The namespace for the relative pose methods. More...
Classes | |
class | CentralRelativeAdapter |
class | CentralRelativeMultiAdapter |
class | CentralRelativeWeightingAdapter |
class | MACentralRelative |
class | MANoncentralRelative |
class | MANoncentralRelativeMulti |
class | NoncentralRelativeAdapter |
class | NoncentralRelativeMultiAdapter |
class | RelativeAdapterBase |
class | RelativeMultiAdapterBase |
Functions | |
translation_t | twopt (const RelativeAdapterBase &adapter, bool unrotate, const std::vector< int > &indices) |
Compute the translation between two central viewpoints with known relative rotation, and using two correspondences. More... | |
translation_t | twopt (const RelativeAdapterBase &adapter, bool unrotate, size_t index0=0, size_t index1=1) |
Compute the translation between two central viewpoints with known relative rotation, and using two correspondences. More... | |
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 correspondences. More... | |
rotation_t | twopt_rotationOnly (const RelativeAdapterBase &adapter, size_t index0=0, size_t index1=1) |
Compute the rotation between two central viewpoints with pure rotation change, using only two correspondences. More... | |
rotation_t | rotationOnly (const RelativeAdapterBase &adapter) |
Compute the rotation between two central viewpoints with pure rotation change using Arun's method [13]. Using all available correspondences. More... | |
rotation_t | rotationOnly (const RelativeAdapterBase &adapter, const std::vector< int > &indices) |
Compute the rotation between two central viewpoints with pure rotation change using Arun's method [13]. More... | |
complexEssentials_t | fivept_stewenius (const RelativeAdapterBase &adapter) |
Compute the complex essential matrices between two central viewpoints using Stewenius' method [5]. Using all available correspondences. More... | |
complexEssentials_t | fivept_stewenius (const RelativeAdapterBase &adapter, const std::vector< int > &indices) |
Compute the complex essential matrices between two central viewpoints using Stewenius' method [5]. More... | |
essentials_t | fivept_nister (const RelativeAdapterBase &adapter) |
Compute the essential matrices between two central viewpoints using Nister's method [6]. Using all available correspondences. More... | |
essentials_t | fivept_nister (const RelativeAdapterBase &adapter, const std::vector< int > &indices) |
Compute the essential matrices between two central viewpoints using Nister's method [6]. More... | |
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]. Only minimal case. More... | |
essentials_t | sevenpt (const RelativeAdapterBase &adapter) |
Compute the essential matrices between two central viewpoints using the seven-point algorithm [8]. Using all available correspondences. More... | |
essentials_t | sevenpt (const RelativeAdapterBase &adapter, const std::vector< int > &indices) |
Compute the essential matrices between two central viewpoints using the seven-point algorithm [8]. More... | |
essential_t | eightpt (const RelativeAdapterBase &adapter) |
Compute the essential matrix between two central viewpoints using the eight-point algorithm [9,10]. Using all available correspondences. More... | |
essential_t | eightpt (const RelativeAdapterBase &adapter, const std::vector< int > &indices) |
Compute the essential matrix between two central viewpoints using the eight-point algorithm [9,10]. More... | |
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]. Using all available correspondences. More... | |
rotation_t | eigensolver (const RelativeAdapterBase &adapter, const std::vector< int > &indices, eigensolverOutput_t &output, bool useWeights=false) |
Compute the rotation matrix between two central viewpoints as an iterative eigenproblem [11]. More... | |
rotation_t | eigensolver (const RelativeAdapterBase &adapter, bool useWeights=false) |
Compute the rotation matrix between two central viewpoints as an iterative eigenproblem [11]. Using all available correspondences. Outputs only the rotation. More... | |
rotation_t | eigensolver (const RelativeAdapterBase &adapter, const std::vector< int > &indices, bool useWeights=false) |
Compute the rotation matrix between two central viewpoints as an iterative eigenproblem [11]. Outputs only the rotation. More... | |
rotations_t | sixpt (const RelativeAdapterBase &adapter) |
Compute the relative rotation between two non-central viewpoints following Stewenius' method [16]. Assuming exactly 6 correspondences. More... | |
rotations_t | sixpt (const RelativeAdapterBase &adapter, const std::vector< int > &indices) |
Compute the relative rotation between two non-central viewpoints following Stewenius' method using 6 correspondences [16]. More... | |
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. Using all available correspondences. More... | |
rotation_t | ge (const RelativeAdapterBase &adapter, const std::vector< int > &indices, geOutput_t &output, bool useWeights=false) |
Compute the rotation matrix between two non-central viewpoints as an iterative eigenproblem. More... | |
rotation_t | ge (const RelativeAdapterBase &adapter, bool useWeights=false) |
Compute the rotation matrix between two non-central viewpoints as an iterative eigenproblem. Using all available correspondences. Outputs only the rotation. More... | |
rotation_t | ge (const RelativeAdapterBase &adapter, const std::vector< int > &indices, bool useWeights=false) |
Compute the rotation matrix between two non-central viewpoints as an iterative eigenproblem. Outputs only the rotation. More... | |
transformation_t | seventeenpt (const RelativeAdapterBase &adapter) |
Compute the relative pose between two non-central viewpoints following Li's method [12]. Using all available correspondences. More... | |
transformation_t | seventeenpt (const RelativeAdapterBase &adapter, const std::vector< int > &indices) |
Compute the relative pose between two non-central viewpoints following Li's method [12]. More... | |
transformation_t | optimize_nonlinear (RelativeAdapterBase &adapter) |
Compute the pose between two viewpoints using nonlinear optimization. Using all available correspondences. Works for both central and non-central case. More... | |
transformation_t | optimize_nonlinear (RelativeAdapterBase &adapter, const std::vector< int > &indices) |
Compute the pose between two viewpoints using nonlinear optimization. Works for both central and non-central case. More... | |
The namespace for the relative pose methods.
