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xregRANSACPnP.h
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xregRANSACPnP.h
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/*
* MIT License
*
* Copyright (c) 2020 Robert Grupp
*
* Permission is hereby granted, free of charge, to any person obtaining a copy
* of this software and associated documentation files (the "Software"), to deal
* in the Software without restriction, including without limitation the rights
* to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
* copies of the Software, and to permit persons to whom the Software is
* furnished to do so, subject to the following conditions:
*
* The above copyright notice and this permission notice shall be included in all
* copies or substantial portions of the Software.
*
* THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
* IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
* FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
* AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
* LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
* OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
* SOFTWARE.
*/
#ifndef XREGRANSACPNP_H
#define XREGRANSACPNP_H
#include "xregLandmark2D3DRegi.h"
namespace xreg
{
class RANSACPnP : public Landmark2D3DRegi
{
public:
RANSACPnP() = default;
void set_pnp_prop(std::shared_ptr<Landmark2D3DRegi> pnp_prop);
void set_pnp(std::shared_ptr<Landmark2D3DRegi> pnp);
void set_num_proposals(const int num_proposals);
void set_inlier_reproj_thresh_pixels(const CoordScalar thresh);
void set_min_num_inliers(const size_type min_num_inliers);
CoordScalar best_mean_reproj() const;
size_type best_num_inliers() const;
bool uses_ref_frame() const override;
protected:
void run_impl() override;
private:
// This uses a reduced set of points to generate a proposed solution to the PnP problem.
// The proposed solution is used to compute inliners, which are passed to the next
// PnP solver specified by pnp_. This may be something that requires a small number
// of points to compute a solution and not rely on an initial estimate, like POSIT or
// the C-arm P3P solver.
std::shared_ptr<Landmark2D3DRegi> pnp_prop_;
// This uses the inlier set to refine the PnP estimate. This is usually something
// that can operate with a larger set of points, such as a minimization of
// re-projection distances.
std::shared_ptr<Landmark2D3DRegi> pnp_;
// <= 0 --> do all possible
int num_proposals_ = 50;
CoordScalar inlier_reproj_thresh_pixels_ = 40;
size_type min_num_inliers_ = 4;
CoordScalar cur_best_mean_reproj_ = 0;
size_type cur_best_num_inliers_ = 0;
};
} // xreg
#endif