mirror of
https://github.com/introlab/rtabmap.git
synced 2026-09-08 12:30:20 +08:00
Parameters: added Mem/StereoFromMotion (default false) and RGBD/ProximityOdomGuess (default false). Visual proximity detection is done before computing the loop closure transform (the later is ignored if visual proximity succeeded with a node close to loop closure, add Loop/Suppressed_hypothesis_id statistics to know when this happens). Changed Loop/Map_correction to Loop/Odom_correction (to better see the actual jumps of localization about /base_link frame, not /odom frame). util3d::generateWords3DMono() is now using openCV's implementation of five-point algorithm (this fixed some cases for which the older approach couldn't find any solution). UPlot: added scrolling area on the legend, added global legend option to show all curve statistics (mean, stddev,max). MainWindow's open dialog: reopen last directory when reopening a different database. ParametersToolBox: show default parameter value in tooltip. rtabmap-report: add --start option. rtabmap-reprocess: show details about proximity and loop detections, reset all localization statistics after changing database.
This commit is contained in:
matlabbe
@@ -75,8 +75,8 @@ public:
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static cv::Mat findFFromWords(
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const std::list<std::pair<int, std::pair<cv::KeyPoint, cv::KeyPoint> > > & pairs, // id, kpt1, kpt2
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std::vector<uchar> & status,
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double ransacParam1 = 3.0,
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double ransacParam2 = 0.99);
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double ransacReprojThreshold = 3.0,
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double ransacConfidence = 0.99);
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// assume a canonical camera (without K)
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static void findRTFromP(
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@@ -302,6 +302,7 @@ private:
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bool _badSignaturesIgnored;
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bool _mapLabelsAdded;
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bool _depthAsMask;
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bool _stereoFromMotion;
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int _imagePreDecimation;
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int _imagePostDecimation;
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bool _compressionParallelized;
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@@ -217,6 +217,7 @@ class RTABMAP_EXP Parameters
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RTABMAP_PARAM(Mem, BadSignaturesIgnored, bool, false, "Bad signatures are ignored.");
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RTABMAP_PARAM(Mem, InitWMWithAllNodes, bool, false, "Initialize the Working Memory with all nodes in Long-Term Memory. When false, it is initialized with nodes of the previous session.");
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RTABMAP_PARAM(Mem, DepthAsMask, bool, true, "Use depth image as mask when extracting features for vocabulary.");
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RTABMAP_PARAM(Mem, StereoFromMotion, bool, false, uFormat("Triangulate features without depth using stereo from motion (odometry). It would be ignored if %s is true and the feature detector used supports masking.", kMemDepthAsMask().c_str()));
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RTABMAP_PARAM(Mem, ImagePreDecimation, int, 1, "Image decimation (>=1) before features extraction.");
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RTABMAP_PARAM(Mem, ImagePostDecimation, int, 1, "Image decimation (>=1) of saved data in created signatures (after features extraction). Decimation is done from the original image.");
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RTABMAP_PARAM(Mem, CompressionParallelized, bool, true, "Compression of sensor data is multi-threaded.");
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@@ -378,6 +379,7 @@ class RTABMAP_EXP Parameters
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RTABMAP_PARAM(RGBD, ProximityPathMaxNeighbors, int, 0, "Maximum neighbor nodes compared on each path. Set to 0 to disable merging the laser scans.");
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RTABMAP_PARAM(RGBD, ProximityPathRawPosesUsed, bool, true, "When comparing to a local path, merge the scan using the odometry poses (with neighbor link optimizations) instead of the ones in the optimized local graph.");
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RTABMAP_PARAM(RGBD, ProximityAngle, float, 45, "Maximum angle (degrees) for visual proximity detection.");
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RTABMAP_PARAM(RGBD, ProximityOdomGuess, bool, false, "Use odometry as motion guess for visual proximity detection.");
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// Graph optimization
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#ifdef RTABMAP_GTSAM
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@@ -577,7 +579,7 @@ class RTABMAP_EXP Parameters
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RTABMAP_PARAM(Vis, PnPRefineIterations, int, 1, uFormat("[%s = 1] Refine iterations. Set to 0 if \"%s\" is also used.", kVisEstimationType().c_str(), kVisBundleAdjustment().c_str()));
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#endif
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RTABMAP_PARAM(Vis, EpipolarGeometryVar, float, 0.02, uFormat("[%s = 2] Epipolar geometry maximum variance to accept the transformation.", kVisEstimationType().c_str()));
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RTABMAP_PARAM(Vis, EpipolarGeometryVar, float, 0.05, uFormat("[%s = 2] Epipolar geometry maximum variance to accept the transformation.", kVisEstimationType().c_str()));
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RTABMAP_PARAM(Vis, MinInliers, int, 20, "Minimum feature correspondences to compute/accept the transformation.");
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RTABMAP_PARAM(Vis, MeanInliersDistance, float, 0.0, "Maximum distance (m) of the mean distance of inliers from the camera to accept the transformation. 0 means disabled.");
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RTABMAP_PARAM(Vis, MinInliersDistribution, float, 0.0, "Minimum distribution value of the inliers in the image to accept the transformation. The distribution is the second eigen value of the PCA (Principal Component Analysis) on the keypoints of the normalized image [-0.5, 0.5]. The value would be between 0 and 0.5. 0 means disabled.");
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@@ -263,6 +263,7 @@ private:
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float _proximityFilteringRadius;
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bool _proximityRawPosesUsed;
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float _proximityAngle;
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bool _proximityOdomGuess;
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std::string _databasePath;
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bool _optimizeFromGraphEnd;
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float _optimizationMaxError;
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@@ -54,6 +54,7 @@ class RTABMAP_EXP Statistics
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{
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RTABMAP_STATS(Loop, RejectedHypothesis,);
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RTABMAP_STATS(Loop, Accepted_hypothesis_id,);
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RTABMAP_STATS(Loop, Suppressed_hypothesis_id,);
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RTABMAP_STATS(Loop, Highest_hypothesis_id,);
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RTABMAP_STATS(Loop, Highest_hypothesis_value,);
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RTABMAP_STATS(Loop, Vp_hypothesis,);
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@@ -73,13 +74,14 @@ class RTABMAP_EXP Statistics
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RTABMAP_STATS(Loop, Landmark_detected_node_ref,);
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RTABMAP_STATS(Loop, Visual_inliers_mean_dist,m);
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RTABMAP_STATS(Loop, Visual_inliers_distribution,);
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RTABMAP_STATS(Loop, Map_correction_norm, m);
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RTABMAP_STATS(Loop, Map_correction_x, m);
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RTABMAP_STATS(Loop, Map_correction_y, m);
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RTABMAP_STATS(Loop, Map_correction_z, m);
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RTABMAP_STATS(Loop, Map_correction_roll, deg);
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RTABMAP_STATS(Loop, Map_correction_pitch, deg);
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RTABMAP_STATS(Loop, Map_correction_yaw, deg);
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RTABMAP_STATS(Loop, Odom_correction_norm, m);
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RTABMAP_STATS(Loop, Odom_correction_angle, deg);
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RTABMAP_STATS(Loop, Odom_correction_x, m);
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RTABMAP_STATS(Loop, Odom_correction_y, m);
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RTABMAP_STATS(Loop, Odom_correction_z, m);
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RTABMAP_STATS(Loop, Odom_correction_roll, deg);
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RTABMAP_STATS(Loop, Odom_correction_pitch, deg);
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RTABMAP_STATS(Loop, Odom_correction_yaw, deg);
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RTABMAP_STATS(Proximity, Time_detections,);
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RTABMAP_STATS(Proximity, Space_last_detection_id,);
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@@ -159,6 +161,7 @@ class RTABMAP_EXP Statistics
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RTABMAP_STATS(TimingMem, Markers_detection, ms);
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RTABMAP_STATS(Keypoint, Dictionary_size, words);
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RTABMAP_STATS(Keypoint, Current_frame, words);
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RTABMAP_STATS(Keypoint, Indexed_words, words);
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RTABMAP_STATS(Keypoint, Index_memory_usage, KB);
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@@ -29,11 +29,12 @@ SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
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#define ODOMETRYMONO_H_
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#include <rtabmap/core/Odometry.h>
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#include <rtabmap/core/Link.h>
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namespace rtabmap {
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class Memory;
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class Stereo;
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class Feature2D;
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class RTABMAP_EXP OdometryMono : public Odometry
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{
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@@ -41,6 +42,7 @@ public:
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OdometryMono(const rtabmap::ParametersMap & parameters = rtabmap::ParametersMap());
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virtual ~OdometryMono();
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virtual void reset(const Transform & initialPose);
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virtual Odometry::Type getType() {return kTypeUndef;}
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private:
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virtual Transform computeTransform(SensorData & data, const Transform & guess = Transform(), OdometryInfo * info = 0);
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@@ -56,7 +58,7 @@ private:
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int pnpFlags_;
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int pnpRefineIterations_;
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Stereo * stereo_;
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Feature2D * feature2D_;
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Memory * memory_;
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int localHistoryMaxSize_;
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@@ -66,12 +68,14 @@ private:
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float fundMatrixReprojError_;
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float fundMatrixConfidence_;
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cv::Mat refDepthOrRight_;
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std::map<int, cv::Point2f> cornersMap_;
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std::map<int, cv::Point2f> firstFrameGuessCorners_;
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std::map<int, cv::Point3f> localMap_;
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std::map<int, std::map<int, cv::Point3f> > keyFrameWords3D_;
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std::map<int, Transform> keyFramePoses_;
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std::multimap<int, Link> keyFrameLinks_;
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std::map<int, CameraModel> keyFrameModels_;
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float maxVariance_;
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float keyFrameThr_;
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};
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}
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@@ -78,12 +78,8 @@ std::map<int, cv::Point3f> RTABMAP_EXP generateWords3DMono(
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const std::map<int, cv::KeyPoint> & previousKpts,
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const CameraModel & cameraModel,
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Transform & cameraTransform,
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int pnpIterations = 100,
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float pnpReprojError = 8.0f,
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int pnpFlags = 0, // cv::SOLVEPNP_ITERATIVE
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int pnpRefineIterations = 1,
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float ransacParam1 = 3.0f,
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float ransacParam2 = 0.99f,
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float ransacReprojThreshold = 3.0f,
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float ransacConfidence = 0.99f,
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const std::map<int, cv::Point3f> & refGuess3D = std::map<int, cv::Point3f>(),
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double * variance = 0,
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std::vector<int> * matchesOut = 0);
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@@ -117,6 +117,8 @@ SET(SRC_FILES
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clams/slam_calibrator.cpp
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opencv/ORBextractor.cc
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opencv/solvepnp.cpp
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opencv/five-point.cpp
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)
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IF(OpenCV_VERSION_MAJOR EQUAL 2)
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@@ -125,10 +127,6 @@ SET(SRC_FILES
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opencv/Orb.cpp
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)
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ENDIF(OpenCV_VERSION_MAJOR EQUAL 2)
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SET(SRC_FILES
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${SRC_FILES}
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opencv/solvepnp.cpp
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)
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# to get includes in visual studio
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IF(MSVC)
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@@ -292,8 +292,8 @@ cv::Mat EpipolarGeometry::findPFromE(const cv::Mat & E,
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cv::Mat EpipolarGeometry::findFFromWords(
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const std::list<std::pair<int, std::pair<cv::KeyPoint, cv::KeyPoint> > > & pairs, // id, kpt1, kpt2
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std::vector<uchar> & status,
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double ransacParam1,
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double ransacParam2)
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double ransacReprojThreshold,
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double ransacConfidence)
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{
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status = std::vector<uchar>(pairs.size(), 0);
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@@ -329,8 +329,8 @@ cv::Mat EpipolarGeometry::findFFromWords(
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points2,
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status,
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cv::FM_RANSAC,
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ransacParam1,
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ransacParam2);
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ransacReprojThreshold,
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ransacConfidence);
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ULOGGER_DEBUG("Find fundamental matrix (OpenCV) time = %fs", timer.ticks());
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+37
-23
@@ -90,6 +90,7 @@ Memory::Memory(const ParametersMap & parameters) :
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_badSignaturesIgnored(Parameters::defaultMemBadSignaturesIgnored()),
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_mapLabelsAdded(Parameters::defaultMemMapLabelsAdded()),
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_depthAsMask(Parameters::defaultMemDepthAsMask()),
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_stereoFromMotion(Parameters::defaultMemStereoFromMotion()),
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_imagePreDecimation(Parameters::defaultMemImagePreDecimation()),
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_imagePostDecimation(Parameters::defaultMemImagePostDecimation()),
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_compressionParallelized(Parameters::defaultMemCompressionParallelized()),
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@@ -552,6 +553,7 @@ void Memory::parseParameters(const ParametersMap & parameters)
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Parameters::parse(params, Parameters::kMemTransferSortingByWeightId(), _transferSortingByWeightId);
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Parameters::parse(params, Parameters::kMemSTMSize(), _maxStMemSize);
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Parameters::parse(params, Parameters::kMemDepthAsMask(), _depthAsMask);
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Parameters::parse(params, Parameters::kMemStereoFromMotion(), _stereoFromMotion);
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Parameters::parse(params, Parameters::kMemImagePreDecimation(), _imagePreDecimation);
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Parameters::parse(params, Parameters::kMemImagePostDecimation(), _imagePostDecimation);
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Parameters::parse(params, Parameters::kMemCompressionParallelized(), _compressionParallelized);
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@@ -1080,27 +1082,32 @@ void Memory::moveSignatureToWMFromSTM(int id, int * reducedTo)
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{
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for(std::multimap<int, Link>::const_iterator iter=links.begin(); iter!=links.end(); ++iter)
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{
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merge = true;
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Signature * sTo = this->_getSignature(iter->first);
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UASSERT(sTo!=0);
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sTo->removeLink(s->id());
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if(iter->second.type() != Link::kNeighbor &&
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iter->second.type() != Link::kNeighborMerged &&
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iter->second.type() != Link::kUndef)
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if(sTo->id()!=s->id()) // Not Prior/Gravity links...
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{
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// link to all neighbors
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for(std::map<int, Link>::iterator jter=neighbors.begin(); jter!=neighbors.end(); ++jter)
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UASSERT_MSG(sTo!=0, uFormat("id=%d", iter->first).c_str());
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sTo->removeLink(s->id());
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if(iter->second.type() != Link::kNeighbor &&
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iter->second.type() != Link::kNeighborMerged &&
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iter->second.type() != Link::kUndef)
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{
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if(!sTo->hasLink(jter->second.to()))
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// link to all neighbors
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for(std::map<int, Link>::iterator jter=neighbors.begin(); jter!=neighbors.end(); ++jter)
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{
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Link l = iter->second.inverse().merge(
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jter->second,
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iter->second.userDataCompressed().empty() && iter->second.type() != Link::kVirtualClosure?Link::kNeighborMerged:iter->second.type());
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sTo->addLink(l);
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Signature * sB = this->_getSignature(l.to());
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UASSERT(sB!=0);
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UASSERT(!sB->hasLink(l.to()));
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sB->addLink(l.inverse());
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if(!sTo->hasLink(jter->second.to()))
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{
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UDEBUG("Merging link %d->%d (type=%d) to link %d->%d (type %d)",
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iter->second.from(), iter->second.to(), iter->second.type(),
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jter->second.from(), jter->second.to(), jter->second.type());
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Link l = iter->second.inverse().merge(
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jter->second,
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iter->second.userDataCompressed().empty() && iter->second.type() != Link::kVirtualClosure?Link::kNeighborMerged:iter->second.type());
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sTo->addLink(l);
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Signature * sB = this->_getSignature(l.to());
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UASSERT(sB!=0);
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UASSERT_MSG(!sB->hasLink(l.from()), uFormat("%d->%d", sB->id(), l.to()).c_str());
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sB->addLink(l.inverse());
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}
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}
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}
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}
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@@ -4557,6 +4564,7 @@ Signature * Memory::createSignature(const SensorData & inputData, const Transfor
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std::multimap<int, cv::KeyPoint> words;
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std::multimap<int, cv::Point3f> words3D;
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std::multimap<int, cv::Mat> wordsDescriptors;
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int words3DValid = 0;
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if(wordIds.size() > 0)
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{
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UASSERT(wordIds.size() == keypoints.size());
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@@ -4580,6 +4588,10 @@ Signature * Memory::createSignature(const SensorData & inputData, const Transfor
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if(keypoints3D.size())
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{
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words3D.insert(std::pair<int, cv::Point3f>(*iter, keypoints3D.at(i)));
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if(util3d::isFinite(keypoints3D.at(i)))
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{
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++words3DValid;
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}
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}
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if(_rawDescriptorsKept)
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{
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@@ -4683,16 +4695,17 @@ Signature * Memory::createSignature(const SensorData & inputData, const Transfor
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UDEBUG("time post-decimation = %fs", t);
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}
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bool triangulateWordsWithoutDepth = !_depthAsMask;
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if(!pose.isNull() &&
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if(_stereoFromMotion &&
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!pose.isNull() &&
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cameraModels.size() == 1 &&
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words.size() &&
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(words3D.size() == 0 || (triangulateWordsWithoutDepth && words.size() == words3D.size())) &&
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(words3D.size() == 0 || (words.size() == words3D.size() && words3DValid!=(int)words3D.size())) &&
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_registrationPipeline->isImageRequired() &&
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_signatures.size() &&
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_signatures.rbegin()->second->mapId() == _idMapCount) // same map
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{
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UDEBUG("Generate 3D words using odometry");
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UDEBUG("Generate 3D words using odometry (%s=true and words3DValid=%d/%d)",
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Parameters::kMemStereoFromMotion().c_str(), words3DValid, (int)words3D.size());
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Signature * previousS = _signatures.rbegin()->second;
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if(previousS->getWords().size() > 8 && words.size() > 8 && !previousS->getPose().isNull())
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{
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@@ -4715,7 +4728,9 @@ Signature * Memory::createSignature(const SensorData & inputData, const Transfor
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cpCurrent.setWords(std::multimap<int, cv::KeyPoint>(uniqueWords.begin(), uniqueWords.end()));
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cpCurrent.setWordsDescriptors(std::multimap<int, cv::Mat>(uniqueWordsDescriptors.begin(), uniqueWordsDescriptors.end()));
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// The following is used only to re-estimate the correspondences, the returned transform is ignored
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Transform tmpt;
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RegistrationVis reg(parameters_);
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if(_registrationPipeline->isScanRequired())
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{
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// If icp is used, remove it to just do visual registration
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@@ -4726,10 +4741,9 @@ Signature * Memory::createSignature(const SensorData & inputData, const Transfor
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{
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tmpt = _registrationPipeline->computeTransformationMod(cpCurrent, cpPrevious, cameraTransform);
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}
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UDEBUG("t=%s", tmpt.prettyPrint().c_str());
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// compute 3D words by epipolar geometry with the previous signature
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// compute 3D words by epipolar geometry with the previous signature using odometry motion
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std::map<int, cv::Point3f> inliers = util3d::generateWords3DMono(
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uMultimapToMapUnique(cpCurrent.getWords()),
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uMultimapToMapUnique(cpPrevious.getWords()),
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@@ -290,6 +290,8 @@ Transform RegistrationVis::computeTransformationImpl(
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UDEBUG("%s=%d", Parameters::kVisCorFlowMaxLevel().c_str(), _flowMaxLevel);
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UDEBUG("%s=%f", Parameters::kVisCorNNDR().c_str(), _nndr);
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UDEBUG("%s=%d", Parameters::kVisCorNNType().c_str(), _nnType);
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UDEBUG("%s=%d", Parameters::kVisCorGuessWinSize().c_str(), _guessWinSize);
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UDEBUG("%s=%d", Parameters::kVisCorGuessMatchToProjection().c_str(), _guessMatchToProjection?1:0);
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UDEBUG("Feature Detector = %d", (int)_detectorFrom->getType());
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UDEBUG("guess=%s", guess.prettyPrint().c_str());
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@@ -777,7 +779,8 @@ Transform RegistrationVis::computeTransformationImpl(
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// If guess is set, limit the search of matches using optical flow window size
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bool guessSet = !guess.isIdentity() && !guess.isNull();
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if(guessSet && _guessWinSize > 0 && kptsFrom3D.size() &&
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isCalibrated) // needed for projection
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isCalibrated && // needed for projection
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_estimationType != 2) // To make sure we match all features for 2D->2D
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{
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UDEBUG("");
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UASSERT((int)kptsTo.size() == descriptorsTo.rows);
|
||||
@@ -1374,10 +1377,6 @@ Transform RegistrationVis::computeTransformationImpl(
|
||||
uMultimapToMapUnique(signatureB->getWords()),
|
||||
cameraModel,
|
||||
cameraTransform,
|
||||
_iterations,
|
||||
_PnPReprojError,
|
||||
_PnPFlags, // cv::SOLVEPNP_ITERATIVE
|
||||
_PnPRefineIterations,
|
||||
_PnPReprojError,
|
||||
0.99f,
|
||||
uMultimapToMapUnique(signatureA->getWords3()), // for scale estimation
|
||||
|
||||
+140
-110
@@ -113,6 +113,7 @@ Rtabmap::Rtabmap() :
|
||||
_proximityFilteringRadius(Parameters::defaultRGBDProximityPathFilteringRadius()),
|
||||
_proximityRawPosesUsed(Parameters::defaultRGBDProximityPathRawPosesUsed()),
|
||||
_proximityAngle(Parameters::defaultRGBDProximityAngle()*M_PI/180.0f),
|
||||
_proximityOdomGuess(Parameters::defaultRGBDProximityOdomGuess()),
|
||||
_databasePath(""),
|
||||
_optimizeFromGraphEnd(Parameters::defaultRGBDOptimizeFromGraphEnd()),
|
||||
_optimizationMaxError(Parameters::defaultRGBDOptimizeMaxError()),
|
||||
@@ -476,6 +477,7 @@ void Rtabmap::parseParameters(const ParametersMap & parameters)
|
||||
{
|
||||
_proximityAngle *= M_PI/180.0f;
|
||||
}
|
||||
Parameters::parse(parameters, Parameters::kRGBDProximityOdomGuess(), _proximityOdomGuess);
|
||||
Parameters::parse(parameters, Parameters::kRGBDOptimizeFromGraphEnd(), _optimizeFromGraphEnd);
|
||||
Parameters::parse(parameters, Parameters::kRGBDOptimizeMaxError(), _optimizationMaxError);
|
||||
if(_optimizationMaxError > 0.0 && _optimizationMaxError < 1.0)
|
||||
@@ -997,7 +999,7 @@ bool Rtabmap::process(
|
||||
double timeStatsCreation = 0;
|
||||
|
||||
float hypothesisRatio = 0.0f; // Only used for statistics
|
||||
bool rejectedHypothesis = false;
|
||||
bool rejectedGlobalLoopClosure = false;
|
||||
|
||||
std::map<int, float> rawLikelihood;
|
||||
std::map<int, float> adjustedLikelihood;
|
||||
@@ -1696,7 +1698,7 @@ bool Rtabmap::process(
|
||||
// the virtual (new) place hypothesis.
|
||||
if(_highestHypothesis.second >= loopThr)
|
||||
{
|
||||
rejectedHypothesis = true;
|
||||
rejectedGlobalLoopClosure = true;
|
||||
if(posterior.size() <= 2 && loopThr>0.0f)
|
||||
{
|
||||
// Ignore loop closure if there is only one loop closure hypothesis
|
||||
@@ -1718,7 +1720,7 @@ bool Rtabmap::process(
|
||||
else
|
||||
{
|
||||
_loopClosureHypothesis = _highestHypothesis;
|
||||
rejectedHypothesis = false;
|
||||
rejectedGlobalLoopClosure = false;
|
||||
}
|
||||
|
||||
timeHypothesesValidation = timer.ticks();
|
||||
@@ -1729,7 +1731,7 @@ bool Rtabmap::process(
|
||||
// Used for Precision-Recall computation.
|
||||
// When analyzing logs, it's convenient to know
|
||||
// if the hypothesis would be rejected if T_loop would be lower.
|
||||
rejectedHypothesis = true;
|
||||
rejectedGlobalLoopClosure = true;
|
||||
UDEBUG("rejected hypothesis: under loop ratio %f < %f", _highestHypothesis.second, _loopRatio*lastHighestHypothesis.second);
|
||||
}
|
||||
|
||||
@@ -2130,71 +2132,6 @@ bool Rtabmap::process(
|
||||
ULOGGER_INFO("timeReactivations=%fs", timeReactivations);
|
||||
}
|
||||
|
||||
//=============================================================
|
||||
// Update loop closure links
|
||||
// (updated: place this after retrieval to be sure that neighbors of the loop closure are in RAM)
|
||||
//=============================================================
|
||||
std::list<std::pair<int, int> > loopClosureLinksAdded;
|
||||
int loopClosureVisualInliers = 0; // for statistics
|
||||
int loopClosureVisualMatches = 0;
|
||||
float loopClosureLinearVariance = 0.0f;
|
||||
float loopClosureAngularVariance = 0.0f;
|
||||
float loopClosureVisualInliersMeanDist = 0;
|
||||
float loopClosureVisualInliersDistribution = 0;
|
||||
if(_loopClosureHypothesis.first>0)
|
||||
{
|
||||
//Compute transform if metric data are present
|
||||
Transform transform;
|
||||
RegistrationInfo info;
|
||||
info.covariance = cv::Mat::eye(6,6,CV_64FC1);
|
||||
if(_rgbdSlamMode)
|
||||
{
|
||||
transform = _memory->computeTransform(_loopClosureHypothesis.first, signature->id(), Transform(), &info);
|
||||
loopClosureVisualInliersMeanDist = info.inliersMeanDistance;
|
||||
loopClosureVisualInliersDistribution = info.inliersDistribution;
|
||||
|
||||
loopClosureVisualInliers = info.inliers;
|
||||
loopClosureVisualMatches = info.matches;
|
||||
rejectedHypothesis = transform.isNull();
|
||||
if(rejectedHypothesis)
|
||||
{
|
||||
UWARN("Rejected loop closure %d -> %d: %s",
|
||||
_loopClosureHypothesis.first, signature->id(), info.rejectedMsg.c_str());
|
||||
}
|
||||
else if(_maxLoopClosureDistance>0.0f && transform.getNorm() > _maxLoopClosureDistance)
|
||||
{
|
||||
rejectedHypothesis = true;
|
||||
UWARN("Rejected localization %d -> %d because distance to map (%fm) is over %s=%fm.",
|
||||
_loopClosureHypothesis.first, signature->id(), transform.getNorm(), Parameters::kRGBDMaxLoopClosureDistance().c_str(), _maxLoopClosureDistance);
|
||||
}
|
||||
else
|
||||
{
|
||||
transform = transform.inverse();
|
||||
}
|
||||
}
|
||||
if(!rejectedHypothesis)
|
||||
{
|
||||
// Make the new one the parent of the old one
|
||||
UASSERT(info.covariance.at<double>(0,0) > 0.0 && info.covariance.at<double>(5,5) > 0.0);
|
||||
cv::Mat information = getInformation(info.covariance);
|
||||
loopClosureLinearVariance = 1.0/information.at<double>(0,0);
|
||||
loopClosureAngularVariance = 1.0/information.at<double>(5,5);
|
||||
rejectedHypothesis = !_memory->addLink(Link(signature->id(), _loopClosureHypothesis.first, Link::kGlobalClosure, transform, information));
|
||||
if(!rejectedHypothesis)
|
||||
{
|
||||
loopClosureLinksAdded.push_back(std::make_pair(signature->id(), _loopClosureHypothesis.first));
|
||||
}
|
||||
}
|
||||
|
||||
if(rejectedHypothesis)
|
||||
{
|
||||
_loopClosureHypothesis.first = 0;
|
||||
}
|
||||
}
|
||||
|
||||
timeAddLoopClosureLink = timer.ticks();
|
||||
ULOGGER_INFO("timeAddLoopClosureLink=%fs", timeAddLoopClosureLink);
|
||||
|
||||
//============================================================
|
||||
// Landmark
|
||||
//============================================================
|
||||
@@ -2215,6 +2152,16 @@ bool Rtabmap::process(
|
||||
}
|
||||
}
|
||||
|
||||
//============================================================
|
||||
// Proximity detections
|
||||
//============================================================
|
||||
std::list<std::pair<int, int> > loopClosureLinksAdded;
|
||||
int loopClosureVisualInliers = 0; // for statistics
|
||||
int loopClosureVisualMatches = 0;
|
||||
float loopClosureLinearVariance = 0.0f;
|
||||
float loopClosureAngularVariance = 0.0f;
|
||||
float loopClosureVisualInliersMeanDist = 0;
|
||||
float loopClosureVisualInliersDistribution = 0;
|
||||
|
||||
int proximityDetectionsAddedVisually = 0;
|
||||
int proximityDetectionsAddedByICPOnly = 0;
|
||||
@@ -2222,6 +2169,8 @@ bool Rtabmap::process(
|
||||
int proximitySpacePaths = 0;
|
||||
int localVisualPathsChecked = 0;
|
||||
int localScanPathsChecked = 0;
|
||||
int loopIdSuppressedByProximity = 0;
|
||||
|
||||
if(_proximityBySpace &&
|
||||
_localRadius > 0 &&
|
||||
_rgbdSlamMode &&
|
||||
@@ -2231,10 +2180,10 @@ bool Rtabmap::process(
|
||||
{
|
||||
UWARN("Cannot do local loop closure detection in space if graph optimization is disabled!");
|
||||
}
|
||||
else if(_memory->isIncremental() || (_loopClosureHypothesis.first == 0 && landmarkDetected == 0))
|
||||
else if(_memory->isIncremental() || landmarkDetected == 0)
|
||||
{
|
||||
// In localization mode, no need to check local loop
|
||||
// closures if we are already localized by a global closure.
|
||||
// closures if we are already localized by a landmark.
|
||||
|
||||
// don't do it if it is a small displacement unless the previous signature didn't have a loop closure
|
||||
// don't do it if there is a too fast movement
|
||||
@@ -2278,15 +2227,17 @@ bool Rtabmap::process(
|
||||
{
|
||||
const std::map<int, Transform> & path = iter->second;
|
||||
float highestLikelihood = 0.0f;
|
||||
int highestLikelihoodId = iter->first;
|
||||
for(std::map<int, Transform>::const_iterator jter=path.begin(); jter!=path.end(); ++jter)
|
||||
{
|
||||
float v = uValue(likelihood, jter->first, 0.0f);
|
||||
if(v > highestLikelihood)
|
||||
{
|
||||
highestLikelihood = v;
|
||||
highestLikelihoodId = jter->first;
|
||||
}
|
||||
}
|
||||
nearestPaths.insert(std::make_pair(NearestPathKey(highestLikelihood, iter->first), path));
|
||||
nearestPaths.insert(std::make_pair(NearestPathKey(highestLikelihood, highestLikelihoodId), path));
|
||||
}
|
||||
UDEBUG("nearestPaths=%d proximityMaxPaths=%d", (int)nearestPaths.size(), _proximityMaxPaths);
|
||||
|
||||
@@ -2328,8 +2279,13 @@ bool Rtabmap::process(
|
||||
{
|
||||
++localVisualPathsChecked;
|
||||
RegistrationInfo info;
|
||||
// guess is null to make sure visual correspondences are globally computed
|
||||
Transform transform = _memory->computeTransform(nearestId, signature->id(), Transform(), &info);
|
||||
Transform guess;
|
||||
if(_proximityOdomGuess)
|
||||
{
|
||||
// Use odometry as guess so that correspondences can be computed by projection
|
||||
guess = _optimizedPoses.at(nearestId).inverse()*_optimizedPoses.at(signature->id());
|
||||
} //else: guess is null to make sure visual correspondences are globally computed
|
||||
Transform transform = _memory->computeTransform(nearestId, signature->id(), guess, &info);
|
||||
if(!transform.isNull())
|
||||
{
|
||||
transform = transform.inverse();
|
||||
@@ -2341,25 +2297,32 @@ bool Rtabmap::process(
|
||||
transform.prettyPrint().c_str());
|
||||
UASSERT(info.covariance.at<double>(0,0) > 0.0 && info.covariance.at<double>(5,5) > 0.0);
|
||||
cv::Mat information = getInformation(info.covariance);
|
||||
_memory->addLink(Link(signature->id(), nearestId, Link::kGlobalClosure, transform, information));
|
||||
_memory->addLink(Link(signature->id(), nearestId, Link::kLocalSpaceClosure, transform, information));
|
||||
loopClosureLinksAdded.push_back(std::make_pair(signature->id(), nearestId));
|
||||
|
||||
if(_loopClosureHypothesis.first == 0)
|
||||
//for statistics
|
||||
loopClosureVisualInliersMeanDist = info.inliersMeanDistance;
|
||||
loopClosureVisualInliersDistribution = info.inliersDistribution;
|
||||
|
||||
++proximityDetectionsAddedVisually;
|
||||
lastProximitySpaceClosureId = nearestId;
|
||||
|
||||
loopClosureVisualInliers = info.inliers;
|
||||
loopClosureVisualMatches = info.matches;
|
||||
|
||||
loopClosureLinearVariance = 1.0/information.at<double>(0,0);
|
||||
loopClosureAngularVariance = 1.0/information.at<double>(5,5);
|
||||
|
||||
if(_loopClosureHypothesis.first>0 &&
|
||||
nearestIds.find(_loopClosureHypothesis.first)!=nearestIds.end())
|
||||
{
|
||||
if(proximityDetectionsAddedVisually == 0)
|
||||
{
|
||||
loopClosureVisualInliersMeanDist = info.inliersMeanDistance;
|
||||
loopClosureVisualInliersDistribution = info.inliersDistribution;
|
||||
}
|
||||
|
||||
++proximityDetectionsAddedVisually;
|
||||
lastProximitySpaceClosureId = nearestId;
|
||||
|
||||
loopClosureVisualInliers = info.inliers;
|
||||
loopClosureVisualMatches = info.matches;
|
||||
|
||||
loopClosureLinearVariance = 1.0/information.at<double>(0,0);
|
||||
loopClosureAngularVariance = 1.0/information.at<double>(5,5);
|
||||
UDEBUG("Proximity detection on %d is close to loop closure %d, ignoring loop closure transform estimation...",
|
||||
nearestId, _loopClosureHypothesis.first);
|
||||
// In localization mode, avoid transform
|
||||
// computation on the global loop closure if a visual proximity
|
||||
// one has been detected close (inside proximity radius) to that hypothesis.
|
||||
loopIdSuppressedByProximity = _loopClosureHypothesis.first;
|
||||
_loopClosureHypothesis.first = 0;
|
||||
}
|
||||
}
|
||||
else
|
||||
@@ -2507,7 +2470,7 @@ bool Rtabmap::process(
|
||||
++proximityDetectionsAddedByICPOnly;
|
||||
|
||||
// no local loop closure added visually
|
||||
if(proximityDetectionsAddedVisually == 0 && _loopClosureHypothesis.first == 0)
|
||||
if(proximityDetectionsAddedVisually == 0)
|
||||
{
|
||||
lastProximitySpaceClosureId = nearestId;
|
||||
}
|
||||
@@ -2531,6 +2494,64 @@ bool Rtabmap::process(
|
||||
timeProximityBySpaceDetection = timer.ticks();
|
||||
ULOGGER_INFO("timeProximityBySpaceDetection=%fs", timeProximityBySpaceDetection);
|
||||
|
||||
//=============================================================
|
||||
// Global loop closure detection
|
||||
// (updated: place this after retrieval to be sure that neighbors of the loop closure are in RAM)
|
||||
//=============================================================
|
||||
if(_loopClosureHypothesis.first>0)
|
||||
{
|
||||
//Compute transform if metric data are present
|
||||
Transform transform;
|
||||
RegistrationInfo info;
|
||||
info.covariance = cv::Mat::eye(6,6,CV_64FC1);
|
||||
if(_rgbdSlamMode)
|
||||
{
|
||||
transform = _memory->computeTransform(_loopClosureHypothesis.first, signature->id(), Transform(), &info);
|
||||
loopClosureVisualInliersMeanDist = info.inliersMeanDistance;
|
||||
loopClosureVisualInliersDistribution = info.inliersDistribution;
|
||||
|
||||
loopClosureVisualInliers = info.inliers;
|
||||
loopClosureVisualMatches = info.matches;
|
||||
rejectedGlobalLoopClosure = transform.isNull();
|
||||
if(rejectedGlobalLoopClosure)
|
||||
{
|
||||
UWARN("Rejected loop closure %d -> %d: %s",
|
||||
_loopClosureHypothesis.first, signature->id(), info.rejectedMsg.c_str());
|
||||
}
|
||||
else if(_maxLoopClosureDistance>0.0f && transform.getNorm() > _maxLoopClosureDistance)
|
||||
{
|
||||
rejectedGlobalLoopClosure = true;
|
||||
UWARN("Rejected localization %d -> %d because distance to map (%fm) is over %s=%fm.",
|
||||
_loopClosureHypothesis.first, signature->id(), transform.getNorm(), Parameters::kRGBDMaxLoopClosureDistance().c_str(), _maxLoopClosureDistance);
|
||||
}
|
||||
else
|
||||
{
|
||||
transform = transform.inverse();
|
||||
}
|
||||
}
|
||||
if(!rejectedGlobalLoopClosure)
|
||||
{
|
||||
// Make the new one the parent of the old one
|
||||
UASSERT(info.covariance.at<double>(0,0) > 0.0 && info.covariance.at<double>(5,5) > 0.0);
|
||||
cv::Mat information = getInformation(info.covariance);
|
||||
loopClosureLinearVariance = 1.0/information.at<double>(0,0);
|
||||
loopClosureAngularVariance = 1.0/information.at<double>(5,5);
|
||||
rejectedGlobalLoopClosure = !_memory->addLink(Link(signature->id(), _loopClosureHypothesis.first, Link::kGlobalClosure, transform, information));
|
||||
if(!rejectedGlobalLoopClosure)
|
||||
{
|
||||
loopClosureLinksAdded.push_back(std::make_pair(signature->id(), _loopClosureHypothesis.first));
|
||||
}
|
||||
}
|
||||
|
||||
if(rejectedGlobalLoopClosure)
|
||||
{
|
||||
_loopClosureHypothesis.first = 0;
|
||||
}
|
||||
}
|
||||
|
||||
timeAddLoopClosureLink = timer.ticks();
|
||||
ULOGGER_INFO("timeAddLoopClosureLink=%fs", timeAddLoopClosureLink);
|
||||
|
||||
//============================================================
|
||||
// Add virtual links if a path is activated
|
||||
//============================================================
|
||||
@@ -2567,6 +2588,7 @@ bool Rtabmap::process(
|
||||
double optimizationError = 0.0;
|
||||
int optimizationIterations = 0;
|
||||
cv::Mat localizationCovariance;
|
||||
Transform previousMapCorrection;
|
||||
if(_rgbdSlamMode
|
||||
&&
|
||||
(_loopClosureHypothesis.first>0 ||
|
||||
@@ -2837,7 +2859,7 @@ bool Rtabmap::process(
|
||||
{
|
||||
_loopClosureHypothesis.first = 0;
|
||||
lastProximitySpaceClosureId = 0;
|
||||
rejectedHypothesis = true;
|
||||
rejectedGlobalLoopClosure = true;
|
||||
}
|
||||
}
|
||||
else
|
||||
@@ -2847,8 +2869,8 @@ bool Rtabmap::process(
|
||||
|
||||
// if _optimizeFromGraphEnd parameter just changed state, don't use optimized poses as guess
|
||||
float normMapCorrection = _mapCorrection.getNormSquared(); // use distance for identity detection
|
||||
if((normMapCorrection > 0.000001f && _optimizeFromGraphEnd) ||
|
||||
(normMapCorrection < 0.000001f && !_optimizeFromGraphEnd))
|
||||
if((normMapCorrection > 0.001f && _optimizeFromGraphEnd) ||
|
||||
(normMapCorrection < 0.0001f && !_optimizeFromGraphEnd))
|
||||
{
|
||||
for(std::multimap<int, Link>::iterator iter=_constraints.begin(); iter!=_constraints.end(); ++iter)
|
||||
{
|
||||
@@ -2883,7 +2905,7 @@ bool Rtabmap::process(
|
||||
updateConstraints = false;
|
||||
_loopClosureHypothesis.first = 0;
|
||||
lastProximitySpaceClosureId = 0;
|
||||
rejectedHypothesis = true;
|
||||
rejectedGlobalLoopClosure = true;
|
||||
}
|
||||
else if(_memory->isIncremental() && // FIXME: not tested in localization mode, so do it only in mapping mode
|
||||
_optimizationMaxError > 0.0f &&
|
||||
@@ -2968,7 +2990,7 @@ bool Rtabmap::process(
|
||||
updateConstraints = false;
|
||||
_loopClosureHypothesis.first = 0;
|
||||
lastProximitySpaceClosureId = 0;
|
||||
rejectedHypothesis = true;
|
||||
rejectedGlobalLoopClosure = true;
|
||||
}
|
||||
}
|
||||
|
||||
@@ -2987,6 +3009,7 @@ bool Rtabmap::process(
|
||||
{
|
||||
_mapCorrectionBackup = _mapCorrection;
|
||||
}
|
||||
previousMapCorrection = _mapCorrection;
|
||||
_mapCorrection = _optimizedPoses.at(signature->id()) * signature->getPose().inverse();
|
||||
_lastLocalizationPose = _optimizedPoses.at(signature->id()); // update
|
||||
if(_mapCorrection.getNormSquared() > 0.001f && _optimizeFromGraphEnd)
|
||||
@@ -3066,6 +3089,7 @@ bool Rtabmap::process(
|
||||
statistics_.setExtended(1);
|
||||
|
||||
statistics_.addStatistic(Statistics::kLoopAccepted_hypothesis_id(), _loopClosureHypothesis.first);
|
||||
statistics_.addStatistic(Statistics::kLoopSuppressed_hypothesis_id(), loopIdSuppressedByProximity);
|
||||
statistics_.addStatistic(Statistics::kLoopHighest_hypothesis_id(), _highestHypothesis.first);
|
||||
statistics_.addStatistic(Statistics::kLoopHighest_hypothesis_value(), _highestHypothesis.second);
|
||||
statistics_.addStatistic(Statistics::kLoopHypothesis_reactivated(), lcHypothesisReactivated);
|
||||
@@ -3113,16 +3137,21 @@ bool Rtabmap::process(
|
||||
statistics_.addStatistic(Statistics::kGtLocalization_angular_error(), error.getAngle(1,0,0)*180/M_PI);
|
||||
}
|
||||
|
||||
// Map correction (/map -> /odom)
|
||||
statistics_.addStatistic(Statistics::kLoopMap_correction_norm(), _mapCorrection.getNorm());
|
||||
float x,y,z,roll,pitch,yaw;
|
||||
_mapCorrection.getTranslationAndEulerAngles(x, y, z, roll, pitch, yaw);
|
||||
statistics_.addStatistic(Statistics::kLoopMap_correction_x(), x);
|
||||
statistics_.addStatistic(Statistics::kLoopMap_correction_y(), y);
|
||||
statistics_.addStatistic(Statistics::kLoopMap_correction_z(), z);
|
||||
statistics_.addStatistic(Statistics::kLoopMap_correction_roll(), roll*180/M_PI);
|
||||
statistics_.addStatistic(Statistics::kLoopMap_correction_pitch(), pitch*180/M_PI);
|
||||
statistics_.addStatistic(Statistics::kLoopMap_correction_yaw(), yaw*180/M_PI);
|
||||
// Odom correction (actual odometry pose change)
|
||||
if(!previousMapCorrection.isNull() && !odomPose.isNull())
|
||||
{
|
||||
Transform odomCorrection = (previousMapCorrection*odomPose).inverse()*_mapCorrection*odomPose;
|
||||
statistics_.addStatistic(Statistics::kLoopOdom_correction_norm(), odomCorrection.getNorm());
|
||||
statistics_.addStatistic(Statistics::kLoopOdom_correction_angle(), odomCorrection.getAngle()*180.0f/M_PI);
|
||||
float x,y,z,roll,pitch,yaw;
|
||||
odomCorrection.getTranslationAndEulerAngles(x, y, z, roll, pitch, yaw);
|
||||
statistics_.addStatistic(Statistics::kLoopOdom_correction_x(), x);
|
||||
statistics_.addStatistic(Statistics::kLoopOdom_correction_y(), y);
|
||||
statistics_.addStatistic(Statistics::kLoopOdom_correction_z(), z);
|
||||
statistics_.addStatistic(Statistics::kLoopOdom_correction_roll(), roll*180.0f/M_PI);
|
||||
statistics_.addStatistic(Statistics::kLoopOdom_correction_pitch(), pitch*180.0f/M_PI);
|
||||
statistics_.addStatistic(Statistics::kLoopOdom_correction_yaw(), yaw*180.0f/M_PI);
|
||||
}
|
||||
}
|
||||
statistics_.setMapCorrection(_mapCorrection);
|
||||
UINFO("Set map correction = %s", _mapCorrection.prettyPrint().c_str());
|
||||
@@ -3147,13 +3176,14 @@ bool Rtabmap::process(
|
||||
// retrieval
|
||||
statistics_.addStatistic(Statistics::kMemorySignatures_retrieved(), (float)signaturesRetrieved.size());
|
||||
|
||||
// Surf specific parameters
|
||||
// Feature specific parameters
|
||||
statistics_.addStatistic(Statistics::kKeypointDictionary_size(), dictionarySize);
|
||||
statistics_.addStatistic(Statistics::kKeypointCurrent_frame(), refWordsCount);
|
||||
statistics_.addStatistic(Statistics::kKeypointIndexed_words(), _memory->getVWDictionary()->getIndexedWordsCount());
|
||||
statistics_.addStatistic(Statistics::kKeypointIndex_memory_usage(), _memory->getVWDictionary()->getIndexMemoryUsed());
|
||||
|
||||
//Epipolar geometry constraint
|
||||
statistics_.addStatistic(Statistics::kLoopRejectedHypothesis(), rejectedHypothesis?1.0f:0);
|
||||
statistics_.addStatistic(Statistics::kLoopRejectedHypothesis(), rejectedGlobalLoopClosure?1.0f:0);
|
||||
|
||||
statistics_.addStatistic(Statistics::kMemorySmall_movement(), smallDisplacement?1.0f:0);
|
||||
statistics_.addStatistic(Statistics::kMemoryDistance_travelled(), _distanceTravelled);
|
||||
@@ -3225,7 +3255,7 @@ bool Rtabmap::process(
|
||||
if(_startNewMapOnLoopClosure &&
|
||||
_memory->isIncremental() && // only in mapping mode
|
||||
graph::filterLinks(signature->getLinks(), Link::kSelfRefLink).size() == 0 && // alone in the current map
|
||||
(landmarkDetected == 0 || rejectedHypothesis) && // if we re not seeing a landmark from a previous map
|
||||
(landmarkDetected == 0 || rejectedGlobalLoopClosure) && // if we re not seeing a landmark from a previous map
|
||||
_memory->getWorkingMem().size()>=2) // The working memory should not be empty (beside virtual signature)
|
||||
{
|
||||
UWARN("Ignoring location %d because a global loop closure is required before starting a new map!",
|
||||
@@ -3599,7 +3629,7 @@ bool Rtabmap::process(
|
||||
refWordsCount,
|
||||
dictionarySize,
|
||||
int(_memory->getWorkingMem().size()),
|
||||
rejectedHypothesis?1:0,
|
||||
rejectedGlobalLoopClosure?1:0,
|
||||
0,
|
||||
0,
|
||||
int(signaturesRetrieved.size()),
|
||||
|
||||
@@ -276,7 +276,6 @@ Transform OdometryF2M::computeTransform(
|
||||
std::map<int, Transform> bundlePoses;
|
||||
std::multimap<int, Link> bundleLinks;
|
||||
std::map<int, CameraModel> bundleModels;
|
||||
std::map<int, StereoCameraModel> bundleStereoModels;
|
||||
|
||||
for(int guessIteration=0;
|
||||
guessIteration<(!guess.isNull()&®Pipeline_->isImageRequired()?2:1) && transform.isNull();
|
||||
@@ -292,7 +291,6 @@ Transform OdometryF2M::computeTransform(
|
||||
bundlePoses.clear();
|
||||
bundleLinks.clear();
|
||||
bundleModels.clear();
|
||||
bundleStereoModels.clear();
|
||||
|
||||
float maxCorrespondenceDistance = 0.0f;
|
||||
float pmOutlierRatio = 0.0f;
|
||||
|
||||
File diff suppressed because it is too large
Load Diff
@@ -0,0 +1,450 @@
|
||||
/* This is a 5-point algorithm contributed to OpenCV by the author, Bo Li.
|
||||
It implements the 5-point algorithm solver from Nister's paper:
|
||||
Nister, An efficient solution to the five-point relative pose problem, PAMI, 2004.
|
||||
*/
|
||||
|
||||
/* Copyright (c) 2013, Bo Li (prclibo@gmail.com), ETH Zurich
|
||||
All rights reserved.
|
||||
|
||||
Redistribution and use in source and binary forms, with or without
|
||||
modification, are permitted provided that the following conditions are met:
|
||||
* Redistributions of source code must retain the above copyright
|
||||
notice, this list of conditions and the following disclaimer.
|
||||
* Redistributions in binary form must reproduce the above copyright
|
||||
notice, this list of conditions and the following disclaimer in the
|
||||
documentation and/or other materials provided with the distribution.
|
||||
* Neither the name of the copyright holder nor the
|
||||
names of its contributors may be used to endorse or promote products
|
||||
derived from this software without specific prior written permission.
