commit 7ae7aeaf825ac141dc51d2da8a8e5f2c36d722a6
author Debargha Mukherjee <debargha@google.com> Thu May 04 15:17:17 2017 -0700
committer Debargha Mukherjee <debargha@google.com> Fri May 05 17:46:51 2017 +0000
tree 1c714c5a50a3137dd819f94b5da4270f1d1e80cd
parent 9cc10654d82c3294dd185d3bcbb5ab2541468e32

Redo / refactor affine and rot-zoom least squares

Use a simpler least-squares function for affine and rotzoom
model estimation, instead of computing the pseudo inverse.
Also refactors the code into a separate mathutils.h file.

The SVD code is currently used only for estimation of the
homography models which can be removed when we remove the
homography models.

Coding efficiency change is in noise range, with the small
difference coming from numerical precision issues.

Change-Id: I0a9eb79495911cea21a7945b397d596e22a2a186