depth_tracker_ros_vr8: init_variables.cpp Source File

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00001 /*
00002  * init_variables.cpp
00003  *
00004  * Code generation for function 'init_variables'
00005  *
00006  * C source code generated on: Wed Jul 24 16:11:35 2013
00007  *
00008  */
00009 
00010 /* Include files */
00011 #include "rt_nonfinite.h"
00012 #include "Optimal_affine_tracking_3d16_fast_realtime.h"
00013 #include "init_variables.h"
00014 #include "eye.h"
00015 #include "mean.h"
00016 #include "compute_prob1.h"
00017 #include "image_warping.h"
00018 #include "mrdivide.h"
00019 
00020 /* Type Definitions */
00021 
00022 /* Named Constants */
00023 
00024 /* Variable Declarations */
00025 
00026 /* Variable Definitions */
00027 
00028 /* Function Declarations */
00029 
00030 /* Function Definitions */
00031 void init_variables(const real_T Ixyz[504063], const real_T ptx[4], const real_T
00032                     pty[4], real_T X_par_pred[2250000], real_T tracked_images
00033                     [38880000], real_T dw_dp[15552], real_T X_par[2250000],
00034                     real_T AR_velocity[2250000], real_T point_matrix[3888],
00035                     real_T mean_img[3888], real_T corner_p[12], real_T *center_x,
00036                     real_T *center_y)
00037 {
00038   static real_T frame[504063];
00039   static real_T b_Ixyz[168021];
00040   static real_T c_Ixyz[168021];
00041   int32_T row;
00042   int32_T col;
00043   int32_T i;
00044   static const real_T dv0[1296] = { -17.5, -16.5, -15.5, -14.5, -13.5, -12.5,
00045     -11.5, -10.5, -9.5, -8.5, -7.5, -6.5, -5.5, -4.5, -3.5, -2.5, -1.5, -0.5,
00046     0.5, 1.5, 2.5, 3.5, 4.5, 5.5, 6.5, 7.5, 8.5, 9.5, 10.5, 11.5, 12.5, 13.5,
00047     14.5, 15.5, 16.5, 17.5, -17.5, -16.5, -15.5, -14.5, -13.5, -12.5, -11.5,
00048     -10.5, -9.5, -8.5, -7.5, -6.5, -5.5, -4.5, -3.5, -2.5, -1.5, -0.5, 0.5, 1.5,
00049     2.5, 3.5, 4.5, 5.5, 6.5, 7.5, 8.5, 9.5, 10.5, 11.5, 12.5, 13.5, 14.5, 15.5,
00050     16.5, 17.5, -17.5, -16.5, -15.5, -14.5, -13.5, -12.5, -11.5, -10.5, -9.5,
00051     -8.5, -7.5, -6.5, -5.5, -4.5, -3.5, -2.5, -1.5, -0.5, 0.5, 1.5, 2.5, 3.5,
00052     4.5, 5.5, 6.5, 7.5, 8.5, 9.5, 10.5, 11.5, 12.5, 13.5, 14.5, 15.5, 16.5, 17.5,
00053     -17.5, -16.5, -15.5, -14.5, -13.5, -12.5, -11.5, -10.5, -9.5, -8.5, -7.5,
00054     -6.5, -5.5, -4.5, -3.5, -2.5, -1.5, -0.5, 0.5, 1.5, 2.5, 3.5, 4.5, 5.5, 6.5,
00055     7.5, 8.5, 9.5, 10.5, 11.5, 12.5, 13.5, 14.5, 15.5, 16.5, 17.5, -17.5, -16.5,
00056     -15.5, -14.5, -13.5, -12.5, -11.5, -10.5, -9.5, -8.5, -7.5, -6.5, -5.5, -4.5,
00057     -3.5, -2.5, -1.5, -0.5, 0.5, 1.5, 2.5, 3.5, 4.5, 5.5, 6.5, 7.5, 8.5, 9.5,
00058     10.5, 11.5, 12.5, 13.5, 14.5, 15.5, 16.5, 17.5, -17.5, -16.5, -15.5, -14.5,
00059     -13.5, -12.5, -11.5, -10.5, -9.5, -8.5, -7.5, -6.5, -5.5, -4.5, -3.5, -2.5,
00060     -1.5, -0.5, 0.5, 1.5, 2.5, 3.5, 4.5, 5.5, 6.5, 7.5, 8.5, 9.5, 10.5, 11.5,
00061     12.5, 13.5, 14.5, 15.5, 16.5, 17.5, -17.5, -16.5, -15.5, -14.5, -13.5, -12.5,
00062     -11.5, -10.5, -9.5, -8.5, -7.5, -6.5, -5.5, -4.5, -3.5, -2.5, -1.5, -0.5,
00063     0.5, 1.5, 2.5, 3.5, 4.5, 5.5, 6.5, 7.5, 8.5, 9.5, 10.5, 11.5, 12.5, 13.5,
00064     14.5, 15.5, 16.5, 17.5, -17.5, -16.5, -15.5, -14.5, -13.5, -12.5, -11.5,
00065     -10.5, -9.5, -8.5, -7.5, -6.5, -5.5, -4.5, -3.5, -2.5, -1.5, -0.5, 0.5, 1.5,
00066     2.5, 3.5, 4.5, 5.5, 6.5, 7.5, 8.5, 9.5, 10.5, 11.5, 12.5, 13.5, 14.5, 15.5,
00067     16.5, 17.5, -17.5, -16.5, -15.5, -14.5, -13.5, -12.5, -11.5, -10.5, -9.5,
00068     -8.5, -7.5, -6.5, -5.5, -4.5, -3.5, -2.5, -1.5, -0.5, 0.5, 1.5, 2.5, 3.5,
00069     4.5, 5.5, 6.5, 7.5, 8.5, 9.5, 10.5, 11.5, 12.5, 13.5, 14.5, 15.5, 16.5, 17.5,
00070     -17.5, -16.5, -15.5, -14.5, -13.5, -12.5, -11.5, -10.5, -9.5, -8.5, -7.5,
00071     -6.5, -5.5, -4.5, -3.5, -2.5, -1.5, -0.5, 0.5, 1.5, 2.5, 3.5, 4.5, 5.5, 6.5,
00072     7.5, 8.5, 9.5, 10.5, 11.5, 12.5, 13.5, 14.5, 15.5, 16.5, 17.5, -17.5, -16.5,
00073     -15.5, -14.5, -13.5, -12.5, -11.5, -10.5, -9.5, -8.5, -7.5, -6.5, -5.5, -4.5,
00074     -3.5, -2.5, -1.5, -0.5, 0.5, 1.5, 2.5, 3.5, 4.5, 5.5, 6.5, 7.5, 8.5, 9.5,
00075     10.5, 11.5, 12.5, 13.5, 14.5, 15.5, 16.5, 17.5, -17.5, -16.5, -15.5, -14.5,
00076     -13.5, -12.5, -11.5, -10.5, -9.5, -8.5, -7.5, -6.5, -5.5, -4.5, -3.5, -2.5,
00077     -1.5, -0.5, 0.5, 1.5, 2.5, 3.5, 4.5, 5.5, 6.5, 7.5, 8.5, 9.5, 10.5, 11.5,
00078     12.5, 13.5, 14.5, 15.5, 16.5, 17.5, -17.5, -16.5, -15.5, -14.5, -13.5, -12.5,
00079     -11.5, -10.5, -9.5, -8.5, -7.5, -6.5, -5.5, -4.5, -3.5, -2.5, -1.5, -0.5,
00080     0.5, 1.5, 2.5, 3.5, 4.5, 5.5, 6.5, 7.5, 8.5, 9.5, 10.5, 11.5, 12.5, 13.5,
00081     14.5, 15.5, 16.5, 17.5, -17.5, -16.5, -15.5, -14.5, -13.5, -12.5, -11.5,
00082     -10.5, -9.5, -8.5, -7.5, -6.5, -5.5, -4.5, -3.5, -2.5, -1.5, -0.5, 0.5, 1.5,
00083     2.5, 3.5, 4.5, 5.5, 6.5, 7.5, 8.5, 9.5, 10.5, 11.5, 12.5, 13.5, 14.5, 15.5,
00084     16.5, 17.5, -17.5, -16.5, -15.5, -14.5, -13.5, -12.5, -11.5, -10.5, -9.5,
00085     -8.5, -7.5, -6.5, -5.5, -4.5, -3.5, -2.5, -1.5, -0.5, 0.5, 1.5, 2.5, 3.5,
00086     4.5, 5.5, 6.5, 7.5, 8.5, 9.5, 10.5, 11.5, 12.5, 13.5, 14.5, 15.5, 16.5, 17.5,
00087     -17.5, -16.5, -15.5, -14.5, -13.5, -12.5, -11.5, -10.5, -9.5, -8.5, -7.5,
00088     -6.5, -5.5, -4.5, -3.5, -2.5, -1.5, -0.5, 0.5, 1.5, 2.5, 3.5, 4.5, 5.5, 6.5,
00089     7.5, 8.5, 9.5, 10.5, 11.5, 12.5, 13.5, 14.5, 15.5, 16.5, 17.5, -17.5, -16.5,
00090     -15.5, -14.5, -13.5, -12.5, -11.5, -10.5, -9.5, -8.5, -7.5, -6.5, -5.5, -4.5,
00091     -3.5, -2.5, -1.5, -0.5, 0.5, 1.5, 2.5, 3.5, 4.5, 5.5, 6.5, 7.5, 8.5, 9.5,
