TrifocalTensor.h

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/*
 * This file is part of ALVAR, A Library for Virtual and Augmented Reality.
 *
 * Copyright 2007-2012 VTT Technical Research Centre of Finland
 *
 * Contact: VTT Augmented Reality Team <alvar.info@vtt.fi>
 *          <http://www.vtt.fi/multimedia/alvar.html>
 *
 * ALVAR is free software; you can redistribute it and/or modify it under the
 * terms of the GNU Lesser General Public License as published by the Free
 * Software Foundation; either version 2.1 of the License, or (at your option)
 * any later version.
 *
 * This library is distributed in the hope that it will be useful, but WITHOUT
 * ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or
 * FITNESS FOR A PARTICULAR PURPOSE. See the GNU Lesser General Public License
 * for more details.
 *
 * You should have received a copy of the GNU Lesser General Public License
 * along with ALVAR; if not, see
 * <http://www.gnu.org/licenses/old-licenses/lgpl-2.1.html>.
 */

#ifndef __TRIFOCAL_TENSOR__
#define __TRIFOCAL_TENSOR__

#include "Alvar.h"
#include <cxcore.h>
#include "Pose.h"

namespace alvar {

  class ALVAR_EXPORT TrifocalTensor {
  private:
    double T[3][3][3];
    double projectAxis(const CvPoint2D64f &p0, const CvPoint2D64f &p1, int l);

  public:
    TrifocalTensor();

    TrifocalTensor(const Pose &P1, const Pose &P2);

    TrifocalTensor(const Pose &P0, const Pose &P1, const Pose &P2);

    ~TrifocalTensor();
  
    void computeTensor(const Pose &P1, const Pose &P2);
  
    void computeTensor(const Pose &P0, const Pose &P1, const Pose &P2);
  
    void project(const CvPoint2D64f &p0, const CvPoint2D64f &p1, CvPoint2D64f &p2);
  
    double projectError(const CvPoint2D64f &p0, const CvPoint2D64f &p1, const CvPoint2D64f &p2);
  };

} // namespace alvar

#endif // __TRIFOCAL_TENSOR__