00001 /* 00002 // GPC: A library for the solution of General Point Correspondence problems. 00003 // Copyright (C) 2006 Andrea Censi (andrea at censi dot org) 00004 00005 // This program is free software; you can redistribute it and/or 00006 // modify it under the terms of the GNU General Public License 00007 // as published by the Free Software Foundation; either version 2 00008 // of the License, or (at your option) any later version. 00009 00010 // This program is distributed in the hope that it will be useful, 00011 // but WITHOUT ANY WARRANTY; without even the implied warranty of 00012 // MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the 00013 // GNU General Public License for more details. 00014 00015 // You should have received a copy of the GNU General Public License 00016 // along with this program; if not, write to the Free Software 00017 // Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301, USA. 00018 */ 00019 00020 #ifndef H_GENERAL_POINT_CORRESPONDENCE 00021 #define H_GENERAL_POINT_CORRESPONDENCE 00022 00023 struct gpc_corr { 00024 double p[2]; 00025 double q[2]; 00026 00027 double C[2][2]; 00028 00029 int valid; 00030 }; 00031 00042 #define TRACE_ALGO 0 00043 00044 /* Set to 1 to force a check that C is positive semidef. 00045 Note that you will have some numerical errors! */ 00046 #define GPC_CHECK_SEMIDEF 0 00047 00049 int gpc_solve(int K, const struct gpc_corr*, 00050 const double*x0, const double *cov_x0, 00051 double *x); 00052 00053 /* Some utilities functions */ 00054 00056 double gpc_error(const struct gpc_corr*co, const double*x); 00057 00058 double gpc_total_error(const struct gpc_corr*co, int n, const double*x); 00059 #endif 00060