essential.h

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/* Copyright (c) 2017, United States Government, as represented by the
 * Administrator of the National Aeronautics and Space Administration.
 * 
 * All rights reserved.
 * 
 * The Astrobee platform is licensed under the Apache License, Version 2.0
 * (the "License"); you may not use this file except in compliance with the
 * License. You may obtain a copy of the License at
 * 
 *     http://www.apache.org/licenses/LICENSE-2.0
 * 
 * Unless required by applicable law or agreed to in writing, software
 * distributed under the License is distributed on an "AS IS" BASIS, WITHOUT
 * WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. See the
 * License for the specific language governing permissions and limitations
 * under the License.
 */
#ifndef INTEREST_POINT_ESSENTIAL_H_
#define INTEREST_POINT_ESSENTIAL_H_
 
#include <Eigen/Geometry>
 
#include <vector>
#include <utility>
 
namespace interest_point {
 
  // Performs a robust, ransac, solving for the essential matrix
  // between interest point measurements in x1 and x2.
bool RobustEssential(Eigen::Matrix3d const& k1, Eigen::Matrix3d const& k2, Eigen::Matrix2Xd const& x1,
                     Eigen::Matrix2Xd const& x2, Eigen::Matrix3d* e, std::vector<size_t>* vec_inliers,
                     std::pair<size_t, size_t> const& size1, std::pair<size_t, size_t> const& size2, double* error_max,
                     double precision, const int ransac_iterations = 4096);
 
// Solves for the RT (Rotation and Translation) from the essential
// matrix and x1 and x2. There are 4 possible, and this returns the
// best of the 4 solutions.
bool EstimateRTFromE(Eigen::Matrix3d const& k1, Eigen::Matrix3d const& k2, Eigen::Matrix2Xd const& x1,
                     Eigen::Matrix2Xd const& x2, Eigen::Matrix3d const& e, std::vector<size_t> const& vec_inliers,
                     Eigen::Matrix3d* r, Eigen::Vector3d* t);
 
}  // end namespace interest_point
 
#endif  // INTEREST_POINT_ESSENTIAL_H_