+void print_3x3_matrix(const Eigen::Matrix3d& m)
+{
+ printf("%6.4f %6.4f %6.4f\n", m(0,0), m(0,1), m(0,2));
+ printf("%6.4f %6.4f %6.4f\n", m(1,0), m(1,1), m(1,2));
+ printf("%6.4f %6.4f %6.4f\n", m(2,0), m(2,1), m(2,2));
+ printf("\n");
+}
+
+string output_glsl_mat3(const string &name, const Eigen::Matrix3d &m)
+{
+ // Use stringstream to be independent of the current locale in a thread-safe manner.
+ stringstream ss;
+ ss.imbue(locale("C"));
+ ss.precision(8);
+ ss << "const mat3 " << name << " = mat3(\n";
+ ss << " " << m(0,0) << ", " << m(1,0) << ", " << m(2,0) << ",\n";
+ ss << " " << m(0,1) << ", " << m(1,1) << ", " << m(2,1) << ",\n";
+ ss << " " << m(0,2) << ", " << m(1,2) << ", " << m(2,2) << ");\n\n";
+ return ss.str();
+}
+
+string output_glsl_vec2(const string &name, float x, float y)
+{
+ // Use stringstream to be independent of the current locale in a thread-safe manner.
+ stringstream ss;
+ ss.imbue(locale("C"));
+ ss.precision(8);
+ ss << "const vec2 " << name << " = vec2(" << x << ", " << y << ");\n";
+ return ss.str();
+}
+
+string output_glsl_vec3(const string &name, float x, float y, float z)
+{
+ // Use stringstream to be independent of the current locale in a thread-safe manner.
+ stringstream ss;
+ ss.imbue(locale("C"));
+ ss.precision(8);
+ ss << "const vec3 " << name << " = vec3(" << x << ", " << y << ", " << z << ");\n";
+ return ss.str();
+}
+
+template<class DestFloat>
+void combine_two_samples(float w1, float w2, float pos1, float pos2, unsigned size,
+ DestFloat *offset, DestFloat *total_weight, float *sum_sq_error)