setupequations.h

Code for L2-optimal three view triangulation based on calculation of stationary points

// This code was partly generated with maple.
#ifndef SETUPEQUATIONS
#define SETUPEQUATIONS
#define ZERO 0

void setupEquations(double P1_[2 * 4], double P2_[2 * 4], double P3_[2 * 4],
		    double *eqx, double *eqy,
		    double *eqz, double *eqt) {

  // TODO LATER: refactor to make this for loop unnecessary.
  // TODO LATER: replace pow(?, 2) med ? * ?.
  double P1[2][4], P2[2][4], P3[2][4];
  for(int i = 0; i < 2; i ++) {
    for(int j = 0; j < 4; j++) {
      P1[i][j] = P1_[2 * j + i];
      P2[i][j] = P2_[2 * j + i];
      P3[i][j] = P3_[2 * j + i];
    }
  }

  // EQX
  eqx[0] = ZERO;
  eqx[1] = ZERO;
  eqx[2] = ZERO;
  eqx[3] = ZERO;
  eqx[4] = ZERO;
  eqx[5] = ZERO;
  eqx[6] = ZERO;
  eqx[7] = ZERO;
  eqx[8] = ZERO;
  eqx[9] = ZERO;
  eqx[10] = ZERO;
  eqx[11] = ZERO;
  eqx[12] = ZERO;
  eqx[13] = ZERO;
  eqx[14] = ZERO;
  eqx[15] = ZERO;
  eqx[16] = ZERO;
  eqx[17] = ZERO;
  eqx[18] = ZERO;
  eqx[19] = ZERO;
  eqx[20] = ZERO;
  eqx[21] = ZERO;
  eqx[22] = ZERO;
  eqx[23] = ZERO;
  eqx[24] = ZERO;
  eqx[25] = ZERO;
  eqx[26] = ZERO;
  eqx[27] = ZERO;
  eqx[28] = ZERO;
  eqx[29] = ZERO;
  eqx[30] = ZERO;
  eqx[31] = ZERO;
  eqx[32] = ZERO;
  eqx[33] = ZERO;
  eqx[34] = ZERO;
  eqx[35] = ZERO;
  eqx[36] = ZERO;
  eqx[37] = ZERO;
  eqx[38] = ZERO;
  eqx[39] = ZERO;
  eqx[40] = ZERO;
  eqx[41] = ZERO;
  eqx[42] = ZERO;
  eqx[43] = ZERO;
  eqx[44] = ZERO;
  eqx[45] = ZERO;
  eqx[46] = ZERO;
  eqx[47] = ZERO;
  eqx[48] = ZERO;
  eqx[49] = ZERO;
  eqx[50] = ZERO;
  eqx[51] = ZERO;
  eqx[52] = ZERO;
  eqx[53] = ZERO;
  eqx[54] = ZERO;
  eqx[55] = ZERO;
  eqx[56] = ZERO;
  eqx[57] = ZERO;
  eqx[58] = ZERO;
  eqx[59] = ZERO;
  eqx[60] = ZERO;
  eqx[61] = ZERO;
  eqx[62] = ZERO;
  eqx[63] = ZERO;
  eqx[64] = ZERO;
  eqx[65] = ZERO;
  eqx[66] = ZERO;
  eqx[67] = ZERO;
  eqx[68] = ZERO;
  eqx[69] = ZERO;
  eqx[70] = ZERO;
  eqx[71] = ZERO;
  eqx[72] = ZERO;
  eqx[73] = ZERO;
  eqx[74] = ZERO;
  eqx[75] = ZERO;
  eqx[76] = ZERO;
  eqx[77] = ZERO;
  eqx[78] = ZERO;
  eqx[79] = ZERO;
  eqx[80] = ZERO;
  eqx[81] = ZERO;
  eqx[82] = ZERO;
  eqx[83] = ZERO;
  eqx[84] = ZERO;
  eqx[85] = ZERO;
  eqx[86] = ZERO;
  eqx[87] = ZERO;
  eqx[88] = ZERO;
  eqx[89] = ZERO;
  eqx[90] = ZERO;
  eqx[91] = ZERO;
  eqx[92] = ZERO;
  eqx[93] = ZERO;
  eqx[94] = ZERO;
  eqx[95] = ZERO;
  eqx[96] = ZERO;
  eqx[97] = ZERO;
  eqx[98] = ZERO;
  eqx[99] = ZERO;
  eqx[100] = ZERO;
  eqx[101] = ZERO;
  eqx[102] = ZERO;