|
||||
|
||||
THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND
|
||||
ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
|
||||
WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
|
||||
DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER BE LIABLE FOR ANY
|
||||
DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
|
||||
(INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
|
||||
LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
|
||||
ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
|
||||
(INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
|
||||
SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
|
||||
*/
|
||||
|
||||
#include "solvepnp.h"
|
||||
|
||||
using namespace cv;
|
||||
|
||||
namespace cv3
|
||||
{
|
||||
|
||||
class EMEstimatorCallback CV_FINAL : public PointSetRegistrator::Callback
|
||||
{
|
||||
public:
|
||||
int runKernel( InputArray _m1, InputArray _m2, OutputArray _model ) const CV_OVERRIDE
|
||||
{
|
||||
Mat q1 = _m1.getMat(), q2 = _m2.getMat();
|
||||
Mat Q1 = q1.reshape(1, (int)q1.total());
|
||||
Mat Q2 = q2.reshape(1, (int)q2.total());
|
||||
|
||||
int n = Q1.rows;
|
||||
Mat Q(n, 9, CV_64F);
|
||||
Q.col(0) = Q1.col(0).mul( Q2.col(0) );
|
||||
Q.col(1) = Q1.col(1).mul( Q2.col(0) );
|
||||
Q.col(2) = Q2.col(0) * 1.0;
|
||||
Q.col(3) = Q1.col(0).mul( Q2.col(1) );
|
||||
Q.col(4) = Q1.col(1).mul( Q2.col(1) );
|
||||
Q.col(5) = Q2.col(1) * 1.0;
|
||||
Q.col(6) = Q1.col(0) * 1.0;
|
||||
Q.col(7) = Q1.col(1) * 1.0;
|
||||
Q.col(8) = 1.0;
|
||||
|
||||
Mat U, W, Vt;
|
||||
SVD::compute(Q, W, U, Vt, SVD::MODIFY_A | SVD::FULL_UV);
|
||||
|
||||
Mat EE = Mat(Vt.t()).colRange(5, 9) * 1.0;
|
||||
Mat A(10, 20, CV_64F);
|
||||
EE = EE.t();
|
||||
getCoeffMat(EE.ptr<double>(), A.ptr<double>());
|
||||
EE = EE.t();
|
||||
|
||||
A = A.colRange(0, 10).inv() * A.colRange(10, 20);
|
||||
|
||||
double b[3 * 13];
|
||||
Mat B(3, 13, CV_64F, b);
|
||||
for (int i = 0; i < 3; i++)
|
||||
{
|
||||
Mat arow1 = A.row(i * 2 + 4) * 1.0;
|
||||
Mat arow2 = A.row(i * 2 + 5) * 1.0;
|
||||
Mat row1(1, 13, CV_64F, Scalar(0.0));
|
||||
Mat row2(1, 13, CV_64F, Scalar(0.0));
|
||||
|
||||
row1.colRange(1, 4) = arow1.colRange(0, 3) * 1.0;
|
||||
row1.colRange(5, 8) = arow1.colRange(3, 6) * 1.0;
|
||||
row1.colRange(9, 13) = arow1.colRange(6, 10) * 1.0;
|
||||
|
||||
row2.colRange(0, 3) = arow2.colRange(0, 3) * 1.0;
|
||||
row2.colRange(4, 7) = arow2.colRange(3, 6) * 1.0;
|
||||
row2.colRange(8, 12) = arow2.colRange(6, 10) * 1.0;
|
||||
|
||||
B.row(i) = row1 - row2;
|
||||
}
|
||||
|
||||
double c[11];
|
||||
Mat coeffs(1, 11, CV_64F, c);
|
||||
c[10] = (b[0]*b[17]*b[34]+b[26]*b[4]*b[21]-b[26]*b[17]*b[8]-b[13]*b[4]*b[34]-b[0]*b[21]*b[30]+b[13]*b[30]*b[8]);
|
||||
c[9] = (b[26]*b[4]*b[22]+b[14]*b[30]*b[8]+b[13]*b[31]*b[8]+b[1]*b[17]*b[34]-b[13]*b[5]*b[34]+b[26]*b[5]*b[21]-b[0]*b[21]*b[31]-b[26]*b[17]*b[9]-b[1]*b[21]*b[30]+b[27]*b[4]*b[21]+b[0]*b[17]*b[35]-b[0]*b[22]*b[30]+b[13]*b[30]*b[9]+b[0]*b[18]*b[34]-b[27]*b[17]*b[8]-b[14]*b[4]*b[34]-b[13]*b[4]*b[35]-b[26]*b[18]*b[8]);
|
||||
c[8] = (b[14]*b[30]*b[9]+b[14]*b[31]*b[8]+b[13]*b[31]*b[9]-b[13]*b[4]*b[36]-b[13]*b[5]*b[35]+b[15]*b[30]*b[8]-b[13]*b[6]*b[34]+b[13]*b[30]*b[10]+b[13]*b[32]*b[8]-b[14]*b[4]*b[35]-b[14]*b[5]*b[34]+b[26]*b[4]*b[23]+b[26]*b[5]*b[22]+b[26]*b[6]*b[21]-b[26]*b[17]*b[10]-b[15]*b[4]*b[34]-b[26]*b[18]*b[9]-b[26]*b[19]*b[8]+b[27]*b[4]*b[22]+b[27]*b[5]*b[21]-b[27]*b[17]*b[9]-b[27]*b[18]*b[8]-b[1]*b[21]*b[31]-b[0]*b[23]*b[30]-b[0]*b[21]*b[32]+b[28]*b[4]*b[21]-b[28]*b[17]*b[8]+b[2]*b[17]*b[34]+b[0]*b[18]*b[35]-b[0]*b[22]*b[31]+b[0]*b[17]*b[36]+b[0]*b[19]*b[34]-b[1]*b[22]*b[30]+b[1]*b[18]*b[34]+b[1]*b[17]*b[35]-b[2]*b[21]*b[30]);
|
||||
c[7] = (b[14]*b[30]*b[10]+b[14]*b[32]*b[8]-b[3]*b[21]*b[30]+b[3]*b[17]*b[34]+b[13]*b[32]*b[9]+b[13]*b[33]*b[8]-b[13]*b[4]*b[37]-b[13]*b[5]*b[36]+b[15]*b[30]*b[9]+b[15]*b[31]*b[8]-b[16]*b[4]*b[34]-b[13]*b[6]*b[35]-b[13]*b[7]*b[34]+b[13]*b[30]*b[11]+b[13]*b[31]*b[10]+b[14]*b[31]*b[9]-b[14]*b[4]*b[36]-b[14]*b[5]*b[35]-b[14]*b[6]*b[34]+b[16]*b[30]*b[8]-b[26]*b[20]*b[8]+b[26]*b[4]*b[24]+b[26]*b[5]*b[23]+b[26]*b[6]*b[22]+b[26]*b[7]*b[21]-b[26]*b[17]*b[11]-b[15]*b[4]*b[35]-b[15]*b[5]*b[34]-b[26]*b[18]*b[10]-b[26]*b[19]*b[9]+b[27]*b[4]*b[23]+b[27]*b[5]*b[22]+b[27]*b[6]*b[21]-b[27]*b[17]*b[10]-b[27]*b[18]*b[9]-b[27]*b[19]*b[8]+b[0]*b[17]*b[37]-b[0]*b[23]*b[31]-b[0]*b[24]*b[30]-b[0]*b[21]*b[33]-b[29]*b[17]*b[8]+b[28]*b[4]*b[22]+b[28]*b[5]*b[21]-b[28]*b[17]*b[9]-b[28]*b[18]*b[8]+b[29]*b[4]*b[21]+b[1]*b[19]*b[34]-b[2]*b[21]*b[31]+b[0]*b[20]*b[34]+b[0]*b[19]*b[35]+b[0]*b[18]*b[36]-b[0]*b[22]*b[32]-b[1]*b[23]*b[30]-b[1]*b[21]*b[32]+b[1]*b[18]*b[35]-b[1]*b[22]*b[31]-b[2]*b[22]*b[30]+b[2]*b[17]*b[35]+b[1]*b[17]*b[36]+b[2]*b[18]*b[34]);
|
||||
c[6] = (-b[14]*b[6]*b[35]-b[14]*b[7]*b[34]-b[3]*b[22]*b[30]-b[3]*b[21]*b[31]+b[3]*b[17]*b[35]+b[3]*b[18]*b[34]+b[13]*b[32]*b[10]+b[13]*b[33]*b[9]-b[13]*b[4]*b[38]-b[13]*b[5]*b[37]-b[15]*b[6]*b[34]+b[15]*b[30]*b[10]+b[15]*b[32]*b[8]-b[16]*b[4]*b[35]-b[13]*b[6]*b[36]-b[13]*b[7]*b[35]+b[13]*b[31]*b[11]+b[13]*b[30]*b[12]+b[14]*b[32]*b[9]+b[14]*b[33]*b[8]-b[14]*b[4]*b[37]-b[14]*b[5]*b[36]+b[16]*b[30]*b[9]+b[16]*b[31]*b[8]-b[26]*b[20]*b[9]+b[26]*b[4]*b[25]+b[26]*b[5]*b[24]+b[26]*b[6]*b[23]+b[26]*b[7]*b[22]-b[26]*b[17]*b[12]+b[14]*b[30]*b[11]+b[14]*b[31]*b[10]+b[15]*b[31]*b[9]-b[15]*b[4]*b[36]-b[15]*b[5]*b[35]-b[26]*b[18]*b[11]-b[26]*b[19]*b[10]-b[27]*b[20]*b[8]+b[27]*b[4]*b[24]+b[27]*b[5]*b[23]+b[27]*b[6]*b[22]+b[27]*b[7]*b[21]-b[27]*b[17]*b[11]-b[27]*b[18]*b[10]-b[27]*b[19]*b[9]-b[16]*b[5]*b[34]-b[29]*b[17]*b[9]-b[29]*b[18]*b[8]+b[28]*b[4]*b[23]+b[28]*b[5]*b[22]+b[28]*b[6]*b[21]-b[28]*b[17]*b[10]-b[28]*b[18]*b[9]-b[28]*b[19]*b[8]+b[29]*b[4]*b[22]+b[29]*b[5]*b[21]-b[2]*b[23]*b[30]+b[2]*b[18]*b[35]-b[1]*b[22]*b[32]-b[2]*b[21]*b[32]+b[2]*b[19]*b[34]+b[0]*b[19]*b[36]-b[0]*b[22]*b[33]+b[0]*b[20]*b[35]-b[0]*b[23]*b[32]-b[0]*b[25]*b[30]+b[0]*b[17]*b[38]+b[0]*b[18]*b[37]-b[0]*b[24]*b[31]+b[1]*b[17]*b[37]-b[1]*b[23]*b[31]-b[1]*b[24]*b[30]-b[1]*b[21]*b[33]+b[1]*b[20]*b[34]+b[1]*b[19]*b[35]+b[1]*b[18]*b[36]+b[2]*b[17]*b[36]-b[2]*b[22]*b[31]);
|
||||
c[5] = (-b[14]*b[6]*b[36]-b[14]*b[7]*b[35]+b[14]*b[31]*b[11]-b[3]*b[23]*b[30]-b[3]*b[21]*b[32]+b[3]*b[18]*b[35]-b[3]*b[22]*b[31]+b[3]*b[17]*b[36]+b[3]*b[19]*b[34]+b[13]*b[32]*b[11]+b[13]*b[33]*b[10]-b[13]*b[5]*b[38]-b[15]*b[6]*b[35]-b[15]*b[7]*b[34]+b[15]*b[30]*b[11]+b[15]*b[31]*b[10]+b[16]*b[31]*b[9]-b[13]*b[6]*b[37]-b[13]*b[7]*b[36]+b[13]*b[31]*b[12]+b[14]*b[32]*b[10]+b[14]*b[33]*b[9]-b[14]*b[4]*b[38]-b[14]*b[5]*b[37]-b[16]*b[6]*b[34]+b[16]*b[30]*b[10]+b[16]*b[32]*b[8]-b[26]*b[20]*b[10]+b[26]*b[5]*b[25]+b[26]*b[6]*b[24]+b[26]*b[7]*b[23]+b[14]*b[30]*b[12]+b[15]*b[32]*b[9]+b[15]*b[33]*b[8]-b[15]*b[4]*b[37]-b[15]*b[5]*b[36]+b[29]*b[5]*b[22]+b[29]*b[6]*b[21]-b[26]*b[18]*b[12]-b[26]*b[19]*b[11]-b[27]*b[20]*b[9]+b[27]*b[4]*b[25]+b[27]*b[5]*b[24]+b[27]*b[6]*b[23]+b[27]*b[7]*b[22]-b[27]*b[17]*b[12]-b[27]*b[18]*b[11]-b[27]*b[19]*b[10]-b[28]*b[20]*b[8]-b[16]*b[4]*b[36]-b[16]*b[5]*b[35]-b[29]*b[17]*b[10]-b[29]*b[18]*b[9]-b[29]*b[19]*b[8]+b[28]*b[4]*b[24]+b[28]*b[5]*b[23]+b[28]*b[6]*b[22]+b[28]*b[7]*b[21]-b[28]*b[17]*b[11]-b[28]*b[18]*b[10]-b[28]*b[19]*b[9]+b[29]*b[4]*b[23]-b[2]*b[22]*b[32]-b[2]*b[21]*b[33]-b[1]*b[24]*b[31]+b[0]*b[18]*b[38]-b[0]*b[24]*b[32]+b[0]*b[19]*b[37]+b[0]*b[20]*b[36]-b[0]*b[25]*b[31]-b[0]*b[23]*b[33]+b[1]*b[19]*b[36]-b[1]*b[22]*b[33]+b[1]*b[20]*b[35]+b[2]*b[19]*b[35]-b[2]*b[24]*b[30]-b[2]*b[23]*b[31]+b[2]*b[20]*b[34]+b[2]*b[17]*b[37]-b[1]*b[25]*b[30]+b[1]*b[18]*b[37]+b[1]*b[17]*b[38]-b[1]*b[23]*b[32]+b[2]*b[18]*b[36]);
|
||||
c[4] = (-b[14]*b[6]*b[37]-b[14]*b[7]*b[36]+b[14]*b[31]*b[12]+b[3]*b[17]*b[37]-b[3]*b[23]*b[31]-b[3]*b[24]*b[30]-b[3]*b[21]*b[33]+b[3]*b[20]*b[34]+b[3]*b[19]*b[35]+b[3]*b[18]*b[36]-b[3]*b[22]*b[32]+b[13]*b[32]*b[12]+b[13]*b[33]*b[11]-b[15]*b[6]*b[36]-b[15]*b[7]*b[35]+b[15]*b[31]*b[11]+b[15]*b[30]*b[12]+b[16]*b[32]*b[9]+b[16]*b[33]*b[8]-b[13]*b[6]*b[38]-b[13]*b[7]*b[37]+b[14]*b[32]*b[11]+b[14]*b[33]*b[10]-b[14]*b[5]*b[38]-b[16]*b[6]*b[35]-b[16]*b[7]*b[34]+b[16]*b[30]*b[11]+b[16]*b[31]*b[10]-b[26]*b[19]*b[12]-b[26]*b[20]*b[11]+b[26]*b[6]*b[25]+b[26]*b[7]*b[24]+b[15]*b[32]*b[10]+b[15]*b[33]*b[9]-b[15]*b[4]*b[38]-b[15]*b[5]*b[37]+b[29]*b[5]*b[23]+b[29]*b[6]*b[22]+b[29]*b[7]*b[21]-b[27]*b[20]*b[10]+b[27]*b[5]*b[25]+b[27]*b[6]*b[24]+b[27]*b[7]*b[23]-b[27]*b[18]*b[12]-b[27]*b[19]*b[11]-b[28]*b[20]*b[9]-b[16]*b[4]*b[37]-b[16]*b[5]*b[36]+b[0]*b[19]*b[38]-b[0]*b[24]*b[33]+b[0]*b[20]*b[37]-b[29]*b[17]*b[11]-b[29]*b[18]*b[10]-b[29]*b[19]*b[9]+b[28]*b[4]*b[25]+b[28]*b[5]*b[24]+b[28]*b[6]*b[23]+b[28]*b[7]*b[22]-b[28]*b[17]*b[12]-b[28]*b[18]*b[11]-b[28]*b[19]*b[10]-b[29]*b[20]*b[8]+b[29]*b[4]*b[24]+b[2]*b[18]*b[37]-b[0]*b[25]*b[32]+b[1]*b[18]*b[38]-b[1]*b[24]*b[32]+b[1]*b[19]*b[37]+b[1]*b[20]*b[36]-b[1]*b[25]*b[31]+b[2]*b[17]*b[38]+b[2]*b[19]*b[36]-b[2]*b[24]*b[31]-b[2]*b[22]*b[33]-b[2]*b[23]*b[32]+b[2]*b[20]*b[35]-b[1]*b[23]*b[33]-b[2]*b[25]*b[30]);
|
||||
c[3] = (-b[14]*b[6]*b[38]-b[14]*b[7]*b[37]+b[3]*b[19]*b[36]-b[3]*b[22]*b[33]+b[3]*b[20]*b[35]-b[3]*b[23]*b[32]-b[3]*b[25]*b[30]+b[3]*b[17]*b[38]+b[3]*b[18]*b[37]-b[3]*b[24]*b[31]-b[15]*b[6]*b[37]-b[15]*b[7]*b[36]+b[15]*b[31]*b[12]+b[16]*b[32]*b[10]+b[16]*b[33]*b[9]+b[13]*b[33]*b[12]-b[13]*b[7]*b[38]+b[14]*b[32]*b[12]+b[14]*b[33]*b[11]-b[16]*b[6]*b[36]-b[16]*b[7]*b[35]+b[16]*b[31]*b[11]+b[16]*b[30]*b[12]+b[15]*b[32]*b[11]+b[15]*b[33]*b[10]-b[15]*b[5]*b[38]+b[29]*b[5]*b[24]+b[29]*b[6]*b[23]-b[26]*b[20]*b[12]+b[26]*b[7]*b[25]-b[27]*b[19]*b[12]-b[27]*b[20]*b[11]+b[27]*b[6]*b[25]+b[27]*b[7]*b[24]-b[28]*b[20]*b[10]-b[16]*b[4]*b[38]-b[16]*b[5]*b[37]+b[29]*b[7]*b[22]-b[29]*b[17]*b[12]-b[29]*b[18]*b[11]-b[29]*b[19]*b[10]+b[28]*b[5]*b[25]+b[28]*b[6]*b[24]+b[28]*b[7]*b[23]-b[28]*b[18]*b[12]-b[28]*b[19]*b[11]-b[29]*b[20]*b[9]+b[29]*b[4]*b[25]-b[2]*b[24]*b[32]+b[0]*b[20]*b[38]-b[0]*b[25]*b[33]+b[1]*b[19]*b[38]-b[1]*b[24]*b[33]+b[1]*b[20]*b[37]-b[2]*b[25]*b[31]+b[2]*b[20]*b[36]-b[1]*b[25]*b[32]+b[2]*b[19]*b[37]+b[2]*b[18]*b[38]-b[2]*b[23]*b[33]);
|
||||
c[2] = (b[3]*b[18]*b[38]-b[3]*b[24]*b[32]+b[3]*b[19]*b[37]+b[3]*b[20]*b[36]-b[3]*b[25]*b[31]-b[3]*b[23]*b[33]-b[15]*b[6]*b[38]-b[15]*b[7]*b[37]+b[16]*b[32]*b[11]+b[16]*b[33]*b[10]-b[16]*b[5]*b[38]-b[16]*b[6]*b[37]-b[16]*b[7]*b[36]+b[16]*b[31]*b[12]+b[14]*b[33]*b[12]-b[14]*b[7]*b[38]+b[15]*b[32]*b[12]+b[15]*b[33]*b[11]+b[29]*b[5]*b[25]+b[29]*b[6]*b[24]-b[27]*b[20]*b[12]+b[27]*b[7]*b[25]-b[28]*b[19]*b[12]-b[28]*b[20]*b[11]+b[29]*b[7]*b[23]-b[29]*b[18]*b[12]-b[29]*b[19]*b[11]+b[28]*b[6]*b[25]+b[28]*b[7]*b[24]-b[29]*b[20]*b[10]+b[2]*b[19]*b[38]-b[1]*b[25]*b[33]+b[2]*b[20]*b[37]-b[2]*b[24]*b[33]-b[2]*b[25]*b[32]+b[1]*b[20]*b[38]);
|
||||
c[1] = (b[29]*b[7]*b[24]-b[29]*b[20]*b[11]+b[2]*b[20]*b[38]-b[2]*b[25]*b[33]-b[28]*b[20]*b[12]+b[28]*b[7]*b[25]-b[29]*b[19]*b[12]-b[3]*b[24]*b[33]+b[15]*b[33]*b[12]+b[3]*b[19]*b[38]-b[16]*b[6]*b[38]+b[3]*b[20]*b[37]+b[16]*b[32]*b[12]+b[29]*b[6]*b[25]-b[16]*b[7]*b[37]-b[3]*b[25]*b[32]-b[15]*b[7]*b[38]+b[16]*b[33]*b[11]);
|
||||
c[0] = -b[29]*b[20]*b[12]+b[29]*b[7]*b[25]+b[16]*b[33]*b[12]-b[16]*b[7]*b[38]+b[3]*b[20]*b[38]-b[3]*b[25]*b[33];
|
||||
|
||||
std::vector<Complex<double> > roots;
|
||||
solvePoly(coeffs, roots);
|
||||
|
||||
std::vector<double> xs, ys, zs;
|
||||
int count = 0;
|
||||
|
||||
Mat ematrix(10*3, 3, CV_64F);
|
||||
double* e = ematrix.ptr<double>();
|
||||
for (size_t i = 0; i < roots.size(); i++)
|
||||
{
|
||||
if (fabs(roots[i].im) > 1e-10) continue;
|
||||
double z1 = roots[i].re;
|
||||
double z2 = z1 * z1;
|
||||
double z3 = z2 * z1;
|
||||
double z4 = z3 * z1;
|
||||
|
||||
double bz[3][3];
|
||||
for (int j = 0; j < 3; j++)
|
||||
{
|
||||
const double * br = b + j * 13;
|
||||
bz[j][0] = br[0] * z3 + br[1] * z2 + br[2] * z1 + br[3];
|
||||
bz[j][1] = br[4] * z3 + br[5] * z2 + br[6] * z1 + br[7];
|
||||
bz[j][2] = br[8] * z4 + br[9] * z3 + br[10] * z2 + br[11] * z1 + br[12];
|
||||
}
|
||||
|
||||
Mat Bz(3, 3, CV_64F, bz);
|
||||
cv::Mat xy1;
|
||||
SVD::solveZ(Bz, xy1);
|
||||
|
||||
if (fabs(xy1.at<double>(2)) < 1e-10) continue;
|
||||
xs.push_back(xy1.at<double>(0) / xy1.at<double>(2));
|
||||
ys.push_back(xy1.at<double>(1) / xy1.at<double>(2));
|
||||
zs.push_back(z1);
|
||||
|
||||
cv::Mat Evec = EE.col(0) * xs.back() + EE.col(1) * ys.back() + EE.col(2) * zs.back() + EE.col(3);
|
||||
Evec /= norm(Evec);
|
||||
|
||||
memcpy(e + count * 9, Evec.ptr(), 9 * sizeof(double));
|
||||
count++;
|
||||
}
|
||||
|
||||
ematrix.rowRange(0, count*3).copyTo(_model);
|
||||
return count;
|
||||
}
|
||||
|
||||
protected:
|
||||
void getCoeffMat(double *e, double *A) const
|
||||
{
|
||||
double ep2[36], ep3[36];
|
||||
for (int i = 0; i < 36; i++)
|
||||
{
|
||||
ep2[i] = e[i] * e[i];
|
||||
ep3[i] = ep2[i] * e[i];
|
||||
}
|
||||
|
||||
A[0]=e[33]*e[28]*e[32]-e[33]*e[31]*e[29]+e[30]*e[34]*e[29]-e[30]*e[28]*e[35]-e[27]*e[32]*e[34]+e[27]*e[31]*e[35];
|
||||
A[146]=.5000000000*e[6]*ep2[8]-.5000000000*e[6]*ep2[5]+.5000000000*ep3[6]+.5000000000*e[6]*ep2[7]-.5000000000*e[6]*ep2[4]+e[0]*e[2]*e[8]+e[3]*e[4]*e[7]+e[3]*e[5]*e[8]+e[0]*e[1]*e[7]-.5000000000*e[6]*ep2[1]-.5000000000*e[6]*ep2[2]+.5000000000*ep2[0]*e[6]+.5000000000*ep2[3]*e[6];
|
||||
A[1]=e[30]*e[34]*e[2]+e[33]*e[1]*e[32]-e[3]*e[28]*e[35]+e[0]*e[31]*e[35]+e[3]*e[34]*e[29]-e[30]*e[1]*e[35]+e[27]*e[31]*e[8]-e[27]*e[32]*e[7]-e[30]*e[28]*e[8]-e[33]*e[31]*e[2]-e[0]*e[32]*e[34]+e[6]*e[28]*e[32]-e[33]*e[4]*e[29]+e[33]*e[28]*e[5]+e[30]*e[7]*e[29]+e[27]*e[4]*e[35]-e[27]*e[5]*e[34]-e[6]*e[31]*e[29];
|
||||
A[147]=e[9]*e[27]*e[15]+e[9]*e[29]*e[17]+e[9]*e[11]*e[35]+e[9]*e[28]*e[16]+e[9]*e[10]*e[34]+e[27]*e[11]*e[17]+e[27]*e[10]*e[16]+e[12]*e[30]*e[15]+e[12]*e[32]*e[17]+e[12]*e[14]*e[35]+e[12]*e[31]*e[16]+e[12]*e[13]*e[34]+e[30]*e[14]*e[17]+e[30]*e[13]*e[16]+e[15]*e[35]*e[17]+e[15]*e[34]*e[16]-1.*e[15]*e[28]*e[10]-1.*e[15]*e[31]*e[13]-1.*e[15]*e[32]*e[14]-1.*e[15]*e[29]*e[11]+.5000000000*ep2[9]*e[33]+.5000000000*e[33]*ep2[16]-.5000000000*e[33]*ep2[11]+.5000000000*e[33]*ep2[12]+1.500000000*e[33]*ep2[15]+.5000000000*e[33]*ep2[17]-.5000000000*e[33]*ep2[10]-.5000000000*e[33]*ep2[14]-.5000000000*e[33]*ep2[13];
|
||||
A[2]=-e[33]*e[22]*e[29]-e[33]*e[31]*e[20]-e[27]*e[32]*e[25]+e[27]*e[22]*e[35]-e[27]*e[23]*e[34]+e[27]*e[31]*e[26]+e[33]*e[28]*e[23]-e[21]*e[28]*e[35]+e[30]*e[25]*e[29]+e[24]*e[28]*e[32]-e[24]*e[31]*e[29]+e[18]*e[31]*e[35]-e[30]*e[28]*e[26]-e[30]*e[19]*e[35]+e[21]*e[34]*e[29]+e[33]*e[19]*e[32]-e[18]*e[32]*e[34]+e[30]*e[34]*e[20];
|
||||
A[144]=e[18]*e[2]*e[17]+e[3]*e[21]*e[15]+e[3]*e[12]*e[24]+e[3]*e[23]*e[17]+e[3]*e[14]*e[26]+e[3]*e[22]*e[16]+e[3]*e[13]*e[25]+3.*e[6]*e[24]*e[15]+e[6]*e[26]*e[17]+e[6]*e[25]*e[16]+e[0]*e[20]*e[17]+e[0]*e[11]*e[26]+e[0]*e[19]*e[16]+e[0]*e[10]*e[25]+e[15]*e[26]*e[8]-1.*e[15]*e[20]*e[2]-1.*e[15]*e[19]*e[1]-1.*e[15]*e[22]*e[4]+e[15]*e[25]*e[7]-1.*e[15]*e[23]*e[5]+e[12]*e[21]*e[6]+e[12]*e[22]*e[7]+e[12]*e[4]*e[25]+e[12]*e[23]*e[8]+e[12]*e[5]*e[26]-1.*e[24]*e[11]*e[2]-1.*e[24]*e[10]*e[1]-1.*e[24]*e[13]*e[4]+e[24]*e[16]*e[7]-1.*e[24]*e[14]*e[5]+e[24]*e[17]*e[8]+e[21]*e[13]*e[7]+e[21]*e[4]*e[16]+e[21]*e[14]*e[8]+e[21]*e[5]*e[17]-1.*e[6]*e[23]*e[14]-1.*e[6]*e[20]*e[11]-1.*e[6]*e[19]*e[10]-1.*e[6]*e[22]*e[13]+e[9]*e[18]*e[6]+e[9]*e[0]*e[24]+e[9]*e[19]*e[7]+e[9]*e[1]*e[25]+e[9]*e[20]*e[8]+e[9]*e[2]*e[26]+e[18]*e[0]*e[15]+e[18]*e[10]*e[7]+e[18]*e[1]*e[16]+e[18]*e[11]*e[8];
|
||||
A[3]=e[33]*e[10]*e[32]+e[33]*e[28]*e[14]-e[33]*e[13]*e[29]-e[33]*e[31]*e[11]+e[9]*e[31]*e[35]-e[9]*e[32]*e[34]+e[27]*e[13]*e[35]-e[27]*e[32]*e[16]+e[27]*e[31]*e[17]-e[27]*e[14]*e[34]+e[12]*e[34]*e[29]-e[12]*e[28]*e[35]+e[30]*e[34]*e[11]+e[30]*e[16]*e[29]-e[30]*e[10]*e[35]-e[30]*e[28]*e[17]+e[15]*e[28]*e[32]-e[15]*e[31]*e[29];
|
||||
A[145]=e[0]*e[27]*e[6]+e[0]*e[28]*e[7]+e[0]*e[1]*e[34]+e[0]*e[29]*e[8]+e[0]*e[2]*e[35]+e[6]*e[34]*e[7]-1.*e[6]*e[32]*e[5]+e[6]*e[30]*e[3]+e[6]*e[35]*e[8]-1.*e[6]*e[29]*e[2]-1.*e[6]*e[28]*e[1]-1.*e[6]*e[31]*e[4]+e[27]*e[1]*e[7]+e[27]*e[2]*e[8]+e[3]*e[31]*e[7]+e[3]*e[4]*e[34]+e[3]*e[32]*e[8]+e[3]*e[5]*e[35]+e[30]*e[4]*e[7]+e[30]*e[5]*e[8]+.5000000000*ep2[0]*e[33]+1.500000000*e[33]*ep2[6]-.5000000000*e[33]*ep2[4]-.5000000000*e[33]*ep2[5]-.5000000000*e[33]*ep2[1]+.5000000000*e[33]*ep2[7]+.5000000000*e[33]*ep2[3]-.5000000000*e[33]*ep2[2]+.5000000000*e[33]*ep2[8];
|
||||
A[4]=-e[0]*e[23]*e[16]+e[9]*e[4]*e[26]+e[9]*e[22]*e[8]-e[9]*e[5]*e[25]-e[9]*e[23]*e[7]+e[18]*e[4]*e[17]+e[18]*e[13]*e[8]-e[18]*e[5]*e[16]-e[18]*e[14]*e[7]+e[3]*e[16]*e[20]+e[3]*e[25]*e[11]-e[3]*e[10]*e[26]-e[3]*e[19]*e[17]+e[12]*e[7]*e[20]+e[12]*e[25]*e[2]-e[12]*e[1]*e[26]-e[12]*e[19]*e[8]+e[21]*e[7]*e[11]+e[21]*e[16]*e[2]-e[21]*e[1]*e[17]-e[21]*e[10]*e[8]+e[6]*e[10]*e[23]+e[6]*e[19]*e[14]-e[6]*e[13]*e[20]-e[6]*e[22]*e[11]+e[15]*e[1]*e[23]+e[15]*e[19]*e[5]-e[15]*e[4]*e[20]-e[15]*e[22]*e[2]+e[24]*e[1]*e[14]+e[24]*e[10]*e[5]-e[24]*e[4]*e[11]-e[24]*e[13]*e[2]+e[0]*e[13]*e[26]+e[0]*e[22]*e[17]-e[0]*e[14]*e[25];
|
||||
A[150]=e[18]*e[19]*e[25]+.5000000000*ep3[24]-.5000000000*e[24]*ep2[23]+e[18]*e[20]*e[26]+e[21]*e[22]*e[25]+e[21]*e[23]*e[26]-.5000000000*e[24]*ep2[19]+.5000000000*ep2[21]*e[24]+.5000000000*e[24]*ep2[26]-.5000000000*e[24]*ep2[20]+.5000000000*ep2[18]*e[24]-.5000000000*e[24]*ep2[22]+.5000000000*e[24]*ep2[25];
|
||||
A[5]=-e[3]*e[1]*e[35]-e[0]*e[32]*e[7]+e[27]*e[4]*e[8]+e[33]*e[1]*e[5]-e[33]*e[4]*e[2]+e[0]*e[4]*e[35]+e[3]*e[34]*e[2]-e[30]*e[1]*e[8]+e[30]*e[7]*e[2]-e[6]*e[4]*e[29]+e[3]*e[7]*e[29]+e[6]*e[1]*e[32]-e[0]*e[5]*e[34]-e[3]*e[28]*e[8]+e[0]*e[31]*e[8]+e[6]*e[28]*e[5]-e[6]*e[31]*e[2]-e[27]*e[5]*e[7];
|
||||
A[151]=e[33]*e[16]*e[7]-1.*e[33]*e[14]*e[5]+e[33]*e[17]*e[8]+e[30]*e[13]*e[7]+e[30]*e[4]*e[16]+e[30]*e[14]*e[8]+e[30]*e[5]*e[17]+e[6]*e[27]*e[9]-1.*e[6]*e[28]*e[10]-1.*e[6]*e[31]*e[13]-1.*e[6]*e[32]*e[14]-1.*e[6]*e[29]*e[11]+e[9]*e[28]*e[7]+e[9]*e[1]*e[34]+e[9]*e[29]*e[8]+e[9]*e[2]*e[35]+e[27]*e[10]*e[7]+e[27]*e[1]*e[16]+e[27]*e[11]*e[8]+e[27]*e[2]*e[17]+e[3]*e[30]*e[15]+e[3]*e[12]*e[33]+e[3]*e[32]*e[17]+e[3]*e[14]*e[35]+e[3]*e[31]*e[16]+e[3]*e[13]*e[34]+3.*e[6]*e[33]*e[15]+e[6]*e[35]*e[17]+e[6]*e[34]*e[16]+e[0]*e[27]*e[15]+e[0]*e[9]*e[33]+e[0]*e[29]*e[17]+e[0]*e[11]*e[35]+e[0]*e[28]*e[16]+e[0]*e[10]*e[34]+e[15]*e[34]*e[7]-1.*e[15]*e[32]*e[5]+e[15]*e[35]*e[8]-1.*e[15]*e[29]*e[2]-1.*e[15]*e[28]*e[1]-1.*e[15]*e[31]*e[4]+e[12]*e[30]*e[6]+e[12]*e[31]*e[7]+e[12]*e[4]*e[34]+e[12]*e[32]*e[8]+e[12]*e[5]*e[35]-1.*e[33]*e[11]*e[2]-1.*e[33]*e[10]*e[1]-1.*e[33]*e[13]*e[4];
|
||||
A[6]=e[6]*e[1]*e[5]-e[6]*e[4]*e[2]+e[3]*e[7]*e[2]+e[0]*e[4]*e[8]-e[0]*e[5]*e[7]-e[3]*e[1]*e[8];
|
||||
A[148]=.5000000000*ep3[15]+e[9]*e[10]*e[16]-.5000000000*e[15]*ep2[11]+e[9]*e[11]*e[17]+.5000000000*ep2[12]*e[15]+.5000000000*e[15]*ep2[16]+.5000000000*e[15]*ep2[17]-.5000000000*e[15]*ep2[13]+.5000000000*ep2[9]*e[15]+e[12]*e[14]*e[17]-.5000000000*e[15]*ep2[10]-.5000000000*e[15]*ep2[14]+e[12]*e[13]*e[16];
|
||||
A[7]=e[15]*e[28]*e[14]-e[15]*e[13]*e[29]-e[15]*e[31]*e[11]+e[33]*e[10]*e[14]-e[33]*e[13]*e[11]+e[9]*e[13]*e[35]-e[9]*e[32]*e[16]+e[9]*e[31]*e[17]-e[9]*e[14]*e[34]+e[27]*e[13]*e[17]-e[27]*e[14]*e[16]+e[12]*e[34]*e[11]+e[12]*e[16]*e[29]-e[12]*e[10]*e[35]-e[12]*e[28]*e[17]+e[30]*e[16]*e[11]-e[30]*e[10]*e[17]+e[15]*e[10]*e[32];
|
||||
A[149]=e[18]*e[27]*e[24]+e[18]*e[28]*e[25]+e[18]*e[19]*e[34]+e[18]*e[29]*e[26]+e[18]*e[20]*e[35]+e[27]*e[19]*e[25]+e[27]*e[20]*e[26]+e[21]*e[30]*e[24]+e[21]*e[31]*e[25]+e[21]*e[22]*e[34]+e[21]*e[32]*e[26]+e[21]*e[23]*e[35]+e[30]*e[22]*e[25]+e[30]*e[23]*e[26]+e[24]*e[34]*e[25]+e[24]*e[35]*e[26]-1.*e[24]*e[29]*e[20]-1.*e[24]*e[31]*e[22]-1.*e[24]*e[32]*e[23]-1.*e[24]*e[28]*e[19]+1.500000000*e[33]*ep2[24]+.5000000000*e[33]*ep2[25]+.5000000000*e[33]*ep2[26]-.5000000000*e[33]*ep2[23]-.5000000000*e[33]*ep2[19]-.5000000000*e[33]*ep2[20]-.5000000000*e[33]*ep2[22]+.5000000000*ep2[18]*e[33]+.5000000000*ep2[21]*e[33];
|
||||
A[9]=e[21]*e[25]*e[29]-e[27]*e[23]*e[25]+e[24]*e[19]*e[32]-e[21]*e[28]*e[26]-e[21]*e[19]*e[35]+e[18]*e[31]*e[26]-e[30]*e[19]*e[26]-e[24]*e[31]*e[20]+e[24]*e[28]*e[23]+e[27]*e[22]*e[26]+e[30]*e[25]*e[20]-e[33]*e[22]*e[20]+e[33]*e[19]*e[23]+e[21]*e[34]*e[20]-e[18]*e[23]*e[34]-e[24]*e[22]*e[29]-e[18]*e[32]*e[25]+e[18]*e[22]*e[35];
|
||||
A[155]=e[12]*e[14]*e[8]+e[12]*e[5]*e[17]+e[15]*e[16]*e[7]+e[15]*e[17]*e[8]+e[0]*e[11]*e[17]+e[0]*e[9]*e[15]+e[0]*e[10]*e[16]+e[3]*e[14]*e[17]+e[3]*e[13]*e[16]+e[9]*e[10]*e[7]+e[9]*e[1]*e[16]+e[9]*e[11]*e[8]+e[9]*e[2]*e[17]-1.*e[15]*e[11]*e[2]-1.*e[15]*e[10]*e[1]-1.*e[15]*e[13]*e[4]-1.*e[15]*e[14]*e[5]+e[12]*e[3]*e[15]+e[12]*e[13]*e[7]+e[12]*e[4]*e[16]+.5000000000*ep2[12]*e[6]+1.500000000*ep2[15]*e[6]+.5000000000*e[6]*ep2[17]+.5000000000*e[6]*ep2[16]+.5000000000*e[6]*ep2[9]-.5000000000*e[6]*ep2[11]-.5000000000*e[6]*ep2[10]-.5000000000*e[6]*ep2[14]-.5000000000*e[6]*ep2[13];
|
||||
A[8]=-e[9]*e[14]*e[16]-e[12]*e[10]*e[17]+e[9]*e[13]*e[17]-e[15]*e[13]*e[11]+e[15]*e[10]*e[14]+e[12]*e[16]*e[11];
|
||||
A[154]=e[21]*e[14]*e[17]+e[21]*e[13]*e[16]+e[15]*e[26]*e[17]+e[15]*e[25]*e[16]-1.*e[15]*e[23]*e[14]-1.*e[15]*e[20]*e[11]-1.*e[15]*e[19]*e[10]-1.*e[15]*e[22]*e[13]+e[9]*e[20]*e[17]+e[9]*e[11]*e[26]+e[9]*e[19]*e[16]+e[9]*e[10]*e[25]+.5000000000*ep2[12]*e[24]+1.500000000*e[24]*ep2[15]+.5000000000*e[24]*ep2[17]+.5000000000*e[24]*ep2[16]+.5000000000*ep2[9]*e[24]-.5000000000*e[24]*ep2[11]-.5000000000*e[24]*ep2[10]-.5000000000*e[24]*ep2[14]-.5000000000*e[24]*ep2[13]+e[18]*e[11]*e[17]+e[18]*e[9]*e[15]+e[18]*e[10]*e[16]+e[12]*e[21]*e[15]+e[12]*e[23]*e[17]+e[12]*e[14]*e[26]+e[12]*e[22]*e[16]+e[12]*e[13]*e[25];
|
||||
A[11]=-e[9]*e[5]*e[34]+e[9]*e[31]*e[8]-e[9]*e[32]*e[7]+e[27]*e[4]*e[17]+e[27]*e[13]*e[8]-e[27]*e[5]*e[16]-e[27]*e[14]*e[7]+e[0]*e[13]*e[35]-e[0]*e[32]*e[16]+e[0]*e[31]*e[17]-e[0]*e[14]*e[34]+e[9]*e[4]*e[35]+e[6]*e[10]*e[32]+e[6]*e[28]*e[14]-e[6]*e[13]*e[29]-e[6]*e[31]*e[11]+e[15]*e[1]*e[32]+e[3]*e[34]*e[11]+e[3]*e[16]*e[29]-e[3]*e[10]*e[35]-e[3]*e[28]*e[17]-e[12]*e[1]*e[35]+e[12]*e[7]*e[29]+e[12]*e[34]*e[2]-e[12]*e[28]*e[8]+e[15]*e[28]*e[5]-e[15]*e[4]*e[29]-e[15]*e[31]*e[2]+e[33]*e[1]*e[14]+e[33]*e[10]*e[5]-e[33]*e[4]*e[11]-e[33]*e[13]*e[2]+e[30]*e[7]*e[11]+e[30]*e[16]*e[2]-e[30]*e[1]*e[17]-e[30]*e[10]*e[8];
|
||||
A[153]=e[21]*e[31]*e[7]+e[21]*e[4]*e[34]+e[21]*e[32]*e[8]+e[21]*e[5]*e[35]+e[30]*e[22]*e[7]+e[30]*e[4]*e[25]+e[30]*e[23]*e[8]+e[30]*e[5]*e[26]+3.*e[24]*e[33]*e[6]+e[24]*e[34]*e[7]+e[24]*e[35]*e[8]+e[33]*e[25]*e[7]+e[33]*e[26]*e[8]+e[0]*e[27]*e[24]+e[0]*e[18]*e[33]+e[0]*e[28]*e[25]+e[0]*e[19]*e[34]+e[0]*e[29]*e[26]+e[0]*e[20]*e[35]+e[18]*e[27]*e[6]+e[18]*e[28]*e[7]+e[18]*e[1]*e[34]+e[18]*e[29]*e[8]+e[18]*e[2]*e[35]+e[27]*e[19]*e[7]+e[27]*e[1]*e[25]+e[27]*e[20]*e[8]+e[27]*e[2]*e[26]+e[3]*e[30]*e[24]+e[3]*e[21]*e[33]+e[3]*e[31]*e[25]+e[3]*e[22]*e[34]+e[3]*e[32]*e[26]+e[3]*e[23]*e[35]+e[6]*e[30]*e[21]-1.*e[6]*e[29]*e[20]+e[6]*e[35]*e[26]-1.*e[6]*e[31]*e[22]-1.*e[6]*e[32]*e[23]-1.*e[6]*e[28]*e[19]+e[6]*e[34]*e[25]-1.*e[24]*e[32]*e[5]-1.*e[24]*e[29]*e[2]-1.*e[24]*e[28]*e[1]-1.*e[24]*e[31]*e[4]-1.*e[33]*e[20]*e[2]-1.*e[33]*e[19]*e[1]-1.*e[33]*e[22]*e[4]-1.*e[33]*e[23]*e[5];
|
||||
A[10]=e[21]*e[25]*e[20]-e[21]*e[19]*e[26]+e[18]*e[22]*e[26]-e[18]*e[23]*e[25]-e[24]*e[22]*e[20]+e[24]*e[19]*e[23];
|
||||
A[152]=e[3]*e[4]*e[25]+e[3]*e[23]*e[8]+e[3]*e[5]*e[26]+e[21]*e[4]*e[7]+e[21]*e[5]*e[8]+e[6]*e[25]*e[7]+e[6]*e[26]*e[8]+e[0]*e[19]*e[7]+e[0]*e[1]*e[25]+e[0]*e[20]*e[8]+e[0]*e[2]*e[26]-1.*e[6]*e[20]*e[2]-1.*e[6]*e[19]*e[1]-1.*e[6]*e[22]*e[4]-1.*e[6]*e[23]*e[5]+e[18]*e[1]*e[7]+e[18]*e[0]*e[6]+e[18]*e[2]*e[8]+e[3]*e[21]*e[6]+e[3]*e[22]*e[7]-.5000000000*e[24]*ep2[4]+.5000000000*e[24]*ep2[0]+1.500000000*e[24]*ep2[6]-.5000000000*e[24]*ep2[5]-.5000000000*e[24]*ep2[1]+.5000000000*e[24]*ep2[7]+.5000000000*e[24]*ep2[3]-.5000000000*e[24]*ep2[2]+.5000000000*e[24]*ep2[8];
|
||||
A[13]=e[6]*e[28]*e[23]-e[6]*e[22]*e[29]-e[6]*e[31]*e[20]-e[3]*e[19]*e[35]+e[3]*e[34]*e[20]+e[3]*e[25]*e[29]-e[21]*e[1]*e[35]+e[21]*e[7]*e[29]+e[21]*e[34]*e[2]+e[24]*e[1]*e[32]+e[24]*e[28]*e[5]-e[24]*e[4]*e[29]-e[24]*e[31]*e[2]+e[33]*e[1]*e[23]+e[33]*e[19]*e[5]-e[33]*e[4]*e[20]-e[33]*e[22]*e[2]-e[21]*e[28]*e[8]+e[30]*e[7]*e[20]+e[30]*e[25]*e[2]-e[30]*e[1]*e[26]+e[18]*e[4]*e[35]-e[18]*e[5]*e[34]+e[18]*e[31]*e[8]-e[18]*e[32]*e[7]+e[27]*e[4]*e[26]+e[27]*e[22]*e[8]-e[27]*e[5]*e[25]-e[27]*e[23]*e[7]-e[3]*e[28]*e[26]-e[0]*e[32]*e[25]+e[0]*e[22]*e[35]-e[0]*e[23]*e[34]+e[0]*e[31]*e[26]-e[30]*e[19]*e[8]+e[6]*e[19]*e[32];
|
||||
A[159]=.5000000000*ep2[18]*e[6]+.5000000000*ep2[21]*e[6]+1.500000000*ep2[24]*e[6]+.5000000000*e[6]*ep2[26]-.5000000000*e[6]*ep2[23]-.5000000000*e[6]*ep2[19]-.5000000000*e[6]*ep2[20]-.5000000000*e[6]*ep2[22]+.5000000000*e[6]*ep2[25]+e[21]*e[3]*e[24]+e[18]*e[20]*e[8]+e[21]*e[4]*e[25]+e[18]*e[19]*e[7]+e[18]*e[1]*e[25]+e[21]*e[22]*e[7]+e[21]*e[23]*e[8]+e[18]*e[0]*e[24]+e[18]*e[2]*e[26]+e[21]*e[5]*e[26]+e[24]*e[26]*e[8]-1.*e[24]*e[20]*e[2]-1.*e[24]*e[19]*e[1]-1.*e[24]*e[22]*e[4]+e[24]*e[25]*e[7]-1.*e[24]*e[23]*e[5]+e[0]*e[19]*e[25]+e[0]*e[20]*e[26]+e[3]*e[22]*e[25]+e[3]*e[23]*e[26];
|
||||
A[12]=e[18]*e[4]*e[8]+e[3]*e[7]*e[20]+e[3]*e[25]*e[2]-e[3]*e[1]*e[26]-e[18]*e[5]*e[7]+e[6]*e[1]*e[23]+e[6]*e[19]*e[5]-e[6]*e[4]*e[20]-e[6]*e[22]*e[2]+e[21]*e[7]*e[2]-e[21]*e[1]*e[8]+e[24]*e[1]*e[5]-e[24]*e[4]*e[2]-e[3]*e[19]*e[8]+e[0]*e[4]*e[26]+e[0]*e[22]*e[8]-e[0]*e[5]*e[25]-e[0]*e[23]*e[7];
|
||||
A[158]=e[9]*e[1]*e[7]+e[9]*e[0]*e[6]+e[9]*e[2]*e[8]+e[3]*e[12]*e[6]+e[3]*e[13]*e[7]+e[3]*e[4]*e[16]+e[3]*e[14]*e[8]+e[3]*e[5]*e[17]+e[12]*e[4]*e[7]+e[12]*e[5]*e[8]+e[6]*e[16]*e[7]+e[6]*e[17]*e[8]-1.*e[6]*e[11]*e[2]-1.*e[6]*e[10]*e[1]-1.*e[6]*e[13]*e[4]-1.*e[6]*e[14]*e[5]+e[0]*e[10]*e[7]+e[0]*e[1]*e[16]+e[0]*e[11]*e[8]+e[0]*e[2]*e[17]+.5000000000*ep2[3]*e[15]+1.500000000*e[15]*ep2[6]+.5000000000*e[15]*ep2[7]+.5000000000*e[15]*ep2[8]+.5000000000*ep2[0]*e[15]-.5000000000*e[15]*ep2[4]-.5000000000*e[15]*ep2[5]-.5000000000*e[15]*ep2[1]-.5000000000*e[15]*ep2[2];
|
||||
A[15]=-e[15]*e[13]*e[2]-e[6]*e[13]*e[11]-e[15]*e[4]*e[11]+e[12]*e[16]*e[2]-e[3]*e[10]*e[17]+e[3]*e[16]*e[11]+e[0]*e[13]*e[17]-e[0]*e[14]*e[16]+e[15]*e[1]*e[14]-e[12]*e[10]*e[8]+e[9]*e[4]*e[17]+e[9]*e[13]*e[8]-e[9]*e[5]*e[16]-e[9]*e[14]*e[7]+e[15]*e[10]*e[5]+e[12]*e[7]*e[11]+e[6]*e[10]*e[14]-e[12]*e[1]*e[17];
|
||||
