librpp.h
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00001 /* ========================================================================
00002  * PROJECT: ARToolKitPlus
00003  * ========================================================================
00004  *
00005  * The robust pose estimator algorithm has been provided by G. Schweighofer
00006  * and A. Pinz (Inst.of El.Measurement and Measurement Signal Processing,
00007  * Graz University of Technology). Details about the algorithm are given in
00008  * a Technical Report: TR-EMT-2005-01, available at:
00009  * http://www.emt.tu-graz.ac.at/publications/index.htm
00010  *
00011  * Ported from MATLAB to C by T.Pintaric (Vienna University of Technology).
00012  *
00013  * Copyright of the derived and new portions of this work
00014  *     (C) 2006 Graz University of Technology
00015  *
00016  * This framework is free software; you can redistribute it and/or modify
00017  * it under the terms of the GNU General Public License as published by
00018  * the Free Software Foundation; either version 2 of the License, or
00019  * (at your option) any later version.
00020  *
00021  * This framework is distributed in the hope that it will be useful,
00022  * but WITHOUT ANY WARRANTY; without even the implied warranty of
00023  * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
00024  * GNU General Public License for more details.
00025  *
00026  * You should have received a copy of the GNU General Public License
00027  * along with this framework; if not, write to the Free Software
00028  * Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA  02111-1307  USA
00029  *
00030  * For further information please contact 
00031  *   Dieter Schmalstieg
00032  *   <schmalstieg@icg.tu-graz.ac.at>
00033  *   Graz University of Technology, 
00034  *   Institut for Computer Graphics and Vision,
00035  *   Inffeldgasse 16a, 8010 Graz, Austria.
00036  * ========================================================================
00037  ** @author   Thomas Pintaric
00038  *
00039  * $Id: librpp.h 162 2006-04-19 21:28:10Z grabner $
00040  * @file
00041  * ======================================================================== */
00042 
00043 #if defined(_MSC_VER) || defined(_WIN32_WCE)
00044 
00045 #ifdef LIBRPP_STATIC
00046 #  define LIBRPP_API
00047 #elif LIBRPP_DLL
00048 #  ifdef LIBRPP_EXPORTS
00049 #    define LIBRPP_API __declspec(dllexport)
00050 #  else
00051 #    define LIBRPP_API __declspec(dllimport)
00052 #  endif
00053 #else
00054 #  pragma error ("please define either LIBRPP_STATIC or LIBRPP_DLL")
00055 #endif
00056 
00057 #else
00058 // for linux
00059 #define LIBRPP_API
00060 
00061 #endif
00062 
00063 typedef double rpp_float;
00064 typedef double rpp_vec[3];
00065 typedef double rpp_mat[3][3];
00066 
00067 LIBRPP_API void robustPlanarPose(rpp_float &err,
00068                                                                  rpp_mat &R,
00069                                                                  rpp_vec &t,
00070                                                                  const rpp_float cc[2],
00071                                                                  const rpp_float fc[2],
00072                                                                  const rpp_vec *model,
00073                                                                  const rpp_vec *iprts,
00074                                                                  const unsigned int model_iprts_size,
00075                                                                  const rpp_mat R_init,
00076                                                                  const bool estimate_R_init,
00077                                                                  const rpp_float epsilon,
00078                                                                  const rpp_float tolerance,
00079                                                                  const unsigned int max_iterations);
00080 /*
00081 
00082         [OUTPUT]
00083 
00084         err: squared reprojection error
00085         R:   rotation matrix (iprts[n] = R*model[n]+t)
00086         t:   translation vector (iprts[n] = R*model[n]+t)
00087 
00088         [INPUT]
00089     
00090         cc:    camera's principal point [x,y]
00091         fc:    camera's focal length    [x,y]
00092         model: 3d points [x,y,z]
00093         iprts: 2d projections [x,y,1]
00094     
00095     model_iprts_size:   number of 2d/3d point correspondences
00096     R_init:             initial estimate of the rotation matrix R
00097     estimate_R_init:    when true, the estimate in R_init is ignored
00098     epsilon*:           see below (default: 1E-8)
00099     tolerance*:         see below (default: 1E-5)
00100         max_iterations*:    max. number of iterations (0 = infinite)
00101     
00102     *) the following code fragment illustrates the use of epsilon,
00103        tolerance and max_iterations:
00104 
00105     while((ABS(( old_err - new_err ) / old_err) > tolerance) && 
00106           ( new_err > epsilon ) &&
00107                   ( max_iterations == 0 || iterations < max_iterations ))
00108     {
00109         NEW ITERATION
00110     }
00111           
00112 */


aruco_pose
Author(s): Julian Brunner
autogenerated on Mon Oct 6 2014 08:32:33