rotation_t opengv::relative_pose::eigensolver | ( | const RelativeAdapterBase & | adapter, |
eigensolverOutput_t & | output, | ||
bool | useWeights = false |
||
) |
Compute the rotation matrix between two central viewpoints as an iterative eigenproblem [11]. Using all available correspondences.
[in] | adapter | Visitor holding bearing-vector correspondences, plus the initial rotation for the optimization. |
[out] | output | Returns more complete information (position of viewpoint 2 seen from viewpoint 1, eigenvectors and eigenvalues) |
[in] | useWeights | Use weights to weight the summation terms? |
rotation_t opengv::relative_pose::eigensolver | ( | const RelativeAdapterBase & | adapter, |
const std::vector< int > & | indices, | ||
eigensolverOutput_t & | output, | ||
bool | useWeights = false |
||
) |
Compute the rotation matrix between two central viewpoints as an iterative eigenproblem [11].
[in] | adapter | Visitor holding bearing-vector correspondences, plus the initial rotation for the optimization. |
[in] | indices | Indices of the correspondences used for deriving the rotation matrix. |
[out] | output | Returns more complete information (position of viewpoint 2 seen from viewpoint 1, eigenvectors and eigenvalues) |
[in] | useWeights | Use weights to weight the summation terms? |
rotation_t opengv::relative_pose::eigensolver | ( | const RelativeAdapterBase & | adapter, |
bool | useWeights = false |
||
) |
Compute the rotation matrix between two central viewpoints as an iterative eigenproblem [11]. Using all available correspondences. Outputs only the rotation.
[in] | adapter | Visitor holding bearing-vector correspondences, plus the initial rotation for the optimization. |
[in] | useWeights | Use weights to weight the summation terms? |
rotation_t opengv::relative_pose::eigensolver | ( | const RelativeAdapterBase & | adapter, |
const std::vector< int > & | indices, | ||
bool | useWeights = false |
||
) |
Compute the rotation matrix between two central viewpoints as an iterative eigenproblem [11]. Outputs only the rotation.
[in] | adapter | Visitor holding bearing-vector correspondences, plus the initial rotation for the optimization. |
[in] | indices | Indices of the correspondences used for deriving the rotation matrix. |
[in] | useWeights | Use weights to weight the summation terms? |
essential_t opengv::relative_pose::eightpt | ( | const RelativeAdapterBase & | adapter | ) |
Compute the essential matrix between two central viewpoints using the eight-point algorithm [9,10]. Using all available correspondences.
[in] | adapter | Visitor holding bearing-vector correspondences. |
essential_t opengv::relative_pose::eightpt | ( | const RelativeAdapterBase & | adapter, |
const std::vector< int > & | indices | ||
) |
Compute the essential matrix between two central viewpoints using the eight-point algorithm [9,10].
[in] | adapter | Visitor holding bearing-vector correspondences. |
[in] | indices | Indices of the correspondences used for deriving the essential matrix. |
rotations_t opengv::relative_pose::fivept_kneip | ( | const RelativeAdapterBase & | adapter, |
const std::vector< int > & | indices | ||
) |
Compute the rotation matrices between two central viewpoints using Kneips's method [7]. Only minimal case.
[in] | adapter | Visitor holding bearing-vector correspondences. |
[in] | indices | Indices of the correspondences used for deriving the rotation matrices. |
essentials_t opengv::relative_pose::fivept_nister | ( | const RelativeAdapterBase & | adapter | ) |
Compute the essential matrices between two central viewpoints using Nister's method [6]. Using all available correspondences.
