--- 1,52c1,42 -----------------------
  < bool_t hr3_pmap_is_affine(hr3_pmap_t *M);
  < bool_t hr3_pmap_is_identity(hr3_pmap_t *M);
  < double hr3_dist(hr3_point_t *a, hr3_point_t *b);
  < double hr3_dist_sqr(hr3_point_t *a, hr3_point_t *b);
  < double hr3_pmap_aff_discr_sqr(hr3_pmap_t *M, hr3_pmap_t *N);
  < double hr3_pmap_deform_sqr(r3_t h[], hr3_pmap_t *M);
  < double hr3_pmap_diff_sqr(hr3_pmap_t *M, hr3_pmap_t *N);
  < double hr3_pmap_mismatch_sqr(hr3_pmap_t *M, int32_t np, r3_t p1[], r3_t p2[]);
  < double hr3_pt_pt_diff(hr3_point_t *p, hr3_point_t *q);
  < hr3_line_t hr3_line_from_two_planes(hr3_plane_t *P, hr3_plane_t *Q);
  < hr3_line_t hr3_line_from_two_points(hr3_point_t *p, hr3_point_t *q);
  < hr3_plane_t hr3_plane_from_line_and_point(hr3_line_t *L, hr3_point_t *r);
  < hr3_plane_t hr3_plane_from_three_points(hr3_point_t *p, hr3_point_t *q, hr3_point_t *r);
  < hr3_plane_t hr3_plane_throw(void);
  < hr3_plane_t hr3_pmap_inv_plane(hr3_plane_t *P, hr3_pmap_t *M);
  < hr3_plane_t hr3_pmap_plane(hr3_plane_t *P, hr3_pmap_t *M);
  < hr3_pmap_t hr3_pmap_aff_from_four_points(r3_t *o, r3_t *p, r3_t *q, r3_t *r);
  < hr3_pmap_t hr3_pmap_aff_from_mat_and_disp(r3x3_t *E, r3_t *d);
  < hr3_pmap_t hr3_pmap_compose(hr3_pmap_t *M, hr3_pmap_t *N);
  < hr3_pmap_t hr3_pmap_from_five_points(hr3_point_t *p, hr3_point_t *q, hr3_point_t *r, hr3_point_t *s, hr3_point_t *u);
  < hr3_pmap_t hr3_pmap_identity(void);
  < hr3_pmap_t hr3_pmap_inv(hr3_pmap_t *M);
  < hr3_pmap_t hr3_pmap_inv_compose(hr3_pmap_t *M, hr3_pmap_t *N);
  < hr3_pmap_t hr3_pmap_persp(hr3_point_t *obs, hr3_point_t *foc, double rad, hr3_point_t *upp);
  < hr3_pmap_t hr3_pmap_scaling(r3_t *scale);
  < hr3_pmap_t hr3_pmap_translation(r3_t *v);
  < hr3_pmap_t hr3_pmap_u_v_rotation(r3_t *u, r3_t *v);
  < hr3_point_t hr3_from_r3(r3_t *c);
  < hr3_point_t hr3_pmap_inv_point(hr3_point_t *p, hr3_pmap_t *M);
  < hr3_point_t hr3_pmap_point(hr3_point_t *p, hr3_pmap_t *M);
  < hr3_point_t hr3_point_at_infinity(r3_t *dir);
  < hr3_point_t hr3_point_from_line_and_plane(hr3_line_t *L, hr3_plane_t *R);
  < hr3_point_t hr3_point_from_three_planes(hr3_plane_t *P, hr3_plane_t *Q, hr3_plane_t *R);
  < hr3_point_t hr3_point_mix(double pt, hr3_point_t *p, double qt, hr3_point_t *q);
  < hr3_point_t hr3_point_throw(void);
  < r3_t hr3_line_dir(hr3_line_t *L);
  < r3_t hr3_plane_normal(hr3_plane_t *P);
  < r3_t hr3_pmap_inv_r3_point(r3_t *p, hr3_pmap_t *M);
  < r3_t hr3_pmap_r3_point(r3_t *p, hr3_pmap_t *M);
  < r3_t hr3_point_point_dir(hr3_point_t *frm, hr3_point_t *tto);
  < r3_t r3_from_hr3(hr3_point_t *p);
  < sign_t hr3_orient(hr3_point_t *p, hr3_point_t *q, hr3_point_t *r, hr3_point_t *s);
  < sign_t hr3_side(hr3_point_t *p, hr3_plane_t *Q); 
  < typedef struct hr3_line_t  { r6_t k; } hr3_line_t;  /* {k.c[0..5]} are Plücker coords {[wx,wy,xy,wz,xz,yz]} */
  < typedef struct hr3_plane_t { r4_t f; } hr3_plane_t; /* {f.c[0..3]} are plane's coeffs {<W,X,Y,Z>}. */
  < typedef struct hr3_pmap_t { r4x4_t dir; r4x4_t inv; } hr3_pmap_t;  
  < typedef struct hr3_point_t { r4_t c; } hr3_point_t; /* {c.c[0..3]} are point's coords {[w,x,y,z]}. */
  < void hr3_L_inf_normalize_line(hr3_line_t *L);
  < void hr3_L_inf_normalize_plane(hr3_plane_t *P);
  < void hr3_L_inf_normalize_point(hr3_point_t *p);
  < void hr3_line_print (FILE *f, char *pre, hr3_line_t *L, char *fmt, char *suf);
  < void hr3_plane_print (FILE *f, char *pre, hr3_plane_t *P, char *fmt, char *suf);

