CoplanarPointPoseEstimator.h

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/********************************************************************
**                Image Component Library (ICL)                    **
**                                                                 **
** Copyright (C) 2006-2013 CITEC, University of Bielefeld          **
**                         Neuroinformatics Group                  **
** Website: www.iclcv.org and                                      **
**          http://opensource.cit-ec.de/projects/icl               **
**                                                                 **
** File   : ICLGeom/src/ICLGeom/CoplanarPointPoseEstimator.h       **
** Module : ICLGeom                                                **
** Authors: Christof Elbrechter, Sergius Gaulik                    **
**                                                                 **
**                                                                 **
** GNU LESSER GENERAL PUBLIC LICENSE                               **
** This file may be used under the terms of the GNU Lesser General **
** Public License version 3.0 as published by the                  **
**                                                                 **
** Free Software Foundation and appearing in the file LICENSE.LGPL **
** included in the packaging of this file.  Please review the      **
** following information to ensure the license requirements will   **
** be met: http://www.gnu.org/licenses/lgpl-3.0.txt                **
**                                                                 **
** The development of this software was supported by the           **
** Excellence Cluster EXC 277 Cognitive Interaction Technology.    **
** The Excellence Cluster EXC 277 is a grant of the Deutsche       **
** Forschungsgemeinschaft (DFG) in the context of the German       **
** Excellence Initiative.                                          **
**                                                                 **
********************************************************************/

#pragma once

#include <ICLUtils/CompatMacros.h>
#include <ICLMath/FixedMatrix.h>
#include <ICLUtils/Point32f.h>
#include <ICLUtils/Configurable.h>

namespace icl{
  namespace geom{
    
    class Camera;


    class ICLGeom_API CoplanarPointPoseEstimator : public utils::Configurable{
  
      struct Data;
      
      Data *data;
  
      void propertyChangedCallback(const Property &p);
      
#if !(defined ICL_MSC_VER && ICL_MSC_VER < 1800)

      void robustPoseCorrection(int n, const utils::Point32f *modelPoints, std::vector<utils::Point32f> &ips);
#endif
      
      public:
  
      enum ReferenceFrame{
        cameraFrame, 
        worldFrame   
      };
  

      enum PoseEstimationAlgorithm{
        HomographyBasedOnly, 
        SimplexSampling,     
        SamplingCoarse,      
        SamplingMedium,      
        SamplingFine,        
        SamplingCustom,      
      };
      
      

      CoplanarPointPoseEstimator(ReferenceFrame returnedPosesReferenceFrame=worldFrame, 
                                 PoseEstimationAlgorithm a = SimplexSampling);
  
      ~CoplanarPointPoseEstimator();
      
      CoplanarPointPoseEstimator(const CoplanarPointPoseEstimator &other);
      
      CoplanarPointPoseEstimator &operator=(const CoplanarPointPoseEstimator &other);
      
      ReferenceFrame getReferenceFrame() const;
      
      void setReferenceFrame(ReferenceFrame f);
      

      math::FixedMatrix<float,4,4> getPose(int n, const utils::Point32f *modelPoints, 
                                           const utils::Point32f *imagePoints, const Camera &cam);
    };
  } // namespace geom
}