); // Ray origin
-  cv::Point3f D = Ray.getP1(); // Ray direction
-
-  //Find vectors for two edges sharing V1
-  e1 = SUB(V2, V1);
-  e2 = SUB(V3, V1);
-
-  // Begin calculation determinant - also used to calculate U parameter
-  P = CROSS(D, e2);
-
-  // If determinant is near zero, ray lie in plane of triangle
-  det = DOT(e1, P);
-
-  //NOT CULLING
-  if(det > -EPSILON && det < EPSILON) return false;
-  inv_det = 1.f / det;
-
-  //calculate distance from V1 to ray origin
-  T = SUB(O, V1);
-
-  //Calculate u parameter and test bound
-  u = DOT(T, P) * inv_det;
-
-  //The intersection lies outside of the triangle
-  if(u < 0.f || u > 1.f) return false;
-
-  //Prepare to test v parameter
-  Q = CROSS(T, e1);
-
-  //Calculate V parameter and test bound
-  v = DOT(D, Q) * inv_det;
-
-  //The intersection lies outside of the triangle
-  if(v < 0.f || u + v  > 1.f) return false;
-
-  t = DOT(e2, Q) * inv_det;
-
-  if(t > EPSILON) { //ray intersection
-    *out = t;
-    return true;
-  }
-
-  // No hit, no win
-  return false;
-}
diff --git a/samples/cpp/tutorial_code/calib3d/real_time_pose_estimation/src/PnPProblem.h b/samples/cpp/tutorial_code/calib3d/real_time_pose_estimation/src/PnPProblem.h
deleted file mode 100644
index da189d0a0e..0000000000
--- a/samples/cpp/tutorial_code/calib3d/real_time_pose_estimation/src/PnPProblem.h
+++ /dev/null
@@ -1,53 +0,0 @@
-/*
- * PnPProblem.h
- *
- *  Created on: Mar 28, 2014
- *      Author: Edgar Riba
- */
-
-#ifndef PNPPROBLEM_H_
-#define PNPPROBLEM_H_
-
-#include <iostream>
-
-#include <opencv2/core/core.hpp>
-#include <opencv2/highgui/highgui.hpp>
-
-#include "Mesh.h"
-#include "ModelRegistration.h"
-
-class PnPProblem
-{
-
-public:
-  explicit PnPProblem(const double param[]);  // custom constructor
-  virtual ~PnPProblem();
-
-  bool backproject2DPoint(const Mesh *mesh, const cv::Point2f &point2d, cv::Point3f &point3d);
-  bool intersect_MollerTrumbore(Ray &R, Triangle &T, double *out);
-  std::vector<cv::Point2f> verify_points(Mesh *mesh);
-  cv::Point2f backproject3DPoint(const cv::Point3f &point3d);
-  bool estimatePose(const std::vector<cv::Point3f> &list_points3d, const std::vector<cv::Point2f> &list_points2d, int flags);
-  void estimatePoseRANSAC( const std::vector<cv::Point3f> &list_points3d, const std::vector<cv::Point2f> &list_points2d,
-                           int flags, cv::Mat &inliers,
-                           int iterationsCount, float reprojectionError, float confidence );
-
-  cv::Mat get_A_matrix() const { return _A_matrix; }
-  cv::Mat get_R_matrix() const { return _R_matrix; }
-  cv::Mat get_t_matrix() const { return _t_matrix; }
-  cv::Mat get_P_matrix() const { return _P_matrix; }
-
-  void set_P_matrix( const cv::Mat &R_matrix, const cv::Mat &t_matrix);
-
-private:
-  /** The calibration matrix */
-  cv::Mat _A_matrix;
-  /** The computed rotation matrix */
-  cv::Mat _R_matrix;
-  /** The computed translation matrix */
-  cv::Mat _t_matrix;
-  /** The computed projection matrix */
-  cv::Mat _P_matrix;
-};
-
-#endif /* PNPPROBLEM_H_ */
diff --git a/samples/cpp/tutorial_code/calib3d/real_time_pose_estimation/src/RobustMatcher.cpp b/samples/cpp/tutorial_code/calib3d/real_time_pose_estimation/src/RobustMatcher.cpp
deleted file mode 100644
index 7ef9f887a6..0000000000
--- a/samples/cpp/tutorial_code/calib3d/real_time_pose_estimation/src/RobustMatcher.cpp
+++ /dev/null
@@ -1,152 +0,0 @@
-/*
- * RobustMatcher.cpp
- *
- *  Created on: Jun 4, 2014
- *      Author: eriba
- */
-
-#include "RobustMatcher.h"
-#include <time.h>
-
-#include <opencv2/features2d/features2d.hpp>
-
-RobustMatcher::~RobustMatcher()
-{
-  // TODO Auto-generated destructor stub
-}
-
-void RobustMatcher::computeKeyPoints( const cv::Mat& image, std::vector<cv::KeyPoint>& keypoints)
-{
-  detector_->detect(image, keypoints);
-}
-
-void RobustMatcher::computeDescriptors( const cv::Mat& image, std::vector<cv::KeyPoint>& keypoints, cv::Mat& descriptors)
-{
-  extractor_->compute(image, keypoints, descriptors);
-}
-
-int RobustMatcher::ratioTest(std::vector<std::vector<cv::DMatch> > &matches)
-{
-  int removed = 0;
-  // for all matches
-  for ( std::vector<std::vector<cv::DMatch> >::iterator
-        matchIterator= matches.begin(); matchIterator!= matches.end(); ++matchIterator)
-  {
-    // if 2 NN has been identified
-    if (matchIterator->size() > 1)
-    {
-      // check distance ratio
-      if ((*matchIterator)[0].distance / (*matchIterator)[1].distance > ratio_)
-      {
-        matchIterator->clear(); // remove match
-        removed++;
-      }
-    }
-    else
-    { // does not have 2 neighbours
-      matchIterator->clear(); // remove match
-      removed++;
-    }
-  }
-  return removed;
-}
-
-void RobustMatcher::symmetryTest( const std::vector<std::vector<cv::DMatch> >& matches1,
-                     const std::vector<std::vector<cv::DMatch> >& matches2,
-                     std::vector<cv::DMatch>& symMatches )
-{
-
-  // for all matches image 1 -> image 2
-   for (std::vector<std::vector<cv::DMatch> >::const_iterator
-       matchIterator1 = matches1.begin(); matchIterator1 != matches1.end(); ++matchIterator1)
-   {
-
-      // ignore deleted matches
-      if (matchIterator1->empty() || matchIterator1->size() < 2)
-         continue;
-
-      // for all matches image 2 -> image 1
-      for (std::vector<std::vector<cv::DMatch> >::const_iterator
-          matchIterator2 = matches2.begin(); matchIterator2 != matches2.end(); ++matchIterator2)
-      {
-        // ignore deleted matches
-        if (matchIterator2->empty() || matchIterator2->size() < 2)
-           continue;
-
-        // Match symmetry test
-        if ((*matchIterator1)[0].queryIdx ==
-            (*matchIterator2)[0].trainIdx &&
-            (*matchIterator2)[0].queryIdx ==
-            (*matchIterator1)[0].trainIdx)
-        {
-            // add symmetrical match
-            symMatches.push_back(
-              cv::DMatch((*matchIterator1)[0].queryIdx,
-                         (*matchIterator1)[0].trainIdx,
-                         (*matchIterator1)[0].distance));
-            break; // next match in image 1 -> image 2
-        }
-      }
-   }
-
-}
-
-void RobustMatcher::robustMatch( const cv::Mat& frame, std::vector<cv::DMatch>& good_matches,
-              std::vector<cv::KeyPoint>& keypoints_frame, const cv::Mat& descriptors_model )
-{
-
-  // 1a. Detection of the ORB features
-  this->computeKeyPoints(frame, keypoints_frame);
-
-  // 1b. Extraction of the ORB descriptors
-  cv::Mat descriptors_frame;
-  this->computeDescriptors(frame, keypoints_frame, descriptors_frame);
-
-  // 2. Match the two image descriptors
-  std::vector<std::vector<cv::DMatch> > matches12, matches21;
-
-  // 2a. From image 1 to image 2
-  matcher_->knnMatch(descriptors_frame, descriptors_model, matches12, 2); // return 2 nearest neighbours
-
-  // 2b. From image 2 to image 1
-  matcher_->knnMatch(descriptors_model, descriptors_frame, matches21, 2); // return 2 nearest neighbours
-
-  // 3. Remove matches for which NN ratio is > than threshold
-  // clean image 1 -> image 2 matches
-  int removed1 = ratioTest(matches12);
-  // clean image 2 -> image 1 matches
-  int removed2 = ratioTest(matches21);
-
-  // 4. Remove non-symmetrical matches
-  symmetryTest(matches12, matches21, good_matches);
-
-}
-
-void RobustMatcher::fastRobustMatch( const cv::Mat& frame, std::vector<cv::DMatch>& good_matches,
-                                 std::vector<cv::KeyPoint>& keypoints_frame,
-                                 const cv::Mat& descriptors_model )
-{
-  good_matches.clear();
-
-  // 1a. Detection of the ORB features
-  this->computeKeyPoints(frame, keypoints_frame);
-
-  // 1b. Extraction of the ORB descriptors
-  cv::Mat descriptors_frame;
-  this->computeDescriptors(frame, keypoints_frame, descriptors_frame);
-
-  // 2. Match the two image descriptors
-  std::vector<std::vector<cv::DMatch> > matches;
-  matcher_->knnMatch(descriptors_frame, descriptors_model, matches, 2);
-
-  // 3. Remove matches for which NN ratio is > than threshold
-  int removed = ratioTest(matches);
-
-  // 4. Fill good matches container
-  for ( std::vector<std::vector<cv::DMatch> >::iterator
-         matchIterator= matches.begin(); matchIterator!= matches.end(); ++matchIterator)
-  {
-    if (!matchIterator->empty()) good_matches.push_back((*matchIterator)[0]);
-  }
-
-}
diff --git a/samples/cpp/tutorial_code/calib3d/real_time_pose_estimation/src/RobustMatcher.h b/samples/cpp/tutorial_code/calib3d/real_time_pose_estimation/src/RobustMatcher.h
deleted file mode 100644
index fc03c74faa..0000000000
--- a/samples/cpp/tutorial_code/calib3d/real_time_pose_estimation/src/RobustMatcher.h
+++ /dev/null
@@ -1,83 +0,0 @@
-/*
- * RobustMatcher.h
- *
- *  Created on: Jun 4, 2014
- *      Author: eriba
- */
-
-#ifndef ROBUSTMATCHER_H_
-#define ROBUSTMATCHER_H_
-
-#include <iostream>
-#include <boost/shared_ptr.hpp>
-
-#include <opencv2/core/core.hpp>
-#include <opencv2/highgui/highgui.hpp>
-#include <opencv2/features2d/features2d.hpp>
-#include <opencv2/nonfree/nonfree.hpp>
-
-class RobustMatcher {
-public:
-  RobustMatcher() : ratio_(0.8f)
-  {
-    // ORB is the default feature
-    detector_ = new cv::OrbFeatureDetector();
-    extractor_ = new cv::OrbDescriptorExtractor();
-
-    // BruteFroce matcher with Norm Hamming is the default matcher
-    matcher_ = new cv::BFMatcher(cv::NORM_HAMMING, false);
-
-  }
-  virtual ~RobustMatcher();
-
-  // Set the feature detector
-  void setFeatureDetector(cv::FeatureDetector * detect) {  detector_ = detect; }
-
-  // Set the descriptor extractor
-  void setDescriptorExtractor(cv::DescriptorExtractor * desc) { extractor_ = desc; }
-
-  // Set the matcher
-  void setDescriptorMatcher(cv::DescriptorMatcher * match) {  matcher_ = match; }
-
-  // Compute the keypoints of an image
-  void computeKeyPoints( const cv::Mat& image, std::vector<cv::KeyPoint>& keypoints);
-
-  // Compute the descriptors of an image given its keypoints
-  void computeDescriptors( const cv::Mat& image, std::vector<cv::KeyPoint>& keypoints, cv::Mat& descriptors);
-
-  // Set ratio parameter for the ratio test
-  void setRatio( float rat) { ratio_ = rat; }
-
-  // Clear matches for which NN ratio is > than threshold
-  // return the number of removed points
-  // (corresponding entries being cleared,
-  // i.e. size will be 0)
-  int ratioTest(std::vector<std::vector<cv::DMatch> > &matches);
-
-  // Insert symmetrical matches in symMatches vector
-  void symmetryTest( const std::vector<std::vector<cv::DMatch> >& matches1,
-                     const std::vector<std::vector<cv::DMatch> >& matches2,
-                     std::vector<cv::DMatch>& symMatches );
-
-  // Match feature points using ratio and symmetry test
-  void robustMatch( const cv::Mat& frame, std::vector<cv::DMatch>& good_matches,
-                      std::vector<cv::KeyPoint>& keypoints_frame,
-                      const cv::Mat& descriptors_model );
-
- // Match feature points using ratio test
- void fastRobustMatch( const cv::Mat& frame, std::vector<cv::DMatch>& good_matches,
-                       std::vector<cv::KeyPoint>& keypoints_frame,
-                       const cv::Mat& descriptors_model );
-
-private:
-  // pointer to the feature point detector object
-  cv::FeatureDetector * detector_;
-  // pointer to the feature descriptor extractor object
-  cv::DescriptorExtractor * extractor_;
-  // pointer to the matcher object
-  cv::DescriptorMatcher * matcher_;
-  // max ratio between 1st and 2nd NN
-  float ratio_;
-};
-
-#endif /* ROBUSTMATCHER_H_ */
diff --git a/samples/cpp/tutorial_code/calib3d/real_time_pose_estimation/src/Utils.cpp b/samples/cpp/tutorial_code/calib3d/real_time_pose_estimation/src/Utils.cpp
deleted file mode 100644
index f66a10dd2a..0000000000
--- a/samples/cpp/tutorial_code/calib3d/real_time_pose_estimation/src/Utils.cpp
+++ /dev/null
@@ -1,295 +0,0 @@
-/*
- * Utils.cpp
- *
- *  Created on: Mar 28, 2014
- *      Author: Edgar Riba
- */
-
-#include <iostream>
-
-#include "PnPProblem.h"
-#include "ModelRegistration.h"
-#include "Utils.h"
-
-#include <opencv2/imgproc/imgproc.hpp>
-#include <opencv2/calib3d/calib3d.hpp>
-#include <opencv2/nonfree/features2d.hpp>
-
-
-// For text
-int fontFace = cv::FONT_ITALIC;
-double fontScale = 0.75;
-double thickness_font = 2;
-
-// For circles
-int lineType = 8;
-int radius = 4;
-double thickness_circ = -1;
-
-// Draw a text with the question point
-void drawQuestion(cv::Mat image, cv::Point3f point, cv::Scalar color)
-{
-  std::string x = IntToString((int)point.x);
-  std::string y = IntToString((int)point.y);
-  std::string z = IntToString((int)point.z);
-
-  std::string text = " Where is point (" + x + ","  + y + "," + z + ") ?";
-  cv::putText(image, text, cv::Point(25,50), fontFace, fontScale, color, thickness_font, 8);
-}
-
-// Draw a text with the number of entered points
-void drawText(cv::Mat image, std::string text, cv::Scalar color)
-{
-  cv::putText(image, text, cv::Point(25,50), fontFace, fontScale, color, thickness_font, 8);
-}
-
-// Draw a text with the number of entered points
-void drawText2(cv::Mat image, std::string text, cv::Scalar color)
-{
-  cv::putText(image, text, cv::Point(25,75), fontFace, fontScale, color, thickness_font, 8);
-}
-
-// Draw a text with the frame ratio
-void drawFPS(cv::Mat image, double fps, cv::Scalar color)
-{
-  std::string fps_str = IntToString((int)fps);
-  std::string text = fps_str + " FPS";
-  cv::putText(image, text, cv::Point(500,50), fontFace, fontScale, color, thickness_font, 8);
-}
-
-// Draw a text with the frame ratio
-void drawConfidence(cv::Mat image, double confidence, cv::Scalar color)
-{
-  std::string conf_str = IntToString((int)confidence);
-  std::string text = conf_str + " %";
-  cv::putText(image, text, cv::Point(500,75), fontFace, fontScale, color, thickness_font, 8);
-}
-
-// Draw a text with the number of entered points
-void drawCounter(cv::Mat image, int n, int n_max, cv::Scalar color)
-{
-  std::string n_str = IntToString(n);
-  std::string n_max_str = IntToString(n_max);
-  std::string text = n_str + " of " + n_max_str + " points";
-  cv::putText(image, text, cv::Point(500,50), fontFace, fontScale, color, thickness_font, 8);
-}
-
-// Draw the points and the coordinates
-void drawPoints(cv::Mat image, std::vector<cv::Point2f> &list_points_2d, std::vector<cv::Point3f> &list_points_3d, cv::Scalar color)
-{
-  for (unsigned int i = 0; i < list_points_2d.size(); ++i)
-  {
-    cv::Point2f point_2d = list_points_2d[i];
-    cv::Point3f point_3d = list_points_3d[i];
-
-    // Draw Selected points
-    cv::circle(image, point_2d, radius, color, -1, lineType );
-
-    std::string idx = IntToString(i+1);
-    std::string x = IntToString((int)point_3d.x);
-    std::string y = IntToString((int)point_3d.y);
-    std::string z = IntToString((int)point_3d.z);
-    std::string text = "P" + idx + " (" + x + "," + y + "," + z +")";
-
-    point_2d.x = point_2d.x + 10;
-    point_2d.y = point_2d.y - 10;
-    cv::putText(image, text, point_2d, fontFace, fontScale*0.5, color, thickness_font, 8);
-  }
-}
-
-// Draw only the points
-void draw2DPoints(cv::Mat image, std::vector<cv::Point2f> &list_points, cv::Scalar color)
-{
-  for( size_t i = 0; i < list_points.size(); i++)
-  {
-    cv::Point2f point_2d = list_points[i];
-
-    // Draw Selected points
-    cv::circle(image, point_2d, radius, color, -1, lineType );
-  }
-}
-
-void drawArrow(cv::Mat image, cv::Point2i p, cv::Point2i q, cv::Scalar color, int arrowMagnitude, int thickness, int line_type, int shift)
-{
-  //Draw the principle line
-  cv::line(image, p, q, color, thickness, line_type, shift);
-  const double PI = 3.141592653;
-  //compute the angle alpha
-  double angle = atan2((double)p.y-q.y, (double)p.x-q.x);
-  //compute the coordinates of the first segment
-  p.x = (int) ( q.x +  arrowMagnitude * cos(angle + PI/4));
-  p.y = (int) ( q.y +  arrowMagnitude * sin(angle + PI/4));
-  //Draw the first segment
-  cv::line(image, p, q, color, thickness, line_type, shift);
-  //compute the coordinates of the second segment
-  p.x = (int) ( q.x +  arrowMagnitude * cos(angle - PI/4));
-  p.y = (int) ( q.y +  arrowMagnitude * sin(angle - PI/4));
-  //Draw the second segment
-  cv::line(image, p, q, color, thickness, line_type, shift);
-}
-
-void draw3DCoordinateAxes(cv::Mat image, const std::vector<cv::Point2f> &list_points2d)
-{
-  cv::Scalar red(0, 0, 255);
-  cv::Scalar green(0,255,0);
-  cv::Scalar blue(255,0,0);
-  cv::Scalar black(0,0,0);
-
-  const double PI = 3.141592653;
-  int length = 50;
-
-  cv::Point2i origin = list_points2d[0];
-  cv::Point2i pointX = list_points2d[1];
-  cv::Point2i pointY = list_points2d[2];
-  cv::Point2i pointZ = list_points2d[3];
-
-  drawArrow(image, origin, pointX, red, 9, 2);
-  drawArrow(image, origin, pointY, blue, 9, 2);
-  drawArrow(image, origin, pointZ, green, 9, 2);
-  cv::circle(image, origin, radius/2, black, -1, lineType );
-
-}
-
-// Draw the object mesh
-void drawObjectMesh(cv::Mat image, const Mesh *mesh, PnPProblem *pnpProblem, cv::Scalar color)
-{
-  std::vector<std::vector<int> > list_triangles = mesh->getTrianglesList();
-  for( size_t i = 0; i < list_triangles.size(); i++)
-  {
-    std::vector<int> tmp_triangle = list_triangles.at(i);
-
-    cv::Point3f point_3d_0 = mesh->getVertex(tmp_triangle[0]);
-    cv::Point3f point_3d_1 = mesh->getVertex(tmp_triangle[1]);
-    cv::Point3f point_3d_2 = mesh->getVertex(tmp_triangle[2]);
-
-    cv::Point2f point_2d_0 = pnpProblem->backproject3DPoint(point_3d_0);
-    cv::Point2f point_2d_1 = pnpProblem->backproject3DPoint(point_3d_1);
-    cv::Point2f point_2d_2 = pnpProblem->backproject3DPoint(point_3d_2);
-
-    cv::line(image, point_2d_0, point_2d_1, color, 1);
-    cv::line(image, point_2d_1, point_2d_2, color, 1);
-    cv::line(image, point_2d_2, point_2d_0, color, 1);
-  }
-}
-
-bool equal_point(const cv::Point2f &p1, const cv::Point2f &p2)
-{
-  return ( (p1.x == p2.x) && (p1.y == p2.y) );
-}
-
-double get_translation_error(const cv::Mat &t_true, const cv::Mat &t)
-{
-  return cv::norm( t_true - t );
-}
-
-double get_rotation_error(const cv::Mat &R_true, const cv::Mat &R)
-{
-  cv::Mat error_vec, error_mat;
-  error_mat = R_true * cv::Mat(R.inv()).mul(-1);
-  cv::Rodrigues(error_mat, error_vec);
-
-  return cv::norm(error_vec);
-}
-
-cv::Mat rot2euler(const cv::Mat & rotationMatrix)
-{
-  cv::Mat euler(3,1,CV_64F);
-
-  double m00 = rotationMatrix.at<double>(0,0);
-  double m01 = rotationMatrix.at<double>(0,1);
-  double m02 = rotationMatrix.at<double>(0,2);
-  double m10 = rotationMatrix.at<double>(1,0);
-  double m11 = rotationMatrix.at<double>(1,1);
-  double m12 = rotationMatrix.at<double>(1,2);
-  double m20 = rotationMatrix.at<double>(2,0);
-  double m21 = rotationMatrix.at<double>(2,1);
-  double m22 = rotationMatrix.at<double>(2,2);
-
-  double x, y, z;
-
-  // Assuming the angles are in radians.
-  if (m10 > 0.998) { // singularity at north pole
-    x = 0;
-    y = CV_PI/2;
-    z = atan2(m02,m22);
-  }
-  else if (m10 < -0.998) { // singularity at south pole
-    x = 0;
-    y = -CV_PI/2;
-    z = atan2(m02,m22);
-  }
-  else
-  {
-    x = atan2(-m12,m11);
-    y = asin(m10);
-    z = atan2(-m20,m00);
-  }
-
-  euler.at<double>(0) = x;
-  euler.at<double>(1) = y;
-  euler.at<double>(2) = z;
-
-  return euler;
-}
-
-cv::Mat euler2rot(const cv::Mat & euler)
-{
-  cv::Mat rotationMatrix(3,3,CV_64F);
-
-  double x = euler.at<double>(0);
-  double y = euler.at<double>(1);
-  double z = euler.at<double>(2);
-
-  // Assuming the angles are in radians.
-  double ch = cos(z);
-  double sh = sin(z);
-  double ca = cos(y);
-  double sa = sin(y);
-  double cb = cos(x);
-  double sb = sin(x);
-
-  double m00, m01, m02, m10, m11, m12, m20, m21, m22;
-
-  m00 = ch * ca;
-  m01 = sh*sb - ch*sa*cb;
-  m02 = ch*sa*sb + sh*cb;
-  m10 = sa;
-  m11 = ca*cb;
-  m12 = -ca*sb;
-  m20 = -sh*ca;
-  m21 = sh*sa*cb + ch*sb;
-  m22 = -sh*sa*sb + ch*cb;
-
-  rotationMatrix.at<double>(0,0) = m00;
-  rotationMatrix.at<double>(0,1) = m01;
-  rotationMatrix.at<double>(0,2) = m02;
-  rotationMatrix.at<double>(1,0) = m10;
-  rotationMatrix.at<double>(1,1) = m11;
-  rotationMatrix.at<double>(1,2) = m12;
-  rotationMatrix.at<double>(2,0) = m20;
-  rotationMatrix.at<double>(2,1) = m21;
-  rotationMatrix.at<double>(2,2) = m22;
-
-  return rotationMatrix;
-}
-
-int StringToInt ( const std::string &Text )
-{
-   std::istringstream ss(Text);
-   int result;
-   return ss >> result ? result : 0;
-}
-
-std::string FloatToString ( float Number )
-{
-  std::ostringstream ss;
-  ss << Number;
-  return ss.str();
-}
-
-std::string IntToString ( int Number )
-{
-  std::ostringstream ss;
-  ss << Number;
-  return ss.str();
-}
diff --git a/samples/cpp/tutorial_code/calib3d/real_time_pose_estimation/src/Utils.h b/samples/cpp/tutorial_code/calib3d/real_time_pose_estimation/src/Utils.h
deleted file mode 100644
index d51eb28b39..0000000000
--- a/samples/cpp/tutorial_code/calib3d/real_time_pose_estimation/src/Utils.h
+++ /dev/null
@@ -1,75 +0,0 @@
-/*
- * Utils.h
- *
- *  Created on: Mar 28, 2014
- *      Author: Edgar Riba
- */
-
-#ifndef UTILS_H_
-#define UTILS_H_
-
-#include <iostream>
-#include <cv.h>
-
-#include "PnPProblem.h"
-
-// Draw a text with the question point
-void drawQuestion(cv::Mat image, cv::Point3f point, cv::Scalar color);
-
-// Draw a text in the left of the image
-void drawText(cv::Mat image, std::string text, cv::Scalar color);
-void drawText2(cv::Mat image, std::string text, cv::Scalar color);
-void drawFPS(cv::Mat image, double fps, cv::Scalar color);
-void drawConfidence(cv::Mat image, double confidence, cv::Scalar color);
-
-// Draw a text with the number of registered points
-void drawCounter(cv::Mat image, int n, int n_max, cv::Scalar color);
-
-// Draw the points and the coordinates
-void drawPoints(cv::Mat image, std::vector<cv::Point2f> &list_points_2d, std::vector<cv::Point3f> &list_points_3d, cv::Scalar color);
-
-// Draw only the points
-void draw2DPoints(cv::Mat image, std::vector<cv::Point2f> &list_points, cv::Scalar color);
-
-// Draw the object mesh
-void drawObjectMesh(cv::Mat image, const Mesh *mesh, PnPProblem *pnpProblem, cv::Scalar color);
-
-// Draw an arrow into the image
-void drawArrow(cv::Mat image, cv::Point2i p, cv::Point2i q, cv::Scalar color, int arrowMagnitude = 9, int thickness=1, int line_type=8, int shift=0);
-
-// Draw the 3D coordinate axes
-void draw3DCoordinateAxes(cv::Mat image, const std::vector<cv::Point2f> &list_points2d);
-
-// Compute the 2D points with the esticv::Mated pose
-std::vector<cv::Point2f> verification_points(PnPProblem *p);
-
-bool equal_point(const cv::Point2f &p1, const cv::Point2f &p2);
-
-double get_translation_error(const cv::Mat &t_true, const cv::Mat &t);
-double get_rotation_error(const cv::Mat &R_true, const cv::Mat &R);
-double get_variance(const std::vector<cv::Point3f> list_points3d);
-cv::Mat rot2quat(cv::Mat &rotationMatrix);
-cv::Mat quat2rot(cv::Mat &q);
-cv::Mat euler2rot(const cv::Mat & euler);
-cv::Mat rot2euler(const cv::Mat & rotationMatrix);
-cv::Mat quat2euler(const cv::Mat & q);
-int StringToInt ( const std::string &Text );
-std::string FloatToString ( float Number );
-std::string IntToString ( int Number );
-
-class Timer
-{
-public:
-  Timer();
-    void start() { tstart = (double)clock()/CLOCKS_PER_SEC; }
-    void stop()  { tstop = (double)clock()/CLOCKS_PER_SEC; }
-    void reset()  { tstart = 0;  tstop = 0;}
-
-    double getTimeMilli() const { return (tstop-tstart)*1000; }
-    double getTimeSec()   const {  return tstop-tstart; }
-
-private:
-    double tstart, tstop, ttime;
-};
-
-#endif /* UTILS_H_ */
diff --git a/samples/cpp/tutorial_code/calib3d/real_time_pose_estimation/src/main_detection.cpp b/samples/cpp/tutorial_code/calib3d/real_time_pose_estimation/src/main_detection.cpp
deleted file mode 100644
index ff00e24e84..0000000000
--- a/samples/cpp/tutorial_code/calib3d/real_time_pose_estimation/src/main_detection.cpp
+++ /dev/null
@@ -1,472 +0,0 @@
-#include <iostream>
-#include <time.h>
-
-#include "cv.h"
-#include "highgui.h"
-
-#include <opencv2/core/core.hpp>
-#include <opencv2/highgui/highgui.hpp>
-#include <opencv2/imgproc/imgproc.hpp>
-#include <opencv2/calib3d/calib3d.hpp>
-#include <opencv2/video/tracking.hpp>
-
-#include "Mesh.h"
-#include "Model.h"
-#include "PnPProblem.h"
-#include "RobustMatcher.h"
-#include "ModelRegistration.h"
-#include "Utils.h"
-
-//  COOKIES BOX - ORB
-std::string yml_read_path = "../Data/cookies_ORB.yml"; // 3dpts + descriptors
-
-// COOKIES BOX MESH
-std::string ply_read_path = "../Data/box.ply";   // mesh
-
-void help()
-{
-std::cout
-<< "--------------------------------------------------------------------------"   << std::endl
-<< "This program shows how to detect an object given its 3D textured model. You can choose to "
-<< "use a recorded video or the webcam." << std::endl
-<< "Usage:"                                                                       << std::endl
-<< "./pnp_detection ~/path_to_video/box.mp4"                                      << std::endl
-<< "./pnp_detection "                                                             << std::endl
-<< "--------------------------------------------------------------------------"   << std::endl
-<< std::endl;
-}
-
-
-/*
- * Set up the intrinsic camera parameters: UVC WEBCAM
- */
-
-double f = 55;                           // focal length in mm
-double sx = 22.3, sy = 14.9;             // sensor size
-double width = 640, height = 480;        // image size
-
-double params_WEBCAM[] = { width*f/sx,   // fx
-                           height*f/sy,  // fy
-                           width/2,      // cx
-                           height/2};    // cy
-
-
-/*
- * Set up some basic colors
- */
-cv::Scalar red(0, 0, 255);
-cv::Scalar green(0,255,0);
-cv::Scalar blue(255,0,0);
-cv::Scalar yellow(0,255,255);
-
-
-// Robust Matcher parameters
-
-int numKeyPoints = 2000;      // number of detected keypoints
-float ratio = 0.70f;          // ratio test
-bool fast_match = true;       // fastRobustMatch() or robustMatch()
-
-
-// RANSAC parameters
-
-int iterationsCount = 500;      // number of Ransac iterations.
-float reprojectionError = 2.0;  // maximum allowed distance to consider it an inlier.
-float confidence = 0.95;        // ransac successful confidence.
-
-
-// Kalman Filter parameters
-
-int minInliersKalman = 30;    // Kalman threshold updating
-
-
-/**********************************************************************************************************/
-
-void initKalmanFilter( cv::KalmanFilter &KF, int nStates, int nMeasurements, int nInputs, double dt);
-
-
-/**********************************************************************************************************/
-
-
-void updateKalmanFilter( cv::KalmanFilter &KF, cv::Mat &measurements,
-                         cv::Mat &translation_estimated, cv::Mat &rotation_estimated );
-
-/**********************************************************************************************************/
-
-
-void fillMeasurements( cv::Mat &measurements,
-                       const cv::Mat &translation_measured, const cv::Mat &rotation_measured);
-
-
-/**********************************************************************************************************/
-
-
-int main(int argc, char *argv[])
-{
-
-  help();
-
-  PnPProblem pnp_detection(params_WEBCAM);
-  PnPProblem pnp_detection_est(params_WEBCAM);
-
-  Model model;               // instantiate Model object
-  model.load(yml_read_path); // load a 3D textured object model
-
-  Mesh mesh;                // instantiate Mesh object
-  mesh.load(ply_read_path); // load an object mesh
-
-
-  RobustMatcher rmatcher;                                                     // instantiate RobustMatcher
-
-  cv::FeatureDetector * detector = new cv::OrbFeatureDetector(numKeyPoints);  // instatiate ORB feature detector
-  cv::DescriptorExtractor * extractor = new cv::OrbDescriptorExtractor();     // instatiate ORB descriptor extractor
-
-  rmatcher.setFeatureDetector(detector);                                      // set feature detector
-  rmatcher.setDescriptorExtractor(extractor);                                 // set descriptor extractor
-
-
-  cv::Ptr<cv::flann::IndexParams> indexParams = cv::makePtr<cv::flann::LshIndexParams>(6, 12, 1); // instantiate LSH index parameters
-  cv::Ptr<cv::flann::SearchParams> searchParams = cv::makePtr<cv::flann::SearchParams>(50);       // instantiate flann search parameters
-
-  cv::DescriptorMatcher * matcher = new cv::FlannBasedMatcher(indexParams, searchParams);         // instantiate FlannBased matcher
-  rmatcher.setDescriptorMatcher(matcher);                                                         // set matcher
-
-
-  rmatcher.setRatio(ratio); // set ratio test parameter
-
-
-  cv::KalmanFilter KF;         // instantiate Kalman Filter
-
-  int nStates = 18;            // the number of states
-  int nMeasurements = 6;       // the number of measured states
-  int nInputs = 0;             // the number of action control
-
-  double dt = 0.125;           // time between measurements (1/FPS)
-
-  initKalmanFilter(KF, nStates, nMeasurements, nInputs, dt);    // init function
-
-  cv::Mat measurements(nMeasurements, 1, CV_64F); measurements.setTo(cv::Scalar(0));
-  bool good_measurement = false;
-
-
-  // Get the MODEL INFO
-
-  std::vector<cv::Point3f> list_points3d_model = model.get_points3d();  // list with model 3D coordinates
-  cv::Mat descriptors_model = model.get_descriptors();                  // list with descriptors of each 3D coordinate
-
-
-  // Create & Open Window
-  cv::namedWindow("REAL TIME DEMO", CV_WINDOW_KEEPRATIO);
-
-
-  cv::VideoCapture cap;                           // instantiate VideoCapture
-  (argc < 2) ? cap.open(1) : cap.open(argv[1]);   // open the default camera device
-                                                  // or a recorder video
-
-  if(!cap.isOpened())   // check if we succeeded
-  {
-    std::cout << "Could not open the camera device" << std::endl;
-    return -1;
-  }
-
-
-  // start and end times
-  time_t start, end;
-
-  // fps calculated using number of frames / seconds
-  double fps;
-
-  // frame counter
-  int counter = 0;
-
-  // floating point seconds elapsed since start
-  double sec;
-
-  // start the clock
-  time(&start);
-
-  double tstart2, tstop2, ttime2; // algorithm metrics
-  double tstart, tstop, ttime; // algorithm metrics
-
-  cv::Mat frame, frame_vis;
-
-  while(cap.read(frame) && cv::waitKey(30) != 27) // capture frame until ESC is pressed
-  {
-
-    frame_vis = frame.clone();    // refresh visualisation frame
-
-
-    // -- Step 1: Robust matching between model descriptors and scene descriptors
-
-    std::vector<cv::DMatch> good_matches;       // to obtain the 3D points of the model
-    std::vector<cv::KeyPoint> keypoints_scene;  // to obtain the 2D points of the scene
-
-
-    if(fast_match)
-    {
-      rmatcher.fastRobustMatch(frame, good_matches, keypoints_scene, descriptors_model);
-    }
-    else
-    {
-      rmatcher.robustMatch(frame, good_matches, keypoints_scene, descriptors_model);
-    }
-
-
-    // -- Step 2: Find out the 2D/3D correspondences
-
-    std::vector<cv::Point3f> list_points3d_model_match; // container for the model 3D coordinates found in the scene
-    std::vector<cv::Point2f> list_points2d_scene_match; // container for the model 2D coordinates found in the scene
-
-    for(unsigned int match_index = 0; match_index < good_matches.size(); ++match_index)
-    {
-      cv::Point3f point3d_model = list_points3d_model[ good_matches[match_index].trainIdx ];  // 3D point from model
-      cv::Point2f point2d_scene = keypoints_scene[ good_matches[match_index].queryIdx ].pt; // 2D point from the scene
-      list_points3d_model_match.push_back(point3d_model);         // add 3D point
-      list_points2d_scene_match.push_back(point2d_scene);         // add 2D point
-    }
-
-    // Draw outliers
-    draw2DPoints(frame_vis, list_points2d_scene_match, red);
-
-
-    cv::Mat inliers_idx;
-    std::vector<cv::Point2f> list_points2d_inliers;
-
-    if(good_matches.size() > 0) // None matches, then RANSAC crashes
-    {
-
-
-      // -- Step 3: Estimate the pose using RANSAC approach
-      pnp_detection.estimatePoseRANSAC( list_points3d_model_match, list_points2d_scene_match,
-                                        cv::ITERATIVE, inliers_idx,
-                                        iterationsCount, reprojectionError, confidence );
-
-      // -- Step 4: Catch the inliers keypoints to draw
-      for(int inliers_index = 0; inliers_index < inliers_idx.rows; ++inliers_index)
-      {
-        int n = inliers_idx.at<int>(inliers_index);         // i-inlier
-        cv::Point2f point2d = list_points2d_scene_match[n]; // i-inlier point 2D
-        list_points2d_inliers.push_back(point2d);           // add i-inlier to list
-      }
-
-      // Draw inliers points 2D
-      draw2DPoints(frame_vis, list_points2d_inliers, blue);
-
-
-      // -- Step 5: Kalman Filter
-
-      good_measurement = false;
-
-      // GOOD MEASUREMENT
-      if( inliers_idx.rows >= minInliersKalman )
-      {
-
-        // Get the measured translation
-        cv::Mat translation_measured(3, 1, CV_64F);
-        translation_measured = pnp_detection.get_t_matrix();
-
-        // Get the measured rotation
-        cv::Mat rotation_measured(3, 3, CV_64F);
-        rotation_measured = pnp_detection.get_R_matrix();
-
-        // fill the measurements vector
-        fillMeasurements(measurements, translation_measured, rotation_measured);
-
-        good_measurement = true;
-
-      }
-
-      // Instantiate estimated translation and rotation
-      cv::Mat translation_estimated(3, 1, CV_64F);
-      cv::Mat rotation_estimated(3, 3, CV_64F);
-
-      // update the Kalman filter with good measurements
-      updateKalmanFilter( KF, measurements,
-                          translation_estimated, rotation_estimated);
-
-
-      // -- Step 6: Set estimated projection matrix
-      pnp_detection_est.set_P_matrix(rotation_estimated, translation_estimated);
-
-    }
-
-    // -- Step X: Draw pose
-
-    if(good_measurement)
-    {
-      drawObjectMesh(frame_vis, &mesh, &pnp_detection, green);  // draw current pose
-    }
-    else
-    {
-      drawObjectMesh(frame_vis, &mesh, &pnp_detection_est, yellow); // draw estimated pose
-    }
-
-    double l = 5;
-    std::vector<cv::Point2f> pose_points2d;
-    pose_points2d.push_back(pnp_detection_est.backproject3DPoint(cv::Point3f(0,0,0)));  // axis center
-    pose_points2d.push_back(pnp_detection_est.backproject3DPoint(cv::Point3f(l,0,0)));  // axis x
-    pose_points2d.push_back(pnp_detection_est.backproject3DPoint(cv::Point3f(0,l,0)));  // axis y
-    pose_points2d.push_back(pnp_detection_est.backproject3DPoint(cv::Point3f(0,0,l)));  // axis z
-    draw3DCoordinateAxes(frame_vis, pose_points2d);           // draw axes
-
-    // FRAME RATE
-
-    // see how much time has elapsed
-    time(&end);
-
-    // calculate current FPS
-    ++counter;
-    sec = difftime (end, start);
-
-    fps = counter / sec;
-
-    drawFPS(frame_vis, fps, yellow); // frame ratio
-    double ratio = ((double)inliers_idx.rows/(double)good_matches.size())*100;
-    drawConfidence(frame_vis, ratio, yellow);
-
-
-    // -- Step X: Draw some debugging text
-
-    // Draw some debug text
-    int inliers_int = inliers_idx.rows;
-    int outliers_int = good_matches.size() - inliers_int;
-    std::string inliers_str = IntToString(inliers_int);
-    std::string outliers_str = IntToString(outliers_int);
-    std::string n = IntToString(good_matches.size());
-    std::string text = "Found " + inliers_str + " of " + n + " matches";
-    std::string text2 = "Inliers: " + inliers_str + " - Outliers: " + outliers_str;
-
-    drawText(frame_vis, text, green);
-    drawText2(frame_vis, text2, red);
-
-    cv::imshow("REAL TIME DEMO", frame_vis);
-
-    //cv::waitKey(0);
-
-  }
-
-  // Close and Destroy Window
-  cv::destroyWindow("REAL TIME DEMO");
-
-  std::cout << "GOODBYE ..." << std::endl;
-
-}
-
-/**********************************************************************************************************/
-void initKalmanFilter(cv::KalmanFilter &KF, int nStates, int nMeasurements, int nInputs, double dt)
-{
-
-  KF.init(nStates, nMeasurements, nInputs, CV_64F);                 // init Kalman Filter
-
-  cv::setIdentity(KF.processNoiseCov, cv::Scalar::all(1e-5));       // set process noise
-  cv::setIdentity(KF.measurementNoiseCov, cv::Scalar::all(1e-2));   // set measurement noise
-  cv::setIdentity(KF.errorCovPost, cv::Scalar::all(1));             // error covariance
-
-
-                     /** DYNAMIC MODEL **/
-
-  //  [1 0 0 dt  0  0 dt2   0   0 0 0 0  0  0  0   0   0   0]
-  //  [0 1 0  0 dt  0   0 dt2   0 0 0 0  0  0  0   0   0   0]
-  //  [0 0 1  0  0 dt   0   0 dt2 0 0 0  0  0  0   0   0   0]
-  //  [0 0 0  1  0  0  dt   0   0 0 0 0  0  0  0   0   0   0]
-  //  [0 0 0  0  1  0   0  dt   0 0 0 0  0  0  0   0   0   0]
-  //  [0 0 0  0  0  1   0   0  dt 0 0 0  0  0  0   0   0   0]
-  //  [0 0 0  0  0  0   1   0   0 0 0 0  0  0  0   0   0   0]
-  //  [0 0 0  0  0  0   0   1   0 0 0 0  0  0  0   0   0   0]
-  //  [0 0 0  0  0  0   0   0   1 0 0 0  0  0  0   0   0   0]
-  //  [0 0 0  0  0  0   0   0   0 1 0 0 dt  0  0 dt2   0   0]
-  //  [0 0 0  0  0  0   0   0   0 0 1 0  0 dt  0   0 dt2   0]
-  //  [0 0 0  0  0  0   0   0   0 0 0 1  0  0 dt   0   0 dt2]
-  //  [0 0 0  0  0  0   0   0   0 0 0 0  1  0  0  dt   0   0]
-  //  [0 0 0  0  0  0   0   0   0 0 0 0  0  1  0   0  dt   0]
-  //  [0 0 0  0  0  0   0   0   0 0 0 0  0  0  1   0   0  dt]
-  //  [0 0 0  0  0  0   0   0   0 0 0 0  0  0  0   1   0   0]
-  //  [0 0 0  0  0  0   0   0   0 0 0 0  0  0  0   0   1   0]
-  //  [0 0 0  0  0  0   0   0   0 0 0 0  0  0  0   0   0   1]
-
-  // position
-  KF.transitionMatrix.at<double>(0,3) = dt;
-  KF.transitionMatrix.at<double>(1,4) = dt;
-  KF.transitionMatrix.at<double>(2,5) = dt;
-  KF.transitionMatrix.at<double>(3,6) = dt;
-  KF.transitionMatrix.at<double>(4,7) = dt;
-  KF.transitionMatrix.at<double>(5,8) = dt;
-  KF.transitionMatrix.at<double>(0,6) = 0.5*pow(dt,2);
-  KF.transitionMatrix.at<double>(1,7) = 0.5*pow(dt,2);
-  KF.transitionMatrix.at<double>(2,8) = 0.5*pow(dt,2);
-
-  // orientation
-  KF.transitionMatrix.at<double>(9,12) = dt;
-  KF.transitionMatrix.at<double>(10,13) = dt;
-  KF.transitionMatrix.at<double>(11,14) = dt;
-  KF.transitionMatrix.at<double>(12,15) = dt;
-  KF.transitionMatrix.at<double>(13,16) = dt;
-  KF.transitionMatrix.at<double>(14,17) = dt;
-  KF.transitionMatrix.at<double>(9,15) = 0.5*pow(dt,2);
-  KF.transitionMatrix.at<double>(10,16) = 0.5*pow(dt,2);
-  KF.transitionMatrix.at<double>(11,17) = 0.5*pow(dt,2);
-
-
-           /** MEASUREMENT MODEL **/
-
-  //  [1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0]
-  //  [0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0]
-  //  [0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0]
-  //  [0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0]
-  //  [0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0]
-  //  [0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0]
-
-  KF.measurementMatrix.at<double>(0,0) = 1;  // x
-  KF.measurementMatrix.at<double>(1,1) = 1;  // y
-  KF.measurementMatrix.at<double>(2,2) = 1;  // z
-  KF.measurementMatrix.at<double>(3,9) = 1;  // roll
-  KF.measurementMatrix.at<double>(4,10) = 1; // pitch
-  KF.measurementMatrix.at<double>(5,11) = 1; // yaw
-
-  //std::cout << "A " << std::endl << KF.transitionMatrix << std::endl;
-  //std::cout << "C " << std::endl << KF.measurementMatrix << std::endl;
-
-}
-
-/**********************************************************************************************************/
-void updateKalmanFilter( cv::KalmanFilter &KF, cv::Mat &measurement,
-                         cv::Mat &translation_estimated, cv::Mat &rotation_estimated )
-{
-
-  // First predict, to update the internal statePre variable
-  cv::Mat prediction = KF.predict();
-
-  // The "correct" phase that is going to use the predicted value and our measurement
-  cv::Mat estimated = KF.correct(measurement);
-
-  // Estimated translation
-  translation_estimated.at<double>(0) = estimated.at<double>(0);
-  translation_estimated.at<double>(1) = estimated.at<double>(1);
-  translation_estimated.at<double>(2) = estimated.at<double>(2);
-
-  // Estimated euler angles
-  cv::Mat eulers_estimated(3, 1, CV_64F);
-  eulers_estimated.at<double>(0) = estimated.at<double>(9);
-  eulers_estimated.at<double>(1) = estimated.at<double>(10);
-  eulers_estimated.at<double>(2) = estimated.at<double>(11);
-
-  // Convert estimated quaternion to rotation matrix
-  rotation_estimated = euler2rot(eulers_estimated);
-
-}
-
-/**********************************************************************************************************/
-void fillMeasurements( cv::Mat &measurements,
-                       const cv::Mat &translation_measured, const cv::Mat &rotation_measured)
-{
-  // Convert rotation matrix to euler angles
-  cv::Mat measured_eulers(3, 1, CV_64F);
-  measured_eulers = rot2euler(rotation_measured);
-
-  // Set measurement to predict
-  measurements.at<double>(0) = translation_measured.at<double>(0); // x
-  measurements.at<double>(1) = translation_measured.at<double>(1); // y
-  measurements.at<double>(2) = translation_measured.at<double>(2); // z
-  measurements.at<double>(3) = measured_eulers.at<double>(0);      // roll
-  measurements.at<double>(4) = measured_eulers.at<double>(1);      // pitch
-  measurements.at<double>(5) = measured_eulers.at<double>(2);      // yaw
-}
diff --git a/samples/cpp/tutorial_code/calib3d/real_time_pose_estimation/src/main_registration.cpp b/samples/cpp/tutorial_code/calib3d/real_time_pose_estimation/src/main_registration.cpp
deleted file mode 100644
index 3b2517b22f..0000000000
--- a/samples/cpp/tutorial_code/calib3d/real_time_pose_estimation/src/main_registration.cpp
+++ /dev/null
@@ -1,290 +0,0 @@
-#include <iostream>
-
-#include "Mesh.h"
-#include "Model.h"
-#include "PnPProblem.h"
-#include "RobustMatcher.h"
-#include "ModelRegistration.h"
-#include "Utils.h"
-
-#include <opencv2/core/core.hpp>
-#include <opencv2/imgproc/imgproc.hpp>
-#include <opencv2/calib3d/calib3d.hpp>
-#include <opencv2/features2d/features2d.hpp>
-#include <opencv2/nonfree/features2d.hpp>
-
-  /*
-   * Set up the images paths
-   */
-
-  // COOKIES BOX [718x480]
-  std::string img_path = "../Data/resized_IMG_3875.JPG"; // f 55
-
-  // COOKIES BOX MESH
-  std::string ply_read_path = "../Data/box.ply";
-
-  // YAML writting path
-  std::string write_path = "../Data/cookies_ORB.yml";
-
-  void help()
-  {
-  std::cout
-  << "--------------------------------------------------------------------------"   << std::endl
-  << "This program shows how to create your 3D textured model. "                    << std::endl
-  << "Usage:"                                                                       << std::endl
-  << "./pnp_registration "                                                          << std::endl
-  << "--------------------------------------------------------------------------"   << std::endl
-  << std::endl;
-  }
-
-  // Boolean the know if the registration it's done
-  bool end_registration = false;
-
-  /*
-   * Set up the intrinsic camera parameters: CANON
-   */
-  double f = 45; // focal length in mm
-  double sx = 22.3, sy = 14.9;
-  double width = 2592, height = 1944;
-  double params_CANON[] = { width*f/sx,   // fx
-                            height*f/sy,  // fy
-                            width/2,      // cx
-                            height/2};    // cy
-
-
-  // Setup the points to register in the image
-  // In the order of the *.ply file and starting at 1
-  int n = 8;
-  int pts[] = {1, 2, 3, 4, 5, 6, 7, 8}; // 3 -> 4
-
-  /*
-   * Set up some basic colors
-   */
-  cv::Scalar red(0, 0, 255);
-  cv::Scalar green(0,255,0);
-  cv::Scalar blue(255,0,0);
-  cv::Scalar yellow(0,255,255);
-
-  /*
-   * CREATE MODEL REGISTRATION OBJECT
-   * CREATE OBJECT MESH
-   * CREATE OBJECT MODEL
-   * CREATE PNP OBJECT
-   */
-  ModelRegistration registration;
-  Model model;
-  Mesh mesh;
-  PnPProblem pnp_registration(params_CANON);
-
-
-// Mouse events for model registration
-static void onMouseModelRegistration( int event, int x, int y, int, void* )
-{
-  if  ( event == cv::EVENT_LBUTTONUP )
-  {
-      int n_regist = registration.getNumRegist();
-      int n_vertex = pts[n_regist];
-
-      cv::Point2f point_2d = cv::Point2f(x,y);
-      cv::Point3f point_3d = mesh.getVertex(n_vertex-1);
-
-      bool is_registrable = registration.is_registrable();
-      if (is_registrable)
-      {
-        registration.registerPoint(point_2d, point_3d);
-        if( registration.getNumRegist() == registration.getNumMax() ) end_registration = true;
-      }
-  }
-}
-
-/*
- *   MAIN PROGRAM
- *
- */
-
-int main(int argc, char *argv[])
-{
-
-  help();
-
-  // load a mesh given the *.ply file path
-  mesh.load(ply_read_path);
-
-  // set parameters
-  int numKeyPoints = 10000;
-
-  //Instantiate robust matcher: detector, extractor, matcher
-  RobustMatcher rmatcher;
-  cv::FeatureDetector * detector = new cv::OrbFeatureDetector(numKeyPoints);
-  rmatcher.setFeatureDetector(detector);
-
-  /*
-   * GROUND TRUTH OF THE FIRST IMAGE
-   *
-   * by the moment it is the reference image
-   */
-
-  // Create & Open Window
-  cv::namedWindow("MODEL REGISTRATION", cv::WINDOW_KEEPRATIO);
-
-  // Set up the mouse events
-  cv::setMouseCallback("MODEL REGISTRATION", onMouseModelRegistration, 0 );
-
-  // Open the image to register
-  cv::Mat img_in = cv::imread(img_path, cv::IMREAD_COLOR);
-  cv::Mat img_vis = img_in.clone();
-
-  if (!img_in.data) {
-    std::cout << "Could not open or find the image" << std::endl;
-    return -1;
-  }
-
-  // Set the number of points to register
-  int num_registrations = n;
-  registration.setNumMax(num_registrations);
-
-  std::cout << "Click the box corners ..." << std::endl;
-  std::cout << "Waiting ..." << std::endl;
-
-  // Loop until all the points are registered
-  while ( cv::waitKey(30) < 0 )
-  {
-    // Refresh debug image
-    img_vis = img_in.clone();
-
-    // Current registered points
-    std::vector<cv::Point2f> list_points2d = registration.get_points2d();
-    std::vector<cv::Point3f> list_points3d = registration.get_points3d();
-
-    // Draw current registered points
-    drawPoints(img_vis, list_points2d, list_points3d, red);
-
-    // If the registration is not finished, draw which 3D point we have to register.
-    // If the registration is finished, breaks the loop.
-    if (!end_registration)
-    {
-      // Draw debug text
-      int n_regist = registration.getNumRegist();
-      int n_vertex = pts[n_regist];
-      cv::Point3f current_poin3d = mesh.getVertex(n_vertex-1);
-
-      drawQuestion(img_vis, current_poin3d, green);
-      drawCounter(img_vis, registration.getNumRegist(), registration.getNumMax(), red);
-    }
-    else
-    {
-      // Draw debug text
-      drawText(img_vis, "END REGISTRATION", green);
-      drawCounter(img_vis, registration.getNumRegist(), registration.getNumMax(), green);
-      break;
-    }
-
-    // Show the image
-    cv::imshow("MODEL REGISTRATION", img_vis);
-  }
-
-
-  /*
-   *
-   * COMPUTE CAMERA POSE
-   *
-   */
-
-  std::cout << "COMPUTING POSE ..." << std::endl;
-
-  // The list of registered points
-  std::vector<cv::Point2f> list_points2d = registration.get_points2d();
-  std::vector<cv::Point3f> list_points3d = registration.get_points3d();
-
-  // Estimate pose given the registered points
-  bool is_correspondence = pnp_registration.estimatePose(list_points3d, list_points2d, cv::ITERATIVE);
-  if ( is_correspondence )
-  {
-    std::cout << "Correspondence found" << std::endl;
-
-    // Compute all the 2D points of the mesh to verify the algorithm and draw it
-    std::vector<cv::Point2f> list_points2d_mesh = pnp_registration.verify_points(&mesh);
-    draw2DPoints(img_vis, list_points2d_mesh, green);
-
-  } else {
-    std::cout << "Correspondence not found" << std::endl << std::endl;
-  }
-
-  // Show the image
-  cv::imshow("MODEL REGISTRATION", img_vis);
-
-  // Show image until ESC pressed
-  cv::waitKey(0);
-
-
-   /*
-    *
-    * COMPUTE 3D of the image Keypoints
-    *
-    */
-
-
-  // Containers for keypoints and descriptors of the model
-  std::vector<cv::KeyPoint> keypoints_model;
-  cv::Mat descriptors;
-
-  // Compute keypoints and descriptors
-  rmatcher.computeKeyPoints(img_in, keypoints_model);
-  rmatcher.computeDescriptors(img_in, keypoints_model, descriptors);
-
-  // Check if keypoints are on the surface of the registration image and add to the model
-  for (unsigned int i = 0; i < keypoints_model.size(); ++i) {
-    cv::Point2f point2d(keypoints_model[i].pt);
-    cv::Point3f point3d;
-    bool on_surface = pnp_registration.backproject2DPoint(&mesh, point2d, point3d);
-    if (on_surface)
-    {
-        model.add_correspondence(point2d, point3d);
-        model.add_descriptor(descriptors.row(i));
-        model.add_keypoint(keypoints_model[i]);
-    }
-    else
-    {
-        model.add_outlier(point2d);
-    }
-  }
-
-  // save the model into a *.yaml file
-  model.save(write_path);
-
-  // Out image
-  img_vis = img_in.clone();
-
-  // The list of the points2d of the model
-  std::vector<cv::Point2f> list_points_in = model.get_points2d_in();
-  std::vector<cv::Point2f> list_points_out = model.get_points2d_out();
-
-  // Draw some debug text
-  std::string num = IntToString(list_points_in.size());
-  std::string text = "There are " + num + " inliers";
-  drawText(img_vis, text, green);
-
-  // Draw some debug text
-  num = IntToString(list_points_out.size());
-  text = "There are " + num + " outliers";
-  drawText2(img_vis, text, red);
-
-  // Draw the object mesh
-  drawObjectMesh(img_vis, &mesh, &pnp_registration, blue);
-
-  // Draw found keypoints depending on if are or not on the surface
-  draw2DPoints(img_vis, list_points_in, green);
-  draw2DPoints(img_vis, list_points_out, red);
-
-  // Show the image
-  cv::imshow("MODEL REGISTRATION", img_vis);
-
-  // Wait until ESC pressed
-  cv::waitKey(0);
-
-  // Close and Destroy Window
-  cv::destroyWindow("MODEL REGISTRATION");
-
-  std::cout << "GOODBYE" << std::endl;
-
-}
diff --git a/samples/cpp/tutorial_code/calib3d/real_time_pose_estimation/src/main_verification.cpp b/samples/cpp/tutorial_code/calib3d/real_time_pose_estimation/src/main_verification.cpp
deleted file mode 100644
index 75456588de..0000000000
--- a/samples/cpp/tutorial_code/calib3d/real_time_pose_estimation/src/main_verification.cpp
+++ /dev/null
@@ -1,327 +0,0 @@
-#include <iostream>
-
-#include "cv.h"
-#include "highgui.h"
-
-#include <opencv2/core/core.hpp>
-#include <opencv2/imgproc/imgproc.hpp>
-#include <opencv2/nonfree/features2d.hpp>
-#include <opencv2/calib3d/calib3d.hpp>
-
-#include "Mesh.h"
-#include "Model.h"
-#include "PnPProblem.h"
-#include "RobustMatcher.h"
-#include "ModelRegistration.h"
-#include "Utils.h"
-
-#include "CsvWriter.h"
-
-
-  /*
-   * Set up the images paths
-   */
-
-  std::string img_verification_path = "../Data/resized_IMG_3872.JPG";
-  std::string ply_read_path = "../Data/box.ply";
-  std::string yml_read_path = "../Data/cookies_ORB.yml";
-
-  // Boolean the know if the registration it's done
-  bool end_registration = false;
-
-  // Setup the points to register in the image
-  // In the order of the *.ply file and starting at 1
-  int n = 7;
-  int pts[] = {1, 2, 3, 5, 6, 7, 8};
-
-  /*
-   * Set up the intrinsic camera parameters: CANON
-   */
-  double f = 43;
-  double sx = 22.3, sy = 14.9;
-  double width = 718, height = 480;
-  double params_CANON[] = { width*f/sx,   // fx
-                            height*f/sy,  // fy
-                            width/2,      // cx
-                            height/2};    // cy
-
-  /*
-   * Set up some basic colors
-   */
-  cv::Scalar red(0, 0, 255);
-  cv::Scalar green(0,255,0);
-  cv::Scalar blue(255,0,0);
-  cv::Scalar yellow(0,255,255);
-
-  /*
-   * CREATE MODEL REGISTRATION OBJECT
-   * CREATE OBJECT MESH
-   * CREATE OBJECT MODEL
-   * CREATE PNP OBJECT
-   */
-  Mesh mesh;
-  ModelRegistration registration;
-  PnPProblem pnp_verification_epnp(params_CANON);
-  PnPProblem pnp_verification_iter(params_CANON);
-  PnPProblem pnp_verification_p3p(params_CANON);
-  PnPProblem pnp_verification_dls(params_CANON);
-  PnPProblem pnp_verification_gt(params_CANON); // groud truth
-
-
-// Mouse events for model registration
-static void onMouseModelVerification( int event, int x, int y, int, void* )
-{
-  if  ( event == cv::EVENT_LBUTTONUP )
-  {
-      int n_regist = registration.getNumRegist();
-      int n_vertex = pts[n_regist];
-
-      cv::Point2f point_2d = cv::Point2f(x,y);
-      cv::Point3f point_3d = mesh.getVertex(n_vertex-1);
-
-      bool is_registrable = registration.is_registrable();
-      if (is_registrable)
-      {
-        registration.registerPoint(point_2d, point_3d);
-        if( registration.getNumRegist() == registration.getNumMax() ) end_registration = true;
-      }
-  }
-}
-
-
-/*
- *   MAIN PROGRAM
- *
- */
-
-int main(int, char**)
-{
-
-  std::cout << "!!!Hello Verification!!!" << std::endl; // prints !!!Hello World!!!
-
-  // load a mesh given the *.ply file path
-  mesh.load(ply_read_path);
-
-  // load the 3D textured object model
-  Model model;
-  model.load(yml_read_path);
-
-  // set parameters
-  int numKeyPoints = 10000;
-
-  //Instantiate robust matcher: detector, extractor, matcher
-  RobustMatcher rmatcher;
-  cv::FeatureDetector * detector = new cv::OrbFeatureDetector(numKeyPoints);
-  rmatcher.setFeatureDetector(detector);
-  rmatcher.setRatio(0.80);
-
-  // RANSAC parameters
-  int iterationsCount = 500;
-  float reprojectionError = 2.0;
-  float confidence = 0.99;
-
-
-  /*
-  * GROUND TRUTH SECOND IMAGE
-  *
-  */
-
-  cv::Mat img_in, img_vis;
-
-  // Setup for new registration
-  registration.setNumMax(n);
-
-  // Create & Open Window
-  cv::namedWindow("MODEL GROUND TRUTH", CV_WINDOW_KEEPRATIO);
-
-  // Set up the mouse events
-  cv::setMouseCallback("MODEL GROUND TRUTH", onMouseModelVerification, 0 );
-
-  // Open the image to register
-  img_in = cv::imread(img_verification_path, cv::IMREAD_COLOR);
-
-  if (!img_in.data)
-  {
-    std::cout << "Could not open or find the image" << std::endl;
-    return -1;
-  }
-
-  std::cout << "Click the box corners ..." << std::endl;
-  std::cout << "Waiting ..." << std::endl;
-
-  // Loop until all the points are registered
-  while ( cv::waitKey(30) < 0 )
-  {
-    // Refresh debug image
-    img_vis = img_in.clone();
-
-    // Current registered points
-    std::vector<cv::Point2f> list_points2d = registration.get_points2d();
-    std::vector<cv::Point3f> list_points3d = registration.get_points3d();
-
-    // Draw current registered points
-    drawPoints(img_vis, list_points2d, list_points3d, red);
-
-    // If the registration is not finished, draw which 3D point we have to register.
-    // If the registration is finished, breaks the loop.
-    if (!end_registration)
-    {
-      // Draw debug text
-      int n_regist = registration.getNumRegist();
-      int n_vertex = pts[n_regist];
-      cv::Point3f current_poin3d = mesh.getVertex(n_vertex-1);
-
-      drawQuestion(img_vis, current_poin3d, green);
-      drawCounter(img_vis, registration.getNumRegist(), registration.getNumMax(), red);
-    }
-    else
-    {
-      // Draw debug text
-      drawText(img_vis, "GROUND TRUTH", green);
-      drawCounter(img_vis, registration.getNumRegist(), registration.getNumMax(), green);
-      break;
-    }
-
-    // Show the image
-    cv::imshow("MODEL GROUND TRUTH", img_vis);
-  }
-
-  // The list of registered points
-  std::vector<cv::Point2f> list_points2d = registration.get_points2d();
-  std::vector<cv::Point3f> list_points3d = registration.get_points3d();
-
-  // Estimate pose given the registered points
-  bool is_correspondence = pnp_verification_gt.estimatePose(list_points3d, list_points2d, cv::ITERATIVE);
-
-  // Compute and draw all mesh object 2D points
-  std::vector<cv::Point2f> pts_2d_ground_truth = pnp_verification_gt.verify_points(&mesh);
-  draw2DPoints(img_vis, pts_2d_ground_truth, green);
-
-  // Draw the ground truth mesh
-  drawObjectMesh(img_vis, &mesh, &pnp_verification_gt, blue);
-
-  // Show the image
-  cv::imshow("MODEL GROUND TRUTH", img_vis);
-
-  // Show image until ESC pressed
-  cv::waitKey(0);
-
-
-  /*
-   * EXTRACT CORRRESPONDENCES
-   *
-   */
-
-   // refresh visualisation image
-  img_vis = img_in.clone();
-
-  // Get the MODEL INFO
-  std::vector<cv::Point2f> list_points2d_model = model.get_points2d_in();
-  std::vector<cv::Point3f> list_points3d_model = model.get_points3d();
-  std::vector<cv::KeyPoint> keypoints_model = model.get_keypoints();
-  cv::Mat descriptors_model = model.get_descriptors();
-
-  // -- Step 1: Robust matching between model descriptors and scene descriptors
-
-  std::vector<cv::DMatch> good_matches;       // to obtain the 3D points of the model
-  std::vector<cv::KeyPoint> keypoints_scene;  // to obtain the 2D points of the scene
-
-  //rmatcher.fastRobustMatch(frame, good_matches, keypoints_scene, descriptors_model);
-  rmatcher.robustMatch(img_vis, good_matches, keypoints_scene, descriptors_model);
-
-  cv::Mat inliers_idx;
-  std::vector<cv::DMatch> matches_inliers;
-  std::vector<cv::Point2f> list_points2d_inliers;
-  std::vector<cv::Point3f> list_points3d_inliers;
-
-    // -- Step 2: Find out the 2D/3D correspondences
-
-    std::vector<cv::Point3f> list_points3d_model_match; // container for the model 3D coordinates found in the scene
-    std::vector<cv::Point2f> list_points2d_scene_match; // container for the model 2D coordinates found in the scene
-
-    for(unsigned int match_index = 0; match_index < good_matches.size(); ++match_index)
-    {
-      cv::Point3f point3d_model = list_points3d_model[ good_matches[match_index].trainIdx ];  // 3D point from model
-      cv::Point2f point2d_scene = keypoints_scene[ good_matches[match_index].queryIdx ].pt; // 2D point from the scene
-      list_points3d_model_match.push_back(point3d_model);         // add 3D point
-      list_points2d_scene_match.push_back(point2d_scene);         // add 2D point
-    }
-
-    // Draw outliers
-    //draw2DPoints(img_vis, list_points2d_scene_match, red);
-
-  /*
-   * COMPUTE PNP ERRORS:
-   * Calculation of the rotation and translation error
-   *
-   */
-
-  pnp_verification_epnp.estimatePose( list_points3d_model_match, list_points2d_scene_match, cv::EPNP);
-  pnp_verification_iter.estimatePose( list_points3d_model_match, list_points2d_scene_match, cv::ITERATIVE);
-  //pnp_verification_p3p.estimatePose( list_points3d_model_match, list_points2d_scene_match, cv::P3P);
-  pnp_verification_dls.estimatePose( list_points3d_model_match, list_points2d_scene_match, cv::DLS);
-
-  // Draw mesh
-  drawObjectMesh(img_vis, &mesh, &pnp_verification_dls, green);
-  drawObjectMesh(img_vis, &mesh, &pnp_verification_gt, yellow);
-
-   cv::imshow("MODEL GROUND TRUTH", img_vis);
-
-  cv::Mat t_true = pnp_verification_gt.get_t_matrix();
-  cv::Mat t_epnp = pnp_verification_epnp.get_t_matrix();
-  cv::Mat t_iter = pnp_verification_iter.get_t_matrix();
-  cv::Mat t_p3p = pnp_verification_p3p.get_t_matrix();
-  cv::Mat t_dls = pnp_verification_dls.get_t_matrix();
-
-  cv::Mat R_true = pnp_verification_gt.get_R_matrix();
-  cv::Mat R_epnp = pnp_verification_epnp.get_R_matrix();
-  cv::Mat R_iter = pnp_verification_iter.get_R_matrix();
-  cv::Mat R_p3p = pnp_verification_p3p.get_R_matrix();
-  cv::Mat R_dls = pnp_verification_dls.get_R_matrix();
-
-  double error_trans_epnp = get_translation_error(t_true, t_epnp);
-  double error_rot_epnp = get_rotation_error(R_true, R_epnp)*180/CV_PI;
-
-  double error_trans_iter = get_translation_error(t_true, t_iter);
-  double error_rot_iter = get_rotation_error(R_true, R_iter)*180/CV_PI;
-
-  double error_trans_p3p = get_translation_error(t_true, t_p3p);
-  double error_rot_p3p = get_rotation_error(R_true, R_p3p)*180/CV_PI;
-
-  double error_trans_dls = get_translation_error(t_true, t_dls);
-  double error_rot_dls = get_rotation_error(R_true, R_dls)*180/CV_PI;
-
-
-  std::cout << std::endl << "****  EPNP ERRORS  **** " << std::endl;
-
-  std::cout << "Translation error: " << error_trans_epnp << " m." << std::endl;
-  std::cout << "Rotation error: " << error_rot_epnp << " deg." << std::endl;
-
-
-  std::cout << std::endl << "****  ITERATIVE ERRORS  **** " << std::endl;
-
-  std::cout << "Translation error: " << error_trans_iter << " m." << std::endl;
-  std::cout << "Rotation error: " << error_rot_iter << " deg." << std::endl;
-
-
-  std::cout << std::endl << "****  P3P ERRORS  **** " << std::endl;
-
-  std::cout << "Translation error: " << error_trans_p3p << " m." << std::endl;
-  std::cout << "Rotation error: " << error_rot_p3p << " deg." << std::endl;
-
-
-  std::cout << std::endl << "****  DLS ERRORS  **** " << std::endl;
-
-  std::cout << "Translation error: " << error_trans_dls << " m." << std::endl;
-  std::cout << "Rotation error: " << error_rot_dls << " deg." << std::endl;
-
-
-  // Show image until ESC pressed
-  cv::waitKey(0);
-
-  // Close and Destroy Window
-  cv::destroyWindow("MODEL GROUND TRUTH");
-
-  std::cout << "GOODBYE" << std::endl;
-
-}
diff --git a/samples/cpp/tutorial_code/calib3d/real_time_pose_estimation/src/test_pnp.cpp b/samples/cpp/tutorial_code/calib3d/real_time_pose_estimation/src/test_pnp.cpp
deleted file mode 100644
index 4843d32ceb..0000000000
--- a/samples/cpp/tutorial_code/calib3d/real_time_pose_estimation/src/test_pnp.cpp
+++ /dev/null
@@ -1,143 +0,0 @@
-#include <opencv2/core/core.hpp>
-#include <opencv2/calib3d/calib3d.hpp>
-#include <opencv2/contrib/contrib.hpp>
-
-#include <iostream>
-#include <fstream>
-
-using namespace std;
-using namespace cv;
-
-void generate3DPointCloud(vector<Point3f>& points, Point3f pmin = Point3f(-1,
-        -1, 5), Point3f pmax = Point3f(1, 1, 10))
-    {
-        const Point3f delta = pmax - pmin;
-        for (size_t i = 0; i < points.size(); i++)
-        {
-            Point3f p(float(rand()) / RAND_MAX, float(rand()) / RAND_MAX,
-                float(rand()) / RAND_MAX);
-            p.x *= delta.x;
-            p.y *= delta.y;
-            p.z *= delta.z;
-            p = p + pmin;
-            points[i] = p;
-        }
-    }
-
-void generateCameraMatrix(Mat& cameraMatrix, RNG& rng)
-{
-    const double fcMinVal = 1e-3;
-    const double fcMaxVal = 100;
-    cameraMatrix.create(3, 3, CV_64FC1);
-    cameraMatrix.setTo(Scalar(0));
-    cameraMatrix.at<double>(0,0) = rng.uniform(fcMinVal, fcMaxVal);
-    cameraMatrix.at<double>(1,1) = rng.uniform(fcMinVal, fcMaxVal);
-    cameraMatrix.at<double>(0,2) = rng.uniform(fcMinVal, fcMaxVal);
-    cameraMatrix.at<double>(1,2) = rng.uniform(fcMinVal, fcMaxVal);
-    cameraMatrix.at<double>(2,2) = 1;
-}
-
-void generateDistCoeffs(Mat& distCoeffs, RNG& rng)
-{
-    distCoeffs = Mat::zeros(4, 1, CV_64FC1);
-    for (int i = 0; i < 3; i++)
-        distCoeffs.at<double>(i,0) = rng.uniform(0.0, 1.0e-6);
-}
-
-void generatePose(Mat& rvec, Mat& tvec, RNG& rng)
-{
-    const double minVal = 1.0e-3;
-    const double maxVal = 1.0;
-    rvec.create(3, 1, CV_64FC1);
-    tvec.create(3, 1, CV_64FC1);
-    for (int i = 0; i < 3; i++)
-    {
-        rvec.at<double>(i,0) = rng.uniform(minVal, maxVal);
-        tvec.at<double>(i,0) = rng.uniform(minVal, maxVal/10);
-    }
-}
-
-void data2file(const string& path, const vector<vector<double> >& data)
-{
-  std::fstream fs;
-  fs.open(path.c_str(), std::fstream::in | std::fstream::out | std::fstream::app);
-
-  for (int method = 0; method < data.size(); ++method)
-  {
-    for (int i = 0; i < data[method].size(); ++i)
-    {
-      fs << data[method][i] << " ";
-    }
-    fs << endl;
-  }
-
-  fs.close();
-}
-
-
-int main(int argc, char *argv[])
-{
-
-  RNG rng;
- // TickMeter tm;
-  vector<vector<double> > error_trans(4), error_rot(4), comp_time(4);
-
-  int maxpoints = 2000;
-  for (int npoints = 10; npoints < maxpoints+10; ++npoints)
-  {
-    // generate 3D point cloud
-    vector<Point3f> points;
-    points.resize(npoints);
-    generate3DPointCloud(points);
-
-    // generate cameramatrix
-    Mat rvec, tvec;
-    Mat trueRvec, trueTvec;
-    Mat intrinsics, distCoeffs;
-    generateCameraMatrix(intrinsics, rng);
-
-    // generate distorsion coefficients
-    generateDistCoeffs(distCoeffs, rng);
-
-    // generate groud truth pose
-    generatePose(trueRvec, trueTvec, rng);
-
-    for (int method = 0; method < 4; ++method)
-    {
-      std::vector<Point3f> opoints;
-      if (method == 2)
-      {
-        opoints = std::vector<Point3f>(points.begin(), points.begin()+4);
-      }
-      else
-        opoints = points;
-
-      vector<Point2f> projectedPoints;
-      projectedPoints.resize(opoints.size());
-      projectPoints(Mat(opoints), trueRvec, trueTvec, intrinsics, distCoeffs, projectedPoints);
-
-      //tm.reset(); tm.start();
-
-      solvePnP(opoints, projectedPoints, intrinsics, distCoeffs, rvec, tvec, false, method);
-
-     // tm.stop();
-
-    //  double compTime = tm.getTimeMilli();
-      double rvecDiff = norm(rvec-trueRvec), tvecDiff = norm(tvec-trueTvec);
-
-      error_rot[method].push_back(rvecDiff);
-      error_trans[method].push_back(tvecDiff);
-      //comp_time[method].push_back(compTime);
-
-    }
-
-    //system("clear");
-    cout << "Completed " << npoints+1 << "/" << maxpoints << endl;
-
-  }
-
-  data2file("translation_error.txt", error_trans);
-  data2file("rotation_error.txt", error_rot);
-  data2file("computation_time.txt", comp_time);
-
-}