A[157]=e[12]*e[30]*e[24]+e[12]*e[21]*e[33]+e[12]*e[31]*e[25]+e[12]*e[22]*e[34]+e[12]*e[32]*e[26]+e[12]*e[23]*e[35]+e[9]*e[27]*e[24]+e[9]*e[18]*e[33]+e[9]*e[28]*e[25]+e[9]*e[19]*e[34]+e[9]*e[29]*e[26]+e[9]*e[20]*e[35]+e[21]*e[30]*e[15]+e[21]*e[32]*e[17]+e[21]*e[14]*e[35]+e[21]*e[31]*e[16]+e[21]*e[13]*e[34]+e[30]*e[23]*e[17]+e[30]*e[14]*e[26]+e[30]*e[22]*e[16]+e[30]*e[13]*e[25]+e[15]*e[27]*e[18]+3.*e[15]*e[33]*e[24]-1.*e[15]*e[29]*e[20]+e[15]*e[35]*e[26]-1.*e[15]*e[31]*e[22]-1.*e[15]*e[32]*e[23]-1.*e[15]*e[28]*e[19]+e[15]*e[34]*e[25]+e[18]*e[29]*e[17]+e[18]*e[11]*e[35]+e[18]*e[28]*e[16]+e[18]*e[10]*e[34]+e[27]*e[20]*e[17]+e[27]*e[11]*e[26]+e[27]*e[19]*e[16]+e[27]*e[10]*e[25]-1.*e[24]*e[28]*e[10]-1.*e[24]*e[31]*e[13]-1.*e[24]*e[32]*e[14]+e[24]*e[34]*e[16]+e[24]*e[35]*e[17]-1.*e[24]*e[29]*e[11]-1.*e[33]*e[23]*e[14]+e[33]*e[25]*e[16]+e[33]*e[26]*e[17]-1.*e[33]*e[20]*e[11]-1.*e[33]*e[19]*e[10]-1.*e[33]*e[22]*e[13];
|
||||
A[14]=e[18]*e[13]*e[17]+e[9]*e[13]*e[26]+e[9]*e[22]*e[17]-e[9]*e[14]*e[25]-e[18]*e[14]*e[16]-e[15]*e[13]*e[20]-e[15]*e[22]*e[11]+e[12]*e[16]*e[20]+e[12]*e[25]*e[11]-e[12]*e[10]*e[26]-e[12]*e[19]*e[17]+e[21]*e[16]*e[11]-e[21]*e[10]*e[17]-e[9]*e[23]*e[16]+e[24]*e[10]*e[14]-e[24]*e[13]*e[11]+e[15]*e[10]*e[23]+e[15]*e[19]*e[14];
|
||||
A[156]=e[21]*e[12]*e[24]+e[21]*e[23]*e[17]+e[21]*e[14]*e[26]+e[21]*e[22]*e[16]+e[21]*e[13]*e[25]+e[24]*e[26]*e[17]+e[24]*e[25]*e[16]+e[9]*e[19]*e[25]+e[9]*e[18]*e[24]+e[9]*e[20]*e[26]+e[12]*e[22]*e[25]+e[12]*e[23]*e[26]+e[18]*e[20]*e[17]+e[18]*e[11]*e[26]+e[18]*e[19]*e[16]+e[18]*e[10]*e[25]-1.*e[24]*e[23]*e[14]-1.*e[24]*e[20]*e[11]-1.*e[24]*e[19]*e[10]-1.*e[24]*e[22]*e[13]+.5000000000*ep2[21]*e[15]+1.500000000*ep2[24]*e[15]+.5000000000*e[15]*ep2[25]+.5000000000*e[15]*ep2[26]+.5000000000*e[15]*ep2[18]-.5000000000*e[15]*ep2[23]-.5000000000*e[15]*ep2[19]-.5000000000*e[15]*ep2[20]-.5000000000*e[15]*ep2[22];
|
||||
A[18]=e[6]*e[1]*e[14]+e[15]*e[1]*e[5]-e[0]*e[5]*e[16]-e[0]*e[14]*e[7]+e[0]*e[13]*e[8]-e[15]*e[4]*e[2]+e[12]*e[7]*e[2]+e[6]*e[10]*e[5]+e[3]*e[7]*e[11]-e[6]*e[4]*e[11]+e[3]*e[16]*e[2]-e[6]*e[13]*e[2]-e[3]*e[1]*e[17]-e[9]*e[5]*e[7]-e[3]*e[10]*e[8]-e[12]*e[1]*e[8]+e[0]*e[4]*e[17]+e[9]*e[4]*e[8];
|
||||
A[128]=-.5000000000*e[14]*ep2[16]-.5000000000*e[14]*ep2[10]-.5000000000*e[14]*ep2[9]+e[11]*e[9]*e[12]+.5000000000*ep3[14]+e[17]*e[13]*e[16]+.5000000000*e[14]*ep2[12]+e[11]*e[10]*e[13]-.5000000000*e[14]*ep2[15]+.5000000000*e[14]*ep2[17]+e[17]*e[12]*e[15]+.5000000000*ep2[11]*e[14]+.5000000000*e[14]*ep2[13];
|
||||
A[19]=-e[21]*e[19]*e[8]+e[18]*e[4]*e[26]-e[18]*e[5]*e[25]-e[18]*e[23]*e[7]+e[21]*e[25]*e[2]-e[21]*e[1]*e[26]+e[6]*e[19]*e[23]+e[18]*e[22]*e[8]-e[0]*e[23]*e[25]-e[6]*e[22]*e[20]+e[24]*e[1]*e[23]+e[24]*e[19]*e[5]-e[24]*e[4]*e[20]-e[24]*e[22]*e[2]+e[3]*e[25]*e[20]-e[3]*e[19]*e[26]+e[0]*e[22]*e[26]+e[21]*e[7]*e[20];
|
||||
A[129]=.5000000000*ep2[20]*e[32]+1.500000000*e[32]*ep2[23]+.5000000000*e[32]*ep2[22]+.5000000000*e[32]*ep2[21]+.5000000000*e[32]*ep2[26]-.5000000000*e[32]*ep2[18]-.5000000000*e[32]*ep2[19]-.5000000000*e[32]*ep2[24]-.5000000000*e[32]*ep2[25]+e[20]*e[27]*e[21]+e[20]*e[18]*e[30]+e[20]*e[28]*e[22]+e[20]*e[19]*e[31]+e[20]*e[29]*e[23]+e[29]*e[19]*e[22]+e[29]*e[18]*e[21]+e[23]*e[30]*e[21]+e[23]*e[31]*e[22]+e[26]*e[30]*e[24]+e[26]*e[21]*e[33]+e[26]*e[31]*e[25]+e[26]*e[22]*e[34]+e[26]*e[23]*e[35]+e[35]*e[22]*e[25]+e[35]*e[21]*e[24]-1.*e[23]*e[27]*e[18]-1.*e[23]*e[33]*e[24]-1.*e[23]*e[28]*e[19]-1.*e[23]*e[34]*e[25];
|
||||
A[16]=-e[9]*e[23]*e[25]-e[21]*e[10]*e[26]-e[21]*e[19]*e[17]-e[18]*e[23]*e[16]+e[18]*e[13]*e[26]+e[12]*e[25]*e[20]-e[12]*e[19]*e[26]-e[15]*e[22]*e[20]+e[21]*e[16]*e[20]+e[21]*e[25]*e[11]+e[24]*e[10]*e[23]+e[24]*e[19]*e[14]-e[24]*e[13]*e[20]-e[24]*e[22]*e[11]+e[18]*e[22]*e[17]-e[18]*e[14]*e[25]+e[9]*e[22]*e[26]+e[15]*e[19]*e[23];
|
||||
A[130]=.5000000000*e[23]*ep2[21]+e[20]*e[19]*e[22]+e[20]*e[18]*e[21]+.5000000000*ep3[23]+e[26]*e[22]*e[25]+.5000000000*e[23]*ep2[26]-.5000000000*e[23]*ep2[18]+.5000000000*e[23]*ep2[22]-.5000000000*e[23]*ep2[19]+e[26]*e[21]*e[24]+.5000000000*ep2[20]*e[23]-.5000000000*e[23]*ep2[24]-.5000000000*e[23]*ep2[25];
|
||||
A[17]=e[18]*e[13]*e[35]-e[18]*e[32]*e[16]+e[18]*e[31]*e[17]-e[18]*e[14]*e[34]+e[27]*e[13]*e[26]+e[27]*e[22]*e[17]-e[27]*e[14]*e[25]-e[27]*e[23]*e[16]-e[9]*e[32]*e[25]+e[9]*e[22]*e[35]-e[9]*e[23]*e[34]+e[9]*e[31]*e[26]+e[15]*e[19]*e[32]+e[15]*e[28]*e[23]-e[15]*e[22]*e[29]-e[15]*e[31]*e[20]+e[24]*e[10]*e[32]+e[24]*e[28]*e[14]-e[24]*e[13]*e[29]-e[24]*e[31]*e[11]+e[33]*e[10]*e[23]+e[33]*e[19]*e[14]-e[33]*e[13]*e[20]-e[33]*e[22]*e[11]+e[21]*e[16]*e[29]-e[21]*e[10]*e[35]-e[21]*e[28]*e[17]+e[30]*e[16]*e[20]+e[30]*e[25]*e[11]-e[30]*e[10]*e[26]-e[30]*e[19]*e[17]-e[12]*e[28]*e[26]-e[12]*e[19]*e[35]+e[12]*e[34]*e[20]+e[12]*e[25]*e[29]+e[21]*e[34]*e[11];
|
||||
A[131]=-1.*e[32]*e[10]*e[1]+e[32]*e[13]*e[4]-1.*e[32]*e[16]*e[7]-1.*e[32]*e[15]*e[6]-1.*e[32]*e[9]*e[0]+e[32]*e[12]*e[3]+e[17]*e[30]*e[6]+e[17]*e[3]*e[33]+e[17]*e[31]*e[7]+e[17]*e[4]*e[34]+e[17]*e[5]*e[35]-1.*e[5]*e[27]*e[9]-1.*e[5]*e[28]*e[10]-1.*e[5]*e[33]*e[15]-1.*e[5]*e[34]*e[16]+e[5]*e[29]*e[11]+e[35]*e[12]*e[6]+e[35]*e[3]*e[15]+e[35]*e[13]*e[7]+e[35]*e[4]*e[16]+e[11]*e[27]*e[3]+e[11]*e[0]*e[30]+e[11]*e[28]*e[4]+e[11]*e[1]*e[31]+e[29]*e[9]*e[3]+e[29]*e[0]*e[12]+e[29]*e[10]*e[4]+e[29]*e[1]*e[13]+e[5]*e[30]*e[12]+3.*e[5]*e[32]*e[14]+e[5]*e[31]*e[13]+e[8]*e[30]*e[15]+e[8]*e[12]*e[33]+e[8]*e[32]*e[17]+e[8]*e[14]*e[35]+e[8]*e[31]*e[16]+e[8]*e[13]*e[34]+e[2]*e[27]*e[12]+e[2]*e[9]*e[30]+e[2]*e[29]*e[14]+e[2]*e[11]*e[32]+e[2]*e[28]*e[13]+e[2]*e[10]*e[31]-1.*e[14]*e[27]*e[0]-1.*e[14]*e[34]*e[7]-1.*e[14]*e[33]*e[6]+e[14]*e[30]*e[3]-1.*e[14]*e[28]*e[1]+e[14]*e[31]*e[4];
|
||||
A[22]=.5000000000*e[18]*ep2[29]+.5000000000*e[18]*ep2[28]+.5000000000*e[18]*ep2[30]+.5000000000*e[18]*ep2[33]-.5000000000*e[18]*ep2[32]-.5000000000*e[18]*ep2[31]-.5000000000*e[18]*ep2[34]-.5000000000*e[18]*ep2[35]+1.500000000*e[18]*ep2[27]+e[27]*e[28]*e[19]+e[27]*e[29]*e[20]+e[21]*e[27]*e[30]+e[21]*e[29]*e[32]+e[21]*e[28]*e[31]+e[30]*e[28]*e[22]+e[30]*e[19]*e[31]+e[30]*e[29]*e[23]+e[30]*e[20]*e[32]+e[24]*e[27]*e[33]+e[24]*e[29]*e[35]+e[24]*e[28]*e[34]+e[33]*e[28]*e[25]+e[33]*e[19]*e[34]+e[33]*e[29]*e[26]+e[33]*e[20]*e[35]-1.*e[27]*e[35]*e[26]-1.*e[27]*e[31]*e[22]-1.*e[27]*e[32]*e[23]-1.*e[27]*e[34]*e[25];
|
||||
A[132]=e[20]*e[1]*e[4]+e[20]*e[0]*e[3]+e[20]*e[2]*e[5]+e[5]*e[21]*e[3]+e[5]*e[22]*e[4]+e[8]*e[21]*e[6]+e[8]*e[3]*e[24]+e[8]*e[22]*e[7]+e[8]*e[4]*e[25]+e[8]*e[5]*e[26]+e[26]*e[4]*e[7]+e[26]*e[3]*e[6]+e[2]*e[18]*e[3]+e[2]*e[0]*e[21]+e[2]*e[19]*e[4]+e[2]*e[1]*e[22]-1.*e[5]*e[19]*e[1]-1.*e[5]*e[18]*e[0]-1.*e[5]*e[25]*e[7]-1.*e[5]*e[24]*e[6]+.5000000000*e[23]*ep2[4]-.5000000000*e[23]*ep2[0]-.5000000000*e[23]*ep2[6]+1.500000000*e[23]*ep2[5]-.5000000000*e[23]*ep2[1]-.5000000000*e[23]*ep2[7]+.5000000000*e[23]*ep2[3]+.5000000000*e[23]*ep2[2]+.5000000000*e[23]*ep2[8];
|
||||
A[23]=1.500000000*e[9]*ep2[27]+.5000000000*e[9]*ep2[29]+.5000000000*e[9]*ep2[28]-.5000000000*e[9]*ep2[32]-.5000000000*e[9]*ep2[31]+.5000000000*e[9]*ep2[33]+.5000000000*e[9]*ep2[30]-.5000000000*e[9]*ep2[34]-.5000000000*e[9]*ep2[35]+e[33]*e[27]*e[15]+e[33]*e[29]*e[17]+e[33]*e[11]*e[35]+e[33]*e[28]*e[16]+e[33]*e[10]*e[34]+e[27]*e[29]*e[11]+e[27]*e[28]*e[10]+e[27]*e[30]*e[12]-1.*e[27]*e[31]*e[13]-1.*e[27]*e[32]*e[14]-1.*e[27]*e[34]*e[16]-1.*e[27]*e[35]*e[17]+e[30]*e[29]*e[14]+e[30]*e[11]*e[32]+e[30]*e[28]*e[13]+e[30]*e[10]*e[31]+e[12]*e[29]*e[32]+e[12]*e[28]*e[31]+e[15]*e[29]*e[35]+e[15]*e[28]*e[34];
|
||||
A[133]=-1.*e[32]*e[24]*e[6]+e[8]*e[30]*e[24]+e[8]*e[21]*e[33]+e[8]*e[31]*e[25]+e[8]*e[22]*e[34]+e[26]*e[30]*e[6]+e[26]*e[3]*e[33]+e[26]*e[31]*e[7]+e[26]*e[4]*e[34]+e[26]*e[32]*e[8]+e[26]*e[5]*e[35]+e[35]*e[21]*e[6]+e[35]*e[3]*e[24]+e[35]*e[22]*e[7]+e[35]*e[4]*e[25]+e[35]*e[23]*e[8]+e[2]*e[27]*e[21]+e[2]*e[18]*e[30]+e[2]*e[28]*e[22]+e[2]*e[19]*e[31]+e[2]*e[29]*e[23]+e[2]*e[20]*e[32]+e[20]*e[27]*e[3]+e[20]*e[0]*e[30]+e[20]*e[28]*e[4]+e[20]*e[1]*e[31]+e[20]*e[29]*e[5]+e[29]*e[18]*e[3]+e[29]*e[0]*e[21]+e[29]*e[19]*e[4]+e[29]*e[1]*e[22]+e[5]*e[30]*e[21]+e[5]*e[31]*e[22]+3.*e[5]*e[32]*e[23]-1.*e[5]*e[27]*e[18]-1.*e[5]*e[33]*e[24]-1.*e[5]*e[28]*e[19]-1.*e[5]*e[34]*e[25]-1.*e[23]*e[27]*e[0]-1.*e[23]*e[34]*e[7]-1.*e[23]*e[33]*e[6]+e[23]*e[30]*e[3]-1.*e[23]*e[28]*e[1]+e[23]*e[31]*e[4]+e[32]*e[21]*e[3]-1.*e[32]*e[19]*e[1]+e[32]*e[22]*e[4]-1.*e[32]*e[18]*e[0]-1.*e[32]*e[25]*e[7];
|
||||
A[20]=.5000000000*e[27]*ep2[33]-.5000000000*e[27]*ep2[32]-.5000000000*e[27]*ep2[31]-.5000000000*e[27]*ep2[34]-.5000000000*e[27]*ep2[35]+e[33]*e[29]*e[35]+.5000000000*e[27]*ep2[29]+e[30]*e[29]*e[32]+e[30]*e[28]*e[31]+e[33]*e[28]*e[34]+.5000000000*e[27]*ep2[28]+.5000000000*e[27]*ep2[30]+.5000000000*ep3[27];
|
||||
A[134]=e[14]*e[21]*e[12]+e[14]*e[22]*e[13]+e[17]*e[21]*e[15]+e[17]*e[12]*e[24]+e[17]*e[14]*e[26]+e[17]*e[22]*e[16]+e[17]*e[13]*e[25]+e[26]*e[12]*e[15]+e[26]*e[13]*e[16]-1.*e[14]*e[24]*e[15]-1.*e[14]*e[25]*e[16]-1.*e[14]*e[18]*e[9]-1.*e[14]*e[19]*e[10]+e[11]*e[18]*e[12]+e[11]*e[9]*e[21]+e[11]*e[19]*e[13]+e[11]*e[10]*e[22]+e[20]*e[11]*e[14]+e[20]*e[9]*e[12]+e[20]*e[10]*e[13]+1.500000000*e[23]*ep2[14]+.5000000000*e[23]*ep2[12]+.5000000000*e[23]*ep2[13]+.5000000000*e[23]*ep2[17]+.5000000000*ep2[11]*e[23]-.5000000000*e[23]*ep2[16]-.5000000000*e[23]*ep2[9]-.5000000000*e[23]*ep2[15]-.5000000000*e[23]*ep2[10];
|
||||
A[21]=1.500000000*e[0]*ep2[27]+.5000000000*e[0]*ep2[29]+.5000000000*e[0]*ep2[28]+.5000000000*e[0]*ep2[30]-.5000000000*e[0]*ep2[32]-.5000000000*e[0]*ep2[31]+.5000000000*e[0]*ep2[33]-.5000000000*e[0]*ep2[34]-.5000000000*e[0]*ep2[35]-1.*e[27]*e[31]*e[4]+e[3]*e[27]*e[30]+e[3]*e[29]*e[32]+e[3]*e[28]*e[31]+e[30]*e[28]*e[4]+e[30]*e[1]*e[31]+e[30]*e[29]*e[5]+e[30]*e[2]*e[32]+e[6]*e[27]*e[33]+e[6]*e[29]*e[35]+e[6]*e[28]*e[34]+e[27]*e[28]*e[1]+e[27]*e[29]*e[2]+e[33]*e[28]*e[7]+e[33]*e[1]*e[34]+e[33]*e[29]*e[8]+e[33]*e[2]*e[35]-1.*e[27]*e[34]*e[7]-1.*e[27]*e[32]*e[5]-1.*e[27]*e[35]*e[8];
|
||||
A[135]=e[14]*e[12]*e[3]+e[14]*e[13]*e[4]+e[17]*e[12]*e[6]+e[17]*e[3]*e[15]+e[17]*e[13]*e[7]+e[17]*e[4]*e[16]+e[17]*e[14]*e[8]+e[8]*e[12]*e[15]+e[8]*e[13]*e[16]+e[2]*e[11]*e[14]+e[2]*e[9]*e[12]+e[2]*e[10]*e[13]+e[11]*e[9]*e[3]+e[11]*e[0]*e[12]+e[11]*e[10]*e[4]+e[11]*e[1]*e[13]-1.*e[14]*e[10]*e[1]-1.*e[14]*e[16]*e[7]-1.*e[14]*e[15]*e[6]-1.*e[14]*e[9]*e[0]-.5000000000*e[5]*ep2[16]-.5000000000*e[5]*ep2[9]+.5000000000*e[5]*ep2[11]+.5000000000*e[5]*ep2[12]-.5000000000*e[5]*ep2[15]-.5000000000*e[5]*ep2[10]+.5000000000*e[5]*ep2[13]+1.500000000*ep2[14]*e[5]+.5000000000*e[5]*ep2[17];
|
||||
A[27]=1.500000000*e[27]*ep2[9]-.5000000000*e[27]*ep2[16]+.5000000000*e[27]*ep2[11]+.5000000000*e[27]*ep2[12]+.5000000000*e[27]*ep2[15]-.5000000000*e[27]*ep2[17]+.5000000000*e[27]*ep2[10]-.5000000000*e[27]*ep2[14]-.5000000000*e[27]*ep2[13]+e[12]*e[10]*e[31]+e[30]*e[11]*e[14]+e[30]*e[10]*e[13]+e[15]*e[9]*e[33]+e[15]*e[29]*e[17]+e[15]*e[11]*e[35]+e[15]*e[28]*e[16]+e[15]*e[10]*e[34]+e[33]*e[11]*e[17]+e[33]*e[10]*e[16]-1.*e[9]*e[31]*e[13]-1.*e[9]*e[32]*e[14]-1.*e[9]*e[34]*e[16]-1.*e[9]*e[35]*e[17]+e[9]*e[29]*e[11]+e[9]*e[28]*e[10]+e[12]*e[9]*e[30]+e[12]*e[29]*e[14]+e[12]*e[11]*e[32]+e[12]*e[28]*e[13];
|
||||
A[137]=e[29]*e[18]*e[12]+e[29]*e[9]*e[21]+e[29]*e[19]*e[13]+e[29]*e[10]*e[22]+e[17]*e[30]*e[24]+e[17]*e[21]*e[33]+e[17]*e[31]*e[25]+e[17]*e[22]*e[34]+e[17]*e[32]*e[26]+e[17]*e[23]*e[35]-1.*e[23]*e[27]*e[9]-1.*e[23]*e[28]*e[10]-1.*e[23]*e[33]*e[15]-1.*e[23]*e[34]*e[16]-1.*e[32]*e[24]*e[15]-1.*e[32]*e[25]*e[16]-1.*e[32]*e[18]*e[9]-1.*e[32]*e[19]*e[10]+e[26]*e[30]*e[15]+e[26]*e[12]*e[33]+e[26]*e[31]*e[16]+e[26]*e[13]*e[34]+e[35]*e[21]*e[15]+e[35]*e[12]*e[24]+e[35]*e[22]*e[16]+e[35]*e[13]*e[25]+e[14]*e[30]*e[21]+e[14]*e[31]*e[22]+3.*e[14]*e[32]*e[23]+e[11]*e[27]*e[21]+e[11]*e[18]*e[30]+e[11]*e[28]*e[22]+e[11]*e[19]*e[31]+e[11]*e[29]*e[23]+e[11]*e[20]*e[32]+e[23]*e[30]*e[12]+e[23]*e[31]*e[13]+e[32]*e[21]*e[12]+e[32]*e[22]*e[13]-1.*e[14]*e[27]*e[18]-1.*e[14]*e[33]*e[24]+e[14]*e[29]*e[20]+e[14]*e[35]*e[26]-1.*e[14]*e[28]*e[19]-1.*e[14]*e[34]*e[25]+e[20]*e[27]*e[12]+e[20]*e[9]*e[30]+e[20]*e[28]*e[13]+e[20]*e[10]*e[31];
|
||||
A[26]=.5000000000*e[0]*ep2[1]+.5000000000*e[0]*ep2[2]+e[6]*e[2]*e[8]+e[6]*e[1]*e[7]+.5000000000*e[0]*ep2[3]+e[3]*e[1]*e[4]+.5000000000*e[0]*ep2[6]+e[3]*e[2]*e[5]-.5000000000*e[0]*ep2[5]-.5000000000*e[0]*ep2[8]+.5000000000*ep3[0]-.5000000000*e[0]*ep2[7]-.5000000000*e[0]*ep2[4];
|
||||
A[136]=1.500000000*ep2[23]*e[14]+.5000000000*e[14]*ep2[26]-.5000000000*e[14]*ep2[18]-.5000000000*e[14]*ep2[19]+.5000000000*e[14]*ep2[20]+.5000000000*e[14]*ep2[22]-.5000000000*e[14]*ep2[24]+.5000000000*e[14]*ep2[21]-.5000000000*e[14]*ep2[25]+e[23]*e[21]*e[12]+e[23]*e[22]*e[13]+e[26]*e[21]*e[15]+e[26]*e[12]*e[24]+e[26]*e[23]*e[17]+e[26]*e[22]*e[16]+e[26]*e[13]*e[25]+e[17]*e[22]*e[25]+e[17]*e[21]*e[24]+e[11]*e[19]*e[22]+e[11]*e[18]*e[21]+e[11]*e[20]*e[23]+e[20]*e[18]*e[12]+e[20]*e[9]*e[21]+e[20]*e[19]*e[13]+e[20]*e[10]*e[22]-1.*e[23]*e[24]*e[15]-1.*e[23]*e[25]*e[16]-1.*e[23]*e[18]*e[9]-1.*e[23]*e[19]*e[10];
|
||||
A[25]=1.500000000*e[27]*ep2[0]-.5000000000*e[27]*ep2[4]+.5000000000*e[27]*ep2[6]-.5000000000*e[27]*ep2[5]+.5000000000*e[27]*ep2[1]-.5000000000*e[27]*ep2[7]+.5000000000*e[27]*ep2[3]+.5000000000*e[27]*ep2[2]-.5000000000*e[27]*ep2[8]+e[0]*e[33]*e[6]+e[0]*e[30]*e[3]-1.*e[0]*e[35]*e[8]-1.*e[0]*e[31]*e[4]+e[3]*e[28]*e[4]+e[3]*e[1]*e[31]+e[3]*e[29]*e[5]+e[3]*e[2]*e[32]+e[30]*e[1]*e[4]+e[30]*e[2]*e[5]+e[6]*e[28]*e[7]+e[6]*e[1]*e[34]+e[6]*e[29]*e[8]+e[6]*e[2]*e[35]+e[33]*e[1]*e[7]+e[33]*e[2]*e[8]+e[0]*e[28]*e[1]+e[0]*e[29]*e[2]-1.*e[0]*e[34]*e[7]-1.*e[0]*e[32]*e[5];
|
||||
A[139]=e[8]*e[22]*e[25]+e[8]*e[21]*e[24]+e[20]*e[18]*e[3]+e[20]*e[0]*e[21]+e[20]*e[19]*e[4]+e[20]*e[1]*e[22]+e[20]*e[2]*e[23]+e[23]*e[21]*e[3]+e[23]*e[22]*e[4]+e[23]*e[26]*e[8]-1.*e[23]*e[19]*e[1]-1.*e[23]*e[18]*e[0]-1.*e[23]*e[25]*e[7]-1.*e[23]*e[24]*e[6]+e[2]*e[19]*e[22]+e[2]*e[18]*e[21]+e[26]*e[21]*e[6]+e[26]*e[3]*e[24]+e[26]*e[22]*e[7]+e[26]*e[4]*e[25]+.5000000000*ep2[20]*e[5]+1.500000000*ep2[23]*e[5]+.5000000000*e[5]*ep2[22]+.5000000000*e[5]*ep2[21]+.5000000000*e[5]*ep2[26]-.5000000000*e[5]*ep2[18]-.5000000000*e[5]*ep2[19]-.5000000000*e[5]*ep2[24]-.5000000000*e[5]*ep2[25];
|
||||
A[24]=e[24]*e[11]*e[8]+e[24]*e[2]*e[17]+3.*e[9]*e[18]*e[0]+e[9]*e[19]*e[1]+e[9]*e[20]*e[2]+e[18]*e[10]*e[1]+e[18]*e[11]*e[2]+e[3]*e[18]*e[12]+e[3]*e[9]*e[21]+e[3]*e[20]*e[14]+e[3]*e[11]*e[23]+e[3]*e[19]*e[13]+e[3]*e[10]*e[22]+e[6]*e[18]*e[15]+e[6]*e[9]*e[24]+e[6]*e[20]*e[17]+e[6]*e[11]*e[26]+e[6]*e[19]*e[16]+e[6]*e[10]*e[25]+e[0]*e[20]*e[11]+e[0]*e[19]*e[10]-1.*e[9]*e[26]*e[8]-1.*e[9]*e[22]*e[4]-1.*e[9]*e[25]*e[7]-1.*e[9]*e[23]*e[5]+e[12]*e[0]*e[21]+e[12]*e[19]*e[4]+e[12]*e[1]*e[22]+e[12]*e[20]*e[5]+e[12]*e[2]*e[23]-1.*e[18]*e[13]*e[4]-1.*e[18]*e[16]*e[7]-1.*e[18]*e[14]*e[5]-1.*e[18]*e[17]*e[8]+e[21]*e[10]*e[4]+e[21]*e[1]*e[13]+e[21]*e[11]*e[5]+e[21]*e[2]*e[14]+e[15]*e[0]*e[24]+e[15]*e[19]*e[7]+e[15]*e[1]*e[25]+e[15]*e[20]*e[8]+e[15]*e[2]*e[26]-1.*e[0]*e[23]*e[14]-1.*e[0]*e[25]*e[16]-1.*e[0]*e[26]*e[17]-1.*e[0]*e[22]*e[13]+e[24]*e[10]*e[7]+e[24]*e[1]*e[16];
|
||||
A[138]=e[11]*e[1]*e[4]+e[11]*e[0]*e[3]+e[11]*e[2]*e[5]+e[5]*e[12]*e[3]+e[5]*e[13]*e[4]+e[8]*e[12]*e[6]+e[8]*e[3]*e[15]+e[8]*e[13]*e[7]+e[8]*e[4]*e[16]+e[8]*e[5]*e[17]+e[17]*e[4]*e[7]+e[17]*e[3]*e[6]-1.*e[5]*e[10]*e[1]-1.*e[5]*e[16]*e[7]-1.*e[5]*e[15]*e[6]-1.*e[5]*e[9]*e[0]+e[2]*e[9]*e[3]+e[2]*e[0]*e[12]+e[2]*e[10]*e[4]+e[2]*e[1]*e[13]+.5000000000*ep2[2]*e[14]-.5000000000*e[14]*ep2[0]-.5000000000*e[14]*ep2[6]-.5000000000*e[14]*ep2[1]-.5000000000*e[14]*ep2[7]+1.500000000*e[14]*ep2[5]+.5000000000*e[14]*ep2[4]+.5000000000*e[14]*ep2[3]+.5000000000*e[14]*ep2[8];
|
||||
A[31]=e[3]*e[27]*e[12]+e[3]*e[9]*e[30]+e[3]*e[29]*e[14]+e[3]*e[11]*e[32]+e[3]*e[28]*e[13]+e[3]*e[10]*e[31]+e[6]*e[27]*e[15]+e[6]*e[9]*e[33]+e[6]*e[29]*e[17]+e[6]*e[11]*e[35]+e[6]*e[28]*e[16]+e[6]*e[10]*e[34]+3.*e[0]*e[27]*e[9]+e[0]*e[29]*e[11]+e[0]*e[28]*e[10]-1.*e[9]*e[34]*e[7]-1.*e[9]*e[32]*e[5]-1.*e[9]*e[35]*e[8]+e[9]*e[29]*e[2]+e[9]*e[28]*e[1]-1.*e[9]*e[31]*e[4]+e[12]*e[0]*e[30]+e[12]*e[28]*e[4]+e[12]*e[1]*e[31]+e[12]*e[29]*e[5]+e[12]*e[2]*e[32]+e[27]*e[11]*e[2]+e[27]*e[10]*e[1]-1.*e[27]*e[13]*e[4]-1.*e[27]*e[16]*e[7]-1.*e[27]*e[14]*e[5]-1.*e[27]*e[17]*e[8]+e[30]*e[10]*e[4]+e[30]*e[1]*e[13]+e[30]*e[11]*e[5]+e[30]*e[2]*e[14]+e[15]*e[0]*e[33]+e[15]*e[28]*e[7]+e[15]*e[1]*e[34]+e[15]*e[29]*e[8]+e[15]*e[2]*e[35]-1.*e[0]*e[31]*e[13]-1.*e[0]*e[32]*e[14]-1.*e[0]*e[34]*e[16]-1.*e[0]*e[35]*e[17]+e[33]*e[10]*e[7]+e[33]*e[1]*e[16]+e[33]*e[11]*e[8]+e[33]*e[2]*e[17];
|
||||
A[141]=.5000000000*ep2[30]*e[6]+.5000000000*e[6]*ep2[27]-.5000000000*e[6]*ep2[32]-.5000000000*e[6]*ep2[28]-.5000000000*e[6]*ep2[29]-.5000000000*e[6]*ep2[31]+1.500000000*e[6]*ep2[33]+.5000000000*e[6]*ep2[34]+.5000000000*e[6]*ep2[35]+e[0]*e[27]*e[33]+e[0]*e[29]*e[35]+e[0]*e[28]*e[34]+e[3]*e[30]*e[33]+e[3]*e[32]*e[35]+e[3]*e[31]*e[34]+e[30]*e[31]*e[7]+e[30]*e[4]*e[34]+e[30]*e[32]*e[8]+e[30]*e[5]*e[35]+e[27]*e[28]*e[7]+e[27]*e[1]*e[34]+e[27]*e[29]*e[8]+e[27]*e[2]*e[35]+e[33]*e[34]*e[7]+e[33]*e[35]*e[8]-1.*e[33]*e[32]*e[5]-1.*e[33]*e[29]*e[2]-1.*e[33]*e[28]*e[1]-1.*e[33]*e[31]*e[4];
|
||||
A[30]=e[24]*e[20]*e[26]+e[21]*e[19]*e[22]-.5000000000*e[18]*ep2[22]-.5000000000*e[18]*ep2[25]+.5000000000*ep3[18]+.5000000000*e[18]*ep2[21]+e[21]*e[20]*e[23]+.5000000000*e[18]*ep2[20]+.5000000000*e[18]*ep2[19]+.5000000000*e[18]*ep2[24]+e[24]*e[19]*e[25]-.5000000000*e[18]*ep2[23]-.5000000000*e[18]*ep2[26];
|
||||
A[140]=.5000000000*e[33]*ep2[35]+.5000000000*ep3[33]+.5000000000*ep2[27]*e[33]+.5000000000*ep2[30]*e[33]-.5000000000*e[33]*ep2[29]+.5000000000*e[33]*ep2[34]-.5000000000*e[33]*ep2[32]-.5000000000*e[33]*ep2[28]+e[30]*e[32]*e[35]-.5000000000*e[33]*ep2[31]+e[27]*e[29]*e[35]+e[27]*e[28]*e[34]+e[30]*e[31]*e[34];
|
||||
A[29]=1.500000000*e[27]*ep2[18]+.5000000000*e[27]*ep2[19]+.5000000000*e[27]*ep2[20]+.5000000000*e[27]*ep2[21]+.5000000000*e[27]*ep2[24]-.5000000000*e[27]*ep2[26]-.5000000000*e[27]*ep2[23]-.5000000000*e[27]*ep2[22]-.5000000000*e[27]*ep2[25]+e[33]*e[20]*e[26]-1.*e[18]*e[35]*e[26]-1.*e[18]*e[31]*e[22]-1.*e[18]*e[32]*e[23]-1.*e[18]*e[34]*e[25]+e[18]*e[28]*e[19]+e[18]*e[29]*e[20]+e[21]*e[18]*e[30]+e[21]*e[28]*e[22]+e[21]*e[19]*e[31]+e[21]*e[29]*e[23]+e[21]*e[20]*e[32]+e[30]*e[19]*e[22]+e[30]*e[20]*e[23]+e[24]*e[18]*e[33]+e[24]*e[28]*e[25]+e[24]*e[19]*e[34]+e[24]*e[29]*e[26]+e[24]*e[20]*e[35]+e[33]*e[19]*e[25];
|
||||
A[143]=e[9]*e[27]*e[33]+e[9]*e[29]*e[35]+e[9]*e[28]*e[34]+e[33]*e[35]*e[17]+e[33]*e[34]*e[16]+e[27]*e[29]*e[17]+e[27]*e[11]*e[35]+e[27]*e[28]*e[16]+e[27]*e[10]*e[34]+e[33]*e[30]*e[12]-1.*e[33]*e[28]*e[10]-1.*e[33]*e[31]*e[13]-1.*e[33]*e[32]*e[14]-1.*e[33]*e[29]*e[11]+e[30]*e[32]*e[17]+e[30]*e[14]*e[35]+e[30]*e[31]*e[16]+e[30]*e[13]*e[34]+e[12]*e[32]*e[35]+e[12]*e[31]*e[34]+.5000000000*e[15]*ep2[27]-.5000000000*e[15]*ep2[32]-.5000000000*e[15]*ep2[28]-.5000000000*e[15]*ep2[29]-.5000000000*e[15]*ep2[31]+1.500000000*e[15]*ep2[33]+.5000000000*e[15]*ep2[30]+.5000000000*e[15]*ep2[34]+.5000000000*e[15]*ep2[35];
|
||||
A[28]=.5000000000*e[9]*ep2[12]-.5000000000*e[9]*ep2[16]+.5000000000*e[9]*ep2[10]-.5000000000*e[9]*ep2[17]-.5000000000*e[9]*ep2[13]+e[15]*e[10]*e[16]+e[12]*e[11]*e[14]+.5000000000*e[9]*ep2[11]+.5000000000*e[9]*ep2[15]-.5000000000*e[9]*ep2[14]+e[15]*e[11]*e[17]+.5000000000*ep3[9]+e[12]*e[10]*e[13];
|
||||
A[142]=e[18]*e[27]*e[33]+e[18]*e[29]*e[35]+e[18]*e[28]*e[34]+e[27]*e[28]*e[25]+e[27]*e[19]*e[34]+e[27]*e[29]*e[26]+e[27]*e[20]*e[35]+e[21]*e[30]*e[33]+e[21]*e[32]*e[35]+e[21]*e[31]*e[34]+e[30]*e[31]*e[25]+e[30]*e[22]*e[34]+e[30]*e[32]*e[26]+e[30]*e[23]*e[35]+e[33]*e[34]*e[25]+e[33]*e[35]*e[26]-1.*e[33]*e[29]*e[20]-1.*e[33]*e[31]*e[22]-1.*e[33]*e[32]*e[23]-1.*e[33]*e[28]*e[19]+.5000000000*ep2[27]*e[24]+.5000000000*ep2[30]*e[24]+1.500000000*e[24]*ep2[33]+.5000000000*e[24]*ep2[35]+.5000000000*e[24]*ep2[34]-.5000000000*e[24]*ep2[32]-.5000000000*e[24]*ep2[28]-.5000000000*e[24]*ep2[29]-.5000000000*e[24]*ep2[31];
|
||||
A[36]=.5000000000*e[9]*ep2[21]+.5000000000*e[9]*ep2[24]+.5000000000*e[9]*ep2[19]+1.500000000*e[9]*ep2[18]+.5000000000*e[9]*ep2[20]-.5000000000*e[9]*ep2[26]-.5000000000*e[9]*ep2[23]-.5000000000*e[9]*ep2[22]-.5000000000*e[9]*ep2[25]+e[21]*e[18]*e[12]+e[21]*e[20]*e[14]+e[21]*e[11]*e[23]+e[21]*e[19]*e[13]+e[21]*e[10]*e[22]+e[24]*e[18]*e[15]+e[24]*e[20]*e[17]+e[24]*e[11]*e[26]+e[24]*e[19]*e[16]+e[24]*e[10]*e[25]+e[15]*e[19]*e[25]+e[15]*e[20]*e[26]+e[12]*e[19]*e[22]+e[12]*e[20]*e[23]+e[18]*e[20]*e[11]+e[18]*e[19]*e[10]-1.*e[18]*e[23]*e[14]-1.*e[18]*e[25]*e[16]-1.*e[18]*e[26]*e[17]-1.*e[18]*e[22]*e[13];
|
||||
A[182]=.5000000000*ep2[29]*e[26]+.5000000000*ep2[32]*e[26]+.5000000000*e[26]*ep2[33]+1.500000000*e[26]*ep2[35]+.5000000000*e[26]*ep2[34]-.5000000000*e[26]*ep2[27]-.5000000000*e[26]*ep2[28]-.5000000000*e[26]*ep2[31]-.5000000000*e[26]*ep2[30]+e[20]*e[27]*e[33]+e[20]*e[29]*e[35]+e[20]*e[28]*e[34]+e[29]*e[27]*e[24]+e[29]*e[18]*e[33]+e[29]*e[28]*e[25]+e[29]*e[19]*e[34]+e[23]*e[30]*e[33]+e[23]*e[32]*e[35]+e[23]*e[31]*e[34]+e[32]*e[30]*e[24]+e[32]*e[21]*e[33]+e[32]*e[31]*e[25]+e[32]*e[22]*e[34]+e[35]*e[33]*e[24]+e[35]*e[34]*e[25]-1.*e[35]*e[27]*e[18]-1.*e[35]*e[30]*e[21]-1.*e[35]*e[31]*e[22]-1.*e[35]*e[28]*e[19];
|
||||
A[37]=e[12]*e[19]*e[31]+e[12]*e[29]*e[23]+e[12]*e[20]*e[32]+3.*e[9]*e[27]*e[18]+e[9]*e[28]*e[19]+e[9]*e[29]*e[20]+e[21]*e[9]*e[30]+e[21]*e[29]*e[14]+e[21]*e[11]*e[32]+e[21]*e[28]*e[13]+e[21]*e[10]*e[31]+e[30]*e[20]*e[14]+e[30]*e[11]*e[23]+e[30]*e[19]*e[13]+e[30]*e[10]*e[22]+e[9]*e[33]*e[24]-1.*e[9]*e[35]*e[26]-1.*e[9]*e[31]*e[22]-1.*e[9]*e[32]*e[23]-1.*e[9]*e[34]*e[25]+e[18]*e[29]*e[11]+e[18]*e[28]*e[10]+e[27]*e[20]*e[11]+e[27]*e[19]*e[10]+e[15]*e[27]*e[24]+e[15]*e[18]*e[33]+e[15]*e[28]*e[25]+e[15]*e[19]*e[34]+e[15]*e[29]*e[26]+e[15]*e[20]*e[35]-1.*e[18]*e[31]*e[13]-1.*e[18]*e[32]*e[14]-1.*e[18]*e[34]*e[16]-1.*e[18]*e[35]*e[17]-1.*e[27]*e[23]*e[14]-1.*e[27]*e[25]*e[16]-1.*e[27]*e[26]*e[17]-1.*e[27]*e[22]*e[13]+e[24]*e[29]*e[17]+e[24]*e[11]*e[35]+e[24]*e[28]*e[16]+e[24]*e[10]*e[34]+e[33]*e[20]*e[17]+e[33]*e[11]*e[26]+e[33]*e[19]*e[16]+e[33]*e[10]*e[25]+e[12]*e[27]*e[21]+e[12]*e[18]*e[30]+e[12]*e[28]*e[22];
|
||||
A[183]=-.5000000000*e[17]*ep2[27]+.5000000000*e[17]*ep2[32]-.5000000000*e[17]*ep2[28]+.5000000000*e[17]*ep2[29]-.5000000000*e[17]*ep2[31]+.5000000000*e[17]*ep2[33]-.5000000000*e[17]*ep2[30]+.5000000000*e[17]*ep2[34]+1.500000000*e[17]*ep2[35]+e[32]*e[30]*e[15]+e[32]*e[12]*e[33]+e[32]*e[31]*e[16]+e[32]*e[13]*e[34]+e[14]*e[30]*e[33]+e[14]*e[31]*e[34]+e[11]*e[27]*e[33]+e[11]*e[29]*e[35]+e[11]*e[28]*e[34]+e[35]*e[33]*e[15]+e[35]*e[34]*e[16]+e[29]*e[27]*e[15]+e[29]*e[9]*e[33]+e[29]*e[28]*e[16]+e[29]*e[10]*e[34]-1.*e[35]*e[27]*e[9]-1.*e[35]*e[30]*e[12]-1.*e[35]*e[28]*e[10]-1.*e[35]*e[31]*e[13]+e[35]*e[32]*e[14];
|
||||
A[38]=.5000000000*e[9]*ep2[1]+1.500000000*e[9]*ep2[0]+.5000000000*e[9]*ep2[2]+.5000000000*e[9]*ep2[3]+.5000000000*e[9]*ep2[6]-.5000000000*e[9]*ep2[4]-.5000000000*e[9]*ep2[5]-.5000000000*e[9]*ep2[7]-.5000000000*e[9]*ep2[8]+e[6]*e[0]*e[15]+e[6]*e[10]*e[7]+e[6]*e[1]*e[16]+e[6]*e[11]*e[8]+e[6]*e[2]*e[17]+e[15]*e[1]*e[7]+e[15]*e[2]*e[8]+e[0]*e[11]*e[2]+e[0]*e[10]*e[1]-1.*e[0]*e[13]*e[4]-1.*e[0]*e[16]*e[7]-1.*e[0]*e[14]*e[5]-1.*e[0]*e[17]*e[8]+e[3]*e[0]*e[12]+e[3]*e[10]*e[4]+e[3]*e[1]*e[13]+e[3]*e[11]*e[5]+e[3]*e[2]*e[14]+e[12]*e[1]*e[4]+e[12]*e[2]*e[5];
|
||||
A[180]=.5000000000*e[35]*ep2[33]+.5000000000*e[35]*ep2[34]-.5000000000*e[35]*ep2[27]-.5000000000*e[35]*ep2[28]-.5000000000*e[35]*ep2[31]-.5000000000*e[35]*ep2[30]+e[32]*e[31]*e[34]+.5000000000*ep2[29]*e[35]+.5000000000*ep2[32]*e[35]+e[29]*e[28]*e[34]+e[32]*e[30]*e[33]+.5000000000*ep3[35]+e[29]*e[27]*e[33];
|
||||
A[39]=.5000000000*e[0]*ep2[19]+.5000000000*e[0]*ep2[20]+.5000000000*e[0]*ep2[24]-.5000000000*e[0]*ep2[26]-.5000000000*e[0]*ep2[23]-.5000000000*e[0]*ep2[22]-.5000000000*e[0]*ep2[25]+1.500000000*ep2[18]*e[0]+.5000000000*e[0]*ep2[21]+e[18]*e[19]*e[1]+e[18]*e[20]*e[2]+e[21]*e[18]*e[3]+e[21]*e[19]*e[4]+e[21]*e[1]*e[22]+e[21]*e[20]*e[5]+e[21]*e[2]*e[23]-1.*e[18]*e[26]*e[8]-1.*e[18]*e[22]*e[4]-1.*e[18]*e[25]*e[7]-1.*e[18]*e[23]*e[5]+e[18]*e[24]*e[6]+e[3]*e[19]*e[22]+e[3]*e[20]*e[23]+e[24]*e[19]*e[7]+e[24]*e[1]*e[25]+e[24]*e[20]*e[8]+e[24]*e[2]*e[26]+e[6]*e[19]*e[25]+e[6]*e[20]*e[26];
|
||||
A[181]=.5000000000*ep2[32]*e[8]-.5000000000*e[8]*ep2[27]-.5000000000*e[8]*ep2[28]+.5000000000*e[8]*ep2[29]-.5000000000*e[8]*ep2[31]+.5000000000*e[8]*ep2[33]-.5000000000*e[8]*ep2[30]+.5000000000*e[8]*ep2[34]+1.500000000*e[8]*ep2[35]+e[2]*e[27]*e[33]+e[2]*e[29]*e[35]+e[2]*e[28]*e[34]+e[5]*e[30]*e[33]+e[5]*e[32]*e[35]+e[5]*e[31]*e[34]+e[32]*e[30]*e[6]+e[32]*e[3]*e[33]+e[32]*e[31]*e[7]+e[32]*e[4]*e[34]+e[29]*e[27]*e[6]+e[29]*e[0]*e[33]+e[29]*e[28]*e[7]+e[29]*e[1]*e[34]+e[35]*e[33]*e[6]+e[35]*e[34]*e[7]-1.*e[35]*e[27]*e[0]-1.*e[35]*e[30]*e[3]-1.*e[35]*e[28]*e[1]-1.*e[35]*e[31]*e[4];
|
||||
A[32]=-.5000000000*e[18]*ep2[4]+1.500000000*e[18]*ep2[0]+.5000000000*e[18]*ep2[6]-.5000000000*e[18]*ep2[5]+.5000000000*e[18]*ep2[1]-.5000000000*e[18]*ep2[7]+.5000000000*e[18]*ep2[3]+.5000000000*e[18]*ep2[2]-.5000000000*e[18]*ep2[8]+e[3]*e[0]*e[21]+e[3]*e[19]*e[4]+e[3]*e[1]*e[22]+e[3]*e[20]*e[5]+e[3]*e[2]*e[23]+e[21]*e[1]*e[4]+e[21]*e[2]*e[5]+e[6]*e[0]*e[24]+e[6]*e[19]*e[7]+e[6]*e[1]*e[25]+e[6]*e[20]*e[8]+e[6]*e[2]*e[26]+e[24]*e[1]*e[7]+e[24]*e[2]*e[8]+e[0]*e[19]*e[1]+e[0]*e[20]*e[2]-1.*e[0]*e[26]*e[8]-1.*e[0]*e[22]*e[4]-1.*e[0]*e[25]*e[7]-1.*e[0]*e[23]*e[5];
|
||||
A[178]=e[10]*e[1]*e[7]+e[10]*e[0]*e[6]+e[10]*e[2]*e[8]+e[4]*e[12]*e[6]+e[4]*e[3]*e[15]+e[4]*e[13]*e[7]+e[4]*e[14]*e[8]+e[4]*e[5]*e[17]+e[13]*e[3]*e[6]+e[13]*e[5]*e[8]+e[7]*e[15]*e[6]+e[7]*e[17]*e[8]-1.*e[7]*e[11]*e[2]-1.*e[7]*e[9]*e[0]-1.*e[7]*e[14]*e[5]-1.*e[7]*e[12]*e[3]+e[1]*e[9]*e[6]+e[1]*e[0]*e[15]+e[1]*e[11]*e[8]+e[1]*e[2]*e[17]+1.500000000*e[16]*ep2[7]+.5000000000*e[16]*ep2[6]+.5000000000*e[16]*ep2[8]+.5000000000*ep2[1]*e[16]-.5000000000*e[16]*ep2[0]-.5000000000*e[16]*ep2[5]-.5000000000*e[16]*ep2[3]-.5000000000*e[16]*ep2[2]+.5000000000*ep2[4]*e[16];
|
||||
A[33]=e[0]*e[30]*e[21]-1.*e[0]*e[35]*e[26]-1.*e[0]*e[31]*e[22]-1.*e[0]*e[32]*e[23]-1.*e[0]*e[34]*e[25]-1.*e[18]*e[34]*e[7]-1.*e[18]*e[32]*e[5]-1.*e[18]*e[35]*e[8]-1.*e[18]*e[31]*e[4]-1.*e[27]*e[26]*e[8]-1.*e[27]*e[22]*e[4]-1.*e[27]*e[25]*e[7]-1.*e[27]*e[23]*e[5]+e[6]*e[28]*e[25]+e[6]*e[19]*e[34]+e[6]*e[29]*e[26]+e[6]*e[20]*e[35]+e[21]*e[28]*e[4]+e[21]*e[1]*e[31]+e[21]*e[29]*e[5]+e[21]*e[2]*e[32]+e[30]*e[19]*e[4]+e[30]*e[1]*e[22]+e[30]*e[20]*e[5]+e[30]*e[2]*e[23]+e[24]*e[27]*e[6]+e[24]*e[0]*e[33]+e[24]*e[28]*e[7]+e[24]*e[1]*e[34]+e[24]*e[29]*e[8]+e[24]*e[2]*e[35]+e[33]*e[18]*e[6]+e[33]*e[19]*e[7]+e[33]*e[1]*e[25]+e[33]*e[20]*e[8]+e[33]*e[2]*e[26]+3.*e[0]*e[27]*e[18]+e[0]*e[28]*e[19]+e[0]*e[29]*e[20]+e[18]*e[28]*e[1]+e[18]*e[29]*e[2]+e[27]*e[19]*e[1]+e[27]*e[20]*e[2]+e[3]*e[27]*e[21]+e[3]*e[18]*e[30]+e[3]*e[28]*e[22]+e[3]*e[19]*e[31]+e[3]*e[29]*e[23]+e[3]*e[20]*e[32];
