planarpose.h

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#pragma once
 
#include <Eigen/Geometry>
 
#include "calib/estimation/linear/planarpose.h"  // PlanarView and pose helpers
#include "calib/estimation/optim/optimize.h"
 
namespace calib {
 
struct PlanarPoseOptions final {
    OptimOptions core;   
    int num_radial = 2;  
};
 
struct PlanarPoseResult final {
    OptimResult core;                 
    Eigen::Isometry3d pose;           
    Eigen::VectorXd distortion;       
    double reprojection_error = 0.0;  
};
 
auto optimize_planar_pose(const PlanarView& view, const CameraMatrix& intrinsics,
                          const Eigen::Isometry3d& init_pose, const PlanarPoseOptions& opts = {})
    -> PlanarPoseResult;
 
static_assert(serializable_aggregate<PlanarPoseOptions>);
static_assert(serializable_aggregate<PlanarPoseResult>);
 
}  // namespace calib