00092     10.5, 11.5, 12.5, 13.5, 14.5, 15.5, 16.5, 17.5, -17.5, -16.5, -15.5, -14.5,
00093     -13.5, -12.5, -11.5, -10.5, -9.5, -8.5, -7.5, -6.5, -5.5, -4.5, -3.5, -2.5,
00094     -1.5, -0.5, 0.5, 1.5, 2.5, 3.5, 4.5, 5.5, 6.5, 7.5, 8.5, 9.5, 10.5, 11.5,
00095     12.5, 13.5, 14.5, 15.5, 16.5, 17.5, -17.5, -16.5, -15.5, -14.5, -13.5, -12.5,
00096     -11.5, -10.5, -9.5, -8.5, -7.5, -6.5, -5.5, -4.5, -3.5, -2.5, -1.5, -0.5,
00097     0.5, 1.5, 2.5, 3.5, 4.5, 5.5, 6.5, 7.5, 8.5, 9.5, 10.5, 11.5, 12.5, 13.5,
00098     14.5, 15.5, 16.5, 17.5, -17.5, -16.5, -15.5, -14.5, -13.5, -12.5, -11.5,
00099     -10.5, -9.5, -8.5, -7.5, -6.5, -5.5, -4.5, -3.5, -2.5, -1.5, -0.5, 0.5, 1.5,
00100     2.5, 3.5, 4.5, 5.5, 6.5, 7.5, 8.5, 9.5, 10.5, 11.5, 12.5, 13.5, 14.5, 15.5,
00101     16.5, 17.5, -17.5, -16.5, -15.5, -14.5, -13.5, -12.5, -11.5, -10.5, -9.5,
00102     -8.5, -7.5, -6.5, -5.5, -4.5, -3.5, -2.5, -1.5, -0.5, 0.5, 1.5, 2.5, 3.5,
00103     4.5, 5.5, 6.5, 7.5, 8.5, 9.5, 10.5, 11.5, 12.5, 13.5, 14.5, 15.5, 16.5, 17.5,
00104     -17.5, -16.5, -15.5, -14.5, -13.5, -12.5, -11.5, -10.5, -9.5, -8.5, -7.5,
00105     -6.5, -5.5, -4.5, -3.5, -2.5, -1.5, -0.5, 0.5, 1.5, 2.5, 3.5, 4.5, 5.5, 6.5,
00106     7.5, 8.5, 9.5, 10.5, 11.5, 12.5, 13.5, 14.5, 15.5, 16.5, 17.5, -17.5, -16.5,
00107     -15.5, -14.5, -13.5, -12.5, -11.5, -10.5, -9.5, -8.5, -7.5, -6.5, -5.5, -4.5,
00108     -3.5, -2.5, -1.5, -0.5, 0.5, 1.5, 2.5, 3.5, 4.5, 5.5, 6.5, 7.5, 8.5, 9.5,
00109     10.5, 11.5, 12.5, 13.5, 14.5, 15.5, 16.5, 17.5, -17.5, -16.5, -15.5, -14.5,
00110     -13.5, -12.5, -11.5, -10.5, -9.5, -8.5, -7.5, -6.5, -5.5, -4.5, -3.5, -2.5,
00111     -1.5, -0.5, 0.5, 1.5, 2.5, 3.5, 4.5, 5.5, 6.5, 7.5, 8.5, 9.5, 10.5, 11.5,
00112     12.5, 13.5, 14.5, 15.5, 16.5, 17.5, -17.5, -16.5, -15.5, -14.5, -13.5, -12.5,
00113     -11.5, -10.5, -9.5, -8.5, -7.5, -6.5, -5.5, -4.5, -3.5, -2.5, -1.5, -0.5,
00114     0.5, 1.5, 2.5, 3.5, 4.5, 5.5, 6.5, 7.5, 8.5, 9.5, 10.5, 11.5, 12.5, 13.5,
00115     14.5, 15.5, 16.5, 17.5, -17.5, -16.5, -15.5, -14.5, -13.5, -12.5, -11.5,
00116     -10.5, -9.5, -8.5, -7.5, -6.5, -5.5, -4.5, -3.5, -2.5, -1.5, -0.5, 0.5, 1.5,
00117     2.5, 3.5, 4.5, 5.5, 6.5, 7.5, 8.5, 9.5, 10.5, 11.5, 12.5, 13.5, 14.5, 15.5,
00118     16.5, 17.5, -17.5, -16.5, -15.5, -14.5, -13.5, -12.5, -11.5, -10.5, -9.5,
00119     -8.5, -7.5, -6.5, -5.5, -4.5, -3.5, -2.5, -1.5, -0.5, 0.5, 1.5, 2.5, 3.5,
00120     4.5, 5.5, 6.5, 7.5, 8.5, 9.5, 10.5, 11.5, 12.5, 13.5, 14.5, 15.5, 16.5, 17.5,
00121     -17.5, -16.5, -15.5, -14.5, -13.5, -12.5, -11.5, -10.5, -9.5, -8.5, -7.5,
00122     -6.5, -5.5, -4.5, -3.5, -2.5, -1.5, -0.5, 0.5, 1.5, 2.5, 3.5, 4.5, 5.5, 6.5,
00123     7.5, 8.5, 9.5, 10.5, 11.5, 12.5, 13.5, 14.5, 15.5, 16.5, 17.5, -17.5, -16.5,
00124     -15.5, -14.5, -13.5, -12.5, -11.5, -10.5, -9.5, -8.5, -7.5, -6.5, -5.5, -4.5,
00125     -3.5, -2.5, -1.5, -0.5, 0.5, 1.5, 2.5, 3.5, 4.5, 5.5, 6.5, 7.5, 8.5, 9.5,
00126     10.5, 11.5, 12.5, 13.5, 14.5, 15.5, 16.5, 17.5, -17.5, -16.5, -15.5, -14.5,
00127     -13.5, -12.5, -11.5, -10.5, -9.5, -8.5, -7.5, -6.5, -5.5, -4.5, -3.5, -2.5,
00128     -1.5, -0.5, 0.5, 1.5, 2.5, 3.5, 4.5, 5.5, 6.5, 7.5, 8.5, 9.5, 10.5, 11.5,
00129     12.5, 13.5, 14.5, 15.5, 16.5, 17.5, -17.5, -16.5, -15.5, -14.5, -13.5, -12.5,
00130     -11.5, -10.5, -9.5, -8.5, -7.5, -6.5, -5.5, -4.5, -3.5, -2.5, -1.5, -0.5,
00131     0.5, 1.5, 2.5, 3.5, 4.5, 5.5, 6.5, 7.5, 8.5, 9.5, 10.5, 11.5, 12.5, 13.5,
00132     14.5, 15.5, 16.5, 17.5, -17.5, -16.5, -15.5, -14.5, -13.5, -12.5, -11.5,
00133     -10.5, -9.5, -8.5, -7.5, -6.5, -5.5, -4.5, -3.5, -2.5, -1.5, -0.5, 0.5, 1.5,
00134     2.5, 3.5, 4.5, 5.5, 6.5, 7.5, 8.5, 9.5, 10.5, 11.5, 12.5, 13.5, 14.5, 15.5,
00135     16.5, 17.5, -17.5, -16.5, -15.5, -14.5, -13.5, -12.5, -11.5, -10.5, -9.5,
00136     -8.5, -7.5, -6.5, -5.5, -4.5, -3.5, -2.5, -1.5, -0.5, 0.5, 1.5, 2.5, 3.5,
00137     4.5, 5.5, 6.5, 7.5, 8.5, 9.5, 10.5, 11.5, 12.5, 13.5, 14.5, 15.5, 16.5, 17.5,
00138     -17.5, -16.5, -15.5, -14.5, -13.5, -12.5, -11.5, -10.5, -9.5, -8.5, -7.5,
00139     -6.5, -5.5, -4.5, -3.5, -2.5, -1.5, -0.5, 0.5, 1.5, 2.5, 3.5, 4.5, 5.5, 6.5,
00140     7.5, 8.5, 9.5, 10.5, 11.5, 12.5, 13.5, 14.5, 15.5, 16.5, 17.5, -17.5, -16.5,
00141     -15.5, -14.5, -13.5, -12.5, -11.5, -10.5, -9.5, -8.5, -7.5, -6.5, -5.5, -4.5,
00142     -3.5, -2.5, -1.5, -0.5, 0.5, 1.5, 2.5, 3.5, 4.5, 5.5, 6.5, 7.5, 8.5, 9.5,
00143     10.5, 11.5, 12.5, 13.5, 14.5, 15.5, 16.5, 17.5, -17.5, -16.5, -15.5, -14.5,
00144     -13.5, -12.5, -11.5, -10.5, -9.5, -8.5, -7.5, -6.5, -5.5, -4.5, -3.5, -2.5,
00145     -1.5, -0.5, 0.5, 1.5, 2.5, 3.5, 4.5, 5.5, 6.5, 7.5, 8.5, 9.5, 10.5, 11.5,
00146     12.5, 13.5, 14.5, 15.5, 16.5, 17.5 };
00147 
00148   static const real_T dv1[1296] = { -17.5, -17.5, -17.5, -17.5, -17.5, -17.5,
00149     -17.5, -17.5, -17.5, -17.5, -17.5, -17.5, -17.5, -17.5, -17.5, -17.5, -17.5,
00150     -17.5, -17.5, -17.5, -17.5, -17.5, -17.5, -17.5, -17.5, -17.5, -17.5, -17.5,
00151     -17.5, -17.5, -17.5, -17.5, -17.5, -17.5, -17.5, -17.5, -16.5, -16.5, -16.5,
00152     -16.5, -16.5, -16.5, -16.5, -16.5, -16.5, -16.5, -16.5, -16.5, -16.5, -16.5,
00153     -16.5, -16.5, -16.5, -16.5, -16.5, -16.5, -16.5, -16.5, -16.5, -16.5, -16.5,
00154     -16.5, -16.5, -16.5, -16.5, -16.5, -16.5, -16.5, -16.5, -16.5, -16.5, -16.5,
00155     -15.5, -15.5, -15.5, -15.5, -15.5, -15.5, -15.5, -15.5, -15.5, -15.5, -15.5,
00156     -15.5, -15.5, -15.5, -15.5, -15.5, -15.5, -15.5, -15.5, -15.5, -15.5, -15.5,
00157     -15.5, -15.5, -15.5, -15.5, -15.5, -15.5, -15.5, -15.5, -15.5, -15.5, -15.5,
00158     -15.5, -15.5, -15.5, -14.5, -14.5, -14.5, -14.5, -14.5, -14.5, -14.5, -14.5,