|
||||
A[179]=e[19]*e[18]*e[6]+e[19]*e[0]*e[24]+e[19]*e[1]*e[25]+e[19]*e[20]*e[8]+e[19]*e[2]*e[26]+e[22]*e[21]*e[6]+e[22]*e[3]*e[24]+e[22]*e[4]*e[25]+e[22]*e[23]*e[8]+e[22]*e[5]*e[26]-1.*e[25]*e[21]*e[3]+e[25]*e[26]*e[8]-1.*e[25]*e[20]*e[2]-1.*e[25]*e[18]*e[0]-1.*e[25]*e[23]*e[5]+e[25]*e[24]*e[6]+e[1]*e[18]*e[24]+e[1]*e[20]*e[26]+e[4]*e[21]*e[24]+e[4]*e[23]*e[26]+.5000000000*ep2[19]*e[7]+.5000000000*ep2[22]*e[7]+1.500000000*ep2[25]*e[7]+.5000000000*e[7]*ep2[26]-.5000000000*e[7]*ep2[18]-.5000000000*e[7]*ep2[23]-.5000000000*e[7]*ep2[20]+.5000000000*e[7]*ep2[24]-.5000000000*e[7]*ep2[21];
|
||||
A[34]=.5000000000*e[18]*ep2[11]+1.500000000*e[18]*ep2[9]+.5000000000*e[18]*ep2[10]+.5000000000*e[18]*ep2[12]+.5000000000*e[18]*ep2[15]-.5000000000*e[18]*ep2[16]-.5000000000*e[18]*ep2[17]-.5000000000*e[18]*ep2[14]-.5000000000*e[18]*ep2[13]+e[12]*e[9]*e[21]+e[12]*e[20]*e[14]+e[12]*e[11]*e[23]+e[12]*e[19]*e[13]+e[12]*e[10]*e[22]+e[21]*e[11]*e[14]+e[21]*e[10]*e[13]+e[15]*e[9]*e[24]+e[15]*e[20]*e[17]+e[15]*e[11]*e[26]+e[15]*e[19]*e[16]+e[15]*e[10]*e[25]+e[24]*e[11]*e[17]+e[24]*e[10]*e[16]-1.*e[9]*e[23]*e[14]-1.*e[9]*e[25]*e[16]-1.*e[9]*e[26]*e[17]+e[9]*e[20]*e[11]+e[9]*e[19]*e[10]-1.*e[9]*e[22]*e[13];
|
||||
A[176]=e[13]*e[21]*e[24]+e[13]*e[23]*e[26]+e[19]*e[18]*e[15]+e[19]*e[9]*e[24]+e[19]*e[20]*e[17]+e[19]*e[11]*e[26]-1.*e[25]*e[23]*e[14]-1.*e[25]*e[20]*e[11]-1.*e[25]*e[18]*e[9]-1.*e[25]*e[21]*e[12]+e[22]*e[21]*e[15]+e[22]*e[12]*e[24]+e[22]*e[23]*e[17]+e[22]*e[14]*e[26]+e[22]*e[13]*e[25]+e[25]*e[24]*e[15]+e[25]*e[26]*e[17]+e[10]*e[19]*e[25]+e[10]*e[18]*e[24]+e[10]*e[20]*e[26]-.5000000000*e[16]*ep2[18]-.5000000000*e[16]*ep2[23]+.5000000000*e[16]*ep2[19]-.5000000000*e[16]*ep2[20]-.5000000000*e[16]*ep2[21]+.5000000000*ep2[22]*e[16]+1.500000000*ep2[25]*e[16]+.5000000000*e[16]*ep2[24]+.5000000000*e[16]*ep2[26];
|
||||
A[35]=.5000000000*e[0]*ep2[12]+.5000000000*e[0]*ep2[15]+.5000000000*e[0]*ep2[11]+1.500000000*e[0]*ep2[9]+.5000000000*e[0]*ep2[10]-.5000000000*e[0]*ep2[16]-.5000000000*e[0]*ep2[17]-.5000000000*e[0]*ep2[14]-.5000000000*e[0]*ep2[13]+e[12]*e[9]*e[3]+e[12]*e[10]*e[4]+e[12]*e[1]*e[13]+e[12]*e[11]*e[5]+e[12]*e[2]*e[14]+e[15]*e[9]*e[6]+e[15]*e[10]*e[7]+e[15]*e[1]*e[16]+e[15]*e[11]*e[8]+e[15]*e[2]*e[17]+e[6]*e[11]*e[17]+e[6]*e[10]*e[16]+e[3]*e[11]*e[14]+e[3]*e[10]*e[13]+e[9]*e[10]*e[1]+e[9]*e[11]*e[2]-1.*e[9]*e[13]*e[4]-1.*e[9]*e[16]*e[7]-1.*e[9]*e[14]*e[5]-1.*e[9]*e[17]*e[8];
|
||||
A[177]=e[19]*e[11]*e[35]+e[28]*e[18]*e[15]+e[28]*e[9]*e[24]+e[28]*e[20]*e[17]+e[28]*e[11]*e[26]-1.*e[25]*e[27]*e[9]-1.*e[25]*e[30]*e[12]-1.*e[25]*e[32]*e[14]+e[25]*e[33]*e[15]+e[25]*e[35]*e[17]-1.*e[25]*e[29]*e[11]-1.*e[34]*e[23]*e[14]+e[34]*e[24]*e[15]+e[34]*e[26]*e[17]-1.*e[34]*e[20]*e[11]-1.*e[34]*e[18]*e[9]-1.*e[34]*e[21]*e[12]+e[13]*e[30]*e[24]+e[13]*e[21]*e[33]+e[13]*e[31]*e[25]+e[13]*e[22]*e[34]+e[13]*e[32]*e[26]+e[13]*e[23]*e[35]+e[10]*e[27]*e[24]+e[10]*e[18]*e[33]+e[10]*e[28]*e[25]+e[10]*e[19]*e[34]+e[10]*e[29]*e[26]+e[10]*e[20]*e[35]+e[22]*e[30]*e[15]+e[22]*e[12]*e[33]+e[22]*e[32]*e[17]+e[22]*e[14]*e[35]+e[22]*e[31]*e[16]+e[31]*e[21]*e[15]+e[31]*e[12]*e[24]+e[31]*e[23]*e[17]+e[31]*e[14]*e[26]-1.*e[16]*e[27]*e[18]+e[16]*e[33]*e[24]-1.*e[16]*e[30]*e[21]-1.*e[16]*e[29]*e[20]+e[16]*e[35]*e[26]-1.*e[16]*e[32]*e[23]+e[16]*e[28]*e[19]+3.*e[16]*e[34]*e[25]+e[19]*e[27]*e[15]+e[19]*e[9]*e[33]+e[19]*e[29]*e[17];
|
||||
A[45]=e[4]*e[27]*e[3]+e[4]*e[0]*e[30]+e[4]*e[29]*e[5]+e[4]*e[2]*e[32]+e[31]*e[0]*e[3]+e[31]*e[2]*e[5]+e[7]*e[27]*e[6]+e[7]*e[0]*e[33]+e[7]*e[29]*e[8]+e[7]*e[2]*e[35]+e[34]*e[0]*e[6]+e[34]*e[2]*e[8]+e[1]*e[27]*e[0]+e[1]*e[29]*e[2]+e[1]*e[34]*e[7]-1.*e[1]*e[32]*e[5]-1.*e[1]*e[33]*e[6]-1.*e[1]*e[30]*e[3]-1.*e[1]*e[35]*e[8]+e[1]*e[31]*e[4]+1.500000000*e[28]*ep2[1]+.5000000000*e[28]*ep2[4]+.5000000000*e[28]*ep2[0]-.5000000000*e[28]*ep2[6]-.5000000000*e[28]*ep2[5]+.5000000000*e[28]*ep2[7]-.5000000000*e[28]*ep2[3]+.5000000000*e[28]*ep2[2]-.5000000000*e[28]*ep2[8];
|
||||
A[191]=-1.*e[35]*e[10]*e[1]-1.*e[35]*e[13]*e[4]+e[35]*e[16]*e[7]+e[35]*e[15]*e[6]-1.*e[35]*e[9]*e[0]-1.*e[35]*e[12]*e[3]+e[32]*e[12]*e[6]+e[32]*e[3]*e[15]+e[32]*e[13]*e[7]+e[32]*e[4]*e[16]-1.*e[8]*e[27]*e[9]-1.*e[8]*e[30]*e[12]-1.*e[8]*e[28]*e[10]-1.*e[8]*e[31]*e[13]+e[8]*e[29]*e[11]+e[11]*e[27]*e[6]+e[11]*e[0]*e[33]+e[11]*e[28]*e[7]+e[11]*e[1]*e[34]+e[29]*e[9]*e[6]+e[29]*e[0]*e[15]+e[29]*e[10]*e[7]+e[29]*e[1]*e[16]+e[5]*e[30]*e[15]+e[5]*e[12]*e[33]+e[5]*e[32]*e[17]+e[5]*e[14]*e[35]+e[5]*e[31]*e[16]+e[5]*e[13]*e[34]+e[8]*e[33]*e[15]+3.*e[8]*e[35]*e[17]+e[8]*e[34]*e[16]+e[2]*e[27]*e[15]+e[2]*e[9]*e[33]+e[2]*e[29]*e[17]+e[2]*e[11]*e[35]+e[2]*e[28]*e[16]+e[2]*e[10]*e[34]-1.*e[17]*e[27]*e[0]+e[17]*e[34]*e[7]+e[17]*e[33]*e[6]-1.*e[17]*e[30]*e[3]-1.*e[17]*e[28]*e[1]-1.*e[17]*e[31]*e[4]+e[14]*e[30]*e[6]+e[14]*e[3]*e[33]+e[14]*e[31]*e[7]+e[14]*e[4]*e[34]+e[14]*e[32]*e[8];
|
||||
A[44]=e[19]*e[11]*e[2]+e[4]*e[18]*e[12]+e[4]*e[9]*e[21]+e[4]*e[20]*e[14]+e[4]*e[11]*e[23]+e[4]*e[19]*e[13]+e[4]*e[10]*e[22]+e[7]*e[18]*e[15]+e[7]*e[9]*e[24]+e[7]*e[20]*e[17]+e[7]*e[11]*e[26]+e[7]*e[19]*e[16]+e[7]*e[10]*e[25]+e[1]*e[18]*e[9]+e[1]*e[20]*e[11]-1.*e[10]*e[21]*e[3]-1.*e[10]*e[26]*e[8]-1.*e[10]*e[23]*e[5]-1.*e[10]*e[24]*e[6]+e[13]*e[18]*e[3]+e[13]*e[0]*e[21]+e[13]*e[1]*e[22]+e[13]*e[20]*e[5]+e[13]*e[2]*e[23]-1.*e[19]*e[15]*e[6]-1.*e[19]*e[14]*e[5]-1.*e[19]*e[12]*e[3]-1.*e[19]*e[17]*e[8]+e[22]*e[9]*e[3]+e[22]*e[0]*e[12]+e[22]*e[11]*e[5]+e[22]*e[2]*e[14]+e[16]*e[18]*e[6]+e[16]*e[0]*e[24]+e[16]*e[1]*e[25]+e[16]*e[20]*e[8]+e[16]*e[2]*e[26]-1.*e[1]*e[23]*e[14]-1.*e[1]*e[24]*e[15]-1.*e[1]*e[26]*e[17]-1.*e[1]*e[21]*e[12]+e[25]*e[9]*e[6]+e[25]*e[0]*e[15]+e[25]*e[11]*e[8]+e[25]*e[2]*e[17]+e[10]*e[18]*e[0]+3.*e[10]*e[19]*e[1]+e[10]*e[20]*e[2]+e[19]*e[9]*e[0];
|
||||
A[190]=.5000000000*ep2[23]*e[26]+.5000000000*e[26]*ep2[25]+.5000000000*ep2[20]*e[26]-.5000000000*e[26]*ep2[18]+.5000000000*ep3[26]+.5000000000*e[26]*ep2[24]+e[20]*e[19]*e[25]-.5000000000*e[26]*ep2[19]-.5000000000*e[26]*ep2[21]+e[20]*e[18]*e[24]-.5000000000*e[26]*ep2[22]+e[23]*e[21]*e[24]+e[23]*e[22]*e[25];
|
||||
A[47]=e[16]*e[9]*e[33]+e[16]*e[29]*e[17]+e[16]*e[11]*e[35]+e[16]*e[10]*e[34]+e[34]*e[11]*e[17]+e[34]*e[9]*e[15]-1.*e[10]*e[30]*e[12]-1.*e[10]*e[32]*e[14]-1.*e[10]*e[33]*e[15]-1.*e[10]*e[35]*e[17]+e[10]*e[27]*e[9]+e[10]*e[29]*e[11]+e[13]*e[27]*e[12]+e[13]*e[9]*e[30]+e[13]*e[29]*e[14]+e[13]*e[11]*e[32]+e[13]*e[10]*e[31]+e[31]*e[11]*e[14]+e[31]*e[9]*e[12]+e[16]*e[27]*e[15]+1.500000000*e[28]*ep2[10]+.5000000000*e[28]*ep2[16]+.5000000000*e[28]*ep2[9]+.5000000000*e[28]*ep2[11]-.5000000000*e[28]*ep2[12]-.5000000000*e[28]*ep2[15]-.5000000000*e[28]*ep2[17]-.5000000000*e[28]*ep2[14]+.5000000000*e[28]*ep2[13];
|
||||
A[189]=.5000000000*ep2[20]*e[35]+.5000000000*ep2[23]*e[35]+1.500000000*e[35]*ep2[26]+.5000000000*e[35]*ep2[25]+.5000000000*e[35]*ep2[24]-.5000000000*e[35]*ep2[18]-.5000000000*e[35]*ep2[19]-.5000000000*e[35]*ep2[22]-.5000000000*e[35]*ep2[21]+e[20]*e[27]*e[24]+e[20]*e[18]*e[33]+e[20]*e[28]*e[25]+e[20]*e[19]*e[34]+e[20]*e[29]*e[26]+e[29]*e[19]*e[25]+e[29]*e[18]*e[24]+e[23]*e[30]*e[24]+e[23]*e[21]*e[33]+e[23]*e[31]*e[25]+e[23]*e[22]*e[34]+e[23]*e[32]*e[26]+e[32]*e[22]*e[25]+e[32]*e[21]*e[24]+e[26]*e[33]*e[24]+e[26]*e[34]*e[25]-1.*e[26]*e[27]*e[18]-1.*e[26]*e[30]*e[21]-1.*e[26]*e[31]*e[22]-1.*e[26]*e[28]*e[19];
|
||||
A[46]=e[4]*e[2]*e[5]+.5000000000*e[1]*ep2[0]-.5000000000*e[1]*ep2[6]+e[7]*e[0]*e[6]+.5000000000*e[1]*ep2[7]+.5000000000*e[1]*ep2[4]-.5000000000*e[1]*ep2[8]+.5000000000*e[1]*ep2[2]-.5000000000*e[1]*ep2[3]+.5000000000*ep3[1]+e[7]*e[2]*e[8]-.5000000000*e[1]*ep2[5]+e[4]*e[0]*e[3];
|
||||
A[188]=-.5000000000*e[17]*ep2[13]-.5000000000*e[17]*ep2[9]+.5000000000*e[17]*ep2[16]+.5000000000*e[17]*ep2[15]+.5000000000*ep3[17]-.5000000000*e[17]*ep2[10]+e[14]*e[13]*e[16]+e[14]*e[12]*e[15]+.5000000000*ep2[14]*e[17]+e[11]*e[10]*e[16]-.5000000000*e[17]*ep2[12]+.5000000000*ep2[11]*e[17]+e[11]*e[9]*e[15];
|
||||
A[41]=e[4]*e[27]*e[30]+e[4]*e[29]*e[32]+e[4]*e[28]*e[31]+e[31]*e[27]*e[3]+e[31]*e[0]*e[30]+e[31]*e[29]*e[5]+e[31]*e[2]*e[32]+e[7]*e[27]*e[33]+e[7]*e[29]*e[35]+e[7]*e[28]*e[34]+e[28]*e[27]*e[0]+e[28]*e[29]*e[2]+e[34]*e[27]*e[6]+e[34]*e[0]*e[33]+e[34]*e[29]*e[8]+e[34]*e[2]*e[35]-1.*e[28]*e[32]*e[5]-1.*e[28]*e[33]*e[6]-1.*e[28]*e[30]*e[3]-1.*e[28]*e[35]*e[8]+.5000000000*e[1]*ep2[27]+.5000000000*e[1]*ep2[29]+1.500000000*e[1]*ep2[28]+.5000000000*e[1]*ep2[31]-.5000000000*e[1]*ep2[32]-.5000000000*e[1]*ep2[33]-.5000000000*e[1]*ep2[30]+.5000000000*e[1]*ep2[34]-.5000000000*e[1]*ep2[35];
|
||||
A[187]=.5000000000*ep2[11]*e[35]+.5000000000*e[35]*ep2[16]-.5000000000*e[35]*ep2[9]-.5000000000*e[35]*ep2[12]+.5000000000*e[35]*ep2[15]+1.500000000*e[35]*ep2[17]-.5000000000*e[35]*ep2[10]+.5000000000*e[35]*ep2[14]-.5000000000*e[35]*ep2[13]+e[11]*e[27]*e[15]+e[11]*e[9]*e[33]+e[11]*e[29]*e[17]+e[11]*e[28]*e[16]+e[11]*e[10]*e[34]+e[29]*e[9]*e[15]+e[29]*e[10]*e[16]+e[14]*e[30]*e[15]+e[14]*e[12]*e[33]+e[14]*e[32]*e[17]+e[14]*e[31]*e[16]+e[14]*e[13]*e[34]+e[32]*e[12]*e[15]+e[32]*e[13]*e[16]+e[17]*e[33]*e[15]+e[17]*e[34]*e[16]-1.*e[17]*e[27]*e[9]-1.*e[17]*e[30]*e[12]-1.*e[17]*e[28]*e[10]-1.*e[17]*e[31]*e[13];
|
||||
A[40]=e[34]*e[27]*e[33]+e[34]*e[29]*e[35]-.5000000000*e[28]*ep2[30]-.5000000000*e[28]*ep2[35]+.5000000000*ep3[28]+.5000000000*e[28]*ep2[27]+.5000000000*e[28]*ep2[29]+e[31]*e[27]*e[30]+e[31]*e[29]*e[32]-.5000000000*e[28]*ep2[32]-.5000000000*e[28]*ep2[33]+.5000000000*e[28]*ep2[31]+.5000000000*e[28]*ep2[34];
|
||||
A[186]=.5000000000*ep2[5]*e[8]+e[2]*e[0]*e[6]+.5000000000*ep2[2]*e[8]+.5000000000*ep3[8]-.5000000000*e[8]*ep2[0]+e[5]*e[4]*e[7]+e[5]*e[3]*e[6]+.5000000000*e[8]*ep2[7]+e[2]*e[1]*e[7]-.5000000000*e[8]*ep2[1]-.5000000000*e[8]*ep2[4]-.5000000000*e[8]*ep2[3]+.5000000000*e[8]*ep2[6];
|
||||
A[43]=e[28]*e[27]*e[9]+e[28]*e[29]*e[11]-1.*e[28]*e[30]*e[12]+e[28]*e[31]*e[13]-1.*e[28]*e[32]*e[14]-1.*e[28]*e[33]*e[15]-1.*e[28]*e[35]*e[17]+e[31]*e[27]*e[12]+e[31]*e[9]*e[30]+e[31]*e[29]*e[14]+e[31]*e[11]*e[32]+e[13]*e[27]*e[30]+e[13]*e[29]*e[32]+e[16]*e[27]*e[33]+e[16]*e[29]*e[35]+e[34]*e[27]*e[15]+e[34]*e[9]*e[33]+e[34]*e[29]*e[17]+e[34]*e[11]*e[35]+e[34]*e[28]*e[16]+.5000000000*e[10]*ep2[27]+.5000000000*e[10]*ep2[29]+1.500000000*e[10]*ep2[28]-.5000000000*e[10]*ep2[32]+.5000000000*e[10]*ep2[31]-.5000000000*e[10]*ep2[33]-.5000000000*e[10]*ep2[30]+.5000000000*e[10]*ep2[34]-.5000000000*e[10]*ep2[35];
|
||||
A[185]=-.5000000000*e[35]*ep2[1]+.5000000000*e[35]*ep2[7]-.5000000000*e[35]*ep2[3]+.5000000000*ep2[2]*e[35]+1.500000000*e[35]*ep2[8]-.5000000000*e[35]*ep2[4]-.5000000000*e[35]*ep2[0]+.5000000000*e[35]*ep2[6]+.5000000000*e[35]*ep2[5]+e[2]*e[27]*e[6]+e[2]*e[0]*e[33]+e[2]*e[28]*e[7]+e[2]*e[1]*e[34]+e[2]*e[29]*e[8]-1.*e[8]*e[27]*e[0]+e[8]*e[34]*e[7]+e[8]*e[32]*e[5]+e[8]*e[33]*e[6]-1.*e[8]*e[30]*e[3]-1.*e[8]*e[28]*e[1]-1.*e[8]*e[31]*e[4]+e[29]*e[1]*e[7]+e[29]*e[0]*e[6]+e[5]*e[30]*e[6]+e[5]*e[3]*e[33]+e[5]*e[31]*e[7]+e[5]*e[4]*e[34]+e[32]*e[4]*e[7]+e[32]*e[3]*e[6];
|
||||
A[42]=e[28]*e[27]*e[18]+e[28]*e[29]*e[20]+e[22]*e[27]*e[30]+e[22]*e[29]*e[32]+e[22]*e[28]*e[31]+e[31]*e[27]*e[21]+e[31]*e[18]*e[30]+e[31]*e[29]*e[23]+e[31]*e[20]*e[32]+e[25]*e[27]*e[33]+e[25]*e[29]*e[35]+e[25]*e[28]*e[34]+e[34]*e[27]*e[24]+e[34]*e[18]*e[33]+e[34]*e[29]*e[26]+e[34]*e[20]*e[35]-1.*e[28]*e[33]*e[24]-1.*e[28]*e[30]*e[21]-1.*e[28]*e[35]*e[26]-1.*e[28]*e[32]*e[23]-.5000000000*e[19]*ep2[33]-.5000000000*e[19]*ep2[30]-.5000000000*e[19]*ep2[35]+.5000000000*e[19]*ep2[27]+.5000000000*e[19]*ep2[29]+1.500000000*e[19]*ep2[28]+.5000000000*e[19]*ep2[31]+.5000000000*e[19]*ep2[34]-.5000000000*e[19]*ep2[32];
|
||||
A[184]=e[23]*e[3]*e[15]-1.*e[17]*e[19]*e[1]-1.*e[17]*e[22]*e[4]-1.*e[17]*e[18]*e[0]+e[17]*e[25]*e[7]+e[17]*e[24]*e[6]+e[14]*e[21]*e[6]+e[14]*e[3]*e[24]+e[14]*e[22]*e[7]+e[14]*e[4]*e[25]+e[14]*e[23]*e[8]-1.*e[26]*e[10]*e[1]-1.*e[26]*e[13]*e[4]+e[26]*e[16]*e[7]+e[26]*e[15]*e[6]-1.*e[26]*e[9]*e[0]-1.*e[26]*e[12]*e[3]+e[23]*e[12]*e[6]+e[11]*e[18]*e[6]+e[11]*e[0]*e[24]+e[11]*e[19]*e[7]+e[11]*e[1]*e[25]+e[11]*e[20]*e[8]+e[11]*e[2]*e[26]+e[20]*e[9]*e[6]+e[20]*e[0]*e[15]+e[20]*e[10]*e[7]+e[20]*e[1]*e[16]+e[20]*e[2]*e[17]+e[5]*e[21]*e[15]+e[5]*e[12]*e[24]+e[5]*e[23]*e[17]+e[5]*e[14]*e[26]+e[5]*e[22]*e[16]+e[5]*e[13]*e[25]+e[8]*e[24]*e[15]+3.*e[8]*e[26]*e[17]+e[8]*e[25]*e[16]+e[2]*e[18]*e[15]+e[2]*e[9]*e[24]+e[2]*e[19]*e[16]+e[2]*e[10]*e[25]-1.*e[17]*e[21]*e[3]+e[23]*e[4]*e[16]+e[23]*e[13]*e[7]-1.*e[8]*e[18]*e[9]-1.*e[8]*e[21]*e[12]-1.*e[8]*e[19]*e[10]-1.*e[8]*e[22]*e[13];
|
||||
A[54]=e[13]*e[18]*e[12]+e[13]*e[9]*e[21]+e[13]*e[20]*e[14]+e[13]*e[11]*e[23]+e[13]*e[10]*e[22]+e[22]*e[11]*e[14]+e[22]*e[9]*e[12]+e[16]*e[18]*e[15]+e[16]*e[9]*e[24]+e[16]*e[20]*e[17]+e[16]*e[11]*e[26]+e[16]*e[10]*e[25]+e[25]*e[11]*e[17]+e[25]*e[9]*e[15]-1.*e[10]*e[23]*e[14]-1.*e[10]*e[24]*e[15]-1.*e[10]*e[26]*e[17]+e[10]*e[20]*e[11]+e[10]*e[18]*e[9]-1.*e[10]*e[21]*e[12]+.5000000000*e[19]*ep2[11]+.5000000000*e[19]*ep2[9]+1.500000000*e[19]*ep2[10]+.5000000000*e[19]*ep2[13]+.5000000000*e[19]*ep2[16]-.5000000000*e[19]*ep2[12]-.5000000000*e[19]*ep2[15]-.5000000000*e[19]*ep2[17]-.5000000000*e[19]*ep2[14];
|
||||
A[164]=e[10]*e[18]*e[6]+e[10]*e[0]*e[24]+e[10]*e[19]*e[7]+e[10]*e[1]*e[25]+e[10]*e[20]*e[8]+e[10]*e[2]*e[26]+e[19]*e[9]*e[6]+e[19]*e[0]*e[15]+e[19]*e[1]*e[16]+e[19]*e[11]*e[8]+e[19]*e[2]*e[17]+e[4]*e[21]*e[15]+e[4]*e[12]*e[24]+e[4]*e[23]*e[17]+e[4]*e[14]*e[26]+e[4]*e[22]*e[16]+e[4]*e[13]*e[25]+e[7]*e[24]*e[15]+e[7]*e[26]*e[17]+3.*e[7]*e[25]*e[16]+e[1]*e[18]*e[15]+e[1]*e[9]*e[24]+e[1]*e[20]*e[17]+e[1]*e[11]*e[26]-1.*e[16]*e[21]*e[3]+e[16]*e[26]*e[8]-1.*e[16]*e[20]*e[2]-1.*e[16]*e[18]*e[0]-1.*e[16]*e[23]*e[5]+e[16]*e[24]*e[6]+e[13]*e[21]*e[6]+e[13]*e[3]*e[24]+e[13]*e[22]*e[7]+e[13]*e[23]*e[8]+e[13]*e[5]*e[26]-1.*e[25]*e[11]*e[2]+e[25]*e[15]*e[6]-1.*e[25]*e[9]*e[0]-1.*e[25]*e[14]*e[5]-1.*e[25]*e[12]*e[3]+e[25]*e[17]*e[8]+e[22]*e[12]*e[6]+e[22]*e[3]*e[15]+e[22]*e[14]*e[8]+e[22]*e[5]*e[17]-1.*e[7]*e[23]*e[14]-1.*e[7]*e[20]*e[11]-1.*e[7]*e[18]*e[9]-1.*e[7]*e[21]*e[12];
|
||||
A[55]=e[13]*e[9]*e[3]+e[13]*e[0]*e[12]+e[13]*e[10]*e[4]+e[13]*e[11]*e[5]+e[13]*e[2]*e[14]+e[16]*e[9]*e[6]+e[16]*e[0]*e[15]+e[16]*e[10]*e[7]+e[16]*e[11]*e[8]+e[16]*e[2]*e[17]+e[7]*e[11]*e[17]+e[7]*e[9]*e[15]+e[4]*e[11]*e[14]+e[4]*e[9]*e[12]+e[10]*e[9]*e[0]+e[10]*e[11]*e[2]-1.*e[10]*e[15]*e[6]-1.*e[10]*e[14]*e[5]-1.*e[10]*e[12]*e[3]-1.*e[10]*e[17]*e[8]+.5000000000*e[1]*ep2[11]+.5000000000*e[1]*ep2[9]+1.500000000*e[1]*ep2[10]-.5000000000*e[1]*ep2[12]-.5000000000*e[1]*ep2[15]-.5000000000*e[1]*ep2[17]-.5000000000*e[1]*ep2[14]+.5000000000*e[1]*ep2[13]+.5000000000*e[1]*ep2[16];
|
||||
A[165]=e[1]*e[27]*e[6]+e[1]*e[0]*e[33]+e[1]*e[28]*e[7]+e[1]*e[29]*e[8]+e[1]*e[2]*e[35]-1.*e[7]*e[27]*e[0]-1.*e[7]*e[32]*e[5]+e[7]*e[33]*e[6]-1.*e[7]*e[30]*e[3]+e[7]*e[35]*e[8]-1.*e[7]*e[29]*e[2]+e[7]*e[31]*e[4]+e[28]*e[0]*e[6]+e[28]*e[2]*e[8]+e[4]*e[30]*e[6]+e[4]*e[3]*e[33]+e[4]*e[32]*e[8]+e[4]*e[5]*e[35]+e[31]*e[3]*e[6]+e[31]*e[5]*e[8]+.5000000000*ep2[1]*e[34]+1.500000000*e[34]*ep2[7]+.5000000000*e[34]*ep2[4]-.5000000000*e[34]*ep2[0]+.5000000000*e[34]*ep2[6]-.5000000000*e[34]*ep2[5]-.5000000000*e[34]*ep2[3]-.5000000000*e[34]*ep2[2]+.5000000000*e[34]*ep2[8];
|
||||
A[52]=e[4]*e[18]*e[3]+e[4]*e[0]*e[21]+e[4]*e[1]*e[22]+e[4]*e[20]*e[5]+e[4]*e[2]*e[23]+e[22]*e[0]*e[3]+e[22]*e[2]*e[5]+e[7]*e[18]*e[6]+e[7]*e[0]*e[24]+e[7]*e[1]*e[25]+e[7]*e[20]*e[8]+e[7]*e[2]*e[26]+e[25]*e[0]*e[6]+e[25]*e[2]*e[8]+e[1]*e[18]*e[0]+e[1]*e[20]*e[2]-1.*e[1]*e[21]*e[3]-1.*e[1]*e[26]*e[8]-1.*e[1]*e[23]*e[5]-1.*e[1]*e[24]*e[6]+.5000000000*e[19]*ep2[4]+.5000000000*e[19]*ep2[0]-.5000000000*e[19]*ep2[6]-.5000000000*e[19]*ep2[5]+1.500000000*e[19]*ep2[1]+.5000000000*e[19]*ep2[7]-.5000000000*e[19]*ep2[3]+.5000000000*e[19]*ep2[2]-.5000000000*e[19]*ep2[8];
|
||||
A[166]=-.5000000000*e[7]*ep2[0]+e[4]*e[5]*e[8]+.5000000000*ep2[4]*e[7]-.5000000000*e[7]*ep2[2]+.5000000000*e[7]*ep2[8]-.5000000000*e[7]*ep2[5]+.5000000000*e[7]*ep2[6]+e[1]*e[0]*e[6]+.5000000000*ep3[7]+e[4]*e[3]*e[6]+e[1]*e[2]*e[8]-.5000000000*e[7]*ep2[3]+.5000000000*ep2[1]*e[7];
|
||||
A[53]=-1.*e[1]*e[32]*e[23]-1.*e[19]*e[32]*e[5]-1.*e[19]*e[33]*e[6]-1.*e[19]*e[30]*e[3]-1.*e[19]*e[35]*e[8]-1.*e[28]*e[21]*e[3]-1.*e[28]*e[26]*e[8]-1.*e[28]*e[23]*e[5]-1.*e[28]*e[24]*e[6]+e[7]*e[27]*e[24]+e[7]*e[18]*e[33]+e[7]*e[29]*e[26]+e[7]*e[20]*e[35]+e[22]*e[27]*e[3]+e[22]*e[0]*e[30]+e[22]*e[29]*e[5]+e[22]*e[2]*e[32]+e[31]*e[18]*e[3]+e[31]*e[0]*e[21]+e[31]*e[20]*e[5]+e[31]*e[2]*e[23]+e[25]*e[27]*e[6]+e[25]*e[0]*e[33]+e[25]*e[28]*e[7]+e[25]*e[1]*e[34]+e[25]*e[29]*e[8]+e[25]*e[2]*e[35]+e[34]*e[18]*e[6]+e[34]*e[0]*e[24]+e[34]*e[19]*e[7]+e[34]*e[20]*e[8]+e[34]*e[2]*e[26]+e[1]*e[27]*e[18]+3.*e[1]*e[28]*e[19]+e[1]*e[29]*e[20]+e[19]*e[27]*e[0]+e[19]*e[29]*e[2]+e[28]*e[18]*e[0]+e[28]*e[20]*e[2]+e[4]*e[27]*e[21]+e[4]*e[18]*e[30]+e[4]*e[28]*e[22]+e[4]*e[19]*e[31]+e[4]*e[29]*e[23]+e[4]*e[20]*e[32]-1.*e[1]*e[33]*e[24]-1.*e[1]*e[30]*e[21]-1.*e[1]*e[35]*e[26]+e[1]*e[31]*e[22];
|
||||
A[167]=e[10]*e[27]*e[15]+e[10]*e[9]*e[33]+e[10]*e[29]*e[17]+e[10]*e[11]*e[35]+e[10]*e[28]*e[16]+e[28]*e[11]*e[17]+e[28]*e[9]*e[15]+e[13]*e[30]*e[15]+e[13]*e[12]*e[33]+e[13]*e[32]*e[17]+e[13]*e[14]*e[35]+e[13]*e[31]*e[16]+e[31]*e[14]*e[17]+e[31]*e[12]*e[15]+e[16]*e[33]*e[15]+e[16]*e[35]*e[17]-1.*e[16]*e[27]*e[9]-1.*e[16]*e[30]*e[12]-1.*e[16]*e[32]*e[14]-1.*e[16]*e[29]*e[11]+.5000000000*ep2[10]*e[34]+1.500000000*e[34]*ep2[16]-.5000000000*e[34]*ep2[9]-.5000000000*e[34]*ep2[11]-.5000000000*e[34]*ep2[12]+.5000000000*e[34]*ep2[15]+.5000000000*e[34]*ep2[17]-.5000000000*e[34]*ep2[14]+.5000000000*e[34]*ep2[13];
|
||||
A[50]=.5000000000*e[19]*ep2[18]+.5000000000*e[19]*ep2[25]+.5000000000*e[19]*ep2[22]+e[25]*e[20]*e[26]-.5000000000*e[19]*ep2[21]+.5000000000*e[19]*ep2[20]-.5000000000*e[19]*ep2[26]-.5000000000*e[19]*ep2[23]-.5000000000*e[19]*ep2[24]+.5000000000*ep3[19]+e[22]*e[20]*e[23]+e[25]*e[18]*e[24]+e[22]*e[18]*e[21];
|
||||
A[160]=.5000000000*e[34]*ep2[33]+.5000000000*e[34]*ep2[35]-.5000000000*e[34]*ep2[27]-.5000000000*e[34]*ep2[32]-.5000000000*e[34]*ep2[29]-.5000000000*e[34]*ep2[30]+.5000000000*ep2[28]*e[34]+e[31]*e[30]*e[33]+e[31]*e[32]*e[35]+e[28]*e[27]*e[33]+.5000000000*ep3[34]+e[28]*e[29]*e[35]+.5000000000*ep2[31]*e[34];
|
||||
A[51]=e[4]*e[28]*e[13]+e[4]*e[10]*e[31]+e[7]*e[27]*e[15]+e[7]*e[9]*e[33]+e[7]*e[29]*e[17]+e[7]*e[11]*e[35]+e[7]*e[28]*e[16]+e[7]*e[10]*e[34]+e[1]*e[27]*e[9]+e[1]*e[29]*e[11]+3.*e[1]*e[28]*e[10]+e[10]*e[27]*e[0]-1.*e[10]*e[32]*e[5]-1.*e[10]*e[33]*e[6]-1.*e[10]*e[30]*e[3]-1.*e[10]*e[35]*e[8]+e[10]*e[29]*e[2]+e[13]*e[27]*e[3]+e[13]*e[0]*e[30]+e[13]*e[1]*e[31]+e[13]*e[29]*e[5]+e[13]*e[2]*e[32]+e[28]*e[11]*e[2]-1.*e[28]*e[15]*e[6]+e[28]*e[9]*e[0]-1.*e[28]*e[14]*e[5]-1.*e[28]*e[12]*e[3]-1.*e[28]*e[17]*e[8]+e[31]*e[9]*e[3]+e[31]*e[0]*e[12]+e[31]*e[11]*e[5]+e[31]*e[2]*e[14]+e[16]*e[27]*e[6]+e[16]*e[0]*e[33]+e[16]*e[1]*e[34]+e[16]*e[29]*e[8]+e[16]*e[2]*e[35]-1.*e[1]*e[30]*e[12]-1.*e[1]*e[32]*e[14]-1.*e[1]*e[33]*e[15]-1.*e[1]*e[35]*e[17]+e[34]*e[9]*e[6]+e[34]*e[0]*e[15]+e[34]*e[11]*e[8]+e[34]*e[2]*e[17]+e[4]*e[27]*e[12]+e[4]*e[9]*e[30]+e[4]*e[29]*e[14]+e[4]*e[11]*e[32];
|
||||
A[161]=e[4]*e[30]*e[33]+e[4]*e[32]*e[35]+e[4]*e[31]*e[34]+e[31]*e[30]*e[6]+e[31]*e[3]*e[33]+e[31]*e[32]*e[8]+e[31]*e[5]*e[35]+e[28]*e[27]*e[6]+e[28]*e[0]*e[33]+e[28]*e[29]*e[8]+e[28]*e[2]*e[35]+e[34]*e[33]*e[6]+e[34]*e[35]*e[8]-1.*e[34]*e[27]*e[0]-1.*e[34]*e[32]*e[5]-1.*e[34]*e[30]*e[3]-1.*e[34]*e[29]*e[2]+e[1]*e[27]*e[33]+e[1]*e[29]*e[35]+e[1]*e[28]*e[34]+.5000000000*ep2[31]*e[7]-.5000000000*e[7]*ep2[27]-.5000000000*e[7]*ep2[32]+.5000000000*e[7]*ep2[28]-.5000000000*e[7]*ep2[29]+.5000000000*e[7]*ep2[33]-.5000000000*e[7]*ep2[30]+1.500000000*e[7]*ep2[34]+.5000000000*e[7]*ep2[35];
|
||||
A[48]=-.5000000000*e[10]*ep2[14]-.5000000000*e[10]*ep2[17]-.5000000000*e[10]*ep2[15]+e[13]*e[11]*e[14]+e[16]*e[11]*e[17]+.5000000000*e[10]*ep2[13]+e[13]*e[9]*e[12]-.5000000000*e[10]*ep2[12]+.5000000000*ep3[10]+e[16]*e[9]*e[15]+.5000000000*e[10]*ep2[16]+.5000000000*e[10]*ep2[11]+.5000000000*e[10]*ep2[9];
|
||||
A[162]=e[22]*e[32]*e[35]+e[22]*e[31]*e[34]+e[31]*e[30]*e[24]+e[31]*e[21]*e[33]+e[31]*e[32]*e[26]+e[31]*e[23]*e[35]+e[34]*e[33]*e[24]+e[34]*e[35]*e[26]-1.*e[34]*e[27]*e[18]-1.*e[34]*e[30]*e[21]-1.*e[34]*e[29]*e[20]-1.*e[34]*e[32]*e[23]+e[19]*e[27]*e[33]+e[19]*e[29]*e[35]+e[19]*e[28]*e[34]+e[28]*e[27]*e[24]+e[28]*e[18]*e[33]+e[28]*e[29]*e[26]+e[28]*e[20]*e[35]+e[22]*e[30]*e[33]+.5000000000*ep2[28]*e[25]+.5000000000*ep2[31]*e[25]+.5000000000*e[25]*ep2[33]+.5000000000*e[25]*ep2[35]+1.500000000*e[25]*ep2[34]-.5000000000*e[25]*ep2[27]-.5000000000*e[25]*ep2[32]-.5000000000*e[25]*ep2[29]-.5000000000*e[25]*ep2[30];
|
||||
A[49]=-1.*e[19]*e[35]*e[26]-1.*e[19]*e[32]*e[23]+e[19]*e[27]*e[18]+e[19]*e[29]*e[20]+e[22]*e[27]*e[21]+e[22]*e[18]*e[30]+e[22]*e[19]*e[31]+e[22]*e[29]*e[23]+e[22]*e[20]*e[32]+e[31]*e[18]*e[21]+e[31]*e[20]*e[23]+e[25]*e[27]*e[24]+e[25]*e[18]*e[33]+e[25]*e[19]*e[34]+e[25]*e[29]*e[26]+e[25]*e[20]*e[35]+e[34]*e[18]*e[24]+e[34]*e[20]*e[26]-1.*e[19]*e[33]*e[24]-1.*e[19]*e[30]*e[21]+1.500000000*e[28]*ep2[19]+.5000000000*e[28]*ep2[18]+.5000000000*e[28]*ep2[20]+.5000000000*e[28]*ep2[22]+.5000000000*e[28]*ep2[25]-.5000000000*e[28]*ep2[26]-.5000000000*e[28]*ep2[23]-.5000000000*e[28]*ep2[24]-.5000000000*e[28]*ep2[21];
|
||||
A[163]=e[10]*e[27]*e[33]+e[10]*e[29]*e[35]+e[10]*e[28]*e[34]+e[34]*e[33]*e[15]+e[34]*e[35]*e[17]+e[28]*e[27]*e[15]+e[28]*e[9]*e[33]+e[28]*e[29]*e[17]+e[28]*e[11]*e[35]-1.*e[34]*e[27]*e[9]-1.*e[34]*e[30]*e[12]+e[34]*e[31]*e[13]-1.*e[34]*e[32]*e[14]-1.*e[34]*e[29]*e[11]+e[31]*e[30]*e[15]+e[31]*e[12]*e[33]+e[31]*e[32]*e[17]+e[31]*e[14]*e[35]+e[13]*e[30]*e[33]+e[13]*e[32]*e[35]-.5000000000*e[16]*ep2[27]-.5000000000*e[16]*ep2[32]+.5000000000*e[16]*ep2[28]-.5000000000*e[16]*ep2[29]+.5000000000*e[16]*ep2[31]+.5000000000*e[16]*ep2[33]-.5000000000*e[16]*ep2[30]+1.500000000*e[16]*ep2[34]+.5000000000*e[16]*ep2[35];
|
||||
A[63]=e[29]*e[32]*e[14]-1.*e[29]*e[33]*e[15]-1.*e[29]*e[34]*e[16]+e[32]*e[27]*e[12]+e[32]*e[9]*e[30]+e[32]*e[28]*e[13]+e[32]*e[10]*e[31]+e[14]*e[27]*e[30]+e[14]*e[28]*e[31]+e[17]*e[27]*e[33]+e[17]*e[28]*e[34]+e[35]*e[27]*e[15]+e[35]*e[9]*e[33]+e[35]*e[29]*e[17]+e[35]*e[28]*e[16]+e[35]*e[10]*e[34]+e[29]*e[27]*e[9]+e[29]*e[28]*e[10]-1.*e[29]*e[30]*e[12]-1.*e[29]*e[31]*e[13]+.5000000000*e[11]*ep2[27]+1.500000000*e[11]*ep2[29]+.5000000000*e[11]*ep2[28]+.5000000000*e[11]*ep2[32]-.5000000000*e[11]*ep2[31]-.5000000000*e[11]*ep2[33]-.5000000000*e[11]*ep2[30]-.5000000000*e[11]*ep2[34]+.5000000000*e[11]*ep2[35];
|
||||
A[173]=e[1]*e[20]*e[35]+e[19]*e[27]*e[6]+e[19]*e[0]*e[33]+e[19]*e[28]*e[7]+e[19]*e[29]*e[8]+e[19]*e[2]*e[35]+e[28]*e[18]*e[6]+e[28]*e[0]*e[24]+e[28]*e[20]*e[8]+e[28]*e[2]*e[26]+e[4]*e[30]*e[24]+e[4]*e[21]*e[33]+e[4]*e[31]*e[25]+e[4]*e[22]*e[34]+e[4]*e[32]*e[26]+e[4]*e[23]*e[35]-1.*e[7]*e[27]*e[18]+e[7]*e[33]*e[24]-1.*e[7]*e[30]*e[21]-1.*e[7]*e[29]*e[20]+e[7]*e[35]*e[26]+e[7]*e[31]*e[22]-1.*e[7]*e[32]*e[23]-1.*e[25]*e[27]*e[0]-1.*e[25]*e[32]*e[5]-1.*e[25]*e[30]*e[3]-1.*e[25]*e[29]*e[2]-1.*e[34]*e[21]*e[3]-1.*e[34]*e[20]*e[2]-1.*e[34]*e[18]*e[0]-1.*e[34]*e[23]*e[5]+e[22]*e[30]*e[6]+e[22]*e[3]*e[33]+e[22]*e[32]*e[8]+e[22]*e[5]*e[35]+e[31]*e[21]*e[6]+e[31]*e[3]*e[24]+e[31]*e[23]*e[8]+e[31]*e[5]*e[26]+e[34]*e[26]*e[8]+e[1]*e[27]*e[24]+e[1]*e[18]*e[33]+e[1]*e[28]*e[25]+e[1]*e[19]*e[34]+e[1]*e[29]*e[26]+e[34]*e[24]*e[6]+e[25]*e[33]*e[6]+3.*e[25]*e[34]*e[7]+e[25]*e[35]*e[8];
|
||||
A[62]=.5000000000*e[20]*ep2[27]+1.500000000*e[20]*ep2[29]+.5000000000*e[20]*ep2[28]+.5000000000*e[20]*ep2[32]+.5000000000*e[20]*ep2[35]-.5000000000*e[20]*ep2[31]-.5000000000*e[20]*ep2[33]-.5000000000*e[20]*ep2[30]-.5000000000*e[20]*ep2[34]+e[29]*e[27]*e[18]+e[29]*e[28]*e[19]+e[23]*e[27]*e[30]+e[23]*e[29]*e[32]+e[23]*e[28]*e[31]+e[32]*e[27]*e[21]+e[32]*e[18]*e[30]+e[32]*e[28]*e[22]+e[32]*e[19]*e[31]+e[26]*e[27]*e[33]+e[26]*e[29]*e[35]+e[26]*e[28]*e[34]+e[35]*e[27]*e[24]+e[35]*e[18]*e[33]+e[35]*e[28]*e[25]+e[35]*e[19]*e[34]-1.*e[29]*e[33]*e[24]-1.*e[29]*e[30]*e[21]-1.*e[29]*e[31]*e[22]-1.*e[29]*e[34]*e[25];
|
||||
A[172]=e[19]*e[1]*e[7]+e[19]*e[0]*e[6]+e[19]*e[2]*e[8]+e[4]*e[21]*e[6]+e[4]*e[3]*e[24]+e[4]*e[22]*e[7]+e[4]*e[23]*e[8]+e[4]*e[5]*e[26]+e[22]*e[3]*e[6]+e[22]*e[5]*e[8]+e[7]*e[24]*e[6]+e[7]*e[26]*e[8]+e[1]*e[18]*e[6]+e[1]*e[0]*e[24]+e[1]*e[20]*e[8]+e[1]*e[2]*e[26]-1.*e[7]*e[21]*e[3]-1.*e[7]*e[20]*e[2]-1.*e[7]*e[18]*e[0]-1.*e[7]*e[23]*e[5]+.5000000000*e[25]*ep2[4]-.5000000000*e[25]*ep2[0]+.5000000000*e[25]*ep2[6]-.5000000000*e[25]*ep2[5]+.5000000000*e[25]*ep2[1]+1.500000000*e[25]*ep2[7]-.5000000000*e[25]*ep2[3]-.5000000000*e[25]*ep2[2]+.5000000000*e[25]*ep2[8];
|
||||
A[61]=e[5]*e[27]*e[30]+e[5]*e[29]*e[32]+e[5]*e[28]*e[31]+e[32]*e[27]*e[3]+e[32]*e[0]*e[30]+e[32]*e[28]*e[4]+e[32]*e[1]*e[31]+e[8]*e[27]*e[33]+e[8]*e[29]*e[35]+e[8]*e[28]*e[34]+e[29]*e[27]*e[0]+e[29]*e[28]*e[1]+e[35]*e[27]*e[6]+e[35]*e[0]*e[33]+e[35]*e[28]*e[7]+e[35]*e[1]*e[34]-1.*e[29]*e[34]*e[7]-1.*e[29]*e[33]*e[6]-1.*e[29]*e[30]*e[3]-1.*e[29]*e[31]*e[4]+.5000000000*e[2]*ep2[27]+1.500000000*e[2]*ep2[29]+.5000000000*e[2]*ep2[28]+.5000000000*e[2]*ep2[32]-.5000000000*e[2]*ep2[31]-.5000000000*e[2]*ep2[33]-.5000000000*e[2]*ep2[30]-.5000000000*e[2]*ep2[34]+.5000000000*e[2]*ep2[35];
|
||||
A[175]=e[13]*e[12]*e[6]+e[13]*e[3]*e[15]+e[13]*e[4]*e[16]+e[13]*e[14]*e[8]+e[13]*e[5]*e[17]+e[16]*e[15]*e[6]+e[16]*e[17]*e[8]+e[1]*e[11]*e[17]+e[1]*e[9]*e[15]+e[1]*e[10]*e[16]+e[4]*e[14]*e[17]+e[4]*e[12]*e[15]+e[10]*e[9]*e[6]+e[10]*e[0]*e[15]+e[10]*e[11]*e[8]+e[10]*e[2]*e[17]-1.*e[16]*e[11]*e[2]-1.*e[16]*e[9]*e[0]-1.*e[16]*e[14]*e[5]-1.*e[16]*e[12]*e[3]+.5000000000*ep2[13]*e[7]+1.500000000*ep2[16]*e[7]+.5000000000*e[7]*ep2[17]+.5000000000*e[7]*ep2[15]-.5000000000*e[7]*ep2[9]-.5000000000*e[7]*ep2[11]-.5000000000*e[7]*ep2[12]+.5000000000*e[7]*ep2[10]-.5000000000*e[7]*ep2[14];
|
||||
A[60]=.5000000000*e[29]*ep2[32]+.5000000000*e[29]*ep2[35]-.5000000000*e[29]*ep2[31]-.5000000000*e[29]*ep2[33]-.5000000000*e[29]*ep2[30]-.5000000000*e[29]*ep2[34]+e[32]*e[27]*e[30]+.5000000000*ep3[29]+.5000000000*e[29]*ep2[28]+e[35]*e[28]*e[34]+.5000000000*e[29]*ep2[27]+e[35]*e[27]*e[33]+e[32]*e[28]*e[31];
|
||||
A[174]=-1.*e[16]*e[21]*e[12]+e[10]*e[18]*e[15]+e[10]*e[9]*e[24]+e[10]*e[20]*e[17]+e[10]*e[11]*e[26]+e[19]*e[11]*e[17]+e[19]*e[9]*e[15]+e[19]*e[10]*e[16]+e[13]*e[21]*e[15]+e[13]*e[12]*e[24]+e[13]*e[23]*e[17]+e[13]*e[14]*e[26]+e[13]*e[22]*e[16]+e[22]*e[14]*e[17]+e[22]*e[12]*e[15]+e[16]*e[24]*e[15]+e[16]*e[26]*e[17]-1.*e[16]*e[23]*e[14]-1.*e[16]*e[20]*e[11]-1.*e[16]*e[18]*e[9]+.5000000000*ep2[13]*e[25]+1.500000000*e[25]*ep2[16]+.5000000000*e[25]*ep2[17]+.5000000000*e[25]*ep2[15]+.5000000000*ep2[10]*e[25]-.5000000000*e[25]*ep2[9]-.5000000000*e[25]*ep2[11]-.5000000000*e[25]*ep2[12]-.5000000000*e[25]*ep2[14];
