#include?“sift_includes.h“


//?rotate?covariance?matrix
void?rot_cov（CvMat?*R?CvMat?*cov）
{

??CvMat?*W?*U?*V;
??
??W?=?cvCreateMat（3?3?CV_32FC1）;
??U?=?cvCreateMat（3?3?CV_32FC1）;
??V?=?cvCreateMat（3?3?CV_32FC1）;

??cvSVD（cov?W?U?V）;

??//?u?=?r?*?u;
??cvMatMul（R?U?U）;

??//?v?=?r?*?v;
??cvMatMul（R?V?V）;

??//?v?=?v‘?
??cvTranspose（V?V）;

??//?v?=?w?*?v
??cvMatMul（W?V?V）;

??//?cov?=?u?*?v
??cvMatMul（U?V?cov）;

??cvReleaseMat（&W）;
??cvReleaseMat（&U）;
??cvReleaseMat（&V）;
??
}




//?print?temporal?matches?in?a?MATLAB?friendly?fashion
void?show_temporal_matches（vector?l）
{
??unsigned?int?i;
??for?（i=0;?i????{
??????printf（“%f?%f?%f?%f?%f?%f\n“?
	?????l[i].old_feature.x
	?????l[i].old_feature.y
	?????l[i].old_feature.z
	?????l[i].new_feature.x
	?????l[i].new_feature.y
	?????l[i].new_feature.z）;
????}
}





//?write?list?to?file
void?write_list_to_file（vector?l?char?*filename）
{
??FILE?*fp?=?fopen（filename?“w“）;
??
??unsigned?int?i;
??for?（i=0;?i????fprintf（fp?“%f\t%f\t%f\n“?l[i].x?l[i].y?l[i].z）;

??fclose（fp）;
}





//?return?true?if?matrix?contains?NaN?values
bool?isMatrixNan（CvMat?*m）
{
??bool?ret?=?false;
??int?r?c;
??
??for?（r=0;?rrows;?r++）
????for?（c=0;?ccols;?c++）
??????{
	if?（cvIsNaN（cvmGet（m?r?c））?==?1）
	??{
	????ret?=?true;
	????break;
	??}
??????}

??return?ret;
}




//?pool?covariances
void?covariance_pool（vector?in?CvMat?*out）
{
??int?len?=?（int）in.size（）;
??if?（len?==?0）
????{
??????printf（“cv_type_converter.c:?WARNING?covariance_pool（）?got?a?list?with?0?entries\n“）;
??????return;
????}

??int?i;
??cvSetZero（out）;

??for?（i=0;?i????cvAdd（in[i]?out?out）;

??mul_inplace（out?1.0/（float）len）;????
}



//?perform?inplance?multiplication?of?matrix?dst?with?specified?multiplier
void?mul_inplace（CvMat?*dst?float?multiplier）
{
??int?r?c;
??float?tmp;
??for?（r=0;?rrows;?r++）
????for?（c=0;?ccols;?c++）
??????{
	tmp?=?cvmGet（dst?r?c）?*?multiplier;
	cvmSet（dst?r?c?tmp）;
??????}
}

void?show_matlab_matrix_as_row（CvMat?*m）
{
??int?r?c;
??for?（r=0;?rrows;?r++）
????for?（c=0;?ccols;?c++）
??????printf（“%f\t“?cvmGet（m?r?c））;
??
??
??printf（“\n“）;
}


void?show_matlab_vector_as_row（CvMat?*m）
{
??int?r;
??for?（r=0;?rrows;?r++）
????printf（“%f\t“?cvmGet（m?r?0））;
??printf（“\n“）;
}



//?populate?float?array?using?matrix
void?populate_array_9（CvMat?*src?float?*dst）
{
??int?r?c?i=0;
??for?（r=0;?r<3;?r++）
????for?（c=0;?c<3;?c++）
??????{
	dst[i]?=?cvmGet（src?r?c）;
	i++;
??????}
}



//?populate?matrix?using?float?array
void?populate_matrix_3x3（float?*src?CvMat?*dst）
{
??int?r?c?i=0;
??for?（r=0;?r<3;?r++）
????for?（c=0;?c<3;?c++）
??????{
	cvmSet（dst?r?c?src[i]）;
	i++;
??????}
}



//?show?matrix?on?screen
void?show（CvMat?

?屬性????????????大小?????日期????時間???名稱
-----------?---------??----------?-----??----

?????文件????????877??2006-02-09?17:01??PCASift\Backup\PCA?Shift.sln

????..A..H.??????9728??2006-03-20?09:37??PCASift\Backup\PCA?Shift.v11.suo

?????文件????????884??2014-04-11?16:59??PCASift\Backup1\PCA?Shift.sln

????..A..H.??????9728??2006-03-20?09:37??PCASift\Backup1\PCA?Shift.v11.suo

?????文件???????9692??2005-05-26?14:11??PCASift\cv_type_converter.c

?????文件???????1625??2005-05-26?14:11??PCASift\cv_type_converter.h

?????文件???????2052??2014-04-14?15:28??PCASift\Debug\BscMake.command.1.tlog

?????文件???????1590??2014-04-14?15:28??PCASift\Debug\bscmake.read.1.tlog

?????文件???????1438??2014-04-14?15:28??PCASift\Debug\bscmake.write.1.tlog

?????文件???????9002??2014-04-14?15:28??PCASift\Debug\cl.command.1.tlog

?????文件?????253820??2014-04-14?15:28??PCASift\Debug\CL.read.1.tlog

?????文件???????6530??2014-04-14?15:28??PCASift\Debug\CL.write.1.tlog

?????文件?????294027??2014-04-11?17:03??PCASift\Debug\edgeResponseFilter.obj

?????文件??????????0??2014-04-11?17:03??PCASift\Debug\edgeResponseFilter.sbr

?????文件?????211949??2014-04-11?17:03??PCASift\Debug\gaussianWindow.obj

?????文件??????????0??2014-04-11?17:02??PCASift\Debug\gaussianWindow.sbr

?????文件???????6217??2014-04-11?17:03??PCASift\Debug\km_cluster.obj

?????文件??????????0??2014-04-11?17:02??PCASift\Debug\km_cluster.sbr

?????文件??????????2??2014-04-14?15:28??PCASift\Debug\link-cvtres.read.1.tlog

?????文件??????????2??2014-04-14?15:28??PCASift\Debug\link-cvtres.write.1.tlog

?????文件??????????2??2014-04-14?15:28??PCASift\Debug\link-rc.read.1.tlog

?????文件??????????2??2014-04-14?15:28??PCASift\Debug\link-rc.write.1.tlog

?????文件???????4392??2014-04-14?15:28??PCASift\Debug\link.command.1.tlog

?????文件???????9698??2014-04-14?15:28??PCASift\Debug\link.read.1.tlog

?????文件???????1630??2014-04-14?15:28??PCASift\Debug\link.write.1.tlog

?????文件?????303623??2014-04-11?17:03??PCASift\Debug\localizer.obj

?????文件??????????0??2014-04-11?17:02??PCASift\Debug\localizer.sbr

?????文件?????243085??2014-04-14?15:28??PCASift\Debug\main.obj

?????文件??????????0??2014-04-14?15:28??PCASift\Debug\main.sbr

?????文件?????276327??2014-04-11?17:03??PCASift\Debug\matcher.obj

............此處省略100個文件信息