P3p.hpp

/*
 * Copyright (c) 2011, Laurent Kneip, ETH Zurich
 * All rights reserved.
 * 
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 * modification, are permitted provided that the following conditions are met:
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 *       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
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 *     * Neither the name of ETH Zurich 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
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/*
 * P3p.h
 *
 *  Created on: Nov 2, 2010
 *      Author: Laurent Kneip
 * Description: Compute the absolute pose of a camera using three 3D-to-2D correspondences
 *   Reference: A Novel Parametrization of the P3P-Problem for a Direct Computation of
 *              Absolute Camera Position and Orientation
 *
 *       Input: featureVectors: 3x3 matrix with UNITARY feature vectors (each column is a vector)
 *              worldPoints: 3x3 matrix with corresponding 3D world points (each column is a point)
 *              solutions: 3x16 matrix that will contain the solutions
 *                         form: [ 3x1 position(solution1) 3x3 orientation(solution1) 3x1 position(solution2) 3x3 orientation(solution2) ... ]
 *                         the obtained orientation matrices are defined as transforming points from the cam to the world frame
 *      Output: int: 0 if correct execution
 *                  -1 if world points aligned
 */

#ifndef P3P_HPP_
#define P3P_HPP_

#include <eigen3/Eigen/Dense>
#include <eigen3/Eigen/Core>
#include <eigen3/Eigen/Dense>
#include <eigen3/Eigen/Eigen>

class P3p {
public:
	P3p();
	virtual ~P3p();

	int computePoses( Eigen::Matrix<double, 3,3> featureVectors, Eigen::Matrix<double,3,3> worldPoints, Eigen::Matrix<double, 3,16> & solutions );
	int solveQuartic( Eigen::Matrix<double, 5,1> factors, Eigen::Matrix<double,4,1> & realRoots );
};

#endif /* P3P_HPP_ */