homog33_fit.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_HOMOG33_FIT_H
#define _GAN_HOMOG33_FIT_H

#include <gandalf/linalg/3vector.h>
#include <gandalf/linalg/3x3matrix.h>
#include <gandalf/linalg/mat_square.h>
#include <gandalf/linalg/symmat_eigen.h>

#ifdef __cplusplus
extern "C" {
#endif

typedef enum
{
   GAN_HOMOG33_POINT, 
   GAN_HOMOG33_LINE, 
   GAN_HOMOG33_LINE_ENDPOINTS, 
   GAN_HOMOG33_IGNORE 
}
Gan_Homog33MatchType;

typedef struct
{
   Gan_Homog33MatchType type;
   union
   {
      struct { Gan_Vector3 X, x; } p; 
      struct { Gan_Vector3 L, l; } l; 
      struct { Gan_Vector3 X1, X2, l; } le; 
   } d;
} Gan_Homog33Match;

 Gan_SymMatEigenStruct *gan_homog33_init ( Gan_SymMatEigenStruct *sme );

 void gan_homog33_free ( Gan_SymMatEigenStruct *sme );

 Gan_Bool gan_homog33_increment_p ( Gan_SymMatEigenStruct *sme,
                                   Gan_Vector3 *X, Gan_Vector3 *x,
                                   double scale, int *eq_count );
 Gan_Bool gan_homog33_increment_l ( Gan_SymMatEigenStruct *sme,
                                   Gan_Vector3 *L, Gan_Vector3 *l,
                                   double scale,
                                   int *eq_count );
 Gan_Bool gan_homog33_increment_le ( Gan_SymMatEigenStruct *sme,
                                    Gan_Vector3 *X, Gan_Vector3 *l,
                                    double scale, int *eq_count );
 Gan_Bool gan_homog33_solve ( Gan_SymMatEigenStruct *sme, int eq_count,
                             Gan_Matrix33 *P );
 Gan_Bool gan_homog33_fit ( Gan_Homog33Match *match, unsigned nmatches,
                           Gan_Matrix33 *H );
 Gan_Bool gan_homog33_fit_points ( const Gan_Vector3 *x, const Gan_Vector3 *X,
                                  unsigned int n, Gan_Matrix33 *H );

 Gan_Bool gan_homog33_reset ( Gan_SymMatEigenStruct *sme );

#ifdef __cplusplus
}
#endif

#endif /* #ifndef _GAN_HOMOG33_FIT_H */

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