From ddf5c86f3a954a1ea22d887b3d1f9f63521eed8e Mon Sep 17 00:00:00 2001
From: edgarriba <edgar.riba@gmail.com>
Date: Wed, 6 Aug 2014 08:12:55 +0200
Subject: [PATCH 065/112] Added code

---
 .../src/CsvReader.cpp                         |  80 +++
 .../real_time_pose_estimation/src/CsvReader.h |  40 ++
 .../src/CsvWriter.cpp                         |  50 ++
 .../real_time_pose_estimation/src/CsvWriter.h |  22 +
 .../real_time_pose_estimation/src/Mesh.cpp    |  82 +++
 .../real_time_pose_estimation/src/Mesh.h      |  86 ++++
 .../real_time_pose_estimation/src/Model.cpp   |  73 +++
 .../real_time_pose_estimation/src/Model.h     |  54 ++
 .../src/ModelRegistration.cpp                 |  35 ++
 .../src/ModelRegistration.h                   |  43 ++
 .../src/PnPProblem.cpp                        | 312 ++++++++++++
 .../src/PnPProblem.h                          |  53 ++
 .../src/RobustMatcher.cpp                     | 152 ++++++
 .../src/RobustMatcher.h                       |  83 +++
 .../real_time_pose_estimation/src/Utils.cpp   | 295 +++++++++++
 .../real_time_pose_estimation/src/Utils.h     |  75 +++
 .../src/main_detection.cpp                    | 472 ++++++++++++++++++
 .../src/main_registration.cpp                 | 290 +++++++++++
 .../src/main_verification.cpp                 | 327 ++++++++++++
 .../src/test_pnp.cpp                          | 143 ++++++
 20 files changed, 2767 insertions(+)
 create mode 100644 samples/cpp/tutorial_code/calib3d/real_time_pose_estimation/src/CsvReader.cpp
 create mode 100644 samples/cpp/tutorial_code/calib3d/real_time_pose_estimation/src/CsvReader.h
 create mode 100644 samples/cpp/tutorial_code/calib3d/real_time_pose_estimation/src/CsvWriter.cpp
 create mode 100644 samples/cpp/tutorial_code/calib3d/real_time_pose_estimation/src/CsvWriter.h
 create mode 100644 samples/cpp/tutorial_code/calib3d/real_time_pose_estimation/src/Mesh.cpp
 create mode 100644 samples/cpp/tutorial_code/calib3d/real_time_pose_estimation/src/Mesh.h
 create mode 100644 samples/cpp/tutorial_code/calib3d/real_time_pose_estimation/src/Model.cpp
 create mode 100644 samples/cpp/tutorial_code/calib3d/real_time_pose_estimation/src/Model.h
 create mode 100644 samples/cpp/tutorial_code/calib3d/real_time_pose_estimation/src/ModelRegistration.cpp
 create mode 100644 samples/cpp/tutorial_code/calib3d/real_time_pose_estimation/src/ModelRegistration.h
 create mode 100644 samples/cpp/tutorial_code/calib3d/real_time_pose_estimation/src/PnPProblem.cpp
 create mode 100644 samples/cpp/tutorial_code/calib3d/real_time_pose_estimation/src/PnPProblem.h
 create mode 100644 samples/cpp/tutorial_code/calib3d/real_time_pose_estimation/src/RobustMatcher.cpp
 create mode 100644 samples/cpp/tutorial_code/calib3d/real_time_pose_estimation/src/RobustMatcher.h
 create mode 100644 samples/cpp/tutorial_code/calib3d/real_time_pose_estimation/src/Utils.cpp
 create mode 100644 samples/cpp/tutorial_code/calib3d/real_time_pose_estimation/src/Utils.h
 create mode 100644 samples/cpp/tutorial_code/calib3d/real_time_pose_estimation/src/main_detection.cpp
 create mode 100644 samples/cpp/tutorial_code/calib3d/real_time_pose_estimation/src/main_registration.cpp
 create mode 100644 samples/cpp/tutorial_code/calib3d/real_time_pose_estimation/src/main_verification.cpp
 create mode 100644 samples/cpp/tutorial_code/calib3d/real_time_pose_estimation/src/test_pnp.cpp

