text: /*ckwg +29
   * Copyright 2012-2016 by Kitware, Inc.
   * All rights reserved.
   *
   * Redistribution and use in source and binary forms, with or without
   * modification, are permitted provided that the following conditions are met:
   *
   *  * Redistributions of source code must retain the above copyright notice,
   *    this list of conditions and the following disclaimer.
   *
   *  * Redistributions in binary form must reproduce the above copyright notice,
   *    this list of conditions and the following disclaimer in the documentation
   *    and/or other materials provided with the distribution.
   *
   *  * Neither name of Kitware, Inc. nor the names of any contributors may be used
   *    to endorse or promote products derived from this software without specific
   *    prior written permission.
   *
   * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS ``AS IS''
   * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
   * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
   * ARE DISCLAIMED. IN NO EVENT SHALL THE AUTHORS OR CONTRIBUTORS BE LIABLE FOR
   * ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL
   * DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR
   * SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
   * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY,
   * OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
   * OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
   */
  
  #ifndef ROF_NORMALS_H_
  #define ROF_NORMALS_H_
  
  #include "depth_config.h"
  #include "world_space.h"
  
  #include <vil/vil_image_view.h>
  
  
  namespace super3d
  {
  
  SUPER3D_DEPTH_EXPORT
  void
  compute_normals_eig(const vil_image_view<double> &d,
                      vil_image_view<double> &bp,
                      vil_image_view<double> &n,
                      world_space *ws,
                      int neighborhood,
                      double thresh,
                      bool normalize = true);
  
  
  SUPER3D_DEPTH_EXPORT
  void
  normals_rof(vil_image_view<double> &n,
              const vil_image_view<double> &d,
              vil_image_view<double> &bp,
              world_space *ws,
              const vil_image_view<double> &g,
              unsigned int iterations,
              int neighborhood,
              double lambda,
              double step,
              double epsilon);
  
  
  SUPER3D_DEPTH_EXPORT
  void huber_normals_rof_preproc(const vil_image_view<double> &bp,
                                 const vil_image_view<double> &d,
                                 std::vector<std::vector<vnl_matrix_fixed<double, 2, 2> > > &AtAinv,
                                 std::vector<std::vector<vnl_vector_fixed<double, 2> > > &Atb,
                                 double lambda,
                                 double step,
                                 int neighborhood,
                                 double depth_thresh);
  
  
  SUPER3D_DEPTH_EXPORT
  void
  huber_normals_rof_update(vil_image_view<double> &q,
                           vil_image_view<double> &n,
                           std::vector<std::vector<vnl_matrix_fixed<double, 2, 2> > > &AtAinv,
                           std::vector<std::vector<vnl_vector_fixed<double, 2> > > &Atb,
                           const vil_image_view<double> &g,
                           double lambda,
                           double step,
                           double epsilon);
  
  
  SUPER3D_DEPTH_EXPORT
  void
  huber_normals_rof_update(vil_image_view<double> &q,
                           vil_image_view<double> &n,
                           const vil_image_view<double> &bp,
                           const vil_image_view<double> &d,
                           const vil_image_view<double> &g,
                           int neighborhood,
                           double lambda,
                           double step,
                           double epsilon,
                           double thresh);
  
  } // end namespace super3d
  
  #endif
  