Interface Summary Interface Description P3PLineDistanceA related problem to the full P3P problem is to estimate the distance between the camera center and each of the 3 points being viewed. RefinePnPStereoRefines a pose estimate given a set of stereo observations and associated 3D point in world coordinates.
Class Summary Class Description CompatibleProjectiveHomographyAlgorithms for finding a 4x4 homography which can convert two camera matrices of the same view but differ in only the projective ambiguity. P3PFinsterwalderSolves for the 3 unknown distances between camera center and 3 observed points by finding a root of a cubic polynomial and the roots of two quadratic polynomials. P3PGrunertSolves for the 3 unknown distances between camera center and 3 observed points by finding the roots of a 4th order polynomial, This is probably the first solution to the P3P problem and first proposed in 1841 by Grunert. PnPDistanceReprojectionSqComputes the reprojection error squared for a given motion and
PnPInfinitesimalPlanePoseEstimationA plane based pose estimation algorithm . PnPJacobianRodriguesComputes the Jacobian of the error function in
PnPLepetitEPnPImplementation of the EPnP algorithm from  for solving the PnP problem when N ≥ 5 for the general case and N ≥ 4 for planar data (see note below). PnPResidualReprojectionComputes the predicted residual as a simple geometric distance between the observed and predicted point observation in normalized pixel coordinates. PnPRodriguesCodecEncoding an decoding a rotation and translation where the rotation is encoded as a 3-vector Rodrigues coordinate. PnPStereoDistanceReprojectionSqComputes sum of reprojection error squared in pixels for a pair of stereo observations. PnPStereoEstimatorComputes the left camera pose from a fully calibrated stereo camera system using a PnP algorithm. PnPStereoJacobianRodriguesComputes the Jacobian of the error function in
PnPStereoRefineRodriguesMinimizes the reprojection residual error for a pose estimate (left camera) in a calibrated stereo camera. PnPStereoResidualReprojectionComputes the predicted residual as a simple geometric distance between the observed and predicted point observation in normalized pixel coordinates. PointDistance3Provides the distance each point is from the camera center. PoseFromPairLinear6Estimates the camera motion using linear algebra given a set of N associated point observations and the depth (z-coordinate) of each object, where N ≥ 6. PositionFromPairLinear2Given two views of N objects and the known rotation, estimate the translation. PRnPDirectLinearTransformEstimates a projective camera given N points, i.e. RelinearlizeUsed in case 4 of EPnP. Se3ToStereoPoseCodec UtilLepetitEPnPVarious utility functions for