[in] | adapter | Visitor holding bearing-vector correspondences. |
essentials_t opengv::relative_pose::fivept_nister | ( | const RelativeAdapterBase & | adapter, |
const std::vector< int > & | indices | ||
) |
Compute the essential matrices between two central viewpoints using Nister's method [6].
[in] | adapter | Visitor holding bearing-vector correspondences. |
[in] | indices | Indices of the correspondences used for deriving the essential matrices. |
complexEssentials_t opengv::relative_pose::fivept_stewenius | ( | const RelativeAdapterBase & | adapter | ) |
Compute the complex essential matrices between two central viewpoints using Stewenius' method [5]. Using all available correspondences.
[in] | adapter | Visitor holding bearing-vector correspondences. |
complexEssentials_t opengv::relative_pose::fivept_stewenius | ( | const RelativeAdapterBase & | adapter, |
const std::vector< int > & | indices | ||
) |
Compute the complex essential matrices between two central viewpoints using Stewenius' method [5].
[in] | adapter | Visitor holding bearing-vector correspondences. |
[in] | indices | Indices of the correspondences used for deriving the essential matrices. |
rotation_t opengv::relative_pose::ge | ( | const RelativeAdapterBase & | adapter, |
geOutput_t & | output, | ||
bool | useWeights = false |
||
) |
Compute the rotation matrix between two non-central viewpoints as an iterative eigenproblem. Using all available correspondences.
[in] | adapter | Visitor holding bearing-vector correspondences, the multi- camera configuration, plus the initial rotation for the optimization. |
[out] | output | Returns more complete information (position of viewpoint 2 seen from viewpoint 1, eigenvectors and eigenvalues) |
[in] | useWeights | Use weights to weight the summation terms? |
rotation_t opengv::relative_pose::ge | ( | const RelativeAdapterBase & | adapter, |
const std::vector< int > & | indices, | ||
geOutput_t & | output, | ||
bool | useWeights = false |
||
) |
Compute the rotation matrix between two non-central viewpoints as an iterative eigenproblem.
[in] | adapter | Visitor holding bearing-vector correspondences, the multi- camera configuration, plus the initial rotation for the optimization. |
[in] | indices | Indices of the correspondences used for deriving the rotation matrix. |
[out] | output | Returns more complete information (position of viewpoint 2 seen from viewpoint 1, eigenvectors and eigenvalues) |
[in] | useWeights | Use weights to weight the summation terms? |
rotation_t opengv::relative_pose::ge | ( | const RelativeAdapterBase & | adapter, |
bool | useWeights = false |
||
) |
Compute the rotation matrix between two non-central viewpoints as an iterative eigenproblem. Using all available correspondences. Outputs only the rotation.
[in] | adapter | Visitor holding bearing-vector correspondences, the multi- camera configuration, plus the initial rotation for the optimization. |
[in] | useWeights | Use weights to weight the summation terms? |
rotation_t opengv::relative_pose::ge | ( | const RelativeAdapterBase & | adapter, |
const std::vector< int > & | indices, | ||
bool | useWeights = false |
||
) |
Compute the rotation matrix between two non-central viewpoints as an iterative eigenproblem. Outputs only the rotation.
[in] | adapter | Visitor holding bearing-vector correspondences, the multi- camera configuration, plus the initial rotation for the optimization. |
[in] | indices | Indices of the correspondences used for deriving the rotation matrix. |
[in] | useWeights | Use weights to weight the summation terms? |
transformation_t opengv::relative_pose::optimize_nonlinear | ( | RelativeAdapterBase & | adapter | ) |
Compute the pose between two viewpoints using nonlinear optimization. Using all available correspondences. Works for both central and non-central case.
[in] | adapter | Visitor holding bearing-vector correspondences, the multi-camera configuration, plus the initial values. |
transformation_t opengv::relative_pose::optimize_nonlinear | ( | RelativeAdapterBase & | adapter, |
const std::vector< int > & | indices | ||
) |
Compute the pose between two viewpoints using nonlinear optimization. Works for both central and non-central case.
[in] | adapter | Visitor holding bearing-vector correspondences, the multi-camera configuration, plus the initial values. |
[in] | indices | Indices of the correspondences used for deriving the pose. |
rotation_t opengv::relative_pose::rotationOnly | ( | const RelativeAdapterBase & | adapter | ) |
Compute the rotation between two central viewpoints with pure rotation change using Arun's method [13]. Using all available correspondences.