00159     -14.5, -14.5, -14.5, -14.5, -14.5, -14.5, -14.5, -14.5, -14.5, -14.5, -14.5,
00160     -14.5, -14.5, -14.5, -14.5, -14.5, -14.5, -14.5, -14.5, -14.5, -14.5, -14.5,
00161     -14.5, -14.5, -14.5, -14.5, -14.5, -14.5, -13.5, -13.5, -13.5, -13.5, -13.5,
00162     -13.5, -13.5, -13.5, -13.5, -13.5, -13.5, -13.5, -13.5, -13.5, -13.5, -13.5,
00163     -13.5, -13.5, -13.5, -13.5, -13.5, -13.5, -13.5, -13.5, -13.5, -13.5, -13.5,
00164     -13.5, -13.5, -13.5, -13.5, -13.5, -13.5, -13.5, -13.5, -13.5, -12.5, -12.5,
00165     -12.5, -12.5, -12.5, -12.5, -12.5, -12.5, -12.5, -12.5, -12.5, -12.5, -12.5,
00166     -12.5, -12.5, -12.5, -12.5, -12.5, -12.5, -12.5, -12.5, -12.5, -12.5, -12.5,
00167     -12.5, -12.5, -12.5, -12.5, -12.5, -12.5, -12.5, -12.5, -12.5, -12.5, -12.5,
00168     -12.5, -11.5, -11.5, -11.5, -11.5, -11.5, -11.5, -11.5, -11.5, -11.5, -11.5,
00169     -11.5, -11.5, -11.5, -11.5, -11.5, -11.5, -11.5, -11.5, -11.5, -11.5, -11.5,
00170     -11.5, -11.5, -11.5, -11.5, -11.5, -11.5, -11.5, -11.5, -11.5, -11.5, -11.5,
00171     -11.5, -11.5, -11.5, -11.5, -10.5, -10.5, -10.5, -10.5, -10.5, -10.5, -10.5,
00172     -10.5, -10.5, -10.5, -10.5, -10.5, -10.5, -10.5, -10.5, -10.5, -10.5, -10.5,
00173     -10.5, -10.5, -10.5, -10.5, -10.5, -10.5, -10.5, -10.5, -10.5, -10.5, -10.5,
00174     -10.5, -10.5, -10.5, -10.5, -10.5, -10.5, -10.5, -9.5, -9.5, -9.5, -9.5,
00175     -9.5, -9.5, -9.5, -9.5, -9.5, -9.5, -9.5, -9.5, -9.5, -9.5, -9.5, -9.5, -9.5,
00176     -9.5, -9.5, -9.5, -9.5, -9.5, -9.5, -9.5, -9.5, -9.5, -9.5, -9.5, -9.5, -9.5,
00177     -9.5, -9.5, -9.5, -9.5, -9.5, -9.5, -8.5, -8.5, -8.5, -8.5, -8.5, -8.5, -8.5,
00178     -8.5, -8.5, -8.5, -8.5, -8.5, -8.5, -8.5, -8.5, -8.5, -8.5, -8.5, -8.5, -8.5,
00179     -8.5, -8.5, -8.5, -8.5, -8.5, -8.5, -8.5, -8.5, -8.5, -8.5, -8.5, -8.5, -8.5,
00180     -8.5, -8.5, -8.5, -7.5, -7.5, -7.5, -7.5, -7.5, -7.5, -7.5, -7.5, -7.5, -7.5,
00181     -7.5, -7.5, -7.5, -7.5, -7.5, -7.5, -7.5, -7.5, -7.5, -7.5, -7.5, -7.5, -7.5,
00182     -7.5, -7.5, -7.5, -7.5, -7.5, -7.5, -7.5, -7.5, -7.5, -7.5, -7.5, -7.5, -7.5,
00183     -6.5, -6.5, -6.5, -6.5, -6.5, -6.5, -6.5, -6.5, -6.5, -6.5, -6.5, -6.5, -6.5,
00184     -6.5, -6.5, -6.5, -6.5, -6.5, -6.5, -6.5, -6.5, -6.5, -6.5, -6.5, -6.5, -6.5,
00185     -6.5, -6.5, -6.5, -6.5, -6.5, -6.5, -6.5, -6.5, -6.5, -6.5, -5.5, -5.5, -5.5,
00186     -5.5, -5.5, -5.5, -5.5, -5.5, -5.5, -5.5, -5.5, -5.5, -5.5, -5.5, -5.5, -5.5,
00187     -5.5, -5.5, -5.5, -5.5, -5.5, -5.5, -5.5, -5.5, -5.5, -5.5, -5.5, -5.5, -5.5,
00188     -5.5, -5.5, -5.5, -5.5, -5.5, -5.5, -5.5, -4.5, -4.5, -4.5, -4.5, -4.5, -4.5,
00189     -4.5, -4.5, -4.5, -4.5, -4.5, -4.5, -4.5, -4.5, -4.5, -4.5, -4.5, -4.5, -4.5,
00190     -4.5, -4.5, -4.5, -4.5, -4.5, -4.5, -4.5, -4.5, -4.5, -4.5, -4.5, -4.5, -4.5,
00191     -4.5, -4.5, -4.5, -4.5, -3.5, -3.5, -3.5, -3.5, -3.5, -3.5, -3.5, -3.5, -3.5,
00192     -3.5, -3.5, -3.5, -3.5, -3.5, -3.5, -3.5, -3.5, -3.5, -3.5, -3.5, -3.5, -3.5,
00193     -3.5, -3.5, -3.5, -3.5, -3.5, -3.5, -3.5, -3.5, -3.5, -3.5, -3.5, -3.5, -3.5,
00194     -3.5, -2.5, -2.5, -2.5, -2.5, -2.5, -2.5, -2.5, -2.5, -2.5, -2.5, -2.5, -2.5,
00195     -2.5, -2.5, -2.5, -2.5, -2.5, -2.5, -2.5, -2.5, -2.5, -2.5, -2.5, -2.5, -2.5,
00196     -2.5, -2.5, -2.5, -2.5, -2.5, -2.5, -2.5, -2.5, -2.5, -2.5, -2.5, -1.5, -1.5,
00197     -1.5, -1.5, -1.5, -1.5, -1.5, -1.5, -1.5, -1.5, -1.5, -1.5, -1.5, -1.5, -1.5,
00198     -1.5, -1.5, -1.5, -1.5, -1.5, -1.5, -1.5, -1.5, -1.5, -1.5, -1.5, -1.5, -1.5,
00199     -1.5, -1.5, -1.5, -1.5, -1.5, -1.5, -1.5, -1.5, -0.5, -0.5, -0.5, -0.5, -0.5,
00200     -0.5, -0.5, -0.5, -0.5, -0.5, -0.5, -0.5, -0.5, -0.5, -0.5, -0.5, -0.5, -0.5,
00201     -0.5, -0.5, -0.5, -0.5, -0.5, -0.5, -0.5, -0.5, -0.5, -0.5, -0.5, -0.5, -0.5,
00202     -0.5, -0.5, -0.5, -0.5, -0.5, 0.5, 0.5, 0.5, 0.5, 0.5, 0.5, 0.5, 0.5, 0.5,
00203     0.5, 0.5, 0.5, 0.5, 0.5, 0.5, 0.5, 0.5, 0.5, 0.5, 0.5, 0.5, 0.5, 0.5, 0.5,
00204     0.5, 0.5, 0.5, 0.5, 0.5, 0.5, 0.5, 0.5, 0.5, 0.5, 0.5, 0.5, 1.5, 1.5, 1.5,
00205     1.5, 1.5, 1.5, 1.5, 1.5, 1.5, 1.5, 1.5, 1.5, 1.5, 1.5, 1.5, 1.5, 1.5, 1.5,
00206     1.5, 1.5, 1.5, 1.5, 1.5, 1.5, 1.5, 1.5, 1.5, 1.5, 1.5, 1.5, 1.5, 1.5, 1.5,
00207     1.5, 1.5, 1.5, 2.5, 2.5, 2.5, 2.5, 2.5, 2.5, 2.5, 2.5, 2.5, 2.5, 2.5, 2.5,
00208     2.5, 2.5, 2.5, 2.5, 2.5, 2.5, 2.5, 2.5, 2.5, 2.5, 2.5, 2.5, 2.5, 2.5, 2.5,
00209     2.5, 2.5, 2.5, 2.5, 2.5, 2.5, 2.5, 2.5, 2.5, 3.5, 3.5, 3.5, 3.5, 3.5, 3.5,
00210     3.5, 3.5, 3.5, 3.5, 3.5, 3.5, 3.5, 3.5, 3.5, 3.5, 3.5, 3.5, 3.5, 3.5, 3.5,
00211     3.5, 3.5, 3.5, 3.5, 3.5, 3.5, 3.5, 3.5, 3.5, 3.5, 3.5, 3.5, 3.5, 3.5, 3.5,
00212     4.5, 4.5, 4.5, 4.5, 4.5, 4.5, 4.5, 4.5, 4.5, 4.5, 4.5, 4.5, 4.5, 4.5, 4.5,
00213     4.5, 4.5, 4.5, 4.5, 4.5, 4.5, 4.5, 4.5, 4.5, 4.5, 4.5, 4.5, 4.5, 4.5, 4.5,
00214     4.5, 4.5, 4.5, 4.5, 4.5, 4.5, 5.5, 5.5, 5.5, 5.5, 5.5, 5.5, 5.5, 5.5, 5.5,
00215     5.5, 5.5, 5.5, 5.5, 5.5, 5.5, 5.5, 5.5, 5.5, 5.5, 5.5, 5.5, 5.5, 5.5, 5.5,
00216     5.5, 5.5, 5.5, 5.5, 5.5, 5.5, 5.5, 5.5, 5.5, 5.5, 5.5, 5.5, 6.5, 6.5, 6.5,
00217     6.5, 6.5, 6.5, 6.5, 6.5, 6.5, 6.5, 6.5, 6.5, 6.5, 6.5, 6.5, 6.5, 6.5, 6.5,
00218     6.5, 6.5, 6.5, 6.5, 6.5, 6.5, 6.5, 6.5, 6.5, 6.5, 6.5, 6.5, 6.5, 6.5, 6.5,
00219     6.5, 6.5, 6.5, 7.5, 7.5, 7.5, 7.5, 7.5, 7.5, 7.5, 7.5, 7.5, 7.5, 7.5, 7.5,
00220     7.5, 7.5, 7.5, 7.5, 7.5, 7.5, 7.5, 7.5, 7.5, 7.5, 7.5, 7.5, 7.5, 7.5, 7.5,
00221     7.5, 7.5, 7.5, 7.5, 7.5, 7.5, 7.5, 7.5, 7.5, 8.5, 8.5, 8.5, 8.5, 8.5, 8.5,
00222     8.5, 8.5, 8.5, 8.5, 8.5, 8.5, 8.5, 8.5, 8.5, 8.5, 8.5, 8.5, 8.5, 8.5, 8.5,
00223     8.5, 8.5, 8.5, 8.5, 8.5, 8.5, 8.5, 8.5, 8.5, 8.5, 8.5, 8.5, 8.5, 8.5, 8.5,
