extrinsics.h

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#pragma once
 
#include <Eigen/Geometry>
#include <vector>
 
#include "calib/estimation/linear/extrinsics.h"  // MulticamPlanarView
#include "calib/estimation/optim/optimize.h"
#include "calib/models/cameramodel.h"
 
namespace calib {
 
template <camera_model CameraT>
struct ExtrinsicOptimizationResult final {
    OptimResult core;                        // Core optimization result
    std::vector<CameraT> cameras;            // Optimized camera matrices
    std::vector<Eigen::Isometry3d> c_se3_r;  // reference->camera
    std::vector<Eigen::Isometry3d> r_se3_t;  // target->reference
};
 
struct ExtrinsicOptions final {
    OptimOptions core;
    bool optimize_intrinsics = true;  
    bool optimize_skew = false;       
    bool optimize_extrinsics = true;  
};
 
template <camera_model CameraT>
auto optimize_extrinsics(const std::vector<MulticamPlanarView>& views,
                         const std::vector<CameraT>& init_cameras,
                         const std::vector<Eigen::Isometry3d>& init_c_se3_r,
                         const std::vector<Eigen::Isometry3d>& init_r_se3_t,
                         const ExtrinsicOptions& opts = {}) -> ExtrinsicOptimizationResult<CameraT>;
 
}  // namespace calib