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methods.hpp
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/******************************************************************************
* Author: Laurent Kneip *
* Contact: kneip.laurent@gmail.com *
* License: Copyright (c) 2013 Laurent Kneip, ANU. All rights reserved. *
* *
* Redistribution and use in source and binary forms, with or without *
* modification, are permitted provided that the following conditions *
* are met: *
* * Redistributions of source code must retain the above copyright *
* notice, this list of conditions and the following disclaimer. *
* * Redistributions in binary form must reproduce the above copyright *
* notice, this list of conditions and the following disclaimer in the *
* documentation and/or other materials provided with the distribution. *
* * Neither the name of ANU nor the names of its contributors may be *
* used to endorse or promote products derived from this software without *
* specific prior written permission. *
* *
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"*
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#ifndef OPENGV_RELATIVE_POSE_METHODS_HPP_
#define OPENGV_RELATIVE_POSE_METHODS_HPP_
#include <stdlib.h>
#include <vector>
#include <opengv/types.hpp>
#include <opengv/relative_pose/RelativeAdapterBase.hpp>
namespace opengv
{
namespace relative_pose
{
translation_t twopt(
const RelativeAdapterBase & adapter,
bool unrotate,
const std::vector<int> & indices );
translation_t twopt(
const RelativeAdapterBase & adapter,
bool unrotate,
size_t index0 = 0,
size_t index1 = 1 );
rotation_t twopt_rotationOnly(
const RelativeAdapterBase & adapter,
const std::vector<int> & indices );
rotation_t twopt_rotationOnly(
const RelativeAdapterBase & adapter,
size_t index0 = 0,
size_t index1 = 1 );
rotation_t rotationOnly( const RelativeAdapterBase & adapter );
rotation_t rotationOnly(
const RelativeAdapterBase & adapter,
const std::vector<int> & indices );
complexEssentials_t fivept_stewenius( const RelativeAdapterBase & adapter );
complexEssentials_t fivept_stewenius(
const RelativeAdapterBase & adapter,
const std::vector<int> & indices );
essentials_t fivept_nister( const RelativeAdapterBase & adapter );
essentials_t fivept_nister(
const RelativeAdapterBase & adapter,
const std::vector<int> & indices );
rotations_t fivept_kneip(
const RelativeAdapterBase & adapter,
const std::vector<int> & indices );
essentials_t sevenpt( const RelativeAdapterBase & adapter );
essentials_t sevenpt(
const RelativeAdapterBase & adapter,
const std::vector<int> & indices );
essential_t eightpt( const RelativeAdapterBase & adapter );
essential_t eightpt(
const RelativeAdapterBase & adapter,
const std::vector<int> & indices );
rotation_t eigensolver(
const RelativeAdapterBase & adapter,
eigensolverOutput_t & output,
bool useWeights = false );
rotation_t eigensolver(
const RelativeAdapterBase & adapter,
const std::vector<int> & indices,
eigensolverOutput_t & output,
bool useWeights = false );
rotation_t eigensolver(
const RelativeAdapterBase & adapter,
bool useWeights = false );
rotation_t eigensolver(
const RelativeAdapterBase & adapter,
const std::vector<int> & indices,
bool useWeights = false );
rotations_t sixpt(
const RelativeAdapterBase & adapter );
rotations_t sixpt(
const RelativeAdapterBase & adapter,
const std::vector<int> & indices );
rotation_t ge(
const RelativeAdapterBase & adapter,
geOutput_t & output,
bool useWeights = false );
rotation_t ge(
const RelativeAdapterBase & adapter,
const std::vector<int> & indices,
geOutput_t & output,
bool useWeights = false );
rotation_t ge( const RelativeAdapterBase & adapter, bool useWeights = false );
rotation_t ge(
const RelativeAdapterBase & adapter,
const std::vector<int> & indices,
bool useWeights = false );
transformation_t seventeenpt( const RelativeAdapterBase & adapter );
transformation_t seventeenpt(
const RelativeAdapterBase & adapter,
const std::vector<int> & indices );
transformation_t optimize_nonlinear( RelativeAdapterBase & adapter );
transformation_t optimize_nonlinear(
RelativeAdapterBase & adapter,
const std::vector<int> & indices );
}
}
#endif /* OPENGV_RELATIVE_POSE_METHODS_HPP_ */
RelativeAdapterBase.hpp
Adapter-class for passing bearing-vector correspondences to the relative-pose algorithms.
