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methods.hpp File Reference

Methods for computing the absolute pose of a calibrated viewpoint. More...

`#include <stdlib.h>`
`#include <vector>`
`#include <opengv/types.hpp>`
`#include <opengv/absolute_pose/AbsoluteAdapterBase.hpp>`

Go to the source code of this file.

## Namespaces

namespace | opengv
| The namespace of this library.
namespace | opengv::absolute_pose
| The namespace for the absolute pose methods.

## Functions

translation_t | opengv::absolute_pose::p2p (const AbsoluteAdapterBase &adapter, const std::vector< int > &indices)
| Compute the pose of a central viewpoint with known rotation using two point correspondences.
translation_t | opengv::absolute_pose::p2p (const AbsoluteAdapterBase &adapter, size_t index0=0, size_t index1=1)
| Compute the pose of a central viewpoint with known rotation using two point correspondences.
transformations_t | opengv::absolute_pose::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].
transformations_t | opengv::absolute_pose::p3p_kneip (const AbsoluteAdapterBase &adapter, size_t index0=0, size_t index1=1, size_t index2=2)
| Compute the pose of a central viewpoint using three point correspondences and Kneip's method [1].
transformations_t | opengv::absolute_pose::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 | opengv::absolute_pose::p3p_gao (const AbsoluteAdapterBase &adapter, size_t index0=0, size_t index1=1, size_t index2=2)
| Compute the pose of a central viewpoint using three point correspondences and Gao's method [2].
transformations_t | opengv::absolute_pose::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].
transformations_t | opengv::absolute_pose::gp3p (const AbsoluteAdapterBase &adapter, size_t index0=0, size_t index1=1, size_t index2=2)
| Compute the pose of a non-central viewpoint using three point correspondences and Kneip's method [3].
transformation_t | opengv::absolute_pose::epnp (const AbsoluteAdapterBase &adapter)
| Compute the pose of a central viewpoint using the EPnP method [4]. Using all available correspondences.
transformation_t | opengv::absolute_pose::epnp (const AbsoluteAdapterBase &adapter, const std::vector< int > &indices)
| Compute the pose of a central viewpoint using the EPnP method [4].
transformation_t | opengv::absolute_pose::gpnp (const AbsoluteAdapterBase &adapter)
| Compute the pose of a non-central viewpoint using the gPnP method [3]. Using all available correspondences.
transformation_t | opengv::absolute_pose::gpnp (const AbsoluteAdapterBase &adapter, const std::vector< int > &indices)
| Compute the pose of a non-central viewpoint using the gPnP method [3].
transformations_t | opengv::absolute_pose::upnp (const AbsoluteAdapterBase &adapter)
| Compute the poses of a non-central viewpoint using the uPnP method. Using all available correspondences.
transformations_t | opengv::absolute_pose::upnp (const AbsoluteAdapterBase &adapter, const std::vector< int > &indices)
| Compute the poses of a non-central viewpoint using the uPnP method.
transformation_t | opengv::absolute_pose::optimize_nonlinear (const AbsoluteAdapterBase &adapter)
| Compute the pose of a viewpoint using nonlinear optimization. Using all available correspondences. Works for central and non-central case.
transformation_t | opengv::absolute_pose::optimize_nonlinear (const AbsoluteAdapterBase &adapter, const std::vector< int > &indices)
| Compute the pose of a viewpoint using nonlinear optimization. Works for central and non-central viewpoints.

## Detailed Description

Methods for computing the absolute pose of a calibrated viewpoint.

The collection includes both minimal and non-minimal solutions for computing the absolute pose of a calibrated, either central or non-central viewpoint.