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. *
5 * *
6 * Redistribution and use in source and binary forms, with or without *
7 * modification, are permitted provided that the following conditions *
8 * are met: *
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18 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"*
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30
37#ifndef OPENGV_RELATIVE_POSE_METHODS_HPP_
38#define OPENGV_RELATIVE_POSE_METHODS_HPP_
39
40#include <stdlib.h>
41#include <vector>
42#include <opengv/types.hpp>
44
48namespace opengv
49{
53namespace relative_pose
54{
55
70 const RelativeAdapterBase & adapter,
71 bool unrotate,
72 const std::vector<int> & indices );
73
92 const RelativeAdapterBase & adapter,
93 bool unrotate,
94 size_t index0 = 0,
95 size_t index1 = 1 );
96
107 const RelativeAdapterBase & adapter,
108 const std::vector<int> & indices );
109
122 const RelativeAdapterBase & adapter,
123 size_t index0 = 0,
124 size_t index1 = 1 );
125
135
146 const RelativeAdapterBase & adapter,
147 const std::vector<int> & indices );
148
161
176 const RelativeAdapterBase & adapter,
177 const std::vector<int> & indices );
178
191
206 const RelativeAdapterBase & adapter,
207 const std::vector<int> & indices );
208
220 const RelativeAdapterBase & adapter,
221 const std::vector<int> & indices );
222
235
250 const RelativeAdapterBase & adapter,
251 const std::vector<int> & indices );
252
265
280 const RelativeAdapterBase & adapter,
281 const std::vector<int> & indices );
282
295 const RelativeAdapterBase & adapter,
296 eigensolverOutput_t & output,
297 bool useWeights = false );
298
313 const RelativeAdapterBase & adapter,
314 const std::vector<int> & indices,
315 eigensolverOutput_t & output,
316 bool useWeights = false );
317
329 const RelativeAdapterBase & adapter,
330 bool useWeights = false );
331
344 const RelativeAdapterBase & adapter,
345 const std::vector<int> & indices,
346 bool useWeights = false );
347
357 const RelativeAdapterBase & adapter );
358
370 const RelativeAdapterBase & adapter,
371 const std::vector<int> & indices );
372
386 const RelativeAdapterBase & adapter,
387 geOutput_t & output,
388 bool useWeights = false );
389
405 const RelativeAdapterBase & adapter,
406 const std::vector<int> & indices,
407 geOutput_t & output,
408 bool useWeights = false );
409
421rotation_t ge( const RelativeAdapterBase & adapter, bool useWeights = false );
422
436 const RelativeAdapterBase & adapter,
437 const std::vector<int> & indices,
438 bool useWeights = false );
439
453
469 const RelativeAdapterBase & adapter,
470 const std::vector<int> & indices );
471
486
501 RelativeAdapterBase & adapter,
502 const std::vector<int> & indices );
503
504}
505}
506
507#endif /* OPENGV_RELATIVE_POSE_METHODS_HPP_ */
Adapter-class for passing bearing-vector correspondences to the relative-pose algorithms.
Definition RelativeAdapterBase.hpp:64
rotation_t rotationOnly(const RelativeAdapterBase &adapter)
Compute the rotation between two central viewpoints with pure rotation change using Arun's method [13...
complexEssentials_t fivept_stewenius(const RelativeAdapterBase &adapter)
Compute the complex essential matrices between two central viewpoints using Stewenius' method [5]....
rotations_t fivept_kneip(const RelativeAdapterBase &adapter, const std::vector< int > &indices)
Compute the rotation matrices between two central viewpoints using Kneips's method [7]....
essentials_t sevenpt(const RelativeAdapterBase &adapter)
Compute the essential matrices between two central viewpoints using the seven-point algorithm [8]....
rotation_t eigensolver(const RelativeAdapterBase &adapter, eigensolverOutput_t &output, bool useWeights=false)
Compute the rotation matrix between two central viewpoints as an iterative eigenproblem [11]....
translation_t twopt(const RelativeAdapterBase &adapter, bool unrotate, const std::vector< int > &indices)
Compute the translation between two central viewpoints with known relative rotation,...
transformation_t optimize_nonlinear(RelativeAdapterBase &adapter)
Compute the pose between two viewpoints using nonlinear optimization. Using all available corresponde...
rotation_t twopt_rotationOnly(const RelativeAdapterBase &adapter, const std::vector< int > &indices)
Compute the rotation between two central viewpoints with pure rotation change, using only two corresp...
transformation_t seventeenpt(const RelativeAdapterBase &adapter)
Compute the relative pose between two non-central viewpoints following Li's method [12]....
rotation_t ge(const RelativeAdapterBase &adapter, geOutput_t &output, bool useWeights=false)
Compute the rotation matrix between two non-central viewpoints as an iterative eigenproblem....
essential_t eightpt(const RelativeAdapterBase &adapter)
Compute the essential matrix between two central viewpoints using the eight-point algorithm [9,...
essentials_t fivept_nister(const RelativeAdapterBase &adapter)
Compute the essential matrices between two central viewpoints using Nister's method [6]....
rotations_t sixpt(const RelativeAdapterBase &adapter)
Compute the relative rotation between two non-central viewpoints following Stewenius' method [16]....
The namespace of this library.
Definition AbsoluteAdapterBase.hpp:48
std::vector< essential_t, Eigen::aligned_allocator< essential_t > > essentials_t
Definition types.hpp:109
std::vector< complexEssential_t, Eigen::aligned_allocator< complexEssential_t > > complexEssentials_t
Definition types.hpp:119
Eigen::Matrix3d essential_t
Definition types.hpp:105
Eigen::Matrix3d rotation_t
Definition types.hpp:71
Eigen::Vector3d translation_t
Definition types.hpp:63
std::vector< rotation_t, Eigen::aligned_allocator< rotation_t > > rotations_t
Definition types.hpp:75
Eigen::Matrix< double, 3, 4 > transformation_t
Definition types.hpp:82
Definition types.hpp:145
Definition types.hpp:161
A collection of variables used in geometric vision for the computation of calibrated absolute and rel...