00224     9.5, 9.5, 9.5, 9.5, 9.5, 9.5, 9.5, 9.5, 9.5, 9.5, 9.5, 9.5, 9.5, 9.5, 9.5,
00225     9.5, 9.5, 9.5, 9.5, 9.5, 9.5, 9.5, 9.5, 9.5, 9.5, 9.5, 9.5, 9.5, 9.5, 9.5,
00226     9.5, 9.5, 9.5, 9.5, 9.5, 9.5, 10.5, 10.5, 10.5, 10.5, 10.5, 10.5, 10.5, 10.5,
00227     10.5, 10.5, 10.5, 10.5, 10.5, 10.5, 10.5, 10.5, 10.5, 10.5, 10.5, 10.5, 10.5,
00228     10.5, 10.5, 10.5, 10.5, 10.5, 10.5, 10.5, 10.5, 10.5, 10.5, 10.5, 10.5, 10.5,
00229     10.5, 10.5, 11.5, 11.5, 11.5, 11.5, 11.5, 11.5, 11.5, 11.5, 11.5, 11.5, 11.5,
00230     11.5, 11.5, 11.5, 11.5, 11.5, 11.5, 11.5, 11.5, 11.5, 11.5, 11.5, 11.5, 11.5,
00231     11.5, 11.5, 11.5, 11.5, 11.5, 11.5, 11.5, 11.5, 11.5, 11.5, 11.5, 11.5, 12.5,
00232     12.5, 12.5, 12.5, 12.5, 12.5, 12.5, 12.5, 12.5, 12.5, 12.5, 12.5, 12.5, 12.5,
00233     12.5, 12.5, 12.5, 12.5, 12.5, 12.5, 12.5, 12.5, 12.5, 12.5, 12.5, 12.5, 12.5,
00234     12.5, 12.5, 12.5, 12.5, 12.5, 12.5, 12.5, 12.5, 12.5, 13.5, 13.5, 13.5, 13.5,
00235     13.5, 13.5, 13.5, 13.5, 13.5, 13.5, 13.5, 13.5, 13.5, 13.5, 13.5, 13.5, 13.5,
00236     13.5, 13.5, 13.5, 13.5, 13.5, 13.5, 13.5, 13.5, 13.5, 13.5, 13.5, 13.5, 13.5,
00237     13.5, 13.5, 13.5, 13.5, 13.5, 13.5, 14.5, 14.5, 14.5, 14.5, 14.5, 14.5, 14.5,
00238     14.5, 14.5, 14.5, 14.5, 14.5, 14.5, 14.5, 14.5, 14.5, 14.5, 14.5, 14.5, 14.5,
00239     14.5, 14.5, 14.5, 14.5, 14.5, 14.5, 14.5, 14.5, 14.5, 14.5, 14.5, 14.5, 14.5,
00240     14.5, 14.5, 14.5, 15.5, 15.5, 15.5, 15.5, 15.5, 15.5, 15.5, 15.5, 15.5, 15.5,
00241     15.5, 15.5, 15.5, 15.5, 15.5, 15.5, 15.5, 15.5, 15.5, 15.5, 15.5, 15.5, 15.5,
00242     15.5, 15.5, 15.5, 15.5, 15.5, 15.5, 15.5, 15.5, 15.5, 15.5, 15.5, 15.5, 15.5,
00243     16.5, 16.5, 16.5, 16.5, 16.5, 16.5, 16.5, 16.5, 16.5, 16.5, 16.5, 16.5, 16.5,
00244     16.5, 16.5, 16.5, 16.5, 16.5, 16.5, 16.5, 16.5, 16.5, 16.5, 16.5, 16.5, 16.5,
00245     16.5, 16.5, 16.5, 16.5, 16.5, 16.5, 16.5, 16.5, 16.5, 16.5, 17.5, 17.5, 17.5,
00246     17.5, 17.5, 17.5, 17.5, 17.5, 17.5, 17.5, 17.5, 17.5, 17.5, 17.5, 17.5, 17.5,
00247     17.5, 17.5, 17.5, 17.5, 17.5, 17.5, 17.5, 17.5, 17.5, 17.5, 17.5, 17.5, 17.5,
00248     17.5, 17.5, 17.5, 17.5, 17.5, 17.5, 17.5 };
00249 
00250   real_T origin_p[12];
00251   static const real_T dv2[3] = { -17.5, -17.5, 1.0 };
00252 
00253   static const real_T dv3[3] = { -17.5, 17.5, 1.0 };
00254 
00255   static const real_T dv4[3] = { 17.5, 17.5, 1.0 };
00256 
00257   static const real_T dv5[3] = { 17.5, -17.5, 1.0 };
00258 
00259   real_T init_ratio[9];
00260   real_T b_init_ratio[3888];
00261   real_T b_center_x[2];
00262   static const int8_T iv0[4] = { 1, 0, 0, 1 };
00263 
00264   static const int8_T iv1[3] = { 0, 0, 1 };
00265 
00266   boolean_T zero_ind_z[1296];
00267   boolean_T b_zero_ind_z;
00268   boolean_T c_zero_ind_z[1296];
00269   int32_T tmp_size[1];
00270   int32_T tmp_data[1296];
00271   int32_T b_tmp_size[1];
00272   int32_T b_tmp_data[1296];
00273   real_T mean_img_data[1296];
00274   int32_T mean_img_size[1];
00275   real_T d1;
00276   int32_T b_mean_img_size[1];
00277   int32_T c_mean_img_size[1];
00278   static const real_T mx[1296] = { -17.5, -16.5, -15.5, -14.5, -13.5, -12.5,
00279     -11.5, -10.5, -9.5, -8.5, -7.5, -6.5, -5.5, -4.5, -3.5, -2.5, -1.5, -0.5,
00280     0.5, 1.5, 2.5, 3.5, 4.5, 5.5, 6.5, 7.5, 8.5, 9.5, 10.5, 11.5, 12.5, 13.5,
00281     14.5, 15.5, 16.5, 17.5, -17.5, -16.5, -15.5, -14.5, -13.5, -12.5, -11.5,
00282     -10.5, -9.5, -8.5, -7.5, -6.5, -5.5, -4.5, -3.5, -2.5, -1.5, -0.5, 0.5, 1.5,
00283     2.5, 3.5, 4.5, 5.5, 6.5, 7.5, 8.5, 9.5, 10.5, 11.5, 12.5, 13.5, 14.5, 15.5,
00284     16.5, 17.5, -17.5, -16.5, -15.5, -14.5, -13.5, -12.5, -11.5, -10.5, -9.5,
00285     -8.5, -7.5, -6.5, -5.5, -4.5, -3.5, -2.5, -1.5, -0.5, 0.5, 1.5, 2.5, 3.5,
00286     4.5, 5.5, 6.5, 7.5, 8.5, 9.5, 10.5, 11.5, 12.5, 13.5, 14.5, 15.5, 16.5, 17.5,
00287     -17.5, -16.5, -15.5, -14.5, -13.5, -12.5, -11.5, -10.5, -9.5, -8.5, -7.5,
00288     -6.5, -5.5, -4.5, -3.5, -2.5, -1.5, -0.5, 0.5, 1.5, 2.5, 3.5, 4.5, 5.5, 6.5,
00289     7.5, 8.5, 9.5, 10.5, 11.5, 12.5, 13.5, 14.5, 15.5, 16.5, 17.5, -17.5, -16.5,
00290     -15.5, -14.5, -13.5, -12.5, -11.5, -10.5, -9.5, -8.5, -7.5, -6.5, -5.5, -4.5,
00291     -3.5, -2.5, -1.5, -0.5, 0.5, 1.5, 2.5, 3.5, 4.5, 5.5, 6.5, 7.5, 8.5, 9.5,
00292     10.5, 11.5, 12.5, 13.5, 14.5, 15.5, 16.5, 17.5, -17.5, -16.5, -15.5, -14.5,
00293     -13.5, -12.5, -11.5, -10.5, -9.5, -8.5, -7.5, -6.5, -5.5, -4.5, -3.5, -2.5,
00294     -1.5, -0.5, 0.5, 1.5, 2.5, 3.5, 4.5, 5.5, 6.5, 7.5, 8.5, 9.5, 10.5, 11.5,
00295     12.5, 13.5, 14.5, 15.5, 16.5, 17.5, -17.5, -16.5, -15.5, -14.5, -13.5, -12.5,
00296     -11.5, -10.5, -9.5, -8.5, -7.5, -6.5, -5.5, -4.5, -3.5, -2.5, -1.5, -0.5,
00297     0.5, 1.5, 2.5, 3.5, 4.5, 5.5, 6.5, 7.5, 8.5, 9.5, 10.5, 11.5, 12.5, 13.5,
00298     14.5, 15.5, 16.5, 17.5, -17.5, -16.5, -15.5, -14.5, -13.5, -12.5, -11.5,
00299     -10.5, -9.5, -8.5, -7.5, -6.5, -5.5, -4.5, -3.5, -2.5, -1.5, -0.5, 0.5, 1.5,
00300     2.5, 3.5, 4.5, 5.5, 6.5, 7.5, 8.5, 9.5, 10.5, 11.5, 12.5, 13.5, 14.5, 15.5,
00301     16.5, 17.5, -17.5, -16.5, -15.5, -14.5, -13.5, -12.5, -11.5, -10.5, -9.5,
00302     -8.5, -7.5, -6.5, -5.5, -4.5, -3.5, -2.5, -1.5, -0.5, 0.5, 1.5, 2.5, 3.5,
00303     4.5, 5.5, 6.5, 7.5, 8.5, 9.5, 10.5, 11.5, 12.5, 13.5, 14.5, 15.5, 16.5, 17.5,
00304     -17.5, -16.5, -15.5, -14.5, -13.5, -12.5, -11.5, -10.5, -9.5, -8.5, -7.5,
00305     -6.5, -5.5, -4.5, -3.5, -2.5, -1.5, -0.5, 0.5, 1.5, 2.5, 3.5, 4.5, 5.5, 6.5,
00306     7.5, 8.5, 9.5, 10.5, 11.5, 12.5, 13.5, 14.5, 15.5, 16.5, 17.5, -17.5, -16.5,
00307     -15.5, -14.5, -13.5, -12.5, -11.5, -10.5, -9.5, -8.5, -7.5, -6.5, -5.5, -4.5,
