util3d_motion_estimation.h

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/*
Copyright (c) 2010-2016, Mathieu Labbe - IntRoLab - Universite de Sherbrooke
All rights reserved.
 
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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.
    * 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/rtabmap_core_export.h>
 
#include <rtabmap/core/Transform.h>
#include <rtabmap/core/CameraModel.h>
 
namespace rtabmap
{
 
namespace util3d
{
 
Transform RTABMAP_CORE_EXPORT 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,
                        int varianceMedianRatio = 4,
                        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,
                        bool splitLinearCovarianceComponents = false);
                        
Transform RTABMAP_CORE_EXPORT estimateMotion3DTo2D(
                        const std::map<int, cv::Point3f> & words3A,
                        const std::map<int, cv::KeyPoint> & words2B,
                        const std::vector<CameraModel> & cameraModels,
                        unsigned int samplingPolicy = 0, // 0=AUTO, 1=ANY, 2=HOMOGENEOUS
                        int minInliers = 10,
                        int iterations = 100,
                        double reprojError = 5.,
                        int flagsPnP = 0,
                        int pnpRefineIterations = 1,
                        int varianceMedianRatio = 4,
                        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,
                        bool splitLinearCovarianceComponents = false);
 
Transform estimateMotion3DTo2D(
                        const std::map<int, cv::Point3f> & words3A,
                        const std::map<int, cv::KeyPoint> & words2B,
                        const std::vector<CameraModel> & cameraModels,
                        unsigned int samplingPolicy,
                        int minInliers,
                        int iterations,
                        double reprojError,
                        int flagsPnP,
                        int refineIterations,
                        int varianceMedianRatio,
                        float maxVariance,
                        const Transform & guess,
                        const std::map<int, cv::Point3f> & words3B,
                        cv::Mat * covariance,
                        std::vector<std::vector<int> > * matchesOut,
                        std::vector<std::vector<int> > * inliersOut,
                        bool splitLinearCovarianceComponents);
 
Transform RTABMAP_CORE_EXPORT 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_CORE_EXPORT 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_ */