diff options
Diffstat (limited to 'ARToolKitPlus/src/librpp/librpp.h')
| -rw-r--r-- | ARToolKitPlus/src/librpp/librpp.h | 112 |
1 files changed, 0 insertions, 112 deletions
diff --git a/ARToolKitPlus/src/librpp/librpp.h b/ARToolKitPlus/src/librpp/librpp.h deleted file mode 100644 index b0e1ee3..0000000 --- a/ARToolKitPlus/src/librpp/librpp.h +++ /dev/null @@ -1,112 +0,0 @@ -/* ========================================================================
- * PROJECT: ARToolKitPlus
- * ========================================================================
- *
- * The robust pose estimator algorithm has been provided by G. Schweighofer
- * and A. Pinz (Inst.of El.Measurement and Measurement Signal Processing,
- * Graz University of Technology). Details about the algorithm are given in
- * a Technical Report: TR-EMT-2005-01, available at:
- * http://www.emt.tu-graz.ac.at/publications/index.htm
- *
- * Ported from MATLAB to C by T.Pintaric (Vienna University of Technology).
- *
- * Copyright of the derived and new portions of this work
- * (C) 2006 Graz University of Technology
- *
- * This framework is free software; you can redistribute it and/or modify
- * it under the terms of the GNU General Public License as published by
- * the Free Software Foundation; either version 2 of the License, or
- * (at your option) any later version.
- *
- * This framework 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 General Public License for more details.
- *
- * You should have received a copy of the GNU General Public License
- * along with this framework; if not, write to the Free Software
- * Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
- *
- * For further information please contact
- * Dieter Schmalstieg
- * <schmalstieg@icg.tu-graz.ac.at>
- * Graz University of Technology,
- * Institut for Computer Graphics and Vision,
- * Inffeldgasse 16a, 8010 Graz, Austria.
- * ========================================================================
- ** @author Thomas Pintaric
- *
- * $Id: librpp.h 162 2006-04-19 21:28:10Z grabner $
- * @file
- * ======================================================================== */
-
-#if defined(_MSC_VER) || defined(_WIN32_WCE)
-
-#ifdef LIBRPP_STATIC
-# define LIBRPP_API
-#elif LIBRPP_DLL
-# ifdef LIBRPP_EXPORTS
-# define LIBRPP_API __declspec(dllexport)
-# else
-# define LIBRPP_API __declspec(dllimport)
-# endif
-#else
-# pragma error ("please define either LIBRPP_STATIC or LIBRPP_DLL")
-#endif
-
-#else
-// for linux
-#define LIBRPP_API
-
-#endif
-
-typedef double rpp_float;
-typedef double rpp_vec[3];
-typedef double rpp_mat[3][3];
-
-LIBRPP_API void robustPlanarPose(rpp_float &err,
- rpp_mat &R,
- rpp_vec &t,
- const rpp_float cc[2],
- const rpp_float fc[2],
- const rpp_vec *model,
- const rpp_vec *iprts,
- const unsigned int model_iprts_size,
- const rpp_mat R_init,
- const bool estimate_R_init,
- const rpp_float epsilon,
- const rpp_float tolerance,
- const unsigned int max_iterations);
-/*
-
- [OUTPUT]
-
- err: squared reprojection error
- R: rotation matrix (iprts[n] = R*model[n]+t)
- t: translation vector (iprts[n] = R*model[n]+t)
-
- [INPUT]
-
- cc: camera's principal point [x,y]
- fc: camera's focal length [x,y]
- model: 3d points [x,y,z]
- iprts: 2d projections [x,y,1]
-
- model_iprts_size: number of 2d/3d point correspondences
- R_init: initial estimate of the rotation matrix R
- estimate_R_init: when true, the estimate in R_init is ignored
- epsilon*: see below (default: 1E-8)
- tolerance*: see below (default: 1E-5)
- max_iterations*: max. number of iterations (0 = infinite)
-
- *) the following code fragment illustrates the use of epsilon,
- tolerance and max_iterations:
-
- while((ABS(( old_err - new_err ) / old_err) > tolerance) &&
- ( new_err > epsilon ) &&
- ( max_iterations == 0 || iterations < max_iterations ))
- {
- NEW ITERATION
- }
-
-*/
|