OpenGV
A library for solving calibrated central and non-central geometric vision problems
 
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File List
Here is a list of all documented files with brief descriptions:
[detail level 12345]
  include
  opengv
  absolute_pose
 AbsoluteAdapterBase.hppAdapter-class for passing bearing-vector-to-point correspondences to the absolute-pose algorithms
 AbsoluteMultiAdapterBase.hppAdapter-class for passing bearing-vector-to-point correspondences to the absolute-pose algorithms. Intended for absolute non-central- viewpoint problems. Access of correspondences etc. via an additional frame-index referring to the camera
 CentralAbsoluteAdapter.hppAdapter-class for passing bearing-vector-to-point correspondences to the central absolute-pose algorithms. It maps opengv types back to opengv types
 MACentralAbsolute.hppAdapter-class for passing bearing-vector-to-point correspondences to the central absolute-pose algorithms. It maps matlab types back to opengv types
 MANoncentralAbsolute.hppAdapter-class for passing bearing-vector-to-point correspondences to the non-central absolute-pose algorithms. It maps matlab types to opengv types
 methods.hppMethods for computing the absolute pose of a calibrated viewpoint
 NoncentralAbsoluteAdapter.hppAdapter-class for passing bearing-vector-to-point correspondences to the non-central absolute-pose algorithms. It maps opengv types back to opengv types
 NoncentralAbsoluteMultiAdapter.hppAdapter-class for passing bearing-vector-to-point correspondences to the non-central absolute-pose algorithms. It maps opengv types back to opengv types. Manages multiple match-lists for each camera. This allows to draw samples homogeneously over the cameras
  math
 arun.hppArun's method for computing the rotation between two point sets
 cayley.hppFunctions for back-and-forth transformation between rotation matrices and Cayley-parameters
 gauss_jordan.hppSparse, fast Gauss Jordan elimination
 quaternion.hppFunctions for back-and-forth transformation between rotation matrices and quaternion-parameters
 roots.hppClosed-form solutions for computing the roots of a polynomial
 Sturm.hppClass for evaluating Sturm chains on polynomials, and bracketing the real roots
  point_cloud
 MAPointCloud.hppAdapter-class for passing 3D point correspondences. Maps matlab types to opengv types
 methods.hppMethods for computing the transformation between two frames that contain point-clouds
 PointCloudAdapter.hppAdapter-class for passing 3D point correspondences. Maps opengv types back to opengv types
 PointCloudAdapterBase.hpp
  relative_pose
 CentralRelativeAdapter.hppAdapter-class for passing bearing-vector correspondences to the central relative-pose algorithms. Maps opengv types back to opengv types
 CentralRelativeMultiAdapter.hppAdapter-class for passing bearing-vector correspondences to the central relative-pose algorithms. Maps opengv types back to opengv types. For multi-central-viewpoint. Manages multiple match-lists for pairs of cameras (e.g. pairs of central viewpoints)
 CentralRelativeWeightingAdapter.hppAdapter-class for passing bearing-vector correspondences to the central relative-pose algorithms. Maps opengv types back to opengv types. Also contains "weights" reflecting the quality of a feature correspondence (typically between 0 and 1)
 MACentralRelative.hppAdapter-class for passing bearing-vector correspondences to the central relative-pose algorithms. Maps matlab types to opengv types
 MANoncentralRelative.hppAdapter-class for passing bearing-vector correspondences to the non-central relative-pose algorithms. Maps matlab types to opengv types
 MANoncentralRelativeMulti.hppAdapter-class for passing bearing-vector correspondences to the non-central relative-pose algorithms. Maps Matlab types to opengv types. Manages multiple match-lists for pairs of cameras. This allows to draw samples homogeneously over the cameras
 methods.hppA collection of methods for computing the relative pose between two calibrated central or non-central viewpoints
 NoncentralRelativeAdapter.hppAdapter-class for passing bearing-vector correspondences to the non-central relative-pose algorithms. Maps opengv types back to opengv types
 NoncentralRelativeMultiAdapter.hppAdapter-class for passing bearing-vector correspondences to the non-central relative-pose algorithms. Maps opengv types back to opengv types. Manages multiple match-lists for pairs of cameras. This allows to draw samples homogeneously over the cameras
 RelativeAdapterBase.hppAdapter-class for passing bearing-vector correspondences to the relative-pose algorithms
 RelativeMultiAdapterBase.hppAdapter-class for passing bearing-vector correspondences to the relative-pose algorithms. Intended for multi-central-viewpoint or relative non-central-viewpoint problems. Access of correspondences etc. via an additional pair-index referring to the pairs of cameras
