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// All rights reserved.
//
// Redistribution and use in source and binary forms, with or without
// modification, are permitted provided that the following conditions are met:
//
// * Redistributions of source code must retain the above copyright
// notice, this list of conditions and the following disclaimer.
//
// * Redistributions in binary form must reproduce the above copyright
// notice, this list of conditions and the following disclaimer in the
// documentation and/or other materials provided with the distribution.
//
// * Neither the name of ETH Zurich and UNC Chapel Hill nor the names of
// its contributors may be used to endorse or promote products derived
// from this software without specific prior written permission.
//
// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
// AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
// IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
// ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDERS OR CONTRIBUTORS BE
// LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
// CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
// SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
// INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
// CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
// ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
// POSSIBILITY OF SUCH DAMAGE.
//
// Author: Johannes L. Schoenberger (jsch-at-demuc-dot-de)
#ifndef COLMAP_SRC_ESTIMATORS_ESSENTIAL_MATRIX_H_
#define COLMAP_SRC_ESTIMATORS_ESSENTIAL_MATRIX_H_
#include <vector>
#include <Eigen/Core>
#include <ceres/ceres.h>
#include "util/alignment.h"
#include "util/types.h"
namespace colmap {
// Essential matrix estimator from corresponding normalized point pairs.
//
// This algorithm solves the 5-Point problem based on the following paper:
//
// D. Nister, An efficient solution to the five-point relative pose problem,
// IEEE-T-PAMI, 26(6), 2004.
// http://citeseerx.ist.psu.edu/viewdoc/summary?doi=10.1.1.86.8769
class EssentialMatrixFivePointEstimator {
public:
typedef Eigen::Vector2d X_t;
typedef Eigen::Vector2d Y_t;
typedef Eigen::Matrix3d M_t;
// The minimum number of samples needed to estimate a model.
static const int kMinNumSamples = 5;
// Estimate up to 10 possible essential matrix solutions from a set of
// corresponding points.
//
// The number of corresponding points must be at least 5.
//
// @param points1 First set of corresponding points.
// @param points2 Second set of corresponding points.
//
// @return Up to 10 solutions as a vector of 3x3 essential matrices.
static std::vector<M_t> Estimate(const std::vector<X_t>& points1,
const std::vector<Y_t>& points2);
// Calculate the residuals of a set of corresponding points and a given
// essential matrix.
//
// Residuals are defined as the squared Sampson error.
//
// @param points1 First set of corresponding points.
// @param points2 Second set of corresponding points.
// @param E 3x3 essential matrix.
// @param residuals Output vector of residuals.
static void Residuals(const std::vector<X_t>& points1,
const std::vector<Y_t>& points2, const M_t& E,
std::vector<double>* residuals);
};
// Essential matrix estimator from corresponding normalized point pairs.
//
// This algorithm solves the 8-Point problem based on the following paper:
//
// Hartley and Zisserman, Multiple View Geometry, algorithm 11.1, page 282.
class EssentialMatrixEightPointEstimator {
public:
typedef Eigen::Vector2d X_t;
typedef Eigen::Vector2d Y_t;
typedef Eigen::Matrix3d M_t;
// The minimum number of samples needed to estimate a model.
static const int kMinNumSamples = 8;
// Estimate essential matrix solutions from set of corresponding points.
//
// The number of corresponding points must be at least 8.
//
// @param points1 First set of corresponding points.
// @param points2 Second set of corresponding points.
static std::vector<M_t> Estimate(const std::vector<X_t>& points1,
const std::vector<Y_t>& points2);
// Calculate the residuals of a set of corresponding points and a given
// essential matrix.
//
// Residuals are defined as the squared Sampson error.
//
// @param points1 First set of corresponding points.
// @param points2 Second set of corresponding points.
// @param E 3x3 essential matrix.
// @param residuals Output vector of residuals.
static void Residuals(const std::vector<X_t>& points1,
const std::vector<Y_t>& points2, const M_t& E,
std::vector<double>* residuals);
};
} // namespace colmap
#endif // COLMAP_SRC_ESTIMATORS_ESSENTIAL_MATRIX_H_
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