bundle.h

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#pragma once
 
// std
#include <vector>
 
// eigen
#include <Eigen/Geometry>
 
#include "calib/estimation/linear/planarpose.h"  // PlanarObservation
#include "calib/estimation/optim/optimize.h"
#include "calib/models/cameramodel.h"
 
namespace calib {
 
struct BundleObservation final {
    PlanarView view;            
    Eigen::Isometry3d b_se3_g;  
    size_t camera_index = 0;    
};
 
// TODO: add optimize_distortion
struct BundleOptions final {
    OptimOptions core;                 
    bool optimize_intrinsics = false;  
    bool optimize_skew = false;        
    bool optimize_target_pose = true;  
    bool optimize_hand_eye = true;     
};
 
template <camera_model CameraT>
struct BundleResult final {
    OptimResult core;                        
    std::vector<CameraT> cameras;            
    std::vector<Eigen::Isometry3d> g_se3_c;  
    Eigen::Isometry3d b_se3_t;               
};
 
template <camera_model CameraT>
auto optimize_bundle(const std::vector<BundleObservation>& observations,
                     const std::vector<CameraT>& initial_cameras,
                     const std::vector<Eigen::Isometry3d>& init_g_se3_c,
                     const Eigen::Isometry3d& init_b_se3_t, const BundleOptions& opts = {})
    -> BundleResult<CameraT>;
 
static_assert(serializable_aggregate<BundleOptions>);
static_assert(serializable_aggregate<BundleObservation>);
 
}  // namespace calib