diff --git a/samples/cpp/tutorial_code/calib3d/real_time_pose_estimation/src/CsvReader.cpp b/samples/cpp/tutorial_code/calib3d/real_time_pose_estimation/src/CsvReader.cpp
new file mode 100644
index 0000000000..d97afdb73d
--- /dev/null
+++ b/samples/cpp/tutorial_code/calib3d/real_time_pose_estimation/src/CsvReader.cpp
@@ -0,0 +1,80 @@
+#include "CsvReader.h"
+#include "Utils.h"
+
+/** The default constructor of the CSV reader Class */
+CsvReader::CsvReader(const std::string &path, const char &separator){
+    _file.open(path.c_str(), ifstream::in);
+    _separator = separator;
+}
+
+/* Read a plane text file with .ply format */
+void CsvReader::readPLY(std::vector<cv::Point3f> &list_vertex, std::vector<std::vector<int> > &list_triangles)
+{
+    std::string line, tmp_str, n;
+    int num_vertex, num_triangles;
+    int count = 0;
+    bool end_header = false;
+    bool end_vertex = false;
+
+    // Read the whole *.ply file
+    while (getline(_file, line)) {
+    stringstream liness(line);
+
+    // read header
+    if(!end_header)
+    {
+        getline(liness, tmp_str, _separator);
+        if( tmp_str == "element" )
+        {
+            getline(liness, tmp_str, _separator);
+            getline(liness, n);
+            if(tmp_str == "vertex") num_vertex = StringToInt(n);
+            if(tmp_str == "face") num_triangles = StringToInt(n);
+        }
+        if(tmp_str == "end_header") end_header = true;
+    }
+
+    // read file content
+    else if(end_header)
+    {
+         // read vertex and add into 'list_vertex'
+         if(!end_vertex && count < num_vertex)
+         {
+             string x, y, z;
+             getline(liness, x, _separator);
+             getline(liness, y, _separator);
+             getline(liness, z);
+
+             cv::Point3f tmp_p;
+             tmp_p.x = StringToInt(x);
+             tmp_p.y = StringToInt(y);
+             tmp_p.z = StringToInt(z);
+             list_vertex.push_back(tmp_p);
+
+             count++;
+             if(count == num_vertex)
+             {
+                 count = 0;
+                 end_vertex = !end_vertex;
+             }
+         }
+         // read faces and add into 'list_triangles'
+         else if(end_vertex  && count < num_triangles)
+         {
+             std::string num_pts_per_face, id0, id1, id2;
+             getline(liness, num_pts_per_face, _separator);
+             getline(liness, id0, _separator);
+             getline(liness, id1, _separator);
+             getline(liness, id2);
+
+             std::vector<int> tmp_triangle(3);
+             tmp_triangle[0] = StringToInt(id0);
+             tmp_triangle[1] = StringToInt(id1);
+             tmp_triangle[2] = StringToInt(id2);
+             list_triangles.push_back(tmp_triangle);
+
+             count++;
+      }
+    }
+  }
+}
diff --git a/samples/cpp/tutorial_code/calib3d/real_time_pose_estimation/src/CsvReader.h b/samples/cpp/tutorial_code/calib3d/real_time_pose_estimation/src/CsvReader.h
new file mode 100644
index 0000000000..ab94e4c1b9
--- /dev/null
+++ b/samples/cpp/tutorial_code/calib3d/real_time_pose_estimation/src/CsvReader.h
@@ -0,0 +1,40 @@
+#ifndef CSVREADER_H
+#define	CSVREADER_H
+
+#include <iostream>
+#include <fstream>
+
+#include <opencv2/core/core.hpp>
+
+using namespace std;
+using namespace cv;
+
+class CsvReader {
+public:
+  /**
+  * The default constructor of the CSV reader Class.
+  * The default separator is ' ' (empty space)
+  *
+  * @param path - The path of the file to read
+  * @param separator - The separator character between words per line
+  * @return
+  */
+  CsvReader(const std::string &path, const char &separator = ' ');
+
+  /**
+  * Read a plane text file with .ply format
+  *
+  * @param list_vertex - The container of the vertices list of the mesh
+  * @param list_triangle - The container of the triangles list of the mesh
+  * @return
+  */
+  void readPLY(std::vector<cv::Point3f> &list_vertex, std::vector<std::vector<int> > &list_triangles);
+
+private:
+  /** The current stream file for the reader */
+  ifstream _file;
+  /** The separator character between words for each line */
+  char _separator;
+};
+
+#endif
diff --git a/samples/cpp/tutorial_code/calib3d/real_time_pose_estimation/src/CsvWriter.cpp b/samples/cpp/tutorial_code/calib3d/real_time_pose_estimation/src/CsvWriter.cpp
new file mode 100644
index 0000000000..4671fd098e
--- /dev/null
+++ b/samples/cpp/tutorial_code/calib3d/real_time_pose_estimation/src/CsvWriter.cpp
@@ -0,0 +1,50 @@
+#include "CsvWriter.h"
+#include "Utils.h"
+
+CsvWriter::CsvWriter(const std::string &path, const std::string &separator){
+  _file.open(path.c_str(), std::ofstream::out);
+  _isFirstTerm = true;
+  _separator = separator;
+}
+
+CsvWriter::~CsvWriter() {
+  _file.flush();
+  _file.close();
+}
+
+void CsvWriter::writeXYZ(const std::vector<cv::Point3f> &list_points3d)
+{
+  std::string x, y, z;
+  for(unsigned int i = 0; i < list_points3d.size(); ++i)
+  {
+    x = FloatToString(list_points3d[i].x);
+    y = FloatToString(list_points3d[i].y);
+    z = FloatToString(list_points3d[i].z);
+
+    _file << x << _separator << y << _separator << z << std::endl;
+  }
+
+}
+
+void CsvWriter::writeUVXYZ(const std::vector<cv::Point3f> &list_points3d, const std::vector<cv::Point2f> &list_points2d, const cv::Mat &descriptors)
+{
+  std::string u, v, x, y, z, descriptor_str;
+  for(int i = 0; i < list_points3d.size(); ++i)
+  {
+    u = FloatToString(list_points2d[i].x);
+    v = FloatToString(list_points2d[i].y);
+    x = FloatToString(list_points3d[i].x);
+    y = FloatToString(list_points3d[i].y);
+    z = FloatToString(list_points3d[i].z);
+
+    _file << u << _separator << v << _separator << x << _separator << y << _separator << z;
+
+    for(int j = 0; j < 32; ++j)
+    {
+      std::cout << descriptors.at<float>(i,j) << std::endl;
+      descriptor_str = FloatToString(descriptors.at<float>(i,j));
+      _file << _separator << descriptor_str;
+    }
+    _file << std::endl;
+  }
+}
diff --git a/samples/cpp/tutorial_code/calib3d/real_time_pose_estimation/src/CsvWriter.h b/samples/cpp/tutorial_code/calib3d/real_time_pose_estimation/src/CsvWriter.h
new file mode 100644
index 0000000000..c2eea752d6
--- /dev/null
+++ b/samples/cpp/tutorial_code/calib3d/real_time_pose_estimation/src/CsvWriter.h
@@ -0,0 +1,22 @@
+#ifndef CSVWRITER_H
+#define	CSVWRITER_H
+
+#include <fstream>
+#include <iostream>
+
+#include <opencv2/core/core.hpp>
+
+class CsvWriter {
+public:
+  CsvWriter(const std::string &path, const std::string &separator = " ");
+  ~CsvWriter();
+  void writeXYZ(const std::vector<cv::Point3f> &list_points3d);
+  void writeUVXYZ(const std::vector<cv::Point3f> &list_points3d, const std::vector<cv::Point2f> &list_points2d, const cv::Mat &descriptors);
+
+private:
+  std::ofstream _file;
+  std::string _separator;
+  bool _isFirstTerm;
+};
+
+#endif
diff --git a/samples/cpp/tutorial_code/calib3d/real_time_pose_estimation/src/Mesh.cpp b/samples/cpp/tutorial_code/calib3d/real_time_pose_estimation/src/Mesh.cpp
new file mode 100644
index 0000000000..6458cfde36
--- /dev/null
+++ b/samples/cpp/tutorial_code/calib3d/real_time_pose_estimation/src/Mesh.cpp
@@ -0,0 +1,82 @@
+/*
+ * Mesh.cpp
+ *
+ *  Created on: Apr 9, 2014
+ *      Author: edgar
+ */
+
+#include "Mesh.h"
+#include "CsvReader.h"
+
+
+// --------------------------------------------------- //
+//                   TRIANGLE CLASS                    //
+// --------------------------------------------------- //
+
+/**  The custom constructor of the Triangle Class */
+Triangle::Triangle(int id, cv::Point3f V0, cv::Point3f V1, cv::Point3f V2)
+{
+  id_ = id; v0_ = V0; v1_ = V1; v2_ = V2;
+}
+
+/**  The default destructor of the Class */
+Triangle::~Triangle()
+{
+  // TODO Auto-generated destructor stub
+}
+
+
+// --------------------------------------------------- //
+//                     RAY CLASS                       //
+// --------------------------------------------------- //
+
+/**  The custom constructor of the Ray Class */
+Ray::Ray(cv::Point3f P0, cv::Point3f P1) {
+  p0_ = P0; p1_ = P1;
+}
+
+/**  The default destructor of the Class */
+Ray::~Ray()
+{
+  // TODO Auto-generated destructor stub
+}
+
+
+// --------------------------------------------------- //
+//                 OBJECT MESH CLASS                   //
+// --------------------------------------------------- //
+
+/** The default constructor of the ObjectMesh Class */
+Mesh::Mesh() : list_vertex_(0) , list_triangles_(0)
+{
+  id_ = 0;
+  num_vertexs_ = 0;
+  num_triangles_ = 0;
+}
+
+/** The default destructor of the ObjectMesh Class */
+Mesh::~Mesh()
+{
+  // TODO Auto-generated destructor stub
+}
+
+
+/** Load a CSV with *.ply format **/
+void Mesh::load(const std::string path)
+{
+
+  // Create the reader
+  CsvReader csvReader(path);
+
+  // Clear previous data
+  list_vertex_.clear();
+  list_triangles_.clear();
+
+  // Read from .ply file
+  csvReader.readPLY(list_vertex_, list_triangles_);
+
+  // Update mesh attributes
+  num_vertexs_ = list_vertex_.size();
+  num_triangles_ = list_triangles_.size();
+
+}
diff --git a/samples/cpp/tutorial_code/calib3d/real_time_pose_estimation/src/Mesh.h b/samples/cpp/tutorial_code/calib3d/real_time_pose_estimation/src/Mesh.h
new file mode 100644
index 0000000000..2ca625d3c3
--- /dev/null
+++ b/samples/cpp/tutorial_code/calib3d/real_time_pose_estimation/src/Mesh.h
@@ -0,0 +1,86 @@
+/*
+ * Mesh.h
+ *
+ *  Created on: Apr 9, 2014
+ *      Author: edgar
+ */
+
+#ifndef MESH_H_
+#define MESH_H_
+
+#include <iostream>
+#include <opencv2/core/core.hpp>
+
+
+// --------------------------------------------------- //
+//                 TRIANGLE CLASS                      //
+// --------------------------------------------------- //
+
+class Triangle {
+public:
+
+  explicit Triangle(int id, cv::Point3f V0, cv::Point3f V1, cv::Point3f V2);
+  virtual ~Triangle();
+
+  cv::Point3f getV0() const { return v0_; }
+  cv::Point3f getV1() const { return v1_; }
+  cv::Point3f getV2() const { return v2_; }
+
+private:
+  /** The identifier number of the triangle */
+  int id_;
+  /** The three vertices that defines the triangle */
+  cv::Point3f v0_, v1_, v2_;
+};
+
+
+// --------------------------------------------------- //
+//                     RAY CLASS                       //
+// --------------------------------------------------- //
+
+class Ray {
+public:
+
+  explicit Ray(cv::Point3f P0, cv::Point3f P1);
+  virtual ~Ray();
+
+  cv::Point3f getP0() { return p0_; }
+  cv::Point3f getP1() { return p1_; }
+
+private:
+  /** The two points that defines the ray */
+  cv::Point3f p0_, p1_;
+};
+
+
+// --------------------------------------------------- //
+//                OBJECT MESH CLASS                    //
+// --------------------------------------------------- //
+
+class Mesh
+{
+public:
+
+  Mesh();
+  virtual ~Mesh();
+
+  std::vector<std::vector<int> > getTrianglesList() const { return list_triangles_; }
+  cv::Point3f getVertex(int pos) const { return list_vertex_[pos]; }
+  int getNumVertices() const { return num_vertexs_; }
+
+  void load(const std::string path_file);
+
+private:
+  /** The identification number of the mesh */
+  int id_;
+  /** The current number of vertices in the mesh */
+  int num_vertexs_;
+  /** The current number of triangles in the mesh */
+  int num_triangles_;
+  /* The list of triangles of the mesh */
+  std::vector<cv::Point3f> list_vertex_;
+  /* The list of triangles of the mesh */
+  std::vector<std::vector<int> > list_triangles_;
+};
+
+#endif /* OBJECTMESH_H_ */
diff --git a/samples/cpp/tutorial_code/calib3d/real_time_pose_estimation/src/Model.cpp b/samples/cpp/tutorial_code/calib3d/real_time_pose_estimation/src/Model.cpp
new file mode 100644
index 0000000000..3256cef057
--- /dev/null
+++ b/samples/cpp/tutorial_code/calib3d/real_time_pose_estimation/src/Model.cpp
@@ -0,0 +1,73 @@
+/*
+ * Model.cpp
+ *
+ *  Created on: Apr 9, 2014
+ *      Author: edgar
+ */
+
+#include "Model.h"
+#include "CsvWriter.h"
+
+Model::Model() : list_points2d_in_(0), list_points2d_out_(0), list_points3d_in_(0)
+{
+  n_correspondences_ = 0;
+}
+
+Model::~Model()
+{
+  // TODO Auto-generated destructor stub
+}
+
+void Model::add_correspondence(const cv::Point2f &point2d, const cv::Point3f &point3d)
+{
+  list_points2d_in_.push_back(point2d);
+  list_points3d_in_.push_back(point3d);
+  n_correspondences_++;
+}
+
+void Model::add_outlier(const cv::Point2f &point2d)
+{
+  list_points2d_out_.push_back(point2d);
+}
+
+void Model::add_descriptor(const cv::Mat &descriptor)
+{
+  descriptors_.push_back(descriptor);
+}
+
+void Model::add_keypoint(const cv::KeyPoint &kp)
+{
+  list_keypoints_.push_back(kp);
+}
+
+
+/** Save a CSV file and fill the object mesh */
+void Model::save(const std::string path)
+{
+  cv::Mat points3dmatrix = cv::Mat(list_points3d_in_);
+  cv::Mat points2dmatrix = cv::Mat(list_points2d_in_);
+  //cv::Mat keyPointmatrix = cv::Mat(list_keypoints_);
+
+  cv::FileStorage storage(path, cv::FileStorage::WRITE);
+  storage << "points_3d" << points3dmatrix;
+  storage << "points_2d" << points2dmatrix;
+  storage << "keypoints" << list_keypoints_;
+  storage << "descriptors" << descriptors_;
+
+  storage.release();
+}
+
+/** Load a YAML file using OpenCv functions **/
+void Model::load(const std::string path)
+{
+  cv::Mat points3d_mat;
+
+  cv::FileStorage storage(path, cv::FileStorage::READ);
+  storage["points_3d"] >> points3d_mat;
+  storage["descriptors"] >> descriptors_;
+
+  points3d_mat.copyTo(list_points3d_in_);
+
+  storage.release();
+
+}
diff --git a/samples/cpp/tutorial_code/calib3d/real_time_pose_estimation/src/Model.h b/samples/cpp/tutorial_code/calib3d/real_time_pose_estimation/src/Model.h
new file mode 100644
index 0000000000..79af18f0fb
--- /dev/null
+++ b/samples/cpp/tutorial_code/calib3d/real_time_pose_estimation/src/Model.h
@@ -0,0 +1,54 @@
+/*
+ * Model.h
+ *
+ *  Created on: Apr 9, 2014
+ *      Author: edgar
+ */
+
+#ifndef MODEL_H_
+#define MODEL_H_
+
+#include <iostream>
+#include <opencv2/core/core.hpp>
+#include <opencv2/features2d/features2d.hpp>
+
+class Model
+{
+public:
+  Model();
+  virtual ~Model();
+
+  std::vector<cv::Point2f> get_points2d_in() const { return list_points2d_in_; }
+  std::vector<cv::Point2f> get_points2d_out() const { return list_points2d_out_; }
+  std::vector<cv::Point3f> get_points3d() const { return list_points3d_in_; }
+  std::vector<cv::KeyPoint> get_keypoints() const { return list_keypoints_; }
+  cv::Mat get_descriptors() const { return descriptors_; }
+  int get_numDescriptors() const { return descriptors_.rows; }
+
+
+  void add_correspondence(const cv::Point2f &point2d, const cv::Point3f &point3d);
+  void add_outlier(const cv::Point2f &point2d);
+  void add_descriptor(const cv::Mat &descriptor);
+  void add_keypoint(const cv::KeyPoint &kp);
+
+
+  void save(const std::string path);
+  void load(const std::string path);
+
+
+private:
+  /** The current number of correspondecnes */
+  int n_correspondences_;
+  /** The list of 2D points on the model surface */
+  std::vector<cv::KeyPoint> list_keypoints_;
+  /** The list of 2D points on the model surface */
+  std::vector<cv::Point2f> list_points2d_in_;
+  /** The list of 2D points outside the model surface */
+  std::vector<cv::Point2f> list_points2d_out_;
+  /** The list of 3D points on the model surface */
+  std::vector<cv::Point3f> list_points3d_in_;
+  /** The list of 2D points descriptors */
+  cv::Mat descriptors_;
+};
+
+#endif /* OBJECTMODEL_H_ */
diff --git a/samples/cpp/tutorial_code/calib3d/real_time_pose_estimation/src/ModelRegistration.cpp b/samples/cpp/tutorial_code/calib3d/real_time_pose_estimation/src/ModelRegistration.cpp
new file mode 100644
index 0000000000..e8da885685
--- /dev/null
+++ b/samples/cpp/tutorial_code/calib3d/real_time_pose_estimation/src/ModelRegistration.cpp
@@ -0,0 +1,35 @@
+/*
+ * ModelRegistration.cpp
+ *
+ *  Created on: Apr 18, 2014
+ *      Author: edgar
+ */
+
+#include "ModelRegistration.h"
+
+ModelRegistration::ModelRegistration()
+{
+  n_registrations_ = 0;
+  max_registrations_ = 0;
+}
+
+ModelRegistration::~ModelRegistration()
+{
+  // TODO Auto-generated destructor stub
+}
+
+void ModelRegistration::registerPoint(const cv::Point2f &point2d, const cv::Point3f &point3d)
+ {
+   // add correspondence at the end of the vector
+    list_points2d_.push_back(point2d);
+    list_points3d_.push_back(point3d);
+    n_registrations_++;
+ }
+
+void ModelRegistration::reset()
+{
+  n_registrations_ = 0;
+  max_registrations_ = 0;
+  list_points2d_.clear();
+  list_points3d_.clear();
+}
diff --git a/samples/cpp/tutorial_code/calib3d/real_time_pose_estimation/src/ModelRegistration.h b/samples/cpp/tutorial_code/calib3d/real_time_pose_estimation/src/ModelRegistration.h
new file mode 100644
index 0000000000..f1e7aca469
--- /dev/null
+++ b/samples/cpp/tutorial_code/calib3d/real_time_pose_estimation/src/ModelRegistration.h
@@ -0,0 +1,43 @@
+/*
+ * ModelRegistration.h
+ *
+ *  Created on: Apr 18, 2014
+ *      Author: edgar
+ */
+
+#ifndef MODELREGISTRATION_H_
+#define MODELREGISTRATION_H_
+
+#include <iostream>
+#include <opencv2/core/core.hpp>
+
+class ModelRegistration
+{
+public:
+
+  ModelRegistration();
+  virtual ~ModelRegistration();
+
+  void setNumMax(int n) { max_registrations_ = n; }
+
+  std::vector<cv::Point2f> get_points2d() const { return list_points2d_; }
+  std::vector<cv::Point3f> get_points3d() const { return list_points3d_; }
+  int getNumMax() const { return max_registrations_; }
+  int getNumRegist() const { return n_registrations_; }
+
+  bool is_registrable() const { return (n_registrations_ < max_registrations_); }
+  void registerPoint(const cv::Point2f &point2d, const cv::Point3f &point3d);
+  void reset();
+
+private:
+/** The current number of registered points */
+int n_registrations_;
+/** The total number of points to register */
+int max_registrations_;
+/** The list of 2D points to register the model */
+std::vector<cv::Point2f> list_points2d_;
+/** The list of 3D points to register the model */
+std::vector<cv::Point3f> list_points3d_;
+};
+
+#endif /* MODELREGISTRATION_H_ */
diff --git a/samples/cpp/tutorial_code/calib3d/real_time_pose_estimation/src/PnPProblem.cpp b/samples/cpp/tutorial_code/calib3d/real_time_pose_estimation/src/PnPProblem.cpp
new file mode 100644
index 0000000000..48c8be576d
--- /dev/null
+++ b/samples/cpp/tutorial_code/calib3d/real_time_pose_estimation/src/PnPProblem.cpp
@@ -0,0 +1,312 @@
+/*
+ * PnPProblem.cpp
+ *
+ *  Created on: Mar 28, 2014
+ *      Author: Edgar Riba
+ */
+
+#include <iostream>
+#include <sstream>
+
+#include "PnPProblem.h"
+#include "Mesh.h"
+
+#include <opencv2/calib3d/calib3d.hpp>
+
+
+/* Functions for Möller–Trumbore intersection algorithm
+ * */
+cv::Point3f CROSS(cv::Point3f v1, cv::Point3f v2)
+{
+  cv::Point3f tmp_p;
+  tmp_p.x =  v1.y*v2.z - v1.z*v2.y;
+  tmp_p.y =  v1.z*v2.x - v1.x*v2.z;
+  tmp_p.z =  v1.x*v2.y - v1.y*v2.x;
+  return tmp_p;
+}
+
+double DOT(cv::Point3f v1, cv::Point3f v2)
+{
+  return v1.x*v2.x + v1.y*v2.y + v1.z*v2.z;
+}
+
+cv::Point3f SUB(cv::Point3f v1, cv::Point3f v2)
+{
+  cv::Point3f tmp_p;
+  tmp_p.x =  v1.x - v2.x;
+  tmp_p.y =  v1.y - v2.y;
+  tmp_p.z =  v1.z - v2.z;
+  return tmp_p;
+}
+
+/* End functions for Möller–Trumbore intersection algorithm
+ *  */
+
+// Function to get the nearest 3D point to the Ray origin
+cv::Point3f get_nearest_3D_point(std::vector<cv::Point3f> &points_list, cv::Point3f origin)
+{
+  cv::Point3f p1 = points_list[0];
+  cv::Point3f p2 = points_list[1];
+
+  double d1 = std::sqrt( std::pow(p1.x-origin.x, 2) + std::pow(p1.y-origin.y, 2) + std::pow(p1.z-origin.z, 2) );
+  double d2 = std::sqrt( std::pow(p2.x-origin.x, 2) + std::pow(p2.y-origin.y, 2) + std::pow(p2.z-origin.z, 2) );
+
+  if(d1 < d2)
+  {
+      return p1;
+  }
+  else
+  {
+      return p2;
+  }
+}
+
+// Custom constructor given the intrinsic camera parameters
+
+PnPProblem::PnPProblem(const double params[])
+{
+  _A_matrix = cv::Mat::zeros(3, 3, CV_64FC1);   // intrinsic camera parameters
+  _A_matrix.at<double>(0, 0) = params[0];       //      [ fx   0  cx ]
+  _A_matrix.at<double>(1, 1) = params[1];       //      [  0  fy  cy ]
+  _A_matrix.at<double>(0, 2) = params[2];       //      [  0   0   1 ]
+  _A_matrix.at<double>(1, 2) = params[3];
+  _A_matrix.at<double>(2, 2) = 1;
+  _R_matrix = cv::Mat::zeros(3, 3, CV_64FC1);   // rotation matrix
+  _t_matrix = cv::Mat::zeros(3, 1, CV_64FC1);   // translation matrix
+  _P_matrix = cv::Mat::zeros(3, 4, CV_64FC1);   // rotation-translation matrix
+
+}
+
+PnPProblem::~PnPProblem()
+{
+  // TODO Auto-generated destructor stub
+}
+
+void PnPProblem::set_P_matrix( const cv::Mat &R_matrix, const cv::Mat &t_matrix)
+{
+  // Rotation-Translation Matrix Definition
+  _P_matrix.at<double>(0,0) = R_matrix.at<double>(0,0);
+  _P_matrix.at<double>(0,1) = R_matrix.at<double>(0,1);
+  _P_matrix.at<double>(0,2) = R_matrix.at<double>(0,2);
+  _P_matrix.at<double>(1,0) = R_matrix.at<double>(1,0);
+  _P_matrix.at<double>(1,1) = R_matrix.at<double>(1,1);
+  _P_matrix.at<double>(1,2) = R_matrix.at<double>(1,2);
+  _P_matrix.at<double>(2,0) = R_matrix.at<double>(2,0);
+  _P_matrix.at<double>(2,1) = R_matrix.at<double>(2,1);
+  _P_matrix.at<double>(0,3) = t_matrix.at<double>(0);
+  _P_matrix.at<double>(1,3) = t_matrix.at<double>(1);
+  _P_matrix.at<double>(2,3) = t_matrix.at<double>(2);
+}
+
+
+// Estimate the pose given a list of 2D/3D correspondences and the method to use
+bool PnPProblem::estimatePose( const std::vector<cv::Point3f> &list_points3d,
+                               const std::vector<cv::Point2f> &list_points2d,
+                               int flags)
+{
+  cv::Mat distCoeffs = cv::Mat::zeros(4, 1, CV_64FC1);
+  cv::Mat rvec = cv::Mat::zeros(3, 1, CV_64FC1);
+  cv::Mat tvec = cv::Mat::zeros(3, 1, CV_64FC1);
+
+  bool useExtrinsicGuess = false;
+
+  // Pose estimation
+  bool correspondence = cv::solvePnP( list_points3d, list_points2d, _A_matrix, distCoeffs, rvec, tvec,
+                                      useExtrinsicGuess, flags);
+
+  // Transforms Rotation Vector to Matrix
+  Rodrigues(rvec,_R_matrix);
+  _t_matrix = tvec;
+
+  // Set projection matrix
+  this->set_P_matrix(_R_matrix, _t_matrix);
+
+  return correspondence;
+}
+
+// Estimate the pose given a list of 2D/3D correspondences with RANSAC and the method to use
+
+void PnPProblem::estimatePoseRANSAC( const std::vector<cv::Point3f> &list_points3d, // list with model 3D coordinates
+                               const std::vector<cv::Point2f> &list_points2d,     // list with scene 2D coordinates
+                               int flags, cv::Mat &inliers, int iterationsCount,  // PnP method; inliers container
+                               float reprojectionError, float confidence )    // Ransac parameters
+{
+  cv::Mat distCoeffs = cv::Mat::zeros(4, 1, CV_64FC1);  // vector of distortion coefficients
+  cv::Mat rvec = cv::Mat::zeros(3, 1, CV_64FC1);          // output rotation vector
+  cv::Mat tvec = cv::Mat::zeros(3, 1, CV_64FC1);    // output translation vector
+
+  bool useExtrinsicGuess = false;   // if true the function uses the provided rvec and tvec values as
+            // initial approximations of the rotation and translation vectors
+
+  cv::solvePnPRansac( list_points3d, list_points2d, _A_matrix, distCoeffs, rvec, tvec,
+                useExtrinsicGuess, iterationsCount, reprojectionError, confidence,
+                inliers, flags );
+
+  Rodrigues(rvec,_R_matrix);      // converts Rotation Vector to Matrix
+  _t_matrix = tvec;       // set translation matrix
+
+  this->set_P_matrix(_R_matrix, _t_matrix); // set rotation-translation matrix
+
+}
+
+// Given the mesh, backproject the 3D points to 2D to verify the pose estimation
+std::vector<cv::Point2f> PnPProblem::verify_points(Mesh *mesh)
+{
+  std::vector<cv::Point2f> verified_points_2d;
+  for( int i = 0; i < mesh->getNumVertices(); i++)
+  {
+    cv::Point3f point3d = mesh->getVertex(i);
+    cv::Point2f point2d = this->backproject3DPoint(point3d);
+    verified_points_2d.push_back(point2d);
+  }
+
+  return verified_points_2d;
+}
+
+
+// Backproject a 3D point to 2D using the estimated pose parameters
+
+cv::Point2f PnPProblem::backproject3DPoint(const cv::Point3f &point3d)
+{
+  // 3D point vector [x y z 1]'
+  cv::Mat point3d_vec = cv::Mat(4, 1, CV_64FC1);
+  point3d_vec.at<double>(0) = point3d.x;
+  point3d_vec.at<double>(1) = point3d.y;
+  point3d_vec.at<double>(2) = point3d.z;
+  point3d_vec.at<double>(3) = 1;
+
+  // 2D point vector [u v 1]'
+  cv::Mat point2d_vec = cv::Mat(4, 1, CV_64FC1);
+  point2d_vec = _A_matrix * _P_matrix * point3d_vec;
+
+  // Normalization of [u v]'
+  cv::Point2f point2d;
+  point2d.x = point2d_vec.at<double>(0) / point2d_vec.at<double>(2);
+  point2d.y = point2d_vec.at<double>(1) / point2d_vec.at<double>(2);
+
+  return point2d;
+}
+
+// Back project a 2D point to 3D and returns if it's on the object surface
+bool PnPProblem::backproject2DPoint(const Mesh *mesh, const cv::Point2f &point2d, cv::Point3f &point3d)
+{
+  // Triangles list of the object mesh
+  std::vector<std::vector<int> > triangles_list = mesh->getTrianglesList();
+
+  double lambda = 8;
+  double u = point2d.x;
+  double v = point2d.y;
+
+  // Point in vector form
+  cv::Mat point2d_vec = cv::Mat::ones(3, 1, CV_64F); // 3x1
+  point2d_vec.at<double>(0) = u * lambda;
+  point2d_vec.at<double>(1) = v * lambda;
+  point2d_vec.at<double>(2) = lambda;
+
+  // Point in camera coordinates
+  cv::Mat X_c = _A_matrix.inv() * point2d_vec ; // 3x1
+
+  // Point in world coordinates
+  cv::Mat X_w = _R_matrix.inv() * ( X_c - _t_matrix ); // 3x1
+
+  // Center of projection
+  cv::Mat C_op = cv::Mat(_R_matrix.inv()).mul(-1) * _t_matrix; // 3x1
+
+  // Ray direction vector
+  cv::Mat ray = X_w - C_op; // 3x1
+  ray = ray / cv::norm(ray); // 3x1
+
+  // Set up Ray
+  Ray R((cv::Point3f)C_op, (cv::Point3f)ray);
+
+  // A vector to store the intersections found
+  std::vector<cv::Point3f> intersections_list;
+
+  // Loop for all the triangles and check the intersection
+  for (unsigned int i = 0; i < triangles_list.size(); i++)
+  {
+    cv::Point3f V0 = mesh->getVertex(triangles_list[i][0]);
+    cv::Point3f V1 = mesh->getVertex(triangles_list[i][1]);
+    cv::Point3f V2 = mesh->getVertex(triangles_list[i][2]);
+
+    Triangle T(i, V0, V1, V2);
+
+    double out;
+    if(this->intersect_MollerTrumbore(R, T, &out))
+    {
+      cv::Point3f tmp_pt = R.getP0() + out*R.getP1(); // P = O + t*D
+      intersections_list.push_back(tmp_pt);
+    }
+  }
+
+  // If there are intersection, find the nearest one
+  if (!intersections_list.empty())
+  {
+    point3d = get_nearest_3D_point(intersections_list, R.getP0());
+    return true;
+  }
+  else
+  {
+    return false;
+  }
+}
+
+// Möller–Trumbore intersection algorithm
+bool PnPProblem::intersect_MollerTrumbore(Ray &Ray, Triangle &Triangle, double *out)
+{
+  const double EPSILON = 0.000001;
+
+  cv::Point3f e1, e2;
+  cv::Point3f P, Q, T;
+  double det, inv_det, u, v;
+  double t;
+
+  cv::Point3f V1 = Triangle.getV0();  // Triangle vertices
+  cv::Point3f V2 = Triangle.getV1();
+  cv::Point3f V3 = Triangle.getV2();
+
+  cv::Point3f O = Ray.getP0(); // Ray origin
+  cv::Point3f D = Ray.getP1(); // Ray direction
+
+  //Find vectors for two edges sharing V1
+  e1 = SUB(V2, V1);
+  e2 = SUB(V3, V1);
+
+  // Begin calculation determinant - also used to calculate U parameter
+  P = CROSS(D, e2);
+
+  // If determinant is near zero, ray lie in plane of triangle
+  det = DOT(e1, P);
+
+  //NOT CULLING
+  if(det > -EPSILON && det < EPSILON) return false;
+  inv_det = 1.f / det;
+
+  //calculate distance from V1 to ray origin
+  T = SUB(O, V1);
+
+  //Calculate u parameter and test bound
+  u = DOT(T, P) * inv_det;
+
+  //The intersection lies outside of the triangle
+  if(u < 0.f || u > 1.f) return false;
+
+  //Prepare to test v parameter
+  Q = CROSS(T, e1);
+
+  //Calculate V parameter and test bound
+  v = DOT(D, Q) * inv_det;
+
+  //The intersection lies outside of the triangle
+  if(v < 0.f || u + v  > 1.f) return false;
+
+  t = DOT(e2, Q) * inv_det;
+
+  if(t > EPSILON) { //ray intersection
+    *out = t;
+    return true;
+  }
+
+  // No hit, no win
+  return false;
+}
diff --git a/samples/cpp/tutorial_code/calib3d/real_time_pose_estimation/src/PnPProblem.h b/samples/cpp/tutorial_code/calib3d/real_time_pose_estimation/src/PnPProblem.h
new file mode 100644
index 0000000000..da189d0a0e
--- /dev/null
+++ b/samples/cpp/tutorial_code/calib3d/real_time_pose_estimation/src/PnPProblem.h
@@ -0,0 +1,53 @@
+/*
+ * PnPProblem.h
+ *
+ *  Created on: Mar 28, 2014
+ *      Author: Edgar Riba
+ */
+
+#ifndef PNPPROBLEM_H_
+#define PNPPROBLEM_H_
+
+#include <iostream>
+
+#include <opencv2/core/core.hpp>
+#include <opencv2/highgui/highgui.hpp>
+
+#include "Mesh.h"
+#include "ModelRegistration.h"
+
+class PnPProblem
+{
+
+public:
+  explicit PnPProblem(const double param[]);  // custom constructor
+  virtual ~PnPProblem();
+
+  bool backproject2DPoint(const Mesh *mesh, const cv::Point2f &point2d, cv::Point3f &point3d);
+  bool intersect_MollerTrumbore(Ray &R, Triangle &T, double *out);
+  std::vector<cv::Point2f> verify_points(Mesh *mesh);
+  cv::Point2f backproject3DPoint(const cv::Point3f &point3d);
+  bool estimatePose(const std::vector<cv::Point3f> &list_points3d, const std::vector<cv::Point2f> &list_points2d, int flags);
+  void estimatePoseRANSAC( const std::vector<cv::Point3f> &list_points3d, const std::vector<cv::Point2f> &list_points2d,
+                           int flags, cv::Mat &inliers,
+                           int iterationsCount, float reprojectionError, float confidence );
+
+  cv::Mat get_A_matrix() const { return _A_matrix; }
+  cv::Mat get_R_matrix() const { return _R_matrix; }
+  cv::Mat get_t_matrix() const { return _t_matrix; }
+  cv::Mat get_P_matrix() const { return _P_matrix; }
+
+  void set_P_matrix( const cv::Mat &R_matrix, const cv::Mat &t_matrix);
+
+private:
+  /** The calibration matrix */
+  cv::Mat _A_matrix;
+  /** The computed rotation matrix */
+  cv::Mat _R_matrix;
+  /** The computed translation matrix */
+  cv::Mat _t_matrix;
+  /** The computed projection matrix */
+  cv::Mat _P_matrix;
+};
+
+#endif /* PNPPROBLEM_H_ */
diff --git a/samples/cpp/tutorial_code/calib3d/real_time_pose_estimation/src/RobustMatcher.cpp b/samples/cpp/tutorial_code/calib3d/real_time_pose_estimation/src/RobustMatcher.cpp
new file mode 100644
index 0000000000..7ef9f887a6
--- /dev/null
+++ b/samples/cpp/tutorial_code/calib3d/real_time_pose_estimation/src/RobustMatcher.cpp
@@ -0,0 +1,152 @@
+/*
+ * RobustMatcher.cpp
+ *
+ *  Created on: Jun 4, 2014
+ *      Author: eriba
+ */
+
+#include "RobustMatcher.h"
+#include <time.h>
+
+#include <opencv2/features2d/features2d.hpp>
+
+RobustMatcher::~RobustMatcher()
+{
+  // TODO Auto-generated destructor stub
+}
+
+void RobustMatcher::computeKeyPoints( const cv::Mat& image, std::vector<cv::KeyPoint>& keypoints)
+{
+  detector_->detect(image, keypoints);
+}
+
+void RobustMatcher::computeDescriptors( const cv::Mat& image, std::vector<cv::KeyPoint>& keypoints, cv::Mat& descriptors)
+{
+  extractor_->compute(image, keypoints, descriptors);
+}
+
+int RobustMatcher::ratioTest(std::vector<std::vector<cv::DMatch> > &matches)
+{
+  int removed = 0;
+  // for all matches
+  for ( std::vector<std::vector<cv::DMatch> >::iterator
+        matchIterator= matches.begin(); matchIterator!= matches.end(); ++matchIterator)
+  {
+    // if 2 NN has been identified
+    if (matchIterator->size() > 1)
+    {
+      // check distance ratio
+      if ((*matchIterator)[0].distance / (*matchIterator)[1].distance > ratio_)
+      {
+        matchIterator->clear(); // remove match
+        removed++;
+      }
+    }
+    else
+    { // does not have 2 neighbours
+      matchIterator->clear(); // remove match
+      removed++;
+    }
+  }
+  return removed;
+}
+
+void RobustMatcher::symmetryTest( const std::vector<std::vector<cv::DMatch> >& matches1,
+                     const std::vector<std::vector<cv::DMatch> >& matches2,
+                     std::vector<cv::DMatch>& symMatches )
+{
+
+  // for all matches image 1 -> image 2
+   for (std::vector<std::vector<cv::DMatch> >::const_iterator
+       matchIterator1 = matches1.begin(); matchIterator1 != matches1.end(); ++matchIterator1)
+   {
+
+      // ignore deleted matches
+      if (matchIterator1->empty() || matchIterator1->size() < 2)
+         continue;
+
+      // for all matches image 2 -> image 1
+      for (std::vector<std::vector<cv::DMatch> >::const_iterator
+          matchIterator2 = matches2.begin(); matchIterator2 != matches2.end(); ++matchIterator2)
+      {
+        // ignore deleted matches
+        if (matchIterator2->empty() || matchIterator2->size() < 2)
+           continue;
+
+        // Match symmetry test
+        if ((*matchIterator1)[0].queryIdx ==
+            (*matchIterator2)[0].trainIdx &&
+            (*matchIterator2)[0].queryIdx ==
+            (*matchIterator1)[0].trainIdx)
+        {
+            // add symmetrical match
+            symMatches.push_back(
+              cv::DMatch((*matchIterator1)[0].queryIdx,
+                         (*matchIterator1)[0].trainIdx,
+                         (*matchIterator1)[0].distance));
+            break; // next match in image 1 -> image 2
+        }
+      }
+   }
+
+}
+
+void RobustMatcher::robustMatch( const cv::Mat& frame, std::vector<cv::DMatch>& good_matches,
+              std::vector<cv::KeyPoint>& keypoints_frame, const cv::Mat& descriptors_model )
+{
+
+  // 1a. Detection of the ORB features
+  this->computeKeyPoints(frame, keypoints_frame);
+
+  // 1b. Extraction of the ORB descriptors
+  cv::Mat descriptors_frame;
+  this->computeDescriptors(frame, keypoints_frame, descriptors_frame);
+
+  // 2. Match the two image descriptors
+  std::vector<std::vector<cv::DMatch> > matches12, matches21;
+
+  // 2a. From image 1 to image 2
+  matcher_->knnMatch(descriptors_frame, descriptors_model, matches12, 2); // return 2 nearest neighbours
+
+  // 2b. From image 2 to image 1
+  matcher_->knnMatch(descriptors_model, descriptors_frame, matches21, 2); // return 2 nearest neighbours
+
+  // 3. Remove matches for which NN ratio is > than threshold
+  // clean image 1 -> image 2 matches
+  int removed1 = ratioTest(matches12);
+  // clean image 2 -> image 1 matches
+  int removed2 = ratioTest(matches21);
+
+  // 4. Remove non-symmetrical matches
+  symmetryTest(matches12, matches21, good_matches);
+
+}
+
+void RobustMatcher::fastRobustMatch( const cv::Mat& frame, std::vector<cv::DMatch>& good_matches,
+                                 std::vector<cv::KeyPoint>& keypoints_frame,
+                                 const cv::Mat& descriptors_model )
+{
+  good_matches.clear();
+
+  // 1a. Detection of the ORB features
+  this->computeKeyPoints(frame, keypoints_frame);
+
+  // 1b. Extraction of the ORB descriptors
+  cv::Mat descriptors_frame;
+  this->computeDescriptors(frame, keypoints_frame, descriptors_frame);
+
+  // 2. Match the two image descriptors
+  std::vector<std::vector<cv::DMatch> > matches;
+  matcher_->knnMatch(descriptors_frame, descriptors_model, matches, 2);
+
+  // 3. Remove matches for which NN ratio is > than threshold
+  int removed = ratioTest(matches);
+
+  // 4. Fill good matches container
+  for ( std::vector<std::vector<cv::DMatch> >::iterator
+         matchIterator= matches.begin(); matchIterator!= matches.end(); ++matchIterator)
+  {
+    if (!matchIterator->empty()) good_matches.push_back((*matchIterator)[0]);
+  }
+
+}
diff --git a/samples/cpp/tutorial_code/calib3d/real_time_pose_estimation/src/RobustMatcher.h b/samples/cpp/tutorial_code/calib3d/real_time_pose_estimation/src/RobustMatcher.h
new file mode 100644
index 0000000000..fc03c74faa
--- /dev/null
+++ b/samples/cpp/tutorial_code/calib3d/real_time_pose_estimation/src/RobustMatcher.h
@@ -0,0 +1,83 @@
+/*
+ * RobustMatcher.h
+ *
+ *  Created on: Jun 4, 2014
+ *      Author: eriba
+ */
+
+#ifndef ROBUSTMATCHER_H_
+#define ROBUSTMATCHER_H_
+
+#include <iostream>
+#include <boost/shared_ptr.hpp>
+
+#include <opencv2/core/core.hpp>
+#include <opencv2/highgui/highgui.hpp>
+#include <opencv2/features2d/features2d.hpp>
+#include <opencv2/nonfree/nonfree.hpp>
+
+class RobustMatcher {
+public:
+  RobustMatcher() : ratio_(0.8f)
+  {
+    // ORB is the default feature
+    detector_ = new cv::OrbFeatureDetector();
+    extractor_ = new cv::OrbDescriptorExtractor();
+
+    // BruteFroce matcher with Norm Hamming is the default matcher
+    matcher_ = new cv::BFMatcher(cv::NORM_HAMMING, false);
+
+  }
+  virtual ~RobustMatcher();
+
+  // Set the feature detector
+  void setFeatureDetector(cv::FeatureDetector * detect) {  detector_ = detect; }
+
+  // Set the descriptor extractor
+  void setDescriptorExtractor(cv::DescriptorExtractor * desc) { extractor_ = desc; }
+
+  // Set the matcher
+  void setDescriptorMatcher(cv::DescriptorMatcher * match) {  matcher_ = match; }
+
+  // Compute the keypoints of an image
+  void computeKeyPoints( const cv::Mat& image, std::vector<cv::KeyPoint>& keypoints);
+
+  // Compute the descriptors of an image given its keypoints
+  void computeDescriptors( const cv::Mat& image, std::vector<cv::KeyPoint>& keypoints, cv::Mat& descriptors);
+
+  // Set ratio parameter for the ratio test
+  void setRatio( float rat) { ratio_ = rat; }
+
+  // Clear matches for which NN ratio is > than threshold
+  // return the number of removed points
+  // (corresponding entries being cleared,
+  // i.e. size will be 0)
+  int ratioTest(std::vector<std::vector<cv::DMatch> > &matches);
+
+  // Insert symmetrical matches in symMatches vector
+  void symmetryTest( const std::vector<std::vector<cv::DMatch> >& matches1,
+                     const std::vector<std::vector<cv::DMatch> >& matches2,
+                     std::vector<cv::DMatch>& symMatches );
+
+  // Match feature points using ratio and symmetry test
+  void robustMatch( const cv::Mat& frame, std::vector<cv::DMatch>& good_matches,
+                      std::vector<cv::KeyPoint>& keypoints_frame,
+                      const cv::Mat& descriptors_model );
+
+ // Match feature points using ratio test
+ void fastRobustMatch( const cv::Mat& frame, std::vector<cv::DMatch>& good_matches,
+                       std::vector<cv::KeyPoint>& keypoints_frame,
+                       const cv::Mat& descriptors_model );
+
+private:
+  // pointer to the feature point detector object
+  cv::FeatureDetector * detector_;
+  // pointer to the feature descriptor extractor object
+  cv::DescriptorExtractor * extractor_;
+  // pointer to the matcher object
+  cv::DescriptorMatcher * matcher_;
+  // max ratio between 1st and 2nd NN
+  float ratio_;
+};
+
+#endif /* ROBUSTMATCHER_H_ */
diff --git a/samples/cpp/tutorial_code/calib3d/real_time_pose_estimation/src/Utils.cpp b/samples/cpp/tutorial_code/calib3d/real_time_pose_estimation/src/Utils.cpp
new file mode 100644
index 0000000000..f66a10dd2a
--- /dev/null
+++ b/samples/cpp/tutorial_code/calib3d/real_time_pose_estimation/src/Utils.cpp
@@ -0,0 +1,295 @@
+/*
+ * Utils.cpp
+ *
+ *  Created on: Mar 28, 2014
+ *      Author: Edgar Riba
+ */
+
+#include <iostream>
+
+#include "PnPProblem.h"
+#include "ModelRegistration.h"
+#include "Utils.h"
+
+#include <opencv2/imgproc/imgproc.hpp>
+#include <opencv2/calib3d/calib3d.hpp>
+#include <opencv2/nonfree/features2d.hpp>
+
+
+// For text
+int fontFace = cv::FONT_ITALIC;
+double fontScale = 0.75;
+double thickness_font = 2;
+
+// For circles
+int lineType = 8;
+int radius = 4;
+double thickness_circ = -1;
+
+// Draw a text with the question point
+void drawQuestion(cv::Mat image, cv::Point3f point, cv::Scalar color)
+{
+  std::string x = IntToString((int)point.x);
+  std::string y = IntToString((int)point.y);
+  std::string z = IntToString((int)point.z);
+
+  std::string text = " Where is point (" + x + ","  + y + "," + z + ") ?";
+  cv::putText(image, text, cv::Point(25,50), fontFace, fontScale, color, thickness_font, 8);
+}
+
+// Draw a text with the number of entered points
+void drawText(cv::Mat image, std::string text, cv::Scalar color)
+{
+  cv::putText(image, text, cv::Point(25,50), fontFace, fontScale, color, thickness_font, 8);
+}
+
+// Draw a text with the number of entered points
+void drawText2(cv::Mat image, std::string text, cv::Scalar color)
+{
+  cv::putText(image, text, cv::Point(25,75), fontFace, fontScale, color, thickness_font, 8);
+}
+
+// Draw a text with the frame ratio
+void drawFPS(cv::Mat image, double fps, cv::Scalar color)
+{
+  std::string fps_str = IntToString((int)fps);
+  std::string text = fps_str + " FPS";
+  cv::putText(image, text, cv::Point(500,50), fontFace, fontScale, color, thickness_font, 8);
+}
+
+// Draw a text with the frame ratio
+void drawConfidence(cv::Mat image, double confidence, cv::Scalar color)
+{
+  std::string conf_str = IntToString((int)confidence);
+  std::string text = conf_str + " %";
+  cv::putText(image, text, cv::Point(500,75), fontFace, fontScale, color, thickness_font, 8);
+}
+
+// Draw a text with the number of entered points
+void drawCounter(cv::Mat image, int n, int n_max, cv::Scalar color)
+{
+  std::string n_str = IntToString(n);
+  std::string n_max_str = IntToString(n_max);
+  std::string text = n_str + " of " + n_max_str + " points";
+  cv::putText(image, text, cv::Point(500,50), fontFace, fontScale, color, thickness_font, 8);
+}
+
+// Draw the points and the coordinates
+void drawPoints(cv::Mat image, std::vector<cv::Point2f> &list_points_2d, std::vector<cv::Point3f> &list_points_3d, cv::Scalar color)
+{
+  for (unsigned int i = 0; i < list_points_2d.size(); ++i)
+  {
+    cv::Point2f point_2d = list_points_2d[i];
+    cv::Point3f point_3d = list_points_3d[i];
+
+    // Draw Selected points
+    cv::circle(image, point_2d, radius, color, -1, lineType );
+
+    std::string idx = IntToString(i+1);
+    std::string x = IntToString((int)point_3d.x);
+    std::string y = IntToString((int)point_3d.y);
+    std::string z = IntToString((int)point_3d.z);
+    std::string text = "P" + idx + " (" + x + "," + y + "," + z +")";
+
+    point_2d.x = point_2d.x + 10;
+    point_2d.y = point_2d.y - 10;
+    cv::putText(image, text, point_2d, fontFace, fontScale*0.5, color, thickness_font, 8);
+  }
+}
+
+// Draw only the points
+void draw2DPoints(cv::Mat image, std::vector<cv::Point2f> &list_points, cv::Scalar color)
+{
+  for( size_t i = 0; i < list_points.size(); i++)
+  {
+    cv::Point2f point_2d = list_points[i];
+
+    // Draw Selected points
+    cv::circle(image, point_2d, radius, color, -1, lineType );
+  }
+}
+
+void drawArrow(cv::Mat image, cv::Point2i p, cv::Point2i q, cv::Scalar color, int arrowMagnitude, int thickness, int line_type, int shift)
+{
+  //Draw the principle line
+  cv::line(image, p, q, color, thickness, line_type, shift);
+  const double PI = 3.141592653;
+  //compute the angle alpha
+  double angle = atan2((double)p.y-q.y, (double)p.x-q.x);
+  //compute the coordinates of the first segment
+  p.x = (int) ( q.x +  arrowMagnitude * cos(angle + PI/4));
+  p.y = (int) ( q.y +  arrowMagnitude * sin(angle + PI/4));
+  //Draw the first segment
+  cv::line(image, p, q, color, thickness, line_type, shift);
+  //compute the coordinates of the second segment
+  p.x = (int) ( q.x +  arrowMagnitude * cos(angle - PI/4));
+  p.y = (int) ( q.y +  arrowMagnitude * sin(angle - PI/4));
+  //Draw the second segment
+  cv::line(image, p, q, color, thickness, line_type, shift);
+}
+
+void draw3DCoordinateAxes(cv::Mat image, const std::vector<cv::Point2f> &list_points2d)
+{
+  cv::Scalar red(0, 0, 255);
+  cv::Scalar green(0,255,0);
+  cv::Scalar blue(255,0,0);
+  cv::Scalar black(0,0,0);
+
+  const double PI = 3.141592653;
+  int length = 50;
+
+  cv::Point2i origin = list_points2d[0];
+  cv::Point2i pointX = list_points2d[1];
+  cv::Point2i pointY = list_points2d[2];
+  cv::Point2i pointZ = list_points2d[3];
+
+  drawArrow(image, origin, pointX, red, 9, 2);
+  drawArrow(image, origin, pointY, blue, 9, 2);
+  drawArrow(image, origin, pointZ, green, 9, 2);
+  cv::circle(image, origin, radius/2, black, -1, lineType );
+
+}
+
+// Draw the object mesh
+void drawObjectMesh(cv::Mat image, const Mesh *mesh, PnPProblem *pnpProblem, cv::Scalar color)
+{
+  std::vector<std::vector<int> > list_triangles = mesh->getTrianglesList();
+  for( size_t i = 0; i < list_triangles.size(); i++)
+  {
+    std::vector<int> tmp_triangle = list_triangles.at(i);
+
+    cv::Point3f point_3d_0 = mesh->getVertex(tmp_triangle[0]);
+    cv::Point3f point_3d_1 = mesh->getVertex(tmp_triangle[1]);
+    cv::Point3f point_3d_2 = mesh->getVertex(tmp_triangle[2]);
+
+    cv::Point2f point_2d_0 = pnpProblem->backproject3DPoint(point_3d_0);
+    cv::Point2f point_2d_1 = pnpProblem->backproject3DPoint(point_3d_1);
+    cv::Point2f point_2d_2 = pnpProblem->backproject3DPoint(point_3d_2);
+
+    cv::line(image, point_2d_0, point_2d_1, color, 1);
+    cv::line(image, point_2d_1, point_2d_2, color, 1);
+    cv::line(image, point_2d_2, point_2d_0, color, 1);
+  }
+}
+
+bool equal_point(const cv::Point2f &p1, const cv::Point2f &p2)
+{
+  return ( (p1.x == p2.x) && (p1.y == p2.y) );
+}
+
+double get_translation_error(const cv::Mat &t_true, const cv::Mat &t)
+{
+  return cv::norm( t_true - t );
+}
+
+double get_rotation_error(const cv::Mat &R_true, const cv::Mat &R)
+{
+  cv::Mat error_vec, error_mat;
+  error_mat = R_true * cv::Mat(R.inv()).mul(-1);
+  cv::Rodrigues(error_mat, error_vec);
+
+  return cv::norm(error_vec);
+}
+
+cv::Mat rot2euler(const cv::Mat & rotationMatrix)
+{
+  cv::Mat euler(3,1,CV_64F);
+
+  double m00 = rotationMatrix.at<double>(0,0);
+  double m01 = rotationMatrix.at<double>(0,1);
+  double m02 = rotationMatrix.at<double>(0,2);
+  double m10 = rotationMatrix.at<double>(1,0);
+  double m11 = rotationMatrix.at<double>(1,1);
+  double m12 = rotationMatrix.at<double>(1,2);
+  double m20 = rotationMatrix.at<double>(2,0);
+  double m21 = rotationMatrix.at<double>(2,1);
+  double m22 = rotationMatrix.at<double>(2,2);
+
+  double x, y, z;
+
+  // Assuming the angles are in radians.
+  if (m10 > 0.998) { // singularity at north pole
+    x = 0;
+    y = CV_PI/2;
+    z = atan2(m02,m22);
+  }
+  else if (m10 < -0.998) { // singularity at south pole
+    x = 0;
+    y = -CV_PI/2;
+    z = atan2(m02,m22);
+  }
+  else
+  {
+    x = atan2(-m12,m11);
+    y = asin(m10);
+    z = atan2(-m20,m00);
+  }
+
+  euler.at<double>(0) = x;
+  euler.at<double>(1) = y;
+  euler.at<double>(2) = z;
+
+  return euler;
+}
+
+cv::Mat euler2rot(const cv::Mat & euler)
+{
+  cv::Mat rotationMatrix(3,3,CV_64F);
+
+  double x = euler.at<double>(0);
+  double y = euler.at<double>(1);
+  double z = euler.at<double>(2);
+
+  // Assuming the angles are in radians.
+  double ch = cos(z);
+  double sh = sin(z);
+  double ca = cos(y);
+  double sa = sin(y);
+  double cb = cos(x);
+  double sb = sin(x);
+
+  double m00, m01, m02, m10, m11, m12, m20, m21, m22;
+
+  m00 = ch * ca;
+  m01 = sh*sb - ch*sa*cb;
+  m02 = ch*sa*sb + sh*cb;
+  m10 = sa;
+  m11 = ca*cb;
+  m12 = -ca*sb;
+  m20 = -sh*ca;
+  m21 = sh*sa*cb + ch*sb;
+  m22 = -sh*sa*sb + ch*cb;
+
+  rotationMatrix.at<double>(0,0) = m00;
+  rotationMatrix.at<double>(0,1) = m01;
+  rotationMatrix.at<double>(0,2) = m02;
+  rotationMatrix.at<double>(1,0) = m10;
+  rotationMatrix.at<double>(1,1) = m11;
+  rotationMatrix.at<double>(1,2) = m12;
+  rotationMatrix.at<double>(2,0) = m20;
+  rotationMatrix.at<double>(2,1) = m21;
+  rotationMatrix.at<double>(2,2) = m22;
+
+  return rotationMatrix;
+}
+
+int StringToInt ( const std::string &Text )
+{
+   std::istringstream ss(Text);
+   int result;
+   return ss >> result ? result : 0;
+}
+
+std::string FloatToString ( float Number )
+{
+  std::ostringstream ss;
+  ss << Number;
+  return ss.str();
+}
+
+std::string IntToString ( int Number )
+{
+  std::ostringstream ss;
+  ss << Number;
+  return ss.str();
+}
diff --git a/samples/cpp/tutorial_code/calib3d/real_time_pose_estimation/src/Utils.h b/samples/cpp/tutorial_code/calib3d/real_time_pose_estimation/src/Utils.h
new file mode 100644
index 0000000000..d51eb28b39
--- /dev/null
+++ b/samples/cpp/tutorial_code/calib3d/real_time_pose_estimation/src/Utils.h
@@ -0,0 +1,75 @@
+/*
+ * Utils.h
+ *
+ *  Created on: Mar 28, 2014
+ *      Author: Edgar Riba
+ */
+
+#ifndef UTILS_H_
+#define UTILS_H_
+
+#include <iostream>
+#include <cv.h>
+
+#include "PnPProblem.h"
+
+// Draw a text with the question point
+void drawQuestion(cv::Mat image, cv::Point3f point, cv::Scalar color);
+
+// Draw a text in the left of the image
+void drawText(cv::Mat image, std::string text, cv::Scalar color);
+void drawText2(cv::Mat image, std::string text, cv::Scalar color);
+void drawFPS(cv::Mat image, double fps, cv::Scalar color);
+void drawConfidence(cv::Mat image, double confidence, cv::Scalar color);
+
+// Draw a text with the number of registered points
+void drawCounter(cv::Mat image, int n, int n_max, cv::Scalar color);
+
+// Draw the points and the coordinates
+void drawPoints(cv::Mat image, std::vector<cv::Point2f> &list_points_2d, std::vector<cv::Point3f> &list_points_3d, cv::Scalar color);
+
+// Draw only the points
+void draw2DPoints(cv::Mat image, std::vector<cv::Point2f> &list_points, cv::Scalar color);
+
+// Draw the object mesh
+void drawObjectMesh(cv::Mat image, const Mesh *mesh, PnPProblem *pnpProblem, cv::Scalar color);
+
+// Draw an arrow into the image
+void drawArrow(cv::Mat image, cv::Point2i p, cv::Point2i q, cv::Scalar color, int arrowMagnitude = 9, int thickness=1, int line_type=8, int shift=0);
+
+// Draw the 3D coordinate axes
+void draw3DCoordinateAxes(cv::Mat image, const std::vector<cv::Point2f> &list_points2d);
+
+// Compute the 2D points with the esticv::Mated pose
+std::vector<cv::Point2f> verification_points(PnPProblem *p);
+
+bool equal_point(const cv::Point2f &p1, const cv::Point2f &p2);
+
+double get_translation_error(const cv::Mat &t_true, const cv::Mat &t);
+double get_rotation_error(const cv::Mat &R_true, const cv::Mat &R);
+double get_variance(const std::vector<cv::Point3f> list_points3d);
+cv::Mat rot2quat(cv::Mat &rotationMatrix);
+cv::Mat quat2rot(cv::Mat &q);
+cv::Mat euler2rot(const cv::Mat & euler);
+cv::Mat rot2euler(const cv::Mat & rotationMatrix);
+cv::Mat quat2euler(const cv::Mat & q);
+int StringToInt ( const std::string &Text );
+std::string FloatToString ( float Number );
+std::string IntToString ( int Number );
+
+class Timer
+{
+public:
+  Timer();
+    void start() { tstart = (double)clock()/CLOCKS_PER_SEC; }
+    void stop()  { tstop = (double)clock()/CLOCKS_PER_SEC; }
+    void reset()  { tstart = 0;  tstop = 0;}
+
+    double getTimeMilli() const { return (tstop-tstart)*1000; }
+    double getTimeSec()   const {  return tstop-tstart; }
+
+private:
+    double tstart, tstop, ttime;
+};
+
+#endif /* UTILS_H_ */
diff --git a/samples/cpp/tutorial_code/calib3d/real_time_pose_estimation/src/main_detection.cpp b/samples/cpp/tutorial_code/calib3d/real_time_pose_estimation/src/main_detection.cpp
new file mode 100644
index 0000000000..ff00e24e84
--- /dev/null
+++ b/samples/cpp/tutorial_code/calib3d/real_time_pose_estimation/src/main_detection.cpp
@@ -0,0 +1,472 @@
+#include <iostream>
+#include <time.h>
+
+#include "cv.h"
+#include "highgui.h"
+
+#include <opencv2/core/core.hpp>
+#include <opencv2/highgui/highgui.hpp>
+#include <opencv2/imgproc/imgproc.hpp>
+#include <opencv2/calib3d/calib3d.hpp>
+#include <opencv2/video/tracking.hpp>
+
+#include "Mesh.h"
+#include "Model.h"
+#include "PnPProblem.h"
+#include "RobustMatcher.h"
+#include "ModelRegistration.h"
+#include "Utils.h"
+
+//  COOKIES BOX - ORB
+std::string yml_read_path = "../Data/cookies_ORB.yml"; // 3dpts + descriptors
+
+// COOKIES BOX MESH
+std::string ply_read_path = "../Data/box.ply";   // mesh
+
+void help()
+{
+std::cout
+<< "--------------------------------------------------------------------------"   << std::endl
+<< "This program shows how to detect an object given its 3D textured model. You can choose to "
+<< "use a recorded video or the webcam." << std::endl
+<< "Usage:"                                                                       << std::endl
+<< "./pnp_detection ~/path_to_video/box.mp4"                                      << std::endl
+<< "./pnp_detection "                                                             << std::endl
+<< "--------------------------------------------------------------------------"   << std::endl
+<< std::endl;
+}
+
+
+/*
+ * Set up the intrinsic camera parameters: UVC WEBCAM
+ */
+
+double f = 55;                           // focal length in mm
+double sx = 22.3, sy = 14.9;             // sensor size
+double width = 640, height = 480;        // image size
+
+double params_WEBCAM[] = { width*f/sx,   // fx
+                           height*f/sy,  // fy
+                           width/2,      // cx
+                           height/2};    // cy
+
+
+/*
+ * Set up some basic colors
+ */
+cv::Scalar red(0, 0, 255);
+cv::Scalar green(0,255,0);
+cv::Scalar blue(255,0,0);
+cv::Scalar yellow(0,255,255);
+
+
+// Robust Matcher parameters
+
+int numKeyPoints = 2000;      // number of detected keypoints
+float ratio = 0.70f;          // ratio test
+bool fast_match = true;       // fastRobustMatch() or robustMatch()
+
+
+// RANSAC parameters
+
+int iterationsCount = 500;      // number of Ransac iterations.
+float reprojectionError = 2.0;  // maximum allowed distance to consider it an inlier.
+float confidence = 0.95;        // ransac successful confidence.
+
+
+// Kalman Filter parameters
+
+int minInliersKalman = 30;    // Kalman threshold updating
+
+
+/**********************************************************************************************************/
+
+void initKalmanFilter( cv::KalmanFilter &KF, int nStates, int nMeasurements, int nInputs, double dt);
+
+
+/**********************************************************************************************************/
+
+
+void updateKalmanFilter( cv::KalmanFilter &KF, cv::Mat &measurements,
+                         cv::Mat &translation_estimated, cv::Mat &rotation_estimated );
+
+/**********************************************************************************************************/
+
+
+void fillMeasurements( cv::Mat &measurements,
+                       const cv::Mat &translation_measured, const cv::Mat &rotation_measured);
+
+
+/**********************************************************************************************************/
+
+
+int main(int argc, char *argv[])
+{
+
+  help();
+
+  PnPProblem pnp_detection(params_WEBCAM);
+  PnPProblem pnp_detection_est(params_WEBCAM);
+
+  Model model;               // instantiate Model object
+  model.load(yml_read_path); // load a 3D textured object model
+
+  Mesh mesh;                // instantiate Mesh object
+  mesh.load(ply_read_path); // load an object mesh
+
+
+  RobustMatcher rmatcher;                                                     // instantiate RobustMatcher
+
+  cv::FeatureDetector * detector = new cv::OrbFeatureDetector(numKeyPoints);  // instatiate ORB feature detector
+  cv::DescriptorExtractor * extractor = new cv::OrbDescriptorExtractor();     // instatiate ORB descriptor extractor
+
+  rmatcher.setFeatureDetector(detector);                                      // set feature detector
+  rmatcher.setDescriptorExtractor(extractor);                                 // set descriptor extractor
+
+
+  cv::Ptr<cv::flann::IndexParams> indexParams = cv::makePtr<cv::flann::LshIndexParams>(6, 12, 1); // instantiate LSH index parameters
+  cv::Ptr<cv::flann::SearchParams> searchParams = cv::makePtr<cv::flann::SearchParams>(50);       // instantiate flann search parameters
+
+  cv::DescriptorMatcher * matcher = new cv::FlannBasedMatcher(indexParams, searchParams);         // instantiate FlannBased matcher
+  rmatcher.setDescriptorMatcher(matcher);                                                         // set matcher
+
+
+  rmatcher.setRatio(ratio); // set ratio test parameter
+
+
+  cv::KalmanFilter KF;         // instantiate Kalman Filter
+
+  int nStates = 18;            // the number of states
+  int nMeasurements = 6;       // the number of measured states
+  int nInputs = 0;             // the number of action control
+
+  double dt = 0.125;           // time between measurements (1/FPS)
+
+  initKalmanFilter(KF, nStates, nMeasurements, nInputs, dt);    // init function
+
+  cv::Mat measurements(nMeasurements, 1, CV_64F); measurements.setTo(cv::Scalar(0));
+  bool good_measurement = false;
+
+
+  // Get the MODEL INFO
+
+  std::vector<cv::Point3f> list_points3d_model = model.get_points3d();  // list with model 3D coordinates
+  cv::Mat descriptors_model = model.get_descriptors();                  // list with descriptors of each 3D coordinate
+
+
+  // Create & Open Window
+  cv::namedWindow("REAL TIME DEMO", CV_WINDOW_KEEPRATIO);
+
+
+  cv::VideoCapture cap;                           // instantiate VideoCapture
+  (argc < 2) ? cap.open(1) : cap.open(argv[1]);   // open the default camera device
+                                                  // or a recorder video
+
+  if(!cap.isOpened())   // check if we succeeded
+  {
+    std::cout << "Could not open the camera device" << std::endl;
+    return -1;
+  }
+
+
+  // start and end times
+  time_t start, end;
+
+  // fps calculated using number of frames / seconds
+  double fps;
+
+  // frame counter
+  int counter = 0;
+
+  // floating point seconds elapsed since start
+  double sec;
+
+  // start the clock
+  time(&start);
+
+  double tstart2, tstop2, ttime2; // algorithm metrics
+  double tstart, tstop, ttime; // algorithm metrics
+
+  cv::Mat frame, frame_vis;
+
+  while(cap.read(frame) && cv::waitKey(30) != 27) // capture frame until ESC is pressed
+  {
+
+    frame_vis = frame.clone();    // refresh visualisation frame
+
+
+    // -- Step 1: Robust matching between model descriptors and scene descriptors
+
+    std::vector<cv::DMatch> good_matches;       // to obtain the 3D points of the model
+    std::vector<cv::KeyPoint> keypoints_scene;  // to obtain the 2D points of the scene
+
+
+    if(fast_match)
+    {
+      rmatcher.fastRobustMatch(frame, good_matches, keypoints_scene, descriptors_model);
+    }
+    else
+    {
+      rmatcher.robustMatch(frame, good_matches, keypoints_scene, descriptors_model);
+    }
+
+
+    // -- Step 2: Find out the 2D/3D correspondences
+
+    std::vector<cv::Point3f> list_points3d_model_match; // container for the model 3D coordinates found in the scene
+    std::vector<cv::Point2f> list_points2d_scene_match; // container for the model 2D coordinates found in the scene
+
+    for(unsigned int match_index = 0; match_index < good_matches.size(); ++match_index)
+    {
+      cv::Point3f point3d_model = list_points3d_model[ good_matches[match_index].trainIdx ];  // 3D point from model
+      cv::Point2f point2d_scene = keypoints_scene[ good_matches[match_index].queryIdx ].pt; // 2D point from the scene
+      list_points3d_model_match.push_back(point3d_model);         // add 3D point
+      list_points2d_scene_match.push_back(point2d_scene);         // add 2D point
+    }
+
+    // Draw outliers
+    draw2DPoints(frame_vis, list_points2d_scene_match, red);
+
+
+    cv::Mat inliers_idx;
+    std::vector<cv::Point2f> list_points2d_inliers;
+
+    if(good_matches.size() > 0) // None matches, then RANSAC crashes
+    {
+
+
+      // -- Step 3: Estimate the pose using RANSAC approach
+      pnp_detection.estimatePoseRANSAC( list_points3d_model_match, list_points2d_scene_match,
+                                        cv::ITERATIVE, inliers_idx,
+                                        iterationsCount, reprojectionError, confidence );
+
+      // -- Step 4: Catch the inliers keypoints to draw
+      for(int inliers_index = 0; inliers_index < inliers_idx.rows; ++inliers_index)
+      {
+        int n = inliers_idx.at<int>(inliers_index);         // i-inlier
+        cv::Point2f point2d = list_points2d_scene_match[n]; // i-inlier point 2D
+        list_points2d_inliers.push_back(point2d);           // add i-inlier to list
+      }
+
+      // Draw inliers points 2D
+      draw2DPoints(frame_vis, list_points2d_inliers, blue);
+
+
+      // -- Step 5: Kalman Filter
+
+      good_measurement = false;
+
+      // GOOD MEASUREMENT
+      if( inliers_idx.rows >= minInliersKalman )
+      {
+
+        // Get the measured translation
+        cv::Mat translation_measured(3, 1, CV_64F);
+        translation_measured = pnp_detection.get_t_matrix();
+
+        // Get the measured rotation
+        cv::Mat rotation_measured(3, 3, CV_64F);
+        rotation_measured = pnp_detection.get_R_matrix();
+
+        // fill the measurements vector
+        fillMeasurements(measurements, translation_measured, rotation_measured);
+
+        good_measurement = true;
+
+      }
+
+      // Instantiate estimated translation and rotation
+      cv::Mat translation_estimated(3, 1, CV_64F);
+      cv::Mat rotation_estimated(3, 3, CV_64F);
+
+      // update the Kalman filter with good measurements
+      updateKalmanFilter( KF, measurements,
+                          translation_estimated, rotation_estimated);
+
+
+      // -- Step 6: Set estimated projection matrix
+      pnp_detection_est.set_P_matrix(rotation_estimated, translation_estimated);
+
+    }
+
+    // -- Step X: Draw pose
+
+    if(good_measurement)
+    {
+      drawObjectMesh(frame_vis, &mesh, &pnp_detection, green);  // draw current pose
+    }
+    else
+    {
+      drawObjectMesh(frame_vis, &mesh, &pnp_detection_est, yellow); // draw estimated pose
+    }
+
+    double l = 5;
+    std::vector<cv::Point2f> pose_points2d;
+    pose_points2d.push_back(pnp_detection_est.backproject3DPoint(cv::Point3f(0,0,0)));  // axis center
+    pose_points2d.push_back(pnp_detection_est.backproject3DPoint(cv::Point3f(l,0,0)));  // axis x
+    pose_points2d.push_back(pnp_detection_est.backproject3DPoint(cv::Point3f(0,l,0)));  // axis y
+    pose_points2d.push_back(pnp_detection_est.backproject3DPoint(cv::Point3f(0,0,l)));  // axis z
+    draw3DCoordinateAxes(frame_vis, pose_points2d);           // draw axes
+
+    // FRAME RATE
+
+    // see how much time has elapsed
+    time(&end);
+
+    // calculate current FPS
+    ++counter;
+    sec = difftime (end, start);
+
+    fps = counter / sec;
+
+    drawFPS(frame_vis, fps, yellow); // frame ratio
+    double ratio = ((double)inliers_idx.rows/(double)good_matches.size())*100;
+    drawConfidence(frame_vis, ratio, yellow);
+
+
+    // -- Step X: Draw some debugging text
+
+    // Draw some debug text
+    int inliers_int = inliers_idx.rows;
+    int outliers_int = good_matches.size() - inliers_int;
+    std::string inliers_str = IntToString(inliers_int);
+    std::string outliers_str = IntToString(outliers_int);
+    std::string n = IntToString(good_matches.size());
+    std::string text = "Found " + inliers_str + " of " + n + " matches";
+    std::string text2 = "Inliers: " + inliers_str + " - Outliers: " + outliers_str;
+
+    drawText(frame_vis, text, green);
+    drawText2(frame_vis, text2, red);
+
+    cv::imshow("REAL TIME DEMO", frame_vis);
+
+    //cv::waitKey(0);
+
+  }
+
+  // Close and Destroy Window
+  cv::destroyWindow("REAL TIME DEMO");
+
+  std::cout << "GOODBYE ..." << std::endl;
+
+}
+
+/**********************************************************************************************************/
+void initKalmanFilter(cv::KalmanFilter &KF, int nStates, int nMeasurements, int nInputs, double dt)
+{
+
+  KF.init(nStates, nMeasurements, nInputs, CV_64F);                 // init Kalman Filter
+
+  cv::setIdentity(KF.processNoiseCov, cv::Scalar::all(1e-5));       // set process noise
+  cv::setIdentity(KF.measurementNoiseCov, cv::Scalar::all(1e-2));   // set measurement noise
+  cv::setIdentity(KF.errorCovPost, cv::Scalar::all(1));             // error covariance
+
+
+                     /** DYNAMIC MODEL **/
+
+  //  [1 0 0 dt  0  0 dt2   0   0 0 0 0  0  0  0   0   0   0]
+  //  [0 1 0  0 dt  0   0 dt2   0 0 0 0  0  0  0   0   0   0]
+  //  [0 0 1  0  0 dt   0   0 dt2 0 0 0  0  0  0   0   0   0]
+  //  [0 0 0  1  0  0  dt   0   0 0 0 0  0  0  0   0   0   0]
+  //  [0 0 0  0  1  0   0  dt   0 0 0 0  0  0  0   0   0   0]
+  //  [0 0 0  0  0  1   0   0  dt 0 0 0  0  0  0   0   0   0]
+  //  [0 0 0  0  0  0   1   0   0 0 0 0  0  0  0   0   0   0]
+  //  [0 0 0  0  0  0   0   1   0 0 0 0  0  0  0   0   0   0]
+  //  [0 0 0  0  0  0   0   0   1 0 0 0  0  0  0   0   0   0]
+  //  [0 0 0  0  0  0   0   0   0 1 0 0 dt  0  0 dt2   0   0]
+  //  [0 0 0  0  0  0   0   0   0 0 1 0  0 dt  0   0 dt2   0]
+  //  [0 0 0  0  0  0   0   0   0 0 0 1  0  0 dt   0   0 dt2]
+  //  [0 0 0  0  0  0   0   0   0 0 0 0  1  0  0  dt   0   0]
+  //  [0 0 0  0  0  0   0   0   0 0 0 0  0  1  0   0  dt   0]
+  //  [0 0 0  0  0  0   0   0   0 0 0 0  0  0  1   0   0  dt]
+  //  [0 0 0  0  0  0   0   0   0 0 0 0  0  0  0   1   0   0]
+  //  [0 0 0  0  0  0   0   0   0 0 0 0  0  0  0   0   1   0]
+  //  [0 0 0  0  0  0   0   0   0 0 0 0  0  0  0   0   0   1]
+
+  // position
+  KF.transitionMatrix.at<double>(0,3) = dt;
+  KF.transitionMatrix.at<double>(1,4) = dt;
+  KF.transitionMatrix.at<double>(2,5) = dt;
+  KF.transitionMatrix.at<double>(3,6) = dt;
+  KF.transitionMatrix.at<double>(4,7) = dt;
+  KF.transitionMatrix.at<double>(5,8) = dt;
+  KF.transitionMatrix.at<double>(0,6) = 0.5*pow(dt,2);
+  KF.transitionMatrix.at<double>(1,7) = 0.5*pow(dt,2);
+  KF.transitionMatrix.at<double>(2,8) = 0.5*pow(dt,2);
+
+  // orientation
+  KF.transitionMatrix.at<double>(9,12) = dt;
+  KF.transitionMatrix.at<double>(10,13) = dt;
+  KF.transitionMatrix.at<double>(11,14) = dt;
+  KF.transitionMatrix.at<double>(12,15) = dt;
+  KF.transitionMatrix.at<double>(13,16) = dt;
+  KF.transitionMatrix.at<double>(14,17) = dt;
+  KF.transitionMatrix.at<double>(9,15) = 0.5*pow(dt,2);
+  KF.transitionMatrix.at<double>(10,16) = 0.5*pow(dt,2);
+  KF.transitionMatrix.at<double>(11,17) = 0.5*pow(dt,2);
+
+
+           /** MEASUREMENT MODEL **/
+
+  //  [1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0]
+  //  [0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0]
+  //  [0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0]
+  //  [0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0]
+  //  [0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0]
+  //  [0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0]
+
+  KF.measurementMatrix.at<double>(0,0) = 1;  // x
+  KF.measurementMatrix.at<double>(1,1) = 1;  // y
+  KF.measurementMatrix.at<double>(2,2) = 1;  // z
+  KF.measurementMatrix.at<double>(3,9) = 1;  // roll
+  KF.measurementMatrix.at<double>(4,10) = 1; // pitch
+  KF.measurementMatrix.at<double>(5,11) = 1; // yaw
+
+  //std::cout << "A " << std::endl << KF.transitionMatrix << std::endl;
+  //std::cout << "C " << std::endl << KF.measurementMatrix << std::endl;
+
+}
+
+/**********************************************************************************************************/
+void updateKalmanFilter( cv::KalmanFilter &KF, cv::Mat &measurement,
+                         cv::Mat &translation_estimated, cv::Mat &rotation_estimated )
+{
+
+  // First predict, to update the internal statePre variable
+  cv::Mat prediction = KF.predict();
+
+  // The "correct" phase that is going to use the predicted value and our measurement
+  cv::Mat estimated = KF.correct(measurement);
+
+  // Estimated translation
+  translation_estimated.at<double>(0) = estimated.at<double>(0);
+  translation_estimated.at<double>(1) = estimated.at<double>(1);
+  translation_estimated.at<double>(2) = estimated.at<double>(2);
+
+  // Estimated euler angles
+  cv::Mat eulers_estimated(3, 1, CV_64F);
+  eulers_estimated.at<double>(0) = estimated.at<double>(9);
+  eulers_estimated.at<double>(1) = estimated.at<double>(10);
+  eulers_estimated.at<double>(2) = estimated.at<double>(11);
+
+  // Convert estimated quaternion to rotation matrix
+  rotation_estimated = euler2rot(eulers_estimated);
+
+}
+
+/**********************************************************************************************************/
+void fillMeasurements( cv::Mat &measurements,
+                       const cv::Mat &translation_measured, const cv::Mat &rotation_measured)
+{
+  // Convert rotation matrix to euler angles
+  cv::Mat measured_eulers(3, 1, CV_64F);
+  measured_eulers = rot2euler(rotation_measured);
+
+  // Set measurement to predict
+  measurements.at<double>(0) = translation_measured.at<double>(0); // x
+  measurements.at<double>(1) = translation_measured.at<double>(1); // y
+  measurements.at<double>(2) = translation_measured.at<double>(2); // z
+  measurements.at<double>(3) = measured_eulers.at<double>(0);      // roll
+  measurements.at<double>(4) = measured_eulers.at<double>(1);      // pitch
+  measurements.at<double>(5) = measured_eulers.at<double>(2);      // yaw
+}
diff --git a/samples/cpp/tutorial_code/calib3d/real_time_pose_estimation/src/main_registration.cpp b/samples/cpp/tutorial_code/calib3d/real_time_pose_estimation/src/main_registration.cpp
new file mode 100644
index 0000000000..3b2517b22f
--- /dev/null
+++ b/samples/cpp/tutorial_code/calib3d/real_time_pose_estimation/src/main_registration.cpp
@@ -0,0 +1,290 @@
+#include <iostream>
+
+#include "Mesh.h"
+#include "Model.h"
+#include "PnPProblem.h"
+#include "RobustMatcher.h"
+#include "ModelRegistration.h"
+#include "Utils.h"
+
+#include <opencv2/core/core.hpp>
+#include <opencv2/imgproc/imgproc.hpp>
+#include <opencv2/calib3d/calib3d.hpp>
+#include <opencv2/features2d/features2d.hpp>
+#include <opencv2/nonfree/features2d.hpp>
+
+  /*
+   * Set up the images paths
+   */
+
+  // COOKIES BOX [718x480]
+  std::string img_path = "../Data/resized_IMG_3875.JPG"; // f 55
+
+  // COOKIES BOX MESH
+  std::string ply_read_path = "../Data/box.ply";
+
+  // YAML writting path
+  std::string write_path = "../Data/cookies_ORB.yml";
+
+  void help()
+  {
+  std::cout
+  << "--------------------------------------------------------------------------"   << std::endl
+  << "This program shows how to create your 3D textured model. "                    << std::endl
+  << "Usage:"                                                                       << std::endl
+  << "./pnp_registration "                                                          << std::endl
+  << "--------------------------------------------------------------------------"   << std::endl
+  << std::endl;
+  }
+
+  // Boolean the know if the registration it's done
+  bool end_registration = false;
+
+  /*
+   * Set up the intrinsic camera parameters: CANON
+   */
+  double f = 45; // focal length in mm
+  double sx = 22.3, sy = 14.9;
+  double width = 2592, height = 1944;
+  double params_CANON[] = { width*f/sx,   // fx
+                            height*f/sy,  // fy
+                            width/2,      // cx
+                            height/2};    // cy
+
+
+  // Setup the points to register in the image
+  // In the order of the *.ply file and starting at 1
+  int n = 8;
+  int pts[] = {1, 2, 3, 4, 5, 6, 7, 8}; // 3 -> 4
+
+  /*
+   * Set up some basic colors
+   */
+  cv::Scalar red(0, 0, 255);
+  cv::Scalar green(0,255,0);
+  cv::Scalar blue(255,0,0);
+  cv::Scalar yellow(0,255,255);
+
+  /*
+   * CREATE MODEL REGISTRATION OBJECT
+   * CREATE OBJECT MESH
+   * CREATE OBJECT MODEL
+   * CREATE PNP OBJECT
+   */
+  ModelRegistration registration;
+  Model model;
+  Mesh mesh;
+  PnPProblem pnp_registration(params_CANON);
+
+
+// Mouse events for model registration
+static void onMouseModelRegistration( int event, int x, int y, int, void* )
+{
+  if  ( event == cv::EVENT_LBUTTONUP )
+  {
+      int n_regist = registration.getNumRegist();
+      int n_vertex = pts[n_regist];
+
+      cv::Point2f point_2d = cv::Point2f(x,y);
+      cv::Point3f point_3d = mesh.getVertex(n_vertex-1);
+
+      bool is_registrable = registration.is_registrable();
+      if (is_registrable)
+      {
+        registration.registerPoint(point_2d, point_3d);
+        if( registration.getNumRegist() == registration.getNumMax() ) end_registration = true;
+      }
+  }
+}
+
+/*
+ *   MAIN PROGRAM
+ *
+ */
+
+int main(int argc, char *argv[])
+{
+
+  help();
+
+  // load a mesh given the *.ply file path
+  mesh.load(ply_read_path);
+
+  // set parameters
+  int numKeyPoints = 10000;
+
+  //Instantiate robust matcher: detector, extractor, matcher
+  RobustMatcher rmatcher;
+  cv::FeatureDetector * detector = new cv::OrbFeatureDetector(numKeyPoints);
+  rmatcher.setFeatureDetector(detector);
+
+  /*
+   * GROUND TRUTH OF THE FIRST IMAGE
+   *
+   * by the moment it is the reference image
+   */
+
+  // Create & Open Window
+  cv::namedWindow("MODEL REGISTRATION", cv::WINDOW_KEEPRATIO);
+
+  // Set up the mouse events
+  cv::setMouseCallback("MODEL REGISTRATION", onMouseModelRegistration, 0 );
+
+  // Open the image to register
+  cv::Mat img_in = cv::imread(img_path, cv::IMREAD_COLOR);
+  cv::Mat img_vis = img_in.clone();
+
+  if (!img_in.data) {
+    std::cout << "Could not open or find the image" << std::endl;
+    return -1;
+  }
+
+  // Set the number of points to register
+  int num_registrations = n;
+  registration.setNumMax(num_registrations);
+
+  std::cout << "Click the box corners ..." << std::endl;
+  std::cout << "Waiting ..." << std::endl;
+
+  // Loop until all the points are registered
+  while ( cv::waitKey(30) < 0 )
+  {
+    // Refresh debug image
+    img_vis = img_in.clone();
+
+    // Current registered points
+    std::vector<cv::Point2f> list_points2d = registration.get_points2d();
+    std::vector<cv::Point3f> list_points3d = registration.get_points3d();
+
+    // Draw current registered points
+    drawPoints(img_vis, list_points2d, list_points3d, red);
+
+    // If the registration is not finished, draw which 3D point we have to register.
+    // If the registration is finished, breaks the loop.
+    if (!end_registration)
+    {
+      // Draw debug text
+      int n_regist = registration.getNumRegist();
+      int n_vertex = pts[n_regist];
+      cv::Point3f current_poin3d = mesh.getVertex(n_vertex-1);
+
+      drawQuestion(img_vis, current_poin3d, green);
+      drawCounter(img_vis, registration.getNumRegist(), registration.getNumMax(), red);
+    }
+    else
+    {
+      // Draw debug text
+      drawText(img_vis, "END REGISTRATION", green);
+      drawCounter(img_vis, registration.getNumRegist(), registration.getNumMax(), green);
+      break;
+    }
+
+    // Show the image
+    cv::imshow("MODEL REGISTRATION", img_vis);
+  }
+
+
+  /*
+   *
+   * COMPUTE CAMERA POSE
+   *
+   */
+
+  std::cout << "COMPUTING POSE ..." << std::endl;
+
+  // The list of registered points
+  std::vector<cv::Point2f> list_points2d = registration.get_points2d();
+  std::vector<cv::Point3f> list_points3d = registration.get_points3d();
+
+  // Estimate pose given the registered points
+  bool is_correspondence = pnp_registration.estimatePose(list_points3d, list_points2d, cv::ITERATIVE);
+  if ( is_correspondence )
+  {
+    std::cout << "Correspondence found" << std::endl;
+
+    // Compute all the 2D points of the mesh to verify the algorithm and draw it
+    std::vector<cv::Point2f> list_points2d_mesh = pnp_registration.verify_points(&mesh);
+    draw2DPoints(img_vis, list_points2d_mesh, green);
+
+  } else {
+    std::cout << "Correspondence not found" << std::endl << std::endl;
+  }
+
+  // Show the image
+  cv::imshow("MODEL REGISTRATION", img_vis);
+
+  // Show image until ESC pressed
+  cv::waitKey(0);
+
+
+   /*
+    *
+    * COMPUTE 3D of the image Keypoints
+    *
+    */
+
+
+  // Containers for keypoints and descriptors of the model
+  std::vector<cv::KeyPoint> keypoints_model;
+  cv::Mat descriptors;
+
+  // Compute keypoints and descriptors
+  rmatcher.computeKeyPoints(img_in, keypoints_model);
+  rmatcher.computeDescriptors(img_in, keypoints_model, descriptors);
+
+  // Check if keypoints are on the surface of the registration image and add to the model
+  for (unsigned int i = 0; i < keypoints_model.size(); ++i) {
+    cv::Point2f point2d(keypoints_model[i].pt);
+    cv::Point3f point3d;
+    bool on_surface = pnp_registration.backproject2DPoint(&mesh, point2d, point3d);
+    if (on_surface)
+    {
+        model.add_correspondence(point2d, point3d);
+        model.add_descriptor(descriptors.row(i));
+        model.add_keypoint(keypoints_model[i]);
+    }
+    else
+    {
+        model.add_outlier(point2d);
+    }
+  }
+
+  // save the model into a *.yaml file
+  model.save(write_path);
+
+  // Out image
+  img_vis = img_in.clone();
+
+  // The list of the points2d of the model
+  std::vector<cv::Point2f> list_points_in = model.get_points2d_in();
+  std::vector<cv::Point2f> list_points_out = model.get_points2d_out();
+
+  // Draw some debug text
+  std::string num = IntToString(list_points_in.size());
+  std::string text = "There are " + num + " inliers";
+  drawText(img_vis, text, green);
+
+  // Draw some debug text
+  num = IntToString(list_points_out.size());
+  text = "There are " + num + " outliers";
+  drawText2(img_vis, text, red);
+
+  // Draw the object mesh
+  drawObjectMesh(img_vis, &mesh, &pnp_registration, blue);
+
+  // Draw found keypoints depending on if are or not on the surface
+  draw2DPoints(img_vis, list_points_in, green);
+  draw2DPoints(img_vis, list_points_out, red);
+
+  // Show the image
+  cv::imshow("MODEL REGISTRATION", img_vis);
+
+  // Wait until ESC pressed
+  cv::waitKey(0);
+
+  // Close and Destroy Window
+  cv::destroyWindow("MODEL REGISTRATION");
+
+  std::cout << "GOODBYE" << std::endl;
+
+}
diff --git a/samples/cpp/tutorial_code/calib3d/real_time_pose_estimation/src/main_verification.cpp b/samples/cpp/tutorial_code/calib3d/real_time_pose_estimation/src/main_verification.cpp
new file mode 100644
index 0000000000..75456588de
--- /dev/null
+++ b/samples/cpp/tutorial_code/calib3d/real_time_pose_estimation/src/main_verification.cpp
@@ -0,0 +1,327 @@
+#include <iostream>
+
+#include "cv.h"
+#include "highgui.h"
+
+#include <opencv2/core/core.hpp>
+#include <opencv2/imgproc/imgproc.hpp>
+#include <opencv2/nonfree/features2d.hpp>
+#include <opencv2/calib3d/calib3d.hpp>
+
+#include "Mesh.h"
+#include "Model.h"
+#include "PnPProblem.h"
+#include "RobustMatcher.h"
+#include "ModelRegistration.h"
+#include "Utils.h"
+
+#include "CsvWriter.h"
+
+
+  /*
+   * Set up the images paths
+   */
+
+  std::string img_verification_path = "../Data/resized_IMG_3872.JPG";
+  std::string ply_read_path = "../Data/box.ply";
+  std::string yml_read_path = "../Data/cookies_ORB.yml";
+
+  // Boolean the know if the registration it's done
+  bool end_registration = false;
+
+  // Setup the points to register in the image
+  // In the order of the *.ply file and starting at 1
+  int n = 7;
+  int pts[] = {1, 2, 3, 5, 6, 7, 8};
+
+  /*
+   * Set up the intrinsic camera parameters: CANON
+   */
+  double f = 43;
+  double sx = 22.3, sy = 14.9;
+  double width = 718, height = 480;
+  double params_CANON[] = { width*f/sx,   // fx
+                            height*f/sy,  // fy
+                            width/2,      // cx
+                            height/2};    // cy
+
+  /*
+   * Set up some basic colors
+   */
+  cv::Scalar red(0, 0, 255);
+  cv::Scalar green(0,255,0);
+  cv::Scalar blue(255,0,0);
+  cv::Scalar yellow(0,255,255);
+
+  /*
+   * CREATE MODEL REGISTRATION OBJECT
+   * CREATE OBJECT MESH
+   * CREATE OBJECT MODEL
+   * CREATE PNP OBJECT
+   */
+  Mesh mesh;
+  ModelRegistration registration;
+  PnPProblem pnp_verification_epnp(params_CANON);
+  PnPProblem pnp_verification_iter(params_CANON);
+  PnPProblem pnp_verification_p3p(params_CANON);
+  PnPProblem pnp_verification_dls(params_CANON);
+  PnPProblem pnp_verification_gt(params_CANON); // groud truth
+
+
+// Mouse events for model registration
+static void onMouseModelVerification( int event, int x, int y, int, void* )
+{
+  if  ( event == cv::EVENT_LBUTTONUP )
+  {
+      int n_regist = registration.getNumRegist();
+      int n_vertex = pts[n_regist];
+
+      cv::Point2f point_2d = cv::Point2f(x,y);
+      cv::Point3f point_3d = mesh.getVertex(n_vertex-1);
+
+      bool is_registrable = registration.is_registrable();
+      if (is_registrable)
+      {
+        registration.registerPoint(point_2d, point_3d);
+        if( registration.getNumRegist() == registration.getNumMax() ) end_registration = true;
+      }
+  }
+}
+
+
+/*
+ *   MAIN PROGRAM
+ *
+ */
+
+int main(int, char**)
+{
+
+  std::cout << "!!!Hello Verification!!!" << std::endl; // prints !!!Hello World!!!
+
+  // load a mesh given the *.ply file path
+  mesh.load(ply_read_path);
+
+  // load the 3D textured object model
+  Model model;
+  model.load(yml_read_path);
+
+  // set parameters
+  int numKeyPoints = 10000;
+
+  //Instantiate robust matcher: detector, extractor, matcher
+  RobustMatcher rmatcher;
+  cv::FeatureDetector * detector = new cv::OrbFeatureDetector(numKeyPoints);
+  rmatcher.setFeatureDetector(detector);
+  rmatcher.setRatio(0.80);
+
+  // RANSAC parameters
+  int iterationsCount = 500;
+  float reprojectionError = 2.0;
+  float confidence = 0.99;
+
+
+  /*
+  * GROUND TRUTH SECOND IMAGE
+  *
+  */
+
+  cv::Mat img_in, img_vis;
+
+  // Setup for new registration
+  registration.setNumMax(n);
+
+  // Create & Open Window
+  cv::namedWindow("MODEL GROUND TRUTH", CV_WINDOW_KEEPRATIO);
+
+  // Set up the mouse events
+  cv::setMouseCallback("MODEL GROUND TRUTH", onMouseModelVerification, 0 );
+
+  // Open the image to register
+  img_in = cv::imread(img_verification_path, cv::IMREAD_COLOR);
+
+  if (!img_in.data)
+  {
+    std::cout << "Could not open or find the image" << std::endl;
+    return -1;
+  }
+
+  std::cout << "Click the box corners ..." << std::endl;
+  std::cout << "Waiting ..." << std::endl;
+
+  // Loop until all the points are registered
+  while ( cv::waitKey(30) < 0 )
+  {
+    // Refresh debug image
+    img_vis = img_in.clone();
+
+    // Current registered points
+    std::vector<cv::Point2f> list_points2d = registration.get_points2d();
+    std::vector<cv::Point3f> list_points3d = registration.get_points3d();
+
+    // Draw current registered points
+    drawPoints(img_vis, list_points2d, list_points3d, red);
+
+    // If the registration is not finished, draw which 3D point we have to register.
+    // If the registration is finished, breaks the loop.
+    if (!end_registration)
+    {
+      // Draw debug text
+      int n_regist = registration.getNumRegist();
+      int n_vertex = pts[n_regist];
+      cv::Point3f current_poin3d = mesh.getVertex(n_vertex-1);
+
+      drawQuestion(img_vis, current_poin3d, green);
+      drawCounter(img_vis, registration.getNumRegist(), registration.getNumMax(), red);
+    }
+    else
+    {
+      // Draw debug text
+      drawText(img_vis, "GROUND TRUTH", green);
+      drawCounter(img_vis, registration.getNumRegist(), registration.getNumMax(), green);
+      break;
+    }
+
+    // Show the image
+    cv::imshow("MODEL GROUND TRUTH", img_vis);
+  }
+
+  // The list of registered points
+  std::vector<cv::Point2f> list_points2d = registration.get_points2d();
+  std::vector<cv::Point3f> list_points3d = registration.get_points3d();
+
+  // Estimate pose given the registered points
+  bool is_correspondence = pnp_verification_gt.estimatePose(list_points3d, list_points2d, cv::ITERATIVE);
+
+  // Compute and draw all mesh object 2D points
+  std::vector<cv::Point2f> pts_2d_ground_truth = pnp_verification_gt.verify_points(&mesh);
+  draw2DPoints(img_vis, pts_2d_ground_truth, green);
+
+  // Draw the ground truth mesh
+  drawObjectMesh(img_vis, &mesh, &pnp_verification_gt, blue);
+
+  // Show the image
+  cv::imshow("MODEL GROUND TRUTH", img_vis);
+
+  // Show image until ESC pressed
+  cv::waitKey(0);
+
+
+  /*
+   * EXTRACT CORRRESPONDENCES
+   *
+   */
+
+   // refresh visualisation image
+  img_vis = img_in.clone();
+
+  // Get the MODEL INFO
+  std::vector<cv::Point2f> list_points2d_model = model.get_points2d_in();
+  std::vector<cv::Point3f> list_points3d_model = model.get_points3d();
+  std::vector<cv::KeyPoint> keypoints_model = model.get_keypoints();
+  cv::Mat descriptors_model = model.get_descriptors();
+
+  // -- Step 1: Robust matching between model descriptors and scene descriptors
+
+  std::vector<cv::DMatch> good_matches;       // to obtain the 3D points of the model
+  std::vector<cv::KeyPoint> keypoints_scene;  // to obtain the 2D points of the scene
+
+  //rmatcher.fastRobustMatch(frame, good_matches, keypoints_scene, descriptors_model);
+  rmatcher.robustMatch(img_vis, good_matches, keypoints_scene, descriptors_model);
+
+  cv::Mat inliers_idx;
+  std::vector<cv::DMatch> matches_inliers;
+  std::vector<cv::Point2f> list_points2d_inliers;
+  std::vector<cv::Point3f> list_points3d_inliers;
+
+    // -- Step 2: Find out the 2D/3D correspondences
+
+    std::vector<cv::Point3f> list_points3d_model_match; // container for the model 3D coordinates found in the scene
+    std::vector<cv::Point2f> list_points2d_scene_match; // container for the model 2D coordinates found in the scene
+
+    for(unsigned int match_index = 0; match_index < good_matches.size(); ++match_index)
+    {
+      cv::Point3f point3d_model = list_points3d_model[ good_matches[match_index].trainIdx ];  // 3D point from model
+      cv::Point2f point2d_scene = keypoints_scene[ good_matches[match_index].queryIdx ].pt; // 2D point from the scene
+      list_points3d_model_match.push_back(point3d_model);         // add 3D point
+      list_points2d_scene_match.push_back(point2d_scene);         // add 2D point
+    }
+
+    // Draw outliers
+    //draw2DPoints(img_vis, list_points2d_scene_match, red);
+
+  /*
+   * COMPUTE PNP ERRORS:
+   * Calculation of the rotation and translation error
+   *
+   */
+
+  pnp_verification_epnp.estimatePose( list_points3d_model_match, list_points2d_scene_match, cv::EPNP);
+  pnp_verification_iter.estimatePose( list_points3d_model_match, list_points2d_scene_match, cv::ITERATIVE);
+  //pnp_verification_p3p.estimatePose( list_points3d_model_match, list_points2d_scene_match, cv::P3P);
+  pnp_verification_dls.estimatePose( list_points3d_model_match, list_points2d_scene_match, cv::DLS);
+
+  // Draw mesh
+  drawObjectMesh(img_vis, &mesh, &pnp_verification_dls, green);
+  drawObjectMesh(img_vis, &mesh, &pnp_verification_gt, yellow);
+
+   cv::imshow("MODEL GROUND TRUTH", img_vis);
+
+  cv::Mat t_true = pnp_verification_gt.get_t_matrix();
+  cv::Mat t_epnp = pnp_verification_epnp.get_t_matrix();
+  cv::Mat t_iter = pnp_verification_iter.get_t_matrix();
+  cv::Mat t_p3p = pnp_verification_p3p.get_t_matrix();
+  cv::Mat t_dls = pnp_verification_dls.get_t_matrix();
+
+  cv::Mat R_true = pnp_verification_gt.get_R_matrix();
+  cv::Mat R_epnp = pnp_verification_epnp.get_R_matrix();
+  cv::Mat R_iter = pnp_verification_iter.get_R_matrix();
+  cv::Mat R_p3p = pnp_verification_p3p.get_R_matrix();
+  cv::Mat R_dls = pnp_verification_dls.get_R_matrix();
+
+  double error_trans_epnp = get_translation_error(t_true, t_epnp);
+  double error_rot_epnp = get_rotation_error(R_true, R_epnp)*180/CV_PI;
+
+  double error_trans_iter = get_translation_error(t_true, t_iter);
+  double error_rot_iter = get_rotation_error(R_true, R_iter)*180/CV_PI;
+
+  double error_trans_p3p = get_translation_error(t_true, t_p3p);
+  double error_rot_p3p = get_rotation_error(R_true, R_p3p)*180/CV_PI;
+
+  double error_trans_dls = get_translation_error(t_true, t_dls);
+  double error_rot_dls = get_rotation_error(R_true, R_dls)*180/CV_PI;
+
+
+  std::cout << std::endl << "****  EPNP ERRORS  **** " << std::endl;
+
+  std::cout << "Translation error: " << error_trans_epnp << " m." << std::endl;
+  std::cout << "Rotation error: " << error_rot_epnp << " deg." << std::endl;
+
+
+  std::cout << std::endl << "****  ITERATIVE ERRORS  **** " << std::endl;
+
+  std::cout << "Translation error: " << error_trans_iter << " m." << std::endl;
+  std::cout << "Rotation error: " << error_rot_iter << " deg." << std::endl;
+
+
+  std::cout << std::endl << "****  P3P ERRORS  **** " << std::endl;
+
+  std::cout << "Translation error: " << error_trans_p3p << " m." << std::endl;
+  std::cout << "Rotation error: " << error_rot_p3p << " deg." << std::endl;
+
+
+  std::cout << std::endl << "****  DLS ERRORS  **** " << std::endl;
+
+  std::cout << "Translation error: " << error_trans_dls << " m." << std::endl;
+  std::cout << "Rotation error: " << error_rot_dls << " deg." << std::endl;
+
+
+  // Show image until ESC pressed
+  cv::waitKey(0);
+
+  // Close and Destroy Window
+  cv::destroyWindow("MODEL GROUND TRUTH");
+
+  std::cout << "GOODBYE" << std::endl;
+
+}
diff --git a/samples/cpp/tutorial_code/calib3d/real_time_pose_estimation/src/test_pnp.cpp b/samples/cpp/tutorial_code/calib3d/real_time_pose_estimation/src/test_pnp.cpp
new file mode 100644
index 0000000000..4843d32ceb
--- /dev/null
+++ b/samples/cpp/tutorial_code/calib3d/real_time_pose_estimation/src/test_pnp.cpp
@@ -0,0 +1,143 @@
+#include <opencv2/core/core.hpp>
+#include <opencv2/calib3d/calib3d.hpp>
+#include <opencv2/contrib/contrib.hpp>
+
+#include <iostream>
+#include <fstream>
+
+using namespace std;
+using namespace cv;
+
+void generate3DPointCloud(vector<Point3f>& points, Point3f pmin = Point3f(-1,
+        -1, 5), Point3f pmax = Point3f(1, 1, 10))
+    {
+        const Point3f delta = pmax - pmin;
+        for (size_t i = 0; i < points.size(); i++)
+        {
+            Point3f p(float(rand()) / RAND_MAX, float(rand()) / RAND_MAX,
+                float(rand()) / RAND_MAX);
+            p.x *= delta.x;
+            p.y *= delta.y;
+            p.z *= delta.z;
+            p = p + pmin;
+            points[i] = p;
+        }
+    }
+
+void generateCameraMatrix(Mat& cameraMatrix, RNG& rng)
+{
+    const double fcMinVal = 1e-3;
+    const double fcMaxVal = 100;
+    cameraMatrix.create(3, 3, CV_64FC1);
+    cameraMatrix.setTo(Scalar(0));
+    cameraMatrix.at<double>(0,0) = rng.uniform(fcMinVal, fcMaxVal);
+    cameraMatrix.at<double>(1,1) = rng.uniform(fcMinVal, fcMaxVal);
+    cameraMatrix.at<double>(0,2) = rng.uniform(fcMinVal, fcMaxVal);
+    cameraMatrix.at<double>(1,2) = rng.uniform(fcMinVal, fcMaxVal);
+    cameraMatrix.at<double>(2,2) = 1;
+}
+
+void generateDistCoeffs(Mat& distCoeffs, RNG& rng)
+{
+    distCoeffs = Mat::zeros(4, 1, CV_64FC1);
+    for (int i = 0; i < 3; i++)
+        distCoeffs.at<double>(i,0) = rng.uniform(0.0, 1.0e-6);
+}
+
+void generatePose(Mat& rvec, Mat& tvec, RNG& rng)
+{
+    const double minVal = 1.0e-3;
+    const double maxVal = 1.0;
+    rvec.create(3, 1, CV_64FC1);
+    tvec.create(3, 1, CV_64FC1);
+    for (int i = 0; i < 3; i++)
+    {
+        rvec.at<double>(i,0) = rng.uniform(minVal, maxVal);
+        tvec.at<double>(i,0) = rng.uniform(minVal, maxVal/10);
+    }
+}
+
+void data2file(const string& path, const vector<vector<double> >& data)
+{
+  std::fstream fs;
+  fs.open(path.c_str(), std::fstream::in | std::fstream::out | std::fstream::app);
+
+  for (int method = 0; method < data.size(); ++method)
+  {
+    for (int i = 0; i < data[method].size(); ++i)
+    {
+      fs << data[method][i] << " ";
+    }
+    fs << endl;
+  }
+
+  fs.close();
+}
+
+
+int main(int argc, char *argv[])
+{
+
+  RNG rng;
+ // TickMeter tm;
+  vector<vector<double> > error_trans(4), error_rot(4), comp_time(4);
+
+  int maxpoints = 2000;
+  for (int npoints = 10; npoints < maxpoints+10; ++npoints)
+  {
+    // generate 3D point cloud
+    vector<Point3f> points;
+    points.resize(npoints);
+    generate3DPointCloud(points);
+
+    // generate cameramatrix
+    Mat rvec, tvec;
+    Mat trueRvec, trueTvec;
+    Mat intrinsics, distCoeffs;
+    generateCameraMatrix(intrinsics, rng);
+
+    // generate distorsion coefficients
+    generateDistCoeffs(distCoeffs, rng);
+
+    // generate groud truth pose
+    generatePose(trueRvec, trueTvec, rng);
+
+    for (int method = 0; method < 4; ++method)
+    {
+      std::vector<Point3f> opoints;
+      if (method == 2)
+      {
+        opoints = std::vector<Point3f>(points.begin(), points.begin()+4);
+      }
+      else
+        opoints = points;
+
+      vector<Point2f> projectedPoints;
+      projectedPoints.resize(opoints.size());
+      projectPoints(Mat(opoints), trueRvec, trueTvec, intrinsics, distCoeffs, projectedPoints);
+
+      //tm.reset(); tm.start();
+
+      solvePnP(opoints, projectedPoints, intrinsics, distCoeffs, rvec, tvec, false, method);
+
+     // tm.stop();
+
+    //  double compTime = tm.getTimeMilli();
+      double rvecDiff = norm(rvec-trueRvec), tvecDiff = norm(tvec-trueTvec);
+
+      error_rot[method].push_back(rvecDiff);
+      error_trans[method].push_back(tvecDiff);
+      //comp_time[method].push_back(compTime);
+
+    }
+
+    //system("clear");
+    cout << "Completed " << npoints+1 << "/" << maxpoints << endl;
+
+  }
+
+  data2file("translation_error.txt", error_trans);
+  data2file("rotation_error.txt", error_rot);
+  data2file("computation_time.txt", comp_time);
+
+}

