misc_pnp_funcs.h

// LibQPEP: A Library for Globally Optimal Solving Quadratic Pose Estimation Problems,
//          It also gives highly accurate uncertainty description of the solutions.
//
// Authors: Jin Wu and Ming Liu
// Affiliation: Hong Kong University of Science and Technology (HKUST)
// Emails: jin_wu_uestc@hotmail.com; eelium@ust.hk
// Reference: Wu, J., et al. (2022) Quadratic Pose Estimation Problems: 
//                                  Globally Optimal Solutions, 
//                                  Solvability/Observability Analysis,
//                                  and Uncertainty Description.
//                                  IEEE Transactions on Robotics.
//                                  https://doi.org/10.1109/TRO.2022.3155880

#ifndef LIBQPEP_T_PNP_FUNCS_H
#define LIBQPEP_T_PNP_FUNCS_H

#include <time.h>
#include <iostream>
#include <vector>
#include <map>
#include <cassert>

#include <Eigen/Core>
#include <Eigen/LU>
#include <Eigen/Dense>
#include <Eigen/Geometry> // For Quaternion

Eigen::Vector3d t_pnp_func(const Eigen::MatrixXd& pinvG, const Eigen::MatrixXd& coefs_tq, const Eigen::Quaterniond& q);
std::vector<double> mon_J_pure_pnp_func(const Eigen::Quaterniond& q, const Eigen::Vector3d& t);
void eq_Jacob_pnp_func(Eigen::Matrix<double, 4, 1>& eq,
                       Eigen::Matrix<double, 4, 4>& Jacob,
                       const Eigen::MatrixXd& coef_f_q_sym,
                       const Eigen::Vector4d& q);

#endif //LIBQPEP_T_PNP_FUNCS_H