vpRBVisualOdometryUtils.h

/*
 * ViSP, open source Visual Servoing Platform software.
 * Copyright (C) 2005 - 2025 by Inria. All rights reserved.
 *
 * This software is free software; you can redistribute it and/or modify
 * it under the terms of the GNU General Public License as published by
 * the Free Software Foundation; either version 2 of the License, or
 * (at your option) any later version.
 * See the file LICENSE.txt at the root directory of this source
 * distribution for additional information about the GNU GPL.
 *
 * For using ViSP with software that can not be combined with the GNU
 * GPL, please contact Inria about acquiring a ViSP Professional
 * Edition License.
 *
 * See https://visp.inria.fr for more information.
 *
 * This software was developed at:
 * Inria Rennes - Bretagne Atlantique
 * Campus Universitaire de Beaulieu
 * 35042 Rennes Cedex
 * France
 *
 * If you have questions regarding the use of this file, please contact
 * Inria at visp@inria.fr
 *
 * This file is provided AS IS with NO WARRANTY OF ANY KIND, INCLUDING THE
 * WARRANTY OF DESIGN, MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE.
 */
 
#ifndef VP_RB_VISUAL_ODOMETRY_UTILS_H
#define VP_RB_VISUAL_ODOMETRY_UTILS_H
 
#include <visp3/core/vpConfig.h>
#include <vector>
 
BEGIN_VISP_NAMESPACE
 
class vpRBFeatureTrackerInput;
class vpMatrix;
class vpHomogeneousMatrix;
 
struct VISP_EXPORT vpLevenbergMarquardtParameters
{
  vpLevenbergMarquardtParameters() : gain(1.0), muInit(0.01), muIterFactor(0.9), minImprovementFactor(0.0), maxNumIters(10) { }
  double gain;
  double muInit;
  double muIterFactor;
  double minImprovementFactor;
  unsigned int maxNumIters;
};

class VISP_EXPORT vpRBVisualOdometryUtils
{
 
public:
  static std::pair<std::vector<unsigned int>, std::vector<unsigned int>> computeIndicesObjectAndEnvironment(
    const vpMatrix &keypoints, const vpRBFeatureTrackerInput &frame, double minMaskConfidence, double minEdgeDistObject, double minEdgeDistEnv);
 
  static void levenbergMarquardtKeypoints2D(const vpMatrix &points3d, const vpMatrix &observations, const vpLevenbergMarquardtParameters &parameters, vpHomogeneousMatrix &cTw);
  static void levenbergMarquardtKeypoints3D(const vpMatrix &points3d, const vpMatrix &observations, const vpLevenbergMarquardtParameters &parameters, vpHomogeneousMatrix &cTw);
 
};
 
END_VISP_NAMESPACE
 
#endif