OpenGV
A library for solving calibrated central and non-central geometric vision problems
 
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methods.hpp
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1/******************************************************************************
2 * Author: Laurent Kneip *
3 * Contact: kneip.laurent@gmail.com *
4 * License: Copyright (c) 2013 Laurent Kneip, ANU. All rights reserved. *
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30
40#ifndef OPENGV_ABSOLUTE_POSE_METHODS_HPP_
41#define OPENGV_ABSOLUTE_POSE_METHODS_HPP_
42
43#include <stdlib.h>
44#include <vector>
45#include <opengv/types.hpp>
47
51namespace opengv
52{
56namespace absolute_pose
57{
58
69 const AbsoluteAdapterBase & adapter,
70 const std::vector<int> & indices );
71
87 const AbsoluteAdapterBase & adapter,
88 size_t index0 = 0,
89 size_t index1 = 1 );
90
103 const AbsoluteAdapterBase & adapter,
104 const std::vector<int> & indices );
105
125 const AbsoluteAdapterBase & adapter,
126 size_t index0 = 0,
127 size_t index1 = 1,
128 size_t index2 = 2 );
129
142 const AbsoluteAdapterBase & adapter,
143 const std::vector<int> & indices );
144
164 const AbsoluteAdapterBase & adapter,
165 size_t index0 = 0,
166 size_t index1 = 1,
167 size_t index2 = 2 );
168
182 const AbsoluteAdapterBase & adapter,
183 const std::vector<int> & indices );
184
205 const AbsoluteAdapterBase & adapter,
206 size_t index0 = 0,
207 size_t index1 = 1,
208 size_t index2 = 2 );
209
220
232 const AbsoluteAdapterBase & adapter,
233 const std::vector<int> & indices );
234
246
259 const AbsoluteAdapterBase & adapter,
260 const std::vector<int> & indices );
261
273
286 const AbsoluteAdapterBase & adapter,
287 const std::vector<int> & indices );
288
301
316 const AbsoluteAdapterBase & adapter,
317 const std::vector<int> & indices );
318
319}
320}
321
322#endif /* OPENGV_ABSOLUTE_POSE_METHODS_HPP_ */
Adapter-class for passing bearing-vector-to-point correspondences to the absolute-pose algorithms.
Definition AbsoluteAdapterBase.hpp:64
transformations_t gp3p(const AbsoluteAdapterBase &adapter, const std::vector< int > &indices)
Compute the pose of a non-central viewpoint using three point correspondences and Kneip's method [3].
transformation_t epnp(const AbsoluteAdapterBase &adapter)
Compute the pose of a central viewpoint using the EPnP method [4]. Using all available correspondence...
transformation_t gpnp(const AbsoluteAdapterBase &adapter)
Compute the pose of a non-central viewpoint using the gPnP method [3]. Using all available correspond...
translation_t p2p(const AbsoluteAdapterBase &adapter, const std::vector< int > &indices)
Compute the pose of a central viewpoint with known rotation using two point correspondences.
transformations_t p3p_kneip(const AbsoluteAdapterBase &adapter, const std::vector< int > &indices)
Compute the pose of a central viewpoint using three point correspondences and Kneip's method [1].
transformation_t optimize_nonlinear(const AbsoluteAdapterBase &adapter)
Compute the pose of a viewpoint using nonlinear optimization. Using all available correspondences....
transformations_t p3p_gao(const AbsoluteAdapterBase &adapter, const std::vector< int > &indices)
Compute the pose of a central viewpoint using three point correspondences and Gao's method [2].
transformations_t upnp(const AbsoluteAdapterBase &adapter)
Compute the poses of a non-central viewpoint using the uPnP method. Using all available correspondenc...
The namespace of this library.
Definition AbsoluteAdapterBase.hpp:48
std::vector< transformation_t, Eigen::aligned_allocator< transformation_t > > transformations_t
Definition types.hpp:86
Eigen::Vector3d translation_t
Definition types.hpp:63
Eigen::Matrix< double, 3, 4 > transformation_t
Definition types.hpp:82
A collection of variables used in geometric vision for the computation of calibrated absolute and rel...