  eqx[103] = ZERO;
  eqx[104] = ZERO;
  eqx[105] = ZERO;
  eqx[106] = ZERO;
  eqx[107] = ZERO;
  eqx[108] = ZERO;
  eqx[109] = ZERO;
  eqx[110] = ZERO;
  eqx[111] = ZERO;
  eqx[112] = ZERO;
  eqx[113] = ZERO;
  eqx[114] = ZERO;
  eqx[115] = ZERO;
  eqx[116] = ZERO;
  eqx[117] = ZERO;
  eqx[118] = ZERO;
  eqx[119] = ZERO;
  eqx[120] = ZERO;
  eqx[121] = ZERO;
  eqx[122] = ZERO;
  eqx[123] = ZERO;
  eqx[124] = ZERO;
  eqx[125] = ZERO;
  eqx[126] = ZERO;
  eqx[127] = ZERO;
  eqx[128] = ZERO;
  eqx[129] = ZERO;
  eqx[130] = ZERO;
  eqx[131] = ZERO;
  eqx[132] = ZERO;
  eqx[133] = ZERO;
  eqx[134] = ZERO;
  eqx[135] = ZERO;
  eqx[136] = ZERO;
  eqx[137] = ZERO;
  eqx[138] = ZERO;
  eqx[139] = 0.2e1 * pow(P3[0][0], 0.2e1) + 0.2e1 * pow(P3[1][0], 0.2e1);
  eqx[140] = ZERO;
  eqx[141] = 0.2e1 * pow(P2[0][0], 0.2e1) + 0.2e1 * pow(P2[1][0], 0.2e1);
  eqx[142] = 0.2e1 * P3[0][1] * P3[0][0] + 0.2e1 * P3[1][1] * P3[1][0];
  eqx[143] = 0.2e1 * P3[0][2] * P3[0][0] + 0.2e1 * P3[1][2] * P3[1][0];
  eqx[144] = 0.2e1 * P2[0][1] * P2[0][0] + 0.2e1 * P2[1][1] * P2[1][0];
  eqx[145] = 0.2e1 * P2[0][2] * P2[0][0] + 0.2e1 * P2[1][2] * P2[1][0];
  eqx[146] = ZERO;
  eqx[147] = ZERO;
  eqx[148] = ZERO;
  eqx[149] = ZERO;
  eqx[150] = ZERO;
  eqx[151] = ZERO;
  eqx[152] = ZERO;
  eqx[153] = -2 * P1[0][1] * P1[0][0] - 2 * P1[1][1] * P1[1][0];
  eqx[154] = -2 * P1[1][2] * P1[1][0] - 2 * P1[0][2] * P1[0][0];
  eqx[155] = ZERO;
  eqx[156] = ZERO;
  eqx[157] = ZERO;
  eqx[158] = ZERO;
  eqx[159] = -2 * pow((double) P1[1][1], (double) 2) - 2 * pow((double) P1[0][1], (double) 2);
  eqx[160] = -4 * P1[0][1] * P1[0][2] - 4 * P1[1][1] * P1[1][2];
  eqx[161] = -2 * pow((double) P1[0][2], (double) 2) - 2 * pow((double) P1[1][2], (double) 2);
  eqx[162] = ZERO;
  eqx[163] = ZERO;
  eqx[164] = ZERO;
  eqx[165] = ZERO;
  eqx[166] = ZERO;
  eqx[167] = 0.2e1 * P3[0][0] * P3[0][3] + 0.2e1 * P3[1][0] * P3[1][3];
  eqx[168] = ZERO;
  eqx[169] = 0.2e1 * P2[0][0] * P2[0][3] + 0.2e1 * P2[1][0] * P2[1][3];
  eqx[170] = ZERO;
  eqx[171] = ZERO;
  eqx[172] = ZERO;
  eqx[173] = ZERO;
  eqx[174] = ZERO;
  eqx[175] = ZERO;
  eqx[176] = -2 * P1[1][0] * P1[1][3] - 2 * P1[0][0] * P1[0][3];
  eqx[177] = ZERO;
  eqx[178] = ZERO;
  eqx[179] = ZERO;
  eqx[180] = ZERO;
  eqx[181] = -4 * P1[0][1] * P1[0][3] - 4 * P1[1][1] * P1[1][3];
  eqx[182] = -4 * P1[0][2] * P1[0][3] - 4 * P1[1][2] * P1[1][3];
  eqx[183] = ZERO;
  eqx[184] = ZERO;
  eqx[185] = ZERO;
  eqx[186] = ZERO;
  eqx[187] = ZERO;
  eqx[188] = ZERO;
  eqx[189] = ZERO;
  eqx[190] = ZERO;
