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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 *
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* * 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_POINT_CLOUD_METHODS_HPP_
#define OPENGV_POINT_CLOUD_METHODS_HPP_
#include <stdlib.h>
#include <vector>
#include <opengv/types.hpp>
#include <opengv/point_cloud/PointCloudAdapterBase.hpp>
namespace opengv
{
namespace point_cloud
{
transformation_t threept_arun( const PointCloudAdapterBase & adapter );
transformation_t threept_arun(
const PointCloudAdapterBase & adapter,
const std::vector<int> & indices );
transformation_t optimize_nonlinear( PointCloudAdapterBase & adapter );
transformation_t optimize_nonlinear(
PointCloudAdapterBase & adapter,
const std::vector<int> & indices );
}
}
#endif /* OPENGV_POINT_CLOUD_METHODS_HPP_ */
opengv::point_cloud::PointCloudAdapterBase
Definition PointCloudAdapterBase.hpp:62
opengv::point_cloud
The namespace for the point-cloud alignment methods.
Definition MAPointCloud.hpp:54
opengv::point_cloud::threept_arun
transformation_t threept_arun(const PointCloudAdapterBase &adapter)
Compute the transformation between two frames containing point clouds, following Arun's method [13]....
opengv::point_cloud::optimize_nonlinear
transformation_t optimize_nonlinear(PointCloudAdapterBase &adapter)
Compute the transformation between two frames containing point clouds using nonlinear optimization....
opengv
The namespace of this library.
Definition AbsoluteAdapterBase.hpp:48
opengv::transformation_t
Eigen::Matrix< double, 3, 4 > transformation_t
Definition types.hpp:82
types.hpp
A collection of variables used in geometric vision for the computation of calibrated absolute and rel...