|
||||
A[59]=e[19]*e[20]*e[2]+e[22]*e[18]*e[3]+e[22]*e[0]*e[21]+e[22]*e[19]*e[4]+e[22]*e[20]*e[5]+e[22]*e[2]*e[23]-1.*e[19]*e[21]*e[3]-1.*e[19]*e[26]*e[8]+e[19]*e[25]*e[7]-1.*e[19]*e[23]*e[5]-1.*e[19]*e[24]*e[6]+e[4]*e[18]*e[21]+e[4]*e[20]*e[23]+e[25]*e[18]*e[6]+e[25]*e[0]*e[24]+e[25]*e[20]*e[8]+e[25]*e[2]*e[26]+e[7]*e[18]*e[24]+e[7]*e[20]*e[26]+e[19]*e[18]*e[0]+1.500000000*ep2[19]*e[1]+.5000000000*e[1]*ep2[22]+.5000000000*e[1]*ep2[18]+.5000000000*e[1]*ep2[20]+.5000000000*e[1]*ep2[25]-.5000000000*e[1]*ep2[26]-.5000000000*e[1]*ep2[23]-.5000000000*e[1]*ep2[24]-.5000000000*e[1]*ep2[21];
|
||||
A[169]=e[19]*e[27]*e[24]+e[19]*e[18]*e[33]+e[19]*e[28]*e[25]+e[19]*e[29]*e[26]+e[19]*e[20]*e[35]+e[28]*e[18]*e[24]+e[28]*e[20]*e[26]+e[22]*e[30]*e[24]+e[22]*e[21]*e[33]+e[22]*e[31]*e[25]+e[22]*e[32]*e[26]+e[22]*e[23]*e[35]+e[31]*e[21]*e[24]+e[31]*e[23]*e[26]+e[25]*e[33]*e[24]+e[25]*e[35]*e[26]-1.*e[25]*e[27]*e[18]-1.*e[25]*e[30]*e[21]-1.*e[25]*e[29]*e[20]-1.*e[25]*e[32]*e[23]-.5000000000*e[34]*ep2[18]-.5000000000*e[34]*ep2[23]-.5000000000*e[34]*ep2[20]-.5000000000*e[34]*ep2[21]+.5000000000*ep2[19]*e[34]+.5000000000*ep2[22]*e[34]+1.500000000*e[34]*ep2[25]+.5000000000*e[34]*ep2[24]+.5000000000*e[34]*ep2[26];
|
||||
A[58]=e[16]*e[0]*e[6]+e[16]*e[2]*e[8]+e[1]*e[11]*e[2]-1.*e[1]*e[15]*e[6]+e[1]*e[9]*e[0]-1.*e[1]*e[14]*e[5]-1.*e[1]*e[12]*e[3]-1.*e[1]*e[17]*e[8]+e[4]*e[9]*e[3]+e[4]*e[0]*e[12]+e[4]*e[1]*e[13]+e[4]*e[11]*e[5]+e[4]*e[2]*e[14]+e[13]*e[0]*e[3]+e[13]*e[2]*e[5]+e[7]*e[9]*e[6]+e[7]*e[0]*e[15]+e[7]*e[1]*e[16]+e[7]*e[11]*e[8]+e[7]*e[2]*e[17]-.5000000000*e[10]*ep2[6]-.5000000000*e[10]*ep2[5]-.5000000000*e[10]*ep2[3]-.5000000000*e[10]*ep2[8]+1.500000000*e[10]*ep2[1]+.5000000000*e[10]*ep2[0]+.5000000000*e[10]*ep2[2]+.5000000000*e[10]*ep2[4]+.5000000000*e[10]*ep2[7];
|
||||
A[168]=e[13]*e[14]*e[17]+e[13]*e[12]*e[15]+e[10]*e[9]*e[15]+.5000000000*e[16]*ep2[15]-.5000000000*e[16]*ep2[11]-.5000000000*e[16]*ep2[12]-.5000000000*e[16]*ep2[14]+e[10]*e[11]*e[17]+.5000000000*ep2[10]*e[16]+.5000000000*ep3[16]-.5000000000*e[16]*ep2[9]+.5000000000*e[16]*ep2[17]+.5000000000*ep2[13]*e[16];
|
||||
A[57]=e[10]*e[29]*e[20]+e[22]*e[27]*e[12]+e[22]*e[9]*e[30]+e[22]*e[29]*e[14]+e[22]*e[11]*e[32]+e[22]*e[10]*e[31]+e[31]*e[18]*e[12]+e[31]*e[9]*e[21]+e[31]*e[20]*e[14]+e[31]*e[11]*e[23]-1.*e[10]*e[33]*e[24]-1.*e[10]*e[30]*e[21]-1.*e[10]*e[35]*e[26]-1.*e[10]*e[32]*e[23]+e[10]*e[34]*e[25]+e[19]*e[27]*e[9]+e[19]*e[29]*e[11]+e[28]*e[18]*e[9]+e[28]*e[20]*e[11]+e[16]*e[27]*e[24]+e[16]*e[18]*e[33]+e[16]*e[28]*e[25]+e[16]*e[19]*e[34]+e[16]*e[29]*e[26]+e[16]*e[20]*e[35]-1.*e[19]*e[30]*e[12]-1.*e[19]*e[32]*e[14]-1.*e[19]*e[33]*e[15]-1.*e[19]*e[35]*e[17]-1.*e[28]*e[23]*e[14]-1.*e[28]*e[24]*e[15]-1.*e[28]*e[26]*e[17]-1.*e[28]*e[21]*e[12]+e[25]*e[27]*e[15]+e[25]*e[9]*e[33]+e[25]*e[29]*e[17]+e[25]*e[11]*e[35]+e[34]*e[18]*e[15]+e[34]*e[9]*e[24]+e[34]*e[20]*e[17]+e[34]*e[11]*e[26]+e[13]*e[27]*e[21]+e[13]*e[18]*e[30]+e[13]*e[28]*e[22]+e[13]*e[19]*e[31]+e[13]*e[29]*e[23]+e[13]*e[20]*e[32]+e[10]*e[27]*e[18]+3.*e[10]*e[28]*e[19];
|
||||
A[171]=e[4]*e[30]*e[15]+e[4]*e[12]*e[33]+e[4]*e[32]*e[17]+e[4]*e[14]*e[35]+e[4]*e[31]*e[16]+e[4]*e[13]*e[34]+e[7]*e[33]*e[15]+e[7]*e[35]*e[17]+3.*e[7]*e[34]*e[16]+e[1]*e[27]*e[15]+e[1]*e[9]*e[33]+e[1]*e[29]*e[17]+e[1]*e[11]*e[35]+e[1]*e[28]*e[16]+e[1]*e[10]*e[34]-1.*e[16]*e[27]*e[0]-1.*e[16]*e[32]*e[5]+e[16]*e[33]*e[6]-1.*e[16]*e[30]*e[3]+e[16]*e[35]*e[8]-1.*e[16]*e[29]*e[2]+e[13]*e[30]*e[6]+e[13]*e[3]*e[33]+e[13]*e[31]*e[7]+e[13]*e[32]*e[8]+e[13]*e[5]*e[35]-1.*e[34]*e[11]*e[2]+e[34]*e[15]*e[6]-1.*e[34]*e[9]*e[0]-1.*e[34]*e[14]*e[5]-1.*e[34]*e[12]*e[3]+e[34]*e[17]*e[8]+e[31]*e[12]*e[6]+e[31]*e[3]*e[15]+e[31]*e[14]*e[8]+e[31]*e[5]*e[17]-1.*e[7]*e[27]*e[9]-1.*e[7]*e[30]*e[12]+e[7]*e[28]*e[10]-1.*e[7]*e[32]*e[14]+e[10]*e[27]*e[6]+e[10]*e[0]*e[33]+e[10]*e[29]*e[8]+e[10]*e[2]*e[35]+e[28]*e[9]*e[6]+e[28]*e[0]*e[15]+e[28]*e[11]*e[8]+e[28]*e[2]*e[17]-1.*e[7]*e[29]*e[11];
|
||||
A[56]=e[22]*e[18]*e[12]+e[22]*e[9]*e[21]+e[22]*e[20]*e[14]+e[22]*e[11]*e[23]+e[22]*e[19]*e[13]+e[25]*e[18]*e[15]+e[25]*e[9]*e[24]+e[25]*e[20]*e[17]+e[25]*e[11]*e[26]+e[25]*e[19]*e[16]+e[16]*e[18]*e[24]+e[16]*e[20]*e[26]+e[13]*e[18]*e[21]+e[13]*e[20]*e[23]+e[19]*e[18]*e[9]+e[19]*e[20]*e[11]-1.*e[19]*e[23]*e[14]-1.*e[19]*e[24]*e[15]-1.*e[19]*e[26]*e[17]-1.*e[19]*e[21]*e[12]+.5000000000*e[10]*ep2[22]+.5000000000*e[10]*ep2[25]+1.500000000*e[10]*ep2[19]+.5000000000*e[10]*ep2[18]+.5000000000*e[10]*ep2[20]-.5000000000*e[10]*ep2[26]-.5000000000*e[10]*ep2[23]-.5000000000*e[10]*ep2[24]-.5000000000*e[10]*ep2[21];
|
||||
A[170]=e[19]*e[20]*e[26]-.5000000000*e[25]*ep2[20]+e[22]*e[21]*e[24]+e[19]*e[18]*e[24]+.5000000000*ep2[22]*e[25]-.5000000000*e[25]*ep2[21]-.5000000000*e[25]*ep2[23]+.5000000000*ep2[19]*e[25]-.5000000000*e[25]*ep2[18]+.5000000000*e[25]*ep2[24]+.5000000000*e[25]*ep2[26]+.5000000000*ep3[25]+e[22]*e[23]*e[26];
|
||||
A[73]=-1.*e[20]*e[33]*e[6]-1.*e[20]*e[30]*e[3]-1.*e[20]*e[31]*e[4]-1.*e[29]*e[21]*e[3]-1.*e[29]*e[22]*e[4]-1.*e[29]*e[25]*e[7]-1.*e[29]*e[24]*e[6]+e[8]*e[27]*e[24]+e[8]*e[18]*e[33]+e[8]*e[28]*e[25]+e[8]*e[19]*e[34]+e[23]*e[27]*e[3]+e[23]*e[0]*e[30]+e[23]*e[28]*e[4]+e[23]*e[1]*e[31]+e[32]*e[18]*e[3]+e[32]*e[0]*e[21]+e[32]*e[19]*e[4]+e[32]*e[1]*e[22]+e[26]*e[27]*e[6]+e[26]*e[0]*e[33]+e[26]*e[28]*e[7]+e[26]*e[1]*e[34]+e[26]*e[29]*e[8]+e[26]*e[2]*e[35]+e[35]*e[18]*e[6]+e[35]*e[0]*e[24]+e[35]*e[19]*e[7]+e[35]*e[1]*e[25]+e[35]*e[20]*e[8]+e[2]*e[27]*e[18]+e[2]*e[28]*e[19]+3.*e[2]*e[29]*e[20]+e[20]*e[27]*e[0]+e[20]*e[28]*e[1]+e[29]*e[18]*e[0]+e[29]*e[19]*e[1]+e[5]*e[27]*e[21]+e[5]*e[18]*e[30]+e[5]*e[28]*e[22]+e[5]*e[19]*e[31]+e[5]*e[29]*e[23]+e[5]*e[20]*e[32]-1.*e[2]*e[33]*e[24]-1.*e[2]*e[30]*e[21]-1.*e[2]*e[31]*e[22]+e[2]*e[32]*e[23]-1.*e[2]*e[34]*e[25]-1.*e[20]*e[34]*e[7];
|
||||
A[72]=e[5]*e[18]*e[3]+e[5]*e[0]*e[21]+e[5]*e[19]*e[4]+e[5]*e[1]*e[22]+e[5]*e[2]*e[23]+e[23]*e[1]*e[4]+e[23]*e[0]*e[3]+e[8]*e[18]*e[6]+e[8]*e[0]*e[24]+e[8]*e[19]*e[7]+e[8]*e[1]*e[25]+e[8]*e[2]*e[26]+e[26]*e[1]*e[7]+e[26]*e[0]*e[6]+e[2]*e[18]*e[0]+e[2]*e[19]*e[1]-1.*e[2]*e[21]*e[3]-1.*e[2]*e[22]*e[4]-1.*e[2]*e[25]*e[7]-1.*e[2]*e[24]*e[6]-.5000000000*e[20]*ep2[4]+.5000000000*e[20]*ep2[0]-.5000000000*e[20]*ep2[6]+.5000000000*e[20]*ep2[5]+.5000000000*e[20]*ep2[1]-.5000000000*e[20]*ep2[7]-.5000000000*e[20]*ep2[3]+1.500000000*e[20]*ep2[2]+.5000000000*e[20]*ep2[8];
|
||||
A[75]=e[14]*e[9]*e[3]+e[14]*e[0]*e[12]+e[14]*e[10]*e[4]+e[14]*e[1]*e[13]+e[14]*e[11]*e[5]+e[17]*e[9]*e[6]+e[17]*e[0]*e[15]+e[17]*e[10]*e[7]+e[17]*e[1]*e[16]+e[17]*e[11]*e[8]+e[8]*e[9]*e[15]+e[8]*e[10]*e[16]+e[5]*e[9]*e[12]+e[5]*e[10]*e[13]+e[11]*e[9]*e[0]+e[11]*e[10]*e[1]-1.*e[11]*e[13]*e[4]-1.*e[11]*e[16]*e[7]-1.*e[11]*e[15]*e[6]-1.*e[11]*e[12]*e[3]+.5000000000*e[2]*ep2[14]+.5000000000*e[2]*ep2[17]+1.500000000*e[2]*ep2[11]+.5000000000*e[2]*ep2[9]+.5000000000*e[2]*ep2[10]-.5000000000*e[2]*ep2[16]-.5000000000*e[2]*ep2[12]-.5000000000*e[2]*ep2[15]-.5000000000*e[2]*ep2[13];
|
||||
A[74]=e[14]*e[18]*e[12]+e[14]*e[9]*e[21]+e[14]*e[11]*e[23]+e[14]*e[19]*e[13]+e[14]*e[10]*e[22]+e[23]*e[9]*e[12]+e[23]*e[10]*e[13]+e[17]*e[18]*e[15]+e[17]*e[9]*e[24]+e[17]*e[11]*e[26]+e[17]*e[19]*e[16]+e[17]*e[10]*e[25]+e[26]*e[9]*e[15]+e[26]*e[10]*e[16]-1.*e[11]*e[24]*e[15]-1.*e[11]*e[25]*e[16]+e[11]*e[18]*e[9]-1.*e[11]*e[21]*e[12]+e[11]*e[19]*e[10]-1.*e[11]*e[22]*e[13]+1.500000000*e[20]*ep2[11]+.5000000000*e[20]*ep2[9]+.5000000000*e[20]*ep2[10]+.5000000000*e[20]*ep2[14]+.5000000000*e[20]*ep2[17]-.5000000000*e[20]*ep2[16]-.5000000000*e[20]*ep2[12]-.5000000000*e[20]*ep2[15]-.5000000000*e[20]*ep2[13];
|
||||
A[77]=e[23]*e[10]*e[31]+e[32]*e[18]*e[12]+e[32]*e[9]*e[21]+e[32]*e[19]*e[13]+e[32]*e[10]*e[22]-1.*e[11]*e[33]*e[24]-1.*e[11]*e[30]*e[21]+e[11]*e[35]*e[26]-1.*e[11]*e[31]*e[22]-1.*e[11]*e[34]*e[25]+e[20]*e[27]*e[9]+e[20]*e[28]*e[10]+e[29]*e[18]*e[9]+e[29]*e[19]*e[10]+e[17]*e[27]*e[24]+e[17]*e[18]*e[33]+e[17]*e[28]*e[25]+e[17]*e[19]*e[34]+e[17]*e[29]*e[26]+e[17]*e[20]*e[35]-1.*e[20]*e[30]*e[12]-1.*e[20]*e[31]*e[13]-1.*e[20]*e[33]*e[15]-1.*e[20]*e[34]*e[16]-1.*e[29]*e[24]*e[15]-1.*e[29]*e[25]*e[16]-1.*e[29]*e[21]*e[12]-1.*e[29]*e[22]*e[13]+e[26]*e[27]*e[15]+e[26]*e[9]*e[33]+e[26]*e[28]*e[16]+e[26]*e[10]*e[34]+e[35]*e[18]*e[15]+e[35]*e[9]*e[24]+e[35]*e[19]*e[16]+e[35]*e[10]*e[25]+e[14]*e[27]*e[21]+e[14]*e[18]*e[30]+e[14]*e[28]*e[22]+e[14]*e[19]*e[31]+e[14]*e[29]*e[23]+e[14]*e[20]*e[32]+e[11]*e[27]*e[18]+e[11]*e[28]*e[19]+3.*e[11]*e[29]*e[20]+e[23]*e[27]*e[12]+e[23]*e[9]*e[30]+e[23]*e[11]*e[32]+e[23]*e[28]*e[13];
|
||||
A[76]=e[23]*e[18]*e[12]+e[23]*e[9]*e[21]+e[23]*e[20]*e[14]+e[23]*e[19]*e[13]+e[23]*e[10]*e[22]+e[26]*e[18]*e[15]+e[26]*e[9]*e[24]+e[26]*e[20]*e[17]+e[26]*e[19]*e[16]+e[26]*e[10]*e[25]+e[17]*e[19]*e[25]+e[17]*e[18]*e[24]+e[14]*e[19]*e[22]+e[14]*e[18]*e[21]+e[20]*e[18]*e[9]+e[20]*e[19]*e[10]-1.*e[20]*e[24]*e[15]-1.*e[20]*e[25]*e[16]-1.*e[20]*e[21]*e[12]-1.*e[20]*e[22]*e[13]+.5000000000*e[11]*ep2[23]+.5000000000*e[11]*ep2[26]+.5000000000*e[11]*ep2[19]+.5000000000*e[11]*ep2[18]+1.500000000*e[11]*ep2[20]-.5000000000*e[11]*ep2[22]-.5000000000*e[11]*ep2[24]-.5000000000*e[11]*ep2[21]-.5000000000*e[11]*ep2[25];
|
||||
A[79]=-1.*e[20]*e[21]*e[3]+e[20]*e[26]*e[8]-1.*e[20]*e[22]*e[4]-1.*e[20]*e[25]*e[7]-1.*e[20]*e[24]*e[6]+e[5]*e[19]*e[22]+e[5]*e[18]*e[21]+e[26]*e[18]*e[6]+e[26]*e[0]*e[24]+e[26]*e[19]*e[7]+e[26]*e[1]*e[25]+e[8]*e[19]*e[25]+e[8]*e[18]*e[24]+e[20]*e[18]*e[0]+e[20]*e[19]*e[1]+e[23]*e[18]*e[3]+e[23]*e[0]*e[21]+e[23]*e[19]*e[4]+e[23]*e[1]*e[22]+e[23]*e[20]*e[5]+1.500000000*ep2[20]*e[2]+.5000000000*e[2]*ep2[23]+.5000000000*e[2]*ep2[19]+.5000000000*e[2]*ep2[18]+.5000000000*e[2]*ep2[26]-.5000000000*e[2]*ep2[22]-.5000000000*e[2]*ep2[24]-.5000000000*e[2]*ep2[21]-.5000000000*e[2]*ep2[25];
|
||||
A[78]=-1.*e[2]*e[15]*e[6]+e[2]*e[9]*e[0]-1.*e[2]*e[12]*e[3]+e[5]*e[9]*e[3]+e[5]*e[0]*e[12]+e[5]*e[10]*e[4]+e[5]*e[1]*e[13]+e[5]*e[2]*e[14]+e[14]*e[1]*e[4]+e[14]*e[0]*e[3]+e[8]*e[9]*e[6]+e[8]*e[0]*e[15]+e[8]*e[10]*e[7]+e[8]*e[1]*e[16]+e[8]*e[2]*e[17]+e[17]*e[1]*e[7]+e[17]*e[0]*e[6]+e[2]*e[10]*e[1]-1.*e[2]*e[13]*e[4]-1.*e[2]*e[16]*e[7]+.5000000000*e[11]*ep2[1]+.5000000000*e[11]*ep2[0]+1.500000000*e[11]*ep2[2]+.5000000000*e[11]*ep2[5]+.5000000000*e[11]*ep2[8]-.5000000000*e[11]*ep2[4]-.5000000000*e[11]*ep2[6]-.5000000000*e[11]*ep2[7]-.5000000000*e[11]*ep2[3];
|
||||
A[64]=e[5]*e[19]*e[13]+e[5]*e[10]*e[22]+e[8]*e[18]*e[15]+e[8]*e[9]*e[24]+e[8]*e[20]*e[17]+e[8]*e[11]*e[26]+e[8]*e[19]*e[16]+e[8]*e[10]*e[25]+e[2]*e[18]*e[9]+e[2]*e[19]*e[10]-1.*e[11]*e[21]*e[3]-1.*e[11]*e[22]*e[4]-1.*e[11]*e[25]*e[7]-1.*e[11]*e[24]*e[6]+e[14]*e[18]*e[3]+e[14]*e[0]*e[21]+e[14]*e[19]*e[4]+e[14]*e[1]*e[22]+e[14]*e[2]*e[23]-1.*e[20]*e[13]*e[4]-1.*e[20]*e[16]*e[7]-1.*e[20]*e[15]*e[6]-1.*e[20]*e[12]*e[3]+e[23]*e[9]*e[3]+e[23]*e[0]*e[12]+e[23]*e[10]*e[4]+e[23]*e[1]*e[13]+e[17]*e[18]*e[6]+e[17]*e[0]*e[24]+e[17]*e[19]*e[7]+e[17]*e[1]*e[25]+e[17]*e[2]*e[26]-1.*e[2]*e[24]*e[15]-1.*e[2]*e[25]*e[16]-1.*e[2]*e[21]*e[12]-1.*e[2]*e[22]*e[13]+e[26]*e[9]*e[6]+e[26]*e[0]*e[15]+e[26]*e[10]*e[7]+e[26]*e[1]*e[16]+e[11]*e[18]*e[0]+e[11]*e[19]*e[1]+3.*e[11]*e[20]*e[2]+e[20]*e[9]*e[0]+e[20]*e[10]*e[1]+e[5]*e[18]*e[12]+e[5]*e[9]*e[21]+e[5]*e[20]*e[14]+e[5]*e[11]*e[23];
|
||||
A[65]=e[32]*e[1]*e[4]+e[32]*e[0]*e[3]+e[8]*e[27]*e[6]+e[8]*e[0]*e[33]+e[8]*e[28]*e[7]+e[8]*e[1]*e[34]+e[35]*e[1]*e[7]+e[35]*e[0]*e[6]+e[2]*e[27]*e[0]+e[2]*e[28]*e[1]-1.*e[2]*e[34]*e[7]+e[2]*e[32]*e[5]-1.*e[2]*e[33]*e[6]-1.*e[2]*e[30]*e[3]+e[2]*e[35]*e[8]-1.*e[2]*e[31]*e[4]+e[5]*e[27]*e[3]+e[5]*e[0]*e[30]+e[5]*e[28]*e[4]+e[5]*e[1]*e[31]+1.500000000*e[29]*ep2[2]-.5000000000*e[29]*ep2[4]+.5000000000*e[29]*ep2[0]-.5000000000*e[29]*ep2[6]+.5000000000*e[29]*ep2[5]+.5000000000*e[29]*ep2[1]-.5000000000*e[29]*ep2[7]-.5000000000*e[29]*ep2[3]+.5000000000*e[29]*ep2[8];
|
||||
A[66]=e[5]*e[0]*e[3]+e[8]*e[1]*e[7]+e[8]*e[0]*e[6]+e[5]*e[1]*e[4]-.5000000000*e[2]*ep2[4]+.5000000000*ep3[2]+.5000000000*e[2]*ep2[1]-.5000000000*e[2]*ep2[3]+.5000000000*e[2]*ep2[0]+.5000000000*e[2]*ep2[8]+.5000000000*e[2]*ep2[5]-.5000000000*e[2]*ep2[6]-.5000000000*e[2]*ep2[7];
|
||||
A[67]=e[35]*e[9]*e[15]+e[35]*e[10]*e[16]-1.*e[11]*e[30]*e[12]-1.*e[11]*e[31]*e[13]-1.*e[11]*e[33]*e[15]-1.*e[11]*e[34]*e[16]+e[11]*e[27]*e[9]+e[11]*e[28]*e[10]+e[14]*e[27]*e[12]+e[14]*e[9]*e[30]+e[14]*e[11]*e[32]+e[14]*e[28]*e[13]+e[14]*e[10]*e[31]+e[32]*e[9]*e[12]+e[32]*e[10]*e[13]+e[17]*e[27]*e[15]+e[17]*e[9]*e[33]+e[17]*e[11]*e[35]+e[17]*e[28]*e[16]+e[17]*e[10]*e[34]+1.500000000*e[29]*ep2[11]-.5000000000*e[29]*ep2[16]+.5000000000*e[29]*ep2[9]-.5000000000*e[29]*ep2[12]-.5000000000*e[29]*ep2[15]+.5000000000*e[29]*ep2[17]+.5000000000*e[29]*ep2[10]+.5000000000*e[29]*ep2[14]-.5000000000*e[29]*ep2[13];
|
||||
A[68]=e[14]*e[9]*e[12]+e[17]*e[10]*e[16]+e[17]*e[9]*e[15]+.5000000000*ep3[11]+e[14]*e[10]*e[13]+.5000000000*e[11]*ep2[10]-.5000000000*e[11]*ep2[15]+.5000000000*e[11]*ep2[14]-.5000000000*e[11]*ep2[13]-.5000000000*e[11]*ep2[12]+.5000000000*e[11]*ep2[9]-.5000000000*e[11]*ep2[16]+.5000000000*e[11]*ep2[17];
|
||||
A[69]=e[20]*e[27]*e[18]+e[20]*e[28]*e[19]+e[23]*e[27]*e[21]+e[23]*e[18]*e[30]+e[23]*e[28]*e[22]+e[23]*e[19]*e[31]+e[23]*e[20]*e[32]+e[32]*e[19]*e[22]+e[32]*e[18]*e[21]+e[26]*e[27]*e[24]+e[26]*e[18]*e[33]+e[26]*e[28]*e[25]+e[26]*e[19]*e[34]+e[26]*e[20]*e[35]+e[35]*e[19]*e[25]+e[35]*e[18]*e[24]-1.*e[20]*e[33]*e[24]-1.*e[20]*e[30]*e[21]-1.*e[20]*e[31]*e[22]-1.*e[20]*e[34]*e[25]+.5000000000*e[29]*ep2[23]+.5000000000*e[29]*ep2[26]-.5000000000*e[29]*ep2[22]-.5000000000*e[29]*ep2[24]-.5000000000*e[29]*ep2[21]-.5000000000*e[29]*ep2[25]+1.500000000*e[29]*ep2[20]+.5000000000*e[29]*ep2[19]+.5000000000*e[29]*ep2[18];
|
||||
A[70]=.5000000000*e[20]*ep2[26]+.5000000000*e[20]*ep2[18]+.5000000000*ep3[20]+.5000000000*e[20]*ep2[19]+e[26]*e[18]*e[24]+.5000000000*e[20]*ep2[23]-.5000000000*e[20]*ep2[25]+e[23]*e[19]*e[22]-.5000000000*e[20]*ep2[24]-.5000000000*e[20]*ep2[21]-.5000000000*e[20]*ep2[22]+e[23]*e[18]*e[21]+e[26]*e[19]*e[25];
|
||||
A[71]=e[8]*e[28]*e[16]+e[8]*e[10]*e[34]+e[2]*e[27]*e[9]+3.*e[2]*e[29]*e[11]+e[2]*e[28]*e[10]+e[11]*e[27]*e[0]-1.*e[11]*e[34]*e[7]-1.*e[11]*e[33]*e[6]-1.*e[11]*e[30]*e[3]+e[11]*e[28]*e[1]-1.*e[11]*e[31]*e[4]+e[14]*e[27]*e[3]+e[14]*e[0]*e[30]+e[14]*e[28]*e[4]+e[14]*e[1]*e[31]+e[14]*e[2]*e[32]+e[29]*e[10]*e[1]-1.*e[29]*e[13]*e[4]-1.*e[29]*e[16]*e[7]-1.*e[29]*e[15]*e[6]+e[29]*e[9]*e[0]-1.*e[29]*e[12]*e[3]+e[32]*e[9]*e[3]+e[32]*e[0]*e[12]+e[32]*e[10]*e[4]+e[32]*e[1]*e[13]+e[17]*e[27]*e[6]+e[17]*e[0]*e[33]+e[17]*e[28]*e[7]+e[17]*e[1]*e[34]+e[17]*e[2]*e[35]-1.*e[2]*e[30]*e[12]-1.*e[2]*e[31]*e[13]-1.*e[2]*e[33]*e[15]-1.*e[2]*e[34]*e[16]+e[35]*e[9]*e[6]+e[35]*e[0]*e[15]+e[35]*e[10]*e[7]+e[35]*e[1]*e[16]+e[5]*e[27]*e[12]+e[5]*e[9]*e[30]+e[5]*e[29]*e[14]+e[5]*e[11]*e[32]+e[5]*e[28]*e[13]+e[5]*e[10]*e[31]+e[8]*e[27]*e[15]+e[8]*e[9]*e[33]+e[8]*e[29]*e[17]+e[8]*e[11]*e[35];
|
||||
A[91]=-1.*e[12]*e[34]*e[7]+e[12]*e[32]*e[5]-1.*e[12]*e[35]*e[8]-1.*e[12]*e[29]*e[2]-1.*e[12]*e[28]*e[1]+e[12]*e[31]*e[4]-1.*e[30]*e[11]*e[2]-1.*e[30]*e[10]*e[1]+e[30]*e[13]*e[4]-1.*e[30]*e[16]*e[7]+e[30]*e[14]*e[5]-1.*e[30]*e[17]*e[8]+e[15]*e[3]*e[33]+e[15]*e[31]*e[7]+e[15]*e[4]*e[34]+e[15]*e[32]*e[8]+e[15]*e[5]*e[35]+e[3]*e[27]*e[9]-1.*e[3]*e[28]*e[10]-1.*e[3]*e[34]*e[16]-1.*e[3]*e[35]*e[17]-1.*e[3]*e[29]*e[11]+e[33]*e[13]*e[7]+e[33]*e[4]*e[16]+e[33]*e[14]*e[8]+e[33]*e[5]*e[17]+e[9]*e[28]*e[4]+e[9]*e[1]*e[31]+e[9]*e[29]*e[5]+e[9]*e[2]*e[32]+e[27]*e[10]*e[4]+e[27]*e[1]*e[13]+e[27]*e[11]*e[5]+e[27]*e[2]*e[14]+3.*e[3]*e[30]*e[12]+e[3]*e[32]*e[14]+e[3]*e[31]*e[13]+e[6]*e[30]*e[15]+e[6]*e[12]*e[33]+e[6]*e[32]*e[17]+e[6]*e[14]*e[35]+e[6]*e[31]*e[16]+e[6]*e[13]*e[34]+e[0]*e[27]*e[12]+e[0]*e[9]*e[30]+e[0]*e[29]*e[14]+e[0]*e[11]*e[32]+e[0]*e[28]*e[13]+e[0]*e[10]*e[31];
|
||||
A[90]=.5000000000*e[21]*ep2[24]-.5000000000*e[21]*ep2[25]+.5000000000*e[21]*ep2[23]-.5000000000*e[21]*ep2[26]+.5000000000*ep2[18]*e[21]+.5000000000*e[21]*ep2[22]-.5000000000*e[21]*ep2[20]+e[24]*e[22]*e[25]+e[24]*e[23]*e[26]-.5000000000*e[21]*ep2[19]+e[18]*e[19]*e[22]+e[18]*e[20]*e[23]+.5000000000*ep3[21];
|
||||
A[89]=-.5000000000*e[30]*ep2[26]-.5000000000*e[30]*ep2[19]-.5000000000*e[30]*ep2[20]-.5000000000*e[30]*ep2[25]+.5000000000*ep2[18]*e[30]+1.500000000*e[30]*ep2[21]+.5000000000*e[30]*ep2[22]+.5000000000*e[30]*ep2[23]+.5000000000*e[30]*ep2[24]+e[18]*e[27]*e[21]+e[18]*e[28]*e[22]+e[18]*e[19]*e[31]+e[18]*e[29]*e[23]+e[18]*e[20]*e[32]+e[27]*e[19]*e[22]+e[27]*e[20]*e[23]+e[21]*e[31]*e[22]+e[21]*e[32]*e[23]+e[24]*e[21]*e[33]+e[24]*e[31]*e[25]+e[24]*e[22]*e[34]+e[24]*e[32]*e[26]+e[24]*e[23]*e[35]+e[33]*e[22]*e[25]+e[33]*e[23]*e[26]-1.*e[21]*e[29]*e[20]-1.*e[21]*e[35]*e[26]-1.*e[21]*e[28]*e[19]-1.*e[21]*e[34]*e[25];
|
||||
A[88]=.5000000000*e[12]*ep2[15]-.5000000000*e[12]*ep2[17]+e[15]*e[13]*e[16]-.5000000000*e[12]*ep2[10]+e[15]*e[14]*e[17]-.5000000000*e[12]*ep2[16]-.5000000000*e[12]*ep2[11]+e[9]*e[10]*e[13]+.5000000000*e[12]*ep2[13]+.5000000000*ep2[9]*e[12]+.5000000000*ep3[12]+e[9]*e[11]*e[14]+.5000000000*e[12]*ep2[14];
|
||||
A[95]=e[12]*e[13]*e[4]+e[12]*e[14]*e[5]+e[15]*e[12]*e[6]+e[15]*e[13]*e[7]+e[15]*e[4]*e[16]+e[15]*e[14]*e[8]+e[15]*e[5]*e[17]+e[6]*e[14]*e[17]+e[6]*e[13]*e[16]+e[0]*e[11]*e[14]+e[0]*e[9]*e[12]+e[0]*e[10]*e[13]+e[9]*e[10]*e[4]+e[9]*e[1]*e[13]+e[9]*e[11]*e[5]+e[9]*e[2]*e[14]-1.*e[12]*e[11]*e[2]-1.*e[12]*e[10]*e[1]-1.*e[12]*e[16]*e[7]-1.*e[12]*e[17]*e[8]+1.500000000*ep2[12]*e[3]+.5000000000*e[3]*ep2[15]-.5000000000*e[3]*ep2[16]+.5000000000*e[3]*ep2[9]-.5000000000*e[3]*ep2[11]-.5000000000*e[3]*ep2[17]-.5000000000*e[3]*ep2[10]+.5000000000*e[3]*ep2[14]+.5000000000*e[3]*ep2[13];
|
||||
A[94]=e[18]*e[11]*e[14]+e[18]*e[9]*e[12]+e[18]*e[10]*e[13]+e[12]*e[23]*e[14]+e[12]*e[22]*e[13]+e[15]*e[12]*e[24]+e[15]*e[23]*e[17]+e[15]*e[14]*e[26]+e[15]*e[22]*e[16]+e[15]*e[13]*e[25]+e[24]*e[14]*e[17]+e[24]*e[13]*e[16]-1.*e[12]*e[25]*e[16]-1.*e[12]*e[26]*e[17]-1.*e[12]*e[20]*e[11]-1.*e[12]*e[19]*e[10]+e[9]*e[20]*e[14]+e[9]*e[11]*e[23]+e[9]*e[19]*e[13]+e[9]*e[10]*e[22]+.5000000000*ep2[9]*e[21]-.5000000000*e[21]*ep2[16]-.5000000000*e[21]*ep2[11]-.5000000000*e[21]*ep2[17]-.5000000000*e[21]*ep2[10]+1.500000000*e[21]*ep2[12]+.5000000000*e[21]*ep2[14]+.5000000000*e[21]*ep2[13]+.5000000000*e[21]*ep2[15];
|
||||
A[93]=-1.*e[21]*e[35]*e[8]-1.*e[21]*e[29]*e[2]-1.*e[21]*e[28]*e[1]+e[21]*e[31]*e[4]-1.*e[30]*e[26]*e[8]-1.*e[30]*e[20]*e[2]-1.*e[30]*e[19]*e[1]+e[30]*e[22]*e[4]-1.*e[30]*e[25]*e[7]+e[30]*e[23]*e[5]+e[6]*e[31]*e[25]+e[6]*e[22]*e[34]+e[6]*e[32]*e[26]+e[6]*e[23]*e[35]+e[24]*e[30]*e[6]+e[24]*e[3]*e[33]+e[24]*e[31]*e[7]+e[24]*e[4]*e[34]+e[24]*e[32]*e[8]+e[24]*e[5]*e[35]+e[33]*e[21]*e[6]+e[33]*e[22]*e[7]+e[33]*e[4]*e[25]+e[33]*e[23]*e[8]+e[33]*e[5]*e[26]+e[0]*e[27]*e[21]+e[0]*e[18]*e[30]+e[0]*e[28]*e[22]+e[0]*e[19]*e[31]+e[0]*e[29]*e[23]+e[0]*e[20]*e[32]+e[18]*e[27]*e[3]+e[18]*e[28]*e[4]+e[18]*e[1]*e[31]+e[18]*e[29]*e[5]+e[18]*e[2]*e[32]+e[27]*e[19]*e[4]+e[27]*e[1]*e[22]+e[27]*e[20]*e[5]+e[27]*e[2]*e[23]+3.*e[3]*e[30]*e[21]+e[3]*e[31]*e[22]+e[3]*e[32]*e[23]-1.*e[3]*e[29]*e[20]-1.*e[3]*e[35]*e[26]-1.*e[3]*e[28]*e[19]-1.*e[3]*e[34]*e[25]-1.*e[21]*e[34]*e[7]+e[21]*e[32]*e[5];
|
||||
A[92]=e[18]*e[1]*e[4]+e[18]*e[0]*e[3]+e[18]*e[2]*e[5]+e[3]*e[22]*e[4]+e[3]*e[23]*e[5]+e[6]*e[3]*e[24]+e[6]*e[22]*e[7]+e[6]*e[4]*e[25]+e[6]*e[23]*e[8]+e[6]*e[5]*e[26]+e[24]*e[4]*e[7]+e[24]*e[5]*e[8]+e[0]*e[19]*e[4]+e[0]*e[1]*e[22]+e[0]*e[20]*e[5]+e[0]*e[2]*e[23]-1.*e[3]*e[26]*e[8]-1.*e[3]*e[20]*e[2]-1.*e[3]*e[19]*e[1]-1.*e[3]*e[25]*e[7]+.5000000000*e[21]*ep2[4]+.5000000000*e[21]*ep2[0]+.5000000000*e[21]*ep2[6]+.5000000000*e[21]*ep2[5]-.5000000000*e[21]*ep2[1]-.5000000000*e[21]*ep2[7]+1.500000000*e[21]*ep2[3]-.5000000000*e[21]*ep2[2]-.5000000000*e[21]*ep2[8];
|
||||
A[82]=.5000000000*ep2[27]*e[21]+1.500000000*e[21]*ep2[30]+.5000000000*e[21]*ep2[32]+.5000000000*e[21]*ep2[31]+.5000000000*e[21]*ep2[33]-.5000000000*e[21]*ep2[28]-.5000000000*e[21]*ep2[29]-.5000000000*e[21]*ep2[34]-.5000000000*e[21]*ep2[35]+e[18]*e[27]*e[30]+e[18]*e[29]*e[32]+e[18]*e[28]*e[31]+e[27]*e[28]*e[22]+e[27]*e[19]*e[31]+e[27]*e[29]*e[23]+e[27]*e[20]*e[32]+e[30]*e[31]*e[22]+e[30]*e[32]*e[23]+e[24]*e[30]*e[33]+e[24]*e[32]*e[35]+e[24]*e[31]*e[34]+e[33]*e[31]*e[25]+e[33]*e[22]*e[34]+e[33]*e[32]*e[26]+e[33]*e[23]*e[35]-1.*e[30]*e[29]*e[20]-1.*e[30]*e[35]*e[26]-1.*e[30]*e[28]*e[19]-1.*e[30]*e[34]*e[25];
|
||||
A[192]=-.5000000000*e[26]*ep2[4]-.5000000000*e[26]*ep2[0]+.5000000000*e[26]*ep2[6]+.5000000000*e[26]*ep2[5]-.5000000000*e[26]*ep2[1]+.5000000000*e[26]*ep2[7]-.5000000000*e[26]*ep2[3]+.5000000000*e[26]*ep2[2]+1.500000000*e[26]*ep2[8]+e[20]*e[0]*e[6]+e[20]*e[2]*e[8]+e[5]*e[21]*e[6]+e[5]*e[3]*e[24]+e[5]*e[22]*e[7]+e[5]*e[4]*e[25]+e[5]*e[23]*e[8]+e[23]*e[4]*e[7]+e[23]*e[3]*e[6]+e[8]*e[24]*e[6]+e[8]*e[25]*e[7]+e[2]*e[18]*e[6]+e[2]*e[0]*e[24]+e[2]*e[19]*e[7]+e[2]*e[1]*e[25]-1.*e[8]*e[21]*e[3]-1.*e[8]*e[19]*e[1]-1.*e[8]*e[22]*e[4]-1.*e[8]*e[18]*e[0]+e[20]*e[1]*e[7];
|
||||
A[83]=e[9]*e[27]*e[30]+e[9]*e[29]*e[32]+e[9]*e[28]*e[31]+e[33]*e[30]*e[15]+e[33]*e[32]*e[17]+e[33]*e[14]*e[35]+e[33]*e[31]*e[16]+e[33]*e[13]*e[34]+e[27]*e[29]*e[14]+e[27]*e[11]*e[32]+e[27]*e[28]*e[13]+e[27]*e[10]*e[31]-1.*e[30]*e[28]*e[10]+e[30]*e[31]*e[13]+e[30]*e[32]*e[14]-1.*e[30]*e[34]*e[16]-1.*e[30]*e[35]*e[17]-1.*e[30]*e[29]*e[11]+e[15]*e[32]*e[35]+e[15]*e[31]*e[34]-.5000000000*e[12]*ep2[34]-.5000000000*e[12]*ep2[35]+.5000000000*e[12]*ep2[27]+.5000000000*e[12]*ep2[32]-.5000000000*e[12]*ep2[28]-.5000000000*e[12]*ep2[29]+.5000000000*e[12]*ep2[31]+.5000000000*e[12]*ep2[33]+1.500000000*e[12]*ep2[30];
|
||||
A[193]=e[23]*e[30]*e[6]+e[23]*e[3]*e[33]+e[23]*e[31]*e[7]+e[23]*e[4]*e[34]+e[32]*e[21]*e[6]+e[32]*e[3]*e[24]+e[32]*e[22]*e[7]+e[32]*e[4]*e[25]+e[26]*e[33]*e[6]+e[26]*e[34]*e[7]+3.*e[26]*e[35]*e[8]+e[35]*e[24]*e[6]+e[35]*e[25]*e[7]+e[2]*e[27]*e[24]+e[2]*e[18]*e[33]+e[2]*e[28]*e[25]+e[2]*e[19]*e[34]+e[2]*e[29]*e[26]+e[2]*e[20]*e[35]+e[20]*e[27]*e[6]+e[20]*e[0]*e[33]+e[20]*e[28]*e[7]+e[20]*e[1]*e[34]+e[20]*e[29]*e[8]+e[29]*e[18]*e[6]+e[29]*e[0]*e[24]+e[29]*e[19]*e[7]+e[29]*e[1]*e[25]+e[5]*e[30]*e[24]+e[5]*e[21]*e[33]+e[5]*e[31]*e[25]+e[5]*e[22]*e[34]+e[5]*e[32]*e[26]+e[5]*e[23]*e[35]-1.*e[8]*e[27]*e[18]+e[8]*e[33]*e[24]-1.*e[8]*e[30]*e[21]-1.*e[8]*e[31]*e[22]+e[8]*e[32]*e[23]-1.*e[8]*e[28]*e[19]+e[8]*e[34]*e[25]-1.*e[26]*e[27]*e[0]-1.*e[26]*e[30]*e[3]-1.*e[26]*e[28]*e[1]-1.*e[26]*e[31]*e[4]-1.*e[35]*e[21]*e[3]-1.*e[35]*e[19]*e[1]-1.*e[35]*e[22]*e[4]-1.*e[35]*e[18]*e[0];
|
||||
A[80]=e[27]*e[29]*e[32]+e[27]*e[28]*e[31]+e[33]*e[32]*e[35]+e[33]*e[31]*e[34]+.5000000000*ep3[30]-.5000000000*e[30]*ep2[28]-.5000000000*e[30]*ep2[29]-.5000000000*e[30]*ep2[34]+.5000000000*e[30]*ep2[33]+.5000000000*ep2[27]*e[30]+.5000000000*e[30]*ep2[32]+.5000000000*e[30]*ep2[31]-.5000000000*e[30]*ep2[35];
|
||||
A[194]=.5000000000*ep2[14]*e[26]+1.500000000*e[26]*ep2[17]+.5000000000*e[26]*ep2[15]+.5000000000*e[26]*ep2[16]+.5000000000*ep2[11]*e[26]-.5000000000*e[26]*ep2[9]-.5000000000*e[26]*ep2[12]-.5000000000*e[26]*ep2[10]-.5000000000*e[26]*ep2[13]+e[20]*e[11]*e[17]+e[20]*e[9]*e[15]+e[20]*e[10]*e[16]+e[14]*e[21]*e[15]+e[14]*e[12]*e[24]+e[14]*e[23]*e[17]+e[14]*e[22]*e[16]+e[14]*e[13]*e[25]+e[23]*e[12]*e[15]+e[23]*e[13]*e[16]+e[17]*e[24]*e[15]+e[17]*e[25]*e[16]-1.*e[17]*e[18]*e[9]-1.*e[17]*e[21]*e[12]-1.*e[17]*e[19]*e[10]-1.*e[17]*e[22]*e[13]+e[11]*e[18]*e[15]+e[11]*e[9]*e[24]+e[11]*e[19]*e[16]+e[11]*e[10]*e[25];
|
||||
A[81]=e[0]*e[27]*e[30]+e[0]*e[29]*e[32]+e[0]*e[28]*e[31]+e[30]*e[31]*e[4]+e[30]*e[32]*e[5]+e[6]*e[30]*e[33]+e[6]*e[32]*e[35]+e[6]*e[31]*e[34]+e[27]*e[28]*e[4]+e[27]*e[1]*e[31]+e[27]*e[29]*e[5]+e[27]*e[2]*e[32]+e[33]*e[31]*e[7]+e[33]*e[4]*e[34]+e[33]*e[32]*e[8]+e[33]*e[5]*e[35]-1.*e[30]*e[34]*e[7]-1.*e[30]*e[35]*e[8]-1.*e[30]*e[29]*e[2]-1.*e[30]*e[28]*e[1]+1.500000000*e[3]*ep2[30]+.5000000000*e[3]*ep2[32]+.5000000000*e[3]*ep2[31]+.5000000000*e[3]*ep2[27]-.5000000000*e[3]*ep2[28]-.5000000000*e[3]*ep2[29]+.5000000000*e[3]*ep2[33]-.5000000000*e[3]*ep2[34]-.5000000000*e[3]*ep2[35];
|
||||
A[195]=.5000000000*ep2[14]*e[8]+1.500000000*ep2[17]*e[8]+.5000000000*e[8]*ep2[15]+.5000000000*e[8]*ep2[16]-.5000000000*e[8]*ep2[9]+.5000000000*e[8]*ep2[11]-.5000000000*e[8]*ep2[12]-.5000000000*e[8]*ep2[10]-.5000000000*e[8]*ep2[13]+e[14]*e[12]*e[6]+e[14]*e[3]*e[15]+e[14]*e[13]*e[7]+e[14]*e[4]*e[16]+e[14]*e[5]*e[17]+e[17]*e[15]*e[6]+e[17]*e[16]*e[7]+e[2]*e[11]*e[17]+e[2]*e[9]*e[15]+e[2]*e[10]*e[16]+e[5]*e[12]*e[15]+e[5]*e[13]*e[16]+e[11]*e[9]*e[6]+e[11]*e[0]*e[15]+e[11]*e[10]*e[7]+e[11]*e[1]*e[16]-1.*e[17]*e[10]*e[1]-1.*e[17]*e[13]*e[4]-1.*e[17]*e[9]*e[0]-1.*e[17]*e[12]*e[3];
|
||||
A[86]=-.5000000000*e[3]*ep2[1]-.5000000000*e[3]*ep2[7]+.5000000000*ep3[3]-.5000000000*e[3]*ep2[8]+e[0]*e[2]*e[5]+.5000000000*e[3]*ep2[6]+.5000000000*e[3]*ep2[4]-.5000000000*e[3]*ep2[2]+e[0]*e[1]*e[4]+e[6]*e[4]*e[7]+.5000000000*ep2[0]*e[3]+.5000000000*e[3]*ep2[5]+e[6]*e[5]*e[8];
|
||||
A[196]=.5000000000*ep2[23]*e[17]+1.500000000*ep2[26]*e[17]+.5000000000*e[17]*ep2[25]+.5000000000*e[17]*ep2[24]-.5000000000*e[17]*ep2[18]-.5000000000*e[17]*ep2[19]+.5000000000*e[17]*ep2[20]-.5000000000*e[17]*ep2[22]-.5000000000*e[17]*ep2[21]+e[23]*e[21]*e[15]+e[23]*e[12]*e[24]+e[23]*e[14]*e[26]+e[23]*e[22]*e[16]+e[23]*e[13]*e[25]+e[26]*e[24]*e[15]+e[26]*e[25]*e[16]+e[11]*e[19]*e[25]+e[11]*e[18]*e[24]+e[11]*e[20]*e[26]+e[14]*e[22]*e[25]+e[14]*e[21]*e[24]+e[20]*e[18]*e[15]+e[20]*e[9]*e[24]+e[20]*e[19]*e[16]+e[20]*e[10]*e[25]-1.*e[26]*e[18]*e[9]-1.*e[26]*e[21]*e[12]-1.*e[26]*e[19]*e[10]-1.*e[26]*e[22]*e[13];
|
||||
A[87]=-1.*e[12]*e[34]*e[16]-1.*e[12]*e[35]*e[17]-1.*e[12]*e[29]*e[11]+e[9]*e[27]*e[12]+e[9]*e[29]*e[14]+e[9]*e[11]*e[32]+e[9]*e[28]*e[13]+e[9]*e[10]*e[31]+e[27]*e[11]*e[14]+e[27]*e[10]*e[13]+e[12]*e[32]*e[14]+e[12]*e[31]*e[13]+e[15]*e[12]*e[33]+e[15]*e[32]*e[17]+e[15]*e[14]*e[35]+e[15]*e[31]*e[16]+e[15]*e[13]*e[34]+e[33]*e[14]*e[17]+e[33]*e[13]*e[16]-1.*e[12]*e[28]*e[10]+.5000000000*ep2[9]*e[30]-.5000000000*e[30]*ep2[16]-.5000000000*e[30]*ep2[11]+1.500000000*e[30]*ep2[12]+.5000000000*e[30]*ep2[15]-.5000000000*e[30]*ep2[17]-.5000000000*e[30]*ep2[10]+.5000000000*e[30]*ep2[14]+.5000000000*e[30]*ep2[13];
|
||||
