rpp.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: rpp.h 162 2006-04-19 21:28:10Z grabner $
00040  * @file
00041  * ======================================================================== */
00042 
00043 
00044 #ifndef __RPP_H__
00045 #define __RPP_H__
00046 
00047 #include "rpp_types.h"
00048 
00049 namespace rpp {
00050 // ------------------------------------------------------------------------------------------
00051 void Quaternion_byAngleAndVector(quat_t &Q, const real_t &q_angle, const vec3_t &q_vector);
00052 void GetRotationbyVector(mat33_t &R, const vec3_t &v1, const vec3_t &v2);
00053 void xform(vec3_array &Q, const vec3_array &P, const mat33_t &R, const vec3_t &t);
00054 void xformproj(vec3_array &Qp, const vec3_array &P, const mat33_t &R, const vec3_t &t);
00055 void rpyMat(mat33_t &R, const vec3_t &rpy);
00056 void rpyAng(vec3_t &angs, const mat33_t &R);
00057 void rpyAng_X(vec3_t &ang_zyx, const mat33_t &R);
00058 void decomposeR(mat33_t &Rz, const mat33_t &R);
00059 void abskernel(mat33_t &R, vec3_t &t, vec3_array &Qout, real_t &err2, 
00060                            const vec3_array _P, const vec3_array _Q, 
00061                            const mat33_array F, const mat33_t G);
00062 void objpose(mat33_t &R, vec3_t &t, unsigned int &it, real_t &obj_err, real_t &img_err,
00063                          bool calc_img_err, const vec3_array _P, const vec3_array Qp, const options_t options);
00064 void getRotationY_wrtT(scalar_array &al_ret, vec3_array &tnew, const vec3_array &v,
00065                                            const vec3_array &p, const vec3_t &t, const real_t &DB,
00066                                            const mat33_t &Rz);
00067 void getRfor2ndPose_V_Exact(pose_vec &sol, const vec3_array &v, const vec3_array &P,
00068                                                         const mat33_t R, const vec3_t t, const real_t DB);
00069 void get2ndPose_Exact(pose_vec &sol, const vec3_array &v, const vec3_array &P,
00070                                           const mat33_t R, const vec3_t t, const real_t DB);
00071 
00072 // ------------------------------------------------------------------------------------------
00073 void robust_pose(real_t &err, mat33_t &R, vec3_t &t,
00074                                  const vec3_array &_model, const vec3_array &_iprts,
00075                                  const options_t _options);
00076 // ------------------------------------------------------------------------------------------
00077 } // namespace rpp
00078 
00079 #endif
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aruco_pose
Author(s): Julian Brunner
autogenerated on Thu May 23 2013 12:15:46