From e14f91dd3708eb2f40c5b184023d66f2bf6e6138 Mon Sep 17 00:00:00 2001
From: edgarriba <edgar.riba@gmail.com>
Date: Wed, 6 Aug 2014 08:18:11 +0200
Subject: [PATCH 066/112] Update headers

---
 .../calib3d/real_time_pose_estimation/src/RobustMatcher.h    | 1 -
 .../calib3d/real_time_pose_estimation/src/Utils.h            | 1 -
 .../calib3d/real_time_pose_estimation/src/main_detection.cpp | 5 +----
 .../real_time_pose_estimation/src/main_verification.cpp      | 5 +----
 4 files changed, 2 insertions(+), 10 deletions(-)

diff --git a/samples/cpp/tutorial_code/calib3d/real_time_pose_estimation/src/RobustMatcher.h b/samples/cpp/tutorial_code/calib3d/real_time_pose_estimation/src/RobustMatcher.h
index fc03c74faa..1871aa452a 100644
--- a/samples/cpp/tutorial_code/calib3d/real_time_pose_estimation/src/RobustMatcher.h
+++ b/samples/cpp/tutorial_code/calib3d/real_time_pose_estimation/src/RobustMatcher.h
@@ -9,7 +9,6 @@
 #define ROBUSTMATCHER_H_
 
 #include <iostream>
-#include <boost/shared_ptr.hpp>
 
 #include <opencv2/core/core.hpp>
 #include <opencv2/highgui/highgui.hpp>
diff --git a/samples/cpp/tutorial_code/calib3d/real_time_pose_estimation/src/Utils.h b/samples/cpp/tutorial_code/calib3d/real_time_pose_estimation/src/Utils.h
index d51eb28b39..36709e80c0 100644
--- a/samples/cpp/tutorial_code/calib3d/real_time_pose_estimation/src/Utils.h
+++ b/samples/cpp/tutorial_code/calib3d/real_time_pose_estimation/src/Utils.h
@@ -9,7 +9,6 @@
 #define UTILS_H_
 
 #include <iostream>
-#include <cv.h>
 
 #include "PnPProblem.h"
 
diff --git a/samples/cpp/tutorial_code/calib3d/real_time_pose_estimation/src/main_detection.cpp b/samples/cpp/tutorial_code/calib3d/real_time_pose_estimation/src/main_detection.cpp
index ff00e24e84..85272f9d8e 100644
--- a/samples/cpp/tutorial_code/calib3d/real_time_pose_estimation/src/main_detection.cpp
+++ b/samples/cpp/tutorial_code/calib3d/real_time_pose_estimation/src/main_detection.cpp
@@ -1,9 +1,6 @@
 #include <iostream>
 #include <time.h>
 
-#include "cv.h"
-#include "highgui.h"
-
 #include <opencv2/core/core.hpp>
 #include <opencv2/highgui/highgui.hpp>
 #include <opencv2/imgproc/imgproc.hpp>
@@ -155,7 +152,7 @@ int main(int argc, char *argv[])
 
 
   // Create & Open Window
-  cv::namedWindow("REAL TIME DEMO", CV_WINDOW_KEEPRATIO);
+  cv::namedWindow("REAL TIME DEMO", cv::WINDOW_KEEPRATIO);
 
 
   cv::VideoCapture cap;                           // instantiate VideoCapture
diff --git a/samples/cpp/tutorial_code/calib3d/real_time_pose_estimation/src/main_verification.cpp b/samples/cpp/tutorial_code/calib3d/real_time_pose_estimation/src/main_verification.cpp
index 75456588de..1b948be4d4 100644
--- a/samples/cpp/tutorial_code/calib3d/real_time_pose_estimation/src/main_verification.cpp
+++ b/samples/cpp/tutorial_code/calib3d/real_time_pose_estimation/src/main_verification.cpp
@@ -1,8 +1,5 @@
 #include <iostream>
 
-#include "cv.h"
-#include "highgui.h"
-
 #include <opencv2/core/core.hpp>
 #include <opencv2/imgproc/imgproc.hpp>
 #include <opencv2/nonfree/features2d.hpp>
@@ -132,7 +129,7 @@ int main(int, char**)
   registration.setNumMax(n);
 
   // Create & Open Window
-  cv::namedWindow("MODEL GROUND TRUTH", CV_WINDOW_KEEPRATIO);
+  cv::namedWindow("MODEL GROUND TRUTH", cv::WINDOW_KEEPRATIO);
 
   // Set up the mouse events
   cv::setMouseCallback("MODEL GROUND TRUTH", onMouseModelVerification, 0 );

From d2665b655eb4b2ce8ce80041684e4ce6fa926f0c Mon Sep 17 00:00:00 2001
From: edgarriba <edgar.riba@gmail.com>
Date: Wed, 6 Aug 2014 08:41:14 +0200
Subject: [PATCH 067/112] Fixed warnings

---
 .../calib3d/real_time_pose_estimation/src/CsvReader.cpp      | 2 +-
 .../calib3d/real_time_pose_estimation/src/CsvWriter.cpp      | 5 ++---
 2 files changed, 3 insertions(+), 4 deletions(-)

diff --git a/samples/cpp/tutorial_code/calib3d/real_time_pose_estimation/src/CsvReader.cpp b/samples/cpp/tutorial_code/calib3d/real_time_pose_estimation/src/CsvReader.cpp
index d97afdb73d..6b876fff4e 100644
--- a/samples/cpp/tutorial_code/calib3d/real_time_pose_estimation/src/CsvReader.cpp
+++ b/samples/cpp/tutorial_code/calib3d/real_time_pose_estimation/src/CsvReader.cpp
@@ -11,7 +11,7 @@ CsvReader::CsvReader(const std::string &path, const char &separator){
 void CsvReader::readPLY(std::vector<cv::Point3f> &list_vertex, std::vector<std::vector<int> > &list_triangles)
 {
     std::string line, tmp_str, n;
-    int num_vertex, num_triangles;
+    int num_vertex = 0, num_triangles = 0;
     int count = 0;
     bool end_header = false;
     bool end_vertex = false;
diff --git a/samples/cpp/tutorial_code/calib3d/real_time_pose_estimation/src/CsvWriter.cpp b/samples/cpp/tutorial_code/calib3d/real_time_pose_estimation/src/CsvWriter.cpp
index 4671fd098e..0178f4d966 100644
--- a/samples/cpp/tutorial_code/calib3d/real_time_pose_estimation/src/CsvWriter.cpp
+++ b/samples/cpp/tutorial_code/calib3d/real_time_pose_estimation/src/CsvWriter.cpp
@@ -29,7 +29,7 @@ void CsvWriter::writeXYZ(const std::vector<cv::Point3f> &list_points3d)
 void CsvWriter::writeUVXYZ(const std::vector<cv::Point3f> &list_points3d, const std::vector<cv::Point2f> &list_points2d, const cv::Mat &descriptors)
 {
   std::string u, v, x, y, z, descriptor_str;
-  for(int i = 0; i < list_points3d.size(); ++i)
+  for(unsigned int i = 0; i < list_points3d.size(); ++i)
   {
     u = FloatToString(list_points2d[i].x);
     v = FloatToString(list_points2d[i].y);
@@ -41,8 +41,7 @@ void CsvWriter::writeUVXYZ(const std::vector<cv::Point3f> &list_points3d, const
 
     for(int j = 0; j < 32; ++j)
     {
-      std::cout << descriptors.at<float>(i,j) << std::endl;
-      descriptor_str = FloatToString(descriptors.at<float>(i,j));
+      descriptor_str = FloatToString((float)descriptors.at<float>(i,j));
       _file << _separator << descriptor_str;
     }
     _file << std::endl;

From 2881f2a09651a9a3df5cd64601b0a72955d9cd29 Mon Sep 17 00:00:00 2001
From: edgarriba <edgar.riba@gmail.com>
Date: Wed, 6 Aug 2014 09:21:38 +0200
Subject: [PATCH 068/112] Fixed warnings

---
 .../real_time_pose_estimation/src/CsvReader.cpp  |  6 +++---
 .../real_time_pose_estimation/src/CsvReader.h    |  5 ++---
 .../real_time_pose_estimation/src/CsvWriter.cpp  | 14 +++++++-------
 .../real_time_pose_estimation/src/CsvWriter.h    | 16 +++++++++-------
 4 files changed, 21 insertions(+), 20 deletions(-)

diff --git a/samples/cpp/tutorial_code/calib3d/real_time_pose_estimation/src/CsvReader.cpp b/samples/cpp/tutorial_code/calib3d/real_time_pose_estimation/src/CsvReader.cpp
index 6b876fff4e..7b18944dc4 100644
--- a/samples/cpp/tutorial_code/calib3d/real_time_pose_estimation/src/CsvReader.cpp
+++ b/samples/cpp/tutorial_code/calib3d/real_time_pose_estimation/src/CsvReader.cpp
@@ -2,13 +2,13 @@
 #include "Utils.h"
 
 /** The default constructor of the CSV reader Class */
-CsvReader::CsvReader(const std::string &path, const char &separator){
+CsvReader::CsvReader(const string &path, const char &separator){
     _file.open(path.c_str(), ifstream::in);
     _separator = separator;
 }
 
 /* Read a plane text file with .ply format */
-void CsvReader::readPLY(std::vector<cv::Point3f> &list_vertex, std::vector<std::vector<int> > &list_triangles)
+void CsvReader::readPLY(vector<Point3f> &list_vertex, vector<vector<int> > &list_triangles)
 {
     std::string line, tmp_str, n;
     int num_vertex = 0, num_triangles = 0;
@@ -61,7 +61,7 @@ void CsvReader::readPLY(std::vector<cv::Point3f> &list_vertex, std::vector<std::
          // read faces and add into 'list_triangles'
          else if(end_vertex  && count < num_triangles)
          {
-             std::string num_pts_per_face, id0, id1, id2;
+             string num_pts_per_face, id0, id1, id2;
              getline(liness, num_pts_per_face, _separator);
              getline(liness, id0, _separator);
              getline(liness, id1, _separator);
diff --git a/samples/cpp/tutorial_code/calib3d/real_time_pose_estimation/src/CsvReader.h b/samples/cpp/tutorial_code/calib3d/real_time_pose_estimation/src/CsvReader.h
index ab94e4c1b9..244366adeb 100644
--- a/samples/cpp/tutorial_code/calib3d/real_time_pose_estimation/src/CsvReader.h
+++ b/samples/cpp/tutorial_code/calib3d/real_time_pose_estimation/src/CsvReader.h
@@ -3,7 +3,6 @@
 
 #include <iostream>
 #include <fstream>
-
 #include <opencv2/core/core.hpp>
 
 using namespace std;
@@ -19,7 +18,7 @@ public:
   * @param separator - The separator character between words per line
   * @return
   */
-  CsvReader(const std::string &path, const char &separator = ' ');
+  CsvReader(const string &path, const char &separator = ' ');
 
   /**
   * Read a plane text file with .ply format
@@ -28,7 +27,7 @@ public:
   * @param list_triangle - The container of the triangles list of the mesh
   * @return
   */
-  void readPLY(std::vector<cv::Point3f> &list_vertex, std::vector<std::vector<int> > &list_triangles);
+  void readPLY(vector<Point3f> &list_vertex, vector<vector<int> > &list_triangles);
 
 private:
   /** The current stream file for the reader */
diff --git a/samples/cpp/tutorial_code/calib3d/real_time_pose_estimation/src/CsvWriter.cpp b/samples/cpp/tutorial_code/calib3d/real_time_pose_estimation/src/CsvWriter.cpp
index 0178f4d966..5a6b5a9558 100644
--- a/samples/cpp/tutorial_code/calib3d/real_time_pose_estimation/src/CsvWriter.cpp
+++ b/samples/cpp/tutorial_code/calib3d/real_time_pose_estimation/src/CsvWriter.cpp
@@ -1,8 +1,8 @@
 #include "CsvWriter.h"
 #include "Utils.h"
 
-CsvWriter::CsvWriter(const std::string &path, const std::string &separator){
-  _file.open(path.c_str(), std::ofstream::out);
+CsvWriter::CsvWriter(const string &path, const string &separator){
+  _file.open(path.c_str(), ofstream::out);
   _isFirstTerm = true;
   _separator = separator;
 }
@@ -12,9 +12,9 @@ CsvWriter::~CsvWriter() {
   _file.close();
 }
 
-void CsvWriter::writeXYZ(const std::vector<cv::Point3f> &list_points3d)
+void CsvWriter::writeXYZ(const vector<Point3f> &list_points3d)
 {
-  std::string x, y, z;
+  string x, y, z;
   for(unsigned int i = 0; i < list_points3d.size(); ++i)
   {
     x = FloatToString(list_points3d[i].x);
@@ -26,9 +26,9 @@ void CsvWriter::writeXYZ(const std::vector<cv::Point3f> &list_points3d)
 
 }
 
-void CsvWriter::writeUVXYZ(const std::vector<cv::Point3f> &list_points3d, const std::vector<cv::Point2f> &list_points2d, const cv::Mat &descriptors)
+void CsvWriter::writeUVXYZ(const vector<Point3f> &list_points3d, const vector<Point2f> &list_points2d, const Mat &descriptors)
 {
-  std::string u, v, x, y, z, descriptor_str;
+  string u, v, x, y, z, descriptor_str;
   for(unsigned int i = 0; i < list_points3d.size(); ++i)
   {
     u = FloatToString(list_points2d[i].x);
@@ -41,7 +41,7 @@ void CsvWriter::writeUVXYZ(const std::vector<cv::Point3f> &list_points3d, const
 
     for(int j = 0; j < 32; ++j)
     {
-      descriptor_str = FloatToString((float)descriptors.at<float>(i,j));
+      descriptor_str = FloatToString(descriptors.at<float>(i,j));
       _file << _separator << descriptor_str;
     }
     _file << std::endl;
diff --git a/samples/cpp/tutorial_code/calib3d/real_time_pose_estimation/src/CsvWriter.h b/samples/cpp/tutorial_code/calib3d/real_time_pose_estimation/src/CsvWriter.h
index c2eea752d6..ce1a870b53 100644
--- a/samples/cpp/tutorial_code/calib3d/real_time_pose_estimation/src/CsvWriter.h
+++ b/samples/cpp/tutorial_code/calib3d/real_time_pose_estimation/src/CsvWriter.h
@@ -1,21 +1,23 @@
 #ifndef CSVWRITER_H
 #define	CSVWRITER_H
 
-#include <fstream>
 #include <iostream>
-
+#include <fstream>
 #include <opencv2/core/core.hpp>
 
+using namespace std;
+using namespace cv;
+
 class CsvWriter {
 public:
-  CsvWriter(const std::string &path, const std::string &separator = " ");
+  CsvWriter(const string &path, const string &separator = " ");
   ~CsvWriter();
-  void writeXYZ(const std::vector<cv::Point3f> &list_points3d);
-  void writeUVXYZ(const std::vector<cv::Point3f> &list_points3d, const std::vector<cv::Point2f> &list_points2d, const cv::Mat &descriptors);
+  void writeXYZ(const vector<Point3f> &list_points3d);
+  void writeUVXYZ(const vector<Point3f> &list_points3d, const vector<Point2f> &list_points2d, const Mat &descriptors);
 
 private:
-  std::ofstream _file;
-  std::string _separator;
+  ofstream _file;
+  string _separator;
   bool _isFirstTerm;
 };
 

From f1b6809eeef872b201bafe8c7418f7e8c184cc68 Mon Sep 17 00:00:00 2001
From: edgarriba <edgar.riba@gmail.com>
Date: Wed, 6 Aug 2014 10:05:26 +0200
Subject: [PATCH 069/112] Updated Utils functions

---
 .../real_time_pose_estimation/src/Utils.cpp   | 16 +++++---
 .../real_time_pose_estimation/src/Utils.h     | 40 ++++++++++++-------
 2 files changed, 35 insertions(+), 21 deletions(-)

diff --git a/samples/cpp/tutorial_code/calib3d/real_time_pose_estimation/src/Utils.cpp b/samples/cpp/tutorial_code/calib3d/real_time_pose_estimation/src/Utils.cpp
index f66a10dd2a..915c4e1734 100644
--- a/samples/cpp/tutorial_code/calib3d/real_time_pose_estimation/src/Utils.cpp
+++ b/samples/cpp/tutorial_code/calib3d/real_time_pose_estimation/src/Utils.cpp
@@ -97,7 +97,7 @@ void drawPoints(cv::Mat image, std::vector<cv::Point2f> &list_points_2d, std::ve
   }
 }
 
-// Draw only the points
+// Draw only the 2D points
 void draw2DPoints(cv::Mat image, std::vector<cv::Point2f> &list_points, cv::Scalar color)
 {
   for( size_t i = 0; i < list_points.size(); i++)
@@ -109,6 +109,7 @@ void draw2DPoints(cv::Mat image, std::vector<cv::Point2f> &list_points, cv::Scal
   }
 }
 
+// Draw an arrow into the image
 void drawArrow(cv::Mat image, cv::Point2i p, cv::Point2i q, cv::Scalar color, int arrowMagnitude, int thickness, int line_type, int shift)
 {
   //Draw the principle line
@@ -128,6 +129,7 @@ void drawArrow(cv::Mat image, cv::Point2i p, cv::Point2i q, cv::Scalar color, in
   cv::line(image, p, q, color, thickness, line_type, shift);
 }
 
+// Draw the 3D coordinate axes
 void draw3DCoordinateAxes(cv::Mat image, const std::vector<cv::Point2f> &list_points2d)
 {
   cv::Scalar red(0, 0, 255);
@@ -172,16 +174,13 @@ void drawObjectMesh(cv::Mat image, const Mesh *mesh, PnPProblem *pnpProblem, cv:
   }
 }
 
-bool equal_point(const cv::Point2f &p1, const cv::Point2f &p2)
-{
-  return ( (p1.x == p2.x) && (p1.y == p2.y) );
-}
-
+// Computes the norm of the translation error
 double get_translation_error(const cv::Mat &t_true, const cv::Mat &t)
 {
   return cv::norm( t_true - t );
 }
 
+// Computes the norm of the rotation error
 double get_rotation_error(const cv::Mat &R_true, const cv::Mat &R)
 {
   cv::Mat error_vec, error_mat;
@@ -191,6 +190,7 @@ double get_rotation_error(const cv::Mat &R_true, const cv::Mat &R)
   return cv::norm(error_vec);
 }
 
+// Converts a given Rotation Matrix to Euler angles
 cv::Mat rot2euler(const cv::Mat & rotationMatrix)
 {
   cv::Mat euler(3,1,CV_64F);
@@ -232,6 +232,7 @@ cv::Mat rot2euler(const cv::Mat & rotationMatrix)
   return euler;
 }
 
+// Converts a given Euler angles to Rotation Matrix
 cv::Mat euler2rot(const cv::Mat & euler)
 {
   cv::Mat rotationMatrix(3,3,CV_64F);
@@ -273,6 +274,7 @@ cv::Mat euler2rot(const cv::Mat & euler)
   return rotationMatrix;
 }
 
+// Converts a given string to an integer
 int StringToInt ( const std::string &Text )
 {
    std::istringstream ss(Text);
@@ -280,6 +282,7 @@ int StringToInt ( const std::string &Text )
    return ss >> result ? result : 0;
 }
 
+// Converts a given float to a string
 std::string FloatToString ( float Number )
 {
   std::ostringstream ss;
@@ -287,6 +290,7 @@ std::string FloatToString ( float Number )
   return ss.str();
 }
 
+// Converts a given integer to a string
 std::string IntToString ( int Number )
 {
   std::ostringstream ss;
diff --git a/samples/cpp/tutorial_code/calib3d/real_time_pose_estimation/src/Utils.h b/samples/cpp/tutorial_code/calib3d/real_time_pose_estimation/src/Utils.h
index 36709e80c0..55ca0fbe22 100644
--- a/samples/cpp/tutorial_code/calib3d/real_time_pose_estimation/src/Utils.h
+++ b/samples/cpp/tutorial_code/calib3d/real_time_pose_estimation/src/Utils.h
@@ -15,45 +15,55 @@
 // Draw a text with the question point
 void drawQuestion(cv::Mat image, cv::Point3f point, cv::Scalar color);
 
-// Draw a text in the left of the image
+// Draw a text with the number of entered points
 void drawText(cv::Mat image, std::string text, cv::Scalar color);
+
+// Draw a text with the number of entered points
 void drawText2(cv::Mat image, std::string text, cv::Scalar color);
+
+// Draw a text with the frame ratio
 void drawFPS(cv::Mat image, double fps, cv::Scalar color);
+
+// Draw a text with the frame ratio
 void drawConfidence(cv::Mat image, double confidence, cv::Scalar color);
 
-// Draw a text with the number of registered points
+// Draw a text with the number of entered points
 void drawCounter(cv::Mat image, int n, int n_max, cv::Scalar color);
 
 // Draw the points and the coordinates
 void drawPoints(cv::Mat image, std::vector<cv::Point2f> &list_points_2d, std::vector<cv::Point3f> &list_points_3d, cv::Scalar color);
 
-// Draw only the points
+// Draw only the 2D points
 void draw2DPoints(cv::Mat image, std::vector<cv::Point2f> &list_points, cv::Scalar color);
 
-// Draw the object mesh
-void drawObjectMesh(cv::Mat image, const Mesh *mesh, PnPProblem *pnpProblem, cv::Scalar color);
-
 // Draw an arrow into the image
 void drawArrow(cv::Mat image, cv::Point2i p, cv::Point2i q, cv::Scalar color, int arrowMagnitude = 9, int thickness=1, int line_type=8, int shift=0);
 
 // Draw the 3D coordinate axes
 void draw3DCoordinateAxes(cv::Mat image, const std::vector<cv::Point2f> &list_points2d);
 
-// Compute the 2D points with the esticv::Mated pose
-std::vector<cv::Point2f> verification_points(PnPProblem *p);
-
-bool equal_point(const cv::Point2f &p1, const cv::Point2f &p2);
+// Draw the object mesh
+void drawObjectMesh(cv::Mat image, const Mesh *mesh, PnPProblem *pnpProblem, cv::Scalar color);
 
+// Computes the norm of the translation error
 double get_translation_error(const cv::Mat &t_true, const cv::Mat &t);
+
+// Computes the norm of the rotation error
 double get_rotation_error(const cv::Mat &R_true, const cv::Mat &R);
-double get_variance(const std::vector<cv::Point3f> list_points3d);
-cv::Mat rot2quat(cv::Mat &rotationMatrix);
-cv::Mat quat2rot(cv::Mat &q);
-cv::Mat euler2rot(const cv::Mat & euler);
+
+// Converts a given Rotation Matrix to Euler angles
 cv::Mat rot2euler(const cv::Mat & rotationMatrix);
-cv::Mat quat2euler(const cv::Mat & q);
+
+// Converts a given Euler angles to Rotation Matrix
+cv::Mat euler2rot(const cv::Mat & euler);
+
+// Converts a given string to an integer
 int StringToInt ( const std::string &Text );
+
+// Converts a given float to a string
 std::string FloatToString ( float Number );
+
+// Converts a given integer to a string
 std::string IntToString ( int Number );
 
 class Timer

From 381574bdb7f6ad92d771f510e9d9d8679f7d9de7 Mon Sep 17 00:00:00 2001
From: edgarriba <edgar.riba@gmail.com>
Date: Thu, 7 Aug 2014 11:33:32 +0200
Subject: [PATCH 070/112] Modified cmake

---
 .../real_time_pose_estimation/CMakeLists.txt  | 49 ++++---------------
 .../src/main_verification.cpp                 |  2 +-
 2 files changed, 11 insertions(+), 40 deletions(-)

diff --git a/samples/cpp/tutorial_code/calib3d/real_time_pose_estimation/CMakeLists.txt b/samples/cpp/tutorial_code/calib3d/real_time_pose_estimation/CMakeLists.txt
index 0e6dd14fc6..dc5d243230 100644
--- a/samples/cpp/tutorial_code/calib3d/real_time_pose_estimation/CMakeLists.txt
+++ b/samples/cpp/tutorial_code/calib3d/real_time_pose_estimation/CMakeLists.txt
@@ -7,9 +7,7 @@ include_directories(
     ${OpenCV_INCLUDE_DIRS}
 )
 
-add_executable(
-pnp_registration
-    src/main_registration.cpp
+add_library(pnp_lib
     src/CsvReader.cpp
     src/CsvWriter.cpp
     src/ModelRegistration.cpp
@@ -17,41 +15,14 @@ pnp_registration
     src/Model.cpp
     src/PnPProblem.cpp
     src/Utils.cpp
-    src/RobustMatcher.cpp
-)
+    src/RobustMatcher.cpp)
 
-add_executable(
-pnp_verification
-    src/main_verification.cpp
-    src/CsvReader.cpp
-    src/CsvWriter.cpp
-    src/ModelRegistration.cpp
-    src/Mesh.cpp
-    src/Model.cpp
-    src/PnPProblem.cpp
-    src/Utils.cpp
-    src/RobustMatcher.cpp
-)
+add_executable( pnp_registration src/main_registration.cpp )
+add_executable( pnp_verification src/main_verification.cpp )
+add_executable( pnp_detection src/main_detection.cpp )
+add_executable( pnp_test src/test_pnp.cpp )
 
-add_executable(
-pnp_detection
-    src/main_detection.cpp
-    src/CsvReader.cpp
-    src/CsvWriter.cpp
-    src/ModelRegistration.cpp
-    src/Mesh.cpp
-    src/Model.cpp
-    src/PnPProblem.cpp
-    src/Utils.cpp
-    src/RobustMatcher.cpp
-)
-
-add_executable(
-pnp_test
-    src/test_pnp.cpp
-)
-
-target_link_libraries( pnp_registration ${OpenCV_LIBS} )
-target_link_libraries( pnp_verification ${OpenCV_LIBS} )
-target_link_libraries( pnp_detection ${OpenCV_LIBS} )
-target_link_libraries( pnp_test ${OpenCV_LIBS} )
+target_link_libraries( pnp_registration pnp_lib ${OpenCV_LIBS} )
+target_link_libraries( pnp_verification pnp_lib ${OpenCV_LIBS} )
+target_link_libraries( pnp_detection pnp_lib ${OpenCV_LIBS} )
+target_link_libraries( pnp_test pnp_lib ${OpenCV_LIBS} )
diff --git a/samples/cpp/tutorial_code/calib3d/real_time_pose_estimation/src/main_verification.cpp b/samples/cpp/tutorial_code/calib3d/real_time_pose_estimation/src/main_verification.cpp
index 1b948be4d4..17bc96dfab 100644
--- a/samples/cpp/tutorial_code/calib3d/real_time_pose_estimation/src/main_verification.cpp
+++ b/samples/cpp/tutorial_code/calib3d/real_time_pose_estimation/src/main_verification.cpp
@@ -256,7 +256,7 @@ int main(int, char**)
   pnp_verification_epnp.estimatePose( list_points3d_model_match, list_points2d_scene_match, cv::EPNP);
   pnp_verification_iter.estimatePose( list_points3d_model_match, list_points2d_scene_match, cv::ITERATIVE);
   //pnp_verification_p3p.estimatePose( list_points3d_model_match, list_points2d_scene_match, cv::P3P);
-  pnp_verification_dls.estimatePose( list_points3d_model_match, list_points2d_scene_match, cv::DLS);
+  //pnp_verification_dls.estimatePose( list_points3d_model_match, list_points2d_scene_match, cv::DLS);
 
