HomographyTransform3dEstimator.h

// HomographyTransform3dEstimator.h:
// ---------------------------------
//

#ifndef __IPSDKGEOMETRY_HOMOGRAPHYTRANSFORM3DESTIMATOR_H__
#define __IPSDKGEOMETRY_HOMOGRAPHYTRANSFORM3DESTIMATOR_H__

#include <IPSDKGeometry/IPSDKGeometryExports.h>
#include <IPSDKGeometry/Estimation/3d/Estimation3dTypes.h>
#include <IPSDKMath/Estimation/BaseEstimator.h>

namespace ipsdk {
namespace geom {


class IPSDKGEOMETRY_API HomographyTransform3dEstimator : public math::BaseEstimator
{
// predefined public types
public:
    IPSDK_ENUM(eEstimParams,

        (eEP_Hxx)       
        (eEP_Hxy)       
        (eEP_Hxz)       
        (eEP_Hxw)       

        (eEP_Hyx)       
        (eEP_Hyy)       
        (eEP_Hyz)       
        (eEP_Hyw)       

        (eEP_Hzx)       
        (eEP_Hzy)       
        (eEP_Hzz)       
        (eEP_Hzw)       

        (eEP_Hwx)       
        (eEP_Hwy)       
        (eEP_Hwz)       
        (eEP_Hww)       
    )

    
    static const ipUInt32 g_parameterSize = eEstimParams::size;

    IPSDK_ENUM(eDataType,

        (eDT_X1)

        (eDT_Y1)

        (eDT_Z1)

        (eDT_X2)

        (eDT_Y2)

        (eDT_Z2)
    )

    static const ipUInt32 g_dataSize = eDataType::size;

public:
    HomographyTransform3dEstimator();
    ~HomographyTransform3dEstimator();

// methods
public:
    using math::BaseEstimator::computeEstimation;

    BoolResult      computeEstimation(const math::DataSet& dataSet,
                                      math::Matrix4d& matH);

    BoolResult      computeResiduals(const math::DataSet& dataSet,
                                     const math::Matrix4d& matH,
                                     math::ResidualsSet& residualsSet) const;

protected:
    BoolResult      processEstimation(const math::DataSet& dataSet,
                                      math::ParameterType& estimParams);

    BoolResult      processResiduals(const math::DataSet& dataSet,
                                     const math::ParameterType& estimParams,
                                     math::ResidualsSet& residualsSet) const;

// attributes
protected:

};


} // end of namespace geom
} // end of namespace ipsdk

#endif // __IPSDKGEOMETRY_HOMOGRAPHYTRANSFORM3DESTIMATOR_H__