opengv::absolute_pose Namespace Reference

The namespace for the absolute pose methods. More...

Classes
class	AbsoluteAdapterBase
class	AbsoluteMultiAdapterBase
class	CentralAbsoluteAdapter
class	MACentralAbsolute
class	MANoncentralAbsolute
class	NoncentralAbsoluteAdapter
class	NoncentralAbsoluteMultiAdapter

Functions
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. More...
translation_t	p2p (const AbsoluteAdapterBase &adapter, size_t index0=0, size_t index1=1)
	Compute the pose of a central viewpoint with known rotation using two point correspondences. More...
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]. More...
transformations_t	p3p_kneip (const AbsoluteAdapterBase &adapter, size_t index0=0, size_t index1=1, size_t index2=2)
	Compute the pose of a central viewpoint using three point correspondences and Kneip's method [1]. More...
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]. More...
transformations_t	p3p_gao (const AbsoluteAdapterBase &adapter, size_t index0=0, size_t index1=1, size_t index2=2)
	Compute the pose of a central viewpoint using three point correspondences and Gao's method [2]. More...
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]. More...
transformations_t	gp3p (const AbsoluteAdapterBase &adapter, size_t index0=0, size_t index1=1, size_t index2=2)
	Compute the pose of a non-central viewpoint using three point correspondences and Kneip's method [3]. More...
transformation_t	epnp (const AbsoluteAdapterBase &adapter)
	Compute the pose of a central viewpoint using the EPnP method [4]. Using all available correspondences. More...
transformation_t	epnp (const AbsoluteAdapterBase &adapter, const std::vector< int > &indices)
	Compute the pose of a central viewpoint using the EPnP method [4]. More...
transformation_t	gpnp (const AbsoluteAdapterBase &adapter)
	Compute the pose of a non-central viewpoint using the gPnP method [3]. Using all available correspondences. More...
transformation_t	gpnp (const AbsoluteAdapterBase &adapter, const std::vector< int > &indices)
	Compute the pose of a non-central viewpoint using the gPnP method [3]. More...
transformations_t	upnp (const AbsoluteAdapterBase &adapter)
	Compute the poses of a non-central viewpoint using the uPnP method. Using all available correspondences. More...
transformations_t	upnp (const AbsoluteAdapterBase &adapter, const std::vector< int > &indices)
	Compute the poses of a non-central viewpoint using the uPnP method. More...
transformation_t	optimize_nonlinear (const AbsoluteAdapterBase &adapter)
	Compute the pose of a viewpoint using nonlinear optimization. Using all available correspondences. Works for central and non-central case. More...
transformation_t	optimize_nonlinear (const AbsoluteAdapterBase &adapter, const std::vector< int > &indices)
	Compute the pose of a viewpoint using nonlinear optimization. Works for central and non-central viewpoints. More...

Detailed Description

The namespace for the absolute pose methods.

Function Documentation

transformation_t opengv::absolute_pose::epnp

(

const AbsoluteAdapterBase &

adapter

)

Compute the pose of a central viewpoint using the EPnP method [4]. Using all available correspondences.

Parameters

[in]

adapter

Visitor holding bearing vector to world point correspondences.

Returns

Pose of viewpoint (position seen from world frame and orientation from viewpoint to world frame, transforms points from viewpoint to world frame).

transformation_t opengv::absolute_pose::epnp	(	const AbsoluteAdapterBase &	adapter,
		const std::vector< int > &	indices
	)

Compute the pose of a central viewpoint using the EPnP method [4].

Parameters

[in]	adapter	Visitor holding bearing vector to world point correspondences.
[in]	indices	Indices of the n correspondences that are used for deriving the pose.

Returns

Pose of viewpoint (position seen from world frame and orientation from viewpoint to world frame, transforms points from viewpoint to world frame).

transformations_t opengv::absolute_pose::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].

Parameters

[in]	adapter	Visitor holding bearing vector to world point correspondences, plus the multi-camera configuration.
[in]	indices	Indices of the three correspondences that are used for deriving the pose.

Returns

Poses of viewpoint (position seen from world frame and orientation from viewpoint to world frame, transforms points from viewpoint to world frame, maximum 8 solutions).

transformations_t opengv::absolute_pose::gp3p	(	const AbsoluteAdapterBase &	adapter,
		size_t	index0 = 0,
		size_t	index1 = 1,
		size_t	index2 = 2
	)

Compute the pose of a non-central viewpoint using three point correspondences and Kneip's method [3].

Parameters

[in]	adapter	Visitor holding bearing vector to world point correspondences, plus the multi-camera configuration.
[in]	index0	Index of the first correspondence used for deriving the pose (use default value if only three correspondences provided anyway).
[in]	index1	Index of the second correspondence used for deriving the pose (use default value if only three correspondences provided anyway).
[in]	index2	Index of the third correspondence used for deriving the pose (use default value if only three correspondences provided anyway).

Returns

Poses of viewpoint (position seen from world frame and orientation from viewpoint to world frame, transforms points from viewpoint to world frame, maximum 8 solutions).

transformation_t opengv::absolute_pose::gpnp

(

const AbsoluteAdapterBase &

adapter

)

Compute the pose of a non-central viewpoint using the gPnP method [3]. Using all available correspondences.

Parameters

[in]

adapter

Visitor holding bearing vector to world point correspondences, plus the multi-camera configuration.

Returns

Pose of viewpoint (position seen from world frame and orientation from viewpoint to world frame, transforms points from viewpoint to world frame).

transformation_t opengv::absolute_pose::gpnp	(	const AbsoluteAdapterBase &	adapter,
		const std::vector< int > &	indices
	)

Compute the pose of a non-central viewpoint using the gPnP method [3].

