essential.h

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/* This library is free software; you can redistribute it and/or
   modify it under the terms of the GNU Lesser General Public
   License as published by the Free Software Foundation; either
   version 2.1 of the License, or (at your option) any later version.

   This library is distributed in the hope that it will be useful,
   but WITHOUT ANY WARRANTY; without even the implied warranty of
   MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU
   Lesser General Public License for more details.

   You should have received a copy of the GNU Lesser General Public
   License along with this library; if not, write to the Free Software
   Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA  02111-1307  USA
*/

#ifndef _GAN_ESSENTIAL_H
#define _GAN_ESSENTIAL_H

#include <gandalf/linalg/3vector.h>
#include <gandalf/vision/camera.h>
#include <gandalf/linalg/mat_square.h>
#include <gandalf/linalg/symmat_eigen.h>
#include <gandalf/vision/euclid3D.h>

#ifdef __cplusplus
extern "C" {
#endif

 Gan_Bool gan_essential_matrix_fit ( Gan_Vector3 *p1, Gan_Vector3 *p2, int n,
                                    Gan_Camera *cal1, Gan_Camera *cal2,
                                    Gan_SymMatEigenStruct *sme,
                                    Gan_Euclid3D *pose );

#ifdef __cplusplus
}
#endif

#endif /* #ifndef _GAN_ESSENTIAL_H */

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