   // Draw mesh
   drawObjectMesh(img_vis, &mesh, &pnp_verification_dls, green);

From 837f00178900ca44db923bc719deb17801a1fe46 Mon Sep 17 00:00:00 2001
From: edgarriba <edgar.riba@gmail.com>
Date: Thu, 7 Aug 2014 11:55:17 +0200
Subject: [PATCH 071/112] update cmake

---
 .../calib3d/real_time_pose_estimation/CMakeLists.txt           | 3 ++-
 1 file changed, 2 insertions(+), 1 deletion(-)

diff --git a/samples/cpp/tutorial_code/calib3d/real_time_pose_estimation/CMakeLists.txt b/samples/cpp/tutorial_code/calib3d/real_time_pose_estimation/CMakeLists.txt
index dc5d243230..3895043c3b 100644
--- a/samples/cpp/tutorial_code/calib3d/real_time_pose_estimation/CMakeLists.txt
+++ b/samples/cpp/tutorial_code/calib3d/real_time_pose_estimation/CMakeLists.txt
@@ -15,7 +15,8 @@ add_library(pnp_lib
     src/Model.cpp
     src/PnPProblem.cpp
     src/Utils.cpp
-    src/RobustMatcher.cpp)
+    src/RobustMatcher.cpp
+)
 
 add_executable( pnp_registration src/main_registration.cpp )
 add_executable( pnp_verification src/main_verification.cpp )

From 8c08258cf2dd1e564b1bb33705d11e4d6d5f333f Mon Sep 17 00:00:00 2001
From: edgarriba <edgar.riba@gmail.com>
Date: Thu, 7 Aug 2014 13:06:24 +0200
Subject: [PATCH 072/112] moved headers

---
 .../calib3d/real_time_pose_estimation/src/CsvReader.cpp          | 1 -
 .../calib3d/real_time_pose_estimation/src/CsvReader.h            | 1 +
 .../calib3d/real_time_pose_estimation/src/CsvWriter.cpp          | 1 -
 .../calib3d/real_time_pose_estimation/src/CsvWriter.h            | 1 +
 4 files changed, 2 insertions(+), 2 deletions(-)

diff --git a/samples/cpp/tutorial_code/calib3d/real_time_pose_estimation/src/CsvReader.cpp b/samples/cpp/tutorial_code/calib3d/real_time_pose_estimation/src/CsvReader.cpp
index 7b18944dc4..f1c2374bbd 100644
--- a/samples/cpp/tutorial_code/calib3d/real_time_pose_estimation/src/CsvReader.cpp
+++ b/samples/cpp/tutorial_code/calib3d/real_time_pose_estimation/src/CsvReader.cpp
@@ -1,5 +1,4 @@
 #include "CsvReader.h"
-#include "Utils.h"
 
 /** The default constructor of the CSV reader Class */
 CsvReader::CsvReader(const string &path, const char &separator){
diff --git a/samples/cpp/tutorial_code/calib3d/real_time_pose_estimation/src/CsvReader.h b/samples/cpp/tutorial_code/calib3d/real_time_pose_estimation/src/CsvReader.h
index 244366adeb..3e8c498960 100644
--- a/samples/cpp/tutorial_code/calib3d/real_time_pose_estimation/src/CsvReader.h
+++ b/samples/cpp/tutorial_code/calib3d/real_time_pose_estimation/src/CsvReader.h
@@ -4,6 +4,7 @@
 #include <iostream>
 #include <fstream>
 #include <opencv2/core/core.hpp>
+#include "Utils.h"
 
 using namespace std;
 using namespace cv;
diff --git a/samples/cpp/tutorial_code/calib3d/real_time_pose_estimation/src/CsvWriter.cpp b/samples/cpp/tutorial_code/calib3d/real_time_pose_estimation/src/CsvWriter.cpp
index 5a6b5a9558..a64fb69130 100644
--- a/samples/cpp/tutorial_code/calib3d/real_time_pose_estimation/src/CsvWriter.cpp
+++ b/samples/cpp/tutorial_code/calib3d/real_time_pose_estimation/src/CsvWriter.cpp
@@ -1,5 +1,4 @@
 #include "CsvWriter.h"
-#include "Utils.h"
 
 CsvWriter::CsvWriter(const string &path, const string &separator){
   _file.open(path.c_str(), ofstream::out);
diff --git a/samples/cpp/tutorial_code/calib3d/real_time_pose_estimation/src/CsvWriter.h b/samples/cpp/tutorial_code/calib3d/real_time_pose_estimation/src/CsvWriter.h
index ce1a870b53..d8132f5b41 100644
--- a/samples/cpp/tutorial_code/calib3d/real_time_pose_estimation/src/CsvWriter.h
+++ b/samples/cpp/tutorial_code/calib3d/real_time_pose_estimation/src/CsvWriter.h
@@ -4,6 +4,7 @@
 #include <iostream>
 #include <fstream>
 #include <opencv2/core/core.hpp>
+#include "Utils.h"
 
 using namespace std;
 using namespace cv;

From e5a91a8be8ea9229a991c65aa6bea92fb859c9db Mon Sep 17 00:00:00 2001
From: edgarriba <edgar.riba@gmail.com>
Date: Thu, 7 Aug 2014 14:59:01 +0200
Subject: [PATCH 073/112] Modification Ransac model points

---
 modules/calib3d/src/solvepnp.cpp | 6 +++---
 1 file changed, 3 insertions(+), 3 deletions(-)

diff --git a/modules/calib3d/src/solvepnp.cpp b/modules/calib3d/src/solvepnp.cpp
index 591c83c04b..a457c84910 100644
--- a/modules/calib3d/src/solvepnp.cpp
+++ b/modules/calib3d/src/solvepnp.cpp
@@ -203,10 +203,10 @@ bool cv::solvePnPRansac(InputArray _opoints, InputArray _ipoints,
     Ptr<PointSetRegistrator::Callback> cb; // pointer to callback
     cb = makePtr<PnPRansacCallback>( cameraMatrix, distCoeffs, flags, useExtrinsicGuess, rvec, tvec);
 
-    int model_points = flags == cv::P3P ? 4 : 6;     // minimum of number of model points
+    int model_points = 4;                             // minimum of number of model points
     double param1 = reprojectionError;                // reprojection error
-    double param2 = confidence;                        // confidence
-    int param3 = iterationsCount;                    // number maximum iterations
+    double param2 = confidence;                       // confidence
+    int param3 = iterationsCount;                     // number maximum iterations
 
     cv::Mat _local_model(3, 2, CV_64FC1);
     cv::Mat _mask_local_inliers(1, opoints.rows, CV_8UC1);

From c07cd007eb527fcc43f2a99e61315f1e21176154 Mon Sep 17 00:00:00 2001
From: edgarriba <edgar.riba@gmail.com>
Date: Fri, 8 Aug 2014 11:46:26 +0200
Subject: [PATCH 074/112] Multi class tutorial compilation

---
 samples/cpp/CMakeLists.txt                    |  8 +++-
 .../real_time_pose_estimation/CMakeLists.txt  | 46 +++++++++----------
 2 files changed, 28 insertions(+), 26 deletions(-)

diff --git a/samples/cpp/CMakeLists.txt b/samples/cpp/CMakeLists.txt
index 26acad1452..6b2af152e2 100644
--- a/samples/cpp/CMakeLists.txt
+++ b/samples/cpp/CMakeLists.txt
@@ -99,9 +99,13 @@ if(BUILD_EXAMPLES AND OCV_DEPENDENCIES_FOUND)
   endif()
 
   foreach(sample_filename ${cpp_samples})
-    get_filename_component(sample ${sample_filename} NAME_WE)
-    OPENCV_DEFINE_CPP_EXAMPLE(${sample}  ${sample_filename})
+    if(NOT "${sample_filename}" MATCHES "real_time_pose_estimation/")
+        get_filename_component(sample ${sample_filename} NAME_WE)
+        OPENCV_DEFINE_CPP_EXAMPLE(${sample}  ${sample_filename})
+    endif()
   endforeach()
+
+  include("tutorial_code/calib3d/real_time_pose_estimation/CMakeLists.txt")
 endif()
 
 if(INSTALL_C_EXAMPLES AND NOT WIN32)
diff --git a/samples/cpp/tutorial_code/calib3d/real_time_pose_estimation/CMakeLists.txt b/samples/cpp/tutorial_code/calib3d/real_time_pose_estimation/CMakeLists.txt
index 3895043c3b..dabd398748 100644
--- a/samples/cpp/tutorial_code/calib3d/real_time_pose_estimation/CMakeLists.txt
+++ b/samples/cpp/tutorial_code/calib3d/real_time_pose_estimation/CMakeLists.txt
@@ -1,29 +1,27 @@
-cmake_minimum_required(VERSION 2.8)
-project( PNP_DEMO )
+set(sample_dir ${CMAKE_CURRENT_SOURCE_DIR}/tutorial_code/calib3d/real_time_pose_estimation/src/)
 
-find_package( OpenCV REQUIRED )
+if(HAVE_opencv_nonfree)
+  ocv_include_directories("${OpenCV_SOURCE_DIR}/modules/nonfree/include")
+endif()
 
-include_directories(
-    ${OpenCV_INCLUDE_DIRS}
+set(sample_pnplib
+        ${sample_dir}main_registration.cpp
+        ${sample_dir}CsvReader.cpp
+        ${sample_dir}CsvWriter.cpp
+        ${sample_dir}ModelRegistration.cpp
+        ${sample_dir}Mesh.cpp
+        ${sample_dir}Model.cpp
+        ${sample_dir}PnPProblem.cpp
+        ${sample_dir}Utils.cpp
+        ${sample_dir}RobustMatcher.cpp
 )
 
-add_library(pnp_lib
-    src/CsvReader.cpp
-    src/CsvWriter.cpp
-    src/ModelRegistration.cpp
-    src/Mesh.cpp
-    src/Model.cpp
-    src/PnPProblem.cpp
-    src/Utils.cpp
-    src/RobustMatcher.cpp
-)
+add_executable( pnp_registration ${sample_pnplib} )
+add_executable( pnp_verification ${sample_pnplib} )
+add_executable( pnp_detection ${sample_pnplib} )
+add_executable( pnp_test ${sample_pnplib} )
 
-add_executable( pnp_registration src/main_registration.cpp )
-add_executable( pnp_verification src/main_verification.cpp )
-add_executable( pnp_detection src/main_detection.cpp )
-add_executable( pnp_test src/test_pnp.cpp )
-
-target_link_libraries( pnp_registration pnp_lib ${OpenCV_LIBS} )
-target_link_libraries( pnp_verification pnp_lib ${OpenCV_LIBS} )
-target_link_libraries( pnp_detection pnp_lib ${OpenCV_LIBS} )
-target_link_libraries( pnp_test pnp_lib ${OpenCV_LIBS} )
+ocv_target_link_libraries(pnp_registration ${OPENCV_LINKER_LIBS} ${OPENCV_CPP_SAMPLES_REQUIRED_DEPS})
+ocv_target_link_libraries(pnp_verification ${OPENCV_LINKER_LIBS} ${OPENCV_CPP_SAMPLES_REQUIRED_DEPS})
+ocv_target_link_libraries(pnp_detection ${OPENCV_LINKER_LIBS} ${OPENCV_CPP_SAMPLES_REQUIRED_DEPS})
+ocv_target_link_libraries(pnp_test ${OPENCV_LINKER_LIBS} ${OPENCV_CPP_SAMPLES_REQUIRED_DEPS})

From 8b732e086d8bdee5f760d6da0041ee68cb278c53 Mon Sep 17 00:00:00 2001
From: edgarriba <edgar.riba@gmail.com>
Date: Fri, 8 Aug 2014 13:52:15 +0200
Subject: [PATCH 075/112] updated ransanc model

---
 modules/calib3d/src/solvepnp.cpp               |  2 +-
 .../real_time_pose_estimation/CMakeLists.txt   | 18 +++++++++---------
 2 files changed, 10 insertions(+), 10 deletions(-)

diff --git a/modules/calib3d/src/solvepnp.cpp b/modules/calib3d/src/solvepnp.cpp
index a457c84910..00bfd549da 100644
--- a/modules/calib3d/src/solvepnp.cpp
+++ b/modules/calib3d/src/solvepnp.cpp
@@ -203,7 +203,7 @@ bool cv::solvePnPRansac(InputArray _opoints, InputArray _ipoints,
     Ptr<PointSetRegistrator::Callback> cb; // pointer to callback
     cb = makePtr<PnPRansacCallback>( cameraMatrix, distCoeffs, flags, useExtrinsicGuess, rvec, tvec);
 
-    int model_points = 4;                             // minimum of number of model points
+    int model_points = flags == P3P ? 4 : 6;          // minimum of number of model points
     double param1 = reprojectionError;                // reprojection error
     double param2 = confidence;                       // confidence
     int param3 = iterationsCount;                     // number maximum iterations
diff --git a/samples/cpp/tutorial_code/calib3d/real_time_pose_estimation/CMakeLists.txt b/samples/cpp/tutorial_code/calib3d/real_time_pose_estimation/CMakeLists.txt
index dabd398748..64405cd827 100644
--- a/samples/cpp/tutorial_code/calib3d/real_time_pose_estimation/CMakeLists.txt
+++ b/samples/cpp/tutorial_code/calib3d/real_time_pose_estimation/CMakeLists.txt
@@ -1,11 +1,11 @@
 set(sample_dir ${CMAKE_CURRENT_SOURCE_DIR}/tutorial_code/calib3d/real_time_pose_estimation/src/)
+set(target cpp-tutorial-)
 
 if(HAVE_opencv_nonfree)
   ocv_include_directories("${OpenCV_SOURCE_DIR}/modules/nonfree/include")
 endif()
 
 set(sample_pnplib
-        ${sample_dir}main_registration.cpp
         ${sample_dir}CsvReader.cpp
         ${sample_dir}CsvWriter.cpp
         ${sample_dir}ModelRegistration.cpp
@@ -16,12 +16,12 @@ set(sample_pnplib
         ${sample_dir}RobustMatcher.cpp
 )
 
-add_executable( pnp_registration ${sample_pnplib} )
-add_executable( pnp_verification ${sample_pnplib} )
-add_executable( pnp_detection ${sample_pnplib} )
-add_executable( pnp_test ${sample_pnplib} )
+add_executable( ${target}pnp_registration ${sample_dir}main_registration.cpp ${sample_pnplib} )
+add_executable( ${target}pnp_verification ${sample_dir}main_verification.cpp ${sample_pnplib} )
+add_executable( ${target}pnp_detection ${sample_dir}main_detection.cpp ${sample_pnplib} )
+add_executable( ${target}pnp_test ${sample_dir}test_pnp.cpp )
 
-ocv_target_link_libraries(pnp_registration ${OPENCV_LINKER_LIBS} ${OPENCV_CPP_SAMPLES_REQUIRED_DEPS})
-ocv_target_link_libraries(pnp_verification ${OPENCV_LINKER_LIBS} ${OPENCV_CPP_SAMPLES_REQUIRED_DEPS})
-ocv_target_link_libraries(pnp_detection ${OPENCV_LINKER_LIBS} ${OPENCV_CPP_SAMPLES_REQUIRED_DEPS})
-ocv_target_link_libraries(pnp_test ${OPENCV_LINKER_LIBS} ${OPENCV_CPP_SAMPLES_REQUIRED_DEPS})
+ocv_target_link_libraries( ${target}pnp_registration ${OPENCV_LINKER_LIBS} ${OPENCV_CPP_SAMPLES_REQUIRED_DEPS} )
+ocv_target_link_libraries( ${target}pnp_verification ${OPENCV_LINKER_LIBS} ${OPENCV_CPP_SAMPLES_REQUIRED_DEPS} )
+ocv_target_link_libraries( ${target}pnp_detection ${OPENCV_LINKER_LIBS} ${OPENCV_CPP_SAMPLES_REQUIRED_DEPS} )
+ocv_target_link_libraries(${target}pnp_test ${OPENCV_LINKER_LIBS} ${OPENCV_CPP_SAMPLES_REQUIRED_DEPS} )

From 7d8a16ae395f84b8c7c7293ddec881c288e7c100 Mon Sep 17 00:00:00 2001
From: edgarriba <edgar.riba@gmail.com>
Date: Fri, 8 Aug 2014 14:45:43 +0200
Subject: [PATCH 076/112] remove unused tutorials

---
 .../real_time_pose_estimation/CMakeLists.txt  |   4 -
 .../src/main_verification.cpp                 | 324 ------------------
 .../src/test_pnp.cpp                          | 143 --------
 3 files changed, 471 deletions(-)
 delete mode 100644 samples/cpp/tutorial_code/calib3d/real_time_pose_estimation/src/main_verification.cpp
 delete mode 100644 samples/cpp/tutorial_code/calib3d/real_time_pose_estimation/src/test_pnp.cpp

diff --git a/samples/cpp/tutorial_code/calib3d/real_time_pose_estimation/CMakeLists.txt b/samples/cpp/tutorial_code/calib3d/real_time_pose_estimation/CMakeLists.txt
index 64405cd827..6be48a5ef3 100644
--- a/samples/cpp/tutorial_code/calib3d/real_time_pose_estimation/CMakeLists.txt
+++ b/samples/cpp/tutorial_code/calib3d/real_time_pose_estimation/CMakeLists.txt
@@ -17,11 +17,7 @@ set(sample_pnplib
 )
 
 add_executable( ${target}pnp_registration ${sample_dir}main_registration.cpp ${sample_pnplib} )
-add_executable( ${target}pnp_verification ${sample_dir}main_verification.cpp ${sample_pnplib} )
 add_executable( ${target}pnp_detection ${sample_dir}main_detection.cpp ${sample_pnplib} )
-add_executable( ${target}pnp_test ${sample_dir}test_pnp.cpp )
 
 ocv_target_link_libraries( ${target}pnp_registration ${OPENCV_LINKER_LIBS} ${OPENCV_CPP_SAMPLES_REQUIRED_DEPS} )
-ocv_target_link_libraries( ${target}pnp_verification ${OPENCV_LINKER_LIBS} ${OPENCV_CPP_SAMPLES_REQUIRED_DEPS} )
 ocv_target_link_libraries( ${target}pnp_detection ${OPENCV_LINKER_LIBS} ${OPENCV_CPP_SAMPLES_REQUIRED_DEPS} )
-ocv_target_link_libraries(${target}pnp_test ${OPENCV_LINKER_LIBS} ${OPENCV_CPP_SAMPLES_REQUIRED_DEPS} )
diff --git a/samples/cpp/tutorial_code/calib3d/real_time_pose_estimation/src/main_verification.cpp b/samples/cpp/tutorial_code/calib3d/real_time_pose_estimation/src/main_verification.cpp
deleted file mode 100644
index 17bc96dfab..0000000000
--- a/samples/cpp/tutorial_code/calib3d/real_time_pose_estimation/src/main_verification.cpp
+++ /dev/null
@@ -1,324 +0,0 @@
-#include <iostream>
-
-#include <opencv2/core/core.hpp>
-#include <opencv2/imgproc/imgproc.hpp>
-#include <opencv2/nonfree/features2d.hpp>
-#include <opencv2/calib3d/calib3d.hpp>
-
-#include "Mesh.h"
-#include "Model.h"
-#include "PnPProblem.h"
-#include "RobustMatcher.h"
-#include "ModelRegistration.h"
-#include "Utils.h"
-
-#include "CsvWriter.h"
-
-
-  /*
-   * Set up the images paths
-   */
-
-  std::string img_verification_path = "../Data/resized_IMG_3872.JPG";
-  std::string ply_read_path = "../Data/box.ply";
-  std::string yml_read_path = "../Data/cookies_ORB.yml";
-
-  // Boolean the know if the registration it's done
-  bool end_registration = false;
-
-  // Setup the points to register in the image
-  // In the order of the *.ply file and starting at 1
-  int n = 7;
-  int pts[] = {1, 2, 3, 5, 6, 7, 8};
-
-  /*
-   * Set up the intrinsic camera parameters: CANON
-   */
-  double f = 43;
-  double sx = 22.3, sy = 14.9;
-  double width = 718, height = 480;
-  double params_CANON[] = { width*f/sx,   // fx
-                            height*f/sy,  // fy
-                            width/2,      // cx
-                            height/2};    // cy
-
-  /*
-   * Set up some basic colors
-   */
-  cv::Scalar red(0, 0, 255);
-  cv::Scalar green(0,255,0);
-  cv::Scalar blue(255,0,0);
-  cv::Scalar yellow(0,255,255);
-
-  /*
-   * CREATE MODEL REGISTRATION OBJECT
-   * CREATE OBJECT MESH
-   * CREATE OBJECT MODEL
-   * CREATE PNP OBJECT
-   */
-  Mesh mesh;
-  ModelRegistration registration;
-  PnPProblem pnp_verification_epnp(params_CANON);
-  PnPProblem pnp_verification_iter(params_CANON);
-  PnPProblem pnp_verification_p3p(params_CANON);
-  PnPProblem pnp_verification_dls(params_CANON);
-  PnPProblem pnp_verification_gt(params_CANON); // groud truth
-
-
-// Mouse events for model registration
-static void onMouseModelVerification( int event, int x, int y, int, void* )
-{
-  if  ( event == cv::EVENT_LBUTTONUP )
-  {
-      int n_regist = registration.getNumRegist();
-      int n_vertex = pts[n_regist];
-
-      cv::Point2f point_2d = cv::Point2f(x,y);
-      cv::Point3f point_3d = mesh.getVertex(n_vertex-1);
-
-      bool is_registrable = registration.is_registrable();
-      if (is_registrable)
-      {
-        registration.registerPoint(point_2d, point_3d);
-        if( registration.getNumRegist() == registration.getNumMax() ) end_registration = true;
-      }
-  }
-}
-
-
-/*
- *   MAIN PROGRAM
- *
- */
-
-int main(int, char**)
-{
-
-  std::cout << "!!!Hello Verification!!!" << std::endl; // prints !!!Hello World!!!
-
-  // load a mesh given the *.ply file path
-  mesh.load(ply_read_path);
-
-  // load the 3D textured object model
-  Model model;
-  model.load(yml_read_path);
-
-  // set parameters
-  int numKeyPoints = 10000;
-
-  //Instantiate robust matcher: detector, extractor, matcher
-  RobustMatcher rmatcher;
-  cv::FeatureDetector * detector = new cv::OrbFeatureDetector(numKeyPoints);
-  rmatcher.setFeatureDetector(detector);
-  rmatcher.setRatio(0.80);
-
-  // RANSAC parameters
-  int iterationsCount = 500;
-  float reprojectionError = 2.0;
-  float confidence = 0.99;
-
-
-  /*
-  * GROUND TRUTH SECOND IMAGE
-  *
-  */
-
-  cv::Mat img_in, img_vis;
-
-  // Setup for new registration
-  registration.setNumMax(n);
-
-  // Create & Open Window
-  cv::namedWindow("MODEL GROUND TRUTH", cv::WINDOW_KEEPRATIO);
-
-  // Set up the mouse events
-  cv::setMouseCallback("MODEL GROUND TRUTH", onMouseModelVerification, 0 );
-
-  // Open the image to register
-  img_in = cv::imread(img_verification_path, cv::IMREAD_COLOR);
-
-  if (!img_in.data)
-  {
-    std::cout << "Could not open or find the image" << std::endl;
-    return -1;
-  }
-
-  std::cout << "Click the box corners ..." << std::endl;
-  std::cout << "Waiting ..." << std::endl;
-
-  // Loop until all the points are registered
-  while ( cv::waitKey(30) < 0 )
-  {
-    // Refresh debug image
-    img_vis = img_in.clone();
-
-    // Current registered points
-    std::vector<cv::Point2f> list_points2d = registration.get_points2d();
-    std::vector<cv::Point3f> list_points3d = registration.get_points3d();
-
-    // Draw current registered points
-    drawPoints(img_vis, list_points2d, list_points3d, red);
-
-    // If the registration is not finished, draw which 3D point we have to register.
-    // If the registration is finished, breaks the loop.
-    if (!end_registration)
-    {
-      // Draw debug text
-      int n_regist = registration.getNumRegist();
-      int n_vertex = pts[n_regist];
-      cv::Point3f current_poin3d = mesh.getVertex(n_vertex-1);
-
-      drawQuestion(img_vis, current_poin3d, green);
-      drawCounter(img_vis, registration.getNumRegist(), registration.getNumMax(), red);
-    }
-    else
-    {
-      // Draw debug text
-      drawText(img_vis, "GROUND TRUTH", green);
-      drawCounter(img_vis, registration.getNumRegist(), registration.getNumMax(), green);
-      break;
-    }
-
-    // Show the image
-    cv::imshow("MODEL GROUND TRUTH", img_vis);
-  }
-
-  // The list of registered points
-  std::vector<cv::Point2f> list_points2d = registration.get_points2d();
-  std::vector<cv::Point3f> list_points3d = registration.get_points3d();
-
-  // Estimate pose given the registered points
-  bool is_correspondence = pnp_verification_gt.estimatePose(list_points3d, list_points2d, cv::ITERATIVE);
-
-  // Compute and draw all mesh object 2D points
-  std::vector<cv::Point2f> pts_2d_ground_truth = pnp_verification_gt.verify_points(&mesh);
-  draw2DPoints(img_vis, pts_2d_ground_truth, green);
-
-  // Draw the ground truth mesh
-  drawObjectMesh(img_vis, &mesh, &pnp_verification_gt, blue);
-
-  // Show the image
-  cv::imshow("MODEL GROUND TRUTH", img_vis);
-
-  // Show image until ESC pressed
-  cv::waitKey(0);
-
-
-  /*
-   * EXTRACT CORRRESPONDENCES
-   *
-   */
-
-   // refresh visualisation image
-  img_vis = img_in.clone();
-
-  // Get the MODEL INFO
-  std::vector<cv::Point2f> list_points2d_model = model.get_points2d_in();
-  std::vector<cv::Point3f> list_points3d_model = model.get_points3d();
-  std::vector<cv::KeyPoint> keypoints_model = model.get_keypoints();
-  cv::Mat descriptors_model = model.get_descriptors();
-
-  // -- Step 1: Robust matching between model descriptors and scene descriptors
-
-  std::vector<cv::DMatch> good_matches;       // to obtain the 3D points of the model
-  std::vector<cv::KeyPoint> keypoints_scene;  // to obtain the 2D points of the scene
-
-  //rmatcher.fastRobustMatch(frame, good_matches, keypoints_scene, descriptors_model);
-  rmatcher.robustMatch(img_vis, good_matches, keypoints_scene, descriptors_model);
-
-  cv::Mat inliers_idx;
-  std::vector<cv::DMatch> matches_inliers;
-  std::vector<cv::Point2f> list_points2d_inliers;
-  std::vector<cv::Point3f> list_points3d_inliers;
-
-    // -- Step 2: Find out the 2D/3D correspondences
-
-    std::vector<cv::Point3f> list_points3d_model_match; // container for the model 3D coordinates found in the scene
-    std::vector<cv::Point2f> list_points2d_scene_match; // container for the model 2D coordinates found in the scene
-
-    for(unsigned int match_index = 0; match_index < good_matches.size(); ++match_index)
-    {
-      cv::Point3f point3d_model = list_points3d_model[ good_matches[match_index].trainIdx ];  // 3D point from model
-      cv::Point2f point2d_scene = keypoints_scene[ good_matches[match_index].queryIdx ].pt; // 2D point from the scene
-      list_points3d_model_match.push_back(point3d_model);         // add 3D point
-      list_points2d_scene_match.push_back(point2d_scene);         // add 2D point
-    }
-
-    // Draw outliers
-    //draw2DPoints(img_vis, list_points2d_scene_match, red);
-
-  /*
-   * COMPUTE PNP ERRORS:
-   * Calculation of the rotation and translation error
-   *
-   */
-
-  pnp_verification_epnp.estimatePose( list_points3d_model_match, list_points2d_scene_match, cv::EPNP);
-  pnp_verification_iter.estimatePose( list_points3d_model_match, list_points2d_scene_match, cv::ITERATIVE);
-  //pnp_verification_p3p.estimatePose( list_points3d_model_match, list_points2d_scene_match, cv::P3P);
-  //pnp_verification_dls.estimatePose( list_points3d_model_match, list_points2d_scene_match, cv::DLS);
-
-  // Draw mesh
-  drawObjectMesh(img_vis, &mesh, &pnp_verification_dls, green);
-  drawObjectMesh(img_vis, &mesh, &pnp_verification_gt, yellow);
-
-   cv::imshow("MODEL GROUND TRUTH", img_vis);
-
-  cv::Mat t_true = pnp_verification_gt.get_t_matrix();
-  cv::Mat t_epnp = pnp_verification_epnp.get_t_matrix();
-  cv::Mat t_iter = pnp_verification_iter.get_t_matrix();
-  cv::Mat t_p3p = pnp_verification_p3p.get_t_matrix();
-  cv::Mat t_dls = pnp_verification_dls.get_t_matrix();
-
-  cv::Mat R_true = pnp_verification_gt.get_R_matrix();
-  cv::Mat R_epnp = pnp_verification_epnp.get_R_matrix();
-  cv::Mat R_iter = pnp_verification_iter.get_R_matrix();
-  cv::Mat R_p3p = pnp_verification_p3p.get_R_matrix();
-  cv::Mat R_dls = pnp_verification_dls.get_R_matrix();
-
-  double error_trans_epnp = get_translation_error(t_true, t_epnp);
-  double error_rot_epnp = get_rotation_error(R_true, R_epnp)*180/CV_PI;
-
-  double error_trans_iter = get_translation_error(t_true, t_iter);
-  double error_rot_iter = get_rotation_error(R_true, R_iter)*180/CV_PI;
-
-  double error_trans_p3p = get_translation_error(t_true, t_p3p);
-  double error_rot_p3p = get_rotation_error(R_true, R_p3p)*180/CV_PI;
-
-  double error_trans_dls = get_translation_error(t_true, t_dls);
-  double error_rot_dls = get_rotation_error(R_true, R_dls)*180/CV_PI;
-
-
-  std::cout << std::endl << "****  EPNP ERRORS  **** " << std::endl;
-
-  std::cout << "Translation error: " << error_trans_epnp << " m." << std::endl;
-  std::cout << "Rotation error: " << error_rot_epnp << " deg." << std::endl;
-
-
-  std::cout << std::endl << "****  ITERATIVE ERRORS  **** " << std::endl;
-
-  std::cout << "Translation error: " << error_trans_iter << " m." << std::endl;
-  std::cout << "Rotation error: " << error_rot_iter << " deg." << std::endl;
-
-
-  std::cout << std::endl << "****  P3P ERRORS  **** " << std::endl;
-
-  std::cout << "Translation error: " << error_trans_p3p << " m." << std::endl;
-  std::cout << "Rotation error: " << error_rot_p3p << " deg." << std::endl;
-
-
-  std::cout << std::endl << "****  DLS ERRORS  **** " << std::endl;
-
-  std::cout << "Translation error: " << error_trans_dls << " m." << std::endl;
-  std::cout << "Rotation error: " << error_rot_dls << " deg." << std::endl;
-
-
-  // Show image until ESC pressed
-  cv::waitKey(0);
-
-  // Close and Destroy Window
-  cv::destroyWindow("MODEL GROUND TRUTH");
-
-  std::cout << "GOODBYE" << std::endl;
-
-}
diff --git a/samples/cpp/tutorial_code/calib3d/real_time_pose_estimation/src/test_pnp.cpp b/samples/cpp/tutorial_code/calib3d/real_time_pose_estimation/src/test_pnp.cpp
deleted file mode 100644
index 4843d32ceb..0000000000
--- a/samples/cpp/tutorial_code/calib3d/real_time_pose_estimation/src/test_pnp.cpp
+++ /dev/null
@@ -1,143 +0,0 @@
-#include <opencv2/core/core.hpp>
-#include <opencv2/calib3d/calib3d.hpp>
-#include <opencv2/contrib/contrib.hpp>
-
-#include <iostream>
-#include <fstream>
-
-using namespace std;
-using namespace cv;
-
-void generate3DPointCloud(vector<Point3f>& points, Point3f pmin = Point3f(-1,
-        -1, 5), Point3f pmax = Point3f(1, 1, 10))
-    {
-        const Point3f delta = pmax - pmin;
-        for (size_t i = 0; i < points.size(); i++)
-        {
-            Point3f p(float(rand()) / RAND_MAX, float(rand()) / RAND_MAX,
-                float(rand()) / RAND_MAX);
-            p.x *= delta.x;
-            p.y *= delta.y;
-            p.z *= delta.z;
-            p = p + pmin;
-            points[i] = p;
-        }
-    }
-
-void generateCameraMatrix(Mat& cameraMatrix, RNG& rng)
-{
-    const double fcMinVal = 1e-3;
-    const double fcMaxVal = 100;
-    cameraMatrix.create(3, 3, CV_64FC1);
-    cameraMatrix.setTo(Scalar(0));
-    cameraMatrix.at<double>(0,0) = rng.uniform(fcMinVal, fcMaxVal);
-    cameraMatrix.at<double>(1,1) = rng.uniform(fcMinVal, fcMaxVal);
-    cameraMatrix.at<double>(0,2) = rng.uniform(fcMinVal, fcMaxVal);
-    cameraMatrix.at<double>(1,2) = rng.uniform(fcMinVal, fcMaxVal);
-    cameraMatrix.at<double>(2,2) = 1;
-}
-
-void generateDistCoeffs(Mat& distCoeffs, RNG& rng)
-{
-    distCoeffs = Mat::zeros(4, 1, CV_64FC1);
-    for (int i = 0; i < 3; i++)
-        distCoeffs.at<double>(i,0) = rng.uniform(0.0, 1.0e-6);
-}
-
-void generatePose(Mat& rvec, Mat& tvec, RNG& rng)
-{
-    const double minVal = 1.0e-3;
-    const double maxVal = 1.0;
-    rvec.create(3, 1, CV_64FC1);
-    tvec.create(3, 1, CV_64FC1);
-    for (int i = 0; i < 3; i++)
-    {
-        rvec.at<double>(i,0) = rng.uniform(minVal, maxVal);
-        tvec.at<double>(i,0) = rng.uniform(minVal, maxVal/10);
-    }
-}
-
-void data2file(const string& path, const vector<vector<double> >& data)
-{
-  std::fstream fs;
-  fs.open(path.c_str(), std::fstream::in | std::fstream::out | std::fstream::app);
-
-  for (int method = 0; method < data.size(); ++method)
-  {
-    for (int i = 0; i < data[method].size(); ++i)
-    {
-      fs << data[method][i] << " ";
-    }
-    fs << endl;
-  }
-
-  fs.close();
-}
-
-
-int main(int argc, char *argv[])
-{
-
-  RNG rng;
- // TickMeter tm;
-  vector<vector<double> > error_trans(4), error_rot(4), comp_time(4);
-
-  int maxpoints = 2000;
-  for (int npoints = 10; npoints < maxpoints+10; ++npoints)
-  {
-    // generate 3D point cloud
-    vector<Point3f> points;
-    points.resize(npoints);
-    generate3DPointCloud(points);
-
-    // generate cameramatrix
-    Mat rvec, tvec;
-    Mat trueRvec, trueTvec;
-    Mat intrinsics, distCoeffs;
-    generateCameraMatrix(intrinsics, rng);
-
-    // generate distorsion coefficients
-    generateDistCoeffs(distCoeffs, rng);
-
-    // generate groud truth pose
-    generatePose(trueRvec, trueTvec, rng);
-
-    for (int method = 0; method < 4; ++method)
-    {
-      std::vector<Point3f> opoints;
-      if (method == 2)
-      {
-        opoints = std::vector<Point3f>(points.begin(), points.begin()+4);
-      }
-      else
-        opoints = points;
-
-      vector<Point2f> projectedPoints;
-      projectedPoints.resize(opoints.size());
-      projectPoints(Mat(opoints), trueRvec, trueTvec, intrinsics, distCoeffs, projectedPoints);
-
-      //tm.reset(); tm.start();
-
-      solvePnP(opoints, projectedPoints, intrinsics, distCoeffs, rvec, tvec, false, method);
-
-     // tm.stop();
-
-    //  double compTime = tm.getTimeMilli();
-      double rvecDiff = norm(rvec-trueRvec), tvecDiff = norm(tvec-trueTvec);
-
-      error_rot[method].push_back(rvecDiff);
-      error_trans[method].push_back(tvecDiff);
-      //comp_time[method].push_back(compTime);
-
-    }
-
-    //system("clear");
-    cout << "Completed " << npoints+1 << "/" << maxpoints << endl;
-
-  }
-
-  data2file("translation_error.txt", error_trans);
-  data2file("rotation_error.txt", error_rot);
-  data2file("computation_time.txt", comp_time);
-
-}

From f8c5acee4c8d9da208d3cdae458e45b9a5c112b4 Mon Sep 17 00:00:00 2001
From: edgarriba <edgar.riba@gmail.com>
Date: Fri, 8 Aug 2014 15:20:38 +0200
Subject: [PATCH 077/112] modified number test points

---
 modules/calib3d/test/test_solvepnp_ransac.cpp | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/modules/calib3d/test/test_solvepnp_ransac.cpp b/modules/calib3d/test/test_solvepnp_ransac.cpp
index afb5f97d52..6d315a3b7c 100644
--- a/modules/calib3d/test/test_solvepnp_ransac.cpp
+++ b/modules/calib3d/test/test_solvepnp_ransac.cpp
@@ -155,7 +155,7 @@ protected:
         ts->set_failed_test_info(cvtest::TS::OK);
 
         vector<Point3f> points;
-        const int pointsCount = 500;
+        const int pointsCount = 400;
         points.resize(pointsCount);
         generate3DPointCloud(points);
 

From 3f5d3b2d40c4dc94ce91e113b376eaeb5caf4fb6 Mon Sep 17 00:00:00 2001
From: edgarriba <edgar.riba@gmail.com>
Date: Fri, 8 Aug 2014 15:36:27 +0200
Subject: [PATCH 078/112] video opening path modified

---
 .../real_time_pose_estimation/src/main_detection.cpp  | 11 ++++++++---
 .../src/main_registration.cpp                         |  8 +++++---
 2 files changed, 13 insertions(+), 6 deletions(-)

diff --git a/samples/cpp/tutorial_code/calib3d/real_time_pose_estimation/src/main_detection.cpp b/samples/cpp/tutorial_code/calib3d/real_time_pose_estimation/src/main_detection.cpp
index 85272f9d8e..e5cf9655c0 100644
--- a/samples/cpp/tutorial_code/calib3d/real_time_pose_estimation/src/main_detection.cpp
+++ b/samples/cpp/tutorial_code/calib3d/real_time_pose_estimation/src/main_detection.cpp
@@ -14,11 +14,16 @@
 #include "ModelRegistration.h"
 #include "Utils.h"
 
+std::string tutorial_path = "../../samples/cpp/tutorial_code/calib3d/real_time_pose_estimation/";
+
+// COOKIES VIDEO
+std::string video_read_path = tutorial_path + "Data/box.mp4";   // mesh
+
 //  COOKIES BOX - ORB
-std::string yml_read_path = "../Data/cookies_ORB.yml"; // 3dpts + descriptors
+std::string yml_read_path = tutorial_path + "Data/cookies_ORB.yml"; // 3dpts + descriptors
 
 // COOKIES BOX MESH
-std::string ply_read_path = "../Data/box.ply";   // mesh
+std::string ply_read_path = tutorial_path + "Data/box.ply";   // mesh
 
 void help()
 {
@@ -156,7 +161,7 @@ int main(int argc, char *argv[])
 
 
   cv::VideoCapture cap;                           // instantiate VideoCapture
-  (argc < 2) ? cap.open(1) : cap.open(argv[1]);   // open the default camera device
+  (argc < 2) ? cap.open(video_read_path) : cap.open(argv[1]);   // open the default camera device
                                                   // or a recorder video
 
   if(!cap.isOpened())   // check if we succeeded
diff --git a/samples/cpp/tutorial_code/calib3d/real_time_pose_estimation/src/main_registration.cpp b/samples/cpp/tutorial_code/calib3d/real_time_pose_estimation/src/main_registration.cpp
index 3b2517b22f..c3f6ab6ba9 100644
--- a/samples/cpp/tutorial_code/calib3d/real_time_pose_estimation/src/main_registration.cpp
+++ b/samples/cpp/tutorial_code/calib3d/real_time_pose_estimation/src/main_registration.cpp
@@ -17,14 +17,16 @@
    * Set up the images paths
    */
 
+  std::string tutorial_path = "../../samples/cpp/tutorial_code/calib3d/real_time_pose_estimation/";
+
   // COOKIES BOX [718x480]
-  std::string img_path = "../Data/resized_IMG_3875.JPG"; // f 55
+  std::string img_path = tutorial_path + "Data/resized_IMG_3875.JPG"; // f 55
 
   // COOKIES BOX MESH
-  std::string ply_read_path = "../Data/box.ply";
+  std::string ply_read_path = tutorial_path + "Data/box.ply";
 
   // YAML writting path
-  std::string write_path = "../Data/cookies_ORB.yml";
+  std::string write_path = tutorial_path + "Data/cookies_ORB.yml";
 
   void help()
   {

From 8c4b8cc0b43de69ad3642d676a53bbfa07ba19c4 Mon Sep 17 00:00:00 2001
From: edgarriba <edgar.riba@gmail.com>
Date: Sat, 9 Aug 2014 17:14:24 +0200
Subject: [PATCH 079/112] fixed warnings

---
 .../src/PnPProblem.cpp                        |  10 +-
 .../src/PnPProblem.h                          |   5 +
 .../src/RobustMatcher.cpp                     |   6 +-
 .../real_time_pose_estimation/src/Utils.cpp   |   7 +-
 .../src/main_detection.cpp                    | 159 +++++++++---------
 .../src/main_registration.cpp                 |   8 +-
 6 files changed, 99 insertions(+), 96 deletions(-)

diff --git a/samples/cpp/tutorial_code/calib3d/real_time_pose_estimation/src/PnPProblem.cpp b/samples/cpp/tutorial_code/calib3d/real_time_pose_estimation/src/PnPProblem.cpp
index 48c8be576d..c46953781a 100644
--- a/samples/cpp/tutorial_code/calib3d/real_time_pose_estimation/src/PnPProblem.cpp
+++ b/samples/cpp/tutorial_code/calib3d/real_time_pose_estimation/src/PnPProblem.cpp
@@ -13,9 +13,15 @@
 
 #include <opencv2/calib3d/calib3d.hpp>
 
+/* Functions headers */
+cv::Point3f CROSS(cv::Point3f v1, cv::Point3f v2);
+double DOT(cv::Point3f v1, cv::Point3f v2);
+cv::Point3f SUB(cv::Point3f v1, cv::Point3f v2);
+cv::Point3f get_nearest_3D_point(std::vector<cv::Point3f> &points_list, cv::Point3f origin);
+
+
+/* Functions for Möller–Trumbore intersection algorithm */
 
-/* Functions for Möller–Trumbore intersection algorithm
- * */
 cv::Point3f CROSS(cv::Point3f v1, cv::Point3f v2)
 {
   cv::Point3f tmp_p;
diff --git a/samples/cpp/tutorial_code/calib3d/real_time_pose_estimation/src/PnPProblem.h b/samples/cpp/tutorial_code/calib3d/real_time_pose_estimation/src/PnPProblem.h
index da189d0a0e..61277a7a07 100644
--- a/samples/cpp/tutorial_code/calib3d/real_time_pose_estimation/src/PnPProblem.h
+++ b/samples/cpp/tutorial_code/calib3d/real_time_pose_estimation/src/PnPProblem.h
@@ -50,4 +50,9 @@ private:
   cv::Mat _P_matrix;
 };
 
+// Functions for Möller–Trumbore intersection algorithm
+cv::Point3f CROSS(cv::Point3f v1, cv::Point3f v2);
+double DOT(cv::Point3f v1, cv::Point3f v2);
+cv::Point3f SUB(cv::Point3f v1, cv::Point3f v2);
+
 #endif /* PNPPROBLEM_H_ */
diff --git a/samples/cpp/tutorial_code/calib3d/real_time_pose_estimation/src/RobustMatcher.cpp b/samples/cpp/tutorial_code/calib3d/real_time_pose_estimation/src/RobustMatcher.cpp
index 7ef9f887a6..862bdd18b2 100644
--- a/samples/cpp/tutorial_code/calib3d/real_time_pose_estimation/src/RobustMatcher.cpp
+++ b/samples/cpp/tutorial_code/calib3d/real_time_pose_estimation/src/RobustMatcher.cpp
@@ -113,9 +113,9 @@ void RobustMatcher::robustMatch( const cv::Mat& frame, std::vector<cv::DMatch>&
 
   // 3. Remove matches for which NN ratio is > than threshold
   // clean image 1 -> image 2 matches
-  int removed1 = ratioTest(matches12);
+  ratioTest(matches12);
   // clean image 2 -> image 1 matches
-  int removed2 = ratioTest(matches21);
+  ratioTest(matches21);
 
   // 4. Remove non-symmetrical matches
   symmetryTest(matches12, matches21, good_matches);
@@ -140,7 +140,7 @@ void RobustMatcher::fastRobustMatch( const cv::Mat& frame, std::vector<cv::DMatc
   matcher_->knnMatch(descriptors_frame, descriptors_model, matches, 2);
 
   // 3. Remove matches for which NN ratio is > than threshold
-  int removed = ratioTest(matches);
+  ratioTest(matches);
 
   // 4. Fill good matches container
   for ( std::vector<std::vector<cv::DMatch> >::iterator
diff --git a/samples/cpp/tutorial_code/calib3d/real_time_pose_estimation/src/Utils.cpp b/samples/cpp/tutorial_code/calib3d/real_time_pose_estimation/src/Utils.cpp
index 915c4e1734..74649fcd7e 100644
--- a/samples/cpp/tutorial_code/calib3d/real_time_pose_estimation/src/Utils.cpp
+++ b/samples/cpp/tutorial_code/calib3d/real_time_pose_estimation/src/Utils.cpp
@@ -114,7 +114,7 @@ void drawArrow(cv::Mat image, cv::Point2i p, cv::Point2i q, cv::Scalar color, in
 {
   //Draw the principle line
   cv::line(image, p, q, color, thickness, line_type, shift);
-  const double PI = 3.141592653;
+  const double PI = CV_PI;
   //compute the angle alpha
   double angle = atan2((double)p.y-q.y, (double)p.x-q.x);
   //compute the coordinates of the first segment
@@ -137,9 +137,6 @@ void draw3DCoordinateAxes(cv::Mat image, const std::vector<cv::Point2f> &list_po
   cv::Scalar blue(255,0,0);
   cv::Scalar black(0,0,0);
 
-  const double PI = 3.141592653;
-  int length = 50;
-
   cv::Point2i origin = list_points2d[0];
   cv::Point2i pointX = list_points2d[1];
   cv::Point2i pointY = list_points2d[2];
@@ -196,13 +193,11 @@ cv::Mat rot2euler(const cv::Mat & rotationMatrix)
   cv::Mat euler(3,1,CV_64F);
 
   double m00 = rotationMatrix.at<double>(0,0);
-  double m01 = rotationMatrix.at<double>(0,1);
   double m02 = rotationMatrix.at<double>(0,2);
   double m10 = rotationMatrix.at<double>(1,0);
   double m11 = rotationMatrix.at<double>(1,1);
   double m12 = rotationMatrix.at<double>(1,2);
   double m20 = rotationMatrix.at<double>(2,0);
-  double m21 = rotationMatrix.at<double>(2,1);
   double m22 = rotationMatrix.at<double>(2,2);
 
   double x, y, z;
diff --git a/samples/cpp/tutorial_code/calib3d/real_time_pose_estimation/src/main_detection.cpp b/samples/cpp/tutorial_code/calib3d/real_time_pose_estimation/src/main_detection.cpp
index e5cf9655c0..82d97c4316 100644
--- a/samples/cpp/tutorial_code/calib3d/real_time_pose_estimation/src/main_detection.cpp
+++ b/samples/cpp/tutorial_code/calib3d/real_time_pose_estimation/src/main_detection.cpp
@@ -1,12 +1,14 @@
+// C++
 #include <iostream>
 #include <time.h>
-
+// OpenCV
 #include <opencv2/core/core.hpp>
+#include <opencv2/core/utility.hpp>
 #include <opencv2/highgui/highgui.hpp>
 #include <opencv2/imgproc/imgproc.hpp>
 #include <opencv2/calib3d/calib3d.hpp>
 #include <opencv2/video/tracking.hpp>
-
+// PnP Tutorial
 #include "Mesh.h"
 #include "Model.h"
 #include "PnPProblem.h"
@@ -14,35 +16,15 @@
 #include "ModelRegistration.h"
 #include "Utils.h"
 
-std::string tutorial_path = "../../samples/cpp/tutorial_code/calib3d/real_time_pose_estimation/";
+/**  GLOBAL VARIABLES  **/
 
-// COOKIES VIDEO
-std::string video_read_path = tutorial_path + "Data/box.mp4";   // mesh
+std::string tutorial_path = "../../samples/cpp/tutorial_code/calib3d/real_time_pose_estimation/"; // path to tutorial
 
-//  COOKIES BOX - ORB
+std::string video_read_path = tutorial_path + "Data/box.mp4";       // recorded video
 std::string yml_read_path = tutorial_path + "Data/cookies_ORB.yml"; // 3dpts + descriptors
+std::string ply_read_path = tutorial_path + "Data/box.ply";         // mesh
 
-// COOKIES BOX MESH
-std::string ply_read_path = tutorial_path + "Data/box.ply";   // mesh
-
-void help()
-{
-std::cout
-<< "--------------------------------------------------------------------------"   << std::endl
-<< "This program shows how to detect an object given its 3D textured model. You can choose to "
-<< "use a recorded video or the webcam." << std::endl
-<< "Usage:"                                                                       << std::endl
-<< "./pnp_detection ~/path_to_video/box.mp4"                                      << std::endl
-<< "./pnp_detection "                                                             << std::endl
-<< "--------------------------------------------------------------------------"   << std::endl
-<< std::endl;
-}
-
-
-/*
- * Set up the intrinsic camera parameters: UVC WEBCAM
- */
-
+// Intrinsic camera parameters: UVC WEBCAM
 double f = 55;                           // focal length in mm
 double sx = 22.3, sy = 14.9;             // sensor size
 double width = 640, height = 480;        // image size
@@ -52,10 +34,7 @@ double params_WEBCAM[] = { width*f/sx,   // fx
                            width/2,      // cx
                            height/2};    // cy
 
-
-/*
- * Set up some basic colors
- */
+// Some basic colors
 cv::Scalar red(0, 0, 255);
 cv::Scalar green(0,255,0);
 cv::Scalar blue(255,0,0);
@@ -63,59 +42,82 @@ cv::Scalar yellow(0,255,255);
 
 
 // Robust Matcher parameters
-
 int numKeyPoints = 2000;      // number of detected keypoints
 float ratio = 0.70f;          // ratio test
 bool fast_match = true;       // fastRobustMatch() or robustMatch()
 
-
 // RANSAC parameters
-
 int iterationsCount = 500;      // number of Ransac iterations.
 float reprojectionError = 2.0;  // maximum allowed distance to consider it an inlier.
 float confidence = 0.95;        // ransac successful confidence.
 
