00001 /* ======================================================================== 00002 * PROJECT: ARToolKitPlus 00003 * ======================================================================== 00004 * This work is based on the original ARToolKit developed by 00005 * Hirokazu Kato 00006 * Mark Billinghurst 00007 * HITLab, University of Washington, Seattle 00008 * http://www.hitl.washington.edu/artoolkit/ 00009 * 00010 * Copyright of the derived and new portions of this work 00011 * (C) 2006 Graz University of Technology 00012 * 00013 * This framework is free software; you can redistribute it and/or modify 00014 * it under the terms of the GNU General Public License as published by 00015 * the Free Software Foundation; either version 2 of the License, or 00016 * (at your option) any later version. 00017 * 00018 * This framework is distributed in the hope that it will be useful, 00019 * but WITHOUT ANY WARRANTY; without even the implied warranty of 00020 * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the 00021 * GNU General Public License for more details. 00022 * 00023 * You should have received a copy of the GNU General Public License 00024 * along with this framework; if not, write to the Free Software 00025 * Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA 00026 * 00027 * For further information please contact 00028 * Dieter Schmalstieg 00029 * <schmalstieg@icg.tu-graz.ac.at> 00030 * Graz University of Technology, 00031 * Institut for Computer Graphics and Vision, 00032 * Inffeldgasse 16a, 8010 Graz, Austria. 00033 * ======================================================================== 00034 ** @author Thomas Pintaric 00035 * 00036 * $Id$ 00037 * @file 00038 * ======================================================================== */ 00039 00040 00041 #ifndef __LINK_WITH_RPP__ 00042 #define __LINK_WITH_RPP__ 00043 00044 typedef double rpp_float; 00045 typedef double rpp_vec[3]; 00046 typedef double rpp_mat[3][3]; 00047 00048 00049 void 00050 robustPlanarPose(rpp_float &err, 00051 rpp_mat &R, 00052 rpp_vec &t, 00053 const rpp_float cc[2], 00054 const rpp_float fc[2], 00055 const rpp_vec *model, 00056 const rpp_vec *iprts, 00057 const unsigned int model_iprts_size, 00058 const rpp_mat R_init, 00059 const bool estimate_R_init, 00060 const rpp_float epsilon, 00061 const rpp_float tolerance, 00062 const unsigned int max_iterations); 00063 00064 00065 bool rppSupportAvailabe(); 00066 00067 00068 #endif // __LINK_WITH_RPP__