posefromhomography.h

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#pragma once
 
// std
#include <string>
 
// eigen
#include <Eigen/Core>
#include <Eigen/Geometry>
 
#include "calib/models/camera_matrix.h"
 
namespace calib {
 
struct PoseFromHResult final {
    bool success{false};
    Eigen::Isometry3d c_se3_t = Eigen::Isometry3d::Identity();  // camera_T_target
    double scale{1.0};                                          // internal homography scale s
    double cond_check{1.0};  // ratio of ||h1|| and ||h2|| (close to 1 is good)
    std::string message;
};
 
static_assert(serializable_aggregate<PoseFromHResult>);
 
auto pose_from_homography(const CameraMatrix& kmtx, const Eigen::Matrix3d& hmtx) -> PoseFromHResult;
 
auto homography_consistency_fro(const CameraMatrix& kmtx, const Eigen::Isometry3d& c_se3_t,
                                const Eigen::Matrix3d& hmtx) -> double;
 
}  // namespace calib