A[197]=e[32]*e[22]*e[16]+e[32]*e[13]*e[25]-1.*e[17]*e[27]*e[18]+e[17]*e[33]*e[24]-1.*e[17]*e[30]*e[21]+e[17]*e[29]*e[20]+3.*e[17]*e[35]*e[26]-1.*e[17]*e[31]*e[22]-1.*e[17]*e[28]*e[19]+e[17]*e[34]*e[25]+e[20]*e[27]*e[15]+e[20]*e[9]*e[33]+e[20]*e[28]*e[16]+e[20]*e[10]*e[34]+e[29]*e[18]*e[15]+e[29]*e[9]*e[24]+e[29]*e[19]*e[16]+e[29]*e[10]*e[25]-1.*e[26]*e[27]*e[9]-1.*e[26]*e[30]*e[12]-1.*e[26]*e[28]*e[10]-1.*e[26]*e[31]*e[13]+e[26]*e[33]*e[15]+e[26]*e[34]*e[16]+e[35]*e[24]*e[15]+e[35]*e[25]*e[16]-1.*e[35]*e[18]*e[9]-1.*e[35]*e[21]*e[12]-1.*e[35]*e[19]*e[10]-1.*e[35]*e[22]*e[13]+e[14]*e[30]*e[24]+e[14]*e[21]*e[33]+e[14]*e[31]*e[25]+e[14]*e[22]*e[34]+e[14]*e[32]*e[26]+e[14]*e[23]*e[35]+e[11]*e[27]*e[24]+e[11]*e[18]*e[33]+e[11]*e[28]*e[25]+e[11]*e[19]*e[34]+e[11]*e[29]*e[26]+e[11]*e[20]*e[35]+e[23]*e[30]*e[15]+e[23]*e[12]*e[33]+e[23]*e[32]*e[17]+e[23]*e[31]*e[16]+e[23]*e[13]*e[34]+e[32]*e[21]*e[15]+e[32]*e[12]*e[24];
|
||||
A[84]=e[6]*e[23]*e[17]+e[6]*e[14]*e[26]+e[6]*e[22]*e[16]+e[6]*e[13]*e[25]+e[0]*e[20]*e[14]+e[0]*e[11]*e[23]+e[0]*e[19]*e[13]+e[0]*e[10]*e[22]-1.*e[12]*e[26]*e[8]-1.*e[12]*e[20]*e[2]-1.*e[12]*e[19]*e[1]+e[12]*e[22]*e[4]-1.*e[12]*e[25]*e[7]+e[12]*e[23]*e[5]-1.*e[21]*e[11]*e[2]-1.*e[21]*e[10]*e[1]+e[21]*e[13]*e[4]-1.*e[21]*e[16]*e[7]+e[21]*e[14]*e[5]-1.*e[21]*e[17]*e[8]+e[15]*e[3]*e[24]+e[15]*e[22]*e[7]+e[15]*e[4]*e[25]+e[15]*e[23]*e[8]+e[15]*e[5]*e[26]-1.*e[3]*e[25]*e[16]-1.*e[3]*e[26]*e[17]-1.*e[3]*e[20]*e[11]-1.*e[3]*e[19]*e[10]+e[24]*e[13]*e[7]+e[24]*e[4]*e[16]+e[24]*e[14]*e[8]+e[24]*e[5]*e[17]+e[9]*e[18]*e[3]+e[9]*e[0]*e[21]+e[9]*e[19]*e[4]+e[9]*e[1]*e[22]+e[9]*e[20]*e[5]+e[9]*e[2]*e[23]+e[18]*e[0]*e[12]+e[18]*e[10]*e[4]+e[18]*e[1]*e[13]+e[18]*e[11]*e[5]+e[18]*e[2]*e[14]+3.*e[3]*e[21]*e[12]+e[3]*e[23]*e[14]+e[3]*e[22]*e[13]+e[6]*e[21]*e[15]+e[6]*e[12]*e[24];
|
||||
A[198]=.5000000000*ep2[5]*e[17]+1.500000000*e[17]*ep2[8]+.5000000000*e[17]*ep2[7]+.5000000000*e[17]*ep2[6]+.5000000000*ep2[2]*e[17]-.5000000000*e[17]*ep2[4]-.5000000000*e[17]*ep2[0]-.5000000000*e[17]*ep2[1]-.5000000000*e[17]*ep2[3]+e[11]*e[1]*e[7]+e[11]*e[0]*e[6]+e[11]*e[2]*e[8]+e[5]*e[12]*e[6]+e[5]*e[3]*e[15]+e[5]*e[13]*e[7]+e[5]*e[4]*e[16]+e[5]*e[14]*e[8]+e[14]*e[4]*e[7]+e[14]*e[3]*e[6]+e[8]*e[15]*e[6]+e[8]*e[16]*e[7]-1.*e[8]*e[10]*e[1]-1.*e[8]*e[13]*e[4]-1.*e[8]*e[9]*e[0]-1.*e[8]*e[12]*e[3]+e[2]*e[9]*e[6]+e[2]*e[0]*e[15]+e[2]*e[10]*e[7]+e[2]*e[1]*e[16];
|
||||
A[85]=e[6]*e[4]*e[34]+e[6]*e[32]*e[8]+e[6]*e[5]*e[35]+e[33]*e[4]*e[7]+e[33]*e[5]*e[8]+e[0]*e[27]*e[3]+e[0]*e[28]*e[4]+e[0]*e[1]*e[31]+e[0]*e[29]*e[5]+e[0]*e[2]*e[32]-1.*e[3]*e[34]*e[7]+e[3]*e[32]*e[5]+e[3]*e[33]*e[6]-1.*e[3]*e[35]*e[8]-1.*e[3]*e[29]*e[2]-1.*e[3]*e[28]*e[1]+e[3]*e[31]*e[4]+e[27]*e[1]*e[4]+e[27]*e[2]*e[5]+e[6]*e[31]*e[7]+.5000000000*e[30]*ep2[4]+.5000000000*e[30]*ep2[6]+.5000000000*e[30]*ep2[5]-.5000000000*e[30]*ep2[1]-.5000000000*e[30]*ep2[7]-.5000000000*e[30]*ep2[2]-.5000000000*e[30]*ep2[8]+.5000000000*ep2[0]*e[30]+1.500000000*e[30]*ep2[3];
|
||||
A[199]=.5000000000*ep2[23]*e[8]+1.500000000*ep2[26]*e[8]-.5000000000*e[8]*ep2[18]-.5000000000*e[8]*ep2[19]-.5000000000*e[8]*ep2[22]+.5000000000*e[8]*ep2[24]-.5000000000*e[8]*ep2[21]+.5000000000*e[8]*ep2[25]+.5000000000*ep2[20]*e[8]+e[20]*e[18]*e[6]+e[20]*e[0]*e[24]+e[20]*e[19]*e[7]+e[20]*e[1]*e[25]+e[20]*e[2]*e[26]+e[23]*e[21]*e[6]+e[23]*e[3]*e[24]+e[23]*e[22]*e[7]+e[23]*e[4]*e[25]+e[23]*e[5]*e[26]-1.*e[26]*e[21]*e[3]-1.*e[26]*e[19]*e[1]-1.*e[26]*e[22]*e[4]-1.*e[26]*e[18]*e[0]+e[26]*e[25]*e[7]+e[26]*e[24]*e[6]+e[2]*e[19]*e[25]+e[2]*e[18]*e[24]+e[5]*e[22]*e[25]+e[5]*e[21]*e[24];
|
||||
A[109]=e[19]*e[27]*e[21]+e[19]*e[18]*e[30]+e[19]*e[28]*e[22]+e[19]*e[29]*e[23]+e[19]*e[20]*e[32]+e[28]*e[18]*e[21]+e[28]*e[20]*e[23]+e[22]*e[30]*e[21]+e[22]*e[32]*e[23]+e[25]*e[30]*e[24]+e[25]*e[21]*e[33]+e[25]*e[22]*e[34]+e[25]*e[32]*e[26]+e[25]*e[23]*e[35]+e[34]*e[21]*e[24]+e[34]*e[23]*e[26]-1.*e[22]*e[27]*e[18]-1.*e[22]*e[33]*e[24]-1.*e[22]*e[29]*e[20]-1.*e[22]*e[35]*e[26]+.5000000000*ep2[19]*e[31]+1.500000000*e[31]*ep2[22]+.5000000000*e[31]*ep2[21]+.5000000000*e[31]*ep2[23]+.5000000000*e[31]*ep2[25]-.5000000000*e[31]*ep2[26]-.5000000000*e[31]*ep2[18]-.5000000000*e[31]*ep2[20]-.5000000000*e[31]*ep2[24];
|
||||
A[108]=-.5000000000*e[13]*ep2[15]+.5000000000*e[13]*ep2[16]+.5000000000*e[13]*ep2[12]+e[16]*e[12]*e[15]+.5000000000*ep3[13]+e[10]*e[11]*e[14]+.5000000000*e[13]*ep2[14]-.5000000000*e[13]*ep2[17]-.5000000000*e[13]*ep2[11]-.5000000000*e[13]*ep2[9]+.5000000000*ep2[10]*e[13]+e[10]*e[9]*e[12]+e[16]*e[14]*e[17];
|
||||
A[111]=-1.*e[13]*e[29]*e[2]-1.*e[31]*e[11]*e[2]-1.*e[31]*e[15]*e[6]-1.*e[31]*e[9]*e[0]+e[31]*e[14]*e[5]+e[31]*e[12]*e[3]-1.*e[31]*e[17]*e[8]+e[16]*e[30]*e[6]+e[16]*e[3]*e[33]+e[16]*e[4]*e[34]+e[16]*e[32]*e[8]+e[16]*e[5]*e[35]-1.*e[4]*e[27]*e[9]+e[4]*e[28]*e[10]-1.*e[4]*e[33]*e[15]-1.*e[4]*e[35]*e[17]-1.*e[4]*e[29]*e[11]+e[34]*e[12]*e[6]+e[34]*e[3]*e[15]+e[34]*e[14]*e[8]+e[34]*e[5]*e[17]+e[10]*e[27]*e[3]+e[10]*e[0]*e[30]+e[10]*e[29]*e[5]+e[10]*e[2]*e[32]+e[28]*e[9]*e[3]+e[28]*e[0]*e[12]+e[28]*e[11]*e[5]+e[28]*e[2]*e[14]+e[4]*e[30]*e[12]+e[4]*e[32]*e[14]+3.*e[4]*e[31]*e[13]+e[7]*e[30]*e[15]+e[7]*e[12]*e[33]+e[7]*e[32]*e[17]+e[7]*e[14]*e[35]+e[7]*e[31]*e[16]+e[7]*e[13]*e[34]+e[1]*e[27]*e[12]+e[1]*e[9]*e[30]+e[1]*e[29]*e[14]+e[1]*e[11]*e[32]+e[1]*e[28]*e[13]+e[1]*e[10]*e[31]-1.*e[13]*e[27]*e[0]+e[13]*e[32]*e[5]-1.*e[13]*e[33]*e[6]+e[13]*e[30]*e[3]-1.*e[13]*e[35]*e[8];
|
||||
A[110]=e[25]*e[23]*e[26]+e[19]*e[20]*e[23]+e[19]*e[18]*e[21]+e[25]*e[21]*e[24]+.5000000000*ep3[22]+.5000000000*e[22]*ep2[23]+.5000000000*ep2[19]*e[22]-.5000000000*e[22]*ep2[18]-.5000000000*e[22]*ep2[24]+.5000000000*e[22]*ep2[21]+.5000000000*e[22]*ep2[25]-.5000000000*e[22]*ep2[20]-.5000000000*e[22]*ep2[26];
|
||||
A[105]=e[34]*e[5]*e[8]+e[1]*e[27]*e[3]+e[1]*e[0]*e[30]+e[1]*e[28]*e[4]+e[1]*e[29]*e[5]+e[1]*e[2]*e[32]-1.*e[4]*e[27]*e[0]+e[4]*e[34]*e[7]+e[4]*e[32]*e[5]-1.*e[4]*e[33]*e[6]+e[4]*e[30]*e[3]-1.*e[4]*e[35]*e[8]-1.*e[4]*e[29]*e[2]+e[28]*e[0]*e[3]+e[28]*e[2]*e[5]+e[7]*e[30]*e[6]+e[7]*e[3]*e[33]+e[7]*e[32]*e[8]+e[7]*e[5]*e[35]+e[34]*e[3]*e[6]+.5000000000*ep2[1]*e[31]+1.500000000*e[31]*ep2[4]-.5000000000*e[31]*ep2[0]-.5000000000*e[31]*ep2[6]+.5000000000*e[31]*ep2[5]+.5000000000*e[31]*ep2[7]+.5000000000*e[31]*ep2[3]-.5000000000*e[31]*ep2[2]-.5000000000*e[31]*ep2[8];
|
||||
A[104]=e[1]*e[20]*e[14]+e[1]*e[11]*e[23]+e[13]*e[21]*e[3]-1.*e[13]*e[26]*e[8]-1.*e[13]*e[20]*e[2]-1.*e[13]*e[18]*e[0]+e[13]*e[23]*e[5]-1.*e[13]*e[24]*e[6]-1.*e[22]*e[11]*e[2]-1.*e[22]*e[15]*e[6]-1.*e[22]*e[9]*e[0]+e[22]*e[14]*e[5]+e[22]*e[12]*e[3]-1.*e[22]*e[17]*e[8]+e[16]*e[21]*e[6]+e[16]*e[3]*e[24]+e[16]*e[4]*e[25]+e[16]*e[23]*e[8]+e[16]*e[5]*e[26]-1.*e[4]*e[24]*e[15]-1.*e[4]*e[26]*e[17]-1.*e[4]*e[20]*e[11]-1.*e[4]*e[18]*e[9]+e[25]*e[12]*e[6]+e[25]*e[3]*e[15]+e[25]*e[14]*e[8]+e[25]*e[5]*e[17]+e[10]*e[18]*e[3]+e[10]*e[0]*e[21]+e[10]*e[19]*e[4]+e[10]*e[1]*e[22]+e[10]*e[20]*e[5]+e[10]*e[2]*e[23]+e[19]*e[9]*e[3]+e[19]*e[0]*e[12]+e[19]*e[1]*e[13]+e[19]*e[11]*e[5]+e[19]*e[2]*e[14]+e[4]*e[21]*e[12]+e[4]*e[23]*e[14]+3.*e[4]*e[22]*e[13]+e[7]*e[21]*e[15]+e[7]*e[12]*e[24]+e[7]*e[23]*e[17]+e[7]*e[14]*e[26]+e[7]*e[22]*e[16]+e[7]*e[13]*e[25]+e[1]*e[18]*e[12]+e[1]*e[9]*e[21];
|
||||
A[107]=e[10]*e[27]*e[12]+e[10]*e[9]*e[30]+e[10]*e[29]*e[14]+e[10]*e[11]*e[32]+e[10]*e[28]*e[13]+e[28]*e[11]*e[14]+e[28]*e[9]*e[12]+e[13]*e[30]*e[12]+e[13]*e[32]*e[14]+e[16]*e[30]*e[15]+e[16]*e[12]*e[33]+e[16]*e[32]*e[17]+e[16]*e[14]*e[35]+e[16]*e[13]*e[34]+e[34]*e[14]*e[17]+e[34]*e[12]*e[15]-1.*e[13]*e[27]*e[9]-1.*e[13]*e[33]*e[15]-1.*e[13]*e[35]*e[17]-1.*e[13]*e[29]*e[11]+.5000000000*ep2[10]*e[31]+.5000000000*e[31]*ep2[16]-.5000000000*e[31]*ep2[9]-.5000000000*e[31]*ep2[11]+.5000000000*e[31]*ep2[12]-.5000000000*e[31]*ep2[15]-.5000000000*e[31]*ep2[17]+.5000000000*e[31]*ep2[14]+1.500000000*e[31]*ep2[13];
|
||||
A[106]=-.5000000000*e[4]*ep2[6]-.5000000000*e[4]*ep2[0]+e[1]*e[2]*e[5]+.5000000000*e[4]*ep2[7]+e[1]*e[0]*e[3]+e[7]*e[5]*e[8]-.5000000000*e[4]*ep2[8]+.5000000000*e[4]*ep2[3]+.5000000000*e[4]*ep2[5]+e[7]*e[3]*e[6]-.5000000000*e[4]*ep2[2]+.5000000000*ep3[4]+.5000000000*ep2[1]*e[4];
|
||||
A[100]=e[34]*e[32]*e[35]-.5000000000*e[31]*ep2[35]+.5000000000*e[31]*ep2[34]+.5000000000*ep2[28]*e[31]+.5000000000*ep3[31]+.5000000000*e[31]*ep2[32]+e[34]*e[30]*e[33]-.5000000000*e[31]*ep2[27]+.5000000000*e[31]*ep2[30]-.5000000000*e[31]*ep2[33]-.5000000000*e[31]*ep2[29]+e[28]*e[29]*e[32]+e[28]*e[27]*e[30];
|
||||
A[101]=e[1]*e[27]*e[30]+e[1]*e[29]*e[32]+e[1]*e[28]*e[31]+e[31]*e[30]*e[3]+e[31]*e[32]*e[5]+e[7]*e[30]*e[33]+e[7]*e[32]*e[35]+e[7]*e[31]*e[34]+e[28]*e[27]*e[3]+e[28]*e[0]*e[30]+e[28]*e[29]*e[5]+e[28]*e[2]*e[32]+e[34]*e[30]*e[6]+e[34]*e[3]*e[33]+e[34]*e[32]*e[8]+e[34]*e[5]*e[35]-1.*e[31]*e[27]*e[0]-1.*e[31]*e[33]*e[6]-1.*e[31]*e[35]*e[8]-1.*e[31]*e[29]*e[2]+.5000000000*e[4]*ep2[30]+.5000000000*e[4]*ep2[32]+1.500000000*e[4]*ep2[31]-.5000000000*e[4]*ep2[27]+.5000000000*e[4]*ep2[28]-.5000000000*e[4]*ep2[29]-.5000000000*e[4]*ep2[33]+.5000000000*e[4]*ep2[34]-.5000000000*e[4]*ep2[35];
|
||||
A[102]=.5000000000*e[22]*ep2[30]+.5000000000*e[22]*ep2[32]+1.500000000*e[22]*ep2[31]+.5000000000*e[22]*ep2[34]-.5000000000*e[22]*ep2[27]-.5000000000*e[22]*ep2[29]-.5000000000*e[22]*ep2[33]-.5000000000*e[22]*ep2[35]+e[28]*e[18]*e[30]+e[28]*e[29]*e[23]+e[28]*e[20]*e[32]+e[31]*e[30]*e[21]+e[31]*e[32]*e[23]+e[25]*e[30]*e[33]+e[25]*e[32]*e[35]+e[25]*e[31]*e[34]+e[34]*e[30]*e[24]+e[34]*e[21]*e[33]+e[34]*e[32]*e[26]+e[34]*e[23]*e[35]-1.*e[31]*e[27]*e[18]-1.*e[31]*e[33]*e[24]-1.*e[31]*e[29]*e[20]-1.*e[31]*e[35]*e[26]+e[19]*e[27]*e[30]+e[19]*e[29]*e[32]+e[19]*e[28]*e[31]+e[28]*e[27]*e[21]+.5000000000*ep2[28]*e[22];
|
||||
A[103]=e[16]*e[30]*e[33]+e[16]*e[32]*e[35]+e[10]*e[27]*e[30]+e[10]*e[29]*e[32]+e[10]*e[28]*e[31]+e[34]*e[30]*e[15]+e[34]*e[12]*e[33]+e[34]*e[32]*e[17]+e[34]*e[14]*e[35]+e[34]*e[31]*e[16]+e[28]*e[27]*e[12]+e[28]*e[9]*e[30]+e[28]*e[29]*e[14]+e[28]*e[11]*e[32]-1.*e[31]*e[27]*e[9]+e[31]*e[30]*e[12]+e[31]*e[32]*e[14]-1.*e[31]*e[33]*e[15]-1.*e[31]*e[35]*e[17]-1.*e[31]*e[29]*e[11]-.5000000000*e[13]*ep2[27]+.5000000000*e[13]*ep2[32]+.5000000000*e[13]*ep2[28]-.5000000000*e[13]*ep2[29]+1.500000000*e[13]*ep2[31]-.5000000000*e[13]*ep2[33]+.5000000000*e[13]*ep2[30]+.5000000000*e[13]*ep2[34]-.5000000000*e[13]*ep2[35];
|
||||
A[96]=e[21]*e[23]*e[14]+e[21]*e[22]*e[13]+e[24]*e[21]*e[15]+e[24]*e[23]*e[17]+e[24]*e[14]*e[26]+e[24]*e[22]*e[16]+e[24]*e[13]*e[25]+e[15]*e[22]*e[25]+e[15]*e[23]*e[26]+e[9]*e[19]*e[22]+e[9]*e[18]*e[21]+e[9]*e[20]*e[23]+e[18]*e[20]*e[14]+e[18]*e[11]*e[23]+e[18]*e[19]*e[13]+e[18]*e[10]*e[22]-1.*e[21]*e[25]*e[16]-1.*e[21]*e[26]*e[17]-1.*e[21]*e[20]*e[11]-1.*e[21]*e[19]*e[10]+1.500000000*ep2[21]*e[12]+.5000000000*e[12]*ep2[24]-.5000000000*e[12]*ep2[26]+.5000000000*e[12]*ep2[18]+.5000000000*e[12]*ep2[23]-.5000000000*e[12]*ep2[19]-.5000000000*e[12]*ep2[20]+.5000000000*e[12]*ep2[22]-.5000000000*e[12]*ep2[25];
|
||||
A[97]=-1.*e[12]*e[29]*e[20]-1.*e[12]*e[35]*e[26]-1.*e[12]*e[28]*e[19]-1.*e[12]*e[34]*e[25]+e[18]*e[29]*e[14]+e[18]*e[11]*e[32]+e[18]*e[28]*e[13]+e[18]*e[10]*e[31]+e[27]*e[20]*e[14]+e[27]*e[11]*e[23]+e[27]*e[19]*e[13]+e[27]*e[10]*e[22]+e[15]*e[30]*e[24]+e[15]*e[21]*e[33]+e[15]*e[31]*e[25]+e[15]*e[22]*e[34]+e[15]*e[32]*e[26]+e[15]*e[23]*e[35]-1.*e[21]*e[28]*e[10]-1.*e[21]*e[34]*e[16]-1.*e[21]*e[35]*e[17]-1.*e[21]*e[29]*e[11]-1.*e[30]*e[25]*e[16]-1.*e[30]*e[26]*e[17]-1.*e[30]*e[20]*e[11]-1.*e[30]*e[19]*e[10]+e[24]*e[32]*e[17]+e[24]*e[14]*e[35]+e[24]*e[31]*e[16]+e[24]*e[13]*e[34]+e[33]*e[23]*e[17]+e[33]*e[14]*e[26]+e[33]*e[22]*e[16]+e[33]*e[13]*e[25]+3.*e[12]*e[30]*e[21]+e[12]*e[31]*e[22]+e[12]*e[32]*e[23]+e[9]*e[27]*e[21]+e[9]*e[18]*e[30]+e[9]*e[28]*e[22]+e[9]*e[19]*e[31]+e[9]*e[29]*e[23]+e[9]*e[20]*e[32]+e[21]*e[32]*e[14]+e[21]*e[31]*e[13]+e[30]*e[23]*e[14]+e[30]*e[22]*e[13]+e[12]*e[27]*e[18]+e[12]*e[33]*e[24];
|
||||
A[98]=e[0]*e[11]*e[5]+e[0]*e[2]*e[14]+e[9]*e[1]*e[4]+e[9]*e[0]*e[3]+e[9]*e[2]*e[5]+e[3]*e[13]*e[4]+e[3]*e[14]*e[5]+e[6]*e[3]*e[15]+e[6]*e[13]*e[7]+e[6]*e[4]*e[16]+e[6]*e[14]*e[8]+e[6]*e[5]*e[17]+e[15]*e[4]*e[7]+e[15]*e[5]*e[8]-1.*e[3]*e[11]*e[2]-1.*e[3]*e[10]*e[1]-1.*e[3]*e[16]*e[7]-1.*e[3]*e[17]*e[8]+e[0]*e[10]*e[4]+e[0]*e[1]*e[13]+1.500000000*e[12]*ep2[3]+.5000000000*e[12]*ep2[4]+.5000000000*e[12]*ep2[5]+.5000000000*e[12]*ep2[6]+.5000000000*ep2[0]*e[12]-.5000000000*e[12]*ep2[1]-.5000000000*e[12]*ep2[7]-.5000000000*e[12]*ep2[2]-.5000000000*e[12]*ep2[8];
|
||||
A[99]=e[21]*e[24]*e[6]+e[0]*e[19]*e[22]+e[0]*e[20]*e[23]+e[24]*e[22]*e[7]+e[24]*e[4]*e[25]+e[24]*e[23]*e[8]+e[24]*e[5]*e[26]+e[6]*e[22]*e[25]+e[6]*e[23]*e[26]+e[18]*e[0]*e[21]+e[18]*e[19]*e[4]+e[18]*e[1]*e[22]+e[18]*e[20]*e[5]+e[18]*e[2]*e[23]+e[21]*e[22]*e[4]+e[21]*e[23]*e[5]-1.*e[21]*e[26]*e[8]-1.*e[21]*e[20]*e[2]-1.*e[21]*e[19]*e[1]-1.*e[21]*e[25]*e[7]+1.500000000*ep2[21]*e[3]+.5000000000*e[3]*ep2[22]+.5000000000*e[3]*ep2[23]+.5000000000*e[3]*ep2[24]-.5000000000*e[3]*ep2[26]-.5000000000*e[3]*ep2[19]-.5000000000*e[3]*ep2[20]-.5000000000*e[3]*ep2[25]+.5000000000*ep2[18]*e[3];
|
||||
A[127]=e[11]*e[27]*e[12]+e[11]*e[9]*e[30]+e[11]*e[29]*e[14]+e[11]*e[28]*e[13]+e[11]*e[10]*e[31]+e[29]*e[9]*e[12]+e[29]*e[10]*e[13]+e[14]*e[30]*e[12]+e[14]*e[31]*e[13]+e[17]*e[30]*e[15]+e[17]*e[12]*e[33]+e[17]*e[14]*e[35]+e[17]*e[31]*e[16]+e[17]*e[13]*e[34]+e[35]*e[12]*e[15]+e[35]*e[13]*e[16]-1.*e[14]*e[27]*e[9]-1.*e[14]*e[28]*e[10]-1.*e[14]*e[33]*e[15]-1.*e[14]*e[34]*e[16]+.5000000000*ep2[11]*e[32]-.5000000000*e[32]*ep2[16]-.5000000000*e[32]*ep2[9]+.5000000000*e[32]*ep2[12]-.5000000000*e[32]*ep2[15]+.5000000000*e[32]*ep2[17]-.5000000000*e[32]*ep2[10]+1.500000000*e[32]*ep2[14]+.5000000000*e[32]*ep2[13];
|
||||
A[126]=e[8]*e[3]*e[6]+.5000000000*ep2[2]*e[5]-.5000000000*e[5]*ep2[0]+.5000000000*e[5]*ep2[4]-.5000000000*e[5]*ep2[6]+.5000000000*e[5]*ep2[8]+e[8]*e[4]*e[7]+.5000000000*ep3[5]+e[2]*e[0]*e[3]+.5000000000*e[5]*ep2[3]-.5000000000*e[5]*ep2[7]+e[2]*e[1]*e[4]-.5000000000*e[5]*ep2[1];
|
||||
A[125]=e[2]*e[27]*e[3]+e[2]*e[0]*e[30]+e[2]*e[28]*e[4]+e[2]*e[1]*e[31]+e[2]*e[29]*e[5]-1.*e[5]*e[27]*e[0]-1.*e[5]*e[34]*e[7]-1.*e[5]*e[33]*e[6]+e[5]*e[30]*e[3]+e[5]*e[35]*e[8]-1.*e[5]*e[28]*e[1]+e[5]*e[31]*e[4]+e[29]*e[1]*e[4]+e[29]*e[0]*e[3]+e[8]*e[30]*e[6]+e[8]*e[3]*e[33]+e[8]*e[31]*e[7]+e[8]*e[4]*e[34]+e[35]*e[4]*e[7]+e[35]*e[3]*e[6]+.5000000000*ep2[2]*e[32]+1.500000000*e[32]*ep2[5]+.5000000000*e[32]*ep2[4]-.5000000000*e[32]*ep2[0]-.5000000000*e[32]*ep2[6]-.5000000000*e[32]*ep2[1]-.5000000000*e[32]*ep2[7]+.5000000000*e[32]*ep2[3]+.5000000000*e[32]*ep2[8];
|
||||
A[124]=-1.*e[14]*e[19]*e[1]+e[14]*e[22]*e[4]-1.*e[14]*e[18]*e[0]-1.*e[14]*e[25]*e[7]-1.*e[14]*e[24]*e[6]-1.*e[23]*e[10]*e[1]+e[23]*e[13]*e[4]-1.*e[23]*e[16]*e[7]-1.*e[23]*e[15]*e[6]-1.*e[23]*e[9]*e[0]+e[23]*e[12]*e[3]+e[17]*e[21]*e[6]+e[17]*e[3]*e[24]+e[17]*e[22]*e[7]+e[17]*e[4]*e[25]+e[17]*e[5]*e[26]-1.*e[5]*e[24]*e[15]-1.*e[5]*e[25]*e[16]-1.*e[5]*e[18]*e[9]-1.*e[5]*e[19]*e[10]+e[26]*e[12]*e[6]+e[26]*e[3]*e[15]+e[26]*e[13]*e[7]+e[26]*e[4]*e[16]+e[11]*e[18]*e[3]+e[11]*e[0]*e[21]+e[11]*e[19]*e[4]+e[11]*e[1]*e[22]+e[11]*e[20]*e[5]+e[11]*e[2]*e[23]+e[20]*e[9]*e[3]+e[20]*e[0]*e[12]+e[20]*e[10]*e[4]+e[20]*e[1]*e[13]+e[20]*e[2]*e[14]+e[5]*e[21]*e[12]+3.*e[5]*e[23]*e[14]+e[5]*e[22]*e[13]+e[8]*e[21]*e[15]+e[8]*e[12]*e[24]+e[8]*e[23]*e[17]+e[8]*e[14]*e[26]+e[8]*e[22]*e[16]+e[8]*e[13]*e[25]+e[2]*e[18]*e[12]+e[2]*e[9]*e[21]+e[2]*e[19]*e[13]+e[2]*e[10]*e[22]+e[14]*e[21]*e[3];
|
||||
A[123]=-.5000000000*e[14]*ep2[27]+1.500000000*e[14]*ep2[32]-.5000000000*e[14]*ep2[28]+.5000000000*e[14]*ep2[29]+.5000000000*e[14]*ep2[31]-.5000000000*e[14]*ep2[33]+.5000000000*e[14]*ep2[30]-.5000000000*e[14]*ep2[34]+.5000000000*e[14]*ep2[35]+e[11]*e[27]*e[30]+e[11]*e[29]*e[32]+e[11]*e[28]*e[31]+e[35]*e[30]*e[15]+e[35]*e[12]*e[33]+e[35]*e[32]*e[17]+e[35]*e[31]*e[16]+e[35]*e[13]*e[34]+e[29]*e[27]*e[12]+e[29]*e[9]*e[30]+e[29]*e[28]*e[13]+e[29]*e[10]*e[31]-1.*e[32]*e[27]*e[9]+e[32]*e[30]*e[12]-1.*e[32]*e[28]*e[10]+e[32]*e[31]*e[13]-1.*e[32]*e[33]*e[15]-1.*e[32]*e[34]*e[16]+e[17]*e[30]*e[33]+e[17]*e[31]*e[34];
|
||||
A[122]=-.5000000000*e[23]*ep2[33]-.5000000000*e[23]*ep2[34]+.5000000000*ep2[29]*e[23]+.5000000000*e[23]*ep2[30]+1.500000000*e[23]*ep2[32]+.5000000000*e[23]*ep2[31]+.5000000000*e[23]*ep2[35]-.5000000000*e[23]*ep2[27]-.5000000000*e[23]*ep2[28]+e[32]*e[30]*e[21]+e[32]*e[31]*e[22]+e[26]*e[30]*e[33]+e[26]*e[32]*e[35]+e[26]*e[31]*e[34]+e[35]*e[30]*e[24]+e[35]*e[21]*e[33]+e[35]*e[31]*e[25]+e[35]*e[22]*e[34]-1.*e[32]*e[27]*e[18]-1.*e[32]*e[33]*e[24]-1.*e[32]*e[28]*e[19]-1.*e[32]*e[34]*e[25]+e[20]*e[27]*e[30]+e[20]*e[29]*e[32]+e[20]*e[28]*e[31]+e[29]*e[27]*e[21]+e[29]*e[18]*e[30]+e[29]*e[28]*e[22]+e[29]*e[19]*e[31];
|
||||
A[121]=e[2]*e[27]*e[30]+e[2]*e[29]*e[32]+e[2]*e[28]*e[31]+e[32]*e[30]*e[3]+e[32]*e[31]*e[4]+e[8]*e[30]*e[33]+e[8]*e[32]*e[35]+e[8]*e[31]*e[34]+e[29]*e[27]*e[3]+e[29]*e[0]*e[30]+e[29]*e[28]*e[4]+e[29]*e[1]*e[31]+e[35]*e[30]*e[6]+e[35]*e[3]*e[33]+e[35]*e[31]*e[7]+e[35]*e[4]*e[34]-1.*e[32]*e[27]*e[0]-1.*e[32]*e[34]*e[7]-1.*e[32]*e[33]*e[6]-1.*e[32]*e[28]*e[1]+.5000000000*e[5]*ep2[30]+1.500000000*e[5]*ep2[32]+.5000000000*e[5]*ep2[31]-.5000000000*e[5]*ep2[27]-.5000000000*e[5]*ep2[28]+.5000000000*e[5]*ep2[29]-.5000000000*e[5]*ep2[33]-.5000000000*e[5]*ep2[34]+.5000000000*e[5]*ep2[35];
|
||||
A[120]=.5000000000*e[32]*ep2[31]+.5000000000*e[32]*ep2[35]-.5000000000*e[32]*ep2[27]+e[29]*e[27]*e[30]+e[29]*e[28]*e[31]+e[35]*e[30]*e[33]+e[35]*e[31]*e[34]+.5000000000*ep2[29]*e[32]+.5000000000*ep3[32]-.5000000000*e[32]*ep2[33]-.5000000000*e[32]*ep2[34]+.5000000000*e[32]*ep2[30]-.5000000000*e[32]*ep2[28];
|
||||
A[118]=e[10]*e[1]*e[4]+e[10]*e[0]*e[3]+e[10]*e[2]*e[5]+e[4]*e[12]*e[3]+e[4]*e[14]*e[5]+e[7]*e[12]*e[6]+e[7]*e[3]*e[15]+e[7]*e[4]*e[16]+e[7]*e[14]*e[8]+e[7]*e[5]*e[17]+e[16]*e[3]*e[6]+e[16]*e[5]*e[8]-1.*e[4]*e[11]*e[2]-1.*e[4]*e[15]*e[6]-1.*e[4]*e[9]*e[0]-1.*e[4]*e[17]*e[8]+e[1]*e[9]*e[3]+e[1]*e[0]*e[12]+e[1]*e[11]*e[5]+e[1]*e[2]*e[14]+1.500000000*e[13]*ep2[4]+.5000000000*e[13]*ep2[3]+.5000000000*e[13]*ep2[5]+.5000000000*e[13]*ep2[7]+.5000000000*ep2[1]*e[13]-.5000000000*e[13]*ep2[0]-.5000000000*e[13]*ep2[6]-.5000000000*e[13]*ep2[2]-.5000000000*e[13]*ep2[8];
|
||||
A[119]=e[25]*e[21]*e[6]+e[25]*e[3]*e[24]+e[25]*e[23]*e[8]+e[25]*e[5]*e[26]+e[7]*e[21]*e[24]+e[7]*e[23]*e[26]+e[19]*e[18]*e[3]+e[19]*e[0]*e[21]+e[19]*e[1]*e[22]+e[19]*e[20]*e[5]+e[19]*e[2]*e[23]+e[22]*e[21]*e[3]+e[22]*e[23]*e[5]-1.*e[22]*e[26]*e[8]-1.*e[22]*e[20]*e[2]-1.*e[22]*e[18]*e[0]+e[22]*e[25]*e[7]-1.*e[22]*e[24]*e[6]+e[1]*e[18]*e[21]+e[1]*e[20]*e[23]+.5000000000*e[4]*ep2[25]-.5000000000*e[4]*ep2[26]-.5000000000*e[4]*ep2[18]-.5000000000*e[4]*ep2[20]-.5000000000*e[4]*ep2[24]+.5000000000*ep2[19]*e[4]+1.500000000*ep2[22]*e[4]+.5000000000*e[4]*ep2[21]+.5000000000*e[4]*ep2[23];
|
||||
A[116]=e[22]*e[21]*e[12]+e[22]*e[23]*e[14]+e[25]*e[21]*e[15]+e[25]*e[12]*e[24]+e[25]*e[23]*e[17]+e[25]*e[14]*e[26]+e[25]*e[22]*e[16]+e[16]*e[21]*e[24]+e[16]*e[23]*e[26]+e[10]*e[19]*e[22]+e[10]*e[18]*e[21]+e[10]*e[20]*e[23]+e[19]*e[18]*e[12]+e[19]*e[9]*e[21]+e[19]*e[20]*e[14]+e[19]*e[11]*e[23]-1.*e[22]*e[24]*e[15]-1.*e[22]*e[26]*e[17]-1.*e[22]*e[20]*e[11]-1.*e[22]*e[18]*e[9]-.5000000000*e[13]*ep2[26]-.5000000000*e[13]*ep2[18]+.5000000000*e[13]*ep2[23]+.5000000000*e[13]*ep2[19]-.5000000000*e[13]*ep2[20]-.5000000000*e[13]*ep2[24]+.5000000000*e[13]*ep2[21]+1.500000000*ep2[22]*e[13]+.5000000000*e[13]*ep2[25];
|
||||
A[117]=e[13]*e[30]*e[21]+3.*e[13]*e[31]*e[22]+e[13]*e[32]*e[23]+e[10]*e[27]*e[21]+e[10]*e[18]*e[30]+e[10]*e[28]*e[22]+e[10]*e[19]*e[31]+e[10]*e[29]*e[23]+e[10]*e[20]*e[32]+e[22]*e[30]*e[12]+e[22]*e[32]*e[14]+e[31]*e[21]*e[12]+e[31]*e[23]*e[14]-1.*e[13]*e[27]*e[18]-1.*e[13]*e[33]*e[24]-1.*e[13]*e[29]*e[20]-1.*e[13]*e[35]*e[26]+e[13]*e[28]*e[19]+e[13]*e[34]*e[25]+e[19]*e[27]*e[12]+e[19]*e[9]*e[30]+e[19]*e[29]*e[14]+e[19]*e[11]*e[32]+e[28]*e[18]*e[12]+e[28]*e[9]*e[21]+e[28]*e[20]*e[14]+e[28]*e[11]*e[23]+e[16]*e[30]*e[24]+e[16]*e[21]*e[33]+e[16]*e[31]*e[25]+e[16]*e[22]*e[34]+e[16]*e[32]*e[26]+e[16]*e[23]*e[35]-1.*e[22]*e[27]*e[9]-1.*e[22]*e[33]*e[15]-1.*e[22]*e[35]*e[17]-1.*e[22]*e[29]*e[11]-1.*e[31]*e[24]*e[15]-1.*e[31]*e[26]*e[17]-1.*e[31]*e[20]*e[11]-1.*e[31]*e[18]*e[9]+e[25]*e[30]*e[15]+e[25]*e[12]*e[33]+e[25]*e[32]*e[17]+e[25]*e[14]*e[35]+e[34]*e[21]*e[15]+e[34]*e[12]*e[24]+e[34]*e[23]*e[17]+e[34]*e[14]*e[26];
|
||||
A[114]=e[19]*e[11]*e[14]+e[19]*e[9]*e[12]+e[19]*e[10]*e[13]+e[13]*e[21]*e[12]+e[13]*e[23]*e[14]+e[16]*e[21]*e[15]+e[16]*e[12]*e[24]+e[16]*e[23]*e[17]+e[16]*e[14]*e[26]+e[16]*e[13]*e[25]+e[25]*e[14]*e[17]+e[25]*e[12]*e[15]-1.*e[13]*e[24]*e[15]-1.*e[13]*e[26]*e[17]-1.*e[13]*e[20]*e[11]-1.*e[13]*e[18]*e[9]+e[10]*e[18]*e[12]+e[10]*e[9]*e[21]+e[10]*e[20]*e[14]+e[10]*e[11]*e[23]+1.500000000*e[22]*ep2[13]+.5000000000*e[22]*ep2[14]+.5000000000*e[22]*ep2[12]+.5000000000*e[22]*ep2[16]+.5000000000*ep2[10]*e[22]-.5000000000*e[22]*ep2[9]-.5000000000*e[22]*ep2[11]-.5000000000*e[22]*ep2[15]-.5000000000*e[22]*ep2[17];
|
||||
A[115]=e[13]*e[12]*e[3]+e[13]*e[14]*e[5]+e[16]*e[12]*e[6]+e[16]*e[3]*e[15]+e[16]*e[13]*e[7]+e[16]*e[14]*e[8]+e[16]*e[5]*e[17]+e[7]*e[14]*e[17]+e[7]*e[12]*e[15]+e[1]*e[11]*e[14]+e[1]*e[9]*e[12]+e[1]*e[10]*e[13]+e[10]*e[9]*e[3]+e[10]*e[0]*e[12]+e[10]*e[11]*e[5]+e[10]*e[2]*e[14]-1.*e[13]*e[11]*e[2]-1.*e[13]*e[15]*e[6]-1.*e[13]*e[9]*e[0]-1.*e[13]*e[17]*e[8]+1.500000000*ep2[13]*e[4]+.5000000000*e[4]*ep2[16]-.5000000000*e[4]*ep2[9]-.5000000000*e[4]*ep2[11]+.5000000000*e[4]*ep2[12]-.5000000000*e[4]*ep2[15]-.5000000000*e[4]*ep2[17]+.5000000000*e[4]*ep2[10]+.5000000000*e[4]*ep2[14];
|
||||
A[112]=e[19]*e[1]*e[4]+e[19]*e[0]*e[3]+e[19]*e[2]*e[5]+e[4]*e[21]*e[3]+e[4]*e[23]*e[5]+e[7]*e[21]*e[6]+e[7]*e[3]*e[24]+e[7]*e[4]*e[25]+e[7]*e[23]*e[8]+e[7]*e[5]*e[26]+e[25]*e[3]*e[6]+e[25]*e[5]*e[8]+e[1]*e[18]*e[3]+e[1]*e[0]*e[21]+e[1]*e[20]*e[5]+e[1]*e[2]*e[23]-1.*e[4]*e[26]*e[8]-1.*e[4]*e[20]*e[2]-1.*e[4]*e[18]*e[0]-1.*e[4]*e[24]*e[6]+1.500000000*e[22]*ep2[4]-.5000000000*e[22]*ep2[0]-.5000000000*e[22]*ep2[6]+.5000000000*e[22]*ep2[5]+.5000000000*e[22]*ep2[1]+.5000000000*e[22]*ep2[7]+.5000000000*e[22]*ep2[3]-.5000000000*e[22]*ep2[2]-.5000000000*e[22]*ep2[8];
|
||||
A[113]=-1.*e[31]*e[20]*e[2]-1.*e[31]*e[18]*e[0]+e[31]*e[23]*e[5]-1.*e[31]*e[24]*e[6]+e[7]*e[30]*e[24]+e[7]*e[21]*e[33]+e[7]*e[32]*e[26]+e[7]*e[23]*e[35]+e[25]*e[30]*e[6]+e[25]*e[3]*e[33]+e[25]*e[31]*e[7]+e[25]*e[4]*e[34]+e[25]*e[32]*e[8]+e[25]*e[5]*e[35]+e[34]*e[21]*e[6]+e[34]*e[3]*e[24]+e[34]*e[22]*e[7]+e[34]*e[23]*e[8]+e[34]*e[5]*e[26]+e[1]*e[27]*e[21]+e[1]*e[18]*e[30]+e[1]*e[28]*e[22]+e[1]*e[19]*e[31]+e[1]*e[29]*e[23]+e[1]*e[20]*e[32]+e[19]*e[27]*e[3]+e[19]*e[0]*e[30]+e[19]*e[28]*e[4]+e[19]*e[29]*e[5]+e[19]*e[2]*e[32]+e[28]*e[18]*e[3]+e[28]*e[0]*e[21]+e[28]*e[20]*e[5]+e[28]*e[2]*e[23]+e[4]*e[30]*e[21]+3.*e[4]*e[31]*e[22]+e[4]*e[32]*e[23]-1.*e[4]*e[27]*e[18]-1.*e[4]*e[33]*e[24]-1.*e[4]*e[29]*e[20]-1.*e[4]*e[35]*e[26]-1.*e[22]*e[27]*e[0]+e[22]*e[32]*e[5]-1.*e[22]*e[33]*e[6]+e[22]*e[30]*e[3]-1.*e[22]*e[35]*e[8]-1.*e[22]*e[29]*e[2]+e[31]*e[21]*e[3]-1.*e[31]*e[26]*e[8];
|
||||
|
||||
int perm[20] = {6, 8, 18, 15, 12, 5, 14, 7, 4, 11, 19, 13, 1, 16, 17, 3, 10, 9, 2, 0};
|
||||
double AA[200];
|
||||
for (int i = 0; i < 20; i++)
|
||||
{
|
||||
for (int j = 0; j < 10; j++) AA[i + j * 20] = A[perm[i] + j * 20];
|
||||
}
|
||||
|
||||
for (int i = 0; i < 200; i++)
|
||||
{
|
||||
A[i] = AA[i];
|
||||
}
|
||||
}
|
||||
|
||||
|
||||
void computeError( InputArray _m1, InputArray _m2, InputArray _model, OutputArray _err ) const CV_OVERRIDE
|
||||
{
|
||||
Mat X1 = _m1.getMat(), X2 = _m2.getMat(), model = _model.getMat();
|
||||
const Point2d* x1ptr = X1.ptr<Point2d>();
|
||||
const Point2d* x2ptr = X2.ptr<Point2d>();
|
||||
int n = X1.checkVector(2);
|
||||
Matx33d E(model.ptr<double>());
|
||||
|
||||
_err.create(n, 1, CV_32F);
|
||||
Mat err = _err.getMat();
|
||||
|
||||
for (int i = 0; i < n; i++)
|
||||
{
|
||||
Vec3d x1(x1ptr[i].x, x1ptr[i].y, 1.);
|
||||
Vec3d x2(x2ptr[i].x, x2ptr[i].y, 1.);
|
||||
Vec3d Ex1 = E * x1;
|
||||
Vec3d Etx2 = E.t() * x2;
|
||||
double x2tEx1 = x2.dot(Ex1);
|
||||
|
||||
double a = Ex1[0] * Ex1[0];
|
||||
double b = Ex1[1] * Ex1[1];
|
||||
double c = Etx2[0] * Etx2[0];
|
||||
double d = Etx2[1] * Etx2[1];
|
||||
|
||||
err.at<float>(i) = (float)(x2tEx1 * x2tEx1 / (a + b + c + d));
|
||||
}
|
||||
}
|
||||
};
|
||||
|
||||
// Input should be a vector of n 2D points or a Nx2 matrix
|
||||
cv::Mat findEssentialMat( InputArray _points1, InputArray _points2, InputArray _cameraMatrix,
|
||||
int method, double prob, double threshold, OutputArray _mask)
|
||||
{
|
||||
Mat points1, points2, cameraMatrix;
|
||||
_points1.getMat().convertTo(points1, CV_64F);
|
||||
_points2.getMat().convertTo(points2, CV_64F);
|
||||
_cameraMatrix.getMat().convertTo(cameraMatrix, CV_64F);
|
||||
|
||||
int npoints = points1.checkVector(2);
|
||||
CV_Assert( npoints >= 0 && points2.checkVector(2) == npoints &&
|
||||
points1.type() == points2.type());
|
||||
|
||||
CV_Assert(cameraMatrix.rows == 3 && cameraMatrix.cols == 3 && cameraMatrix.channels() == 1);
|
||||
|
||||
if (points1.channels() > 1)
|
||||
{
|
||||
points1 = points1.reshape(1, npoints);
|
||||
points2 = points2.reshape(1, npoints);
|
||||
}
|
||||
|
||||
double fx = cameraMatrix.at<double>(0,0);
|
||||
double fy = cameraMatrix.at<double>(1,1);
|
||||
double cx = cameraMatrix.at<double>(0,2);
|
||||
double cy = cameraMatrix.at<double>(1,2);
|
||||
|
||||
points1.col(0) = (points1.col(0) - cx) / fx;
|
||||
points2.col(0) = (points2.col(0) - cx) / fx;
|
||||
points1.col(1) = (points1.col(1) - cy) / fy;
|
||||
points2.col(1) = (points2.col(1) - cy) / fy;
|
||||
|
||||
// Reshape data to fit opencv ransac function
|
||||
points1 = points1.reshape(2, npoints);
|
||||
points2 = points2.reshape(2, npoints);
|
||||
|
||||
threshold /= (fx+fy)/2;
|
||||
|
||||
Mat E;
|
||||
if( method == RANSAC )
|
||||
createRANSACPointSetRegistrator(makePtr<EMEstimatorCallback>(), 6, threshold, prob)->run(points1, points2, E, _mask);
|
||||
else
|
||||
createLMeDSPointSetRegistrator(makePtr<EMEstimatorCallback>(), 6, prob)->run(points1, points2, E, _mask);
|
||||
|
||||
return E;
|
||||
}
|
||||
|
||||
}
|
||||
@@ -0,0 +1,19 @@
|
||||
/*
|
||||
* five-point.h
|
||||
*
|
||||
* Created on: May 18, 2020
|
||||
* Author: mathieu
|
||||
*/
|
||||
|
||||
#ifndef CORELIB_SRC_OPENCV_FIVE_POINT_H_
|
||||
#define CORELIB_SRC_OPENCV_FIVE_POINT_H_
|
||||
|
||||
namespace cv3
|
||||
{
|
||||
|
||||
cv::Mat findEssentialMat( cv::InputArray _points1, cv::InputArray _points2, cv::InputArray _cameraMatrix,
|
||||
int method, double prob, double threshold, cv::OutputArray _mask = cv::noArray());
|
||||
}
|
||||
|
||||
|
||||
#endif /* CORELIB_SRC_OPENCV_FIVE_POINT_H_ */
|
||||
@@ -2,4 +2,5 @@
|
||||
These files are built only if RTAB-Map is built against OpenCV 2.
