homog34_fit.h Source File

00001 
00014 /* This library is free software; you can redistribute it and/or
00015    modify it under the terms of the GNU Lesser General Public
00016    License as published by the Free Software Foundation; either
00017    version 2.1 of the License, or (at your option) any later version.
00018 
00019    This library is distributed in the hope that it will be useful,
00020    but WITHOUT ANY WARRANTY; without even the implied warranty of
00021    MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU
00022    Lesser General Public License for more details.
00023 
00024    You should have received a copy of the GNU Lesser General Public
00025    License along with this library; if not, write to the Free Software
00026    Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA  02111-1307  USA
00027 */
00028 
00029 #ifndef _HOMOG34_FIT_H
00030 #define _HOMOG34_FIT_H
00031 
00032 #include <gandalf/linalg/4vector.h>
00033 #include <gandalf/linalg/3x4matrix.h>
00034 #include <gandalf/linalg/mat_square.h>
00035 #include <gandalf/linalg/symmat_eigen.h>
00036 
00037 #ifdef __cplusplus
00038 extern "C" {
00039 #endif
00040 
00060  Gan_SymMatEigenStruct *gan_homog34_init ( Gan_SymMatEigenStruct *sme );
00061 
00070  void gan_homog34_free ( Gan_SymMatEigenStruct *sme );
00071 
00072  Gan_Bool gan_homog34_increment_p ( Gan_SymMatEigenStruct *sme,
00073                                    Gan_Vector4 *X, Gan_Vector3 *x,
00074                                    double scale, int *eq_count );
00075  Gan_Bool gan_homog34_increment_le ( Gan_SymMatEigenStruct *sme,
00076                                     Gan_Vector4 *X1, Gan_Vector4 *X2,
00077                                     Gan_Vector3 *l, double scale,
00078                                     int *eq_count );
00079  Gan_Bool gan_homog34_solve ( Gan_SymMatEigenStruct *sme, int eq_count,
00080                              Gan_Matrix34 *P );
00081 
00092  Gan_Bool gan_homog34_reset ( Gan_SymMatEigenStruct *sme );
00093 
00102 #ifdef __cplusplus
00103 }
00104 #endif
00105 
00106 #endif /* #ifndef _HOMOG34_FIT_H */