  > bool_t hr3_pmap_is_identity(hr3_pmap_t *M)
  > double hr3_dist(hr3_point_t *a, hr3_point_t *b)
  > double hr3_dist_sqr(hr3_point_t *a, hr3_point_t *b)
  > double hr3_pt_pt_diff(hr3_point_t *p, hr3_point_t *q)
  > hr3_line_t hr3_line_from_two_planes(hr3_plane_t *P, hr3_plane_t *Q)
  > hr3_line_t hr3_line_from_two_points(hr3_point_t *p, hr3_point_t *q)
  > hr3_plane_t hr3_plane_from_line_and_point(hr3_line_t *L, hr3_point_t *r)
  > hr3_plane_t hr3_plane_from_three_points(hr3_point_t *p, hr3_point_t *q, hr3_point_t *r)
  > hr3_plane_t hr3_plane_throw(void)
  > hr3_plane_t hr3_pmap_inv_plane(hr3_plane_t *P, hr3_pmap_t *M)
  > hr3_plane_t hr3_pmap_plane(hr3_plane_t *P, hr3_pmap_t *M)
  > hr3_pmap_t hr3_pmap_aff_from_four_points(r3_t *o, r3_t *p, r3_t *q, r3_t *r)
  > hr3_pmap_t hr3_pmap_aff_from_mat_and_disp(r3x3_t *E, r3_t *d)
  > hr3_pmap_t hr3_pmap_compose(hr3_pmap_t *M, hr3_pmap_t *N)
  > hr3_pmap_t hr3_pmap_from_five_points(hr3_point_t *p, hr3_point_t *q, hr3_point_t *r, hr3_point_t *s, hr3_point_t *u)
  > hr3_pmap_t hr3_pmap_inv(hr3_pmap_t *M)
  > hr3_pmap_t hr3_pmap_inv_compose(hr3_pmap_t *M, hr3_pmap_t *N)
  > hr3_pmap_t hr3_pmap_persp(hr3_point_t *obs, hr3_point_t *foc, double rad, hr3_point_t *upp)
  > hr3_pmap_t hr3_pmap_scaling(r3_t *scale)
  > hr3_pmap_t hr3_pmap_translation(r3_t *v)
  > hr3_pmap_t hr3_pmap_u_v_rotation(r3_t *u, r3_t *v)
  > hr3_point_t hr3_from_r3(r3_t *c)
  > hr3_point_t hr3_pmap_inv_point(hr3_point_t *p, hr3_pmap_t *M)
  > hr3_point_t hr3_pmap_point(hr3_point_t *p, hr3_pmap_t *M)
  > hr3_point_t hr3_point_at_infinity(r3_t *dir)
  > hr3_point_t hr3_point_from_line_and_plane(hr3_line_t *L, hr3_plane_t *R)
  > hr3_point_t hr3_point_from_three_planes(hr3_plane_t *P, hr3_plane_t *Q, hr3_plane_t *R)
  > hr3_point_t hr3_point_mix(double pt, hr3_point_t *p, double qt, hr3_point_t *q)
  > hr3_point_t hr3_point_throw(void)
  > r3_t hr3_line_dir(hr3_line_t *L)
  > r3_t hr3_plane_normal(hr3_plane_t *P)
  > r3_t hr3_pmap_inv_r3_point(r3_t *p, hr3_pmap_t *M)
  > r3_t hr3_pmap_r3_point(r3_t *p, hr3_pmap_t *M)
  > r3_t hr3_point_point_dir(hr3_point_t *frm, hr3_point_t *tto)
  > r3_t r3_from_hr3(hr3_point_t *p)
  > sign_t hr3_orient(hr3_point_t *p, hr3_point_t *q, hr3_point_t *r, hr3_point_t *s)
  > sign_t hr3_side(hr3_point_t *p, hr3_plane_t *Q)
  > void hr3_L_inf_normalize_line(hr3_line_t *L)
  > void hr3_L_inf_normalize_plane(hr3_plane_t *P)
  > void hr3_L_inf_normalize_point(hr3_point_t *p)
  > void hr3_line_print (FILE *f, char *pre, hr3_line_t *L, char *fmt, char *suf)
  > void hr3_plane_print (FILE *f, char *pre, hr3_plane_t *P, char *fmt, char *suf)

  --- 54,55c44,47 -----------------------
  < void hr3_pmap_print (FILE *wr, hr3_pmap_t *M, char *pref, char *suff);
  < void hr3_point_print (FILE *f, char *pre, hr3_point_t *a, char *fmt, char *suf);

  > void hr3_pmap_print (FILE *wr, hr3_pmap_t *M, char *pref, char *suff)
  > void hr3_point_print (FILE *f, char *pre, hr3_point_t *p, char *fmt, char *suf)
  > void hr3_point_to_r3_nan(hr3_point_t *p, r3_t *c)
  > void hr3_point_to_r3_nan(hr3_point_t *p, r3_t *c);