00001 #ifndef mvl_linear_backproject_h_ 00002 #define mvl_linear_backproject_h_ 00003 00004 // not used? #include <vcl_iostream.h> 00005 // not used? #include <vcl_cmath.h> 00006 #include <vcl_vector.h> 00007 00008 #include <mvl/PMatrix.h> 00009 #include <mvl/HomgPoint2D.h> 00010 #include <mvl/HomgPoint3D.h> 00011 00012 #include <vnl/vnl_vector.h> 00013 00014 // Author: Oli Cooper. 00015 // For details see Hartley & Sturm 'Triangulation' 00016 // To use iterative method call initially with re_weighted = false, then repeat 00017 // passing previous value of X and re_weighted = true 00018 // repeat until convergence achieved (compare weights vector returned against previous) 00019 // Least-Squares method is affine invariant whereas eigenvector method is not 00020 00021 vnl_vector<double> mvl_linear_backproject( 00022 // camera matrices: 00023 vcl_vector<PMatrix> Ps, 00024 // image coordinates: 00025 HomgPoint2D const *imgcoords, 00026 // world point: 00027 HomgPoint3D &X, 00028 // if true use current value of X to commute weights. 00029 bool re_weighted = false, 00030 // if 'e' then use eigenvalue method if 'l' use least-squares 00031 char method = 'e'); 00032 00033 #endif // mvl_linear_backproject_h_
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