util3d_motion_estimation.h

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/*
Copyright (c) 2010-2016, Mathieu Labbe - IntRoLab - Universite de Sherbrooke
All rights reserved.

Redistribution and use in source and binary forms, with or without
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    * Redistributions in binary form must reproduce the above copyright
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      documentation and/or other materials provided with the distribution.
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      names of its contributors may be used to endorse or promote products
      derived from this software without specific prior written permission.

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*/

#ifndef UTIL3D_MOTION_ESTIMATION_H_
#define UTIL3D_MOTION_ESTIMATION_H_

#include <rtabmap/core/RtabmapExp.h>

#include <rtabmap/core/Transform.h>
#include <rtabmap/core/CameraModel.h>

namespace rtabmap
{

namespace util3d
{

Transform RTABMAP_EXP estimateMotion3DTo2D(
                        const std::map<int, cv::Point3f> & words3A,
                        const std::map<int, cv::KeyPoint> & words2B,
                        const CameraModel & cameraModel,
                        int minInliers = 10,
                        int iterations = 100,
                        double reprojError = 5.,
                        int flagsPnP = 0,
                        int pnpRefineIterations = 1,
                        const Transform & guess = Transform::getIdentity(),
                        const std::map<int, cv::Point3f> & words3B = std::map<int, cv::Point3f>(),
                        double * varianceOut = 0, // mean reproj error if words3B is not set
                        std::vector<int> * matchesOut = 0,
                        std::vector<int> * inliersOut = 0);

Transform RTABMAP_EXP estimateMotion3DTo3D(
                        const std::map<int, cv::Point3f> & words3A,
                        const std::map<int, cv::Point3f> & words3B,
                        int minInliers = 10,
                        double inliersDistance = 0.1,
                        int iterations = 100,
                        int refineIterations = 5,
                        double * varianceOut = 0,
                        std::vector<int> * matchesOut = 0,
                        std::vector<int> * inliersOut = 0);

void RTABMAP_EXP solvePnPRansac(
                const std::vector<cv::Point3f> & objectPoints,
                const std::vector<cv::Point2f> & imagePoints,
                const cv::Mat & cameraMatrix,
                const cv::Mat & distCoeffs,
                cv::Mat & rvec,
                cv::Mat & tvec,
                bool useExtrinsicGuess,
                int iterationsCount,
                float reprojectionError,
                int minInliersCount,
                std::vector<int> & inliers,
                int flags,
                int refineIterations = 1,
                float refineSigma = 3.0f);

} // namespace util3d
} // namespace rtabmap

#endif /* UTIL3D_TRANSFORMS_H_ */