OpenGV
A library for solving calibrated central and non-central geometric vision problems
Namespaces | Classes | Typedefs
opengv Namespace Reference

The namespace of this library. More...

Namespaces

 absolute_pose
 The namespace for the absolute pose methods.
 
 math
 The namespace of the math tools.
 
 point_cloud
 The namespace for the point-cloud alignment methods.
 
 relative_pose
 The namespace for the relative pose methods.
 
 sac
 The namespace for the sample consensus methods.
 
 sac_problems
 The namespace for the sample consensus problems.
 
 triangulation
 The namespace for the triangulation methods.
 

Classes

struct  EigensolverOutput
 
struct  GeOutput
 
struct  Indices
 
struct  OptimizationFunctor
 

Typedefs

typedef Eigen::Vector3d bearingVector_t
 
typedef std::vector< bearingVector_t, Eigen::aligned_allocator< bearingVector_t > > bearingVectors_t
 
typedef Eigen::Vector3d translation_t
 
typedef std::vector< translation_t, Eigen::aligned_allocator< translation_t > > translations_t
 
typedef Eigen::Matrix3d rotation_t
 
typedef std::vector< rotation_t, Eigen::aligned_allocator< rotation_t > > rotations_t
 
typedef Eigen::Matrix< double, 3, 4 > transformation_t
 
typedef std::vector< transformation_t, Eigen::aligned_allocator< transformation_t > > transformations_t
 
typedef Eigen::Vector3d cayley_t
 
typedef Eigen::Vector4d quaternion_t
 
typedef Eigen::Matrix3d essential_t
 
typedef std::vector< essential_t, Eigen::aligned_allocator< essential_t > > essentials_t
 
typedef Eigen::Matrix3cd complexEssential_t
 
typedef std::vector< complexEssential_t, Eigen::aligned_allocator< complexEssential_t > > complexEssentials_t
 
typedef Eigen::Vector3d point_t
 
typedef std::vector< point_t, Eigen::aligned_allocator< point_t > > points_t
 
typedef Eigen::Vector3d eigenvalues_t
 
typedef Eigen::Matrix3d eigenvectors_t
 
typedef struct opengv::EigensolverOutput eigensolverOutput_t
 
typedef struct opengv::GeOutput geOutput_t
 

Detailed Description

The namespace of this library.

Typedef Documentation

typedef Eigen::Vector3d opengv::bearingVector_t

A 3-vector of unit length used to describe landmark observations/bearings in camera frames (always expressed in camera frames)

typedef std::vector<bearingVector_t, Eigen::aligned_allocator<bearingVector_t> > opengv::bearingVectors_t

An array of bearing-vectors

typedef Eigen::Vector3d opengv::cayley_t

A 3-vector containing the cayley parameters of a rotation matrix

typedef Eigen::Matrix3cd opengv::complexEssential_t

An essential matrix with complex entires (as returned from fivept_stewenius [5])

typedef std::vector< complexEssential_t, Eigen::aligned_allocator< complexEssential_t> > opengv::complexEssentials_t

An array of complex-type essential matrices

typedef struct opengv::EigensolverOutput opengv::eigensolverOutput_t

EigensolverOutput holds the output-parameters of the eigensolver-algorithm (described in [11])

typedef Eigen::Vector3d opengv::eigenvalues_t

A 3-vector containing the Eigenvalues of matrix $ \mathbf{M} $ in the eigensolver-algorithm (described in [11])

typedef Eigen::Matrix3d opengv::eigenvectors_t

A 3x3 matrix containing the eigenvectors of matrix $ \mathbf{M} $ in the eigensolver-algorithm (described in [11])

typedef Eigen::Matrix3d opengv::essential_t

Essential matrix $ \mathbf{E} $ between two viewpoints:

$ \mathbf{E} = $ skew( $\mathbf{t}$) $ \mathbf{R} $,

where $ \mathbf{t} $ describes the position of viewpoint 2 seen from viewpoint 1, and $\mathbf{R}$ describes the rotation from viewpoint 2 to viewpoint 1.

typedef std::vector<essential_t, Eigen::aligned_allocator<essential_t> > opengv::essentials_t

An array of essential matrices

typedef struct opengv::GeOutput opengv::geOutput_t

GeOutput holds the output-parameters of ge

typedef Eigen::Vector3d opengv::point_t

A 3-vector describing a point in 3D-space

typedef std::vector<point_t, Eigen::aligned_allocator<point_t> > opengv::points_t

An array of 3D-points

typedef Eigen::Vector4d opengv::quaternion_t

A 4-vector containing the quaternion parameters of rotation matrix

typedef Eigen::Matrix3d opengv::rotation_t

A rotation matrix

typedef std::vector<rotation_t, Eigen::aligned_allocator<rotation_t> > opengv::rotations_t

An array of rotation matrices as returned by fivept_kneip [7]

typedef Eigen::Matrix<double,3,4> opengv::transformation_t

A 3x4 transformation matrix containing rotation $ \mathbf{R} $ and translation $ \mathbf{t} $ as follows: $ \left( \begin{array}{cc} \mathbf{R} & \mathbf{t} \end{array} \right) $

typedef std::vector<transformation_t, Eigen::aligned_allocator<transformation_t> > opengv::transformations_t

An array of transformations

typedef Eigen::Vector3d opengv::translation_t

A 3-vector describing a translation/camera position

typedef std::vector<translation_t, Eigen::aligned_allocator<translation_t> > opengv::translations_t

An array of translations