[in] | adapter | Visitor holding bearing-vector correspondences. |
rotation_t opengv::relative_pose::rotationOnly | ( | const RelativeAdapterBase & | adapter, |
const std::vector< int > & | indices | ||
) |
Compute the rotation between two central viewpoints with pure rotation change using Arun's method [13].
[in] | adapter | Visitor holding bearing-vector correspondences. |
[in] | indices | Indices of the correspondences used for deriving the rotation. |
essentials_t opengv::relative_pose::sevenpt | ( | const RelativeAdapterBase & | adapter | ) |
Compute the essential matrices between two central viewpoints using the seven-point algorithm [8]. Using all available correspondences.
[in] | adapter | Visitor holding bearing-vector correspondences. |
essentials_t opengv::relative_pose::sevenpt | ( | const RelativeAdapterBase & | adapter, |
const std::vector< int > & | indices | ||
) |
Compute the essential matrices between two central viewpoints using the seven-point algorithm [8].
[in] | adapter | Visitor holding bearing-vector correspondences. |
[in] | indices | Indices of the correspondences used for deriving the essential matrices. |
transformation_t opengv::relative_pose::seventeenpt | ( | const RelativeAdapterBase & | adapter | ) |
Compute the relative pose between two non-central viewpoints following Li's method [12]. Using all available correspondences.
[in] | adapter | Visitor holding bearing-vector correspondences, plus the multi-camera configuration. |
transformation_t opengv::relative_pose::seventeenpt | ( | const RelativeAdapterBase & | adapter, |
const std::vector< int > & | indices | ||
) |
Compute the relative pose between two non-central viewpoints following Li's method [12].
[in] | adapter | Visitor holding bearing-vector correspondences, plus the multi-camera configuration. |
[in] | indices | Indices of the correspondences used for deriving the rotation matrix. |
rotations_t opengv::relative_pose::sixpt | ( | const RelativeAdapterBase & | adapter | ) |
Compute the relative rotation between two non-central viewpoints following Stewenius' method [16]. Assuming exactly 6 correspondences.
[in] | adapter | Visitor holding bearing-vector correspondences, plus the multi-camera configuration. |
rotations_t opengv::relative_pose::sixpt | ( | const RelativeAdapterBase & | adapter, |
const std::vector< int > & | indices | ||
) |
Compute the relative rotation between two non-central viewpoints following Stewenius' method using 6 correspondences [16].
[in] | adapter | Visitor holding bearing-vector correspondences, plus the multi-camera configuration. |
[in] | indices | Indices of the six correspondences used for deriving the rotation matrix. |
translation_t opengv::relative_pose::twopt | ( | const RelativeAdapterBase & | adapter, |
bool | unrotate, | ||
const std::vector< int > & | indices | ||
) |
Compute the translation between two central viewpoints with known relative rotation, and using two correspondences.
[in] | adapter | Visitor holding bearing-vector correspondences and known relative rotation. |
[in] | unrotate | Set to true if known rotation should be used to unrotate bearing vectors from viewpoint 2 (not required in case of identity rotation). |
[in] | indices | Indices of the two correspondences used for deriving the translation. |
translation_t opengv::relative_pose::twopt | ( | const RelativeAdapterBase & | adapter, |
bool | unrotate, | ||
size_t | index0 = 0 , |
||
size_t | index1 = 1 |
||
) |
Compute the translation between two central viewpoints with known relative rotation, and using two correspondences.
[in] | adapter | Visitor holding bearing-vector correspondences and known relative rotation. |
[in] | unrotate | Set to true if known rotation should be used to unrotate bearing vectors from viewpoint 2 (not required in case of identity rotation). |
[in] | index0 | Index of the first correspondence used for deriving the translation (use default value if only two provided anyway). |
[in] | index1 | Index of the second correspondence used for deriving the translation (use default vector if only two provided anyway). |
rotation_t opengv::relative_pose::twopt_rotationOnly | ( | const RelativeAdapterBase & | adapter, |
const std::vector< int > & | indices | ||
) |
Compute the rotation between two central viewpoints with pure rotation change, using only two correspondences.
[in] | adapter | Visitor holding bearing-vector correspondences. |
[in] | indices | Indices of the two correspondences used for deriving the rotation. |
rotation_t opengv::relative_pose::twopt_rotationOnly | ( | const RelativeAdapterBase & | adapter, |
size_t | index0 = 0 , |
||
size_t | index1 = 1 |
||
) |
Compute the rotation between two central viewpoints with pure rotation change, using only two correspondences.
[in] | adapter | Visitor holding bearing-vector correspondences. |
[in] | index0 | Index of the first correspondence used for deriving the rotation (use default value if only two provided anyway). |
[in] | index1 | Index of the second correspondence used for deriving the rotation (use default value if only two provided anyway). |