00308     -3.5, -2.5, -1.5, -0.5, 0.5, 1.5, 2.5, 3.5, 4.5, 5.5, 6.5, 7.5, 8.5, 9.5,
00309     10.5, 11.5, 12.5, 13.5, 14.5, 15.5, 16.5, 17.5, -17.5, -16.5, -15.5, -14.5,
00310     -13.5, -12.5, -11.5, -10.5, -9.5, -8.5, -7.5, -6.5, -5.5, -4.5, -3.5, -2.5,
00311     -1.5, -0.5, 0.5, 1.5, 2.5, 3.5, 4.5, 5.5, 6.5, 7.5, 8.5, 9.5, 10.5, 11.5,
00312     12.5, 13.5, 14.5, 15.5, 16.5, 17.5, -17.5, -16.5, -15.5, -14.5, -13.5, -12.5,
00313     -11.5, -10.5, -9.5, -8.5, -7.5, -6.5, -5.5, -4.5, -3.5, -2.5, -1.5, -0.5,
00314     0.5, 1.5, 2.5, 3.5, 4.5, 5.5, 6.5, 7.5, 8.5, 9.5, 10.5, 11.5, 12.5, 13.5,
00315     14.5, 15.5, 16.5, 17.5, -17.5, -16.5, -15.5, -14.5, -13.5, -12.5, -11.5,
00316     -10.5, -9.5, -8.5, -7.5, -6.5, -5.5, -4.5, -3.5, -2.5, -1.5, -0.5, 0.5, 1.5,
00317     2.5, 3.5, 4.5, 5.5, 6.5, 7.5, 8.5, 9.5, 10.5, 11.5, 12.5, 13.5, 14.5, 15.5,
00318     16.5, 17.5, -17.5, -16.5, -15.5, -14.5, -13.5, -12.5, -11.5, -10.5, -9.5,
00319     -8.5, -7.5, -6.5, -5.5, -4.5, -3.5, -2.5, -1.5, -0.5, 0.5, 1.5, 2.5, 3.5,
00320     4.5, 5.5, 6.5, 7.5, 8.5, 9.5, 10.5, 11.5, 12.5, 13.5, 14.5, 15.5, 16.5, 17.5,
00321     -17.5, -16.5, -15.5, -14.5, -13.5, -12.5, -11.5, -10.5, -9.5, -8.5, -7.5,
00322     -6.5, -5.5, -4.5, -3.5, -2.5, -1.5, -0.5, 0.5, 1.5, 2.5, 3.5, 4.5, 5.5, 6.5,
00323     7.5, 8.5, 9.5, 10.5, 11.5, 12.5, 13.5, 14.5, 15.5, 16.5, 17.5, -17.5, -16.5,
00324     -15.5, -14.5, -13.5, -12.5, -11.5, -10.5, -9.5, -8.5, -7.5, -6.5, -5.5, -4.5,
00325     -3.5, -2.5, -1.5, -0.5, 0.5, 1.5, 2.5, 3.5, 4.5, 5.5, 6.5, 7.5, 8.5, 9.5,
00326     10.5, 11.5, 12.5, 13.5, 14.5, 15.5, 16.5, 17.5, -17.5, -16.5, -15.5, -14.5,
00327     -13.5, -12.5, -11.5, -10.5, -9.5, -8.5, -7.5, -6.5, -5.5, -4.5, -3.5, -2.5,
00328     -1.5, -0.5, 0.5, 1.5, 2.5, 3.5, 4.5, 5.5, 6.5, 7.5, 8.5, 9.5, 10.5, 11.5,
00329     12.5, 13.5, 14.5, 15.5, 16.5, 17.5, -17.5, -16.5, -15.5, -14.5, -13.5, -12.5,
00330     -11.5, -10.5, -9.5, -8.5, -7.5, -6.5, -5.5, -4.5, -3.5, -2.5, -1.5, -0.5,
00331     0.5, 1.5, 2.5, 3.5, 4.5, 5.5, 6.5, 7.5, 8.5, 9.5, 10.5, 11.5, 12.5, 13.5,
00332     14.5, 15.5, 16.5, 17.5, -17.5, -16.5, -15.5, -14.5, -13.5, -12.5, -11.5,
00333     -10.5, -9.5, -8.5, -7.5, -6.5, -5.5, -4.5, -3.5, -2.5, -1.5, -0.5, 0.5, 1.5,
00334     2.5, 3.5, 4.5, 5.5, 6.5, 7.5, 8.5, 9.5, 10.5, 11.5, 12.5, 13.5, 14.5, 15.5,
00335     16.5, 17.5, -17.5, -16.5, -15.5, -14.5, -13.5, -12.5, -11.5, -10.5, -9.5,
00336     -8.5, -7.5, -6.5, -5.5, -4.5, -3.5, -2.5, -1.5, -0.5, 0.5, 1.5, 2.5, 3.5,
00337     4.5, 5.5, 6.5, 7.5, 8.5, 9.5, 10.5, 11.5, 12.5, 13.5, 14.5, 15.5, 16.5, 17.5,
00338     -17.5, -16.5, -15.5, -14.5, -13.5, -12.5, -11.5, -10.5, -9.5, -8.5, -7.5,
00339     -6.5, -5.5, -4.5, -3.5, -2.5, -1.5, -0.5, 0.5, 1.5, 2.5, 3.5, 4.5, 5.5, 6.5,
00340     7.5, 8.5, 9.5, 10.5, 11.5, 12.5, 13.5, 14.5, 15.5, 16.5, 17.5, -17.5, -16.5,
00341     -15.5, -14.5, -13.5, -12.5, -11.5, -10.5, -9.5, -8.5, -7.5, -6.5, -5.5, -4.5,
00342     -3.5, -2.5, -1.5, -0.5, 0.5, 1.5, 2.5, 3.5, 4.5, 5.5, 6.5, 7.5, 8.5, 9.5,
00343     10.5, 11.5, 12.5, 13.5, 14.5, 15.5, 16.5, 17.5, -17.5, -16.5, -15.5, -14.5,
00344     -13.5, -12.5, -11.5, -10.5, -9.5, -8.5, -7.5, -6.5, -5.5, -4.5, -3.5, -2.5,
00345     -1.5, -0.5, 0.5, 1.5, 2.5, 3.5, 4.5, 5.5, 6.5, 7.5, 8.5, 9.5, 10.5, 11.5,
00346     12.5, 13.5, 14.5, 15.5, 16.5, 17.5, -17.5, -16.5, -15.5, -14.5, -13.5, -12.5,
00347     -11.5, -10.5, -9.5, -8.5, -7.5, -6.5, -5.5, -4.5, -3.5, -2.5, -1.5, -0.5,
00348     0.5, 1.5, 2.5, 3.5, 4.5, 5.5, 6.5, 7.5, 8.5, 9.5, 10.5, 11.5, 12.5, 13.5,
00349     14.5, 15.5, 16.5, 17.5, -17.5, -16.5, -15.5, -14.5, -13.5, -12.5, -11.5,
00350     -10.5, -9.5, -8.5, -7.5, -6.5, -5.5, -4.5, -3.5, -2.5, -1.5, -0.5, 0.5, 1.5,
00351     2.5, 3.5, 4.5, 5.5, 6.5, 7.5, 8.5, 9.5, 10.5, 11.5, 12.5, 13.5, 14.5, 15.5,
00352     16.5, 17.5, -17.5, -16.5, -15.5, -14.5, -13.5, -12.5, -11.5, -10.5, -9.5,
00353     -8.5, -7.5, -6.5, -5.5, -4.5, -3.5, -2.5, -1.5, -0.5, 0.5, 1.5, 2.5, 3.5,
00354     4.5, 5.5, 6.5, 7.5, 8.5, 9.5, 10.5, 11.5, 12.5, 13.5, 14.5, 15.5, 16.5, 17.5,
00355     -17.5, -16.5, -15.5, -14.5, -13.5, -12.5, -11.5, -10.5, -9.5, -8.5, -7.5,
00356     -6.5, -5.5, -4.5, -3.5, -2.5, -1.5, -0.5, 0.5, 1.5, 2.5, 3.5, 4.5, 5.5, 6.5,
00357     7.5, 8.5, 9.5, 10.5, 11.5, 12.5, 13.5, 14.5, 15.5, 16.5, 17.5, -17.5, -16.5,
00358     -15.5, -14.5, -13.5, -12.5, -11.5, -10.5, -9.5, -8.5, -7.5, -6.5, -5.5, -4.5,
00359     -3.5, -2.5, -1.5, -0.5, 0.5, 1.5, 2.5, 3.5, 4.5, 5.5, 6.5, 7.5, 8.5, 9.5,
00360     10.5, 11.5, 12.5, 13.5, 14.5, 15.5, 16.5, 17.5, -17.5, -16.5, -15.5, -14.5,
00361     -13.5, -12.5, -11.5, -10.5, -9.5, -8.5, -7.5, -6.5, -5.5, -4.5, -3.5, -2.5,
00362     -1.5, -0.5, 0.5, 1.5, 2.5, 3.5, 4.5, 5.5, 6.5, 7.5, 8.5, 9.5, 10.5, 11.5,
00363     12.5, 13.5, 14.5, 15.5, 16.5, 17.5, -17.5, -16.5, -15.5, -14.5, -13.5, -12.5,
00364     -11.5, -10.5, -9.5, -8.5, -7.5, -6.5, -5.5, -4.5, -3.5, -2.5, -1.5, -0.5,
00365     0.5, 1.5, 2.5, 3.5, 4.5, 5.5, 6.5, 7.5, 8.5, 9.5, 10.5, 11.5, 12.5, 13.5,
00366     14.5, 15.5, 16.5, 17.5, -17.5, -16.5, -15.5, -14.5, -13.5, -12.5, -11.5,
00367     -10.5, -9.5, -8.5, -7.5, -6.5, -5.5, -4.5, -3.5, -2.5, -1.5, -0.5, 0.5, 1.5,
00368     2.5, 3.5, 4.5, 5.5, 6.5, 7.5, 8.5, 9.5, 10.5, 11.5, 12.5, 13.5, 14.5, 15.5,
00369     16.5, 17.5, -17.5, -16.5, -15.5, -14.5, -13.5, -12.5, -11.5, -10.5, -9.5,
00370     -8.5, -7.5, -6.5, -5.5, -4.5, -3.5, -2.5, -1.5, -0.5, 0.5, 1.5, 2.5, 3.5,
00371     4.5, 5.5, 6.5, 7.5, 8.5, 9.5, 10.5, 11.5, 12.5, 13.5, 14.5, 15.5, 16.5, 17.5,
00372     -17.5, -16.5, -15.5, -14.5, -13.5, -12.5, -11.5, -10.5, -9.5, -8.5, -7.5,