opengv::relative_pose::RelativeAdapterBase
Definition RelativeAdapterBase.hpp:64
opengv::relative_pose
The namespace for the relative pose methods.
Definition CentralRelativeAdapter.hpp:55
opengv::relative_pose::rotationOnly
rotation_t rotationOnly(const RelativeAdapterBase &adapter)
Compute the rotation between two central viewpoints with pure rotation change using Arun's method [13...
opengv::relative_pose::fivept_stewenius
complexEssentials_t fivept_stewenius(const RelativeAdapterBase &adapter)
Compute the complex essential matrices between two central viewpoints using Stewenius' method [5]....
opengv::relative_pose::fivept_kneip
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]....
opengv::relative_pose::sevenpt
essentials_t sevenpt(const RelativeAdapterBase &adapter)
Compute the essential matrices between two central viewpoints using the seven-point algorithm [8]....
opengv::relative_pose::eigensolver
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]....
opengv::relative_pose::twopt
translation_t twopt(const RelativeAdapterBase &adapter, bool unrotate, const std::vector< int > &indices)
Compute the translation between two central viewpoints with known relative rotation,...
opengv::relative_pose::optimize_nonlinear
transformation_t optimize_nonlinear(RelativeAdapterBase &adapter)
Compute the pose between two viewpoints using nonlinear optimization. Using all available corresponde...
opengv::relative_pose::twopt_rotationOnly
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...
opengv::relative_pose::seventeenpt
transformation_t seventeenpt(const RelativeAdapterBase &adapter)
Compute the relative pose between two non-central viewpoints following Li's method [12]....
opengv::relative_pose::ge
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....
opengv::relative_pose::eightpt
essential_t eightpt(const RelativeAdapterBase &adapter)
Compute the essential matrix between two central viewpoints using the eight-point algorithm [9,...
opengv::relative_pose::fivept_nister
essentials_t fivept_nister(const RelativeAdapterBase &adapter)
Compute the essential matrices between two central viewpoints using Nister's method [6]....
opengv::relative_pose::sixpt
rotations_t sixpt(const RelativeAdapterBase &adapter)
Compute the relative rotation between two non-central viewpoints following Stewenius' method [16]....
opengv
The namespace of this library.
Definition AbsoluteAdapterBase.hpp:48
opengv::essentials_t
std::vector< essential_t, Eigen::aligned_allocator< essential_t > > essentials_t
Definition types.hpp:109
opengv::eigensolverOutput_t
struct opengv::EigensolverOutput eigensolverOutput_t
opengv::complexEssentials_t
std::vector< complexEssential_t, Eigen::aligned_allocator< complexEssential_t > > complexEssentials_t
Definition types.hpp:119
opengv::essential_t
Eigen::Matrix3d essential_t
Definition types.hpp:105
opengv::rotation_t
Eigen::Matrix3d rotation_t
Definition types.hpp:71
opengv::translation_t
Eigen::Vector3d translation_t
Definition types.hpp:63
opengv::rotations_t
std::vector< rotation_t, Eigen::aligned_allocator< rotation_t > > rotations_t
Definition types.hpp:75
opengv::transformation_t
Eigen::Matrix< double, 3, 4 > transformation_t
Definition types.hpp:82
opengv::geOutput_t
struct opengv::GeOutput geOutput_t
types.hpp
A collection of variables used in geometric vision for the computation of calibrated absolute and rel...