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// Copyright (c) 2021, Viktor Larsson
// 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 the copyright holder 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 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.
#ifndef POSELIB_ROBUST_TYPES_H_
#define POSELIB_ROBUST_TYPES_H_
#include "alignment.h"
#include <Eigen/Dense>
#include <vector>
namespace poselib {
struct RansacOptions {
size_t max_iterations = 100000;
size_t min_iterations = 1000;
double dyn_num_trials_mult = 3.0;
double success_prob = 0.9999;
double max_reproj_error = 12.0; // used for 2D-3D matches
double max_epipolar_error = 1.0; // used for 2D-2D matches
unsigned long seed = 0;
// If we should use PROSAC sampling. Assumes data is sorted
bool progressive_sampling = false;
size_t max_prosac_iterations = 100000;
// Whether we should use real focal length checking: https://arxiv.org/abs/2311.16304
// Assumes that principal points of both cameras are at origin.
bool real_focal_check = false;
// Whether to treat the input 'best_model' as an initial model and score it before running the main RANSAC loop
bool score_initial_model = false;
};
struct RansacStats {
size_t refinements = 0;
size_t iterations = 0;
size_t num_inliers = 0;
double inlier_ratio = 0;
double model_score = std::numeric_limits<double>::max();
};
struct BundleOptions {
size_t max_iterations = 100;
enum LossType {
TRIVIAL,
TRUNCATED,
HUBER,
CAUCHY,
// This is the TR-IRLS scheme from Le and Zach, 3DV 2021
TRUNCATED_LE_ZACH
} loss_type = LossType::CAUCHY;
double loss_scale = 1.0;
double gradient_tol = 1e-10;
double step_tol = 1e-8;
double initial_lambda = 1e-3;
double min_lambda = 1e-10;
double max_lambda = 1e10;
bool verbose = false;
};
struct BundleStats {
size_t iterations = 0;
double initial_cost;
double cost;
double lambda;
size_t invalid_steps;
double step_norm;
double grad_norm;
};
typedef Eigen::Vector2d Point2D;
typedef Eigen::Vector3d Point3D;
// Used to store pairwise matches for generalized pose estimation
struct PairwiseMatches {
EIGEN_MAKE_ALIGNED_OPERATOR_NEW
size_t cam_id1, cam_id2;
std::vector<Point2D> x1, x2;
};
struct Line2D {
EIGEN_MAKE_ALIGNED_OPERATOR_NEW
Line2D() {}
Line2D(const Eigen::Vector2d &e1, const Eigen::Vector2d &e2) : x1(e1), x2(e2) {}
Eigen::Vector2d x1, x2;
};
struct Line3D {
EIGEN_MAKE_ALIGNED_OPERATOR_NEW
Line3D() {}
Line3D(const Eigen::Vector3d &e1, const Eigen::Vector3d &e2) : X1(e1), X2(e2) {}
Eigen::Vector3d X1, X2;
};
} // namespace poselib
#endif
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