homography.h

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#pragma once
 
#include <Eigen/Core>
#include <Eigen/Dense>
#include <optional>
#include <vector>
 
#include "calib/estimation/common/ransac.h"      // RansacOptions
#include "calib/estimation/linear/planarpose.h"  // PlanarView
 
namespace calib {
 
struct HomographyResult final {
    bool success{false};
    Eigen::Matrix3d hmtx = Eigen::Matrix3d::Identity();
    std::vector<int> inliers;      // indices of inlier correspondences
    double symmetric_rms_px{0.0};  // symmetric transfer RMS in pixels
};
 
auto estimate_homography(const PlanarView& data,
                         std::optional<RansacOptions> ransac_opts = std::nullopt)
    -> HomographyResult;
 
static_assert(serializable_aggregate<HomographyResult>);
 
}  // namespace calib