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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"*
* AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE *
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#ifndef OPENGV_ABSOLUTE_POSE_METHODS_HPP_
#define OPENGV_ABSOLUTE_POSE_METHODS_HPP_
#include <stdlib.h>
#include <vector>
#include <opengv/types.hpp>
#include <opengv/absolute_pose/AbsoluteAdapterBase.hpp>
namespace opengv
{
namespace absolute_pose
{
translation_t p2p(
const AbsoluteAdapterBase & adapter,
const std::vector<int> & indices );
translation_t p2p(
const AbsoluteAdapterBase & adapter,
size_t index0 = 0,
size_t index1 = 1 );
transformations_t p3p_kneip(
const AbsoluteAdapterBase & adapter,
const std::vector<int> & indices );
transformations_t p3p_kneip(
const AbsoluteAdapterBase & adapter,
size_t index0 = 0,
size_t index1 = 1,
size_t index2 = 2 );
transformations_t p3p_gao(
const AbsoluteAdapterBase & adapter,
const std::vector<int> & indices );
transformations_t p3p_gao(
const AbsoluteAdapterBase & adapter,
size_t index0 = 0,
size_t index1 = 1,
size_t index2 = 2 );
transformations_t gp3p(
const AbsoluteAdapterBase & adapter,
const std::vector<int> & indices );
transformations_t gp3p(
const AbsoluteAdapterBase & adapter,
size_t index0 = 0,
size_t index1 = 1,
size_t index2 = 2 );
transformation_t epnp( const AbsoluteAdapterBase & adapter );
transformation_t epnp(
const AbsoluteAdapterBase & adapter,
const std::vector<int> & indices );
transformation_t gpnp( const AbsoluteAdapterBase & adapter );
transformation_t gpnp(
const AbsoluteAdapterBase & adapter,
const std::vector<int> & indices );
transformations_t upnp( const AbsoluteAdapterBase & adapter );
transformations_t upnp(
const AbsoluteAdapterBase & adapter,
const std::vector<int> & indices );
transformation_t optimize_nonlinear( const AbsoluteAdapterBase & adapter );
transformation_t optimize_nonlinear(
const AbsoluteAdapterBase & adapter,
const std::vector<int> & indices );
}
}
#endif /* OPENGV_ABSOLUTE_POSE_METHODS_HPP_ */
AbsoluteAdapterBase.hpp
Adapter-class for passing bearing-vector-to-point correspondences to the absolute-pose algorithms.
opengv::absolute_pose::AbsoluteAdapterBase
Definition AbsoluteAdapterBase.hpp:64
opengv::absolute_pose
The namespace for the absolute pose methods.
Definition AbsoluteAdapterBase.hpp:53
opengv::absolute_pose::gp3p
transformations_t 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].
opengv::absolute_pose::epnp
transformation_t epnp(const AbsoluteAdapterBase &adapter)
Compute the pose of a central viewpoint using the EPnP method [4]. Using all available correspondence...
opengv::absolute_pose::gpnp
transformation_t gpnp(const AbsoluteAdapterBase &adapter)
Compute the pose of a non-central viewpoint using the gPnP method [3]. Using all available correspond...
opengv::absolute_pose::p2p
translation_t p2p(const AbsoluteAdapterBase &adapter, const std::vector< int > &indices)
Compute the pose of a central viewpoint with known rotation using two point correspondences.
opengv::absolute_pose::p3p_kneip
transformations_t 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].
opengv::absolute_pose::optimize_nonlinear
transformation_t optimize_nonlinear(const AbsoluteAdapterBase &adapter)
Compute the pose of a viewpoint using nonlinear optimization. Using all available correspondences....
opengv::absolute_pose::p3p_gao
transformations_t 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].
opengv::absolute_pose::upnp
transformations_t upnp(const AbsoluteAdapterBase &adapter)
Compute the poses of a non-central viewpoint using the uPnP method. Using all available correspondenc...
opengv
The namespace of this library.
Definition AbsoluteAdapterBase.hpp:48
opengv::transformations_t
std::vector< transformation_t, Eigen::aligned_allocator< transformation_t > > transformations_t
Definition types.hpp:86
opengv::translation_t
Eigen::Vector3d translation_t
Definition types.hpp:63
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...