  eqx[191] = ZERO;
  eqx[192] = ZERO;
  eqx[193] = ZERO;
  eqx[194] = ZERO;
  eqx[195] = ZERO;
  eqx[196] = ZERO;
  eqx[197] = -2 * pow((double) P1[1][3], (double) 2) - 2 * pow((double) P1[0][3], (double) 2);
  eqx[198] = ZERO;
  eqx[199] = ZERO;
  eqx[200] = ZERO;
  eqx[201] = ZERO;
  eqx[202] = ZERO;
  eqx[203] = ZERO;
  eqx[204] = ZERO;
  eqx[205] = ZERO;
  eqx[206] = ZERO;
  eqx[207] = ZERO;
  eqx[208] = ZERO;

  //EQY
  eqy[0] = ZERO;
  eqy[1] = ZERO;
  eqy[2] = ZERO;
  eqy[3] = ZERO;
  eqy[4] = ZERO;
  eqy[5] = ZERO;
  eqy[6] = ZERO;
  eqy[7] = ZERO;
  eqy[8] = ZERO;
  eqy[9] = ZERO;
  eqy[10] = ZERO;
  eqy[11] = ZERO;
  eqy[12] = ZERO;
  eqy[13] = ZERO;
  eqy[14] = ZERO;
  eqy[15] = ZERO;
  eqy[16] = ZERO;
  eqy[17] = ZERO;
  eqy[18] = ZERO;
  eqy[19] = ZERO;
  eqy[20] = ZERO;
  eqy[21] = ZERO;
  eqy[22] = ZERO;
  eqy[23] = ZERO;
  eqy[24] = ZERO;
  eqy[25] = ZERO;
  eqy[26] = ZERO;
  eqy[27] = ZERO;
  eqy[28] = ZERO;
  eqy[29] = ZERO;
  eqy[30] = ZERO;
  eqy[31] = ZERO;
  eqy[32] = ZERO;
  eqy[33] = ZERO;
  eqy[34] = ZERO;
  eqy[35] = ZERO;
  eqy[36] = ZERO;
  eqy[37] = ZERO;
  eqy[38] = ZERO;
  eqy[39] = ZERO;
  eqy[40] = ZERO;
  eqy[41] = ZERO;
  eqy[42] = ZERO;
  eqy[43] = ZERO;
  eqy[44] = ZERO;
  eqy[45] = ZERO;
  eqy[46] = ZERO;
  eqy[47] = ZERO;
  eqy[48] = ZERO;
  eqy[49] = ZERO;
  eqy[50] = ZERO;
  eqy[51] = ZERO;
  eqy[52] = ZERO;
  eqy[53] = ZERO;
  eqy[54] = ZERO;
  eqy[55] = ZERO;
  eqy[56] = ZERO;
  eqy[57] = ZERO;
  eqy[58] = ZERO;
  eqy[59] = ZERO;
  eqy[60] = ZERO;
  eqy[61] = ZERO;
  eqy[62] = ZERO;
  eqy[63] = ZERO;
  eqy[64] = ZERO;
  eqy[65] = ZERO;
  eqy[66] = ZERO;
  eqy[67] = ZERO;
  eqy[68] = ZERO;
  eqy[69] = ZERO;
  eqy[70] = ZERO;
  eqy[71] = ZERO;
  eqy[72] = ZERO;
  eqy[73] = ZERO;
  eqy[74] = ZERO;
  eqy[75] = ZERO;
  eqy[76] = ZERO;
  eqy[77] = ZERO;
  eqy[78] = ZERO;
  eqy[79] = ZERO;
  eqy[80] = ZERO;
  eqy[81] = ZERO;
  eqy[82] = ZERO;
  eqy[83] = ZERO;
  eqy[84] = ZERO;
  eqy[85] = ZERO;
  eqy[86] = ZERO;
  eqy[87] = ZERO;
  eqy[88] = ZERO;
  eqy[89] = ZERO;
  eqy[90] = ZERO;
  eqy[91] = ZERO;
  eqy[92] = ZERO;
  eqy[93] = ZERO;
  eqy[94] = ZERO;
  eqy[95] = ZERO;
  eqy[96] = ZERO;
  eqy[97] = ZERO;
  eqy[98] = ZERO;
  eqy[99] = ZERO;
  eqy[100] = ZERO;
  eqy[101] = ZERO;
  eqy[102] = ZERO;
  eqy[103] = ZERO;
  eqy[104] = ZERO;
  eqy[105] = ZERO;
  eqy[106] = ZERO;
  eqy[107] = ZERO;
  eqy[108] = ZERO;
  eqy[109] = ZERO;
  eqy[110] = ZERO;
  eqy[111] = ZERO;
  eqy[112] = ZERO;
  eqy[113] = ZERO;
  eqy[114] = ZERO;
  eqy[115] = ZERO;
