CoplanarPointPoseEstimator.h

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/********************************************************************
**                Image Component Library (ICL)                    **
**                                                                 **
** Copyright (C) 2006-2013 CITEC, University of Bielefeld          **
**                         Neuroinformatics Group                  **
** Website: www.iclcv.org and                                      **
**          http://opensource.cit-ec.de/projects/icl               **
**                                                                 **
** File   : ICLGeom/src/ICLGeom/CoplanarPointPoseEstimator.h       **
** Module : ICLGeom                                                **
** Authors: Christof Elbrechter, Sergius Gaulik                    **
**                                                                 **
**                                                                 **
** GNU LESSER GENERAL PUBLIC LICENSE                               **
** This file may be used under the terms of the GNU Lesser General **
** Public License version 3.0 as published by the                  **
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** Free Software Foundation and appearing in the file LICENSE.LGPL **
** included in the packaging of this file.  Please review the      **
** following information to ensure the license requirements will   **
** be met: http://www.gnu.org/licenses/lgpl-3.0.txt                **
**                                                                 **
** The development of this software was supported by the           **
** Excellence Cluster EXC 277 Cognitive Interaction Technology.    **
** The Excellence Cluster EXC 277 is a grant of the Deutsche       **
** Forschungsgemeinschaft (DFG) in the context of the German       **
** Excellence Initiative.                                          **
**                                                                 **
********************************************************************/

#pragma once

#include <ICLUtils/CompatMacros.h>
#include <ICLMath/FixedMatrix.h>
#include <ICLUtils/Point32f.h>
#include <ICLUtils/Configurable.h>

namespace icl{
  namespace geom{

    class Camera;

    class ICLGeom_API CoplanarPointPoseEstimator : public utils::Configurable{

      struct Data;

      Data *data;

      void propertyChangedCallback(const Property &p);

#if !(defined ICL_MSC_VER && ICL_MSC_VER < 1800)
      void robustPoseCorrection(int n, const utils::Point32f *modelPoints,
                                const utils::Point32f *normalizedImagePoints);
#endif

      public:

      enum ReferenceFrame{
        cameraFrame, 
        worldFrame   
      };


      enum PoseEstimationAlgorithm{
        HomographyBasedOnly, 
        SimplexSampling,     
        SamplingCoarse,      
        SamplingMedium,      
        SamplingFine,        
        SamplingCustom,      
      };

      struct RANSACSpec{
        bool useRANSAC;         
        int numPointsForModel;  
        int numRandomCycles;    
        float maxPointProjectionDistance; 


        PoseEstimationAlgorithm poseEstimationDuringSampling;


        RANSACSpec(bool useRANSAC = false, int numPointsForModel = 4, int numRandomCycles=20,
                    float maxPointProjectionDistance = 10.0f,
                    PoseEstimationAlgorithm poseEstimationDuringSampling = HomographyBasedOnly):
          useRANSAC(useRANSAC), numPointsForModel(numPointsForModel),numRandomCycles(numRandomCycles),
          maxPointProjectionDistance(maxPointProjectionDistance),
          poseEstimationDuringSampling(poseEstimationDuringSampling){}
      };


      CoplanarPointPoseEstimator(ReferenceFrame returnedPosesReferenceFrame=worldFrame,
                                 PoseEstimationAlgorithm a = SimplexSampling,
                                 const RANSACSpec &spec = RANSACSpec());

      ~CoplanarPointPoseEstimator();

      CoplanarPointPoseEstimator(const CoplanarPointPoseEstimator &other);

      CoplanarPointPoseEstimator &operator=(const CoplanarPointPoseEstimator &other);

      ReferenceFrame getReferenceFrame() const;

      void setReferenceFrame(ReferenceFrame f);


      math::FixedMatrix<float,4,4> getPose(int n, const utils::Point32f *modelPoints,
                                           const utils::Point32f *imagePoints, const Camera &cam);

      private:
      math::FixedMatrix<float,4,4> getPoseInternal(PoseEstimationAlgorithm a, int n,
                                                   const utils::Point32f *modelPoints,
                                                   const utils::Point32f *imagePoints,
                                                   const utils::Point32f *normalizedImagePoints,
                                                   const Camera &cam);
    };
  } // namespace geom
}