-
 // Kalman Filter parameters
-
 int minInliersKalman = 30;    // Kalman threshold updating
 
+// PnP parameters
+int pnpMethod = cv::ITERATIVE;
 
-/**********************************************************************************************************/
 
+/**  Functions headers  **/
+void help();
 void initKalmanFilter( cv::KalmanFilter &KF, int nStates, int nMeasurements, int nInputs, double dt);
-
-
-/**********************************************************************************************************/
-
-
 void updateKalmanFilter( cv::KalmanFilter &KF, cv::Mat &measurements,
                          cv::Mat &translation_estimated, cv::Mat &rotation_estimated );
-
-/**********************************************************************************************************/
-
-
 void fillMeasurements( cv::Mat &measurements,
                        const cv::Mat &translation_measured, const cv::Mat &rotation_measured);
 
 
-/**********************************************************************************************************/
-
-
+/**  Main program  **/
 int main(int argc, char *argv[])
 {
 
   help();
 
+  const cv::String keys =
+      "{help h        |      | print this message                   }"
+      "{camera c      |      | use real time camera                 }"
+      "{video v       |      | path to recorded video               }"
+      "{model         |      | path to yml model                    }"
+      "{mesh          |      | path to ply mesh                     }"
+      "{keypoints k   |2000  | number of keypoints to detect        }"
+      "{ratio r       |0.7   | threshold for ratio test             }"
+      "{iterations it |500   | RANSAC maximum iterations count      }"
+      "{error e       |2.0   | RANSAC reprojection errror           }"
+      "{confidence c  |0.95  | RANSAC confidence                    }"
+      "{inliers in    |30    | minimum inliers for Kalman update    }"
+      "{method  pnp   |0     | PnP method: (0) ITERATIVE - (1) EPNP - (2) P3P - (3) DLS}"
+      "{fast f        |true  | use of robust fast match             }"
+      ;
+  cv::CommandLineParser parser(argc, argv, keys);
+
+  if (parser.has("help"))
+  {
+      parser.printMessage();
+      return 0;
+  }
+  else
+  {
+    video_read_path = parser.has("video") ? parser.get<std::string>(0) : video_read_path;
+    yml_read_path = parser.has("model") ? parser.get<std::string>(1) : yml_read_path;
+    ply_read_path = parser.has("mesh") ? parser.get<std::string>(2) : ply_read_path;
+    numKeyPoints = !parser.has("keypoints") ? parser.get<int>("keypoints") : numKeyPoints;
+    ratio = !parser.has("ratio") ? parser.get<float>("ratio") : ratio;
+    fast_match = !parser.has("fast") ? parser.get<bool>("fast") : fast_match;
+    iterationsCount = !parser.has("iterations") ? parser.get<int>("iterations") : iterationsCount;
+    reprojectionError = !parser.has("error") ? parser.get<float>("error") : reprojectionError;
+    confidence = !parser.has("confidence") ? parser.get<float>("confidence") : confidence;
+    minInliersKalman = !parser.has("inliers") ? parser.get<int>("inliers") : minInliersKalman;
+    pnpMethod = !parser.has("method") ? parser.get<int>("method") : pnpMethod;
+  }
+
   PnPProblem pnp_detection(params_WEBCAM);
   PnPProblem pnp_detection_est(params_WEBCAM);
 
   Model model;               // instantiate Model object
   model.load(yml_read_path); // load a 3D textured object model
 
-  Mesh mesh;                // instantiate Mesh object
-  mesh.load(ply_read_path); // load an object mesh
-
+  Mesh mesh;                 // instantiate Mesh object
+  mesh.load(ply_read_path);  // load an object mesh
 
   RobustMatcher rmatcher;                                                     // instantiate RobustMatcher
 
@@ -125,33 +127,25 @@ int main(int argc, char *argv[])
   rmatcher.setFeatureDetector(detector);                                      // set feature detector
   rmatcher.setDescriptorExtractor(extractor);                                 // set descriptor extractor
 
-
   cv::Ptr<cv::flann::IndexParams> indexParams = cv::makePtr<cv::flann::LshIndexParams>(6, 12, 1); // instantiate LSH index parameters
   cv::Ptr<cv::flann::SearchParams> searchParams = cv::makePtr<cv::flann::SearchParams>(50);       // instantiate flann search parameters
 
   cv::DescriptorMatcher * matcher = new cv::FlannBasedMatcher(indexParams, searchParams);         // instantiate FlannBased matcher
   rmatcher.setDescriptorMatcher(matcher);                                                         // set matcher
-
-
   rmatcher.setRatio(ratio); // set ratio test parameter
 
-
   cv::KalmanFilter KF;         // instantiate Kalman Filter
-
   int nStates = 18;            // the number of states
   int nMeasurements = 6;       // the number of measured states
-  int nInputs = 0;             // the number of action control
-
+  int nInputs = 0;             // the number of control actions
   double dt = 0.125;           // time between measurements (1/FPS)
 
   initKalmanFilter(KF, nStates, nMeasurements, nInputs, dt);    // init function
-
   cv::Mat measurements(nMeasurements, 1, CV_64F); measurements.setTo(cv::Scalar(0));
   bool good_measurement = false;
 
 
   // Get the MODEL INFO
-
   std::vector<cv::Point3f> list_points3d_model = model.get_points3d();  // list with model 3D coordinates
   cv::Mat descriptors_model = model.get_descriptors();                  // list with descriptors of each 3D coordinate
 
@@ -161,8 +155,7 @@ int main(int argc, char *argv[])
 
 
   cv::VideoCapture cap;                           // instantiate VideoCapture
-  (argc < 2) ? cap.open(video_read_path) : cap.open(argv[1]);   // open the default camera device
-                                                  // or a recorder video
+  cap.open(video_read_path);                      // open a recorded video
 
   if(!cap.isOpened())   // check if we succeeded
   {
@@ -170,25 +163,23 @@ int main(int argc, char *argv[])
     return -1;
   }
 
+  // Input parameters
+  if(argc > 2) pnpMethod = 0;
+
 
   // start and end times
   time_t start, end;
 
   // fps calculated using number of frames / seconds
-  double fps;
+  // floating point seconds elapsed since start
+  double fps, sec;
 
   // frame counter
   int counter = 0;
 
-  // floating point seconds elapsed since start
-  double sec;
-
   // start the clock
   time(&start);
 
-  double tstart2, tstop2, ttime2; // algorithm metrics
-  double tstart, tstop, ttime; // algorithm metrics
-
   cv::Mat frame, frame_vis;
 
   while(cap.read(frame) && cv::waitKey(30) != 27) // capture frame until ESC is pressed
@@ -236,10 +227,9 @@ int main(int argc, char *argv[])
     if(good_matches.size() > 0) // None matches, then RANSAC crashes
     {
 
-
       // -- Step 3: Estimate the pose using RANSAC approach
       pnp_detection.estimatePoseRANSAC( list_points3d_model_match, list_points2d_scene_match,
-                                        cv::ITERATIVE, inliers_idx,
+                                        pnpMethod, inliers_idx,
                                         iterationsCount, reprojectionError, confidence );
 
       // -- Step 4: Catch the inliers keypoints to draw
@@ -322,8 +312,8 @@ int main(int argc, char *argv[])
     fps = counter / sec;
 
     drawFPS(frame_vis, fps, yellow); // frame ratio
-    double ratio = ((double)inliers_idx.rows/(double)good_matches.size())*100;
-    drawConfidence(frame_vis, ratio, yellow);
+    double detection_ratio = ((double)inliers_idx.rows/(double)good_matches.size())*100;
+    drawConfidence(frame_vis, detection_ratio, yellow);
 
 
     // -- Step X: Draw some debugging text
@@ -341,9 +331,6 @@ int main(int argc, char *argv[])
     drawText2(frame_vis, text2, red);
 
     cv::imshow("REAL TIME DEMO", frame_vis);
-
-    //cv::waitKey(0);
-
   }
 
   // Close and Destroy Window
@@ -353,6 +340,21 @@ int main(int argc, char *argv[])
 
 }
 
+/**********************************************************************************************************/
+void help()
+{
+std::cout
+<< "--------------------------------------------------------------------------"   << std::endl
+<< "This program shows how to detect an object given its 3D textured model. You can choose to "
+<< "use a recorded video or the webcam." << std::endl
+<< "Usage:"                                                                       << std::endl
+<< "./cpp-tutorial-pnp_detection [<pnpMethod>]"                                   << std::endl
+<< "Keys:"                                                                        << std::endl
+<< "(0) ITERATIVE - (1) EPNP - (2) P3P - (3) DLS"                                 << std::endl
+<< "--------------------------------------------------------------------------"   << std::endl
+<< std::endl;
+}
+
 /**********************************************************************************************************/
 void initKalmanFilter(cv::KalmanFilter &KF, int nStates, int nMeasurements, int nInputs, double dt)
 {
@@ -424,9 +426,6 @@ void initKalmanFilter(cv::KalmanFilter &KF, int nStates, int nMeasurements, int
   KF.measurementMatrix.at<double>(4,10) = 1; // pitch
   KF.measurementMatrix.at<double>(5,11) = 1; // yaw
 
-  //std::cout << "A " << std::endl << KF.transitionMatrix << std::endl;
-  //std::cout << "C " << std::endl << KF.measurementMatrix << std::endl;
-
 }
 
 /**********************************************************************************************************/
diff --git a/samples/cpp/tutorial_code/calib3d/real_time_pose_estimation/src/main_registration.cpp b/samples/cpp/tutorial_code/calib3d/real_time_pose_estimation/src/main_registration.cpp
index c3f6ab6ba9..3b2517b22f 100644
--- a/samples/cpp/tutorial_code/calib3d/real_time_pose_estimation/src/main_registration.cpp
+++ b/samples/cpp/tutorial_code/calib3d/real_time_pose_estimation/src/main_registration.cpp
@@ -17,16 +17,14 @@
    * Set up the images paths
    */
 
-  std::string tutorial_path = "../../samples/cpp/tutorial_code/calib3d/real_time_pose_estimation/";
-
   // COOKIES BOX [718x480]
-  std::string img_path = tutorial_path + "Data/resized_IMG_3875.JPG"; // f 55
+  std::string img_path = "../Data/resized_IMG_3875.JPG"; // f 55
 
   // COOKIES BOX MESH
-  std::string ply_read_path = tutorial_path + "Data/box.ply";
+  std::string ply_read_path = "../Data/box.ply";
 
   // YAML writting path
-  std::string write_path = tutorial_path + "Data/cookies_ORB.yml";
+  std::string write_path = "../Data/cookies_ORB.yml";
 
   void help()
   {

From 7ecad71ab0e0e58b903951f00c4ccb3daacb9528 Mon Sep 17 00:00:00 2001
From: edgarriba <edgar.riba@gmail.com>
Date: Sat, 9 Aug 2014 17:18:47 +0200
Subject: [PATCH 080/112] fixed warnings

---
 .../real_time_pose_estimation/src/main_detection.cpp        | 6 +++---
 1 file changed, 3 insertions(+), 3 deletions(-)

diff --git a/samples/cpp/tutorial_code/calib3d/real_time_pose_estimation/src/main_detection.cpp b/samples/cpp/tutorial_code/calib3d/real_time_pose_estimation/src/main_detection.cpp
index 82d97c4316..c51f9518b5 100644
--- a/samples/cpp/tutorial_code/calib3d/real_time_pose_estimation/src/main_detection.cpp
+++ b/samples/cpp/tutorial_code/calib3d/real_time_pose_estimation/src/main_detection.cpp
@@ -346,11 +346,11 @@ void help()
 std::cout
 << "--------------------------------------------------------------------------"   << std::endl
 << "This program shows how to detect an object given its 3D textured model. You can choose to "
-<< "use a recorded video or the webcam." << std::endl
+<< "use a recorded video or the webcam."                                          << std::endl
 << "Usage:"                                                                       << std::endl
-<< "./cpp-tutorial-pnp_detection [<pnpMethod>]"                                   << std::endl
+<< "./cpp-tutorial-pnp_detection -help"                                           << std::endl
 << "Keys:"                                                                        << std::endl
-<< "(0) ITERATIVE - (1) EPNP - (2) P3P - (3) DLS"                                 << std::endl
+<< "'esc' - to quit."                                                             << std::endl
 << "--------------------------------------------------------------------------"   << std::endl
 << std::endl;
 }

From d09b404178212abd4acf07bbfd6ab7f84377a37a Mon Sep 17 00:00:00 2001
From: edgarriba <edgar.riba@gmail.com>
Date: Sat, 9 Aug 2014 17:32:52 +0200
Subject: [PATCH 081/112] tutorial update

---
 .../src/main_registration.cpp                 | 144 ++++++++----------
 1 file changed, 60 insertions(+), 84 deletions(-)

diff --git a/samples/cpp/tutorial_code/calib3d/real_time_pose_estimation/src/main_registration.cpp b/samples/cpp/tutorial_code/calib3d/real_time_pose_estimation/src/main_registration.cpp
index 3b2517b22f..f53c2d5ae2 100644
--- a/samples/cpp/tutorial_code/calib3d/real_time_pose_estimation/src/main_registration.cpp
+++ b/samples/cpp/tutorial_code/calib3d/real_time_pose_estimation/src/main_registration.cpp
@@ -1,5 +1,12 @@
+// C++
 #include <iostream>
-
+// OpenCV
+#include <opencv2/core/core.hpp>
+#include <opencv2/imgproc/imgproc.hpp>
+#include <opencv2/calib3d/calib3d.hpp>
+#include <opencv2/features2d/features2d.hpp>
+#include <opencv2/nonfree/features2d.hpp>
+// PnP Tutorial
 #include "Mesh.h"
 #include "Model.h"
 #include "PnPProblem.h"
@@ -7,75 +14,50 @@
 #include "ModelRegistration.h"
 #include "Utils.h"
 
-#include <opencv2/core/core.hpp>
-#include <opencv2/imgproc/imgproc.hpp>
-#include <opencv2/calib3d/calib3d.hpp>
-#include <opencv2/features2d/features2d.hpp>
-#include <opencv2/nonfree/features2d.hpp>
+/**  GLOBAL VARIABLES  **/
 
-  /*
-   * Set up the images paths
-   */
+std::string tutorial_path = "../../samples/cpp/tutorial_code/calib3d/real_time_pose_estimation/"; // path to tutorial
 
-  // COOKIES BOX [718x480]
-  std::string img_path = "../Data/resized_IMG_3875.JPG"; // f 55
+std::string img_path = tutorial_path + "Data/resized_IMG_3875.JPG";  // image to register
+std::string ply_read_path = tutorial_path + "Data/box.ply";          // object mesh
+std::string write_path = tutorial_path + "Data/cookies_ORB.yml";     // output file
 
-  // COOKIES BOX MESH
-  std::string ply_read_path = "../Data/box.ply";
+// Boolean the know if the registration it's done
+bool end_registration = false;
 
-  // YAML writting path
-  std::string write_path = "../Data/cookies_ORB.yml";
+// Intrinsic camera parameters: UVC WEBCAM
+double f = 45; // focal length in mm
+double sx = 22.3, sy = 14.9;
+double width = 2592, height = 1944;
+double params_CANON[] = { width*f/sx,   // fx
+                          height*f/sy,  // fy
+                          width/2,      // cx
+                          height/2};    // cy
 
-  void help()
-  {
-  std::cout
-  << "--------------------------------------------------------------------------"   << std::endl
-  << "This program shows how to create your 3D textured model. "                    << std::endl
-  << "Usage:"                                                                       << std::endl
-  << "./pnp_registration "                                                          << std::endl
-  << "--------------------------------------------------------------------------"   << std::endl
-  << std::endl;
-  }
+// Setup the points to register in the image
+// In the order of the *.ply file and starting at 1
+int n = 8;
+int pts[] = {1, 2, 3, 4, 5, 6, 7, 8}; // 3 -> 4
 
-  // Boolean the know if the registration it's done
-  bool end_registration = false;
+// Some basic colors
+cv::Scalar red(0, 0, 255);
+cv::Scalar green(0,255,0);
+cv::Scalar blue(255,0,0);
+cv::Scalar yellow(0,255,255);
 
-  /*
-   * Set up the intrinsic camera parameters: CANON
-   */
-  double f = 45; // focal length in mm
-  double sx = 22.3, sy = 14.9;
-  double width = 2592, height = 1944;
-  double params_CANON[] = { width*f/sx,   // fx
-                            height*f/sy,  // fy
-                            width/2,      // cx
-                            height/2};    // cy
-
-
-  // Setup the points to register in the image
-  // In the order of the *.ply file and starting at 1
-  int n = 8;
-  int pts[] = {1, 2, 3, 4, 5, 6, 7, 8}; // 3 -> 4
-
-  /*
-   * Set up some basic colors
-   */
-  cv::Scalar red(0, 0, 255);
-  cv::Scalar green(0,255,0);
-  cv::Scalar blue(255,0,0);
-  cv::Scalar yellow(0,255,255);
-
-  /*
-   * CREATE MODEL REGISTRATION OBJECT
-   * CREATE OBJECT MESH
-   * CREATE OBJECT MODEL
-   * CREATE PNP OBJECT
-   */
-  ModelRegistration registration;
-  Model model;
-  Mesh mesh;
-  PnPProblem pnp_registration(params_CANON);
+/*
+ * CREATE MODEL REGISTRATION OBJECT
+ * CREATE OBJECT MESH
+ * CREATE OBJECT MODEL
+ * CREATE PNP OBJECT
+ */
+ModelRegistration registration;
+Model model;
+Mesh mesh;
+PnPProblem pnp_registration(params_CANON);
 
+/**  Functions headers  **/
+void help();
 
 // Mouse events for model registration
 static void onMouseModelRegistration( int event, int x, int y, int, void* )
@@ -97,11 +79,7 @@ static void onMouseModelRegistration( int event, int x, int y, int, void* )
   }
 }
 
-/*
- *   MAIN PROGRAM
- *
- */
-
+/**  Main program  **/
 int main(int argc, char *argv[])
 {
 
@@ -118,11 +96,7 @@ int main(int argc, char *argv[])
   cv::FeatureDetector * detector = new cv::OrbFeatureDetector(numKeyPoints);
   rmatcher.setFeatureDetector(detector);
 
-  /*
-   * GROUND TRUTH OF THE FIRST IMAGE
-   *
-   * by the moment it is the reference image
-   */
+  /**  GROUND TRUTH OF THE FIRST IMAGE  **/
 
   // Create & Open Window
   cv::namedWindow("MODEL REGISTRATION", cv::WINDOW_KEEPRATIO);
@@ -183,12 +157,7 @@ int main(int argc, char *argv[])
     cv::imshow("MODEL REGISTRATION", img_vis);
   }
 
-
-  /*
-   *
-   * COMPUTE CAMERA POSE
-   *
-   */
+  /** COMPUTE CAMERA POSE **/
 
   std::cout << "COMPUTING POSE ..." << std::endl;
 
@@ -217,12 +186,7 @@ int main(int argc, char *argv[])
   cv::waitKey(0);
 
 
-   /*
-    *
-    * COMPUTE 3D of the image Keypoints
-    *
-    */
-
+   /** COMPUTE 3D of the image Keypoints **/
 
   // Containers for keypoints and descriptors of the model
   std::vector<cv::KeyPoint> keypoints_model;
@@ -288,3 +252,15 @@ int main(int argc, char *argv[])
   std::cout << "GOODBYE" << std::endl;
 
 }
+
+/**********************************************************************************************************/
+void help()
+{
+  std::cout
+  << "--------------------------------------------------------------------------"   << std::endl
+  << "This program shows how to create your 3D textured model. "                    << std::endl
+  << "Usage:"                                                                       << std::endl
+  << "./cpp-tutorial-pnp_registration"                                              << std::endl
+  << "--------------------------------------------------------------------------"   << std::endl
+  << std::endl;
+}

From 80b4f99b1e4f035b9be77e0ae835a2aea87a2ded Mon Sep 17 00:00:00 2001
From: edgarriba <edgar.riba@gmail.com>
Date: Sat, 9 Aug 2014 18:16:44 +0200
Subject: [PATCH 082/112] bug fixed

---
 .../real_time_pose_estimation/src/main_detection.cpp       | 7 +++----
 .../real_time_pose_estimation/src/main_registration.cpp    | 2 +-
 2 files changed, 4 insertions(+), 5 deletions(-)

diff --git a/samples/cpp/tutorial_code/calib3d/real_time_pose_estimation/src/main_detection.cpp b/samples/cpp/tutorial_code/calib3d/real_time_pose_estimation/src/main_detection.cpp
index c51f9518b5..42e38f13fe 100644
--- a/samples/cpp/tutorial_code/calib3d/real_time_pose_estimation/src/main_detection.cpp
+++ b/samples/cpp/tutorial_code/calib3d/real_time_pose_estimation/src/main_detection.cpp
@@ -75,7 +75,6 @@ int main(int argc, char *argv[])
 
   const cv::String keys =
       "{help h        |      | print this message                   }"
-      "{camera c      |      | use real time camera                 }"
       "{video v       |      | path to recorded video               }"
       "{model         |      | path to yml model                    }"
       "{mesh          |      | path to ply mesh                     }"
@@ -97,9 +96,9 @@ int main(int argc, char *argv[])
   }
   else
   {
-    video_read_path = parser.has("video") ? parser.get<std::string>(0) : video_read_path;
-    yml_read_path = parser.has("model") ? parser.get<std::string>(1) : yml_read_path;
-    ply_read_path = parser.has("mesh") ? parser.get<std::string>(2) : ply_read_path;
+    video_read_path = parser.get<std::string>("video").size() > 0 ? parser.get<std::string>("video") : video_read_path;
+    yml_read_path = parser.get<std::string>("model").size() > 0 ? parser.get<std::string>("model") : yml_read_path;
+    ply_read_path = parser.get<std::string>("mesh").size() > 0 ? parser.get<std::string>("mesh") : ply_read_path;
     numKeyPoints = !parser.has("keypoints") ? parser.get<int>("keypoints") : numKeyPoints;
     ratio = !parser.has("ratio") ? parser.get<float>("ratio") : ratio;
     fast_match = !parser.has("fast") ? parser.get<bool>("fast") : fast_match;
diff --git a/samples/cpp/tutorial_code/calib3d/real_time_pose_estimation/src/main_registration.cpp b/samples/cpp/tutorial_code/calib3d/real_time_pose_estimation/src/main_registration.cpp
index f53c2d5ae2..c1d3e7678d 100644
--- a/samples/cpp/tutorial_code/calib3d/real_time_pose_estimation/src/main_registration.cpp
+++ b/samples/cpp/tutorial_code/calib3d/real_time_pose_estimation/src/main_registration.cpp
@@ -80,7 +80,7 @@ static void onMouseModelRegistration( int event, int x, int y, int, void* )
 }
 
 /**  Main program  **/
-int main(int argc, char *argv[])
+int main()
 {
 
   help();

From bc250c2e3f492d317e703d67b2d825ab814f039c Mon Sep 17 00:00:00 2001
From: edgarriba <edgar.riba@gmail.com>
Date: Sat, 9 Aug 2014 19:15:46 +0200
Subject: [PATCH 083/112] bug fixed

---
 .../calib3d/real_time_pose_estimation/src/main_detection.cpp  | 4 ----
 1 file changed, 4 deletions(-)

diff --git a/samples/cpp/tutorial_code/calib3d/real_time_pose_estimation/src/main_detection.cpp b/samples/cpp/tutorial_code/calib3d/real_time_pose_estimation/src/main_detection.cpp
index 42e38f13fe..4667c69e09 100644
--- a/samples/cpp/tutorial_code/calib3d/real_time_pose_estimation/src/main_detection.cpp
+++ b/samples/cpp/tutorial_code/calib3d/real_time_pose_estimation/src/main_detection.cpp
@@ -162,10 +162,6 @@ int main(int argc, char *argv[])
     return -1;
   }
 
-  // Input parameters
-  if(argc > 2) pnpMethod = 0;
-
-
   // start and end times
   time_t start, end;
 

From 95471105332def964a99737e72fd7e783a9d0176 Mon Sep 17 00:00:00 2001
From: edgarriba <edgar.riba@gmail.com>
Date: Sat, 9 Aug 2014 19:47:42 +0200
Subject: [PATCH 084/112] Update tutorial

---
 .../calib3d/real_time_pose/real_time_pose.rst | 291 +++++++++++-------
 1 file changed, 180 insertions(+), 111 deletions(-)

diff --git a/doc/tutorials/calib3d/real_time_pose/real_time_pose.rst b/doc/tutorials/calib3d/real_time_pose/real_time_pose.rst
index 5b061b3efb..d037a5d0b3 100644
--- a/doc/tutorials/calib3d/real_time_pose/real_time_pose.rst
+++ b/doc/tutorials/calib3d/real_time_pose/real_time_pose.rst
@@ -53,22 +53,66 @@ The tutorial consists of two main programs:
 
 1. **Model registration**
 
-This applicaton is exclusive to whom don't have a 3D textured model of the object to be detected. You can use this program to create your own textured 3D model. This program only works for planar objects, then if you want to model an object with complex shape you should use a sophisticated software to create it.
+  This applicaton is exclusive to whom don't have a 3D textured model of the object to be detected. You can use this program to create your own textured 3D model. This program only works for planar objects, then if you want to model an object with complex shape you should use a sophisticated software to create it.
 
-The application needs an input image of the object to be registered and its 3D mesh. We have also to provide the intrinsic parameters of the camera with which the input image was taken. All the files need to be specified using the absolute path or the relative one from your application’s working directory. If none files are specified the program will try to open the provided default parameters.
+  The application needs an input image of the object to be registered and its 3D mesh. We have also to provide the intrinsic parameters of the camera with which the input image was taken. All the files need to be specified using the absolute path or the relative one from your application’s working directory. If none files are specified the program will try to open the provided default parameters.
 
-The application starts up extracting the ORB features and descriptors from the input image and then uses the mesh along with the `Möller–Trumbore intersection algorithm <http://http://en.wikipedia.org/wiki/M%C3%B6ller%E2%80%93Trumbore_intersection_algorithm/>`_ to compute the 3D coordinates of the found features. Finally, the 3D points and the descriptors are stored in different lists in a file with YAML format which each row is a different point. The technical background on how to store the files can be found in the :ref:`fileInputOutputXMLYAML` tutorial.
+  The application starts up extracting the ORB features and descriptors from the input image and then uses the mesh along with the `Möller–Trumbore intersection algorithm <http://http://en.wikipedia.org/wiki/M%C3%B6ller%E2%80%93Trumbore_intersection_algorithm/>`_ to compute the 3D coordinates of the found features. Finally, the 3D points and the descriptors are stored in different lists in a file with YAML format which each row is a different point. The technical background on how to store the files can be found in the :ref:`fileInputOutputXMLYAML` tutorial.
 
 .. image:: images/registration.png
    :alt: Model registration
    :align: center
 
 
-#. **Model detection**
+2. **Model detection**
 
-The aim of this application is estimate in real time the object pose given its 3D textured model.
+  The aim of this application is estimate in real time the object pose given its 3D textured model.
 
-The application starts up loading the 3D textured model in YAML file format with the same structure explained in the model registration program. From the scene the ORB features and descriptors are detected and extracted. Then, is used :flann_based_matcher:`FlannBasedMatcher<>` with :flann:`LshIndexParams <flann-index-t-index>` to do the matching between the scene descriptors and the model descriptors. Using the found matches along with :calib3d:`solvePnPRansac <solvepnpransac>` function the :math:`R` and :math:`t` of the camera are computed. Finally, a :video:`KalmanFilter<kalmanfilter>` is applied in order to reject bad poses.
+  The application starts up loading the 3D textured model in YAML file format with the same structure explained in the model registration program. From the scene, the ORB features and descriptors are detected and extracted. Then, is used :flann_based_matcher:`FlannBasedMatcher<>` with :flann:`LshIndexParams <flann-index-t-index>` to do the matching between the scene descriptors and the model descriptors. Using the found matches along with :calib3d:`solvePnPRansac <solvepnpransac>` function the :math:`R` and :math:`t` of the camera are computed. Finally, a :video:`KalmanFilter<kalmanfilter>` is applied in order to reject bad poses.
+
+  In the case that you compiled OpenCV with the samples, you can find it in :file:`opencv/build/bin/cpp-tutorial-pnp_detection`. Then you can run the application and change some parameters:
+
+  .. code-block:: cpp
+
+    This program shows how to detect an object given its 3D textured model. You can choose to use a recorded video or the webcam.
+    Usage:
+      ./cpp-tutorial-pnp_detection -help
+    Keys:
+      'esc' - to quit.
+    --------------------------------------------------------------------------
+
+    Usage: cpp-tutorial-pnp_detection [params] 
+
+      -c, --confidence (value:0.95)
+          RANSAC confidence
+      -e, --error (value:2.0)
+          RANSAC reprojection errror
+      -f, --fast (value:true)
+          use of robust fast match
+      -h, --help (value:true)
+          print this message
+      --in, --inliers (value:30)
+          minimum inliers for Kalman update
+      --it, --iterations (value:500)
+          RANSAC maximum iterations count
+      -k, --keypoints (value:2000)
+          number of keypoints to detect
+      --mesh
+          path to ply mesh
+      --method, --pnp (value:0)
+          PnP method: (0) ITERATIVE - (1) EPNP - (2) P3P - (3) DLS
+      --model
+          path to yml model
+      -r, --ratio (value:0.7)
+          threshold for ratio test
+      -v, --video
+          path to recorded video
+
+  For example, you can run the application changing the pnp method:
+
+  .. code-block:: cpp
+
+    ./cpp-tutorial-pnp_detection --method=2
 
 
 Explanation
@@ -78,7 +122,7 @@ Here is explained in detail the code for the real time application:
 
 1. **Read 3D textured object model and object mesh.**
 
-In order to load the textured model I implemented the *class* **Model** which has the function *load()* that opens a YAML file and take the stored 3D points with its corresponding descriptors. You can find an example of a 3D textured model in :file:`samples/cpp/tutorial_code/calib3d/real_time_pose_estimation/Data/cookies_ORB.yml`.
+  In order to load the textured model I implemented the *class* **Model** which has the function *load()* that opens a YAML file and take the stored 3D points with its corresponding descriptors. You can find an example of a 3D textured model in :file:`samples/cpp/tutorial_code/calib3d/real_time_pose_estimation/Data/cookies_ORB.yml`.
 
    .. code-block:: cpp
 
@@ -97,16 +141,14 @@ In order to load the textured model I implemented the *class* **Model** which ha
 
     }
 
-In the main program the model is loaded as follows:
+  In the main program the model is loaded as follows:
 
   .. code-block:: cpp
 
     Model model;               // instantiate Model object
     model.load(yml_read_path); // load a 3D textured object model
 
-
-
-In order to read the model mesh I implemented a *class* **Mesh** which has a function *load()* that opens a :math:`*`.ply file and store the 3D points of the object and also the composed triangles. You can find an example of a model mesh in :file:`samples/cpp/tutorial_code/calib3d/real_time_pose_estimation/Data/box.ply`.
+  In order to read the model mesh I implemented a *class* **Mesh** which has a function *load()* that opens a :math:`*`.ply file and store the 3D points of the object and also the composed triangles. You can find an example of a model mesh in :file:`samples/cpp/tutorial_code/calib3d/real_time_pose_estimation/Data/box.ply`.
 
    .. code-block:: cpp
 
@@ -130,51 +172,62 @@ In order to read the model mesh I implemented a *class* **Mesh** which has a fun
 
     }
 
-In the main program the mesh is loaded as follows:
+  In the main program the mesh is loaded as follows:
 
   .. code-block:: cpp
 
     Mesh mesh;                // instantiate Mesh object
     mesh.load(ply_read_path); // load an object mesh
 
-
-#. **Take input from Camera or Video**
-
-To detect is necessary capture video. It's done loading a recorded video by passing the absolute path where it is located in your machine or using the default camera device. In order to test the application you can find a recorded video in :file:`samples/cpp/tutorial_code/calib3d/real_time_pose_estimation/Data/box.mp4`.
+  You can also load different model and mesh:
 
   .. code-block:: cpp
 
-    cv::VideoCapture cap;                           // instantiate VideoCapture
-    (argc < 2) ? cap.open(0) : cap.open(argv[1]);   // open the default camera device
-                            // or a recorder video
+   ./cpp-tutorial-pnp_detection --mesh=/absolute_path_to_your_mesh.ply --model=/absolute_path_to_your_model.yml
 
-    if(!cap.isOpened())                             // check if we succeeded
+
+2. **Take input from Camera or Video**
+
+  To detect is necessary capture video. It's done loading a recorded video by passing the absolute path where it is located in your machine. In order to test the application you can find a recorded video in :file:`samples/cpp/tutorial_code/calib3d/real_time_pose_estimation/Data/box.mp4`.
+
+  .. code-block:: cpp
+
+    cv::VideoCapture cap;                // instantiate VideoCapture
+    cap.open(video_read_path);           // open a recorded video
+
+    if(!cap.isOpened())                  // check if we succeeded
     {
-        std::cout << "Could not open the camera device" << std::endl;
-        return -1;
+       std::cout << "Could not open the camera device" << std::endl;
+       return -1;
     }
 
-Then the algorithm is computed frame per frame:
+  Then the algorithm is computed frame per frame:
 
   .. code-block:: cpp
 
     cv::Mat frame, frame_vis;
 
-    while(cap.read(frame) && cv::waitKey(30) != 27) // capture frame until ESC is pressed
+    while(cap.read(frame) && cv::waitKey(30) != 27)    // capture frame until ESC is pressed
     {
 
-        frame_vis = frame.clone();      // refresh visualisation frame
+        frame_vis = frame.clone();                     // refresh visualisation frame
 
         // MAIN ALGORITHM
 
     }
 
+  You can also load different recorded video:
 
-#. **Extract ORB features and descriptors from the scene**
+  .. code-block:: cpp
 
-The next step is to detect the scene features and extract it descriptors. For this task I implemented a *class* **RobustMatcher** which has a function for keypoints detection and features extraction. You can find it in :file:`samples/cpp/tutorial_code/calib3d/real_time_pose_estimation/src/RobusMatcher.cpp`. In your *RobusMatch* object you can use any of the 2D features detectors of OpenCV. In this case I used :feature_detection_and_description:`ORB<orb>` features because is based on :feature_detection_and_description:`FAST<fast>` to detect the keypoints and :descriptor_extractor:`BRIEF<briefdescriptorextractor>` to extract the descriptors which means that is fast and robust to rotations. You can find more detailed information about *ORB* in the documentation.
+   ./cpp-tutorial-pnp_detection --video=/absolute_path_to_your_video.mp4
 
-The following code is how to instantiate and set the features detector and the descriptors extractor:
+
+3. **Extract ORB features and descriptors from the scene**
+
+  The next step is to detect the scene features and extract it descriptors. For this task I implemented a *class* **RobustMatcher** which has a function for keypoints detection and features extraction. You can find it in :file:`samples/cpp/tutorial_code/calib3d/real_time_pose_estimation/src/RobusMatcher.cpp`. In your *RobusMatch* object you can use any of the 2D features detectors of OpenCV. In this case I used :feature_detection_and_description:`ORB<orb>` features because is based on :feature_detection_and_description:`FAST<fast>` to detect the keypoints and :descriptor_extractor:`BRIEF<briefdescriptorextractor>` to extract the descriptors which means that is fast and robust to rotations. You can find more detailed information about *ORB* in the documentation.
+
+  The following code is how to instantiate and set the features detector and the descriptors extractor:
 
   .. code-block:: cpp
 
@@ -186,18 +239,18 @@ The following code is how to instantiate and set the features detector and the d
     rmatcher.setFeatureDetector(detector);                                           // set feature detector
     rmatcher.setDescriptorExtractor(extractor);                                      // set descriptor extractor
 
-The features and descriptors will be computed by the *RobustMatcher* inside the matching function.
+  The features and descriptors will be computed by the *RobustMatcher* inside the matching function.
 
 
-#. **Match scene descriptors with model descriptors using Flann matcher**
+4. **Match scene descriptors with model descriptors using Flann matcher**
 
-It is the first step in our detection algorithm. The main idea is to match the scene descriptors with our model descriptors in order to know the 3D coordinates of the found features into the current scene.
+  It is the first step in our detection algorithm. The main idea is to match the scene descriptors with our model descriptors in order to know the 3D coordinates of the found features into the current scene.
 
-Firstly, we have to set which matcher we want to use. In this case is used :flann_based_matcher:`FlannBasedMatcher<>` matcher which in terms of computational cost is faster than the :brute_force_matcher:`BruteForceMatcher<bfmatcher>` matcher as we increase the trained collectction of features. Then, for FlannBased matcher the index created is *Multi-Probe LSH: Efficient Indexing for High-Dimensional Similarity Search* due to *ORB* descriptors are binary.
+  Firstly, we have to set which matcher we want to use. In this case is used :flann_based_matcher:`FlannBasedMatcher<>` matcher which in terms of computational cost is faster than the :brute_force_matcher:`BruteForceMatcher<bfmatcher>` matcher as we increase the trained collectction of features. Then, for FlannBased matcher the index created is *Multi-Probe LSH: Efficient Indexing for High-Dimensional Similarity Search* due to *ORB* descriptors are binary.
 
-You can tune the *LSH* and search parameters to improve the matching efficiency:
+  You can tune the *LSH* and search parameters to improve the matching efficiency:
 
- .. code-block:: cpp
+  .. code-block:: cpp
 
     cv::Ptr<cv::flann::IndexParams> indexParams = cv::makePtr<cv::flann::LshIndexParams>(6, 12, 1); // instantiate LSH index parameters
     cv::Ptr<cv::flann::SearchParams> searchParams = cv::makePtr<cv::flann::SearchParams>(50);       // instantiate flann search parameters
@@ -206,18 +259,18 @@ You can tune the *LSH* and search parameters to improve the matching efficiency:
     rmatcher.setDescriptorMatcher(matcher);                                                         // set matcher
 
 
-Secondly, we have to call the matcher by using *robustMatch()* or *fastRobustMatch()* function. The difference of using this two functions is its computational cost. The first method is slower but more robust at filtering good matches because uses two ratio test and a symmetry test. In contrast, the second method is faster but less robust because only applies a single ratio test to the matches.
+  Secondly, we have to call the matcher by using *robustMatch()* or *fastRobustMatch()* function. The difference of using this two functions is its computational cost. The first method is slower but more robust at filtering good matches because uses two ratio test and a symmetry test. In contrast, the second method is faster but less robust because only applies a single ratio test to the matches.
 
-The following code is to get the model 3D points and its descriptors and then call the matcher in the main program:
+  The following code is to get the model 3D points and its descriptors and then call the matcher in the main program:
 
-   .. code-block:: cpp
+  .. code-block:: cpp
 
     // Get the MODEL INFO
 
     std::vector<cv::Point3f> list_points3d_model = model.get_points3d();  // list with model 3D coordinates
     cv::Mat descriptors_model = model.get_descriptors();                  // list with descriptors of each 3D coordinate
 
-   .. code-block:: cpp
+  .. code-block:: cpp
 
     // -- Step 1: Robust matching between model descriptors and scene descriptors
 
@@ -233,13 +286,13 @@ The following code is to get the model 3D points and its descriptors and then ca
         rmatcher.robustMatch(frame, good_matches, keypoints_scene, descriptors_model);
     }
 
-The following code corresponds to the *robustMatch()* function which belongs to the *RobustMatcher* class. This function uses the given image to detect the keypoints and extract the descriptors, match using *two Nearest Neighbour* the extracted descriptors with the given model descriptors and vice versa. Then, a ratio test is applied to the two direction matches in order to remove these matches which its distance ratio between the first and second best match is larger than a given threshold. Finally, a symmetry test is applied in order the remove non symmetrical matches.
+  The following code corresponds to the *robustMatch()* function which belongs to the *RobustMatcher* class. This function uses the given image to detect the keypoints and extract the descriptors, match using *two Nearest Neighbour* the extracted descriptors with the given model descriptors and vice versa. Then, a ratio test is applied to the two direction matches in order to remove these matches which its distance ratio between the first and second best match is larger than a given threshold. Finally, a symmetry test is applied in order the remove non symmetrical matches.
 
-   .. code-block:: cpp
+  .. code-block:: cpp
 
     void RobustMatcher::robustMatch( const cv::Mat& frame, std::vector<cv::DMatch>& good_matches,
-                                 std::vector<cv::KeyPoint>& keypoints_frame,
-                                         const std::vector<cv::KeyPoint>& keypoints_model, const cv::Mat& descriptors_model )
+                                     std::vector<cv::KeyPoint>& keypoints_frame,
+                                     const std::vector<cv::KeyPoint>& keypoints_model, const cv::Mat& descriptors_model )
     {
 
         // 1a. Detection of the ORB features
@@ -269,9 +322,9 @@ The following code corresponds to the *robustMatch()* function which belongs to
 
     }
 
-After the matches filtering we have to subtract the 2D and 3D correspondences from the found scene keypoints and our 3D model using the obtained *DMatches* vector. For more information about :basicstructures:`DMatch <dmatch>` check the documentation.
+  After the matches filtering we have to subtract the 2D and 3D correspondences from the found scene keypoints and our 3D model using the obtained *DMatches* vector. For more information about :basicstructures:`DMatch <dmatch>` check the documentation.
 
-   .. code-block:: cpp
+  .. code-block:: cpp
 
     // -- Step 2: Find out the 2D/3D correspondences
 
@@ -280,41 +333,45 @@ After the matches filtering we have to subtract the 2D and 3D correspondences fr
 
     for(unsigned int match_index = 0; match_index < good_matches.size(); ++match_index)
     {
-        cv::Point3f point3d_model = list_points3d_model[ good_matches[match_index].trainIdx ];    // 3D point from model
+        cv::Point3f point3d_model = list_points3d_model[ good_matches[match_index].trainIdx ];   // 3D point from model
         cv::Point2f point2d_scene = keypoints_scene[ good_matches[match_index].queryIdx ].pt;    // 2D point from the scene
-        list_points3d_model_match.push_back(point3d_model);                    // add 3D point
-        list_points2d_scene_match.push_back(point2d_scene);                    // add 2D point
+        list_points3d_model_match.push_back(point3d_model);                                      // add 3D point
+        list_points2d_scene_match.push_back(point2d_scene);                                      // add 2D point
     }
 
+  You can also change the ratio test threshold, the number of keypoints to detect as well as use or not the robust matcher:
 
-#. **Pose estimation using PnP + Ransac**
+  .. code-block:: cpp
 
-Once with the 2D and 3D correspondences we have to apply a PnP algorithm in order to estimate the camera pose. The reason why we have to use :calib3d:`solvePnPRansac <solvepnpransac>` instead of :calib3d:`solvePnP <solvepnp>` is due to the fact that after the matching not all the found correspondences are correct and, as like as not, there are false correspondences or also called *outliers*. The `Random Sample Consensus <http://en.wikipedia.org/wiki/RANSAC>`_ or *Ransac* is a non-deterministic iterative method which estimate parameters of a mathematical model from observed data producing an aproximate result as the number of iterations increase. After appyling *Ransac* all the *outliers* will be eliminated to then estimate the camera pose with a certain probability to obtain a good solution.
+   ./cpp-tutorial-pnp_detection --ratio=0.8 --keypoints=1000 --fast=false
 
-For the camera pose estimation I have implemented a *class* **PnPProblem**. This *class* has 4 atributes: a given calibration matrix, the rotation matrix, the translation matrix and the rotation-translation matrix. The intrinsic calibration parameters of the camera which you are using to estimate the pose are necessary. In order to obtain the parameters you can check :ref:`CameraCalibrationSquareChessBoardTutorial` and :ref:`cameraCalibrationOpenCV` tutorials.
 
-The following code is how to declare the *PnPProblem class* in the main program:
+5. **Pose estimation using PnP + Ransac**
 
-   .. code-block:: cpp
+  Once with the 2D and 3D correspondences we have to apply a PnP algorithm in order to estimate the camera pose. The reason why we have to use :calib3d:`solvePnPRansac <solvepnpransac>` instead of :calib3d:`solvePnP <solvepnp>` is due to the fact that after the matching not all the found correspondences are correct and, as like as not, there are false correspondences or also called *outliers*. The `Random Sample Consensus <http://en.wikipedia.org/wiki/RANSAC>`_ or *Ransac* is a non-deterministic iterative method which estimate parameters of a mathematical model from observed data producing an aproximate result as the number of iterations increase. After appyling *Ransac* all the *outliers* will be eliminated to then estimate the camera pose with a certain probability to obtain a good solution.
 
-    /*
-     * Set up the intrinsic camera parameters: UVC WEBCAM
-     */
+  For the camera pose estimation I have implemented a *class* **PnPProblem**. This *class* has 4 atributes: a given calibration matrix, the rotation matrix, the translation matrix and the rotation-translation matrix. The intrinsic calibration parameters of the camera which you are using to estimate the pose are necessary. In order to obtain the parameters you can check :ref:`CameraCalibrationSquareChessBoardTutorial` and :ref:`cameraCalibrationOpenCV` tutorials.
+
+  The following code is how to declare the *PnPProblem class* in the main program:
+
+  .. code-block:: cpp
+
+    // Intrinsic camera parameters: UVC WEBCAM
 
     double f = 55;                           // focal length in mm
     double sx = 22.3, sy = 14.9;             // sensor size
     double width = 640, height = 480;        // image size
 
     double params_WEBCAM[] = { width*f/sx,   // fx
-                           height*f/sy,  // fy
-                           width/2,      // cx
-                           height/2};    // cy
+                               height*f/sy,  // fy
+                               width/2,      // cx
+                               height/2};    // cy
 
     PnPProblem pnp_detection(params_WEBCAM); // instantiate PnPProblem class
 
-The following code is how the *PnPProblem class* initialises its atributes:
+  The following code is how the *PnPProblem class* initialises its atributes:
 
-   .. code-block:: cpp
+  .. code-block:: cpp
 
     // Custom constructor given the intrinsic camera parameters
 
@@ -332,61 +389,60 @@ The following code is how the *PnPProblem class* initialises its atributes:
 
     }
 
-OpenCV provides four PnP methods: ITERATIVE, EPNP, P3P and DLS. Depending on the application type, the estimation method will be different. In the case that we want to make a real time application, the more suitable methods are EPNP and P3P due to that are faster than ITERATIVE and DLS at finding an optimal solution. However, EPNP and P3P are not especially robust in front of planar surfaces and sometimes the pose estimation seems to have a mirror effect. Therefore, in this this tutorial is used ITERATIVE method due to the object to be detected has planar surfaces.
+  OpenCV provides four PnP methods: ITERATIVE, EPNP, P3P and DLS. Depending on the application type, the estimation method will be different. In the case that we want to make a real time application, the more suitable methods are EPNP and P3P due to that are faster than ITERATIVE and DLS at finding an optimal solution. However, EPNP and P3P are not especially robust in front of planar surfaces and sometimes the pose estimation seems to have a mirror effect. Therefore, in this this tutorial is used ITERATIVE method due to the object to be detected has planar surfaces.
 
-The OpenCV Ransac implementation wants you to provide three parameters: the maximum number of iterations until stop the algorithm, the maximum allowed distance between the observed and computed point projections to consider it an inlier and the confidence to obtain a good result. You can tune these paramaters in order to improve your algorithm performance. Increasing the number of iterations you will have a more accurate solution, but will take more time to find a solution. Increasing the reprojection error will reduce the computation time, but your solution will be unaccurate. Decreasing the confidence your arlgorithm will be faster, but the obtained solution will be unaccurate.
+  The OpenCV Ransac implementation wants you to provide three parameters: the maximum number of iterations until stop the algorithm, the maximum allowed distance between the observed and computed point projections to consider it an inlier and the confidence to obtain a good result. You can tune these paramaters in order to improve your algorithm performance. Increasing the number of iterations you will have a more accurate solution, but will take more time to find a solution. Increasing the reprojection error will reduce the computation time, but your solution will be unaccurate. Decreasing the confidence your arlgorithm will be faster, but the obtained solution will be unaccurate.
 
-The following parameters work for this application:
+  The following parameters work for this application:
 
-   .. code-block:: cpp
+  .. code-block:: cpp
 
     // RANSAC parameters
 
-    int iterationsCount = 500;    // number of Ransac iterations.
+    int iterationsCount = 500;        // number of Ransac iterations.
     float reprojectionError = 2.0;    // maximum allowed distance to consider it an inlier.
-    float confidence = 0.95;    // ransac successful confidence.
+    float confidence = 0.95;          // ransac successful confidence.
 
 
-The following code corresponds to the *estimatePoseRANSAC()* function which belongs to the *PnPProblem class*. This function estimates the rotation and translation matrix given a set of 2D/3D correspondences, the desired PnP method to use, the output inliers container and the Ransac parameters:
+  The following code corresponds to the *estimatePoseRANSAC()* function which belongs to the *PnPProblem class*. This function estimates the rotation and translation matrix given a set of 2D/3D correspondences, the desired PnP method to use, the output inliers container and the Ransac parameters:
 
-   .. code-block:: cpp
+  .. code-block:: cpp
 
     // Estimate the pose given a list of 2D/3D correspondences with RANSAC and the method to use
 
-    void PnPProblem::estimatePoseRANSAC( const std::vector<cv::Point3f> &list_points3d,    // list with model 3D coordinates
-                                     const std::vector<cv::Point2f> &list_points2d,     // list with scene 2D coordinates
-                                     int flags, cv::Mat &inliers, int iterationsCount,  // PnP method; inliers container
-                                     float reprojectionError, float confidence )       // Ransac parameters
+    void PnPProblem::estimatePoseRANSAC( const std::vector<cv::Point3f> &list_points3d,        // list with model 3D coordinates
+                                         const std::vector<cv::Point2f> &list_points2d,        // list with scene 2D coordinates
+                                         int flags, cv::Mat &inliers, int iterationsCount,     // PnP method; inliers container
+                                         float reprojectionError, float confidence )           // Ransac parameters
     {
         cv::Mat distCoeffs = cv::Mat::zeros(4, 1, CV_64FC1);    // vector of distortion coefficients
         cv::Mat rvec = cv::Mat::zeros(3, 1, CV_64FC1);          // output rotation vector
-        cv::Mat tvec = cv::Mat::zeros(3, 1, CV_64FC1);        // output translation vector
+        cv::Mat tvec = cv::Mat::zeros(3, 1, CV_64FC1);          // output translation vector
 
         bool useExtrinsicGuess = false;   // if true the function uses the provided rvec and tvec values as
-                          // initial approximations of the rotation and translation vectors
+                                          // initial approximations of the rotation and translation vectors
 
         cv::solvePnPRansac( list_points3d, list_points2d, _A_matrix, distCoeffs, rvec, tvec,
-                        useExtrinsicGuess, iterationsCount, reprojectionError, confidence,
-                        inliers, flags );
+                            useExtrinsicGuess, iterationsCount, reprojectionError, confidence,
+                            inliers, flags );
 
-        Rodrigues(rvec,_R_matrix);             // converts Rotation Vector to Matrix
-        _t_matrix = tvec;                // set translation matrix
+        Rodrigues(rvec,_R_matrix);                   // converts Rotation Vector to Matrix
+        _t_matrix = tvec;                            // set translation matrix
 
         this->set_P_matrix(_R_matrix, _t_matrix);    // set rotation-translation matrix
 
     }
 
-In the following code are the 3th and 4th steps of the main algorithm. The first, calling the above function and the second taking the output inliers vector from Ransac to get the 2D scene points for drawing purpose. As seen in the code we must be sure to apply Ransac if we have matches, in the other case, the function :calib3d:`solvePnPRansac <solvepnpransac>` crashes due to any OpenCV *bug*.
+  In the following code are the 3th and 4th steps of the main algorithm. The first, calling the above function and the second taking the output inliers vector from Ransac to get the 2D scene points for drawing purpose. As seen in the code we must be sure to apply Ransac if we have matches, in the other case, the function :calib3d:`solvePnPRansac <solvepnpransac>` crashes due to any OpenCV *bug*.
 
-   .. code-block:: cpp
+  .. code-block:: cpp
 
     if(good_matches.size() > 0) // None matches, then RANSAC crashes
     {
 
         // -- Step 3: Estimate the pose using RANSAC approach
         pnp_detection.estimatePoseRANSAC( list_points3d_model_match, list_points2d_scene_match,
-                                  cv::ITERATIVE, inliers_idx,
-                                  iterationsCount, reprojectionError, minInliersCount );
+                                          pnpMethod, inliers_idx, iterationsCount, reprojectionError, confidence );
 
 
         // -- Step 4: Catch the inliers keypoints to draw
@@ -398,11 +454,11 @@ In the following code are the 3th and 4th steps of the main algorithm. The first
     }
 
 
-Finally, once the camera pose has been estimated we can use the :math:`R` and :math:`t` in order to compute the 2D projection onto the image of a given 3D point expressed in a world reference frame using the showed formula on *Theory*.
+  Finally, once the camera pose has been estimated we can use the :math:`R` and :math:`t` in order to compute the 2D projection onto the image of a given 3D point expressed in a world reference frame using the showed formula on *Theory*.
 
-The following code corresponds to the *backproject3DPoint()* function which belongs to the *PnPProblem class*. The function backproject a given 3D point expressed in a world reference frame onto a 2D image:
+  The following code corresponds to the *backproject3DPoint()* function which belongs to the *PnPProblem class*. The function backproject a given 3D point expressed in a world reference frame onto a 2D image:
 
-   .. code-block:: cpp
+  .. code-block:: cpp
 
     // Backproject a 3D point to 2D using the estimated pose parameters
 
@@ -427,24 +483,30 @@ The following code corresponds to the *backproject3DPoint()* function which belo
         return point2d;
     }
 
-The above function is used to compute all the 3D points of the object *Mesh* to show the pose of the object.
+  The above function is used to compute all the 3D points of the object *Mesh* to show the pose of the object.
+  
+  You can also change RANSAC parameters and PnP method:
+
+  .. code-block:: cpp
+
+   ./cpp-tutorial-pnp_detection --error=0.25 --confidence=0.90 --iterations=250 --method=3
 
 
-#. **Linear Kalman Filter for bad poses rejection**
+6. **Linear Kalman Filter for bad poses rejection**
 
-Is it common in computer vision or robotics fields that after applying detection or tracking techniques, bad results are obtained due to some sensor errors. In order to avoid these bad detections in this tutorial is explained how to implement a Linear Kalman Filter. The Kalman Filter will be applied after detected a given number of inliers.
+  Is it common in computer vision or robotics fields that after applying detection or tracking techniques, bad results are obtained due to some sensor errors. In order to avoid these bad detections in this tutorial is explained how to implement a Linear Kalman Filter. The Kalman Filter will be applied after detected a given number of inliers.
 
-You can find more information about what `Kalman Filter <http://en.wikipedia.org/wiki/Kalman_filter>`_ is. In this tutorial it's used the OpenCV implementation of the :video:`Kalman Filter <kalmanfilter>` based on `Linear Kalman Filter for position and orientation tracking <http://campar.in.tum.de/Chair/KalmanFilter>`_ to set the dynamics and measurement models.
+  You can find more information about what `Kalman Filter <http://en.wikipedia.org/wiki/Kalman_filter>`_ is. In this tutorial it's used the OpenCV implementation of the :video:`Kalman Filter <kalmanfilter>` based on `Linear Kalman Filter for position and orientation tracking <http://campar.in.tum.de/Chair/KalmanFilter>`_ to set the dynamics and measurement models.
 
