FindCameraMatrices.h

/*****************************************************************************
*   ExploringSfMWithOpenCV
******************************************************************************
*   by Roy Shilkrot, 5th Dec 2012
*   http://www.morethantechnical.com/
******************************************************************************
*   Ch4 of the book "Mastering OpenCV with Practical Computer Vision Projects"
*   Copyright Packt Publishing 2012.
*   http://www.packtpub.com/cool-projects-with-opencv/book
*****************************************************************************/

#pragma once

#include <opencv2/core/core.hpp>
#include <opencv2/features2d/features2d.hpp>

#include "Common.h"

//#undef __SFM__DEBUG__

bool CheckCoherentRotation(cv::Mat_<double>& R);
bool TestTriangulation(const std::vector<CloudPoint>& pcloud, const cv::Matx34d& P, std::vector<uchar>& status);

cv::Mat GetFundamentalMat(	const std::vector<cv::KeyPoint>& imgpts1,
							const std::vector<cv::KeyPoint>& imgpts2,
							std::vector<cv::KeyPoint>& imgpts1_good,
							std::vector<cv::KeyPoint>& imgpts2_good,
							std::vector<cv::DMatch>& matches
#ifdef __SFM__DEBUG__
							,const cv::Mat& = cv::Mat(), const cv::Mat& = cv::Mat()
#endif
						  );

bool FindCameraMatrices(const cv::Mat& K, 
						const cv::Mat& Kinv, 
						const cv::Mat& distcoeff,
						const std::vector<cv::KeyPoint>& imgpts1,
						const std::vector<cv::KeyPoint>& imgpts2,
						std::vector<cv::KeyPoint>& imgpts1_good,
						std::vector<cv::KeyPoint>& imgpts2_good,
						cv::Matx34d& P,
						cv::Matx34d& P1,
						std::vector<cv::DMatch>& matches,
						std::vector<CloudPoint>& outCloud
#ifdef __SFM__DEBUG__
						,const cv::Mat& = cv::Mat(), const cv::Mat& = cv::Mat()
#endif
						);