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methods.hpp File Reference

A collection of methods for computing the relative pose between two calibrated central or non-central viewpoints. More...

`#include <stdlib.h>`
`#include <vector>`
`#include <opengv/types.hpp>`
`#include <opengv/relative_pose/RelativeAdapterBase.hpp>`

Go to the source code of this file.

## Namespaces

namespace | opengv
| The namespace of this library.
namespace | opengv::relative_pose
| The namespace for the relative pose methods.

## Functions

translation_t | opengv::relative_pose::twopt (const RelativeAdapterBase &adapter, bool unrotate, const std::vector< int > &indices)
| Compute the translation between two central viewpoints with known relative rotation, and using two correspondences.
translation_t | opengv::relative_pose::twopt (const RelativeAdapterBase &adapter, bool unrotate, size_t index0=0, size_t index1=1)
| Compute the translation between two central viewpoints with known relative rotation, and using two correspondences.
rotation_t | opengv::relative_pose::twopt_rotationOnly (const RelativeAdapterBase &adapter, const std::vector< int > &indices)
| Compute the rotation between two central viewpoints with pure rotation change, using only two correspondences.
rotation_t | opengv::relative_pose::twopt_rotationOnly (const RelativeAdapterBase &adapter, size_t index0=0, size_t index1=1)
| Compute the rotation between two central viewpoints with pure rotation change, using only two correspondences.
rotation_t | opengv::relative_pose::rotationOnly (const RelativeAdapterBase &adapter)
| Compute the rotation between two central viewpoints with pure rotation change using Arun's method [13]. Using all available correspondences.
rotation_t | opengv::relative_pose::rotationOnly (const RelativeAdapterBase &adapter, const std::vector< int > &indices)
| Compute the rotation between two central viewpoints with pure rotation change using Arun's method [13].
complexEssentials_t | opengv::relative_pose::fivept_stewenius (const RelativeAdapterBase &adapter)
| Compute the complex essential matrices between two central viewpoints using Stewenius' method [5]. Using all available correspondences.
complexEssentials_t | opengv::relative_pose::fivept_stewenius (const RelativeAdapterBase &adapter, const std::vector< int > &indices)
| Compute the complex essential matrices between two central viewpoints using Stewenius' method [5].
essentials_t | opengv::relative_pose::fivept_nister (const RelativeAdapterBase &adapter)
| Compute the essential matrices between two central viewpoints using Nister's method [6]. Using all available correspondences.
essentials_t | opengv::relative_pose::fivept_nister (const RelativeAdapterBase &adapter, const std::vector< int > &indices)
| Compute the essential matrices between two central viewpoints using Nister's method [6].
rotations_t | opengv::relative_pose::fivept_kneip (const RelativeAdapterBase &adapter, const std::vector< int > &indices)
| Compute the rotation matrices between two central viewpoints using Kneips's method [7]. Only minimal case.
essentials_t | opengv::relative_pose::sevenpt (const RelativeAdapterBase &adapter)
| Compute the essential matrices between two central viewpoints using the seven-point algorithm [8]. Using all available correspondences.
essentials_t | opengv::relative_pose::sevenpt (const RelativeAdapterBase &adapter, const std::vector< int > &indices)
| Compute the essential matrices between two central viewpoints using the seven-point algorithm [8].
essential_t | opengv::relative_pose::eightpt (const RelativeAdapterBase &adapter)
| Compute the essential matrix between two central viewpoints using the eight-point algorithm [9,10]. Using all available correspondences.
essential_t | opengv::relative_pose::eightpt (const RelativeAdapterBase &adapter, const std::vector< int > &indices)
| Compute the essential matrix between two central viewpoints using the eight-point algorithm [9,10].
rotation_t | opengv::relative_pose::eigensolver (const RelativeAdapterBase &adapter, eigensolverOutput_t &output, bool useWeights=false)
| Compute the rotation matrix between two central viewpoints as an iterative eigenproblem [11]. Using all available correspondences.
rotation_t | opengv::relative_pose::eigensolver (const RelativeAdapterBase &adapter, const std::vector< int > &indices, eigensolverOutput_t &output, bool useWeights=false)
| Compute the rotation matrix between two central viewpoints as an iterative eigenproblem [11].
rotation_t | opengv::relative_pose::eigensolver (const RelativeAdapterBase &adapter, bool useWeights=false)
| Compute the rotation matrix between two central viewpoints as an iterative eigenproblem [11]. Using all available correspondences. Outputs only the rotation.
rotation_t | opengv::relative_pose::eigensolver (const RelativeAdapterBase &adapter, const std::vector< int > &indices, bool useWeights=false)
| Compute the rotation matrix between two central viewpoints as an iterative eigenproblem [11]. Outputs only the rotation.
rotations_t | opengv::relative_pose::sixpt (const RelativeAdapterBase &adapter)
| Compute the relative rotation between two non-central viewpoints following Stewenius' method [16]. Assuming exactly 6 correspondences.
rotations_t | opengv::relative_pose::sixpt (const RelativeAdapterBase &adapter, const std::vector< int > &indices)
| Compute the relative rotation between two non-central viewpoints following Stewenius' method using 6 correspondences [16].
rotation_t | opengv::relative_pose::ge (const RelativeAdapterBase &adapter, geOutput_t &output, bool useWeights=false)
| Compute the rotation matrix between two non-central viewpoints as an iterative eigenproblem. Using all available correspondences.
rotation_t | opengv::relative_pose::ge (const RelativeAdapterBase &adapter, const std::vector< int > &indices, geOutput_t &output, bool useWeights=false)
| Compute the rotation matrix between two non-central viewpoints as an iterative eigenproblem.
rotation_t | opengv::relative_pose::ge (const RelativeAdapterBase &adapter, bool useWeights=false)
| Compute the rotation matrix between two non-central viewpoints as an iterative eigenproblem. Using all available correspondences. Outputs only the rotation.
rotation_t | opengv::relative_pose::ge (const RelativeAdapterBase &adapter, const std::vector< int > &indices, bool useWeights=false)
| Compute the rotation matrix between two non-central viewpoints as an iterative eigenproblem. Outputs only the rotation.
transformation_t | opengv::relative_pose::seventeenpt (const RelativeAdapterBase &adapter)
| Compute the relative pose between two non-central viewpoints following Li's method [12]. Using all available correspondences.
transformation_t | opengv::relative_pose::seventeenpt (const RelativeAdapterBase &adapter, const std::vector< int > &indices)
| Compute the relative pose between two non-central viewpoints following Li's method [12].
transformation_t | opengv::relative_pose::optimize_nonlinear (RelativeAdapterBase &adapter)
| Compute the pose between two viewpoints using nonlinear optimization. Using all available correspondences. Works for both central and non-central case.
transformation_t | opengv::relative_pose::optimize_nonlinear (RelativeAdapterBase &adapter, const std::vector< int > &indices)
| Compute the pose between two viewpoints using nonlinear optimization. Works for both central and non-central case.

## Detailed Description

A collection of methods for computing the relative pose between two calibrated central or non-central viewpoints.