-Firstly, we have to define our state vector which will have 18 states: the positional data (x,y,z) with its first and second derivatives (velocity and acceleration), then rotation is added in form of three euler angles (roll, pitch, jaw) together with their first and second derivatives (angular velocity and acceleration)
+  Firstly, we have to define our state vector which will have 18 states: the positional data (x,y,z) with its first and second derivatives (velocity and acceleration), then rotation is added in form of three euler angles (roll, pitch, jaw) together with their first and second derivatives (angular velocity and acceleration)
 
    .. math::
 
     X = (x,y,z,\dot x,\dot y,\dot z,\ddot x,\ddot y,\ddot z,\psi,\theta,\phi,\dot \psi,\dot \theta,\dot \phi,\ddot \psi,\ddot \theta,\ddot \phi)^T
 
-Secondly, we have to define the number of measuremnts which will be 6: from :math:`R` and :math:`t` we can extract :math:`(x,y,z)` and :math:`(\psi,\theta,\phi)`. In addition, we have to define the number of control actions to apply to the system which in this case will be *zero*. Finally, we have to define the differential time between measurements which in this case is :math:`1/T`, where *T* is the frame rate of the video.
+  Secondly, we have to define the number of measuremnts which will be 6: from :math:`R` and :math:`t` we can extract :math:`(x,y,z)` and :math:`(\psi,\theta,\phi)`. In addition, we have to define the number of control actions to apply to the system which in this case will be *zero*. Finally, we have to define the differential time between measurements which in this case is :math:`1/T`, where *T* is the frame rate of the video.
 
-   .. code-block:: cpp
+  .. code-block:: cpp
 
     cv::KalmanFilter KF;         // instantiate Kalman Filter
 
@@ -457,11 +519,11 @@ Secondly, we have to define the number of measuremnts which will be 6: from :mat
     initKalmanFilter(KF, nStates, nMeasurements, nInputs, dt);    // init function
 
 
-The following code corresponds to the *Kalman Filter* initialisation. Firstly, is set the process noise, the measurement noise and the error covariance matrix. Secondly, are set the transition matrix which is the dynamic model and finally the measurement matrix, which is the measurement model.
+  The following code corresponds to the *Kalman Filter* initialisation. Firstly, is set the process noise, the measurement noise and the error covariance matrix. Secondly, are set the transition matrix which is the dynamic model and finally the measurement matrix, which is the measurement model.
 
-You can tune the process and measurement noise to improve the *Kalman Filter* performance. As the measurement noise is reduced the faster will converge doing the algorithm sensitive in front of bad measurements.
+  You can tune the process and measurement noise to improve the *Kalman Filter* performance. As the measurement noise is reduced the faster will converge doing the algorithm sensitive in front of bad measurements.
 
-   .. code-block:: cpp
+  .. code-block:: cpp
 
     void initKalmanFilter(cv::KalmanFilter &KF, int nStates, int nMeasurements, int nInputs, double dt)
     {
@@ -533,14 +595,11 @@ You can tune the process and measurement noise to improve the *Kalman Filter* pe
       KF.measurementMatrix.at<double>(4,10) = 1; // pitch
       KF.measurementMatrix.at<double>(5,11) = 1; // yaw
 
-      std::cout << "A " << std::endl << KF.transitionMatrix << std::endl;
-      std::cout << "C " << std::endl << KF.measurementMatrix << std::endl;
-
     }
 
-In the following code is the 5th step of the main algorithm. When the obtained number of inliers after *Ransac* is over the threshold, the measurements matrix is filled and then the *Kalman Filter* is updated:
+  In the following code is the 5th step of the main algorithm. When the obtained number of inliers after *Ransac* is over the threshold, the measurements matrix is filled and then the *Kalman Filter* is updated:
 
-   .. code-block:: cpp
+  .. code-block:: cpp
 
     // -- Step 5: Kalman Filter
 
@@ -569,9 +628,9 @@ In the following code is the 5th step of the main algorithm. When the obtained n
     updateKalmanFilter( KF, measurements,
                   translation_estimated, rotation_estimated);
 
-The following code corresponds to the *fillMeasurements()* function which converts the measured `Rotation Matrix to Eulers angles <http://euclideanspace.com/maths/geometry/rotations/conversions/matrixToEuler/index.htm>`_ and fill the measurements matrix along with the measured  translation vector:
+  The following code corresponds to the *fillMeasurements()* function which converts the measured `Rotation Matrix to Eulers angles <http://euclideanspace.com/maths/geometry/rotations/conversions/matrixToEuler/index.htm>`_ and fill the measurements matrix along with the measured  translation vector:
 
-   .. code-block:: cpp
+  .. code-block:: cpp
 
     void fillMeasurements( cv::Mat &measurements,
                        const cv::Mat &translation_measured, const cv::Mat &rotation_measured)
@@ -590,9 +649,9 @@ The following code corresponds to the *fillMeasurements()* function which conver
     }
 
 
-The following code corresponds to the *updateKalmanFilter()* function which update the Kalman Filter and set the estimated Rotation Matrix and translation vector. The estimated Rotation Matrix comes from the estimated `Euler angles to Rotation Matrix <http://euclideanspace.com/maths/geometry/rotations/conversions/eulerToMatrix/index.htm>`_.
+  The following code corresponds to the *updateKalmanFilter()* function which update the Kalman Filter and set the estimated Rotation Matrix and translation vector. The estimated Rotation Matrix comes from the estimated `Euler angles to Rotation Matrix <http://euclideanspace.com/maths/geometry/rotations/conversions/eulerToMatrix/index.htm>`_.
 
-   .. code-block:: cpp
+  .. code-block:: cpp
 
     void updateKalmanFilter( cv::KalmanFilter &KF, cv::Mat &measurement,
                          cv::Mat &translation_estimated, cv::Mat &rotation_estimated )
@@ -620,22 +679,22 @@ The following code corresponds to the *updateKalmanFilter()* function which upda
 
     }
 
-The 6th step is set the estimated rotation-translation matrix:
+  The 6th step is set the estimated rotation-translation matrix:
 
-   .. code-block:: cpp
+  .. code-block:: cpp
 
     // -- Step 6: Set estimated projection matrix
     pnp_detection_est.set_P_matrix(rotation_estimated, translation_estimated);
 
 
-The last and optional step is draw the found pose. To do it I implemented a function to draw all the mesh 3D points and an extra reference axis:
+  The last and optional step is draw the found pose. To do it I implemented a function to draw all the mesh 3D points and an extra reference axis:
 
-   .. code-block:: cpp
+  .. code-block:: cpp
 
     // -- Step X: Draw pose
 
     drawObjectMesh(frame_vis, &mesh, &pnp_detection, green);                // draw current pose
-    drawObjectMesh(frame_vis, &mesh, &pnp_detection_est, yellow);                // draw estimated pose
+    drawObjectMesh(frame_vis, &mesh, &pnp_detection_est, yellow);           // draw estimated pose
 
     double l = 5;
     std::vector<cv::Point2f> pose_points2d;
@@ -643,7 +702,13 @@ The last and optional step is draw the found pose. To do it I implemented a func
     pose_points2d.push_back(pnp_detection_est.backproject3DPoint(cv::Point3f(l,0,0)));    // axis x
     pose_points2d.push_back(pnp_detection_est.backproject3DPoint(cv::Point3f(0,l,0)));    // axis y
     pose_points2d.push_back(pnp_detection_est.backproject3DPoint(cv::Point3f(0,0,l)));    // axis z
-    draw3DCoordinateAxes(frame_vis, pose_points2d);                        // draw axes
+    draw3DCoordinateAxes(frame_vis, pose_points2d);                                       // draw axes
+
+  You can also modify the minimum inliers to update Kalman Filter:
+
+  .. code-block:: cpp
+
+   ./cpp-tutorial-pnp_detection --inliers=20
 
 
 Results
@@ -651,7 +716,7 @@ Results
 
 The following videos are the results of pose estimation in real time using the explained detection algorithm using the following parameters:
 
-   .. code-block:: cpp
+  .. code-block:: cpp
 
     // Robust Matcher parameters
 
@@ -679,3 +744,7 @@ You can watch the real time pose estimation on the `YouTube here <https://www.yo
    <div align="center">
    <iframe title=" Pose estimation for the Google Summer Code 2014 using OpenCV libraries." width="560" height="349" src="http://www.youtube.com/embed/msFFuHsiUns?rel=0&loop=1" frameborder="0" allowfullscreen align="middle"></iframe>
    </div>
+   
+   <div align="center">
+   <iframe title=" Pose estimation for the Google Summer Code 2014 using OpenCV libraries." width="560" height="349" src="http://www.youtube.com/embed/_E4vhmBJYLU?rel=0&loop=1" frameborder="0" allowfullscreen align="middle"></iframe>
+   </div>

From 591355d2c8b285c3b1763a055f291c372347d5a7 Mon Sep 17 00:00:00 2001
From: edgarriba <edgar.riba@gmail.com>
Date: Sat, 9 Aug 2014 20:49:44 +0200
Subject: [PATCH 085/112] remove whitespaces

---
 doc/tutorials/calib3d/real_time_pose/real_time_pose.rst | 6 +++---
 1 file changed, 3 insertions(+), 3 deletions(-)

diff --git a/doc/tutorials/calib3d/real_time_pose/real_time_pose.rst b/doc/tutorials/calib3d/real_time_pose/real_time_pose.rst
index d037a5d0b3..46991d58cd 100644
--- a/doc/tutorials/calib3d/real_time_pose/real_time_pose.rst
+++ b/doc/tutorials/calib3d/real_time_pose/real_time_pose.rst
@@ -81,7 +81,7 @@ The tutorial consists of two main programs:
       'esc' - to quit.
     --------------------------------------------------------------------------
 
-    Usage: cpp-tutorial-pnp_detection [params] 
+    Usage: cpp-tutorial-pnp_detection [params]
 
       -c, --confidence (value:0.95)
           RANSAC confidence
@@ -484,7 +484,7 @@ Here is explained in detail the code for the real time application:
     }
 
   The above function is used to compute all the 3D points of the object *Mesh* to show the pose of the object.
-  
+
   You can also change RANSAC parameters and PnP method:
 
   .. code-block:: cpp
@@ -744,7 +744,7 @@ You can watch the real time pose estimation on the `YouTube here <https://www.yo
    <div align="center">
    <iframe title=" Pose estimation for the Google Summer Code 2014 using OpenCV libraries." width="560" height="349" src="http://www.youtube.com/embed/msFFuHsiUns?rel=0&loop=1" frameborder="0" allowfullscreen align="middle"></iframe>
    </div>
-   
+ 
    <div align="center">
    <iframe title=" Pose estimation for the Google Summer Code 2014 using OpenCV libraries." width="560" height="349" src="http://www.youtube.com/embed/_E4vhmBJYLU?rel=0&loop=1" frameborder="0" allowfullscreen align="middle"></iframe>
    </div>

From 67eb6dde75a4a5fb1f2fc51401cf0976b9f6d277 Mon Sep 17 00:00:00 2001
From: edgarriba <edgar.riba@gmail.com>
Date: Sat, 9 Aug 2014 20:55:18 +0200
Subject: [PATCH 086/112] warning removed

---
 modules/calib3d/src/dls.cpp | 1 +
 1 file changed, 1 insertion(+)

diff --git a/modules/calib3d/src/dls.cpp b/modules/calib3d/src/dls.cpp
index ced301618e..b4ede53a2c 100644
--- a/modules/calib3d/src/dls.cpp
+++ b/modules/calib3d/src/dls.cpp
@@ -303,6 +303,7 @@ void dls::compute_eigenvec(const cv::Mat& Mtilde, cv::Mat& eigenval_real, cv::Ma
     EigenvalueDecomposition es(Mtilde);
     eigenval_real = es.eigenvalues();
     eigenvec_real = es.eigenvectors();
+    eigenval_imag = eigenvec_imag = cv::Mat();
 #endif
 
 }

From e2edfecb80e383ff999eacdeaacd36807baecd76 Mon Sep 17 00:00:00 2001
From: edgarriba <edgar.riba@gmail.com>
Date: Sat, 9 Aug 2014 21:08:46 +0200
Subject: [PATCH 087/112] fixed white space

---
 doc/tutorials/calib3d/real_time_pose/real_time_pose.rst | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/doc/tutorials/calib3d/real_time_pose/real_time_pose.rst b/doc/tutorials/calib3d/real_time_pose/real_time_pose.rst
index 46991d58cd..4a70670311 100644
--- a/doc/tutorials/calib3d/real_time_pose/real_time_pose.rst
+++ b/doc/tutorials/calib3d/real_time_pose/real_time_pose.rst
@@ -744,7 +744,7 @@ You can watch the real time pose estimation on the `YouTube here <https://www.yo
    <div align="center">
    <iframe title=" Pose estimation for the Google Summer Code 2014 using OpenCV libraries." width="560" height="349" src="http://www.youtube.com/embed/msFFuHsiUns?rel=0&loop=1" frameborder="0" allowfullscreen align="middle"></iframe>
    </div>
- 
+
    <div align="center">
    <iframe title=" Pose estimation for the Google Summer Code 2014 using OpenCV libraries." width="560" height="349" src="http://www.youtube.com/embed/_E4vhmBJYLU?rel=0&loop=1" frameborder="0" allowfullscreen align="middle"></iframe>
    </div>

From 3780de9d98c7203cf68813f529f92ee06fb2fa7a Mon Sep 17 00:00:00 2001
From: edgarriba <edgar.riba@gmail.com>
Date: Sat, 9 Aug 2014 21:26:38 +0200
Subject: [PATCH 088/112] test for DLS

---
 modules/calib3d/test/test_solvepnp_ransac.cpp | 10 ++++++----
 1 file changed, 6 insertions(+), 4 deletions(-)

diff --git a/modules/calib3d/test/test_solvepnp_ransac.cpp b/modules/calib3d/test/test_solvepnp_ransac.cpp
index 6d315a3b7c..8e55554c50 100644
--- a/modules/calib3d/test/test_solvepnp_ransac.cpp
+++ b/modules/calib3d/test/test_solvepnp_ransac.cpp
@@ -154,11 +154,12 @@ protected:
     {
         ts->set_failed_test_info(cvtest::TS::OK);
 
-        vector<Point3f> points;
-        const int pointsCount = 400;
+        vector<Point3f> points, points_dls;
+        const int pointsCount = 500, pointsCount2 = 300;
         points.resize(pointsCount);
+        points_dls.resize(pointsCount2);
         generate3DPointCloud(points);
-
+        generate3DPointCloud(points_dls);
 
         const int methodsCount = 4;
         RNG rng = ts->get_rng();
@@ -172,7 +173,8 @@ protected:
                 int successfulTestsCount = 0;
                 for (int testIndex = 0; testIndex < totalTestsCount; testIndex++)
                 {
-                    if (runTest(rng, mode, method, points, eps, maxError))
+                    vector<Point3f> points_ = method != 3 ? points : points_dls;
+                    if (runTest(rng, mode, method, points_, eps, maxError))
                         successfulTestsCount++;
                 }
                 //cout <<  maxError << " " << successfulTestsCount << endl;

From 2d26f601928e95a7c8c6d8bd64686fad3363ee7f Mon Sep 17 00:00:00 2001
From: edgarriba <edgar.riba@gmail.com>
Date: Sat, 9 Aug 2014 21:54:22 +0200
Subject: [PATCH 089/112] test dls

---
 modules/calib3d/test/test_solvepnp_ransac.cpp | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/modules/calib3d/test/test_solvepnp_ransac.cpp b/modules/calib3d/test/test_solvepnp_ransac.cpp
index 8e55554c50..6e87fb952a 100644
--- a/modules/calib3d/test/test_solvepnp_ransac.cpp
+++ b/modules/calib3d/test/test_solvepnp_ransac.cpp
@@ -155,7 +155,7 @@ protected:
         ts->set_failed_test_info(cvtest::TS::OK);
 
         vector<Point3f> points, points_dls;
-        const int pointsCount = 500, pointsCount2 = 300;
+        const int pointsCount = 500, pointsCount2 = 100;
         points.resize(pointsCount);
         points_dls.resize(pointsCount2);
         generate3DPointCloud(points);

From 213241c06a96217fd7421b49bce94251f8d41f9d Mon Sep 17 00:00:00 2001
From: edgarriba <edgar.riba@gmail.com>
Date: Mon, 11 Aug 2014 09:44:24 +0200
Subject: [PATCH 090/112] DLS test update

---
 modules/calib3d/src/solvepnp.cpp              |  2 +-
 modules/calib3d/test/test_solvepnp_ransac.cpp | 13 +++++++------
 2 files changed, 8 insertions(+), 7 deletions(-)

diff --git a/modules/calib3d/src/solvepnp.cpp b/modules/calib3d/src/solvepnp.cpp
index 00bfd549da..006532d990 100644
--- a/modules/calib3d/src/solvepnp.cpp
+++ b/modules/calib3d/src/solvepnp.cpp
@@ -161,7 +161,7 @@ public:
         float* err = _err.getMat().ptr<float>();
 
         for ( i = 0; i < count; ++i)
-            err[i] = cv::norm( ipoints_ptr[i] - projpoints_ptr[i] );
+            err[i] = (float)cv::norm( ipoints_ptr[i] - projpoints_ptr[i] );
 
     }
 
diff --git a/modules/calib3d/test/test_solvepnp_ransac.cpp b/modules/calib3d/test/test_solvepnp_ransac.cpp
index 6e87fb952a..48f8cdef0d 100644
--- a/modules/calib3d/test/test_solvepnp_ransac.cpp
+++ b/modules/calib3d/test/test_solvepnp_ransac.cpp
@@ -136,7 +136,7 @@ protected:
         }
 
         solvePnPRansac(points, projectedPoints, intrinsics, distCoeffs, rvec, tvec,
-            false, 500, 0.5, 0.99, inliers, method);
+            false, 500, 0.5, 0.9, inliers, method);
 
         bool isTestSuccess = inliers.size() >= points.size()*0.95;
 
@@ -155,11 +155,9 @@ protected:
         ts->set_failed_test_info(cvtest::TS::OK);
 
         vector<Point3f> points, points_dls;
-        const int pointsCount = 500, pointsCount2 = 100;
+        const int pointsCount = 500;
         points.resize(pointsCount);
-        points_dls.resize(pointsCount2);
         generate3DPointCloud(points);
-        generate3DPointCloud(points_dls);
 
         const int methodsCount = 4;
         RNG rng = ts->get_rng();
@@ -173,8 +171,7 @@ protected:
                 int successfulTestsCount = 0;
                 for (int testIndex = 0; testIndex < totalTestsCount; testIndex++)
                 {
-                    vector<Point3f> points_ = method != 3 ? points : points_dls;
-                    if (runTest(rng, mode, method, points_, eps, maxError))
+                    if (runTest(rng, mode, method, points, eps, maxError))
                         successfulTestsCount++;
                 }
                 //cout <<  maxError << " " << successfulTestsCount << endl;
@@ -222,6 +219,10 @@ protected:
         {
             opoints = std::vector<Point3f>(points.begin(), points.begin()+4);
         }
+        else if(method == 3)
+        {
+            opoints = std::vector<Point3f>(points.begin(), points.begin()+20);
+        }
         else
             opoints = points;
 

From c7f6c0cb9f75ae00c8f01d91c76d3ef54d1d0228 Mon Sep 17 00:00:00 2001
From: edgarriba <edgar.riba@gmail.com>
Date: Mon, 11 Aug 2014 10:17:42 +0200
Subject: [PATCH 091/112] Fixed warnings + RANSAC confidence to double

---
 .../doc/camera_calibration_and_3d_reconstruction.rst   |  2 +-
 modules/calib3d/include/opencv2/calib3d.hpp            |  2 +-
 modules/calib3d/src/solvepnp.cpp                       |  2 +-
 .../real_time_pose_estimation/src/CsvReader.cpp        |  6 +++---
 .../calib3d/real_time_pose_estimation/src/Mesh.cpp     |  4 ++--
 .../real_time_pose_estimation/src/PnPProblem.cpp       | 10 +++++-----
 .../calib3d/real_time_pose_estimation/src/PnPProblem.h |  2 +-
 .../calib3d/real_time_pose_estimation/src/Utils.cpp    |  2 +-
 .../real_time_pose_estimation/src/main_detection.cpp   |  8 ++++----
 .../src/main_registration.cpp                          |  6 +++---
 10 files changed, 22 insertions(+), 22 deletions(-)

diff --git a/modules/calib3d/doc/camera_calibration_and_3d_reconstruction.rst b/modules/calib3d/doc/camera_calibration_and_3d_reconstruction.rst
index ab38504394..53b22414e5 100644
--- a/modules/calib3d/doc/camera_calibration_and_3d_reconstruction.rst
+++ b/modules/calib3d/doc/camera_calibration_and_3d_reconstruction.rst
@@ -599,7 +599,7 @@ solvePnPRansac
 ------------------
 Finds an object pose from 3D-2D point correspondences using the RANSAC scheme.
 
-.. ocv:function:: bool solvePnPRansac( InputArray objectPoints, InputArray imagePoints, InputArray cameraMatrix, InputArray distCoeffs, OutputArray rvec, OutputArray tvec, bool useExtrinsicGuess=false, int iterationsCount = 100, float reprojectionError = 8.0, float confidence = 0.99, OutputArray inliers = noArray(), int flags = ITERATIVE )
+.. ocv:function:: bool solvePnPRansac( InputArray objectPoints, InputArray imagePoints, InputArray cameraMatrix, InputArray distCoeffs, OutputArray rvec, OutputArray tvec, bool useExtrinsicGuess=false, int iterationsCount = 100, float reprojectionError = 8.0, double confidence = 0.99, OutputArray inliers = noArray(), int flags = ITERATIVE )
 
 .. ocv:pyfunction:: cv2.solvePnPRansac(objectPoints, imagePoints, cameraMatrix, distCoeffs[, rvec[, tvec[, useExtrinsicGuess[, iterationsCount[, reprojectionError[, minInliersCount[, inliers[, flags]]]]]]]]) -> rvec, tvec, inliers
 
diff --git a/modules/calib3d/include/opencv2/calib3d.hpp b/modules/calib3d/include/opencv2/calib3d.hpp
index 0d71bb2b56..f42afad324 100644
--- a/modules/calib3d/include/opencv2/calib3d.hpp
+++ b/modules/calib3d/include/opencv2/calib3d.hpp
@@ -159,7 +159,7 @@ CV_EXPORTS_W bool solvePnPRansac( InputArray objectPoints, InputArray imagePoint
                                   InputArray cameraMatrix, InputArray distCoeffs,
                                   OutputArray rvec, OutputArray tvec,
                                   bool useExtrinsicGuess = false, int iterationsCount = 100,
-                                  float reprojectionError = 8.0, float confidence = 0.99,
+                                  float reprojectionError = 8.0, double confidence = 0.99,
                                   OutputArray inliers = noArray(), int flags = ITERATIVE );
 
 //! initializes camera matrix from a few 3D points and the corresponding projections.
diff --git a/modules/calib3d/src/solvepnp.cpp b/modules/calib3d/src/solvepnp.cpp
index 006532d990..be2b761a8b 100644
--- a/modules/calib3d/src/solvepnp.cpp
+++ b/modules/calib3d/src/solvepnp.cpp
@@ -177,7 +177,7 @@ public:
 bool cv::solvePnPRansac(InputArray _opoints, InputArray _ipoints,
                         InputArray _cameraMatrix, InputArray _distCoeffs,
                         OutputArray _rvec, OutputArray _tvec, bool useExtrinsicGuess,
-                        int iterationsCount, float reprojectionError, float confidence,
+                        int iterationsCount, float reprojectionError, double confidence,
                         OutputArray _inliers, int flags)
 {
 
diff --git a/samples/cpp/tutorial_code/calib3d/real_time_pose_estimation/src/CsvReader.cpp b/samples/cpp/tutorial_code/calib3d/real_time_pose_estimation/src/CsvReader.cpp
index f1c2374bbd..c69751740b 100644
--- a/samples/cpp/tutorial_code/calib3d/real_time_pose_estimation/src/CsvReader.cpp
+++ b/samples/cpp/tutorial_code/calib3d/real_time_pose_estimation/src/CsvReader.cpp
@@ -45,9 +45,9 @@ void CsvReader::readPLY(vector<Point3f> &list_vertex, vector<vector<int> > &list
              getline(liness, z);
 
              cv::Point3f tmp_p;
-             tmp_p.x = StringToInt(x);
-             tmp_p.y = StringToInt(y);
-             tmp_p.z = StringToInt(z);
+             tmp_p.x = (float)StringToInt(x);
+             tmp_p.y = (float)StringToInt(y);
+             tmp_p.z = (float)StringToInt(z);
              list_vertex.push_back(tmp_p);
 
              count++;
diff --git a/samples/cpp/tutorial_code/calib3d/real_time_pose_estimation/src/Mesh.cpp b/samples/cpp/tutorial_code/calib3d/real_time_pose_estimation/src/Mesh.cpp
index 6458cfde36..e6c84c47a7 100644
--- a/samples/cpp/tutorial_code/calib3d/real_time_pose_estimation/src/Mesh.cpp
+++ b/samples/cpp/tutorial_code/calib3d/real_time_pose_estimation/src/Mesh.cpp
@@ -76,7 +76,7 @@ void Mesh::load(const std::string path)
   csvReader.readPLY(list_vertex_, list_triangles_);
 
   // Update mesh attributes
-  num_vertexs_ = list_vertex_.size();
-  num_triangles_ = list_triangles_.size();
+  num_vertexs_ = (int)list_vertex_.size();
+  num_triangles_ = (int)list_triangles_.size();
 
 }
diff --git a/samples/cpp/tutorial_code/calib3d/real_time_pose_estimation/src/PnPProblem.cpp b/samples/cpp/tutorial_code/calib3d/real_time_pose_estimation/src/PnPProblem.cpp
index c46953781a..c61d0ea3c5 100644
--- a/samples/cpp/tutorial_code/calib3d/real_time_pose_estimation/src/PnPProblem.cpp
+++ b/samples/cpp/tutorial_code/calib3d/real_time_pose_estimation/src/PnPProblem.cpp
@@ -133,9 +133,9 @@ bool PnPProblem::estimatePose( const std::vector<cv::Point3f> &list_points3d,
 // Estimate the pose given a list of 2D/3D correspondences with RANSAC and the method to use
 
 void PnPProblem::estimatePoseRANSAC( const std::vector<cv::Point3f> &list_points3d, // list with model 3D coordinates
-                               const std::vector<cv::Point2f> &list_points2d,     // list with scene 2D coordinates
-                               int flags, cv::Mat &inliers, int iterationsCount,  // PnP method; inliers container
-                               float reprojectionError, float confidence )    // Ransac parameters
+                                     const std::vector<cv::Point2f> &list_points2d,     // list with scene 2D coordinates
+                                     int flags, cv::Mat &inliers, int iterationsCount,  // PnP method; inliers container
+                                     float reprojectionError, double confidence )    // Ransac parameters
 {
   cv::Mat distCoeffs = cv::Mat::zeros(4, 1, CV_64FC1);  // vector of distortion coefficients
   cv::Mat rvec = cv::Mat::zeros(3, 1, CV_64FC1);          // output rotation vector
@@ -187,8 +187,8 @@ cv::Point2f PnPProblem::backproject3DPoint(const cv::Point3f &point3d)
 
   // Normalization of [u v]'
   cv::Point2f point2d;
-  point2d.x = point2d_vec.at<double>(0) / point2d_vec.at<double>(2);
-  point2d.y = point2d_vec.at<double>(1) / point2d_vec.at<double>(2);
+  point2d.x = (float)(point2d_vec.at<double>(0) / point2d_vec.at<double>(2));
+  point2d.y = (float)(point2d_vec.at<double>(1) / point2d_vec.at<double>(2));
 
   return point2d;
 }
diff --git a/samples/cpp/tutorial_code/calib3d/real_time_pose_estimation/src/PnPProblem.h b/samples/cpp/tutorial_code/calib3d/real_time_pose_estimation/src/PnPProblem.h
index 61277a7a07..7add0ac49e 100644
--- a/samples/cpp/tutorial_code/calib3d/real_time_pose_estimation/src/PnPProblem.h
+++ b/samples/cpp/tutorial_code/calib3d/real_time_pose_estimation/src/PnPProblem.h
@@ -30,7 +30,7 @@ public:
   bool estimatePose(const std::vector<cv::Point3f> &list_points3d, const std::vector<cv::Point2f> &list_points2d, int flags);
   void estimatePoseRANSAC( const std::vector<cv::Point3f> &list_points3d, const std::vector<cv::Point2f> &list_points2d,
                            int flags, cv::Mat &inliers,
-                           int iterationsCount, float reprojectionError, float confidence );
+                           int iterationsCount, float reprojectionError, double confidence );
 
   cv::Mat get_A_matrix() const { return _A_matrix; }
   cv::Mat get_R_matrix() const { return _R_matrix; }
diff --git a/samples/cpp/tutorial_code/calib3d/real_time_pose_estimation/src/Utils.cpp b/samples/cpp/tutorial_code/calib3d/real_time_pose_estimation/src/Utils.cpp
index 74649fcd7e..a7ace3b7b8 100644
--- a/samples/cpp/tutorial_code/calib3d/real_time_pose_estimation/src/Utils.cpp
+++ b/samples/cpp/tutorial_code/calib3d/real_time_pose_estimation/src/Utils.cpp
@@ -19,7 +19,7 @@
 // For text
 int fontFace = cv::FONT_ITALIC;
 double fontScale = 0.75;
-double thickness_font = 2;
+int thickness_font = 2;
 
 // For circles
 int lineType = 8;
diff --git a/samples/cpp/tutorial_code/calib3d/real_time_pose_estimation/src/main_detection.cpp b/samples/cpp/tutorial_code/calib3d/real_time_pose_estimation/src/main_detection.cpp
index 4667c69e09..1be6715922 100644
--- a/samples/cpp/tutorial_code/calib3d/real_time_pose_estimation/src/main_detection.cpp
+++ b/samples/cpp/tutorial_code/calib3d/real_time_pose_estimation/src/main_detection.cpp
@@ -49,7 +49,7 @@ bool fast_match = true;       // fastRobustMatch() or robustMatch()
 // RANSAC parameters
 int iterationsCount = 500;      // number of Ransac iterations.
 float reprojectionError = 2.0;  // maximum allowed distance to consider it an inlier.
-float confidence = 0.95;        // ransac successful confidence.
+double confidence = 0.95;        // ransac successful confidence.
 
 // Kalman Filter parameters
 int minInliersKalman = 30;    // Kalman threshold updating
@@ -287,7 +287,7 @@ int main(int argc, char *argv[])
       drawObjectMesh(frame_vis, &mesh, &pnp_detection_est, yellow); // draw estimated pose
     }
 
-    double l = 5;
+    float l = 5;
     std::vector<cv::Point2f> pose_points2d;
     pose_points2d.push_back(pnp_detection_est.backproject3DPoint(cv::Point3f(0,0,0)));  // axis center
     pose_points2d.push_back(pnp_detection_est.backproject3DPoint(cv::Point3f(l,0,0)));  // axis x
@@ -315,10 +315,10 @@ int main(int argc, char *argv[])
 
     // Draw some debug text
     int inliers_int = inliers_idx.rows;
-    int outliers_int = good_matches.size() - inliers_int;
+    int outliers_int = (int)good_matches.size() - inliers_int;
     std::string inliers_str = IntToString(inliers_int);
     std::string outliers_str = IntToString(outliers_int);
-    std::string n = IntToString(good_matches.size());
+    std::string n = IntToString((int)good_matches.size());
     std::string text = "Found " + inliers_str + " of " + n + " matches";
     std::string text2 = "Inliers: " + inliers_str + " - Outliers: " + outliers_str;
 
diff --git a/samples/cpp/tutorial_code/calib3d/real_time_pose_estimation/src/main_registration.cpp b/samples/cpp/tutorial_code/calib3d/real_time_pose_estimation/src/main_registration.cpp
index c1d3e7678d..c7964336ef 100644
--- a/samples/cpp/tutorial_code/calib3d/real_time_pose_estimation/src/main_registration.cpp
+++ b/samples/cpp/tutorial_code/calib3d/real_time_pose_estimation/src/main_registration.cpp
@@ -67,7 +67,7 @@ static void onMouseModelRegistration( int event, int x, int y, int, void* )
       int n_regist = registration.getNumRegist();
       int n_vertex = pts[n_regist];
 
-      cv::Point2f point_2d = cv::Point2f(x,y);
+      cv::Point2f point_2d = cv::Point2f((float)x,(float)y);
       cv::Point3f point_3d = mesh.getVertex(n_vertex-1);
 
       bool is_registrable = registration.is_registrable();
@@ -224,12 +224,12 @@ int main()
   std::vector<cv::Point2f> list_points_out = model.get_points2d_out();
 
   // Draw some debug text
-  std::string num = IntToString(list_points_in.size());
+  std::string num = IntToString((int)list_points_in.size());
   std::string text = "There are " + num + " inliers";
   drawText(img_vis, text, green);
 
   // Draw some debug text
-  num = IntToString(list_points_out.size());
+  num = IntToString((int)list_points_out.size());
   text = "There are " + num + " outliers";
   drawText2(img_vis, text, red);
 

From d7f0b9de25a9972745ec94618a2f0ffc358761ea Mon Sep 17 00:00:00 2001
From: edgarriba <edgar.riba@gmail.com>
Date: Mon, 11 Aug 2014 11:02:00 +0200
Subject: [PATCH 092/112] DLS test

---
 modules/calib3d/test/test_solvepnp_ransac.cpp | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/modules/calib3d/test/test_solvepnp_ransac.cpp b/modules/calib3d/test/test_solvepnp_ransac.cpp
index 48f8cdef0d..cb2da0bf4d 100644
--- a/modules/calib3d/test/test_solvepnp_ransac.cpp
+++ b/modules/calib3d/test/test_solvepnp_ransac.cpp
@@ -221,7 +221,7 @@ protected:
         }
         else if(method == 3)
         {
-            opoints = std::vector<Point3f>(points.begin(), points.begin()+20);
+            opoints = std::vector<Point3f>(points.begin(), points.begin()+10);
         }
         else
             opoints = points;

From b7a19a9a5f8b6750fd17506eadf1d446ced87d3a Mon Sep 17 00:00:00 2001
From: edgarriba <edgar.riba@gmail.com>
Date: Mon, 11 Aug 2014 11:06:05 +0200
Subject: [PATCH 093/112] Removed Timer

---
 .../calib3d/real_time_pose_estimation/src/Utils.h | 15 ---------------
 1 file changed, 15 deletions(-)

diff --git a/samples/cpp/tutorial_code/calib3d/real_time_pose_estimation/src/Utils.h b/samples/cpp/tutorial_code/calib3d/real_time_pose_estimation/src/Utils.h
index 55ca0fbe22..8a3763a569 100644
--- a/samples/cpp/tutorial_code/calib3d/real_time_pose_estimation/src/Utils.h
+++ b/samples/cpp/tutorial_code/calib3d/real_time_pose_estimation/src/Utils.h
@@ -66,19 +66,4 @@ std::string FloatToString ( float Number );
 // Converts a given integer to a string
 std::string IntToString ( int Number );
 
-class Timer
-{
-public:
-  Timer();
-    void start() { tstart = (double)clock()/CLOCKS_PER_SEC; }
-    void stop()  { tstop = (double)clock()/CLOCKS_PER_SEC; }
-    void reset()  { tstart = 0;  tstop = 0;}
-
-    double getTimeMilli() const { return (tstop-tstart)*1000; }
-    double getTimeSec()   const {  return tstop-tstart; }
-
-private:
-    double tstart, tstop, ttime;
-};
-
 #endif /* UTILS_H_ */

From 6c8b11afee48d2ee5cbe76a27e8c0cc4a25e7f6c Mon Sep 17 00:00:00 2001
From: edgarriba <edgar.riba@gmail.com>
Date: Mon, 11 Aug 2014 11:31:18 +0200
Subject: [PATCH 094/112] DLS test

---
 modules/calib3d/test/test_solvepnp_ransac.cpp | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/modules/calib3d/test/test_solvepnp_ransac.cpp b/modules/calib3d/test/test_solvepnp_ransac.cpp
index cb2da0bf4d..29e426dd8d 100644
--- a/modules/calib3d/test/test_solvepnp_ransac.cpp
+++ b/modules/calib3d/test/test_solvepnp_ransac.cpp
@@ -221,7 +221,7 @@ protected:
         }
         else if(method == 3)
         {
-            opoints = std::vector<Point3f>(points.begin(), points.begin()+10);
+            opoints = std::vector<Point3f>(points.begin(), points.begin()+50);
         }
         else
             opoints = points;

From 90b3086f4a0a5bffefe0993abe8d8ec49f690a4f Mon Sep 17 00:00:00 2001
From: edgarriba <edgar.riba@gmail.com>
Date: Mon, 11 Aug 2014 12:31:10 +0200
Subject: [PATCH 095/112] RANSAC test confidence 0.99

---
 modules/calib3d/test/test_solvepnp_ransac.cpp | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/modules/calib3d/test/test_solvepnp_ransac.cpp b/modules/calib3d/test/test_solvepnp_ransac.cpp
index 29e426dd8d..c8765a0281 100644
--- a/modules/calib3d/test/test_solvepnp_ransac.cpp
+++ b/modules/calib3d/test/test_solvepnp_ransac.cpp
@@ -136,7 +136,7 @@ protected:
         }
 
         solvePnPRansac(points, projectedPoints, intrinsics, distCoeffs, rvec, tvec,
-            false, 500, 0.5, 0.9, inliers, method);
+            false, 500, 0.5, 0.99, inliers, method);
 
         bool isTestSuccess = inliers.size() >= points.size()*0.95;
 

From afdb67b462bff1cb8a7f9ec4a7f2350aa2e793bc Mon Sep 17 00:00:00 2001
From: edgarriba <edgar.riba@gmail.com>
Date: Mon, 11 Aug 2014 16:28:09 +0200
Subject: [PATCH 096/112] SOLVEPNP_* flags

---
 .../camera_calibration_and_3d_reconstruction.rst | 12 ++++++------
 modules/calib3d/include/opencv2/calib3d.hpp      | 12 ++++++------
 modules/calib3d/perf/perf_pnp.cpp                |  6 +++---
 modules/calib3d/src/solvepnp.cpp                 | 12 ++++++------
 modules/calib3d/test/test_solvepnp_ransac.cpp    | 16 ++++++++--------
 .../src/main_detection.cpp                       |  2 +-
 .../src/main_registration.cpp                    |  2 +-
 7 files changed, 31 insertions(+), 31 deletions(-)

diff --git a/modules/calib3d/doc/camera_calibration_and_3d_reconstruction.rst b/modules/calib3d/doc/camera_calibration_and_3d_reconstruction.rst
index 53b22414e5..f706572937 100644
--- a/modules/calib3d/doc/camera_calibration_and_3d_reconstruction.rst
+++ b/modules/calib3d/doc/camera_calibration_and_3d_reconstruction.rst
@@ -562,7 +562,7 @@ solvePnP
 ------------
 Finds an object pose from 3D-2D point correspondences.
 
-.. ocv:function:: bool solvePnP( InputArray objectPoints, InputArray imagePoints, InputArray cameraMatrix, InputArray distCoeffs, OutputArray rvec, OutputArray tvec, bool useExtrinsicGuess=false, int flags=ITERATIVE )
+.. ocv:function:: bool solvePnP( InputArray objectPoints, InputArray imagePoints, InputArray cameraMatrix, InputArray distCoeffs, OutputArray rvec, OutputArray tvec, bool useExtrinsicGuess=false, int flags=SOLVEPNP_ITERATIVE )
 
 .. ocv:pyfunction:: cv2.solvePnP(objectPoints, imagePoints, cameraMatrix, distCoeffs[, rvec[, tvec[, useExtrinsicGuess[, flags]]]]) -> retval, rvec, tvec
 
@@ -584,10 +584,10 @@ Finds an object pose from 3D-2D point correspondences.
 
     :param flags: Method for solving a PnP problem:
 
-            *  **ITERATIVE** Iterative method is based on Levenberg-Marquardt optimization. In this case the function finds such a pose that minimizes reprojection error, that is the sum of squared distances between the observed projections ``imagePoints`` and the projected (using :ocv:func:`projectPoints` ) ``objectPoints`` .
-            *  **P3P**  Method is based on the paper of X.S. Gao, X.-R. Hou, J. Tang, H.-F. Chang "Complete Solution Classification for the Perspective-Three-Point Problem". In this case the function requires exactly four object and image points.
-            *  **EPNP** Method has been introduced by F.Moreno-Noguer, V.Lepetit and P.Fua in the paper "EPnP: Efficient Perspective-n-Point Camera Pose Estimation".
-            *  **DLS**  Method is based on the paper of Joel A. Hesch and Stergios I. Roumeliotis. "A Direct Least-Squares (DLS) Method for PnP".
+            *  **SOLVEPNP_ITERATIVE** Iterative method is based on Levenberg-Marquardt optimization. In this case the function finds such a pose that minimizes reprojection error, that is the sum of squared distances between the observed projections ``imagePoints`` and the projected (using :ocv:func:`projectPoints` ) ``objectPoints`` .
+            *  **SOLVEPNP_P3P**  Method is based on the paper of X.S. Gao, X.-R. Hou, J. Tang, H.-F. Chang "Complete Solution Classification for the Perspective-Three-Point Problem". In this case the function requires exactly four object and image points.
+            *  **SOLVEPNP_EPNP** Method has been introduced by F.Moreno-Noguer, V.Lepetit and P.Fua in the paper "EPnP: Efficient Perspective-n-Point Camera Pose Estimation".
+            *  **SOLVEPNP_DLS**  Method is based on the paper of Joel A. Hesch and Stergios I. Roumeliotis. "A Direct Least-Squares (DLS) Method for PnP".
 
 The function estimates the object pose given a set of object points, their corresponding image projections, as well as the camera matrix and the distortion coefficients.
 
@@ -599,7 +599,7 @@ solvePnPRansac
 ------------------
 Finds an object pose from 3D-2D point correspondences using the RANSAC scheme.
 
-.. ocv:function:: bool solvePnPRansac( InputArray objectPoints, InputArray imagePoints, InputArray cameraMatrix, InputArray distCoeffs, OutputArray rvec, OutputArray tvec, bool useExtrinsicGuess=false, int iterationsCount = 100, float reprojectionError = 8.0, double confidence = 0.99, OutputArray inliers = noArray(), int flags = ITERATIVE )
+.. ocv:function:: bool solvePnPRansac( InputArray objectPoints, InputArray imagePoints, InputArray cameraMatrix, InputArray distCoeffs, OutputArray rvec, OutputArray tvec, bool useExtrinsicGuess=false, int iterationsCount = 100, float reprojectionError = 8.0, double confidence = 0.99, OutputArray inliers = noArray(), int flags = SOLVEPNP_ITERATIVE )
 
 .. ocv:pyfunction:: cv2.solvePnPRansac(objectPoints, imagePoints, cameraMatrix, distCoeffs[, rvec[, tvec[, useExtrinsicGuess[, iterationsCount[, reprojectionError[, minInliersCount[, inliers[, flags]]]]]]]]) -> rvec, tvec, inliers
 
diff --git a/modules/calib3d/include/opencv2/calib3d.hpp b/modules/calib3d/include/opencv2/calib3d.hpp
index f42afad324..59e033fde7 100644
--- a/modules/calib3d/include/opencv2/calib3d.hpp
+++ b/modules/calib3d/include/opencv2/calib3d.hpp
@@ -55,10 +55,10 @@ enum { LMEDS  = 4, //!< least-median algorithm
        RANSAC = 8  //!< RANSAC algorithm
      };
 
-enum { ITERATIVE = 0,
-       EPNP      = 1, // F.Moreno-Noguer, V.Lepetit and P.Fua "EPnP: Efficient Perspective-n-Point Camera Pose Estimation"
-       P3P       = 2, // X.S. Gao, X.-R. Hou, J. Tang, H.-F. Chang; "Complete Solution Classification for the Perspective-Three-Point Problem"
-       DLS       = 3  // Joel A. Hesch and Stergios I. Roumeliotis. "A Direct Least-Squares (DLS) Method for PnP"
+enum { SOLVEPNP_ITERATIVE = 0,
+	   SOLVEPNP_EPNP      = 1, // F.Moreno-Noguer, V.Lepetit and P.Fua "EPnP: Efficient Perspective-n-Point Camera Pose Estimation"
+	   SOLVEPNP_P3P       = 2, // X.S. Gao, X.-R. Hou, J. Tang, H.-F. Chang; "Complete Solution Classification for the Perspective-Three-Point Problem"
+	   SOLVEPNP_DLS       = 3  // Joel A. Hesch and Stergios I. Roumeliotis. "A Direct Least-Squares (DLS) Method for PnP"
 };
 
 enum { CALIB_CB_ADAPTIVE_THRESH = 1,
@@ -152,7 +152,7 @@ CV_EXPORTS_W void projectPoints( InputArray objectPoints,
 CV_EXPORTS_W bool solvePnP( InputArray objectPoints, InputArray imagePoints,
                             InputArray cameraMatrix, InputArray distCoeffs,
                             OutputArray rvec, OutputArray tvec,
-                            bool useExtrinsicGuess = false, int flags = ITERATIVE );
+                            bool useExtrinsicGuess = false, int flags = SOLVEPNP_ITERATIVE );
 
 //! computes the camera pose from a few 3D points and the corresponding projections. The outliers are possible.
 CV_EXPORTS_W bool solvePnPRansac( InputArray objectPoints, InputArray imagePoints,
@@ -160,7 +160,7 @@ CV_EXPORTS_W bool solvePnPRansac( InputArray objectPoints, InputArray imagePoint
                                   OutputArray rvec, OutputArray tvec,
                                   bool useExtrinsicGuess = false, int iterationsCount = 100,
                                   float reprojectionError = 8.0, double confidence = 0.99,
-                                  OutputArray inliers = noArray(), int flags = ITERATIVE );
+                                  OutputArray inliers = noArray(), int flags = SOLVEPNP_ITERATIVE );
 
 //! initializes camera matrix from a few 3D points and the corresponding projections.
 CV_EXPORTS_W Mat initCameraMatrix2D( InputArrayOfArrays objectPoints,
diff --git a/modules/calib3d/perf/perf_pnp.cpp b/modules/calib3d/perf/perf_pnp.cpp
index 668a524ae7..f12c263f60 100644
--- a/modules/calib3d/perf/perf_pnp.cpp
+++ b/modules/calib3d/perf/perf_pnp.cpp
@@ -10,7 +10,7 @@ using namespace perf;
 using std::tr1::make_tuple;
 using std::tr1::get;
 
-CV_ENUM(pnpAlgo, ITERATIVE, EPNP /*, P3P*/)
+CV_ENUM(pnpAlgo, SOLVEPNP_ITERATIVE, SOLVEPNP_EPNP /*, P3P*/)
 
 typedef std::tr1::tuple<int, pnpAlgo> PointsNum_Algo_t;
 typedef perf::TestBaseWithParam<PointsNum_Algo_t> PointsNum_Algo;
@@ -20,7 +20,7 @@ typedef perf::TestBaseWithParam<int> PointsNum;
 PERF_TEST_P(PointsNum_Algo, solvePnP,
             testing::Combine(
                 testing::Values(/*4,*/ 3*9, 7*13), //TODO: find why results on 4 points are too unstable
-                testing::Values((int)ITERATIVE, (int)EPNP)
+                testing::Values((int)SOLVEPNP_ITERATIVE, (int)SOLVEPNP_EPNP)
                 )
             )
 {
@@ -93,7 +93,7 @@ PERF_TEST(PointsNum_Algo, solveP3P)
 
     TEST_CYCLE_N(1000)
     {
-        solvePnP(points3d, points2d, intrinsics, distortion, rvec, tvec, false, P3P);
+        solvePnP(points3d, points2d, intrinsics, distortion, rvec, tvec, false, SOLVEPNP_P3P);
     }
 
     SANITY_CHECK(rvec, 1e-6);
diff --git a/modules/calib3d/src/solvepnp.cpp b/modules/calib3d/src/solvepnp.cpp
index be2b761a8b..c4cacb4ce7 100644
--- a/modules/calib3d/src/solvepnp.cpp
+++ b/modules/calib3d/src/solvepnp.cpp
@@ -60,7 +60,7 @@ bool cv::solvePnP( InputArray _opoints, InputArray _ipoints,
     _tvec.create(3, 1, CV_64F);
     Mat cameraMatrix = _cameraMatrix.getMat(), distCoeffs = _distCoeffs.getMat();
 
-    if (flags == EPNP)
+    if (flags == SOLVEPNP_EPNP)
     {
         cv::Mat undistortedPoints;
         cv::undistortPoints(ipoints, undistortedPoints, cameraMatrix, distCoeffs);
@@ -71,7 +71,7 @@ bool cv::solvePnP( InputArray _opoints, InputArray _ipoints,
         cv::Rodrigues(R, rvec);
         return true;
     }
-    else if (flags == P3P)
+    else if (flags == SOLVEPNP_P3P)
     {
         CV_Assert( npoints == 4);
         cv::Mat undistortedPoints;
@@ -84,7 +84,7 @@ bool cv::solvePnP( InputArray _opoints, InputArray _ipoints,
             cv::Rodrigues(R, rvec);
         return result;
     }
-    else if (flags == ITERATIVE)
+    else if (flags == SOLVEPNP_ITERATIVE)
     {
         CvMat c_objectPoints = opoints, c_imagePoints = ipoints;
         CvMat c_cameraMatrix = cameraMatrix, c_distCoeffs = distCoeffs;
@@ -94,7 +94,7 @@ bool cv::solvePnP( InputArray _opoints, InputArray _ipoints,
                                      &c_rvec, &c_tvec, useExtrinsicGuess );
         return true;
     }
-    else if (flags == DLS)
+    else if (flags == SOLVEPNP_DLS)
     {
         cv::Mat undistortedPoints;
         cv::undistortPoints(ipoints, undistortedPoints, cameraMatrix, distCoeffs);
@@ -117,7 +117,7 @@ class PnPRansacCallback : public PointSetRegistrator::Callback
 
 public:
 
-    PnPRansacCallback(Mat _cameraMatrix=Mat(3,3,CV_64F), Mat _distCoeffs=Mat(4,1,CV_64F), int _flags=cv::ITERATIVE,
+    PnPRansacCallback(Mat _cameraMatrix=Mat(3,3,CV_64F), Mat _distCoeffs=Mat(4,1,CV_64F), int _flags=cv::SOLVEPNP_ITERATIVE,
             bool _useExtrinsicGuess=false, Mat _rvec=Mat(), Mat _tvec=Mat() )
         : cameraMatrix(_cameraMatrix), distCoeffs(_distCoeffs), flags(_flags), useExtrinsicGuess(_useExtrinsicGuess),
           rvec(_rvec), tvec(_tvec) {}
@@ -203,7 +203,7 @@ bool cv::solvePnPRansac(InputArray _opoints, InputArray _ipoints,
     Ptr<PointSetRegistrator::Callback> cb; // pointer to callback
     cb = makePtr<PnPRansacCallback>( cameraMatrix, distCoeffs, flags, useExtrinsicGuess, rvec, tvec);
 
-    int model_points = flags == P3P ? 4 : 6;          // minimum of number of model points
+    int model_points = flags == SOLVEPNP_P3P ? 4 : 6;          // minimum of number of model points
     double param1 = reprojectionError;                // reprojection error
     double param2 = confidence;                       // confidence
     int param3 = iterationsCount;                     // number maximum iterations
diff --git a/modules/calib3d/test/test_solvepnp_ransac.cpp b/modules/calib3d/test/test_solvepnp_ransac.cpp
index c8765a0281..167415eda1 100644
--- a/modules/calib3d/test/test_solvepnp_ransac.cpp
+++ b/modules/calib3d/test/test_solvepnp_ransac.cpp
@@ -54,10 +54,10 @@ class CV_solvePnPRansac_Test : public cvtest::BaseTest
 public:
     CV_solvePnPRansac_Test()
     {
-        eps[ITERATIVE] = 1.0e-2;
-        eps[EPNP] = 1.0e-2;
-        eps[P3P] = 1.0e-2;
-        eps[DLS] = 1.0e-2;
+        eps[SOLVEPNP_ITERATIVE] = 1.0e-2;
+        eps[SOLVEPNP_EPNP] = 1.0e-2;
+        eps[SOLVEPNP_P3P] = 1.0e-2;
+        eps[SOLVEPNP_DLS] = 1.0e-2;
         totalTestsCount = 10;
     }
     ~CV_solvePnPRansac_Test() {}
@@ -193,10 +193,10 @@ class CV_solvePnP_Test : public CV_solvePnPRansac_Test
 public:
     CV_solvePnP_Test()
     {
-        eps[ITERATIVE] = 1.0e-6;
-        eps[EPNP] = 1.0e-6;
-        eps[P3P] = 1.0e-4;
-        eps[DLS] = 1.0e-6;
+        eps[SOLVEPNP_ITERATIVE] = 1.0e-6;
+        eps[SOLVEPNP_EPNP] = 1.0e-6;
+        eps[SOLVEPNP_P3P] = 1.0e-4;
+        eps[SOLVEPNP_DLS] = 1.0e-6;
         totalTestsCount = 1000;
     }
 
diff --git a/samples/cpp/tutorial_code/calib3d/real_time_pose_estimation/src/main_detection.cpp b/samples/cpp/tutorial_code/calib3d/real_time_pose_estimation/src/main_detection.cpp
index 1be6715922..f759e49106 100644
--- a/samples/cpp/tutorial_code/calib3d/real_time_pose_estimation/src/main_detection.cpp
+++ b/samples/cpp/tutorial_code/calib3d/real_time_pose_estimation/src/main_detection.cpp
@@ -55,7 +55,7 @@ double confidence = 0.95;        // ransac successful confidence.
 int minInliersKalman = 30;    // Kalman threshold updating
 
 // PnP parameters
-int pnpMethod = cv::ITERATIVE;
+int pnpMethod = cv::SOLVEPNP_ITERATIVE;
 
