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_RELATIVE_POSE_METHODS_HPP_
#define OPENGV_RELATIVE_POSE_METHODS_HPP_

#include <stdlib.h>
#include <vector>
#include <opengv/types.hpp>
#include <opengv/relative_pose/RelativeAdapterBase.hpp>

namespace opengv
{
namespace relative_pose
{

translation_t twopt(
    const RelativeAdapterBase & adapter,
    bool unrotate,
    const std::vector<int> & indices );

translation_t twopt(
    const RelativeAdapterBase & adapter,
    bool unrotate,
    size_t index0 = 0,
    size_t index1 = 1 );

rotation_t twopt_rotationOnly(
    const RelativeAdapterBase & adapter,
    const std::vector<int> & indices );

rotation_t twopt_rotationOnly(
    const RelativeAdapterBase & adapter,
    size_t index0 = 0,
    size_t index1 = 1 );

rotation_t rotationOnly( const RelativeAdapterBase & adapter );

rotation_t rotationOnly(
    const RelativeAdapterBase & adapter,
    const std::vector<int> & indices );

complexEssentials_t fivept_stewenius( const RelativeAdapterBase & adapter );

complexEssentials_t fivept_stewenius(
    const RelativeAdapterBase & adapter,
    const std::vector<int> & indices );

essentials_t fivept_nister( const RelativeAdapterBase & adapter );

essentials_t fivept_nister(
    const RelativeAdapterBase & adapter,
    const std::vector<int> & indices );

rotations_t fivept_kneip(
    const RelativeAdapterBase & adapter,
    const std::vector<int> & indices );

essentials_t sevenpt( const RelativeAdapterBase & adapter );

essentials_t sevenpt(
    const RelativeAdapterBase & adapter,
    const std::vector<int> & indices );

essential_t eightpt( const RelativeAdapterBase & adapter );

essential_t eightpt(
    const RelativeAdapterBase & adapter,
    const std::vector<int> & indices );

rotation_t eigensolver(
    const RelativeAdapterBase & adapter,
    eigensolverOutput_t & output,
    bool useWeights = false );

rotation_t eigensolver(
    const RelativeAdapterBase & adapter,
    const std::vector<int> & indices,
    eigensolverOutput_t & output,
    bool useWeights = false );

rotation_t eigensolver(
    const RelativeAdapterBase & adapter,
    bool useWeights = false );

rotation_t eigensolver(
    const RelativeAdapterBase & adapter,
    const std::vector<int> & indices,
    bool useWeights = false );

rotations_t sixpt(
    const RelativeAdapterBase & adapter );

rotations_t sixpt(
    const RelativeAdapterBase & adapter,
    const std::vector<int> & indices );

rotation_t ge(
    const RelativeAdapterBase & adapter,
    geOutput_t & output,
    bool useWeights = false );

rotation_t ge(
    const RelativeAdapterBase & adapter,
    const std::vector<int> & indices,
    geOutput_t & output,
    bool useWeights = false );

rotation_t ge( const RelativeAdapterBase & adapter, bool useWeights = false );

rotation_t ge(
    const RelativeAdapterBase & adapter,
    const std::vector<int> & indices,
    bool useWeights = false );

transformation_t seventeenpt( const RelativeAdapterBase & adapter );

transformation_t seventeenpt(
    const RelativeAdapterBase & adapter,
    const std::vector<int> & indices );

transformation_t optimize_nonlinear( RelativeAdapterBase & adapter );

transformation_t optimize_nonlinear(
    RelativeAdapterBase & adapter,
    const std::vector<int> & indices );

}
}

#endif /* OPENGV_RELATIVE_POSE_METHODS_HPP_ */