00373     -6.5, -5.5, -4.5, -3.5, -2.5, -1.5, -0.5, 0.5, 1.5, 2.5, 3.5, 4.5, 5.5, 6.5,
00374     7.5, 8.5, 9.5, 10.5, 11.5, 12.5, 13.5, 14.5, 15.5, 16.5, 17.5, -17.5, -16.5,
00375     -15.5, -14.5, -13.5, -12.5, -11.5, -10.5, -9.5, -8.5, -7.5, -6.5, -5.5, -4.5,
00376     -3.5, -2.5, -1.5, -0.5, 0.5, 1.5, 2.5, 3.5, 4.5, 5.5, 6.5, 7.5, 8.5, 9.5,
00377     10.5, 11.5, 12.5, 13.5, 14.5, 15.5, 16.5, 17.5, -17.5, -16.5, -15.5, -14.5,
00378     -13.5, -12.5, -11.5, -10.5, -9.5, -8.5, -7.5, -6.5, -5.5, -4.5, -3.5, -2.5,
00379     -1.5, -0.5, 0.5, 1.5, 2.5, 3.5, 4.5, 5.5, 6.5, 7.5, 8.5, 9.5, 10.5, 11.5,
00380     12.5, 13.5, 14.5, 15.5, 16.5, 17.5 };
00381 
00382   static const real_T my[1296] = { -17.5, -17.5, -17.5, -17.5, -17.5, -17.5,
00383     -17.5, -17.5, -17.5, -17.5, -17.5, -17.5, -17.5, -17.5, -17.5, -17.5, -17.5,
00384     -17.5, -17.5, -17.5, -17.5, -17.5, -17.5, -17.5, -17.5, -17.5, -17.5, -17.5,
00385     -17.5, -17.5, -17.5, -17.5, -17.5, -17.5, -17.5, -17.5, -16.5, -16.5, -16.5,
00386     -16.5, -16.5, -16.5, -16.5, -16.5, -16.5, -16.5, -16.5, -16.5, -16.5, -16.5,
00387     -16.5, -16.5, -16.5, -16.5, -16.5, -16.5, -16.5, -16.5, -16.5, -16.5, -16.5,
00388     -16.5, -16.5, -16.5, -16.5, -16.5, -16.5, -16.5, -16.5, -16.5, -16.5, -16.5,
00389     -15.5, -15.5, -15.5, -15.5, -15.5, -15.5, -15.5, -15.5, -15.5, -15.5, -15.5,
00390     -15.5, -15.5, -15.5, -15.5, -15.5, -15.5, -15.5, -15.5, -15.5, -15.5, -15.5,
00391     -15.5, -15.5, -15.5, -15.5, -15.5, -15.5, -15.5, -15.5, -15.5, -15.5, -15.5,
00392     -15.5, -15.5, -15.5, -14.5, -14.5, -14.5, -14.5, -14.5, -14.5, -14.5, -14.5,
00393     -14.5, -14.5, -14.5, -14.5, -14.5, -14.5, -14.5, -14.5, -14.5, -14.5, -14.5,
00394     -14.5, -14.5, -14.5, -14.5, -14.5, -14.5, -14.5, -14.5, -14.5, -14.5, -14.5,
00395     -14.5, -14.5, -14.5, -14.5, -14.5, -14.5, -13.5, -13.5, -13.5, -13.5, -13.5,
00396     -13.5, -13.5, -13.5, -13.5, -13.5, -13.5, -13.5, -13.5, -13.5, -13.5, -13.5,
00397     -13.5, -13.5, -13.5, -13.5, -13.5, -13.5, -13.5, -13.5, -13.5, -13.5, -13.5,
00398     -13.5, -13.5, -13.5, -13.5, -13.5, -13.5, -13.5, -13.5, -13.5, -12.5, -12.5,
00399     -12.5, -12.5, -12.5, -12.5, -12.5, -12.5, -12.5, -12.5, -12.5, -12.5, -12.5,
00400     -12.5, -12.5, -12.5, -12.5, -12.5, -12.5, -12.5, -12.5, -12.5, -12.5, -12.5,
00401     -12.5, -12.5, -12.5, -12.5, -12.5, -12.5, -12.5, -12.5, -12.5, -12.5, -12.5,
00402     -12.5, -11.5, -11.5, -11.5, -11.5, -11.5, -11.5, -11.5, -11.5, -11.5, -11.5,
00403     -11.5, -11.5, -11.5, -11.5, -11.5, -11.5, -11.5, -11.5, -11.5, -11.5, -11.5,
00404     -11.5, -11.5, -11.5, -11.5, -11.5, -11.5, -11.5, -11.5, -11.5, -11.5, -11.5,
00405     -11.5, -11.5, -11.5, -11.5, -10.5, -10.5, -10.5, -10.5, -10.5, -10.5, -10.5,
00406     -10.5, -10.5, -10.5, -10.5, -10.5, -10.5, -10.5, -10.5, -10.5, -10.5, -10.5,
00407     -10.5, -10.5, -10.5, -10.5, -10.5, -10.5, -10.5, -10.5, -10.5, -10.5, -10.5,
00408     -10.5, -10.5, -10.5, -10.5, -10.5, -10.5, -10.5, -9.5, -9.5, -9.5, -9.5,
00409     -9.5, -9.5, -9.5, -9.5, -9.5, -9.5, -9.5, -9.5, -9.5, -9.5, -9.5, -9.5, -9.5,
00410     -9.5, -9.5, -9.5, -9.5, -9.5, -9.5, -9.5, -9.5, -9.5, -9.5, -9.5, -9.5, -9.5,
00411     -9.5, -9.5, -9.5, -9.5, -9.5, -9.5, -8.5, -8.5, -8.5, -8.5, -8.5, -8.5, -8.5,
00412     -8.5, -8.5, -8.5, -8.5, -8.5, -8.5, -8.5, -8.5, -8.5, -8.5, -8.5, -8.5, -8.5,
00413     -8.5, -8.5, -8.5, -8.5, -8.5, -8.5, -8.5, -8.5, -8.5, -8.5, -8.5, -8.5, -8.5,
00414     -8.5, -8.5, -8.5, -7.5, -7.5, -7.5, -7.5, -7.5, -7.5, -7.5, -7.5, -7.5, -7.5,
00415     -7.5, -7.5, -7.5, -7.5, -7.5, -7.5, -7.5, -7.5, -7.5, -7.5, -7.5, -7.5, -7.5,
00416     -7.5, -7.5, -7.5, -7.5, -7.5, -7.5, -7.5, -7.5, -7.5, -7.5, -7.5, -7.5, -7.5,
00417     -6.5, -6.5, -6.5, -6.5, -6.5, -6.5, -6.5, -6.5, -6.5, -6.5, -6.5, -6.5, -6.5,
00418     -6.5, -6.5, -6.5, -6.5, -6.5, -6.5, -6.5, -6.5, -6.5, -6.5, -6.5, -6.5, -6.5,
00419     -6.5, -6.5, -6.5, -6.5, -6.5, -6.5, -6.5, -6.5, -6.5, -6.5, -5.5, -5.5, -5.5,
00420     -5.5, -5.5, -5.5, -5.5, -5.5, -5.5, -5.5, -5.5, -5.5, -5.5, -5.5, -5.5, -5.5,
00421     -5.5, -5.5, -5.5, -5.5, -5.5, -5.5, -5.5, -5.5, -5.5, -5.5, -5.5, -5.5, -5.5,
00422     -5.5, -5.5, -5.5, -5.5, -5.5, -5.5, -5.5, -4.5, -4.5, -4.5, -4.5, -4.5, -4.5,
00423     -4.5, -4.5, -4.5, -4.5, -4.5, -4.5, -4.5, -4.5, -4.5, -4.5, -4.5, -4.5, -4.5,
00424     -4.5, -4.5, -4.5, -4.5, -4.5, -4.5, -4.5, -4.5, -4.5, -4.5, -4.5, -4.5, -4.5,
00425     -4.5, -4.5, -4.5, -4.5, -3.5, -3.5, -3.5, -3.5, -3.5, -3.5, -3.5, -3.5, -3.5,
00426     -3.5, -3.5, -3.5, -3.5, -3.5, -3.5, -3.5, -3.5, -3.5, -3.5, -3.5, -3.5, -3.5,
00427     -3.5, -3.5, -3.5, -3.5, -3.5, -3.5, -3.5, -3.5, -3.5, -3.5, -3.5, -3.5, -3.5,
00428     -3.5, -2.5, -2.5, -2.5, -2.5, -2.5, -2.5, -2.5, -2.5, -2.5, -2.5, -2.5, -2.5,
00429     -2.5, -2.5, -2.5, -2.5, -2.5, -2.5, -2.5, -2.5, -2.5, -2.5, -2.5, -2.5, -2.5,
00430     -2.5, -2.5, -2.5, -2.5, -2.5, -2.5, -2.5, -2.5, -2.5, -2.5, -2.5, -1.5, -1.5,
00431     -1.5, -1.5, -1.5, -1.5, -1.5, -1.5, -1.5, -1.5, -1.5, -1.5, -1.5, -1.5, -1.5,
00432     -1.5, -1.5, -1.5, -1.5, -1.5, -1.5, -1.5, -1.5, -1.5, -1.5, -1.5, -1.5, -1.5,
00433     -1.5, -1.5, -1.5, -1.5, -1.5, -1.5, -1.5, -1.5, -0.5, -0.5, -0.5, -0.5, -0.5,
00434     -0.5, -0.5, -0.5, -0.5, -0.5, -0.5, -0.5, -0.5, -0.5, -0.5, -0.5, -0.5, -0.5,
00435     -0.5, -0.5, -0.5, -0.5, -0.5, -0.5, -0.5, -0.5, -0.5, -0.5, -0.5, -0.5, -0.5,
00436     -0.5, -0.5, -0.5, -0.5, -0.5, 0.5, 0.5, 0.5, 0.5, 0.5, 0.5, 0.5, 0.5, 0.5,
00437     0.5, 0.5, 0.5, 0.5, 0.5, 0.5, 0.5, 0.5, 0.5, 0.5, 0.5, 0.5, 0.5, 0.5, 0.5,
00438     0.5, 0.5, 0.5, 0.5, 0.5, 0.5, 0.5, 0.5, 0.5, 0.5, 0.5, 0.5, 1.5, 1.5, 1.5,
