ObjectPose.h

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// ****************************************************************************
// This file is part of the Integrating Vision Toolkit (IVT).
//
// The IVT is maintained by the Karlsruhe Institute of Technology (KIT)
// (www.kit.edu) in cooperation with the company Keyetech (www.keyetech.de).
//
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// All rights reserved.
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// 1. Redistributions of source code must retain the above copyright
//    notice, this list of conditions and the following disclaimer.
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//    documentation and/or other materials provided with the distribution.
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//    without specific prior written permission.
//
// THIS SOFTWARE IS PROVIDED BY THE KIT AND CONTRIBUTORS “AS IS” AND ANY
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// ****************************************************************************
// ****************************************************************************
// Filename:  ObjectPose.h
// Author:    Moritz Ritter
// Date:      08.04.2008
// ****************************************************************************


#ifndef _OBJECT_POSE_H_
#define _OBJECT_POSE_H_


// ****************************************************************************
// Necessary includes
// ****************************************************************************

#include "Math/Math3d.h"


// ****************************************************************************
// Forward declarations
// ****************************************************************************

class CCalibration;
struct Vec2d;



// ****************************************************************************
// CObjectPose
// ****************************************************************************

class CObjectPose
{

public:
        // constructor
        CObjectPose(const Vec3d *pObjectPoints, int nPoints);

        // destructor
        ~CObjectPose();


        // public methods
        bool EstimatePose(const Vec2d *pImagePoints,
                Mat3d &rotationMatrix, Vec3d &translationVector,
                const CCalibration *pCalibration, int nMaxIterations = 350);


private:
        void AbsKernel(Mat3d &R, Vec3d &T, float &error);
        Vec3d tEstimate(Mat3d &R);

        Vec3d *m_pP;
        int m_nPoints;
        Vec3d m_tPbar;

        Vec3d *m_pQ;

        Mat3d *m_pF;
        Mat3d m_tFactor;
};



#endif /* _OBJECT_POSE_H_ */