Classes | Defines | Functions
gpc.h File Reference
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Classes

struct  gpc_corr

Defines

#define GPC_CHECK_SEMIDEF   0
#define TRACE_ALGO   0

Functions

double gpc_error (const struct gpc_corr *co, const double *x)
int gpc_solve (int K, const struct gpc_corr *, const double *x0, const double *cov_x0, double *x)
double gpc_total_error (const struct gpc_corr *co, int n, const double *x)

Define Documentation

#define GPC_CHECK_SEMIDEF   0

Definition at line 46 of file gpc.h.

#define TRACE_ALGO   0

This program solves the general point correspondences problem: to find a translation $t$ and rotation $$ that minimize

(rot(theta)*c[k].p+t-c[k].q)' * c[k].C * (rot(theta)*c[k].p+t-c[k].q)

(see the attached documentation for details).

Definition at line 42 of file gpc.h.


Function Documentation

double gpc_error ( const struct gpc_corr co,
const double *  x 
)

Computes error for a single correspondence

Definition at line 285 of file gpc.c.

int gpc_solve ( int  K,
const struct gpc_corr ,
const double *  x0,
const double *  cov_x0,
double *  x 
)

if c[k].valid is 0, the correspondence is not used

Definition at line 29 of file gpc.c.

double gpc_total_error ( const struct gpc_corr co,
int  n,
const double *  x 
)

Definition at line 301 of file gpc.c.



csm
Author(s): Andrea Censi
autogenerated on Mon Jan 16 2017 03:48:29