methods.hpp

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/******************************************************************************
 * Author:   Laurent Kneip                                                    *
 * Contact:  kneip.laurent@gmail.com                                          *
 * License:  Copyright (c) 2013 Laurent Kneip, ANU. All rights reserved.      *
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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_ */