  eqy[116] = ZERO;
  eqy[117] = ZERO;
  eqy[118] = ZERO;
  eqy[119] = ZERO;
  eqy[120] = ZERO;
  eqy[121] = ZERO;
  eqy[122] = ZERO;
  eqy[123] = ZERO;
  eqy[124] = ZERO;
  eqy[125] = ZERO;
  eqy[126] = ZERO;
  eqy[127] = ZERO;
  eqy[128] = ZERO;
  eqy[129] = ZERO;
  eqy[130] = ZERO;
  eqy[131] = ZERO;
  eqy[132] = ZERO;
  eqy[133] = ZERO;
  eqy[134] = ZERO;
  eqy[135] = ZERO;
  eqy[136] = ZERO;
  eqy[137] = ZERO;
  eqy[138] = ZERO;
  eqy[139] = ZERO;
  eqy[140] = ZERO;
  eqy[141] = -0.2e1 * pow(P2[1][0], 0.2e1) - 0.2e1 * pow(P2[0][0], 0.2e1);
  eqy[142] = 2 * P3[0][1] * P3[0][0] + 2 * P3[1][1] * P3[1][0];
  eqy[143] = ZERO;
  eqy[144] = -0.2e1 * P2[1][1] * P2[1][0] - 0.2e1 * P2[0][1] * P2[0][0];
  eqy[145] = -0.4e1 * P2[1][2] * P2[1][0] - 0.4e1 * P2[0][2] * P2[0][0];
  eqy[146] = 2 * pow((double) P3[1][1], (double) 2) + 2 * pow((double) P3[0][1], (double) 2);
  eqy[147] = 2 * P3[1][1] * P3[1][2] + 2 * P3[0][1] * P3[0][2];
  eqy[148] = ZERO;
  eqy[149] = -0.2e1 * P2[0][1] * P2[0][2] - 0.2e1 * P2[1][1] * P2[1][2];
  eqy[150] = -0.2e1 * pow(P2[0][2], 0.2e1) - 0.2e1 * pow(P2[1][2], 0.2e1);
  eqy[151] = ZERO;
  eqy[152] = ZERO;
  eqy[153] = 2 * P1[0][1] * P1[0][0] + 2 * P1[1][1] * P1[1][0];
  eqy[154] = ZERO;
  eqy[155] = ZERO;
  eqy[156] = ZERO;
  eqy[157] = ZERO;
  eqy[158] = ZERO;
  eqy[159] = 2 * pow((double) P1[0][1], (double) 2) + 2 * pow((double) P1[1][1], (double) 2);
  eqy[160] = 2 * P1[0][1] * P1[0][2] + 2 * P1[1][1] * P1[1][2];
  eqy[161] = ZERO;
  eqy[162] = ZERO;
  eqy[163] = ZERO;
  eqy[164] = ZERO;
  eqy[165] = ZERO;
  eqy[166] = ZERO;
  eqy[167] = ZERO;
  eqy[168] = ZERO;
  eqy[169] = -0.4e1 * P2[1][0] * P2[1][3] - 0.4e1 * P2[0][0] * P2[0][3];
  eqy[170] = 2 * P3[0][1] * P3[0][3] + 2 * P3[1][1] * P3[1][3];
  eqy[171] = ZERO;
  eqy[172] = -0.2e1 * P2[0][1] * P2[0][3] - 0.2e1 * P2[1][1] * P2[1][3];
  eqy[173] = -0.4e1 * P2[0][2] * P2[0][3] - 0.4e1 * P2[1][2] * P2[1][3];
  eqy[174] = ZERO;
  eqy[175] = ZERO;
  eqy[176] = ZERO;
  eqy[177] = ZERO;
  eqy[178] = ZERO;
  eqy[179] = ZERO;
  eqy[180] = ZERO;
  eqy[181] = 2 * P1[0][1] * P1[0][3] + 2 * P1[1][1] * P1[1][3];
  eqy[182] = ZERO;
  eqy[183] = ZERO;
  eqy[184] = ZERO;
  eqy[185] = ZERO;
  eqy[186] = ZERO;
  eqy[187] = ZERO;
  eqy[188] = ZERO;
  eqy[189] = ZERO;
  eqy[190] = -0.2e1 * pow(P2[0][3], 0.2e1) - 0.2e1 * pow(P2[1][3], 0.2e1);
  eqy[191] = ZERO;
  eqy[192] = ZERO;
  eqy[193] = ZERO;
  eqy[194] = ZERO;
  eqy[195] = ZERO;
  eqy[196] = ZERO;
  eqy[197] = ZERO;
  eqy[198] = ZERO;
  eqy[199] = ZERO;
  eqy[200] = ZERO;