Parameters

[in]	adapter	Visitor holding bearing vector to world point correspondences, plus the multi-camera configuration.
[in]	indices	Indices of the n correspondences that are used for deriving the pose.

Returns

Pose of viewpoint (position seen from world frame and orientation from viewpoint to world frame, transforms points from viewpoint to world frame).

transformation_t opengv::absolute_pose::optimize_nonlinear

(

const AbsoluteAdapterBase &

adapter

)

Compute the pose of a viewpoint using nonlinear optimization. Using all available correspondences. Works for central and non-central case.

Parameters

[in]

adapter

Visitor holding bearing vector to world point correspondences, the multi-camera configuration, plus the initial values.

Returns

Pose of viewpoint (position seen from world frame and orientation from viewpoint to world frame, transforms points from viewpoint to world frame).

transformation_t opengv::absolute_pose::optimize_nonlinear	(	const AbsoluteAdapterBase &	adapter,
		const std::vector< int > &	indices
	)

Compute the pose of a viewpoint using nonlinear optimization. Works for central and non-central viewpoints.

Parameters

[in]	adapter	Visitor holding bearing vector to world point correspondences, the multi-camera configuration, plus the initial values.
[in]	indices	Indices of the n correspondences that are used for deriving the pose.

Returns

Pose of viewpoint (position seen from world frame and orientation from viewpoint to world frame, transforms points from viewpoint to world frame).

translation_t opengv::absolute_pose::p2p	(	const AbsoluteAdapterBase &	adapter,
		const std::vector< int > &	indices
	)

Compute the pose of a central viewpoint with known rotation using two point correspondences.

Parameters

[in]	adapter	Visitor holding bearing vectors, world points, and known rotation.
[in]	indices	Indices of the two correspondences that are used for deriving the translation.

Returns

The position of the viewpoint seen from the world frame.

translation_t opengv::absolute_pose::p2p	(	const AbsoluteAdapterBase &	adapter,
		size_t	index0 = 0,
		size_t	index1 = 1
	)

Compute the pose of a central viewpoint with known rotation using two point correspondences.

Parameters

[in]	adapter	Visitor holding bearing vectors, world points, and known rotation.
[in]	index0	Index of the first correspondence used for deriving the translation (use default value if only two vectors provided by the visitor anyway).
[in]	index1	Index of the second correspondence used for deriving the translation (use default value if only two vectors provided by the visitor anyway).

Returns

The position of the viewpoint seen from the world frame.

transformations_t opengv::absolute_pose::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].

Parameters

[in]	adapter	Visitor holding bearing vector to world point correspondences.
[in]	indices	Indices of the three correspondences that are used for deriving the pose.

Returns

Poses of viewpoint (position seen from world frame and orientation from viewpoint to world frame, transforms points from viewpoint to world frame, maximum 4 solutions).

transformations_t opengv::absolute_pose::p3p_gao	(	const AbsoluteAdapterBase &	adapter,
		size_t	index0 = 0,
		size_t	index1 = 1,
		size_t	index2 = 2
	)

Compute the pose of a central viewpoint using three point correspondences and Gao's method [2].

Parameters

[in]	adapter	Visitor holding bearing vector to world point correspondences.
[in]	index0	Index of the first correspondence used for deriving the pose (use default value if only three correspondences provided anyway).
[in]	index1	Index of the second correspondence used for deriving the pose (use default value if only three correspondences provided anyway).
[in]	index2	Index of the third correspondence used for deriving the pose (use default value if only three correspondences provided anyway).

Returns

Poses of viewpoint (position seen from world frame and orientation from viewpoint to world frame, transforms points from viewpoint to world frame, maximum 4 solutions).

transformations_t opengv::absolute_pose::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].

Parameters

[in]	adapter	Visitor holding bearing vector to world point correspondences.
[in]	indices	Indices of the three correspondences that are used for deriving the pose.

Returns

Poses of viewpoint (position seen from world frame and orientation from viewpoint to world frame, transforms points from viewpoint to world, frame, maximum 4 solutions).

transformations_t opengv::absolute_pose::p3p_kneip	(	const AbsoluteAdapterBase &	adapter,
		size_t	index0 = 0,
		size_t	index1 = 1,
		size_t	index2 = 2
	)

Compute the pose of a central viewpoint using three point correspondences and Kneip's method [1].

Parameters

[in]	adapter	Visitor holding bearing vector to world point correspondences.
[in]	index0	Index of the first correspondence used for deriving the pose (use default value if only three correspondences provided anyway).
[in]	index1	Index of the second correspondence used for deriving the pose (use default value if only three correspondences provided anyway).
[in]	index2	Index of the third correspondence used for deriving the pose (use default value if only three correspondences provided anyway).

Returns

Poses of viewpoint (position seen from world frame and orientation from viewpoint to world frame, transforms points from viewpoint to world frame, maximum 4 solutions).

transformations_t opengv::absolute_pose::upnp

(

const AbsoluteAdapterBase &

adapter

)

Compute the poses of a non-central viewpoint using the uPnP method. Using all available correspondences.

Parameters

[in]

adapter

Visitor holding bearing vector to world point correspondences, plus the multi-camera configuration.

Returns

Poses of viewpoint (position seen from world frame and orientation from viewpoint to world frame, transforms points from viewpoint to world frame).

transformations_t opengv::absolute_pose::upnp	(	const AbsoluteAdapterBase &	adapter,
		const std::vector< int > &	indices
	)

Compute the poses of a non-central viewpoint using the uPnP method.

Parameters

[in]	adapter	Visitor holding bearing vector to world point correspondences, plus the multi-camera configuration.
[in]	indices	Indices of the n correspondences that are used for deriving the pose.

Returns

Poses of viewpoint (position seen from world frame and orientation from viewpoint to world frame, transforms points from viewpoint to world frame).