40#ifndef OPENGV_ABSOLUTE_POSE_METHODS_HPP_
41#define OPENGV_ABSOLUTE_POSE_METHODS_HPP_
56namespace absolute_pose
70 const std::vector<int> & indices );
104 const std::vector<int> & indices );
143 const std::vector<int> & indices );
183 const std::vector<int> & indices );
233 const std::vector<int> & indices );
260 const std::vector<int> & indices );
287 const std::vector<int> & indices );
317 const std::vector<int> & indices );
Adapter-class for passing bearing-vector-to-point correspondences to the absolute-pose algorithms.
Definition: AbsoluteAdapterBase.hpp:64
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].
transformation_t epnp(const AbsoluteAdapterBase &adapter)
Compute the pose of a central viewpoint using the EPnP method [4]. Using all available correspondence...
transformation_t gpnp(const AbsoluteAdapterBase &adapter)
Compute the pose of a non-central viewpoint using the gPnP method [3]. Using all available correspond...
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.
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].
transformation_t optimize_nonlinear(const AbsoluteAdapterBase &adapter)
Compute the pose of a viewpoint using nonlinear optimization. Using all available correspondences....
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].
transformations_t upnp(const AbsoluteAdapterBase &adapter)
Compute the poses of a non-central viewpoint using the uPnP method. Using all available correspondenc...
The namespace of this library.
Definition: AbsoluteAdapterBase.hpp:48
std::vector< transformation_t, Eigen::aligned_allocator< transformation_t > > transformations_t
Definition: types.hpp:86
Eigen::Vector3d translation_t
Definition: types.hpp:63
Eigen::Matrix< double, 3, 4 > transformation_t
Definition: types.hpp:82
A collection of variables used in geometric vision for the computation of calibrated absolute and rel...