37#ifndef OPENGV_RELATIVE_POSE_METHODS_HPP_
38#define OPENGV_RELATIVE_POSE_METHODS_HPP_
53namespace relative_pose
72 const std::vector<int> & indices );
108 const std::vector<int> & indices );
147 const std::vector<int> & indices );
177 const std::vector<int> & indices );
207 const std::vector<int> & indices );
221 const std::vector<int> & indices );
251 const std::vector<int> & indices );
281 const std::vector<int> & indices );
297 bool useWeights =
false );
314 const std::vector<int> & indices,
316 bool useWeights =
false );
330 bool useWeights =
false );
345 const std::vector<int> & indices,
346 bool useWeights =
false );
371 const std::vector<int> & indices );
388 bool useWeights =
false );
406 const std::vector<int> & indices,
408 bool useWeights =
false );
437 const std::vector<int> & indices,
438 bool useWeights =
false );
470 const std::vector<int> & indices );
502 const std::vector<int> & indices );
Adapter-class for passing bearing-vector correspondences to the relative-pose algorithms.
Definition: RelativeAdapterBase.hpp:64
rotation_t rotationOnly(const RelativeAdapterBase &adapter)
Compute the rotation between two central viewpoints with pure rotation change using Arun's method [13...
complexEssentials_t fivept_stewenius(const RelativeAdapterBase &adapter)
Compute the complex essential matrices between two central viewpoints using Stewenius' method [5]....
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]....
essentials_t sevenpt(const RelativeAdapterBase &adapter)
Compute the essential matrices between two central viewpoints using the seven-point algorithm [8]....
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]....
translation_t twopt(const RelativeAdapterBase &adapter, bool unrotate, const std::vector< int > &indices)
Compute the translation between two central viewpoints with known relative rotation,...
transformation_t optimize_nonlinear(RelativeAdapterBase &adapter)
Compute the pose between two viewpoints using nonlinear optimization. Using all available corresponde...
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...
transformation_t seventeenpt(const RelativeAdapterBase &adapter)
Compute the relative pose between two non-central viewpoints following Li's method [12]....
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....
essential_t eightpt(const RelativeAdapterBase &adapter)
Compute the essential matrix between two central viewpoints using the eight-point algorithm [9,...
essentials_t fivept_nister(const RelativeAdapterBase &adapter)
Compute the essential matrices between two central viewpoints using Nister's method [6]....
rotations_t sixpt(const RelativeAdapterBase &adapter)
Compute the relative rotation between two non-central viewpoints following Stewenius' method [16]....
The namespace of this library.
Definition: AbsoluteAdapterBase.hpp:48
std::vector< essential_t, Eigen::aligned_allocator< essential_t > > essentials_t
Definition: types.hpp:109
std::vector< complexEssential_t, Eigen::aligned_allocator< complexEssential_t > > complexEssentials_t
Definition: types.hpp:119
Eigen::Matrix3d essential_t
Definition: types.hpp:105
Eigen::Matrix3d rotation_t
Definition: types.hpp:71
Eigen::Vector3d translation_t
Definition: types.hpp:63
std::vector< rotation_t, Eigen::aligned_allocator< rotation_t > > rotations_t
Definition: types.hpp:75
Eigen::Matrix< double, 3, 4 > transformation_t
Definition: types.hpp:82
Definition: types.hpp:145
Definition: types.hpp:161
A collection of variables used in geometric vision for the computation of calibrated absolute and rel...