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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      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 the name of the Universite de Sherbrooke nor the
      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,
                        float maxVariance = 0,
                        const Transform & guess = Transform::getIdentity(),
                        const std::map<int, cv::Point3f> & words3B = std::map<int, cv::Point3f>(),
                        cv::Mat * covariance = 0, // mean reproj error if words3B is not set
                        std::vector<int> * matchesOut = 0,
                        std::vector<int> * inliersOut = 0);
                        
Transform RTABMAP_EXP estimateMotion3DTo2D(
                        const std::map<int, cv::Point3f> & words3A,
                        const std::map<int, cv::KeyPoint> & words2B,
                        const std::vector<CameraModel> & cameraModels,
                        int minInliers = 10,
                        int iterations = 100,
                        double reprojError = 5.,
                        int flagsPnP = 0,
                        int pnpRefineIterations = 1,
                        float maxVariance = 0,
                        const Transform & guess = Transform::getIdentity(),
                        const std::map<int, cv::Point3f> & words3B = std::map<int, cv::Point3f>(),
                        cv::Mat * covariance = 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,
                        cv::Mat * covariance = 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_ */