 
 /**  Functions headers  **/
diff --git a/samples/cpp/tutorial_code/calib3d/real_time_pose_estimation/src/main_registration.cpp b/samples/cpp/tutorial_code/calib3d/real_time_pose_estimation/src/main_registration.cpp
index c7964336ef..be85951f95 100644
--- a/samples/cpp/tutorial_code/calib3d/real_time_pose_estimation/src/main_registration.cpp
+++ b/samples/cpp/tutorial_code/calib3d/real_time_pose_estimation/src/main_registration.cpp
@@ -166,7 +166,7 @@ int main()
   std::vector<cv::Point3f> list_points3d = registration.get_points3d();
 
   // Estimate pose given the registered points
-  bool is_correspondence = pnp_registration.estimatePose(list_points3d, list_points2d, cv::ITERATIVE);
+  bool is_correspondence = pnp_registration.estimatePose(list_points3d, list_points2d, cv::SOLVEPNP_ITERATIVE);
   if ( is_correspondence )
   {
     std::cout << "Correspondence found" << std::endl;

From cc81b4a5cd50a40e364c34841301028d16e7e3bd Mon Sep 17 00:00:00 2001
From: edgarriba <edgar.riba@gmail.com>
Date: Mon, 11 Aug 2014 16:31:28 +0200
Subject: [PATCH 097/112] SOLVEPNP_* flags whitespace

---
 modules/calib3d/include/opencv2/calib3d.hpp | 6 +++---
 1 file changed, 3 insertions(+), 3 deletions(-)

diff --git a/modules/calib3d/include/opencv2/calib3d.hpp b/modules/calib3d/include/opencv2/calib3d.hpp
index 59e033fde7..e0c31612ea 100644
--- a/modules/calib3d/include/opencv2/calib3d.hpp
+++ b/modules/calib3d/include/opencv2/calib3d.hpp
@@ -56,9 +56,9 @@ enum { LMEDS  = 4, //!< least-median algorithm
      };
 
 enum { SOLVEPNP_ITERATIVE = 0,
-	   SOLVEPNP_EPNP      = 1, // F.Moreno-Noguer, V.Lepetit and P.Fua "EPnP: Efficient Perspective-n-Point Camera Pose Estimation"
-	   SOLVEPNP_P3P       = 2, // X.S. Gao, X.-R. Hou, J. Tang, H.-F. Chang; "Complete Solution Classification for the Perspective-Three-Point Problem"
-	   SOLVEPNP_DLS       = 3  // Joel A. Hesch and Stergios I. Roumeliotis. "A Direct Least-Squares (DLS) Method for PnP"
+       SOLVEPNP_EPNP      = 1, // F.Moreno-Noguer, V.Lepetit and P.Fua "EPnP: Efficient Perspective-n-Point Camera Pose Estimation"
+       SOLVEPNP_P3P       = 2, // X.S. Gao, X.-R. Hou, J. Tang, H.-F. Chang; "Complete Solution Classification for the Perspective-Three-Point Problem"
+       SOLVEPNP_DLS       = 3  // Joel A. Hesch and Stergios I. Roumeliotis. "A Direct Least-Squares (DLS) Method for PnP"
 };
 
 enum { CALIB_CB_ADAPTIVE_THRESH = 1,

From 2666da892f837dae2166bd6473b3ede84d0379b6 Mon Sep 17 00:00:00 2001
From: edgarriba <edgar.riba@gmail.com>
Date: Mon, 11 Aug 2014 17:09:26 +0200
Subject: [PATCH 098/112] DLS perf update

---
 modules/calib3d/perf/perf_pnp.cpp | 6 ++++--
 1 file changed, 4 insertions(+), 2 deletions(-)

diff --git a/modules/calib3d/perf/perf_pnp.cpp b/modules/calib3d/perf/perf_pnp.cpp
index f12c263f60..200faa0318 100644
--- a/modules/calib3d/perf/perf_pnp.cpp
+++ b/modules/calib3d/perf/perf_pnp.cpp
@@ -10,7 +10,7 @@ using namespace perf;
 using std::tr1::make_tuple;
 using std::tr1::get;
 
-CV_ENUM(pnpAlgo, SOLVEPNP_ITERATIVE, SOLVEPNP_EPNP /*, P3P*/)
+CV_ENUM(pnpAlgo, SOLVEPNP_ITERATIVE, SOLVEPNP_EPNP, SOLVEPNP_DLS /*, P3P*/)
 
 typedef std::tr1::tuple<int, pnpAlgo> PointsNum_Algo_t;
 typedef perf::TestBaseWithParam<PointsNum_Algo_t> PointsNum_Algo;
@@ -20,7 +20,7 @@ typedef perf::TestBaseWithParam<int> PointsNum;
 PERF_TEST_P(PointsNum_Algo, solvePnP,
             testing::Combine(
                 testing::Values(/*4,*/ 3*9, 7*13), //TODO: find why results on 4 points are too unstable
-                testing::Values((int)SOLVEPNP_ITERATIVE, (int)SOLVEPNP_EPNP)
+                testing::Values((int)SOLVEPNP_ITERATIVE, (int)SOLVEPNP_EPNP, (int)SOLVEPNP_DLS)
                 )
             )
 {
@@ -117,8 +117,10 @@ PERF_TEST_P(PointsNum, DISABLED_SolvePnPRansac, testing::Values(4, 3*9, 7*13))
     Mat dist_coef(1, 8, CV_32F, cv::Scalar::all(0));
 
     vector<cv::Point2f> image_vec;
+
     Mat rvec_gold(1, 3, CV_32FC1);
     randu(rvec_gold, 0, 1);
+
     Mat tvec_gold(1, 3, CV_32FC1);
     randu(tvec_gold, 0, 1);
     projectPoints(object, rvec_gold, tvec_gold, camera_mat, dist_coef, image_vec);

From dccc10ff122cab89dc2228aa5495153c6a7da19a Mon Sep 17 00:00:00 2001
From: edgarriba <edgar.riba@gmail.com>
Date: Mon, 11 Aug 2014 17:53:43 +0200
Subject: [PATCH 099/112] DLS perf

---
 modules/calib3d/perf/perf_pnp.cpp | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/modules/calib3d/perf/perf_pnp.cpp b/modules/calib3d/perf/perf_pnp.cpp
index 200faa0318..5d90c3c6d4 100644
--- a/modules/calib3d/perf/perf_pnp.cpp
+++ b/modules/calib3d/perf/perf_pnp.cpp
@@ -19,7 +19,7 @@ typedef perf::TestBaseWithParam<int> PointsNum;
 
 PERF_TEST_P(PointsNum_Algo, solvePnP,
             testing::Combine(
-                testing::Values(/*4,*/ 3*9, 7*13), //TODO: find why results on 4 points are too unstable
+                testing::Values(4, 3*9, 7*13), //TODO: find why results on 4 points are too unstable
                 testing::Values((int)SOLVEPNP_ITERATIVE, (int)SOLVEPNP_EPNP, (int)SOLVEPNP_DLS)
                 )
             )

From d1f4f6f4b82c6442ea01e9b243c47c512d1355f6 Mon Sep 17 00:00:00 2001
From: edgarriba <edgar.riba@gmail.com>
Date: Tue, 12 Aug 2014 16:15:19 +0200
Subject: [PATCH 100/112] DLS performance modifications

---
 modules/calib3d/src/dls.cpp                   | 56 +++++++++++++------
 modules/calib3d/src/dls.h                     | 27 ++++++---
 modules/calib3d/src/solvepnp.cpp              |  2 +-
 modules/calib3d/test/test_solvepnp_ransac.cpp |  2 +-
 4 files changed, 60 insertions(+), 27 deletions(-)

diff --git a/modules/calib3d/src/dls.cpp b/modules/calib3d/src/dls.cpp
index b4ede53a2c..b6de1bc1e1 100644
--- a/modules/calib3d/src/dls.cpp
+++ b/modules/calib3d/src/dls.cpp
@@ -20,6 +20,7 @@ dls::dls(const cv::Mat& opoints, const cv::Mat& ipoints)
     N =  std::max(opoints.checkVector(3, CV_32F), opoints.checkVector(3, CV_64F));
     p = cv::Mat(3, N, CV_64F);
     z = cv::Mat(3, N, CV_64F);
+    mn = cv::Mat::zeros(3, 1, CV_64F);
 
     cost__ = 9999;
 
@@ -39,7 +40,7 @@ dls::dls(const cv::Mat& opoints, const cv::Mat& ipoints)
     else
         init_points<cv::Point3d, cv::Point2f>(opoints, ipoints);
 
-    norm_z_vector();
+    //norm_z_vector();
 
 }
 
@@ -48,7 +49,7 @@ dls::~dls()
   // TODO Auto-generated destructor stub
 }
 
-void dls::norm_z_vector()
+/*void dls::norm_z_vector()
 {
     // make z into unit vectors from normalized pixel coords
     for (int i = 0; i < N; ++i)
@@ -63,7 +64,7 @@ void dls::norm_z_vector()
         z.at<double>(1, i) /= sr;
         z.at<double>(2, i) /= sr;
     }
-}
+}*/
 
 bool dls::compute_pose(cv::Mat& R, cv::Mat& t)
 {
@@ -73,13 +74,14 @@ bool dls::compute_pose(cv::Mat& R, cv::Mat& t)
     R_.push_back(roty(CV_PI/2));
     R_.push_back(rotz(CV_PI/2));
 
-    cv::Mat t_mean = this->mean(p);
+    //cv::Mat t_mean = this->mean(p);
 
     // version that calls dls 3 times, to avoid Cayley singularity
     for (int i = 0; i < 3; ++i)
     {
         // Make a random rotation
-        cv::Mat pp = R_[i] * ( p - cv::repeat(t_mean, 1, p.cols) );
+        //cv::Mat pp = R_[i] * ( p - cv::repeat(t_mean, 1, p.cols) );
+        cv::Mat pp = R_[i] * ( p - cv::repeat(mn, 1, p.cols) );
 
         // clear for new data
         C_est_.clear();
@@ -93,7 +95,8 @@ bool dls::compute_pose(cv::Mat& R, cv::Mat& t)
         {
             if( cost_[j] < cost__ )
             {
-                t_est__ = t_est_[j] - C_est_[j] * R_[i] * t_mean;
+                //t_est__ = t_est_[j] - C_est_[j] * R_[i] * t_mean;
+                t_est__ = t_est_[j] - C_est_[j] * R_[i] * mn;
                 C_est__ = C_est_[j] * R_[i];
                 cost__ = cost_[j];
             }
@@ -236,21 +239,28 @@ void dls::build_coeff_matrix(const cv::Mat& pp, cv::Mat& Mtilde, cv::Mat& D)
     cv::Mat H = cv::Mat::zeros(3, 3, CV_64F);
     cv::Mat A = cv::Mat::zeros(3, 9, CV_64F);
 
+    cv::Mat z_i(3, 1, CV_64F);
     for (int i = 0; i < N; ++i)
     {
-        cv::Mat z_dot = z.col(i)*z.col(i).t();
-        H += eye - z_dot;
-        A += ( z_dot - eye ) * LeftMultVec(pp.col(i));
+        z.col(i).copyTo(z_i);
+        A += ( z_i*z_i.t() - eye ) * LeftMultVec(pp.col(i));
     }
 
+    H = eye.mul(N) - z * z.t();
+
     // A\B
-    cv::solve(H, A, A);
+    cv::solve(H, A, A, cv::DECOMP_NORMAL);
+    H.release();
 
+    cv::Mat ppi_A(3, 1, CV_64F);
     for (int i = 0; i < N; ++i)
     {
-        cv::Mat z_dot = z.col(i)*z.col(i).t();
-        D += cv::Mat( LeftMultVec(pp.col(i)) + A ).t() * (eye-z_dot) * ( LeftMultVec(pp.col(i)) + A );
+        //z_i = z.col(i);
+        z.col(i).copyTo(z_i);
+        ppi_A = LeftMultVec(pp.col(i)) + A;
+        D += ppi_A.t() * ( eye - z_i*z_i.t() ) * ppi_A;
     }
+    A.release();
 
     // fill the coefficients
     fill_coeff(&D);
@@ -265,9 +275,11 @@ void dls::build_coeff_matrix(const cv::Mat& pp, cv::Mat& Mtilde, cv::Mat& D)
     cv::Mat M2_2 = M2(cv::Range(0,27), cv::Range(27,120));
     cv::Mat M2_3 = M2(cv::Range(27,120), cv::Range(27,120));
     cv::Mat M2_4 = M2(cv::Range(27,120), cv::Range(0,27));
+    M2.release();
 
     // A/B = B'\A'
     cv::Mat M2_5; cv::solve(M2_3.t(), M2_2.t(), M2_5);
+    M2_2.release(); M2_3.release();
 
     // construct the multiplication matrix via schur compliment of the Macaulay
     // matrix
@@ -398,20 +410,28 @@ void dls::fill_coeff(const cv::Mat * D_mat)
 
 cv::Mat dls::LeftMultVec(const cv::Mat& v)
 {
-    cv::Mat mat, row1, row2, row3;
-    cv::Mat zeros16 = cv::Mat::zeros(1, 6, CV_64F);
-    cv::Mat zeros13 = cv::Mat::zeros(1, 3, CV_64F);
+    //cv::Mat mat, row1, row2, row3;
+    //cv::Mat zeros16 = cv::Mat::zeros(1, 6, CV_64F);
+    //cv::Mat zeros13 = cv::Mat::zeros(1, 3, CV_64F);
+    cv::Mat mat_ = cv::Mat::zeros(3, 9, CV_64F);
 
-    cv::hconcat(v.clone().t(), zeros16, row1);    // first row
+    for (int i = 0; i < 3; ++i)
+    {
+		mat_.at<double>(i, 3*i + 0) = v.at<double>(0);
+		mat_.at<double>(i, 3*i + 1) = v.at<double>(1);
+		mat_.at<double>(i, 3*i + 2) = v.at<double>(2);
+	}
+
+    /*cv::hconcat(v.clone().t(), zeros16, row1);    // first row
     cv::hconcat(zeros13, v.clone().t(), row2);    // second row
     cv::hconcat(row2, zeros13, row2);            // second row
     cv::hconcat(zeros16, v.clone().t(), row3);    // third row
 
     mat.push_back(row1);
     mat.push_back(row2);
-    mat.push_back(row3);
+    mat.push_back(row3);*/
 
-    return mat;
+    return mat_;
 }
 
 cv::Mat dls::cayley_LS_M(const std::vector<double>& a, const std::vector<double>& b, const std::vector<double>& c, const std::vector<double>& u)
diff --git a/modules/calib3d/src/dls.h b/modules/calib3d/src/dls.h
index ba6c40a79a..aba7c7c571 100644
--- a/modules/calib3d/src/dls.h
+++ b/modules/calib3d/src/dls.h
@@ -26,15 +26,30 @@ private:
             p.at<double>(1,i) = opoints.at<OpointType>(0,i).y;
             p.at<double>(2,i) = opoints.at<OpointType>(0,i).z;
 
-            z.at<double>(0,i) = ipoints.at<IpointType>(0,i).x;
-            z.at<double>(1,i) = ipoints.at<IpointType>(0,i).y;
-            z.at<double>(2,i) = (double)1;
+            // compute mean of object points
+            mn.at<double>(0) += p.at<double>(0,i);
+            mn.at<double>(1) += p.at<double>(1,i);
+            mn.at<double>(2) += p.at<double>(2,i);
+
+            // make z into unit vectors from normalized pixel coords
+            double sr = std::pow(ipoints.at<IpointType>(0,i).x, 2) +
+                        std::pow(ipoints.at<IpointType>(0,i).y, 2) + (double)1;
+                   sr = std::sqrt(sr);
+
+            z.at<double>(0,i) = ipoints.at<IpointType>(0,i).x / sr;
+            z.at<double>(1,i) = ipoints.at<IpointType>(0,i).y / sr;
+            z.at<double>(2,i) = (double)1 / sr;
         }
+
+        mn.at<double>(0) /= (double)N;
+        mn.at<double>(1) /= (double)N;
+        mn.at<double>(2) /= (double)N;
     }
 
-    void norm_z_vector();
+    //void norm_z_vector();
 
     // main algorithm
+    cv::Mat LeftMultVec(const cv::Mat& v);
     void run_kernel(const cv::Mat& pp);
     void build_coeff_matrix(const cv::Mat& pp, cv::Mat& Mtilde, cv::Mat& D);
     void compute_eigenvec(const cv::Mat& Mtilde, cv::Mat& eigenval_real, cv::Mat& eigenval_imag,
@@ -42,7 +57,6 @@ private:
     void fill_coeff(const cv::Mat * D);
 
     // useful functions
-    cv::Mat LeftMultVec(const cv::Mat& v);
     cv::Mat cayley_LS_M(const std::vector<double>& a, const std::vector<double>& b,
                         const std::vector<double>& c, const std::vector<double>& u);
     cv::Mat Hessian(const double s[]);
@@ -57,8 +71,7 @@ private:
     bool is_empty(const cv::Mat * v);
     bool positive_eigenvalues(const cv::Mat * eigenvalues);
 
-
-    cv::Mat p, z;        // object-image points
+    cv::Mat p, z, mn;        // object-image points
     int N;                // number of input points
     std::vector<double> f1coeff, f2coeff, f3coeff, cost_; // coefficient for coefficients matrix
     std::vector<cv::Mat> C_est_, t_est_;    // optimal candidates
diff --git a/modules/calib3d/src/solvepnp.cpp b/modules/calib3d/src/solvepnp.cpp
index c4cacb4ce7..f31928483e 100644
--- a/modules/calib3d/src/solvepnp.cpp
+++ b/modules/calib3d/src/solvepnp.cpp
@@ -108,7 +108,7 @@ bool cv::solvePnP( InputArray _opoints, InputArray _ipoints,
         return result;
     }
     else
-        CV_Error(CV_StsBadArg, "The flags argument must be one of CV_ITERATIVE, CV_P3P, CV_EPNP or CV_DLS");
+        CV_Error(CV_StsBadArg, "The flags argument must be one of SOLVEPNP_ITERATIVE, SOLVEPNP_P3P, SOLVEPNP_EPNP or SOLVEPNP_DLS");
     return false;
 }
 
diff --git a/modules/calib3d/test/test_solvepnp_ransac.cpp b/modules/calib3d/test/test_solvepnp_ransac.cpp
index 167415eda1..7780462c15 100644
--- a/modules/calib3d/test/test_solvepnp_ransac.cpp
+++ b/modules/calib3d/test/test_solvepnp_ransac.cpp
@@ -196,7 +196,7 @@ public:
         eps[SOLVEPNP_ITERATIVE] = 1.0e-6;
         eps[SOLVEPNP_EPNP] = 1.0e-6;
         eps[SOLVEPNP_P3P] = 1.0e-4;
-        eps[SOLVEPNP_DLS] = 1.0e-6;
+        eps[SOLVEPNP_DLS] = 1.0e-4;
         totalTestsCount = 1000;
     }
 

From de2861e7a90333f39a74fc2c0e359e8972c6edac Mon Sep 17 00:00:00 2001
From: edgarriba <edgar.riba@gmail.com>
Date: Tue, 12 Aug 2014 16:20:22 +0200
Subject: [PATCH 101/112] DLS performance modifications

---
 modules/calib3d/src/dls.cpp | 17 ++++-------------
 1 file changed, 4 insertions(+), 13 deletions(-)

diff --git a/modules/calib3d/src/dls.cpp b/modules/calib3d/src/dls.cpp
index b6de1bc1e1..704f73e48e 100644
--- a/modules/calib3d/src/dls.cpp
+++ b/modules/calib3d/src/dls.cpp
@@ -417,19 +417,10 @@ cv::Mat dls::LeftMultVec(const cv::Mat& v)
 
     for (int i = 0; i < 3; ++i)
     {
-		mat_.at<double>(i, 3*i + 0) = v.at<double>(0);
-		mat_.at<double>(i, 3*i + 1) = v.at<double>(1);
-		mat_.at<double>(i, 3*i + 2) = v.at<double>(2);
-	}
-
-    /*cv::hconcat(v.clone().t(), zeros16, row1);    // first row
-    cv::hconcat(zeros13, v.clone().t(), row2);    // second row
-    cv::hconcat(row2, zeros13, row2);            // second row
-    cv::hconcat(zeros16, v.clone().t(), row3);    // third row
-
-    mat.push_back(row1);
-    mat.push_back(row2);
-    mat.push_back(row3);*/
+        mat_.at<double>(i, 3*i + 0) = v.at<double>(0);
+        mat_.at<double>(i, 3*i + 1) = v.at<double>(1);
+        mat_.at<double>(i, 3*i + 2) = v.at<double>(2);
+    }
 
     return mat_;
 }

From 12f8d8069d4b95e473073d9c9772864bddaadf07 Mon Sep 17 00:00:00 2001
From: edgarriba <edgar.riba@gmail.com>
Date: Tue, 12 Aug 2014 16:49:19 +0200
Subject: [PATCH 102/112] removed old code

---
 modules/calib3d/src/dls.cpp | 17 -----------------
 modules/calib3d/src/dls.h   |  2 --
 2 files changed, 19 deletions(-)

diff --git a/modules/calib3d/src/dls.cpp b/modules/calib3d/src/dls.cpp
index 704f73e48e..9881aac808 100644
--- a/modules/calib3d/src/dls.cpp
+++ b/modules/calib3d/src/dls.cpp
@@ -49,23 +49,6 @@ dls::~dls()
   // TODO Auto-generated destructor stub
 }
 
-/*void dls::norm_z_vector()
-{
-    // make z into unit vectors from normalized pixel coords
-    for (int i = 0; i < N; ++i)
-    {
-        cv::Mat col_i = z.col(i);
-        double sr = std::pow(col_i.at<double>(0), 2) +
-                    std::pow(col_i.at<double>(1), 2) +
-                    std::pow(col_i.at<double>(2), 2);
-        sr = std::sqrt(sr);
-
-        z.at<double>(0, i) /= sr;
-        z.at<double>(1, i) /= sr;
-        z.at<double>(2, i) /= sr;
-    }
-}*/
-
 bool dls::compute_pose(cv::Mat& R, cv::Mat& t)
 {
 
diff --git a/modules/calib3d/src/dls.h b/modules/calib3d/src/dls.h
index aba7c7c571..a35c67a49d 100644
--- a/modules/calib3d/src/dls.h
+++ b/modules/calib3d/src/dls.h
@@ -46,8 +46,6 @@ private:
         mn.at<double>(2) /= (double)N;
     }
 
-    //void norm_z_vector();
-
     // main algorithm
     cv::Mat LeftMultVec(const cv::Mat& v);
     void run_kernel(const cv::Mat& pp);

From 4a214c08e5990c0112b9eec5e11432942a6022bd Mon Sep 17 00:00:00 2001
From: edgarriba <edgar.riba@gmail.com>
Date: Tue, 12 Aug 2014 17:07:38 +0200
Subject: [PATCH 103/112] removed old code

---
 .../calib3d/real_time_pose_estimation/CMakeLists.txt          | 4 ----
 1 file changed, 4 deletions(-)

diff --git a/samples/cpp/tutorial_code/calib3d/real_time_pose_estimation/CMakeLists.txt b/samples/cpp/tutorial_code/calib3d/real_time_pose_estimation/CMakeLists.txt
index 6be48a5ef3..a3c5cfe4c4 100644
--- a/samples/cpp/tutorial_code/calib3d/real_time_pose_estimation/CMakeLists.txt
+++ b/samples/cpp/tutorial_code/calib3d/real_time_pose_estimation/CMakeLists.txt
@@ -1,10 +1,6 @@
 set(sample_dir ${CMAKE_CURRENT_SOURCE_DIR}/tutorial_code/calib3d/real_time_pose_estimation/src/)
 set(target cpp-tutorial-)
 
-if(HAVE_opencv_nonfree)
-  ocv_include_directories("${OpenCV_SOURCE_DIR}/modules/nonfree/include")
-endif()
-
 set(sample_pnplib
         ${sample_dir}CsvReader.cpp
         ${sample_dir}CsvWriter.cpp

From 7da98006944531a2a335b1ecbf06ff9bc3563181 Mon Sep 17 00:00:00 2001
From: edgarriba <edgar.riba@gmail.com>
Date: Tue, 12 Aug 2014 17:22:35 +0200
Subject: [PATCH 104/112] removed old headers

---
 .../calib3d/real_time_pose_estimation/src/RobustMatcher.h        | 1 -
 .../calib3d/real_time_pose_estimation/src/main_registration.cpp  | 1 -
 2 files changed, 2 deletions(-)

diff --git a/samples/cpp/tutorial_code/calib3d/real_time_pose_estimation/src/RobustMatcher.h b/samples/cpp/tutorial_code/calib3d/real_time_pose_estimation/src/RobustMatcher.h
index 1871aa452a..1a77b92d78 100644
--- a/samples/cpp/tutorial_code/calib3d/real_time_pose_estimation/src/RobustMatcher.h
+++ b/samples/cpp/tutorial_code/calib3d/real_time_pose_estimation/src/RobustMatcher.h
@@ -13,7 +13,6 @@
 #include <opencv2/core/core.hpp>
 #include <opencv2/highgui/highgui.hpp>
 #include <opencv2/features2d/features2d.hpp>
-#include <opencv2/nonfree/nonfree.hpp>
 
 class RobustMatcher {
 public:
diff --git a/samples/cpp/tutorial_code/calib3d/real_time_pose_estimation/src/main_registration.cpp b/samples/cpp/tutorial_code/calib3d/real_time_pose_estimation/src/main_registration.cpp
index be85951f95..baea3a55f5 100644
--- a/samples/cpp/tutorial_code/calib3d/real_time_pose_estimation/src/main_registration.cpp
+++ b/samples/cpp/tutorial_code/calib3d/real_time_pose_estimation/src/main_registration.cpp
@@ -5,7 +5,6 @@
 #include <opencv2/imgproc/imgproc.hpp>
 #include <opencv2/calib3d/calib3d.hpp>
 #include <opencv2/features2d/features2d.hpp>
-#include <opencv2/nonfree/features2d.hpp>
 // PnP Tutorial
 #include "Mesh.h"
 #include "Model.h"

From 301ed341425fe7949f3fff698b120684230ebf70 Mon Sep 17 00:00:00 2001
From: edgarriba <edgar.riba@gmail.com>
Date: Tue, 12 Aug 2014 17:36:23 +0200
Subject: [PATCH 105/112] removed old headers

---
 .../calib3d/real_time_pose_estimation/src/Utils.cpp             | 2 --
 1 file changed, 2 deletions(-)

diff --git a/samples/cpp/tutorial_code/calib3d/real_time_pose_estimation/src/Utils.cpp b/samples/cpp/tutorial_code/calib3d/real_time_pose_estimation/src/Utils.cpp
index a7ace3b7b8..fa2bad442e 100644
--- a/samples/cpp/tutorial_code/calib3d/real_time_pose_estimation/src/Utils.cpp
+++ b/samples/cpp/tutorial_code/calib3d/real_time_pose_estimation/src/Utils.cpp
@@ -13,8 +13,6 @@
 
 #include <opencv2/imgproc/imgproc.hpp>
 #include <opencv2/calib3d/calib3d.hpp>
-#include <opencv2/nonfree/features2d.hpp>
-
 
 // For text
 int fontFace = cv::FONT_ITALIC;

From 3c3d695d4d5c0555d15b3bd78181c16a5553b895 Mon Sep 17 00:00:00 2001
From: edgarriba <edgar.riba@gmail.com>
Date: Tue, 12 Aug 2014 18:29:43 +0200
Subject: [PATCH 106/112] Perf test update

---
 modules/calib3d/perf/perf_pnp.cpp | 3 ++-
 1 file changed, 2 insertions(+), 1 deletion(-)

diff --git a/modules/calib3d/perf/perf_pnp.cpp b/modules/calib3d/perf/perf_pnp.cpp
index 5d90c3c6d4..c9579321d2 100644
--- a/modules/calib3d/perf/perf_pnp.cpp
+++ b/modules/calib3d/perf/perf_pnp.cpp
@@ -51,6 +51,7 @@ PERF_TEST_P(PointsNum_Algo, solvePnP,
     add(points2d, noise, points2d);
 
     declare.in(points3d, points2d);
+    declare.time(100);
 
     TEST_CYCLE_N(1000)
     {
@@ -58,7 +59,7 @@ PERF_TEST_P(PointsNum_Algo, solvePnP,
     }
 
     SANITY_CHECK(rvec, 1e-6);
-    SANITY_CHECK(tvec, 1e-3);
+    SANITY_CHECK(tvec, 1e-6);
 }
 
 PERF_TEST(PointsNum_Algo, solveP3P)

From a37640cdd048e284d969126f572e33cecc40a0b3 Mon Sep 17 00:00:00 2001
From: Alexander Shishkov <shishkov.alexander@gmail.com>
Date: Mon, 18 Aug 2014 18:34:01 +0400
Subject: [PATCH 107/112] Update perf_pnp.cpp

---
 modules/calib3d/perf/perf_pnp.cpp | 16 +++++++++++-----
 1 file changed, 11 insertions(+), 5 deletions(-)

diff --git a/modules/calib3d/perf/perf_pnp.cpp b/modules/calib3d/perf/perf_pnp.cpp
index c9579321d2..9b76bad2b9 100644
--- a/modules/calib3d/perf/perf_pnp.cpp
+++ b/modules/calib3d/perf/perf_pnp.cpp
@@ -10,7 +10,7 @@ using namespace perf;
 using std::tr1::make_tuple;
 using std::tr1::get;
 
-CV_ENUM(pnpAlgo, SOLVEPNP_ITERATIVE, SOLVEPNP_EPNP, SOLVEPNP_DLS /*, P3P*/)
+CV_ENUM(pnpAlgo, SOLVEPNP_ITERATIVE, SOLVEPNP_EPNP, SOLVEPNP_P3P, SOLVEPNP_DLS)
 
 typedef std::tr1::tuple<int, pnpAlgo> PointsNum_Algo_t;
 typedef perf::TestBaseWithParam<PointsNum_Algo_t> PointsNum_Algo;
@@ -20,7 +20,7 @@ typedef perf::TestBaseWithParam<int> PointsNum;
 PERF_TEST_P(PointsNum_Algo, solvePnP,
             testing::Combine(
                 testing::Values(4, 3*9, 7*13), //TODO: find why results on 4 points are too unstable
-                testing::Values((int)SOLVEPNP_ITERATIVE, (int)SOLVEPNP_EPNP, (int)SOLVEPNP_DLS)
+                testing::Values((int)SOLVEPNP_ITERATIVE, (int)SOLVEPNP_EPNP)
                 )
             )
 {
@@ -62,9 +62,15 @@ PERF_TEST_P(PointsNum_Algo, solvePnP,
     SANITY_CHECK(tvec, 1e-6);
 }
 
-PERF_TEST(PointsNum_Algo, solveP3P)
+PERF_TEST_P(PointsNum_Algo, solvePnPSmallPoints,
+            testing::Combine(
+                testing::Values(4), //TODO: find why results on 4 points are too unstable
+                testing::Values((int)SOLVEPNP_P3P, (int)SOLVEPNP_DLS)
+                )
+            )
 {
-    int pointsNum = 4;
+    int pointsNum = get<0>(GetParam());
+    pnpAlgo algo = get<1>(GetParam());
 
     vector<Point2f> points2d(pointsNum);
     vector<Point3f> points3d(pointsNum);
@@ -94,7 +100,7 @@ PERF_TEST(PointsNum_Algo, solveP3P)
 
     TEST_CYCLE_N(1000)
     {
-        solvePnP(points3d, points2d, intrinsics, distortion, rvec, tvec, false, SOLVEPNP_P3P);
+        solvePnP(points3d, points2d, intrinsics, distortion, rvec, tvec, false, algo);
     }
 
     SANITY_CHECK(rvec, 1e-6);

From 620387fbe11426229dab4d1f5f13399407d5ee26 Mon Sep 17 00:00:00 2001
From: edgarriba <edgar.riba@gmail.com>
Date: Mon, 18 Aug 2014 21:46:16 +0200
Subject: [PATCH 108/112] Update perf_pnp && ransac model points

---
 modules/calib3d/perf/perf_pnp.cpp | 20 +++++++++++++-------
 modules/calib3d/src/solvepnp.cpp  |  5 ++++-
 2 files changed, 17 insertions(+), 8 deletions(-)

diff --git a/modules/calib3d/perf/perf_pnp.cpp b/modules/calib3d/perf/perf_pnp.cpp
index c9579321d2..3eb30cc4ce 100644
--- a/modules/calib3d/perf/perf_pnp.cpp
+++ b/modules/calib3d/perf/perf_pnp.cpp
@@ -10,7 +10,7 @@ using namespace perf;
 using std::tr1::make_tuple;
 using std::tr1::get;
 
-CV_ENUM(pnpAlgo, SOLVEPNP_ITERATIVE, SOLVEPNP_EPNP, SOLVEPNP_DLS /*, P3P*/)
+CV_ENUM(pnpAlgo, SOLVEPNP_ITERATIVE, SOLVEPNP_EPNP, SOLVEPNP_P3P, SOLVEPNP_DLS)
 
 typedef std::tr1::tuple<int, pnpAlgo> PointsNum_Algo_t;
 typedef perf::TestBaseWithParam<PointsNum_Algo_t> PointsNum_Algo;
@@ -20,7 +20,7 @@ typedef perf::TestBaseWithParam<int> PointsNum;
 PERF_TEST_P(PointsNum_Algo, solvePnP,
             testing::Combine(
                 testing::Values(4, 3*9, 7*13), //TODO: find why results on 4 points are too unstable
-                testing::Values((int)SOLVEPNP_ITERATIVE, (int)SOLVEPNP_EPNP, (int)SOLVEPNP_DLS)
+                testing::Values((int)SOLVEPNP_ITERATIVE, (int)SOLVEPNP_EPNP)
                 )
             )
 {
@@ -62,9 +62,15 @@ PERF_TEST_P(PointsNum_Algo, solvePnP,
     SANITY_CHECK(tvec, 1e-6);
 }
 
-PERF_TEST(PointsNum_Algo, solveP3P)
+PERF_TEST_P(PointsNum_Algo, solvePnPSmallPoints,
+            testing::Combine(
+                testing::Values(4), //TODO: find why results on 4 points are too unstable
+                testing::Values((int)SOLVEPNP_P3P, (int)SOLVEPNP_DLS)
+                )
+            )
 {
-    int pointsNum = 4;
+    int pointsNum = get<0>(GetParam());
+    pnpAlgo algo = get<1>(GetParam());
 
     vector<Point2f> points2d(pointsNum);
     vector<Point3f> points3d(pointsNum);
@@ -94,11 +100,11 @@ PERF_TEST(PointsNum_Algo, solveP3P)
 
     TEST_CYCLE_N(1000)
     {
-        solvePnP(points3d, points2d, intrinsics, distortion, rvec, tvec, false, SOLVEPNP_P3P);
+        solvePnP(points3d, points2d, intrinsics, distortion, rvec, tvec, false, algo);
     }
 
-    SANITY_CHECK(rvec, 1e-6);
-    SANITY_CHECK(tvec, 1e-6);
+    SANITY_CHECK(rvec, 1e-4);
+    SANITY_CHECK(tvec, 1e-4);
 }
 
 PERF_TEST_P(PointsNum, DISABLED_SolvePnPRansac, testing::Values(4, 3*9, 7*13))
diff --git a/modules/calib3d/src/solvepnp.cpp b/modules/calib3d/src/solvepnp.cpp
index f31928483e..9ed7779293 100644
--- a/modules/calib3d/src/solvepnp.cpp
+++ b/modules/calib3d/src/solvepnp.cpp
@@ -203,7 +203,10 @@ bool cv::solvePnPRansac(InputArray _opoints, InputArray _ipoints,
     Ptr<PointSetRegistrator::Callback> cb; // pointer to callback
     cb = makePtr<PnPRansacCallback>( cameraMatrix, distCoeffs, flags, useExtrinsicGuess, rvec, tvec);
 
-    int model_points = flags == SOLVEPNP_P3P ? 4 : 6;          // minimum of number of model points
+    int model_points = 4;                             // minimum of number of model points
+    if( flags == cv::SOLVEPNP_ITERATIVE ) model_points = 6;
+    else if( flags == cv::SOLVEPNP_EPNP ) model_points = 5;
+
     double param1 = reprojectionError;                // reprojection error
     double param2 = confidence;                       // confidence
     int param3 = iterationsCount;                     // number maximum iterations

From 6ea73a5bffd3aaa10e59da02b038d5001713adb7 Mon Sep 17 00:00:00 2001
From: edgarriba <edgar.riba@gmail.com>
Date: Tue, 19 Aug 2014 00:22:08 +0200
Subject: [PATCH 109/112] updated dls perf test

---
 modules/calib3d/perf/perf_pnp.cpp | 4 ++--
 1 file changed, 2 insertions(+), 2 deletions(-)

diff --git a/modules/calib3d/perf/perf_pnp.cpp b/modules/calib3d/perf/perf_pnp.cpp
index 3eb30cc4ce..9ce399dad0 100644
--- a/modules/calib3d/perf/perf_pnp.cpp
+++ b/modules/calib3d/perf/perf_pnp.cpp
@@ -19,7 +19,7 @@ typedef perf::TestBaseWithParam<int> PointsNum;
 
 PERF_TEST_P(PointsNum_Algo, solvePnP,
             testing::Combine(
-                testing::Values(4, 3*9, 7*13), //TODO: find why results on 4 points are too unstable
+                testing::Values(/*4,*/ 3*9, 7*13), //TODO: find why results on 4 points are too unstable
                 testing::Values((int)SOLVEPNP_ITERATIVE, (int)SOLVEPNP_EPNP)
                 )
             )
@@ -104,7 +104,7 @@ PERF_TEST_P(PointsNum_Algo, solvePnPSmallPoints,
     }
 
     SANITY_CHECK(rvec, 1e-4);
-    SANITY_CHECK(tvec, 1e-4);
+    SANITY_CHECK(tvec, 1e-2);
 }
 
 PERF_TEST_P(PointsNum, DISABLED_SolvePnPRansac, testing::Values(4, 3*9, 7*13))

From 2653d745fd2b9aa47b0715c8e0dd3daa95dccf6e Mon Sep 17 00:00:00 2001
From: edgarriba <edgar.riba@gmail.com>
Date: Tue, 19 Aug 2014 00:35:22 +0200
Subject: [PATCH 110/112] updated sanity data

---
 modules/calib3d/perf/perf_pnp.cpp |  2 +-
 modules/calib3d/src/dls.cpp       | 18 +++++--
 modules/calib3d/src/dls.h         | 83 +++++++++++++++++++++++++++++++
 3 files changed, 99 insertions(+), 4 deletions(-)

diff --git a/modules/calib3d/perf/perf_pnp.cpp b/modules/calib3d/perf/perf_pnp.cpp
index 9ce399dad0..87016dd920 100644
--- a/modules/calib3d/perf/perf_pnp.cpp
+++ b/modules/calib3d/perf/perf_pnp.cpp
@@ -19,7 +19,7 @@ typedef perf::TestBaseWithParam<int> PointsNum;
 
 PERF_TEST_P(PointsNum_Algo, solvePnP,
             testing::Combine(
-                testing::Values(/*4,*/ 3*9, 7*13), //TODO: find why results on 4 points are too unstable
+                testing::Values(4, 3*9, 7*13), //TODO: find why results on 4 points are too unstable
                 testing::Values((int)SOLVEPNP_ITERATIVE, (int)SOLVEPNP_EPNP)
                 )
             )
diff --git a/modules/calib3d/src/dls.cpp b/modules/calib3d/src/dls.cpp
index 9881aac808..213e82b0f5 100644
--- a/modules/calib3d/src/dls.cpp
+++ b/modules/calib3d/src/dls.cpp
@@ -221,6 +221,12 @@ void dls::build_coeff_matrix(const cv::Mat& pp, cv::Mat& Mtilde, cv::Mat& D)
 
     cv::Mat H = cv::Mat::zeros(3, 3, CV_64F);
     cv::Mat A = cv::Mat::zeros(3, 9, CV_64F);
+    cv::Mat pp_i(3, 1, CV_64F);
+
+    //Parallel_compute_A comp_A(&A, &pp, &z);
+    //cv::parallel_for_(cv::Range(0, N), comp_A);
+
+    //exit(-1);
 
     cv::Mat z_i(3, 1, CV_64F);
     for (int i = 0; i < N; ++i)
@@ -235,6 +241,9 @@ void dls::build_coeff_matrix(const cv::Mat& pp, cv::Mat& Mtilde, cv::Mat& D)
     cv::solve(H, A, A, cv::DECOMP_NORMAL);
     H.release();
 
+    //Parallel_compute_D comp_D(&D, &A, &pp, &z);
+    //cv::parallel_for_(cv::Range(0, N), comp_D);
+
     cv::Mat ppi_A(3, 1, CV_64F);
     for (int i = 0; i < N; ++i)
     {
@@ -393,9 +402,6 @@ void dls::fill_coeff(const cv::Mat * D_mat)
 
 cv::Mat dls::LeftMultVec(const cv::Mat& v)
 {
-    //cv::Mat mat, row1, row2, row3;
-    //cv::Mat zeros16 = cv::Mat::zeros(1, 6, CV_64F);
-    //cv::Mat zeros13 = cv::Mat::zeros(1, 3, CV_64F);
     cv::Mat mat_ = cv::Mat::zeros(3, 9, CV_64F);
 
     for (int i = 0; i < 3; ++i)
@@ -404,6 +410,12 @@ cv::Mat dls::LeftMultVec(const cv::Mat& v)
         mat_.at<double>(i, 3*i + 1) = v.at<double>(1);
         mat_.at<double>(i, 3*i + 2) = v.at<double>(2);
     }
+    /*for (int i = 0; i < 3; ++i)
+    {
+		mat_.data[mat_.step[0]*i + mat_.step[1]* 3*i + 0] = v.at<double>(0);
+		mat_.data[mat_.step[0]*i + mat_.step[1]* 3*i + 1] = v.at<double>(1);
+		mat_.data[mat_.step[0]*i + mat_.step[1]* 3*i + 2] = v.at<double>(2);
+    }*/
 
     return mat_;
 }
diff --git a/modules/calib3d/src/dls.h b/modules/calib3d/src/dls.h
index a35c67a49d..ab6b505243 100644
--- a/modules/calib3d/src/dls.h
+++ b/modules/calib3d/src/dls.h
@@ -3,6 +3,8 @@
 
 #include "precomp.hpp"
 
+#include <iostream>
+
 using namespace std;
 using namespace cv;
 
@@ -77,6 +79,87 @@ private:
     double cost__;                            // optimal found solution
 };
 
+class Parallel_compute_A : public cv::ParallelLoopBody
+{
+private:
+  cv::Mat eye, *A;
+  const cv::Mat *pp, *z;
+
+public:
+  Parallel_compute_A( cv::Mat * _A, const cv::Mat * _pp, const cv::Mat * _z)
+      : A(_A), pp(_pp), z(_z)
+  {
+      eye = cv::Mat::eye(3, 3, CV_64F);
+  }
+
+  cv::Mat leftMultVec(const cv::Mat& v) const
+  {
+      cv::Mat mat_(3, 9, CV_64F, 0.0);
+      for (int i = 0; i < 3; ++i)
+      {
+          mat_.at<double>(i, 3*i + 0) = v.at<double>(0);
+          mat_.at<double>(i, 3*i + 1) = v.at<double>(1);
+          mat_.at<double>(i, 3*i + 2) = v.at<double>(2);
+      }
+      return mat_;
+  }
+
+  virtual void operator()( const cv::Range &r ) const {
+    for ( int i = r.start; i != r.end; ++i)
+    {
+    	cv::Mat z_i(3, 1, CV_64F);
+    	cv::Mat pp_i(3, 1, CV_64F);
+    	int index = i;
+
+        z->col(index).copyTo(z_i);
+        pp->col(index).copyTo(pp_i);
+        *A += ( z_i*z_i.t() - eye ) * leftMultVec(pp_i);
+    }
+  }
+
+};
+
+class Parallel_compute_D : public cv::ParallelLoopBody
+{
+private:
+  cv::Mat eye, *D;
+  const cv::Mat *pp, *z, *A;
+
+public:
+  Parallel_compute_D( cv::Mat * _D, const cv::Mat * _A, const cv::Mat * _pp, const cv::Mat * _z)
+      : D(_D), A(_A), pp(_pp), z(_z)
+  {
+      eye = cv::Mat::eye(3, 3, CV_64F);
+  }
+
+  cv::Mat leftMultVec(const cv::Mat& v) const
+  {
+      cv::Mat mat_(3, 9, CV_64F, 0.0);
+      for (int i = 0; i < 3; ++i)
+      {
+          mat_.at<double>(i, 3*i + 0) = v.at<double>(0);
+          mat_.at<double>(i, 3*i + 1) = v.at<double>(1);
+          mat_.at<double>(i, 3*i + 2) = v.at<double>(2);
+      }
+      return mat_;
+  }
+
+  virtual void operator()( const cv::Range &r ) const {
+    for ( int i = r.start; i != r.end; ++i)
+    {
+    	cv::Mat z_i(3, 1, CV_64F);
+		cv::Mat pp_i(3, 1, CV_64F);
+		cv::Mat ppi_A(3, 9, CV_64F);
+		int index = i;
+
+        z->col(index).copyTo(z_i);
+        pp->col(index).copyTo(pp_i);
+		cv::Mat(leftMultVec(pp_i) + *A).copyTo(ppi_A);
+		*D += ppi_A.t() * ( eye - z_i*z_i.t() ) * ppi_A;
+    }
+  }
+
+};
 
 class EigenvalueDecomposition {
 private:

From 15704c384e17924a46d6bb9933dfa6ac958decd9 Mon Sep 17 00:00:00 2001
From: edgarriba <edgar.riba@gmail.com>
Date: Tue, 19 Aug 2014 00:52:09 +0200
Subject: [PATCH 111/112] cleaned dls code

---
 modules/calib3d/src/dls.cpp | 12 ------
 modules/calib3d/src/dls.h   | 82 -------------------------------------
 2 files changed, 94 deletions(-)

diff --git a/modules/calib3d/src/dls.cpp b/modules/calib3d/src/dls.cpp
index 213e82b0f5..781ca8da8a 100644
--- a/modules/calib3d/src/dls.cpp
+++ b/modules/calib3d/src/dls.cpp
@@ -39,9 +39,6 @@ dls::dls(const cv::Mat& opoints, const cv::Mat& ipoints)
         init_points<cv::Point3f, cv::Point2d>(opoints, ipoints);
     else
         init_points<cv::Point3d, cv::Point2f>(opoints, ipoints);
-
-    //norm_z_vector();
-
 }
 
 dls::~dls()
@@ -57,13 +54,10 @@ bool dls::compute_pose(cv::Mat& R, cv::Mat& t)
     R_.push_back(roty(CV_PI/2));
     R_.push_back(rotz(CV_PI/2));
 
-    //cv::Mat t_mean = this->mean(p);
-
     // version that calls dls 3 times, to avoid Cayley singularity
     for (int i = 0; i < 3; ++i)
     {
         // Make a random rotation
-        //cv::Mat pp = R_[i] * ( p - cv::repeat(t_mean, 1, p.cols) );
         cv::Mat pp = R_[i] * ( p - cv::repeat(mn, 1, p.cols) );
 
         // clear for new data
@@ -78,7 +72,6 @@ bool dls::compute_pose(cv::Mat& R, cv::Mat& t)
         {
             if( cost_[j] < cost__ )
             {
-                //t_est__ = t_est_[j] - C_est_[j] * R_[i] * t_mean;
                 t_est__ = t_est_[j] - C_est_[j] * R_[i] * mn;
                 C_est__ = C_est_[j] * R_[i];
                 cost__ = cost_[j];
@@ -223,11 +216,6 @@ void dls::build_coeff_matrix(const cv::Mat& pp, cv::Mat& Mtilde, cv::Mat& D)
     cv::Mat A = cv::Mat::zeros(3, 9, CV_64F);
     cv::Mat pp_i(3, 1, CV_64F);
 
-    //Parallel_compute_A comp_A(&A, &pp, &z);
-    //cv::parallel_for_(cv::Range(0, N), comp_A);
-
-    //exit(-1);
-
     cv::Mat z_i(3, 1, CV_64F);
     for (int i = 0; i < N; ++i)
     {
diff --git a/modules/calib3d/src/dls.h b/modules/calib3d/src/dls.h
index ab6b505243..30321fc0d6 100644
--- a/modules/calib3d/src/dls.h
+++ b/modules/calib3d/src/dls.h
@@ -79,88 +79,6 @@ private:
     double cost__;                            // optimal found solution
 };
 
-class Parallel_compute_A : public cv::ParallelLoopBody
-{
-private:
-  cv::Mat eye, *A;
-  const cv::Mat *pp, *z;
-
-public:
-  Parallel_compute_A( cv::Mat * _A, const cv::Mat * _pp, const cv::Mat * _z)
-      : A(_A), pp(_pp), z(_z)
-  {
-      eye = cv::Mat::eye(3, 3, CV_64F);
-  }
-
-  cv::Mat leftMultVec(const cv::Mat& v) const
-  {
-      cv::Mat mat_(3, 9, CV_64F, 0.0);
-      for (int i = 0; i < 3; ++i)
-      {
-          mat_.at<double>(i, 3*i + 0) = v.at<double>(0);
-          mat_.at<double>(i, 3*i + 1) = v.at<double>(1);
-          mat_.at<double>(i, 3*i + 2) = v.at<double>(2);
-      }
-      return mat_;
-  }
-
-  virtual void operator()( const cv::Range &r ) const {
-    for ( int i = r.start; i != r.end; ++i)
-    {
-    	cv::Mat z_i(3, 1, CV_64F);
-    	cv::Mat pp_i(3, 1, CV_64F);
-    	int index = i;
-
-        z->col(index).copyTo(z_i);
-        pp->col(index).copyTo(pp_i);
-        *A += ( z_i*z_i.t() - eye ) * leftMultVec(pp_i);
-    }
-  }
-
-};
-
-class Parallel_compute_D : public cv::ParallelLoopBody
-{
-private:
-  cv::Mat eye, *D;
-  const cv::Mat *pp, *z, *A;
-
-public:
-  Parallel_compute_D( cv::Mat * _D, const cv::Mat * _A, const cv::Mat * _pp, const cv::Mat * _z)
-      : D(_D), A(_A), pp(_pp), z(_z)
-  {
-      eye = cv::Mat::eye(3, 3, CV_64F);
-  }
-
-  cv::Mat leftMultVec(const cv::Mat& v) const
-  {
-      cv::Mat mat_(3, 9, CV_64F, 0.0);
-      for (int i = 0; i < 3; ++i)
-      {
-          mat_.at<double>(i, 3*i + 0) = v.at<double>(0);
-          mat_.at<double>(i, 3*i + 1) = v.at<double>(1);
-          mat_.at<double>(i, 3*i + 2) = v.at<double>(2);
-      }
-      return mat_;
-  }
-
-  virtual void operator()( const cv::Range &r ) const {
-    for ( int i = r.start; i != r.end; ++i)
-    {
-    	cv::Mat z_i(3, 1, CV_64F);
-		cv::Mat pp_i(3, 1, CV_64F);
-		cv::Mat ppi_A(3, 9, CV_64F);
-		int index = i;
-
-        z->col(index).copyTo(z_i);
-        pp->col(index).copyTo(pp_i);
-		cv::Mat(leftMultVec(pp_i) + *A).copyTo(ppi_A);
-		*D += ppi_A.t() * ( eye - z_i*z_i.t() ) * ppi_A;
-    }
-  }
-
-};
-
 class EigenvalueDecomposition {
 private:
 

From deec233519155f832fb78e70b283cf02d1c8b9be Mon Sep 17 00:00:00 2001
From: edgarriba <edgar.riba@gmail.com>
Date: Tue, 19 Aug 2014 00:56:13 +0200
Subject: [PATCH 112/112] cleaned dls code

---
 modules/calib3d/src/dls.cpp | 11 -----------
 1 file changed, 11 deletions(-)

diff --git a/modules/calib3d/src/dls.cpp b/modules/calib3d/src/dls.cpp
index 781ca8da8a..d44c364b49 100644
--- a/modules/calib3d/src/dls.cpp
+++ b/modules/calib3d/src/dls.cpp
@@ -229,13 +229,9 @@ void dls::build_coeff_matrix(const cv::Mat& pp, cv::Mat& Mtilde, cv::Mat& D)
     cv::solve(H, A, A, cv::DECOMP_NORMAL);
     H.release();
 
-    //Parallel_compute_D comp_D(&D, &A, &pp, &z);
-    //cv::parallel_for_(cv::Range(0, N), comp_D);
-
     cv::Mat ppi_A(3, 1, CV_64F);
     for (int i = 0; i < N; ++i)
     {
-        //z_i = z.col(i);
         z.col(i).copyTo(z_i);
         ppi_A = LeftMultVec(pp.col(i)) + A;
         D += ppi_A.t() * ( eye - z_i*z_i.t() ) * ppi_A;
@@ -398,13 +394,6 @@ cv::Mat dls::LeftMultVec(const cv::Mat& v)
         mat_.at<double>(i, 3*i + 1) = v.at<double>(1);
         mat_.at<double>(i, 3*i + 2) = v.at<double>(2);
     }
-    /*for (int i = 0; i < 3; ++i)
-    {
-		mat_.data[mat_.step[0]*i + mat_.step[1]* 3*i + 0] = v.at<double>(0);
-		mat_.data[mat_.step[0]*i + mat_.step[1]* 3*i + 1] = v.at<double>(1);
-		mat_.data[mat_.step[0]*i + mat_.step[1]* 3*i + 2] = v.at<double>(2);
-    }*/
-
     return mat_;
 }