00439     1.5, 1.5, 1.5, 1.5, 1.5, 1.5, 1.5, 1.5, 1.5, 1.5, 1.5, 1.5, 1.5, 1.5, 1.5,
00440     1.5, 1.5, 1.5, 1.5, 1.5, 1.5, 1.5, 1.5, 1.5, 1.5, 1.5, 1.5, 1.5, 1.5, 1.5,
00441     1.5, 1.5, 1.5, 2.5, 2.5, 2.5, 2.5, 2.5, 2.5, 2.5, 2.5, 2.5, 2.5, 2.5, 2.5,
00442     2.5, 2.5, 2.5, 2.5, 2.5, 2.5, 2.5, 2.5, 2.5, 2.5, 2.5, 2.5, 2.5, 2.5, 2.5,
00443     2.5, 2.5, 2.5, 2.5, 2.5, 2.5, 2.5, 2.5, 2.5, 3.5, 3.5, 3.5, 3.5, 3.5, 3.5,
00444     3.5, 3.5, 3.5, 3.5, 3.5, 3.5, 3.5, 3.5, 3.5, 3.5, 3.5, 3.5, 3.5, 3.5, 3.5,
00445     3.5, 3.5, 3.5, 3.5, 3.5, 3.5, 3.5, 3.5, 3.5, 3.5, 3.5, 3.5, 3.5, 3.5, 3.5,
00446     4.5, 4.5, 4.5, 4.5, 4.5, 4.5, 4.5, 4.5, 4.5, 4.5, 4.5, 4.5, 4.5, 4.5, 4.5,
00447     4.5, 4.5, 4.5, 4.5, 4.5, 4.5, 4.5, 4.5, 4.5, 4.5, 4.5, 4.5, 4.5, 4.5, 4.5,
00448     4.5, 4.5, 4.5, 4.5, 4.5, 4.5, 5.5, 5.5, 5.5, 5.5, 5.5, 5.5, 5.5, 5.5, 5.5,
00449     5.5, 5.5, 5.5, 5.5, 5.5, 5.5, 5.5, 5.5, 5.5, 5.5, 5.5, 5.5, 5.5, 5.5, 5.5,
00450     5.5, 5.5, 5.5, 5.5, 5.5, 5.5, 5.5, 5.5, 5.5, 5.5, 5.5, 5.5, 6.5, 6.5, 6.5,
00451     6.5, 6.5, 6.5, 6.5, 6.5, 6.5, 6.5, 6.5, 6.5, 6.5, 6.5, 6.5, 6.5, 6.5, 6.5,
00452     6.5, 6.5, 6.5, 6.5, 6.5, 6.5, 6.5, 6.5, 6.5, 6.5, 6.5, 6.5, 6.5, 6.5, 6.5,
00453     6.5, 6.5, 6.5, 7.5, 7.5, 7.5, 7.5, 7.5, 7.5, 7.5, 7.5, 7.5, 7.5, 7.5, 7.5,
00454     7.5, 7.5, 7.5, 7.5, 7.5, 7.5, 7.5, 7.5, 7.5, 7.5, 7.5, 7.5, 7.5, 7.5, 7.5,
00455     7.5, 7.5, 7.5, 7.5, 7.5, 7.5, 7.5, 7.5, 7.5, 8.5, 8.5, 8.5, 8.5, 8.5, 8.5,
00456     8.5, 8.5, 8.5, 8.5, 8.5, 8.5, 8.5, 8.5, 8.5, 8.5, 8.5, 8.5, 8.5, 8.5, 8.5,
00457     8.5, 8.5, 8.5, 8.5, 8.5, 8.5, 8.5, 8.5, 8.5, 8.5, 8.5, 8.5, 8.5, 8.5, 8.5,
00458     9.5, 9.5, 9.5, 9.5, 9.5, 9.5, 9.5, 9.5, 9.5, 9.5, 9.5, 9.5, 9.5, 9.5, 9.5,
00459     9.5, 9.5, 9.5, 9.5, 9.5, 9.5, 9.5, 9.5, 9.5, 9.5, 9.5, 9.5, 9.5, 9.5, 9.5,
00460     9.5, 9.5, 9.5, 9.5, 9.5, 9.5, 10.5, 10.5, 10.5, 10.5, 10.5, 10.5, 10.5, 10.5,
00461     10.5, 10.5, 10.5, 10.5, 10.5, 10.5, 10.5, 10.5, 10.5, 10.5, 10.5, 10.5, 10.5,
00462     10.5, 10.5, 10.5, 10.5, 10.5, 10.5, 10.5, 10.5, 10.5, 10.5, 10.5, 10.5, 10.5,
00463     10.5, 10.5, 11.5, 11.5, 11.5, 11.5, 11.5, 11.5, 11.5, 11.5, 11.5, 11.5, 11.5,
00464     11.5, 11.5, 11.5, 11.5, 11.5, 11.5, 11.5, 11.5, 11.5, 11.5, 11.5, 11.5, 11.5,
00465     11.5, 11.5, 11.5, 11.5, 11.5, 11.5, 11.5, 11.5, 11.5, 11.5, 11.5, 11.5, 12.5,
00466     12.5, 12.5, 12.5, 12.5, 12.5, 12.5, 12.5, 12.5, 12.5, 12.5, 12.5, 12.5, 12.5,
00467     12.5, 12.5, 12.5, 12.5, 12.5, 12.5, 12.5, 12.5, 12.5, 12.5, 12.5, 12.5, 12.5,
00468     12.5, 12.5, 12.5, 12.5, 12.5, 12.5, 12.5, 12.5, 12.5, 13.5, 13.5, 13.5, 13.5,
00469     13.5, 13.5, 13.5, 13.5, 13.5, 13.5, 13.5, 13.5, 13.5, 13.5, 13.5, 13.5, 13.5,
00470     13.5, 13.5, 13.5, 13.5, 13.5, 13.5, 13.5, 13.5, 13.5, 13.5, 13.5, 13.5, 13.5,
00471     13.5, 13.5, 13.5, 13.5, 13.5, 13.5, 14.5, 14.5, 14.5, 14.5, 14.5, 14.5, 14.5,
00472     14.5, 14.5, 14.5, 14.5, 14.5, 14.5, 14.5, 14.5, 14.5, 14.5, 14.5, 14.5, 14.5,
00473     14.5, 14.5, 14.5, 14.5, 14.5, 14.5, 14.5, 14.5, 14.5, 14.5, 14.5, 14.5, 14.5,
00474     14.5, 14.5, 14.5, 15.5, 15.5, 15.5, 15.5, 15.5, 15.5, 15.5, 15.5, 15.5, 15.5,
00475     15.5, 15.5, 15.5, 15.5, 15.5, 15.5, 15.5, 15.5, 15.5, 15.5, 15.5, 15.5, 15.5,
00476     15.5, 15.5, 15.5, 15.5, 15.5, 15.5, 15.5, 15.5, 15.5, 15.5, 15.5, 15.5, 15.5,
00477     16.5, 16.5, 16.5, 16.5, 16.5, 16.5, 16.5, 16.5, 16.5, 16.5, 16.5, 16.5, 16.5,
00478     16.5, 16.5, 16.5, 16.5, 16.5, 16.5, 16.5, 16.5, 16.5, 16.5, 16.5, 16.5, 16.5,
00479     16.5, 16.5, 16.5, 16.5, 16.5, 16.5, 16.5, 16.5, 16.5, 16.5, 17.5, 17.5, 17.5,
00480     17.5, 17.5, 17.5, 17.5, 17.5, 17.5, 17.5, 17.5, 17.5, 17.5, 17.5, 17.5, 17.5,
00481     17.5, 17.5, 17.5, 17.5, 17.5, 17.5, 17.5, 17.5, 17.5, 17.5, 17.5, 17.5, 17.5,
00482     17.5, 17.5, 17.5, 17.5, 17.5, 17.5, 17.5 };
00483 
00484   /* % */
00485   *center_x = (((ptx[0] + ptx[1]) + ptx[2]) + ptx[3]) / 4.0;
00486   *center_y = (((pty[0] + pty[1]) + pty[2]) + pty[3]) / 4.0;
00487   memset(&frame[0], 0, 504063U * sizeof(real_T));
00488   for (row = 0; row < 441; row++) {
00489     for (col = 0; col < 381; col++) {
00490       frame[336042 + (col + 381 * row)] = Ixyz[336042 + (col + 381 * row)];
00491       b_Ixyz[col + 381 * row] = (Ixyz[col + 381 * row] + 2.0) * (real_T)(frame
00492         [336042 + (col + 381 * row)] != 0.0);
00493       frame[col + 381 * row] = b_Ixyz[col + 381 * row];
00494       c_Ixyz[col + 381 * row] = (Ixyz[168021 + (col + 381 * row)] + 2.0) *
00495         (real_T)(frame[336042 + (col + 381 * row)] != 0.0);
00496       frame[168021 + (col + 381 * row)] = c_Ixyz[col + 381 * row];
00497     }
00498   }
00499 
00500   /* % Computing initial 2-D affine transformation matrix */
00501   memset(&point_matrix[0], 0, 3888U * sizeof(real_T));
00502   for (i = 0; i < 1296; i++) {
00503     point_matrix[3 * i] = dv0[i];
00504     point_matrix[1 + 3 * i] = dv1[i];
00505     point_matrix[2 + 3 * i] = 1.0;
00506   }
00507 
00508   for (row = 0; row < 12; row++) {
00509     origin_p[row] = 0.0;
00510     corner_p[row] = 0.0;
00511   }
00512 
00513   for (row = 0; row < 3; row++) {
00514     origin_p[row] = dv2[row];
00515     origin_p[3 + row] = dv3[row];
00516     origin_p[6 + row] = dv4[row];
00517     origin_p[9 + row] = dv5[row];
00518   }
00519 
00520   corner_p[0] = ptx[0] - *center_x;
00521   corner_p[1] = pty[0] - *center_y;
00522   corner_p[2] = 1.0;
00523   corner_p[3] = ptx[1] - *center_x;
00524   corner_p[4] = pty[1] - *center_y;
00525   corner_p[5] = 1.0;
00526   corner_p[6] = ptx[2] - *center_x;
00527   corner_p[7] = pty[2] - *center_y;
00528   corner_p[8] = 1.0;
00529   corner_p[9] = ptx[3] - *center_x;
