utility function************************************************/

initializer of private fields */

initializer of private fields */

Returns the ith generator of internal SU(2) representation. Precondition: ``i`` must be 0, 1 or 2.

for every input descriptor, find the best k matching descriptors (for a pair of images) */

* Returns the number of values still to be returned * @return amount of values to return */

* Returns the number of values still to be returned * @return amount of values to return */

Lie bracket It computes the Lie bracket of SO(3). To be more specific, it computes ``[omega_1, omega_2]_so3 := vee([hat(omega_1), hat(omega_2)])``

* \brief Lifts a point from the image plane to its projective ray * * \param p image coordinates * \param P coordinates of the projective ray */

* \brief Lifts a point from the image plane to its projective ray * * \param p image coordinates * \param P coordinates of the projective ray */

* \brief Lifts a point from the image plane to its projective ray * * \param p image coordinates * \param P coordinates of the projective ray */

* \brief Lifts a point from the image plane to the unit sphere * * \param p image coordinates * \param P coordinates of the point on the sphere */

* \brief Lifts a point from the image plane to the unit sphere * * \param p image coordinates * \param P coordinates of the point on the sphere */

* \brief Lifts a point from the image plane to the unit sphere * * \param p image coordinates * \param P coordinates of the point on the sphere */

* \brief Lifts a point from the image plane to the unit sphere * * \param p image coordinates * \param P coordinates of the point on the sphere */

Logarithmic map Returns tangent space representation (= rotation vector) of the instance.

As above, but also returns ``theta = |omega|`` as out-parameter.

Computes the natural logarithm of the absolute value of the gamma function of x using the Lanczos approximation. See http://www.rskey.org/ga

Computes the natural logarithm of the absolute value of the gamma function of x using Windschitl method. See http://www.rskey.org/gamma.htm

* Returns true iff a.Id < b.Id * @param a * @param b * @return true iff a.Id < b.Id */

* Returns true iff entry ids of a are less then those of b. * Assumes there is no overlap between the islands * @param a * @param b

* Returns true iff a.Id < b.Id * @param a * @param b * @return true iff a.Id < b.Id */

\ * Says if a vector must be normalized according to the scoring function \ * @param norm (out) if true, norm to use * @return true iff

\ * Says if a vector must be normalized according to the scoring function \ * @param norm (out) if true, norm to use * @return true iff

generates the next binary code (in alphabetical order) with the same number of ones as the input x. Taken from http://www.geeksforgeeks.org/archives

Computes -log10(NFA). NFA stands for Number of False Alarms: @f[ \mathrm{NFA} = NT \cdot B(n,k,p) @f] - NT - number of