|
||||
|
||||
* Orb.cpp is a modified version of OpenCV2 Orb with FAST object from rtabmap (FAST with Grid adaptor).
|
||||
* solvepnp.cpp is a copy of the OpenCV3 version of solvePnPRansac.
|
||||
* solvepnp.cpp is a copy of the OpenCV3 version of solvePnPRansac.
|
||||
* five-point.cpp is a copy of the same file in OpenCV (d2872afce0fcc84a52b5753960730595550e1b62) just for findEssentialMat() with RANSAC estimator using 6 points instead of 5 points to avoid "DLT algorithm needs at least 6 points for pose estimation from 3D-2D point correspondences. (expected: 'count >= 6')" error on recent OpenCV versions using DLT by default.
|
||||
@@ -73,7 +73,7 @@ SuperGlue::SuperGlue(const std::string & path, float matchThreshold, int iterati
|
||||
path_ = uReplaceChar(path, '~', UDirectory::homeDir());
|
||||
UINFO("path = %s", path_.c_str());
|
||||
|
||||
if(!UFile::exists(path_))
|
||||
if(!UFile::exists(path_) || UFile::getExtension(path_).compare("py") != 0)
|
||||
{
|
||||
UERROR("Cannot initialize SuperGlue, the path is not valid: \"%s\"", path_.c_str());
|
||||
return;
|
||||
@@ -100,7 +100,7 @@ SuperGlue::SuperGlue(const std::string & path, float matchThreshold, int iterati
|
||||
|
||||
if(!pModule_)
|
||||
{
|
||||
UERROR("Module %s could not be imported!", scriptName.c_str());
|
||||
UERROR("Module \"%s\" could not be imported! (File=\"%s\")", scriptName.c_str(), path_.c_str());
|
||||
UERROR("%s", getTraceback().c_str());
|
||||
}
|
||||
}
|
||||
|
||||
+168
-260
@@ -34,6 +34,7 @@ SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
|
||||
#include "rtabmap/core/util3d_motion_estimation.h"
|
||||
|
||||
#include "rtabmap/core/EpipolarGeometry.h"
|
||||
#include "opencv/five-point.h"
|
||||
|
||||
#include <rtabmap/utilite/ULogger.h>
|
||||
#include <rtabmap/utilite/UConversion.h>
|
||||
@@ -208,12 +209,8 @@ std::map<int, cv::Point3f> generateWords3DMono(
|
||||
const std::map<int, cv::KeyPoint> & nextWords,
|
||||
const CameraModel & cameraModel,
|
||||
Transform & cameraTransform,
|
||||
int pnpIterations,
|
||||
float pnpReprojError,
|
||||
int pnpFlags,
|
||||
int pnpRefineIterations,
|
||||
float ransacParam1,
|
||||
float ransacParam2,
|
||||
float ransacReprojThreshold,
|
||||
float ransacConfidence,
|
||||
const std::map<int, cv::Point3f> & refGuess3D,
|
||||
double * varianceOut,
|
||||
std::vector<int> * matchesOut)
|
||||
@@ -225,278 +222,189 @@ std::map<int, cv::Point3f> generateWords3DMono(
|
||||
UDEBUG("pairsFound=%d/%d", pairsFound, int(refWords.size()>nextWords.size()?refWords.size():nextWords.size()));
|
||||
if(pairsFound > 8)
|
||||
{
|
||||
std::vector<unsigned char> status;
|
||||
cv::Mat F = EpipolarGeometry::findFFromWords(pairs, status, ransacParam1, ransacParam2);
|
||||
if(!F.empty())
|
||||
std::list<std::pair<int, std::pair<cv::KeyPoint, cv::KeyPoint> > >::iterator iter=pairs.begin();
|
||||
std::vector<cv::Point2f> refCorners(pairs.size());
|
||||
std::vector<cv::Point2f> newCorners(pairs.size());
|
||||
std::vector<int> indexes(pairs.size());
|
||||
for(unsigned int i=0; i<pairs.size(); ++i)
|
||||
{
|
||||
//get inliers
|
||||
//normalize coordinates
|
||||
int oi = 0;
|
||||
UASSERT(status.size() == pairs.size());
|
||||
std::list<std::pair<int, std::pair<cv::KeyPoint, cv::KeyPoint> > >::iterator iter=pairs.begin();
|
||||
std::vector<cv::Point2f> refCorners(status.size());
|
||||
std::vector<cv::Point2f> newCorners(status.size());
|
||||
std::vector<int> indexes(status.size());
|
||||
for(unsigned int i=0; i<status.size(); ++i)
|
||||
if(matchesOut)
|
||||
{
|
||||
if(matchesOut)
|
||||
{
|
||||
matchesOut->push_back(iter->first);
|
||||
}
|
||||
|
||||
if(status[i])
|
||||
{
|
||||
refCorners[oi] = iter->second.first.pt;
|
||||
newCorners[oi] = iter->second.second.pt;
|
||||
indexes[oi] = iter->first;
|
||||
++oi;
|
||||
}
|
||||
++iter;
|
||||
matchesOut->push_back(iter->first);
|
||||
}
|
||||
refCorners.resize(oi);
|
||||
newCorners.resize(oi);
|
||||
indexes.resize(oi);
|
||||
|
||||
UDEBUG("inliers=%d/%d", oi, pairs.size());
|
||||
if(oi > 3)
|
||||
refCorners[i] = iter->second.first.pt;
|
||||
newCorners[i] = iter->second.second.pt;
|
||||
indexes[i] = iter->first;
|
||||
++iter;
|
||||
}
|
||||
|
||||
std::vector<unsigned char> status;
|
||||
cv::Mat pts4D;
|
||||
|
||||
UDEBUG("Five-point algorithm");
|
||||
/**
|
||||
* OpenCV five-point algorithm
|
||||
* David Nistér. An efficient solution to the five-point relative pose problem. Pattern Analysis and Machine Intelligence, IEEE Transactions on, 26(6):756–770, 2004.
|
||||
*/
|
||||
cv::Mat E = cv3::findEssentialMat(refCorners, newCorners, cameraModel.K(), cv::RANSAC, ransacConfidence, ransacReprojThreshold, status);
|
||||
|
||||
int essentialInliers = 0;
|
||||
for(size_t i=0; i<status.size();++i)
|
||||
{
|
||||
if(status[i])
|
||||
{
|
||||
std::vector<cv::Point2f> refCornersRefined;
|
||||
std::vector<cv::Point2f> newCornersRefined;
|
||||
cv::correctMatches(F, refCorners, newCorners, refCornersRefined, newCornersRefined);
|
||||
refCorners = refCornersRefined;
|
||||
newCorners = newCornersRefined;
|
||||
++essentialInliers;
|
||||
}
|
||||
}
|
||||
Transform cameraTransformGuess = cameraTransform;
|
||||
if(!E.empty())
|
||||
{
|
||||
UDEBUG("essential inliers=%d/%d", essentialInliers, (int)status.size());
|
||||
cv::Mat R,t;
|
||||
cv::recoverPose(E, refCorners, newCorners, cameraModel.K(), R, t, 50, status, pts4D);
|
||||
if(!R.empty() && !t.empty())
|
||||
{
|
||||
cv::Mat P = cv::Mat::zeros(3, 4, CV_64FC1);
|
||||
R.copyTo(cv::Mat(P, cv::Range(0,3), cv::Range(0,3)));
|
||||
P.at<double>(0,3) = t.at<double>(0);
|
||||
P.at<double>(1,3) = t.at<double>(1);
|
||||
P.at<double>(2,3) = t.at<double>(2);
|
||||
|
||||
cv::Mat x(3, (int)refCorners.size(), CV_64FC1);
|
||||
cv::Mat xp(3, (int)refCorners.size(), CV_64FC1);
|
||||
for(unsigned int i=0; i<refCorners.size(); ++i)
|
||||
cameraTransform = Transform(R.at<double>(0,0), R.at<double>(0,1), R.at<double>(0,2), t.at<double>(0),
|
||||
R.at<double>(1,0), R.at<double>(1,1), R.at<double>(1,2), t.at<double>(1),
|
||||
R.at<double>(2,0), R.at<double>(2,1), R.at<double>(2,2), t.at<double>(2));
|
||||
UDEBUG("t (cam frame)=%s", cameraTransform.prettyPrint().c_str());
|
||||
UDEBUG("base->cam=%s", cameraModel.localTransform().prettyPrint().c_str());
|
||||
cameraTransform = cameraModel.localTransform() * cameraTransform.inverse() * cameraModel.localTransform().inverse();
|
||||
UDEBUG("t (base frame)=%s", cameraTransform.prettyPrint().c_str());
|
||||
|
||||
UASSERT((int)indexes.size() == pts4D.cols && pts4D.rows == 4 && status.size() == indexes.size());
|
||||
for(unsigned int i=0; i<indexes.size(); ++i)
|
||||
{
|
||||
x.at<double>(0, i) = refCorners[i].x;
|
||||
x.at<double>(1, i) = refCorners[i].y;
|
||||
x.at<double>(2, i) = 1;
|
||||
|
||||
xp.at<double>(0, i) = newCorners[i].x;
|
||||
xp.at<double>(1, i) = newCorners[i].y;
|
||||
xp.at<double>(2, i) = 1;
|
||||
}
|
||||
|
||||
cv::Mat K = cameraModel.K();
|
||||
cv::Mat Kinv = K.inv();
|
||||
cv::Mat E = K.t()*F*K;
|
||||
cv::Mat x_norm = Kinv * x;
|
||||
cv::Mat xp_norm = Kinv * xp;
|
||||
x_norm = x_norm.rowRange(0,2);
|
||||
xp_norm = xp_norm.rowRange(0,2);
|
||||
|
||||
cv::Mat P = EpipolarGeometry::findPFromE(E, x_norm, xp_norm);
|
||||
if(!P.empty())
|
||||
{
|
||||
cv::Mat P0 = cv::Mat::zeros(3, 4, CV_64FC1);
|
||||
P0.at<double>(0,0) = 1;
|
||||
P0.at<double>(1,1) = 1;
|
||||
P0.at<double>(2,2) = 1;
|
||||
|
||||
bool useCameraTransformGuess = !cameraTransform.isNull();
|
||||
//if camera transform is set, use it instead of the computed one from epipolar geometry
|
||||
if(useCameraTransformGuess)
|
||||
if(status[i])
|
||||
{
|
||||
Transform t = (cameraModel.localTransform().inverse()*cameraTransform*cameraModel.localTransform()).inverse();
|
||||
|
||||
if(ULogger::level() == ULogger::kDebug)
|
||||
{
|
||||
UDEBUG("Guess = %s", t.prettyPrint().c_str());
|
||||
UDEBUG("Epipolar = %s", Transform(P).prettyPrint().c_str());
|
||||
Transform PT = Transform(P);
|
||||
float scale = t.getNorm()/PT.getNorm();
|
||||
UDEBUG("Scale= %f", scale);
|
||||
PT.x()*=scale;
|
||||
PT.y()*=scale;
|
||||
PT.z()*=scale;
|
||||
UDEBUG("Epipolar scaled= %s", PT.prettyPrint().c_str());
|
||||
}
|
||||
|
||||
P = (cv::Mat_<double>(3,4) <<
|
||||
(double)t.r11(), (double)t.r12(), (double)t.r13(), (double)t.x(),
|
||||
(double)t.r21(), (double)t.r22(), (double)t.r23(), (double)t.y(),
|
||||
(double)t.r31(), (double)t.r32(), (double)t.r33(), (double)t.z());
|
||||
}
|
||||
|
||||
// triangulate the points
|
||||
//std::vector<double> reprojErrors;
|
||||
//std::vector<cv::Point3f> cloud;
|
||||
//EpipolarGeometry::triangulatePoints(x_norm, xp_norm, P0, P, cloud, reprojErrors);
|
||||
cv::Mat pts4D;
|
||||
cv::triangulatePoints(P0, P, x_norm, xp_norm, pts4D);
|
||||
|
||||
UASSERT((int)indexes.size() == pts4D.cols && pts4D.rows == 4);
|
||||
for(unsigned int i=0; i<indexes.size(); ++i)
|
||||
{
|
||||
//if(cloud->at(i).z > 0)
|
||||
//{
|
||||
// words3D.insert(std::make_pair(indexes[i], util3d::transformPoint(cloud->at(i), localTransform)));
|
||||
//}
|
||||
pts4D.col(i) /= pts4D.at<double>(3,i);
|
||||
if(pts4D.at<double>(2,i) > 0)
|
||||
{
|
||||
words3D.insert(std::make_pair(indexes[i], util3d::transformPoint(cv::Point3f(pts4D.at<double>(0,i), pts4D.at<double>(1,i), pts4D.at<double>(2,i)), cameraModel.localTransform())));
|
||||
}
|
||||
}
|
||||
|
||||
UDEBUG("ref guess=%d", (int)refGuess3D.size());
|
||||
if(refGuess3D.size())
|
||||
{
|
||||
// scale estimation
|
||||
std::vector<cv::Point3f> inliersRef;
|
||||
std::vector<cv::Point3f> inliersRefGuess;
|
||||
util3d::findCorrespondences(
|
||||
words3D,
|
||||
refGuess3D,
|
||||
inliersRef,
|
||||
inliersRefGuess,
|
||||
0);
|
||||
|
||||
if(inliersRef.size())
|
||||
{
|
||||
// estimate the scale
|
||||
float scale = 1.0f;
|
||||
float variance = 1.0f;
|
||||
if(!useCameraTransformGuess)
|
||||
{
|
||||
std::multimap<float, float> scales; // <variance, scale>
|
||||
for(unsigned int i=0; i<inliersRef.size(); ++i)
|
||||
{
|
||||
// using x as depth, assuming we are in global referential
|
||||
float s = inliersRefGuess.at(i).x/inliersRef.at(i).x;
|
||||
std::vector<float> errorSqrdDists(inliersRef.size());
|
||||
for(unsigned int j=0; j<inliersRef.size(); ++j)
|
||||
{
|
||||
cv::Point3f refPt = inliersRef.at(j);
|
||||
refPt.x *= s;
|
||||
refPt.y *= s;
|
||||
refPt.z *= s;
|
||||
const cv::Point3f & newPt = inliersRefGuess.at(j);
|
||||
errorSqrdDists[j] = uNormSquared(refPt.x-newPt.x, refPt.y-newPt.y, refPt.z-newPt.z);
|
||||
}
|
||||
std::sort(errorSqrdDists.begin(), errorSqrdDists.end());
|
||||
double median_error_sqr = (double)errorSqrdDists[errorSqrdDists.size () >> 2];
|
||||
float var = 2.1981 * median_error_sqr;
|
||||
//UDEBUG("scale %d = %f variance = %f", (int)i, s, variance);
|
||||
|
||||
scales.insert(std::make_pair(var, s));
|
||||
}
|
||||
scale = scales.begin()->second;
|
||||
variance = scales.begin()->first;;
|
||||
}
|
||||
else
|
||||
{
|
||||
//compute variance at scale=1
|
||||
std::vector<float> errorSqrdDists(inliersRef.size());
|
||||
for(unsigned int j=0; j<inliersRef.size(); ++j)
|
||||
{
|
||||
const cv::Point3f & refPt = inliersRef.at(j);
|
||||
const cv::Point3f & newPt = inliersRefGuess.at(j);
|
||||
errorSqrdDists[j] = uNormSquared(refPt.x-newPt.x, refPt.y-newPt.y, refPt.z-newPt.z);
|
||||
}
|
||||
std::sort(errorSqrdDists.begin(), errorSqrdDists.end());
|
||||
double median_error_sqr = (double)errorSqrdDists[errorSqrdDists.size () >> 2];
|
||||
variance = 2.1981 * median_error_sqr;
|
||||
}
|
||||
|
||||
UDEBUG("scale used = %f (variance=%f)", scale, variance);
|
||||
if(varianceOut)
|
||||
{
|
||||
*varianceOut = variance;
|
||||
}
|
||||
|
||||
if(!useCameraTransformGuess)
|
||||
{
|
||||
std::vector<cv::Point3f> objectPoints(indexes.size());
|
||||
std::vector<cv::Point2f> imagePoints(indexes.size());
|
||||
int oi2=0;
|
||||
UASSERT(indexes.size() == newCorners.size());
|
||||
for(unsigned int i=0; i<indexes.size(); ++i)
|
||||
{
|
||||
std::map<int, cv::Point3f>::iterator iter = words3D.find(indexes[i]);
|
||||
if(iter!=words3D.end() && util3d::isFinite(iter->second))
|
||||
{
|
||||
iter->second.x *= scale;
|
||||
iter->second.y *= scale;
|
||||
iter->second.z *= scale;
|
||||
objectPoints[oi2].x = iter->second.x;
|
||||
objectPoints[oi2].y = iter->second.y;
|
||||
objectPoints[oi2].z = iter->second.z;
|
||||
imagePoints[oi2] = newCorners[i];
|
||||
++oi2;
|
||||
}
|
||||
}
|
||||
objectPoints.resize(oi2);
|
||||
imagePoints.resize(oi2);
|
||||
|
||||
//PnPRansac
|
||||
Transform guess = cameraModel.localTransform().inverse();
|
||||
cv::Mat R = (cv::Mat_<double>(3,3) <<
|
||||
(double)guess.r11(), (double)guess.r12(), (double)guess.r13(),
|
||||
(double)guess.r21(), (double)guess.r22(), (double)guess.r23(),
|
||||
(double)guess.r31(), (double)guess.r32(), (double)guess.r33());
|
||||
cv::Mat rvec(1,3, CV_64FC1);
|
||||
cv::Rodrigues(R, rvec);
|
||||
cv::Mat tvec = (cv::Mat_<double>(1,3) << (double)guess.x(), (double)guess.y(), (double)guess.z());
|
||||
std::vector<int> inliersV;
|
||||
util3d::solvePnPRansac(
|
||||
objectPoints,
|
||||
imagePoints,
|
||||
K,
|
||||
cv::Mat(),
|
||||
rvec,
|
||||
tvec,
|
||||
true,
|
||||
pnpIterations,
|
||||
pnpReprojError,
|
||||
0, // min inliers
|
||||
inliersV,
|
||||
pnpFlags,
|
||||
pnpRefineIterations);
|
||||
|
||||
UDEBUG("PnP inliers = %d / %d", (int)inliersV.size(), (int)objectPoints.size());
|
||||
|
||||
if(inliersV.size())
|
||||
{
|
||||
cv::Rodrigues(rvec, R);
|
||||
Transform pnp(R.at<double>(0,0), R.at<double>(0,1), R.at<double>(0,2), tvec.at<double>(0),
|
||||
R.at<double>(1,0), R.at<double>(1,1), R.at<double>(1,2), tvec.at<double>(1),
|
||||
R.at<double>(2,0), R.at<double>(2,1), R.at<double>(2,2), tvec.at<double>(2));
|
||||
|
||||
cameraTransform = (cameraModel.localTransform() * pnp).inverse();
|
||||
}
|
||||
else
|
||||
{
|
||||
UWARN("No inliers after PnP!");
|
||||
}
|
||||
}
|
||||
}
|
||||
else
|
||||
{
|
||||
UWARN("Cannot compute the scale, no points corresponding between the generated ref words and words guess");
|
||||
}
|
||||
}
|
||||
else if(!useCameraTransformGuess)
|
||||
{
|
||||
cv::Mat R, T;
|
||||
EpipolarGeometry::findRTFromP(P, R, T);
|
||||
|
||||
Transform t(R.at<double>(0,0), R.at<double>(0,1), R.at<double>(0,2), T.at<double>(0),
|
||||
R.at<double>(1,0), R.at<double>(1,1), R.at<double>(1,2), T.at<double>(1),
|
||||
R.at<double>(2,0), R.at<double>(2,1), R.at<double>(2,2), T.at<double>(2));
|
||||
|
||||
UDEBUG("t (cam frame)=%s", t.prettyPrint().c_str());
|
||||
UDEBUG("base->cam=%s", cameraModel.localTransform().prettyPrint().c_str());
|
||||
cameraTransform = cameraModel.localTransform() * t.inverse() * cameraModel.localTransform().inverse();
|
||||
UDEBUG("t (base frame)=%s", cameraTransform.prettyPrint().c_str());
|
||||
}
|
||||
}
|
||||
}
|
||||
}
|
||||
else
|
||||
{
|
||||
UDEBUG("Failed to find essential matrix");
|
||||
}
|
||||
|
||||
if(!cameraTransform.isNull())
|
||||
{
|
||||
UDEBUG("words3D=%d refGuess3D=%d cameraGuess=%s", (int)words3D.size(), (int)refGuess3D.size(), cameraTransformGuess.prettyPrint().c_str());
|
||||
|
||||
// estimate the scale and variance
|
||||
float scale = 1.0f;
|
||||
if(!cameraTransformGuess.isNull())
|
||||
{
|
||||
scale = cameraTransformGuess.getNorm()/cameraTransform.getNorm();
|
||||
}
|
||||
float variance = 1.0f;
|
||||
|
||||
std::vector<cv::Point3f> inliersRef;
|
||||
std::vector<cv::Point3f> inliersRefGuess;
|
||||
if(!refGuess3D.empty())
|
||||
{
|
||||
util3d::findCorrespondences(
|
||||
words3D,
|
||||
refGuess3D,
|
||||
inliersRef,
|
||||
inliersRefGuess,
|
||||
0);
|
||||
}
|
||||
|
||||
if(!inliersRef.empty())
|
||||
{
|
||||
UDEBUG("inliersRef=%d", (int)inliersRef.size());
|
||||
if(cameraTransformGuess.isNull())
|
||||
{
|
||||
std::multimap<float, float> scales; // <variance, scale>
|
||||
for(unsigned int i=0; i<inliersRef.size(); ++i)
|
||||
{
|
||||
// using x as depth, assuming we are in global referential
|
||||
float s = inliersRefGuess.at(i).x/inliersRef.at(i).x;
|
||||
std::vector<float> errorSqrdDists(inliersRef.size());
|
||||
for(unsigned int j=0; j<inliersRef.size(); ++j)
|
||||
{
|
||||
cv::Point3f refPt = inliersRef.at(j);
|
||||
refPt.x *= s;
|
||||
refPt.y *= s;
|
||||
refPt.z *= s;
|
||||
const cv::Point3f & newPt = inliersRefGuess.at(j);
|
||||
errorSqrdDists[j] = uNormSquared(refPt.x-newPt.x, refPt.y-newPt.y, refPt.z-newPt.z);
|
||||
}
|
||||
std::sort(errorSqrdDists.begin(), errorSqrdDists.end());
|
||||
double median_error_sqr = (double)errorSqrdDists[errorSqrdDists.size () >> 2];
|
||||
float var = 2.1981 * median_error_sqr;
|
||||
//UDEBUG("scale %d = %f variance = %f", (int)i, s, variance);
|
||||
|
||||
scales.insert(std::make_pair(var, s));
|
||||
}
|
||||
scale = scales.begin()->second;
|
||||
variance = scales.begin()->first;
|
||||
}
|
||||
else if(!cameraTransformGuess.isNull())
|
||||
{
|
||||
// use scale from guess
|
||||
//compute variance
|
||||
std::vector<float> errorSqrdDists(inliersRef.size());
|
||||
for(unsigned int j=0; j<inliersRef.size(); ++j)
|
||||
{
|
||||
cv::Point3f refPt = inliersRef.at(j);
|
||||
refPt.x *= scale;
|
||||
refPt.y *= scale;
|
||||
refPt.z *= scale;
|
||||
const cv::Point3f & newPt = inliersRefGuess.at(j);
|
||||
errorSqrdDists[j] = uNormSquared(refPt.x-newPt.x, refPt.y-newPt.y, refPt.z-newPt.z);
|
||||
}
|
||||
std::sort(errorSqrdDists.begin(), errorSqrdDists.end());
|
||||
double median_error_sqr = (double)errorSqrdDists[errorSqrdDists.size () >> 2];
|
||||
variance = 2.1981 * median_error_sqr;
|
||||
}
|
||||
}
|
||||
else if(!refGuess3D.empty())
|
||||
{
|
||||
UWARN("Cannot compute variance, no points corresponding between "
|
||||
"the generated ref words (%d) and words guess (%d)",
|
||||
(int)words3D.size(), (int)refGuess3D.size());
|
||||
}
|
||||
|
||||
if(scale!=1.0f)
|
||||
{
|
||||
// Adjust output transform and points based on scale found
|
||||
cameraTransform.x()*=scale;
|
||||
cameraTransform.y()*=scale;
|
||||
cameraTransform.z()*=scale;
|
||||
|
||||
UASSERT(indexes.size() == newCorners.size());
|
||||
for(unsigned int i=0; i<indexes.size(); ++i)
|
||||
{
|
||||
std::map<int, cv::Point3f>::iterator iter = words3D.find(indexes[i]);
|
||||
if(iter!=words3D.end() && util3d::isFinite(iter->second))
|
||||
{
|
||||
iter->second.x *= scale;
|
||||
iter->second.y *= scale;
|
||||
iter->second.z *= scale;
|
||||
}
|
||||
}
|
||||
}
|
||||
UDEBUG("scale used = %f (variance=%f)", scale, variance);
|
||||
if(varianceOut)
|
||||
{
|
||||
*varianceOut = variance;
|
||||
}
|
||||
}
|
||||
}
|
||||
UDEBUG("wordsSet=%d / %d", (int)words3D.size(), (int)refWords.size());
|
||||
UDEBUG("wordsSet=%d / %d", (int)words3D.size(), pairsFound);
|
||||
|
||||
return words3D;
|
||||
}
|
||||
|
||||
@@ -329,6 +329,7 @@ private:
|
||||
QString _newDatabasePath;
|
||||
QString _newDatabasePathOutput;
|
||||
QString _openedDatabasePath;
|
||||
QString _defaultOpenDatabasePath;
|
||||
bool _databaseUpdated;
|
||||
bool _odomImageShow;
|
||||
bool _odomImageDepthShow;
|
||||
|
||||
@@ -37,6 +37,7 @@ class QGraphicsView;
|
||||
class QGraphicsScene;
|
||||
class QGraphicsItem;
|
||||
class QFormLayout;
|
||||
class QScrollArea;
|
||||
|
||||
/**
|
||||
* UPlotItem is a QGraphicsEllipseItem and can be inherited to do custom behaviors
|
||||
@@ -353,6 +354,7 @@ public:
|
||||
virtual ~UPlotLegendItem();
|
||||
const UPlotCurve * curve() const {return _curve;}
|
||||
QPixmap createSymbol(const QPen & pen, const QBrush & brush);
|
||||
void showStdDevMeanMax(bool shown);
|
||||
|
||||
Q_SIGNALS:
|
||||
void legendItemRemoved(const UPlotCurve *);
|
||||
@@ -418,6 +420,9 @@ private:
|
||||
QMenu * _menu;
|
||||
QAction * _aUseFlatButtons;
|
||||
QAction * _aCopyAllCurvesToClipboard;
|
||||
QAction * _aShowAllStdDevMeanMax;
|
||||
QLayout * _contentLayout;
|
||||
QScrollArea * _scrollArea;
|
||||
};
|
||||
|
||||
|
||||
|
||||
@@ -4817,7 +4817,7 @@ void MainWindow::newDatabase()
|
||||
|
||||
void MainWindow::openDatabase()
|
||||
{
|
||||
QString path = QFileDialog::getOpenFileName(this, tr("Open database..."), _preferencesDialog->getWorkingDirectory(), tr("RTAB-Map database files (*.db)"));
|
||||
QString path = QFileDialog::getOpenFileName(this, tr("Open database..."), _defaultOpenDatabasePath.isEmpty()?_preferencesDialog->getWorkingDirectory():_defaultOpenDatabasePath, tr("RTAB-Map database files (*.db)"));
|
||||
if(!path.isEmpty())
|
||||
{
|
||||
this->openDatabase(path);
|
||||
@@ -4843,6 +4843,7 @@ void MainWindow::openDatabase(const QString & path, const ParametersMap & overri
|
||||
|
||||
this->clearTheCache();
|
||||
_openedDatabasePath = path;
|
||||
_defaultOpenDatabasePath = path;
|
||||
|
||||
// look if there are saved parameters
|
||||
DBDriver * driver = DBDriver::create();
|
||||
|
||||
@@ -521,7 +521,9 @@ void ParametersToolBox::addParameter(QVBoxLayout * layout, const QString & key,
|
||||
QString tmp = key.split('/').last();
|
||||
QLabel * label = new QLabel(tmp, this);
|
||||
label->setObjectName(key+"/label");
|
||||
label->setToolTip(QString("<FONT>%1</FONT>").arg(Parameters::getDescription(key.toStdString()).c_str()));
|
||||
label->setToolTip(QString("<FONT>%1 [default=%2]</FONT>")
|
||||
.arg(Parameters::getDescription(key.toStdString()).c_str())
|
||||
.arg(uValue(Parameters::getDefaultParameters(), key.toStdString(), std::string("?")).c_str()));
|
||||
label->setTextInteractionFlags(Qt::TextSelectableByMouse);
|
||||
hLayout->addWidget(label);
|
||||
hLayout->addWidget(widget);
|
||||
|
||||
@@ -871,6 +871,7 @@ PreferencesDialog::PreferencesDialog(QWidget * parent) :
|
||||
_ui->surf_doubleSpinBox_maxDepth->setObjectName(Parameters::kKpMaxDepth().c_str());
|
||||
_ui->surf_doubleSpinBox_minDepth->setObjectName(Parameters::kKpMinDepth().c_str());
|
||||
_ui->checkBox_memDepthAsMask->setObjectName(Parameters::kMemDepthAsMask().c_str());
|
||||
_ui->checkBox_memStereoFromMotion->setObjectName(Parameters::kMemStereoFromMotion().c_str());
|
||||
_ui->surf_spinBox_wordsPerImageTarget->setObjectName(Parameters::kKpMaxFeatures().c_str());
|
||||
_ui->spinBox_KPGridRows->setObjectName(Parameters::kKpGridRows().c_str());
|
||||
_ui->spinBox_KPGridCols->setObjectName(Parameters::kKpGridCols().c_str());
|
||||
@@ -1030,6 +1031,7 @@ PreferencesDialog::PreferencesDialog(QWidget * parent) :
|
||||
_ui->localDetection_maxPaths->setObjectName(Parameters::kRGBDProximityMaxPaths().c_str());
|
||||
_ui->localDetection_pathFilteringRadius->setObjectName(Parameters::kRGBDProximityPathFilteringRadius().c_str());
|
||||
_ui->localDetection_angle->setObjectName(Parameters::kRGBDProximityAngle().c_str());
|
||||
_ui->checkBox_localSpaceOdomGuess->setObjectName(Parameters::kRGBDProximityOdomGuess().c_str());
|
||||
_ui->checkBox_localSpacePathOdomPosesUsed->setObjectName(Parameters::kRGBDProximityPathRawPosesUsed().c_str());
|
||||
_ui->rgdb_localImmunizationRatio->setObjectName(Parameters::kRGBDLocalImmunizationRatio().c_str());
|
||||
_ui->loopClosure_reextract->setObjectName(Parameters::kRGBDLoopClosureReextractFeatures().c_str());
|
||||
|
||||
@@ -63,9 +63,9 @@
|
||||
<property name="geometry">
|
||||
<rect>
|
||||
<x>0</x>
|
||||
<y>-455</y>
|
||||
<y>0</y>
|
||||
<width>680</width>
|
||||
<height>3497</height>
|
||||
<height>3270</height>
|
||||
</rect>
|
||||
</property>
|
||||
<layout class="QVBoxLayout" name="verticalLayout_16">
|
||||
@@ -95,7 +95,7 @@
|
||||
<enum>QFrame::Raised</enum>
|
||||
</property>
|
||||
<property name="currentIndex">
|
||||
<number>21</number>
|
||||
<number>19</number>
|
||||
</property>
|
||||
<widget class="QWidget" name="page_22">
|
||||
<layout class="QVBoxLayout" name="verticalLayout_29" stretch="0,1">
|
||||
@@ -4951,7 +4951,7 @@ when using the file type, logs are saved in LogRtabmap.txt (located in the worki
|
||||
<property name="sizeHint" stdset="0">
|
||||
<size>
|
||||
<width>20</width>
|
||||
<height>13</height>
|
||||
<height>0</height>
|
||||
</size>
|
||||
</property>
|
||||
</spacer>
|
||||
@@ -5231,21 +5231,7 @@ when using the file type, logs are saved in LogRtabmap.txt (located in the worki
|
||||
</layout>
|
||||
</widget>
|
||||
<widget class="QWidget" name="page_77">
|
||||
<layout class="QVBoxLayout" name="verticalLayout_135">
|
||||
<item>
|
||||
<spacer name="verticalSpacer_75">
|
||||
<property name="orientation">
|
||||
<enum>Qt::Vertical</enum>
|
||||
</property>
|
||||
<property name="sizeHint" stdset="0">
|
||||
<size>
|
||||
<width>20</width>
|
||||
<height>471</height>
|
||||
</size>
|
||||
</property>
|
||||
</spacer>
|
||||
</item>
|
||||
</layout>
|
||||
<layout class="QVBoxLayout" name="verticalLayout_135"/>
|
||||
</widget>
|
||||
<widget class="QWidget" name="page_80">
|
||||
<layout class="QVBoxLayout" name="verticalLayout_140">
|
||||
@@ -5364,7 +5350,7 @@ when using the file type, logs are saved in LogRtabmap.txt (located in the worki
|
||||
<property name="sizeHint" stdset="0">
|
||||
<size>
|
||||
<width>20</width>
|
||||
<height>596</height>
|
||||
<height>0</height>
|
||||
</size>
|
||||
</property>
|
||||
</spacer>
|
||||
@@ -8631,7 +8617,7 @@ If set to false, classic RTAB-Map loop closure detection is done using only imag
|
||||
<layout class="QVBoxLayout" name="verticalLayout_60">
|
||||
<item>
|
||||
<layout class="QGridLayout" name="gridLayout_32" columnstretch="0,1">
|
||||
<item row="4" column="1">
|
||||
<item row="5" column="1">
|
||||
<widget class="QLabel" name="label_22">
|
||||
<property name="toolTip">
|
||||
<string>0 means that the response (hessian) threshold
|
||||
@@ -8650,7 +8636,7 @@ generate the number of words requested.</string>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="5" column="1">
|
||||
<item row="6" column="1">
|
||||
<widget class="QLabel" name="label_81">
|
||||
<property name="toolTip">
|
||||
<string>0 means that the response (hessian) threshold
|
||||
@@ -8669,7 +8655,7 @@ generate the number of words requested.</string>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="9" column="1">
|
||||
<item row="10" column="1">
|
||||
<widget class="QLabel" name="label_99">
|
||||
<property name="text">
|
||||
<string>Top ROI ratio (0 = no change).</string>
|
||||
@@ -8682,7 +8668,7 @@ generate the number of words requested.</string>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="5" column="0">
|
||||
<item row="6" column="0">
|
||||
<widget class="QDoubleSpinBox" name="surf_doubleSpinBox_ratioBadSign">
|
||||
<property name="decimals">
|
||||
<number>2</number>
|
||||
@@ -8784,14 +8770,14 @@ generate the number of words requested.</string>
|
||||
</item>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="6" column="0">
|
||||
<item row="7" column="0">
|
||||
<widget class="QLineEdit" name="lineEdit_kp_roi">
|
||||
<property name="readOnly">
|
||||
<bool>true</bool>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="6" column="1">
|
||||
<item row="7" column="1">
|
||||
<widget class="QLabel" name="label_101">
|
||||
<property name="text">
|
||||
<string>ROI ratios [left, right, top, bottom] between 0 and 1.</string>
|
||||
@@ -8823,7 +8809,7 @@ generate the number of words requested.</string>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="8" column="0">
|
||||
<item row="9" column="0">
|
||||
<widget class="QDoubleSpinBox" name="doubleSpinBox_kp_roi1">
|
||||
<property name="suffix">
|
||||
<string> %</string>
|
||||
@@ -8868,7 +8854,7 @@ generate the number of words requested.</string>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="4" column="0">
|
||||
<item row="5" column="0">
|
||||
<widget class="QSpinBox" name="surf_spinBox_wordsPerImageTarget">
|
||||
<property name="minimum">
|
||||
<number>-1</number>
|
||||
@@ -8881,7 +8867,7 @@ generate the number of words requested.</string>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="7" column="0">
|
||||
<item row="8" column="0">
|
||||
<widget class="QDoubleSpinBox" name="doubleSpinBox_kp_roi0">
|
||||
<property name="suffix">
|
||||
<string> %</string>
|
||||
@@ -8891,7 +8877,7 @@ generate the number of words requested.</string>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="7" column="1">
|
||||
<item row="8" column="1">
|
||||
<widget class="QLabel" name="label_97">
|
||||
<property name="text">
|
||||
<string>Left ROI ratio (0 = no change).</string>
|
||||
@@ -8904,7 +8890,7 @@ generate the number of words requested.</string>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="8" column="1">
|
||||
<item row="9" column="1">
|
||||
<widget class="QLabel" name="label_98">
|
||||
<property name="text">
|
||||
<string>Right ROI ratio (0 = no change).</string>
|
||||
@@ -8917,7 +8903,7 @@ generate the number of words requested.</string>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="9" column="0">
|
||||
<item row="10" column="0">
|
||||
<widget class="QDoubleSpinBox" name="doubleSpinBox_kp_roi2">
|
||||
<property name="suffix">
|
||||
<string> %</string>
|
||||
@@ -8927,7 +8913,7 @@ generate the number of words requested.</string>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="10" column="0">
|
||||
<item row="11" column="0">
|
||||
<widget class="QDoubleSpinBox" name="doubleSpinBox_kp_roi3">
|
||||
<property name="suffix">
|
||||
<string> %</string>
|
||||
@@ -8937,7 +8923,7 @@ generate the number of words requested.</string>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="10" column="1">
|
||||
<item row="11" column="1">
|
||||
<widget class="QLabel" name="label_100">
|
||||
<property name="text">
|
||||
<string>Bottom ROI ratio (0 = no change).</string>
|
||||
@@ -8972,7 +8958,7 @@ generate the number of words requested.</string>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="11" column="1">
|
||||
<item row="12" column="1">
|
||||
<widget class="QLabel" name="label_50">
|
||||
<property name="toolTip">
|
||||
<string>0 means that the response (hessian) threshold
|
||||
@@ -8991,7 +8977,7 @@ generate the number of words requested.</string>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="11" column="0">
|
||||
<item row="12" column="0">
|
||||
<widget class="QSpinBox" name="spinBox_KPGridRows">
|
||||
<property name="minimum">
|
||||
<number>1</number>
|
||||
@@ -9004,7 +8990,7 @@ generate the number of words requested.</string>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="12" column="0">
|
||||
<item row="13" column="0">
|
||||
<widget class="QSpinBox" name="spinBox_KPGridCols">
|
||||
<property name="minimum">
|
||||
<number>1</number>
|
||||
@@ -9017,7 +9003,7 @@ generate the number of words requested.</string>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="12" column="1">
|
||||
<item row="13" column="1">
|
||||
<widget class="QLabel" name="label_86">
|
||||
<property name="toolTip">
|
||||
<string>0 means that the response (hessian) threshold
|
||||
@@ -9062,6 +9048,32 @@ generate the number of words requested.</string>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="4" column="1">
|
||||
<widget class="QLabel" name="label_582">
|
||||
<property name="toolTip">
|
||||
<string>0 means that the response (hessian) threshold
|
||||
used for the detector will not be adapted.