  sac
 Lmeds.hppImplementation of the Lmeds algorithm
 MultiRansac.hppImplementation of the Ransac algorithm as outlined in [15]. This version is intended for use with the RelativeMultiAdapterBase, and attempts to do sampling in multiple camera-pairs in each hypothesis instantiation
 MultiSampleConsensus.hppThis is a base class for sample consensus methods such as Ransac. Derivatives call the three basic functions of a sample-consensus problem (sample drawing, computation of a hypothesis, and verification of a hypothesis). This version is intended for use with the RelativeMultiAdapterBase, and attempts to do sampling in multiple camera-pairs in each hypothesis instantiation
 MultiSampleConsensusProblem.hppBasis-class for Sample-consensus problems. Contains declarations for the three basic functions of a sample-consensus problem (sample drawing, computation of a hypothesis, and verification of a hypothesis). This version is intended for use with the RelativeMultiAdapterBase, and attempts to do sampling in multiple camera-pairs in each hypothesis instantiation
 Ransac.hppImplementation of the Ransac algorithm as outlined in [15]
 SampleConsensus.hppThis is a base class for sample consensus methods such as Ransac. Derivatives call the three basic functions of a sample-consensus problem (sample drawing, computation of a hypothesis, and verification of a hypothesis)
 SampleConsensusProblem.hppBasis-class for Sample-consensus problems. Contains declarations for the three basic functions of a sample-consensus problem (sample drawing, computation of a hypothesis, and verification of a hypothesis)
  sac_problems
  absolute_pose
 AbsolutePoseSacProblem.hppFunctions for fitting an absolute-pose model to a set of bearing-vector-point correspondences, using different algorithms (central and non-central one). Used in a sample-consenus paradigm for rejecting outlier correspondences
 MultiNoncentralAbsolutePoseSacProblem.hppFunctions for fitting an absolute-pose model to a set of bearing-vector-point correspondences, using different algorithms (central and non-central one). Used in a sample-consenus paradigm for rejecting outlier correspondences, which does homogeneous sampling
  point_cloud
 PointCloudSacProblem.hppFunctions for fitting a transformation model between two frames containing point-clouds. Used in a random sample paradigm for rejecting outliers in the correspondences
  relative_pose
 CentralRelativePoseSacProblem.hppFunctions for fitting a relative-pose model to a set of bearing-vector correspondences, using different algorithms (central). Used with a random sample paradigm for rejecting outlier correspondences
 EigensolverSacProblem.hppFunctions for fitting a relative-pose model to a set of bearing-vector correspondences, using the eigensolver algorithm. Used with a random sample paradigm for rejecting outlier correspondences
 MultiCentralRelativePoseSacProblem.hppFunctions for fitting a multi relative-pose model to sets of bearing-vector correspondences between multiple viewpoints. Exploits mutual agreement. Used within a multi random-sample paradigm for rejecting outlier correspondences. Experimental!
 MultiNoncentralRelativePoseSacProblem.hppFunctions for fitting a relative-pose model to a set of bearing-vector correspondences from a multi-camera system (non-central). Uses RelativeMultiAdapterBase for managing correspondence-lists between individual pairs of views, enabling homogeneous sampling over the views. Used in a random-sample paradigm for rejecting outlier correspondences
 NoncentralRelativePoseSacProblem.hppFunctions for fitting a relative-pose model to a set of bearing-vector correspondences from a multi-camera system (non-central). Used with a random-sample paradigm for rejecting outlier-correspondences
 RotationOnlySacProblem.hppFunctions for fitting a rotation-only model to a set of bearing-vector correspondences. The viewpoints are assumed to be separated by rotation only. Used within a random-sample paradigm for rejecting outlier correspondences
 TranslationOnlySacProblem.hppFunctions for fitting a relative-pose model to a set of bearing-vector correspondences. The viewpoints are assumed to be separated by translation only. Used within a random-sample paradigm for rejecting outlier correspondences
  triangulation
 methods.hppSome triangulation methods. Not exhaustive
 Indices.hppGeneric functor base for use with the Eigen-nonlinear optimization toolbox
 OptimizationFunctor.hppGeneric functor base for use with the Eigen-nonlinear optimization toolbox
 types.hppA collection of variables used in geometric vision for the computation of calibrated absolute and relative pose