00530   corner_p[10] = pty[3] - *center_y;
00531   corner_p[11] = 1.0;
00532   mrdivide(corner_p, origin_p, init_ratio);
00533   for (row = 0; row < 3; row++) {
00534     for (col = 0; col < 1296; col++) {
00535       b_init_ratio[row + 3 * col] = 0.0;
00536       for (i = 0; i < 3; i++) {
00537         b_init_ratio[row + 3 * col] += init_ratio[row + 3 * i] * point_matrix[i
00538           + 3 * col];
00539       }
00540     }
00541   }
00542 
00543   for (row = 0; row < 1296; row++) {
00544     for (col = 0; col < 3; col++) {
00545       point_matrix[col + 3 * row] = b_init_ratio[col + 3 * row];
00546     }
00547   }
00548 
00549   /* % Lie algebra bases for 2-D affine group %% */
00550   /*  scaling   */
00551   /*  aspect ratio */
00552   /*  rotation */
00553   /*  skew  */
00554   /*  x translation */
00555   /*  y translation */
00556   /* % Setup for geometric particle filtering %% */
00557   for (row = 0; row < 2250000; row++) {
00558     X_par[row] = 0.0;
00559     X_par_pred[row] = 0.0;
00560     AR_velocity[row] = 0.0;
00561   }
00562 
00563   /*  w = zeros(N,len); */
00564   /*  prob = zeros(N,len); */
00565   /* % Setup for incremental PCA of image covariances */
00566   b_center_x[0] = *center_x;
00567   b_center_x[1] = *center_y;
00568   for (row = 0; row < 2; row++) {
00569     for (col = 0; col < 2; col++) {
00570       init_ratio[col + 3 * row] = (real_T)iv0[col + (row << 1)];
00571     }
00572   }
00573 
00574   for (row = 0; row < 2; row++) {
00575     init_ratio[6 + row] = b_center_x[row];
00576   }
00577 
00578   for (row = 0; row < 3; row++) {
00579     init_ratio[2 + 3 * row] = (real_T)iv1[row];
00580   }
00581 
00582   memset(&mean_img[0], 0, 3888U * sizeof(real_T));
00583   image_warping(*(real_T (*)[168021])&frame[0], init_ratio, point_matrix,
00584                 *(real_T (*)[1296])&mean_img[0]);
00585   image_warping(*(real_T (*)[168021])&frame[168021], init_ratio, point_matrix,
00586                 *(real_T (*)[1296])&mean_img[1296]);
00587   image_warping(*(real_T (*)[168021])&frame[336042], init_ratio, point_matrix,
00588                 *(real_T (*)[1296])&mean_img[2592]);
00589 
00590   /* % replace zeros with average values */
00591   for (row = 0; row < 1296; row++) {
00592     b_zero_ind_z = (mean_img[2592 + row] == 0.0);
00593     zero_ind_z[row] = !b_zero_ind_z;
00594     c_zero_ind_z[row] = b_zero_ind_z;
00595   }
00596 
00597   eml_li_find(c_zero_ind_z, tmp_data, tmp_size);
00598   eml_li_find(zero_ind_z, b_tmp_data, b_tmp_size);
00599   mean_img_size[0] = b_tmp_size[0];
00600   i = b_tmp_size[0] - 1;
00601   for (row = 0; row <= i; row++) {
00602     mean_img_data[row] = mean_img[b_tmp_data[row] + 2591];
00603   }
00604 
00605   d1 = mean(mean_img_data, mean_img_size);
00606   i = tmp_size[0] - 1;
00607   for (row = 0; row <= i; row++) {
00608     mean_img[tmp_data[row] + 2591] = d1;
00609   }
00610 
00611   eml_li_find(c_zero_ind_z, tmp_data, tmp_size);
00612   for (i = 0; i < 1296; i++) {
00613     zero_ind_z[i] = !c_zero_ind_z[i];
00614   }
00615 
00616   eml_li_find(zero_ind_z, b_tmp_data, b_tmp_size);
00617   b_mean_img_size[0] = b_tmp_size[0];
00618   i = b_tmp_size[0] - 1;
00619   for (row = 0; row <= i; row++) {
00620     mean_img_data[row] = mean_img[b_tmp_data[row] - 1];
00621   }
00622 
00623   d1 = mean(mean_img_data, b_mean_img_size);
00624   i = tmp_size[0] - 1;
00625   for (row = 0; row <= i; row++) {
00626     mean_img[tmp_data[row] - 1] = d1;
00627   }
00628 
00629   eml_li_find(c_zero_ind_z, tmp_data, tmp_size);
00630   for (i = 0; i < 1296; i++) {
00631     zero_ind_z[i] = !c_zero_ind_z[i];
00632   }
00633 
00634   eml_li_find(zero_ind_z, b_tmp_data, b_tmp_size);
00635   c_mean_img_size[0] = b_tmp_size[0];
00636   i = b_tmp_size[0] - 1;
00637   for (row = 0; row <= i; row++) {
00638     mean_img_data[row] = mean_img[b_tmp_data[row] + 1295];
00639   }
00640 
00641   d1 = mean(mean_img_data, c_mean_img_size);
00642   i = tmp_size[0] - 1;
00643   for (row = 0; row <= i; row++) {
00644     mean_img[tmp_data[row] + 1295] = d1;
00645   }
00646 
00647   /* % */
00648   memset(&tracked_images[0], 0, 38880000U * sizeof(real_T));
00649   for (row = 0; row < 1296; row++) {
00650     tracked_images[row] = mean_img[row];
00651     tracked_images[12960000 + row] = mean_img[1296 + row];
00652     tracked_images[25920000 + row] = mean_img[2592 + row];
00653   }
00654 
00655   /* % Affine state particle initialization */
00656   for (i = 0; i < 25; i++) {
00657     eye(*(real_T (*)[9])&X_par[9 * i]);
00658     for (row = 0; row < 2; row++) {
00659       for (col = 0; col < 2; col++) {
00660         X_par[(col + 3 * row) + 9 * i] = (real_T)iv0[col + (row << 1)];
00661       }
00662     }
00663 
00664     eye(*(real_T (*)[9])&AR_velocity[9 * i]);
00665   }
00666 
00667   /* % dw_dp in matrix form %% */
00668   memset(&dw_dp[0], 0, 15552U * sizeof(real_T));
00669   i = -1;
00670   for (col = 0; col < 36; col++) {
00671     for (row = 0; row < 36; row++) {
00672       i++;
00673       dw_dp[12 * i] = mx[row + 36 * col];
00674       dw_dp[2 + 12 * i] = 0.0;
00675       dw_dp[4 + 12 * i] = my[row + 36 * col];
00676       dw_dp[6 + 12 * i] = 0.0;
00677       dw_dp[8 + 12 * i] = 1.0;
00678       dw_dp[10 + 12 * i] = 0.0;
00679       dw_dp[1 + 12 * i] = 0.0;
00680       dw_dp[3 + 12 * i] = mx[row + 36 * col];
00681       dw_dp[5 + 12 * i] = 0.0;
00682       dw_dp[7 + 12 * i] = my[row + 36 * col];
00683       dw_dp[9 + 12 * i] = 0.0;
00684       dw_dp[11 + 12 * i] = 1.0;
00685     }
00686   }
00687 }
00688 
00689 /* End of code generation (init_variables.cpp) */