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/* ========================================================================
* 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: rpp.h 162 2006-04-19 21:28:10Z grabner $
* @file
* ======================================================================== */
#ifndef __RPP_H__
#define __RPP_H__
#include "rpp_types.h"
namespace rpp {
// ------------------------------------------------------------------------------------------
void Quaternion_byAngleAndVector(quat_t &Q, const real_t &q_angle, const vec3_t &q_vector);
void GetRotationbyVector(mat33_t &R, const vec3_t &v1, const vec3_t &v2);
void xform(vec3_array &Q, const vec3_array &P, const mat33_t &R, const vec3_t &t);
void xformproj(vec3_array &Qp, const vec3_array &P, const mat33_t &R, const vec3_t &t);
void rpyMat(mat33_t &R, const vec3_t &rpy);
void rpyAng(vec3_t &angs, const mat33_t &R);
void rpyAng_X(vec3_t &ang_zyx, const mat33_t &R);
void decomposeR(mat33_t &Rz, const mat33_t &R);
void abskernel(mat33_t &R, vec3_t &t, vec3_array &Qout, real_t &err2,
const vec3_array _P, const vec3_array _Q,
const mat33_array F, const mat33_t G);
void objpose(mat33_t &R, vec3_t &t, unsigned int &it, real_t &obj_err, real_t &img_err,
bool calc_img_err, const vec3_array _P, const vec3_array Qp, const options_t options);
void getRotationY_wrtT(scalar_array &al_ret, vec3_array &tnew, const vec3_array &v,
const vec3_array &p, const vec3_t &t, const real_t &DB,
const mat33_t &Rz);
void getRfor2ndPose_V_Exact(pose_vec &sol, const vec3_array &v, const vec3_array &P,
const mat33_t R, const vec3_t t, const real_t DB);
void get2ndPose_Exact(pose_vec &sol, const vec3_array &v, const vec3_array &P,
const mat33_t R, const vec3_t t, const real_t DB);
// ------------------------------------------------------------------------------------------
void robust_pose(real_t &err, mat33_t &R, vec3_t &t,
const vec3_array &_model, const vec3_array &_iprts,
const options_t _options);
// ------------------------------------------------------------------------------------------
} // namespace rpp
#endif
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