|
||||
Otherwise, the threshold is modified to
|
||||
generate the number of words requested.</string>
|
||||
</property>
|
||||
<property name="text">
|
||||
<string>Triangulate features without depth using stereo from motion (odometry). It would be ignored if depth as mask is checked and the feature detector used supports masking.</string>
|
||||
</property>
|
||||
<property name="wordWrap">
|
||||
<bool>true</bool>
|
||||
</property>
|
||||
<property name="textInteractionFlags">
|
||||
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="4" column="0">
|
||||
<widget class="QCheckBox" name="checkBox_memStereoFromMotion">
|
||||
<property name="text">
|
||||
<string/>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
</layout>
|
||||
</item>
|
||||
<item>
|
||||
@@ -10497,7 +10509,7 @@ If set to false, classic RTAB-Map loop closure detection is done using only imag
|
||||
</item>
|
||||
<item>
|
||||
<layout class="QGridLayout" name="gridLayout_50" columnstretch="0,1">
|
||||
<item row="4" column="0">
|
||||
<item row="5" column="0">
|
||||
<widget class="QDoubleSpinBox" name="localDetection_pathFilteringRadius">
|
||||
<property name="suffix">
|
||||
<string> m</string>
|
||||
@@ -10513,7 +10525,7 @@ If set to false, classic RTAB-Map loop closure detection is done using only imag
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="5" column="1">
|
||||
<item row="6" column="1">
|
||||
<widget class="QLabel" name="label_scanMatching_4">
|
||||
<property name="text">
|
||||
<string>When comparing to a local path, merge the laser scans using the odometry poses instead of the ones in the optimized local graph.</string>
|
||||
@@ -10526,7 +10538,7 @@ If set to false, classic RTAB-Map loop closure detection is done using only imag
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="4" column="1">
|
||||
<item row="5" column="1">
|
||||
<widget class="QLabel" name="label_space3_3">
|
||||
<property name="text">
|
||||
<string>Path filtering radius to avoid merging laser scans which are close. 0 to ignore. A path should also be inside that radius to be considered for proximity detection.</string>
|
||||
@@ -10539,7 +10551,7 @@ If set to false, classic RTAB-Map loop closure detection is done using only imag
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="5" column="0">
|
||||
<item row="6" column="0">
|
||||
<widget class="QCheckBox" name="checkBox_localSpacePathOdomPosesUsed">
|
||||
<property name="text">
|
||||
<string/>
|
||||
@@ -10569,7 +10581,7 @@ If set to false, classic RTAB-Map loop closure detection is done using only imag
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="7" column="1">
|
||||
<item row="8" column="1">
|
||||
<widget class="QLabel" name="label_scanMatching_6">
|
||||
<property name="text">
|
||||
<string>Save scan matching IDs in link's user data.</string>
|
||||
@@ -10582,7 +10594,7 @@ If set to false, classic RTAB-Map loop closure detection is done using only imag
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="7" column="0">
|
||||
<item row="8" column="0">
|
||||
<widget class="QCheckBox" name="checkBox_localSpaceScanMatchingIDsSaved">
|
||||
<property name="text">
|
||||
<string/>
|
||||
@@ -10664,6 +10676,26 @@ If set to false, classic RTAB-Map loop closure detection is done using only imag
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="4" column="1">
|
||||
<widget class="QLabel" name="label_scanMatching_13">
|
||||
<property name="text">
|
||||
<string>Use odometry as motion guess for visual proximity detection.</string>
|
||||
</property>
|
||||
<property name="wordWrap">
|
||||
<bool>true</bool>
|
||||
</property>
|
||||
<property name="textInteractionFlags">
|
||||
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="4" column="0">
|
||||
<widget class="QCheckBox" name="checkBox_localSpaceOdomGuess">
|
||||
<property name="text">
|
||||
<string/>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
</layout>
|
||||
</item>
|
||||
</layout>
|
||||
@@ -14901,7 +14933,7 @@ If set to false, classic RTAB-Map loop closure detection is done using only imag
|
||||
<property name="sizeHint" stdset="0">
|
||||
<size>
|
||||
<width>20</width>
|
||||
<height>1029</height>
|
||||
<height>0</height>
|
||||
</size>
|
||||
</property>
|
||||
</spacer>
|
||||
@@ -15124,7 +15156,7 @@ If set to false, classic RTAB-Map loop closure detection is done using only imag
|
||||
<property name="sizeHint" stdset="0">
|
||||
<size>
|
||||
<width>20</width>
|
||||
<height>40</height>
|
||||
<height>0</height>
|
||||
</size>
|
||||
</property>
|
||||
</spacer>
|
||||
@@ -15193,7 +15225,7 @@ If set to false, classic RTAB-Map loop closure detection is done using only imag
|
||||
<property name="sizeHint" stdset="0">
|
||||
<size>
|
||||
<width>20</width>
|
||||
<height>40</height>
|
||||
<height>0</height>
|
||||
</size>
|
||||
</property>
|
||||
</spacer>
|
||||
@@ -15387,7 +15419,7 @@ If set to false, classic RTAB-Map loop closure detection is done using only imag
|
||||
<property name="sizeHint" stdset="0">
|
||||
<size>
|
||||
<width>20</width>
|
||||
<height>961</height>
|
||||
<height>0</height>
|
||||
</size>
|
||||
</property>
|
||||
</spacer>
|
||||
@@ -16200,7 +16232,7 @@ If set to false, classic RTAB-Map loop closure detection is done using only imag
|
||||
<property name="sizeHint" stdset="0">
|
||||
<size>
|
||||
<width>20</width>
|
||||
<height>1090</height>
|
||||
<height>0</height>
|
||||
</size>
|
||||
</property>
|
||||
</spacer>
|
||||
@@ -16236,7 +16268,7 @@ If set to false, classic RTAB-Map loop closure detection is done using only imag
|
||||
<property name="sizeHint" stdset="0">
|
||||
<size>
|
||||
<width>20</width>
|
||||
<height>40</height>
|
||||
<height>0</height>
|
||||
</size>
|
||||
</property>
|
||||
</spacer>
|
||||
@@ -21674,19 +21706,6 @@ Lower the ratio -> higher the precision.</string>
|
||||
</widget>
|
||||
</widget>
|
||||
</item>
|
||||
<item>
|
||||
<spacer name="verticalSpacer_42">
|
||||
<property name="orientation">
|
||||
<enum>Qt::Vertical</enum>
|
||||
</property>
|
||||
<property name="sizeHint" stdset="0">
|
||||
<size>
|
||||
<width>20</width>
|
||||
<height>40</height>
|
||||
</size>
|
||||
</property>
|
||||
</spacer>
|
||||
</item>
|
||||
</layout>
|
||||
</item>
|
||||
</layout>
|
||||
|
||||
@@ -36,6 +36,7 @@
|
||||
#include <QToolButton>
|
||||
#include <QLabel>
|
||||
#include <QMenu>
|
||||
#include <QStyle>
|
||||
#include <QInputDialog>
|
||||
#include <QMessageBox>
|
||||
#include <QFileDialog>
|
||||
@@ -1453,18 +1454,7 @@ void UPlotLegendItem::contextMenuEvent(QContextMenuEvent * event)
|
||||
}
|
||||
else if(action == _aShowStdDevMeanMax)
|
||||
{
|
||||
if(_aShowStdDevMeanMax->isChecked())
|
||||
{
|
||||
connect(_curve, SIGNAL(dataChanged(const UPlotCurve *)), this, SLOT(updateStdDevMeanMax()));
|
||||
updateStdDevMeanMax();
|
||||
}
|
||||
else
|
||||
{
|
||||
disconnect(_curve, SIGNAL(dataChanged(const UPlotCurve *)), this, SLOT(updateStdDevMeanMax()));
|
||||
QString nameSpaced = _curve->name();
|
||||
nameSpaced.replace('_', ' ');
|
||||
this->setText(nameSpaced);
|
||||
}
|
||||
showStdDevMeanMax(_aShowStdDevMeanMax->isChecked());
|
||||
}
|
||||
else if(action == _aRemoveCurve)
|
||||
{
|
||||
@@ -1480,6 +1470,23 @@ void UPlotLegendItem::contextMenuEvent(QContextMenuEvent * event)
|
||||
}
|
||||
}
|
||||
|
||||
void UPlotLegendItem::showStdDevMeanMax(bool shown)
|
||||
{
|
||||
_aShowStdDevMeanMax->setChecked(shown);
|
||||
if(shown)
|
||||
{
|
||||
connect(_curve, SIGNAL(dataChanged(const UPlotCurve *)), this, SLOT(updateStdDevMeanMax()));
|
||||
updateStdDevMeanMax();
|
||||
}
|
||||
else
|
||||
{
|
||||
disconnect(_curve, SIGNAL(dataChanged(const UPlotCurve *)), this, SLOT(updateStdDevMeanMax()));
|
||||
QString nameSpaced = _curve->name();
|
||||
nameSpaced.replace('_', ' ');
|
||||
this->setText(nameSpaced);
|
||||
}
|
||||
}
|
||||
|
||||
QPixmap UPlotLegendItem::createSymbol(const QPen & pen, const QBrush & brush)
|
||||
{
|
||||
QPixmap pixmap(50, 50);
|
||||
@@ -1501,7 +1508,7 @@ void UPlotLegendItem::updateStdDevMeanMax()
|
||||
float max = uMax(y.data(), y.size());
|
||||
QString nameSpaced = _curve->name();
|
||||
nameSpaced.replace('_', ' ');
|
||||
nameSpaced += QString("\n(%1=%2, %3=%4, max=%5)").arg(QChar(0xbc, 0x03)).arg(mean).arg(QChar(0xc3, 0x03)).arg(stdDev).arg(max);
|
||||
nameSpaced += QString("\n(%1=%2, %3=%4, max=%5, n=%6)").arg(QChar(0xbc, 0x03)).arg(QString::number(mean, 'f', 3)).arg(QChar(0xc3, 0x03)).arg(QString::number(stdDev, 'f', 3)).arg(QString::number(max, 'f', 3)).arg(y.size());
|
||||
this->setText(nameSpaced);
|
||||
}
|
||||
|
||||
@@ -1519,15 +1526,30 @@ UPlotLegend::UPlotLegend(QWidget * parent) :
|
||||
_aUseFlatButtons->setCheckable(true);
|
||||
_aUseFlatButtons->setChecked(_flat);
|
||||
_aCopyAllCurvesToClipboard = new QAction(tr("Copy all curve data to clipboard"), this);
|
||||
_aShowAllStdDevMeanMax = new QAction(tr("Show all %1, %2, max").arg(QChar(0xbc, 0x03)).arg(QChar(0xc3, 0x03)), this);
|
||||
_aShowAllStdDevMeanMax->setCheckable(true);
|
||||
_aShowAllStdDevMeanMax->setChecked(false);
|
||||
_menu = new QMenu(tr("Legend"), this);
|
||||
_menu->addAction(_aUseFlatButtons);
|
||||
_menu->addAction(_aShowAllStdDevMeanMax);
|
||||
_menu->addAction(_aCopyAllCurvesToClipboard);
|
||||
|
||||
QVBoxLayout * vLayout = new QVBoxLayout(this);
|
||||
vLayout->setContentsMargins(0,0,0,0);
|
||||
this->setLayout(vLayout);
|
||||
vLayout->addStretch(0);
|
||||
vLayout->setSpacing(0);
|
||||
_scrollArea = new QScrollArea(this);
|
||||
_scrollArea->setWidgetResizable( true );
|
||||
_scrollArea->setFrameShape(QFrame::NoFrame);
|
||||
|
||||
this->setLayout(new QVBoxLayout());
|
||||
this->layout()->setContentsMargins(0,0,0,0);
|
||||
this->layout()->addWidget(_scrollArea);
|
||||
|
||||
QWidget * _scrollAreaWidgetContent = new QWidget();
|
||||
_scrollArea->setWidget( _scrollAreaWidgetContent );
|
||||
|
||||
_contentLayout = new QVBoxLayout();
|
||||
_scrollAreaWidgetContent->setLayout(_contentLayout);
|
||||
_contentLayout->setContentsMargins(0,0,0,0);
|
||||
((QVBoxLayout*)_contentLayout)->addStretch(0);
|
||||
_contentLayout->setSpacing(0);
|
||||
}
|
||||
|
||||
UPlotLegend::~UPlotLegend()
|
||||
@@ -1573,7 +1595,9 @@ void UPlotLegend::addItem(UPlotCurve * curve)
|
||||
hLayout->setMargin(0);
|
||||
|
||||
// add to the legend
|
||||
((QVBoxLayout*)this->layout())->insertLayout(this->layout()->count()-1, hLayout);
|
||||
((QVBoxLayout*)_contentLayout)->insertLayout(_contentLayout->count()-1, hLayout);
|
||||
|
||||
_scrollArea->setMinimumWidth(std::min(480, _scrollArea->widget()->sizeHint().width()+QApplication::style()->pixelMetric(QStyle::PM_ScrollBarExtent)));
|
||||
}
|
||||
}
|
||||
|
||||
@@ -1585,6 +1609,7 @@ bool UPlotLegend::remove(const UPlotCurve * curve)
|
||||
if(items.at(i)->curve() == curve)
|
||||
{
|
||||
delete items.at(i);
|
||||
_scrollArea->setMinimumWidth(std::min(480, _scrollArea->widget()->sizeHint().width()+QApplication::style()->pixelMetric(QStyle::PM_ScrollBarExtent)));
|
||||
return true;
|
||||
}
|
||||
}
|
||||
@@ -1603,24 +1628,24 @@ void UPlotLegend::moveUp(UPlotLegendItem * item)
|
||||
{
|
||||
int index = -1;
|
||||
QLayoutItem * layoutItem = 0;
|
||||
for(int i=0; i<this->layout()->count(); ++i)
|
||||
for(int i=0; i<_contentLayout->count(); ++i)
|
||||
{
|
||||
if(this->layout()->itemAt(i)->layout() &&
|
||||
this->layout()->itemAt(i)->layout()->indexOf(item) != -1)
|
||||
if(_contentLayout->itemAt(i)->layout() &&
|
||||
_contentLayout->itemAt(i)->layout()->indexOf(item) != -1)
|
||||
{
|
||||
layoutItem = this->layout()->itemAt(i);
|
||||
layoutItem = _contentLayout->itemAt(i);
|
||||
index = i;
|
||||
break;
|
||||
}
|
||||
}
|
||||
if(index > 0 && layoutItem)
|
||||
{
|
||||
this->layout()->removeItem(layoutItem);
|
||||
_contentLayout->removeItem(layoutItem);
|
||||
QHBoxLayout * hLayout = new QHBoxLayout();
|
||||
hLayout->addWidget(layoutItem->layout()->itemAt(0)->widget());
|
||||
hLayout->addStretch(0);
|
||||
hLayout->setMargin(0);
|
||||
((QVBoxLayout*)this->layout())->insertLayout(index-1, hLayout);
|
||||
((QVBoxLayout*)_contentLayout)->insertLayout(index-1, hLayout);
|
||||
delete layoutItem;
|
||||
Q_EMIT legendItemMoved(item->curve(), index-1);
|
||||
}
|
||||
@@ -1630,24 +1655,24 @@ void UPlotLegend::moveDown(UPlotLegendItem * item)
|
||||
{
|
||||
int index = -1;
|
||||
QLayoutItem * layoutItem = 0;
|
||||
for(int i=0; i<this->layout()->count(); ++i)
|
||||
for(int i=0; i<_contentLayout->count(); ++i)
|
||||
{
|
||||
if(this->layout()->itemAt(i)->layout() &&
|
||||
this->layout()->itemAt(i)->layout()->indexOf(item) != -1)
|
||||
if(_contentLayout->itemAt(i)->layout() &&
|
||||
_contentLayout->itemAt(i)->layout()->indexOf(item) != -1)
|
||||
{
|
||||
layoutItem = this->layout()->itemAt(i);
|
||||
layoutItem = _contentLayout->itemAt(i);
|
||||
index = i;
|
||||
break;
|
||||
}
|
||||
}
|
||||
if(index < this->layout()->count()-2 && layoutItem)
|
||||
if(index < _contentLayout->count()-2 && layoutItem)
|
||||
{
|
||||
this->layout()->removeItem(layoutItem);
|
||||
_contentLayout->removeItem(layoutItem);
|
||||
QHBoxLayout * hLayout = new QHBoxLayout();
|
||||
hLayout->addWidget(layoutItem->layout()->itemAt(0)->widget());
|
||||
hLayout->addStretch(0);
|
||||
hLayout->setMargin(0);
|
||||
((QVBoxLayout*)this->layout())->insertLayout(index+1, hLayout);
|
||||
((QVBoxLayout*)_contentLayout)->insertLayout(index+1, hLayout);
|
||||
delete layoutItem;
|
||||
Q_EMIT legendItemMoved(item->curve(), index+1);
|
||||
}
|
||||
@@ -1739,6 +1764,14 @@ void UPlotLegend::contextMenuEvent(QContextMenuEvent * event)
|
||||
}
|
||||
}
|
||||
}
|
||||
else if(action == _aShowAllStdDevMeanMax)
|
||||
{
|
||||
QList<UPlotLegendItem *> items = this->findChildren<UPlotLegendItem*>();
|
||||
for(int i=0; i<items.size(); ++i)
|
||||
{
|
||||
items.at(i)->showStdDevMeanMax(_aShowAllStdDevMeanMax->isChecked());
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
void UPlotLegend::redirectToggled(bool toggled)
|
||||
|
||||
+123
-99
@@ -106,11 +106,117 @@ int main(int argc, char * argv[])
|
||||
ParametersMap parameters = driver->getLastParameters();
|
||||
ParametersMap defaultParameters = Parameters::getDefaultParameters();
|
||||
ParametersMap removedParameters = Parameters::getBackwardCompatibilityMap();
|
||||
std::string otherDatabasePathName;
|
||||
if(!otherDatabasePath.empty())
|
||||
{
|
||||
driver->closeConnection(false);
|
||||
if(!driver->openConnection(otherDatabasePath))
|
||||
{
|
||||
printf("Cannot open database \"%s\".\n", otherDatabasePath.c_str());
|
||||
delete driver;
|
||||
return -1;
|
||||
}
|
||||
otherDatabasePathName = UFile::getName(otherDatabasePath);
|
||||
defaultParameters = driver->getLastParameters();
|
||||
removedParameters.clear();
|
||||
}
|
||||
|
||||
#ifdef _WIN32
|
||||
HANDLE H = GetStdHandle(STD_OUTPUT_HANDLE);
|
||||
#endif
|
||||
int padding = 35;
|
||||
std::cout << ("Parameters (Yellow=modified, Red=old parameter not used anymore):\n");
|
||||
for(ParametersMap::iterator iter=parameters.begin(); iter!=parameters.end(); ++iter)
|
||||
{
|
||||
ParametersMap::const_iterator jter = defaultParameters.find(iter->first);
|
||||
std::string defaultValue;
|
||||
bool defaultValueSet = false;
|
||||
if(jter == defaultParameters.end())
|
||||
{
|
||||
jter = removedParameters.find(iter->first);
|
||||
if(jter != removedParameters.end())
|
||||
{
|
||||
defaultValue = jter->second;
|
||||
defaultValueSet = true;
|
||||
}
|
||||
}
|
||||
else
|
||||
{
|
||||
defaultValue = jter->second;
|
||||
defaultValueSet = true;
|
||||
}
|
||||
|
||||
if(defaultValueSet &&
|
||||
iter->second.compare(defaultValue) != 0 &&
|
||||
iter->first.compare(Parameters::kRtabmapWorkingDirectory()) != 0)
|
||||
{
|
||||
bool different = true;
|
||||
if(Parameters::getType(iter->first).compare("double") ==0 ||
|
||||
Parameters::getType(iter->first).compare("float") == 0)
|
||||
{
|
||||
if(uStr2Double(iter->second) == uStr2Double(defaultValue))
|
||||
{
|
||||
different = false;
|
||||
}
|
||||
}
|
||||
|
||||
if(different)
|
||||
{
|
||||
//yellow
|
||||
#ifdef _WIN32
|
||||
SetConsoleTextAttribute(H,COLOR_YELLOW);
|
||||
#else
|
||||
printf("%s", COLOR_YELLOW);
|
||||
#endif
|
||||
std::cout << (uFormat("%s%s (%s=%s)\n", pad(iter->first + "=", padding).c_str(), iter->second.c_str(), otherDatabasePath.empty()?"default":otherDatabasePathName.c_str(), defaultValue.c_str()));
|
||||
}
|
||||
else if(!diff)
|
||||
{
|
||||
//green
|
||||
#ifdef _WIN32
|
||||
SetConsoleTextAttribute(H,COLOR_NORMAL);
|
||||
#else
|
||||
printf("%s", COLOR_NORMAL);
|
||||
#endif
|
||||
std::cout << (uFormat("%s%s\n", pad(iter->first + "=", padding).c_str(), iter->second.c_str()));
|
||||
}
|
||||
}
|
||||
else if(!defaultValueSet && otherDatabasePath.empty())
|
||||
{
|
||||
//red
|
||||
#ifdef _WIN32
|
||||
SetConsoleTextAttribute(H,COLOR_RED);
|
||||
#else
|
||||
printf("%s", COLOR_RED);
|
||||
#endif
|
||||
std::cout << (uFormat("%s%s\n", pad(iter->first + "=", padding).c_str(), iter->second.c_str()));
|
||||
}
|
||||
else if(!diff)
|
||||
{
|
||||
//green
|
||||
#ifdef _WIN32
|
||||
SetConsoleTextAttribute(H,COLOR_NORMAL);
|
||||
#else
|
||||
printf("%s", COLOR_NORMAL);
|
||||
#endif
|
||||
std::cout << (uFormat("%s%s\n", pad(iter->first + "=", padding).c_str(), iter->second.c_str()));
|
||||
}
|
||||
#ifdef _WIN32
|
||||
SetConsoleTextAttribute(H,COLOR_NORMAL);
|
||||
#else
|
||||
printf("%s", COLOR_NORMAL);
|
||||
#endif
|
||||
}
|
||||
|
||||
if(otherDatabasePath.empty())
|
||||
{
|
||||
printf("\nInfo:\n\n");
|
||||
std::string info;
|
||||
std::set<int> ids;
|
||||
driver->getAllNodeIds(ids);
|
||||
Transform lastLocalization;
|
||||
std::map<int, Transform> optimizedPoses = driver->loadOptimizedPoses(&lastLocalization);
|
||||
std::set<int> mapsLinkedToLastGraph;
|
||||
int lastMapId=0;
|
||||
double previousStamp = 0.0f;
|
||||
Transform previousPose;
|
||||
@@ -144,6 +250,10 @@ int main(int argc, char * argv[])
|
||||
{
|
||||
++gpsValues;
|
||||
}
|
||||
if(optimizedPoses.find(id) != optimizedPoses.end())
|
||||
{
|
||||
mapsLinkedToLastGraph.insert(mapId);
|
||||
}
|
||||
if(iter!=ids.begin())
|
||||
{
|
||||
if(lastMapId == mapId)
|
||||
@@ -193,10 +303,23 @@ int main(int argc, char * argv[])
|
||||
{
|
||||
std::cout << (uFormat("%s%f m\n", pad("Total odometry length:").c_str(), infoTotalOdom));
|
||||
}
|
||||
|
||||
std::stringstream sessionsInOptGraphStr;
|
||||
for(std::set<int>::iterator iter=mapsLinkedToLastGraph.begin(); iter!=mapsLinkedToLastGraph.end(); ++iter)
|
||||
{
|
||||
if(iter!=mapsLinkedToLastGraph.begin())
|
||||
{
|
||||
sessionsInOptGraphStr << ", ";
|
||||
}
|
||||
sessionsInOptGraphStr << *iter;
|
||||
}
|
||||
|
||||
std::cout << (uFormat("%s%fs\n", pad("Total time:").c_str(), infoTotalTime));
|
||||
std::cout << (uFormat("%s%d nodes and %d words\n", pad("LTM:").c_str(), (int)ids.size(), driver->getTotalDictionarySize()));
|
||||
std::cout << (uFormat("%s%d nodes and %d words\n", pad("WM:").c_str(), driver->getLastNodesSize(), driver->getLastDictionarySize()));
|
||||
std::cout << (uFormat("%s%d poses and %d links\n", pad("Global graph:").c_str(), odomPoses, links.size()));
|
||||
std::cout << (uFormat("%s%d poses\n", pad("Optimized graph:").c_str(), (int)optimizedPoses.size(), links.size()));
|
||||
std::cout << (uFormat("%s%d/%d [%s]\n", pad("Maps in graph:").c_str(), (int)mapsLinkedToLastGraph.size(), sessions, sessionsInOptGraphStr.str().c_str()));
|
||||
std::cout << (uFormat("%s%d poses\n", pad("Ground truth:").c_str(), gtPoses));
|
||||
std::cout << (uFormat("%s%d poses\n", pad("GPS:").c_str(), gpsValues));
|
||||
std::cout << (uFormat("Links:\n"));
|
||||
@@ -245,105 +368,6 @@ int main(int argc, char * argv[])
|
||||
mem = dbSize - total;
|
||||
std::cout << (uFormat("%s%d %s\t(%.2f%%)\n", pad("Other (indexing):").c_str(), mem>1000000?mem/1000000:mem>1000?mem/1000:mem, mem>1000000?"MB":mem>1000?"KB":"Bytes", dbSize>0?double(mem)/double(dbSize)*100.0:0.0));
|
||||
std::cout << ("\n");
|
||||
std::cout << ("Parameters (Yellow=modified, Red=old parameter not used anymore):\n");
|
||||
}
|
||||
else
|
||||
{
|
||||
driver->closeConnection(false);
|
||||
if(!driver->openConnection(otherDatabasePath))
|
||||
{
|
||||
printf("Cannot open database \"%s\".\n", otherDatabasePath.c_str());
|
||||
delete driver;
|
||||
return -1;
|
||||
}
|
||||
defaultParameters = driver->getLastParameters();
|
||||
removedParameters.clear();
|
||||
}
|
||||
|
||||
#ifdef _WIN32
|
||||
HANDLE H = GetStdHandle(STD_OUTPUT_HANDLE);
|
||||
#endif
|
||||
int padding = 35;
|
||||
for(ParametersMap::iterator iter=parameters.begin(); iter!=parameters.end(); ++iter)
|
||||
{
|
||||
ParametersMap::const_iterator jter = defaultParameters.find(iter->first);
|
||||
std::string defaultValue;
|
||||
bool defaultValueSet = false;
|
||||
if(jter == defaultParameters.end())
|
||||
{
|
||||
jter = removedParameters.find(iter->first);
|
||||
if(jter != removedParameters.end())
|
||||
{
|
||||
defaultValue = jter->second;
|
||||
defaultValueSet = true;
|
||||
}
|
||||
}
|
||||
else
|
||||
{
|
||||
defaultValue = jter->second;
|
||||
defaultValueSet = true;
|
||||
}
|
||||
|
||||
if(defaultValueSet &&
|
||||
iter->second.compare(defaultValue) != 0 &&
|
||||
iter->first.compare(Parameters::kRtabmapWorkingDirectory()) != 0)
|
||||
{
|
||||
bool different = true;
|
||||
if(Parameters::getType(iter->first).compare("double") ==0 ||
|
||||
Parameters::getType(iter->first).compare("float") == 0)
|
||||
{
|
||||
if(uStr2Double(iter->second) == uStr2Double(defaultValue))
|
||||
{
|
||||
different = false;
|
||||
}
|
||||
}
|
||||
|
||||
if(different)
|
||||
{
|
||||
//yellow
|
||||
#ifdef _WIN32
|
||||
SetConsoleTextAttribute(H,COLOR_YELLOW);
|
||||
#else
|
||||
printf("%s", COLOR_YELLOW);
|
||||
#endif
|
||||
std::cout << (uFormat("%s%s (%s=%s)\n", pad(iter->first + "=", padding).c_str(), iter->second.c_str(), otherDatabasePath.empty()?"default":"other", defaultValue.c_str()));
|
||||
}
|
||||
else if(!diff)
|
||||
{
|
||||
//green
|
||||
#ifdef _WIN32
|
||||
SetConsoleTextAttribute(H,COLOR_NORMAL);
|
||||
#else
|
||||
printf("%s", COLOR_NORMAL);
|
||||
#endif
|
||||
std::cout << (uFormat("%s%s\n", pad(iter->first + "=", padding).c_str(), iter->second.c_str()));
|
||||
}
|
||||
}
|
||||
else if(!defaultValueSet && otherDatabasePath.empty())
|
||||
{
|
||||
//red
|
||||
#ifdef _WIN32
|
||||
SetConsoleTextAttribute(H,COLOR_RED);
|
||||
#else
|
||||
printf("%s", COLOR_RED);
|
||||
#endif
|
||||
std::cout << (uFormat("%s%s\n", pad(iter->first + "=", padding).c_str(), iter->second.c_str()));
|
||||
}
|
||||
else if(!diff)
|
||||
{
|
||||
//green
|
||||
#ifdef _WIN32
|
||||
SetConsoleTextAttribute(H,COLOR_NORMAL);
|
||||
#else
|
||||
printf("%s", COLOR_NORMAL);
|
||||
#endif
|
||||
std::cout << (uFormat("%s%s\n", pad(iter->first + "=", padding).c_str(), iter->second.c_str()));
|
||||
}
|
||||
#ifdef _WIN32
|
||||
SetConsoleTextAttribute(H,COLOR_NORMAL);
|
||||
#else
|
||||
printf("%s", COLOR_NORMAL);
|
||||
#endif
|
||||
}
|
||||
|
||||
return 0;
|
||||
|
||||
+91
-1
@@ -31,6 +31,8 @@ SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
|
||||
#include <rtabmap/core/Features2d.h>
|
||||
#include <rtabmap/core/util3d.h>
|
||||
#include <rtabmap/core/VWDictionary.h>
|
||||
#include <rtabmap/core/util3d_filtering.h>
|
||||
#include <rtabmap/core/util3d_features.h>
|
||||
#include <rtabmap/utilite/ULogger.h>
|
||||
#include <rtabmap/gui/ImageView.h>
|
||||
#include <rtabmap/gui/KeypointItem.h>
|
||||
@@ -266,6 +268,15 @@ int main(int argc, char * argv[])
|
||||
// Visualization
|
||||
//////////////////
|
||||
|
||||
if(reg.getNNType()==6 &&
|
||||
!dataFrom.getWordsDescriptors().empty() &&
|
||||
dataFrom.getWordsDescriptors().begin()->second.type()!=CV_32F)
|
||||
{
|
||||
UWARN("SuperGlue is selected for matching but binary features "
|
||||
"are not compatible. BruteForce with CrossCheck (%s=5) "
|
||||
"has been used instead.", Parameters::kVisCorNNType().c_str());
|
||||
}
|
||||
|
||||
QApplication app(argc, argv);
|
||||
QDialog dialog;
|
||||
float reprojError = Parameters::defaultVisPnPReprojError();
|
||||
@@ -279,7 +290,10 @@ int main(int argc, char * argv[])
|
||||
.arg(reg.getDetector()?Feature2D::typeName(reg.getDetector()->getType()).c_str():"?")
|
||||
.arg(Parameters::kVisCorNNType().c_str())
|
||||
.arg(reg.getNNType())
|
||||
.arg(reg.getNNType()<VWDictionary::kNNUndef?VWDictionary::nnStrategyName((VWDictionary::NNStrategy)reg.getNNType()).c_str():reg.getNNType()==5?"BFCrossCheck":reg.getNNType()==6?"SuperGlue":reg.getNNType()==7?"GMS":"?")
|
||||
.arg(reg.getNNType()<VWDictionary::kNNUndef?VWDictionary::nnStrategyName((VWDictionary::NNStrategy)reg.getNNType()).c_str():
|
||||
reg.getNNType()==5||(reg.getNNType()==6&&!dataFrom.getWordsDescriptors().empty()&& dataFrom.getWordsDescriptors().begin()->second.type()!=CV_32F)?"BFCrossCheck":
|
||||
reg.getNNType()==6?"SuperGlue":
|
||||
reg.getNNType()==7?"GMS":"?")
|
||||
.arg(reg.getNNType()<5?QString(" %1=%2").arg(Parameters::kVisCorNNDR().c_str()).arg(reg.getNNDR()):"")
|
||||
.arg(Parameters::kVisEstimationType().c_str())
|
||||
.arg(reg.getEstimationType())
|
||||
@@ -297,9 +311,84 @@ int main(int argc, char * argv[])
|
||||
viewer->addCloud(uFormat("cloud_%d", dataTo.id()), cloudTo, t, Qt::cyan);
|
||||
viewer->addOrUpdateCoordinate(uFormat("frame_%d", dataTo.id()), t, 0.2);
|
||||
viewer->setGridShown(true);
|
||||
|
||||
if(reg.getEstimationType() == 2)
|
||||
{
|
||||
// triangulate 3D words based on the transform computed
|
||||
std::map<int, cv::Point3f> points3d = util3d::generateWords3DMono(
|
||||
uMultimapToMapUnique(dataFrom.getWords()),
|
||||
uMultimapToMapUnique(dataTo.getWords()),
|
||||
model.isValidForProjection()?model:stereoModel.left(),
|
||||
t);
|
||||
pcl::PointCloud<pcl::PointXYZ>::Ptr cloudWordsFrom(new pcl::PointCloud<pcl::PointXYZ>);
|
||||
cloudWordsFrom->resize(points3d.size());
|
||||
int i=0;
|
||||
for(std::multimap<int, cv::Point3f>::const_iterator iter=points3d.begin();
|
||||
iter!=points3d.end();
|
||||
++iter)
|
||||
{
|
||||
cloudWordsFrom->at(i++) = pcl::PointXYZ(iter->second.x, iter->second.y, iter->second.z);
|
||||
}
|
||||
if(cloudWordsFrom->size())
|
||||
{
|
||||
cloudWordsFrom = rtabmap::util3d::removeNaNFromPointCloud(cloudWordsFrom);
|
||||
}
|
||||
if(cloudWordsFrom->size())
|
||||
{
|
||||
viewer->addCloud("wordsFrom", cloudWordsFrom, Transform::getIdentity(), Qt::yellow);
|
||||
viewer->setCloudPointSize("wordsFrom", 5);
|
||||
}
|
||||
}
|
||||
else
|
||||
{
|
||||
if(!dataFrom.getWords3().empty())
|
||||
{
|
||||
pcl::PointCloud<pcl::PointXYZ>::Ptr cloudWordsFrom(new pcl::PointCloud<pcl::PointXYZ>);
|
||||
cloudWordsFrom->resize(dataFrom.getWords3().size());
|
||||
int i=0;
|
||||
for(std::multimap<int, cv::Point3f>::const_iterator iter=dataFrom.getWords3().begin();
|
||||
iter!=dataFrom.getWords3().end();
|
||||
++iter)
|
||||
{
|
||||
cloudWordsFrom->at(i++) = pcl::PointXYZ(iter->second.x, iter->second.y, iter->second.z);
|
||||
}
|
||||
if(cloudWordsFrom->size())
|
||||
{
|
||||
cloudWordsFrom = rtabmap::util3d::removeNaNFromPointCloud(cloudWordsFrom);
|
||||
}
|
||||
if(cloudWordsFrom->size())
|
||||
{
|
||||
viewer->addCloud("wordsFrom", cloudWordsFrom, Transform::getIdentity(), Qt::magenta);
|
||||
viewer->setCloudPointSize("wordsFrom", 5);
|
||||
}
|
||||
}
|
||||
if(!dataTo.getWords3().empty())
|
||||
{
|
||||
pcl::PointCloud<pcl::PointXYZ>::Ptr cloudWordsFrom(new pcl::PointCloud<pcl::PointXYZ>);
|
||||
cloudWordsFrom->resize(dataTo.getWords3().size());
|
||||
int i=0;
|
||||
for(std::multimap<int, cv::Point3f>::const_iterator iter=dataTo.getWords3().begin();
|
||||
iter!=dataTo.getWords3().end();
|
||||
++iter)
|
||||
{
|
||||
cloudWordsFrom->at(i++) = pcl::PointXYZ(iter->second.x, iter->second.y, iter->second.z);
|
||||
}
|
||||
if(cloudWordsFrom->size())
|
||||
{
|
||||
cloudWordsFrom = rtabmap::util3d::removeNaNFromPointCloud(cloudWordsFrom);
|
||||
}
|
||||
if(cloudWordsFrom->size())
|
||||
{
|
||||
viewer->addCloud("wordsTo", cloudWordsFrom, t, Qt::cyan);
|
||||
viewer->setCloudPointSize("wordsTo", 5);
|
||||
}
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
QBoxLayout * mainLayout = new QHBoxLayout();
|
||||
mainLayout->setContentsMargins(0, 0, 0, 0);
|
||||
mainLayout->setSpacing(0);
|
||||
QBoxLayout * layout;
|
||||
bool vertical=true;
|
||||
if(imageFrom.cols > imageFrom.rows)
|
||||
@@ -319,6 +408,7 @@ int main(int argc, char * argv[])
|
||||
ImageView * viewA = new ImageView(&dialog);
|
||||
ImageView * viewB = new ImageView(&dialog);
|
||||
|
||||
layout->setSpacing(0);
|
||||
layout->addWidget(viewA, 1);
|
||||
layout->addWidget(viewB, 1);
|
||||
|
||||
|
||||
@@ -31,6 +31,7 @@ SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
|
||||
#include <rtabmap/utilite/UConversion.h>
|
||||
#include <rtabmap/utilite/UStl.h>
|
||||
#include <rtabmap/core/Odometry.h>
|
||||
#include <rtabmap/core/odometry/OdometryMono.h>
|
||||
#include <rtabmap/core/OdometryThread.h>
|
||||
#include <rtabmap/gui/OdometryViewer.h>
|
||||
#include <rtabmap/core/CameraThread.h>
|
||||
@@ -47,9 +48,23 @@ void showUsage()
|
||||
printf("\nUsage:\n"
|
||||
"odometryViewer [options]\n"
|
||||
"Options:\n"
|
||||
" -driver # Driver number to use: 0=OpenNI-PCL, 1=OpenNI2, 2=Freenect, 3=OpenNI-CV, 4=OpenNI-CV-ASUS, 5=Freenect2, 6=dc1394, 7=FlyCapture2\n"
|
||||
" -driver # Driver number to use: \n"
|
||||
" 0=OpenNI-PCL (Kinect)\n"
|
||||
" 1=OpenNI2 (Kinect and Xtion PRO Live)\n"
|
||||
" 2=Freenect (Kinect)\n"
|
||||
" 3=OpenNI-CV (Kinect)\n"
|
||||
" 4=OpenNI-CV-ASUS (Xtion PRO Live)\n"
|
||||
" 5=Freenect2 (Kinect v2)\n"
|
||||
" 6=DC1394 (Bumblebee2)\n"
|
||||
" 7=FlyCapture2 (Bumblebee2)\n"
|
||||
" 8=ZED stereo\n"
|
||||
" 9=RealSense\n"
|
||||
" 10=Kinect for Windows 2 SDK\n"
|
||||
" 11=RealSense2\n"
|
||||
" 12=Kinect for Azure SDK\n"
|
||||
" 13=MYNT EYE S\n"
|
||||
" -hz #.# Camera rate (default 0, 0 means as fast as the camera can)\n"
|
||||
" -db \"input.db\" Use database instead of camera (recorded with rtabmap-dataRecorder)\n"
|
||||
" -db \"input.db\" Use database instead of camera (recorded with rtabmap-dataRecorder)\n"
|
||||
" -clouds # Maximum clouds shown (default 10, zero means inf)\n"
|
||||
" -sec #.# Delay (seconds) before reading the database (if set)\n"
|
||||
"%s\n",
|
||||
@@ -77,7 +92,7 @@ int main (int argc, char * argv[])
|
||||
if(i < argc)
|
||||
{
|
||||
driver = std::atoi(argv[i]);
|
||||
if(driver < 0 || driver > 7)
|
||||
if(driver < 0 || driver > 13)
|
||||
{
|
||||
showUsage();
|
||||
}
|
||||
@@ -184,7 +199,9 @@ int main (int argc, char * argv[])
|
||||
|
||||
bool icp = false;
|
||||
int regStrategy = rtabmap::Parameters::defaultRegStrategy();
|
||||
int odomStrategy = rtabmap::Parameters::defaultOdomStrategy();
|
||||
rtabmap::Parameters::parse(parameters, rtabmap::Parameters::kRegStrategy(), regStrategy);
|
||||
rtabmap::Parameters::parse(parameters, rtabmap::Parameters::kOdomStrategy(), odomStrategy);
|
||||
int decimation = 8;
|
||||
float maxDepth = 4.0f;
|
||||
float voxelSize = rtabmap::Parameters::defaultIcpVoxelSize();
|
||||
@@ -214,7 +231,17 @@ int main (int argc, char * argv[])
|
||||
|
||||
QApplication app(argc, argv);
|
||||
|
||||
rtabmap::Odometry * odom = rtabmap::Odometry::create(parameters);
|
||||
rtabmap::Odometry * odom;
|
||||
if(odomStrategy == -1)
|
||||
{
|
||||
// experimental mono
|
||||
odom = new rtabmap::OdometryMono(parameters);
|
||||
}
|
||||
else
|
||||
{
|
||||
odom = rtabmap::Odometry::create(parameters);
|
||||
}
|
||||
|
||||
|
||||
rtabmap::OdometryThread odomThread(odom);
|
||||
rtabmap::OdometryViewer odomViewer(maxClouds, 2, 0.0, 50);
|
||||
@@ -298,6 +325,60 @@ int main (int argc, char * argv[])
|
||||
}
|
||||
camera = new rtabmap::CameraStereoFlyCapture2(rate, t);
|
||||
}
|
||||
else if(driver == 8)
|
||||
{
|
||||
if(!rtabmap::CameraStereoZed::available())
|
||||
{
|
||||
UERROR("Not built with ZED sdk support...");
|
||||
exit(-1);
|
||||
}
|
||||
camera = new rtabmap::CameraStereoZed(0,3,1,0,100,false,rate,t);
|
||||
}
|
||||
else if (driver == 9)
|
||||
{
|
||||
if (!rtabmap::CameraRealSense::available())
|
||||
{
|
||||
UERROR("Not built with RealSense support...");
|
||||
exit(-1);
|
||||
}
|
||||
camera = new rtabmap::CameraRealSense(0, 0, 0, false, rate, t);
|
||||
}
|
||||
else if (driver == 10)
|
||||
{
|
||||
if (!rtabmap::CameraK4W2::available())
|
||||
{
|
||||
UERROR("Not built with Kinect for Windows 2 SDK support...");
|
||||
exit(-1);
|
||||
}
|
||||
camera = new rtabmap::CameraK4W2(0, rtabmap::CameraK4W2::kTypeDepth2ColorSD, rate, t);
|
||||
}
|
||||
else if (driver == 11)
|
||||
{
|
||||
if (!rtabmap::CameraRealSense2::available())
|
||||
{
|
||||
UERROR("Not built with RealSense2 SDK support...");
|
||||
exit(-1);
|
||||
}
|
||||
camera = new rtabmap::CameraRealSense2("", rate, t);
|
||||
}
|
||||
else if (driver == 12)
|
||||
{
|
||||
if (!rtabmap::CameraK4A::available())
|
||||
{
|
||||
UERROR("Not built with Kinect for Azure SDK support...");
|
||||
exit(-1);
|
||||
}
|
||||
camera = new rtabmap::CameraK4A();
|
||||
}
|
||||
else if (driver == 13)
|
||||
{
|
||||
if (!rtabmap::CameraMyntEye::available())
|
||||
{
|
||||
UERROR("Not built with Mynt Eye S support...");
|
||||
exit(-1);
|
||||
}
|
||||
camera = new rtabmap::CameraMyntEye("", false, false, rate, t);
|
||||
}
|
||||
else
|
||||
{
|
||||
UFATAL("Camera driver (%d) not found!", driver);
|
||||
|
||||
+41
-13
@@ -65,12 +65,15 @@ void showUsage()
|
||||
" and valid ground truth indices to [path]_indices.txt \n"
|
||||
#ifdef WITH_QT
|
||||
" --stats Show available statistics to plot (if path is a file). \n"
|
||||
" --invert Put all curves from a same database in same figure, \n"
|
||||
" instead of all same curves from different database \n"
|
||||
" in same figure. \n"
|
||||
" --invert When reading many databases, put all curves from a same \n"
|
||||
" database in same figure, instead of all same curves from \n"
|
||||
" different database in same figure. When reading a single \n"
|
||||
" database, the inverse will be done. \n"
|
||||
" --ids Use IDs for x axis instead of time in the figures. \n"
|
||||
" --start # Start from this node ID for the figures.\n"
|
||||
#endif
|
||||
" --report Export all statistics values in report.txt \n\n");
|
||||
" --report Export all statistics values in report.txt \n"
|
||||
" --help Show usage\n\n");
|
||||
exit(1);
|
||||
}
|
||||
|
||||
@@ -97,13 +100,18 @@ int main(int argc, char * argv[])
|
||||
bool showAvailableStats = false;
|
||||
bool invertFigures = false;
|
||||
bool useIds = false;
|
||||
int startId = 0;
|
||||
std::vector<std::string> statsToShow;
|
||||
#ifdef WITH_QT
|
||||
std::map<std::string, UPlot*> figures;
|
||||
#endif
|
||||
for(int i=1; i<argc-1; ++i)
|
||||
{
|
||||
if(strcmp(argv[i], "--latex") == 0)
|
||||
if(strcmp(argv[i], "--help") == 0)
|
||||
{
|
||||
showUsage();
|
||||
}
|
||||
else if(strcmp(argv[i], "--latex") == 0)
|
||||
{
|
||||
outputLatex = true;
|
||||
}
|
||||
@@ -143,15 +151,37 @@ int main(int argc, char * argv[])
|
||||
{
|
||||
useIds = true;
|
||||
}
|
||||
#ifdef WITH_QT
|
||||
else if(strcmp(argv[i],"--start") == 0)
|
||||
{
|
||||
++i;
|
||||
if(i<argc-1)
|
||||
{
|
||||
startId = atoi(argv[i]);
|
||||
printf("Figures will be plotted from id=%d (--start)\n", startId);
|
||||
}
|
||||
else
|
||||
{
|
||||
printf("Missing id for \"--start\" option.\n");
|
||||
showUsage();
|
||||
}
|
||||
}
|
||||
else
|
||||
{
|
||||
#ifdef WITH_QT
|
||||
|
||||
statsToShow.push_back(argv[i]);
|
||||
#endif
|
||||
}
|
||||
#endif
|
||||
}
|
||||
|
||||
std::string path = argv[argc-1];
|
||||
path = uReplaceChar(path, '~', UDirectory::homeDir());
|
||||
|
||||
#ifdef WITH_QT
|
||||
if(!UDirectory::exists(path) && UFile::getExtension(path).compare("db") == 0)
|
||||
{
|
||||
invertFigures = !invertFigures;
|
||||
}
|
||||
if(!invertFigures)
|
||||
{
|
||||
for(size_t i=0; i<statsToShow.size(); ++i)
|
||||
@@ -159,7 +189,8 @@ int main(int argc, char * argv[])
|
||||
std::string figureTitle = statsToShow[i];
|
||||
printf("Plot %s\n", figureTitle.c_str());
|
||||
UPlot * fig = new UPlot();
|
||||
fig->setTitle(figureTitle.c_str());
|
||||
fig->resize(QSize(640,480));
|
||||
fig->setWindowTitle(figureTitle.c_str());
|
||||
if(useIds)
|
||||
{
|
||||
fig->setXLabel("Node ID");
|
||||
@@ -174,9 +205,6 @@ int main(int argc, char * argv[])
|
||||
}
|
||||
#endif
|
||||
|
||||
std::string path = argv[argc-1];
|
||||
path = uReplaceChar(path, '~', UDirectory::homeDir());
|
||||
|
||||
std::string fileName;
|
||||
std::list<std::string> paths;
|
||||
paths.push_back(path);
|
||||
@@ -302,7 +330,7 @@ int main(int argc, char * argv[])
|
||||
else
|
||||
{
|
||||
UPlot * fig = new UPlot();
|
||||
fig->setTitle(filePath.c_str());
|
||||
fig->setWindowTitle(filePath.c_str());
|
||||
if(useIds)
|
||||
{
|
||||
fig->setXLabel("Node ID");
|
||||
@@ -402,7 +430,7 @@ int main(int argc, char * argv[])
|
||||
#ifdef WITH_QT
|
||||
for(std::map<std::string, UPlotCurve*>::iterator jter=curves.begin(); jter!=curves.end(); ++jter)
|
||||
{
|
||||
if(uContains(stat, jter->first))
|
||||
if(uContains(stat, jter->first) && *iter >= startId)
|
||||
{
|
||||
if(!uContains(firstStamps, jter->first))
|
||||
{
|
||||
|
||||
+48
-18
@@ -78,16 +78,16 @@ void sighandler(int sig)
|
||||
}
|
||||
|
||||
int loopCount = 0;
|
||||
int proxCount = 0;
|
||||
int totalFrames = 0;
|
||||
std::vector<float> previousLocalizationDistances;
|
||||
std::vector<float> odomDistances;
|
||||
std::vector<float> localizationDistances;
|
||||
std::vector<float> localizationVariations;
|
||||
std::vector<float> localizationAngleVariations;
|
||||
std::vector<float> localizationTime;
|
||||
void showLocalizationStats()
|
||||
{
|
||||
printf("Total localizations on previous session = %d/%d\n", loopCount, totalFrames);
|
||||
loopCount = 0;
|
||||
totalFrames = 0;
|
||||
printf("Total localizations on previous session = %d/%d (Loop=%d, Prox=%d)\n", loopCount+proxCount, totalFrames, loopCount, proxCount);
|
||||
{
|
||||
float m = uMean(localizationTime);
|
||||
float var = uVariance(localizationTime, m);
|
||||
@@ -98,16 +98,29 @@ void showLocalizationStats()
|
||||
}
|
||||
printf("Average localization time = %f ms (stddev=%f ms)\n", m, stddev);
|
||||
}
|
||||
if(!localizationDistances.empty())
|
||||
if(localizationVariations.size()>=2)
|
||||
{
|
||||
float m = uMean(localizationDistances);
|
||||
float var = uVariance(localizationDistances, m);
|
||||
//ignore first localization
|
||||
localizationVariations = std::vector<float>(++localizationVariations.begin(), localizationVariations.end());
|
||||
localizationAngleVariations = std::vector<float>(++localizationAngleVariations.begin(), localizationAngleVariations.end());
|
||||
|
||||
float m = uMean(localizationVariations);
|
||||
float max = uMax(localizationVariations);
|
||||
float var = uVariance(localizationVariations, m);
|
||||
float stddev = -1;
|
||||
if(var>0)
|
||||
{
|
||||
stddev = sqrt(var);
|
||||
}
|
||||
printf("Average localization distance = %f m (stddev=%f m)\n", m, stddev);
|
||||
float mA = uMean(localizationAngleVariations);
|
||||
float maxA = uMax(localizationAngleVariations);
|
||||
float varA = uVariance(localizationAngleVariations, mA);
|
||||
float stddevA = -1;
|
||||
if(varA>0)
|
||||
{
|
||||
stddevA = sqrt(varA);
|
||||
}
|
||||
printf("Average localization variations = %f m, %f deg (stddev=%f m, %f deg) (max=%f m, %f deg)\n", m, mA, stddev, stddevA, max, maxA);
|
||||
}
|
||||
if(!previousLocalizationDistances.empty())
|
||||
{
|
||||
@@ -131,6 +144,15 @@ void showLocalizationStats()
|
||||
}
|
||||
printf("Average odometry distances = %f m (stddev=%f m)\n", m, stddev);
|
||||
}
|
||||
|
||||
loopCount = 0;
|
||||
proxCount = 0;
|
||||
totalFrames = 0;
|
||||
previousLocalizationDistances.clear();
|
||||
odomDistances.clear();
|
||||
localizationVariations.clear();
|
||||
localizationAngleVariations.clear();
|
||||
localizationTime.clear();
|
||||
}
|
||||
|
||||
int main(int argc, char * argv[])
|
||||
@@ -358,7 +380,7 @@ int main(int argc, char * argv[])
|
||||
int processed = 0;
|
||||
CameraInfo info;
|
||||
SensorData data = dbReader.takeImage(&info);
|
||||
Transform lastLocalizationPose = info.odomPose;
|
||||
Transform lastLocalizationOdomPose = info.odomPose;
|
||||
while(data.isValid() && g_loopForever)
|
||||
{
|
||||
UTimer iterationTime;
|
||||
@@ -375,7 +397,7 @@ int main(int argc, char * argv[])
|
||||
if(!incrementalMemory && processed>0)
|
||||
{
|
||||
showLocalizationStats();
|
||||
lastLocalizationPose = info.odomPose;
|
||||
lastLocalizationOdomPose = info.odomPose;
|
||||
}
|
||||
if(incrementalMemory)
|
||||
{
|
||||
@@ -477,9 +499,16 @@ int main(int argc, char * argv[])
|
||||
++totalFrames;
|
||||
if (loopId>0)
|
||||
{
|
||||
++loopCount;
|
||||
if(stats.loopClosureId()>0)
|
||||
{
|
||||
++loopCount;
|
||||
}
|
||||
else
|
||||
{
|
||||
++proxCount;
|
||||
}
|
||||
int loopMapId = stats.loopClosureId() > 0? stats.loopClosureMapId(): stats.proximityDetectionMapId();
|
||||
printf("Processed %d/%d nodes [id=%d map=%d]... %dms Loop on %d [%d]\n", ++processed, totalIds, refId, refMapId, int(iterationTime.ticks() * 1000), loopId, loopMapId);
|
||||
printf("Processed %d/%d nodes [id=%d map=%d]... %dms %s on %d [%d]\n", ++processed, totalIds, refId, refMapId, int(iterationTime.ticks() * 1000), stats.loopClosureId() > 0?"Loop":"Prox", loopId, loopMapId);
|
||||
}
|
||||
else if(landmarkId != 0)
|
||||
{
|
||||
@@ -492,22 +521,23 @@ int main(int argc, char * argv[])
|
||||
|
||||
// Here we accumulate statistics about distance from last localization
|
||||
if(!incrementalMemory &&
|
||||
!lastLocalizationPose.isNull() &&
|
||||
!lastLocalizationOdomPose.isNull() &&
|
||||
!info.odomPose.isNull())
|
||||
{
|
||||
if(loopId>0 || landmarkId != 0)
|
||||
{
|
||||
previousLocalizationDistances.push_back(lastLocalizationPose.getDistance(info.odomPose));
|
||||
lastLocalizationPose = info.odomPose;
|
||||
previousLocalizationDistances.push_back(lastLocalizationOdomPose.getDistance(info.odomPose));
|
||||
lastLocalizationOdomPose = info.odomPose;
|
||||
}
|
||||
}
|
||||
if(!incrementalMemory)
|
||||
{
|
||||
float totalTime = uValue(stats.data(), rtabmap::Statistics::kTimingTotal(), 0.0f);
|
||||
localizationTime.push_back(totalTime);
|
||||
if(loopId>0)
|
||||
if(stats.data().find(Statistics::kLoopOdom_correction_norm()) != stats.data().end())
|
||||
{
|
||||
localizationDistances.push_back(stats.loopClosureTransform().getNorm());
|
||||
localizationVariations.push_back(stats.data().at(Statistics::kLoopOdom_correction_norm()));
|
||||
localizationAngleVariations.push_back(stats.data().at(Statistics::kLoopOdom_correction_angle()));
|
||||
}
|
||||
}
|
||||
|
||||
@@ -528,7 +558,7 @@ int main(int argc, char * argv[])
|
||||
}
|
||||
else
|
||||
{
|
||||
printf("Total loop closures = %d\n", loopCount);
|
||||
printf("Total loop closures = %d (Loop=%d, Prox=%d)\n", loopCount+proxCount, loopCount, proxCount);
|
||||
}
|
||||
|
||||
printf("Closing database \"%s\"...\n", outputDatabasePath.c_str());
|
||||
|
||||
Reference in New Issue
Block a user