homographyestimator.h

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#pragma once
 
// std
#include <optional>
#include <span>
#include <vector>
 
// eigen
#include <Eigen/Core>
#include <Eigen/Dense>
 
#include "calib/estimation/linear/planarpose.h"  // for PlanarObservation
 
namespace calib {
 
struct HomographyEstimator final {
    using Datum = PlanarObservation;
    using Model = Eigen::Matrix3d;
    static constexpr size_t k_min_samples = 4;
 
    // --- Estimator API ---
    [[nodiscard]]
    static auto fit(const std::vector<Datum>& data, std::span<const int> sample)
        -> std::optional<Model>;
 
    [[nodiscard]]
    static auto residual(const Model& hmtx, const Datum& observation) -> double;
 
    // Optional: better final model on all inliers
    [[nodiscard]]
    static auto refit(const std::vector<Datum>& data, std::span<const int> inliers)
        -> std::optional<Model>;
 
    // Optional: reject degenerate minimal sets (near-collinear points)
    [[nodiscard]]
    static auto is_degenerate(const std::vector<Datum>& data, std::span<const int> sample) -> bool;
};
 
}  // namespace calib