Function icvFitLine3D

deps/opencv/modules/imgproc/src/linefit.cpp:487–634

(D, E, F) is the point that belongs to the line. */

static CvStatus
icvFitLine3D( CvPoint3D32f * points, int count, int dist,
              float _param, float reps, float aeps, float *line )
{
    double EPS = count*FLT_EPSILON;
    void (*calc_weights) (float *, int, float *) = 0;
    void (*calc_weights_param) (float *, int, float *, float) = 0;
    float *w;                   /* weights */
    float *r;                   /* square distances */
    int i, j, k;
    float _line[6]={0,0,0,0,0,0}, _lineprev[6]={0,0,0,0,0,0};
    float rdelta = reps != 0 ? reps : 1.0f;
    float adelta = aeps != 0 ? aeps : 0.01f;
    double min_err = DBL_MAX, err = 0;
    CvRNG rng = cvRNG(-1);

    switch (dist)
    {
    case CV_DIST_L2:
        return icvFitLine3D_wods( points, count, 0, line );

    case CV_DIST_L1:
        calc_weights = icvWeightL1;
        break;

    case CV_DIST_L12:
        calc_weights = icvWeightL12;
        break;

    case CV_DIST_FAIR:
        calc_weights_param = icvWeightFair;
        break;

    case CV_DIST_WELSCH:
        calc_weights_param = icvWeightWelsch;
        break;

    case CV_DIST_HUBER:
        calc_weights_param = icvWeightHuber;
        break;

    /*case CV_DIST_USER:
        _PFP.p = param;
        calc_weights = (void ( * )(float *, int, float *)) _PFP.fp;
        break;*/

    default:
        return CV_BADFACTOR_ERR;
    }

    w = (float *) cvAlloc( count * sizeof( float ));
    r = (float *) cvAlloc( count * sizeof( float ));

    for( k = 0; k < 20; k++ )
    {
        int first = 1;
        for( i = 0; i < count; i++ )
            w[i] = 0.f;