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opengv Namespace Reference

The namespace of this library. More...

## Namespaces

namespace | absolute_pose
| The namespace for the absolute pose methods.
namespace | math
| The namespace of the math tools.
namespace | point_cloud
| The namespace for the point-cloud alignment methods.
namespace | relative_pose
| The namespace for the relative pose methods.
namespace | sac
| The namespace for the sample consensus methods.
namespace | sac_problems
| The namespace for the sample consensus problems.
namespace | triangulation
| The namespace for the triangulation methods.

## Classes

struct | Indices
struct | OptimizationFunctor
struct | EigensolverOutput
struct | GeOutput

## Typedefs

typedef Eigen::Vector3d | bearingVector_t
typedef std::vector< bearingVector_t, Eigen::aligned_allocator< bearingVector_t > > | bearingVectors_t
typedef Eigen::Vector3d | translation_t
typedef std::vector< translation_t, Eigen::aligned_allocator< translation_t > > | translations_t
typedef Eigen::Matrix3d | rotation_t
typedef std::vector< rotation_t, Eigen::aligned_allocator< rotation_t > > | rotations_t
typedef Eigen::Matrix< double, 3, 4 > | transformation_t
typedef std::vector< transformation_t, Eigen::aligned_allocator< transformation_t > > | transformations_t
typedef Eigen::Vector3d | cayley_t
typedef Eigen::Vector4d | quaternion_t
typedef Eigen::Matrix3d | essential_t
typedef std::vector< essential_t, Eigen::aligned_allocator< essential_t > > | essentials_t
typedef Eigen::Matrix3cd | complexEssential_t
typedef std::vector< complexEssential_t, Eigen::aligned_allocator< complexEssential_t > > | complexEssentials_t
typedef Eigen::Vector3d | point_t
typedef std::vector< point_t, Eigen::aligned_allocator< point_t > > | points_t
typedef Eigen::Vector3d | eigenvalues_t
typedef Eigen::Matrix3d | eigenvectors_t
typedef struct opengv::EigensolverOutput | eigensolverOutput_t
typedef struct opengv::GeOutput | geOutput_t

## Detailed Description

The namespace of this library.

## Typedef Documentation

## bearingVector_t

typedef Eigen::Vector3d opengv::bearingVector_t

A 3-vector of unit length used to describe landmark observations/bearings in camera frames (always expressed in camera frames)

## bearingVectors_t

typedef std::vector<bearingVector_t, Eigen::aligned_allocator<bearingVector_t> > opengv::bearingVectors_t

An array of bearing-vectors

## cayley_t

typedef Eigen::Vector3d opengv::cayley_t

A 3-vector containing the cayley parameters of a rotation matrix

## complexEssential_t

typedef Eigen::Matrix3cd opengv::complexEssential_t

An essential matrix with complex entires (as returned from fivept_stewenius [5])

## complexEssentials_t

typedef std::vector< complexEssential_t, Eigen::aligned_allocator< complexEssential_t> > opengv::complexEssentials_t

An array of complex-type essential matrices

## eigensolverOutput_t

typedef struct opengv::EigensolverOutput opengv::eigensolverOutput_t

EigensolverOutput holds the output-parameters of the eigensolver-algorithm (described in [11])

## eigenvalues_t

typedef Eigen::Vector3d opengv::eigenvalues_t

A 3-vector containing the Eigenvalues of matrix in the eigensolver-algorithm (described in [11])

## eigenvectors_t

typedef Eigen::Matrix3d opengv::eigenvectors_t

A 3x3 matrix containing the eigenvectors of matrix in the eigensolver-algorithm (described in [11])

## essential_t

typedef Eigen::Matrix3d opengv::essential_t

Essential matrix between two viewpoints:

skew( ) ,

where describes the position of viewpoint 2 seen from viewpoint 1, and describes the rotation from viewpoint 2 to viewpoint 1.

## essentials_t

typedef std::vector<essential_t, Eigen::aligned_allocator<essential_t> > opengv::essentials_t

An array of essential matrices

## geOutput_t

typedef struct opengv::GeOutput opengv::geOutput_t

GeOutput holds the output-parameters of ge

## point_t

typedef Eigen::Vector3d opengv::point_t

A 3-vector describing a point in 3D-space

## points_t

typedef std::vector<point_t, Eigen::aligned_allocator<point_t> > opengv::points_t

An array of 3D-points

## quaternion_t

typedef Eigen::Vector4d opengv::quaternion_t

A 4-vector containing the quaternion parameters of rotation matrix

## rotation_t

typedef Eigen::Matrix3d opengv::rotation_t

A rotation matrix

## rotations_t

typedef std::vector<rotation_t, Eigen::aligned_allocator<rotation_t> > opengv::rotations_t

An array of rotation matrices as returned by fivept_kneip [7]

## transformation_t

typedef Eigen::Matrix<double,3,4> opengv::transformation_t

A 3x4 transformation matrix containing rotation and translation as follows:

## transformations_t

typedef std::vector<transformation_t, Eigen::aligned_allocator<transformation_t> > opengv::transformations_t

An array of transformations

## translation_t

typedef Eigen::Vector3d opengv::translation_t

A 3-vector describing a translation/camera position

## translations_t

typedef std::vector<translation_t, Eigen::aligned_allocator<translation_t> > opengv::translations_t

An array of translations