| CompatibleProjectiveHomography |
Algorithms for finding a 4x4 homography which can convert two camera matrices of the same view but differ in only
the projective ambiguity.
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| P3PFinsterwalder |
Solves 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.
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| P3PGrunert |
Solves 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.
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| PnPDistanceReprojectionSq |
Computes the reprojection error squared for a given motion and Point2D3D. |
| PnPInfinitesimalPlanePoseEstimation |
A plane based pose estimation algorithm [1].
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| PnPJacobianRodrigues |
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| PnPLepetitEPnP |
Implementation of the EPnP algorithm from [1] for solving the PnP problem when N ≥ 5 for the general case
and N ≥ 4 for planar data (see note below).
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| PnPResidualReprojection |
Computes the predicted residual as a simple geometric distance between the observed and predicted
point observation in normalized pixel coordinates.
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| PnPRodriguesCodec |
Encoding an decoding a rotation and translation where the rotation is encoded as a 3-vector
Rodrigues coordinate.
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| PnPStereoDistanceReprojectionSq |
Computes sum of reprojection error squared in pixels for a pair of stereo observations.
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| PnPStereoEstimator |
Computes the left camera pose from a fully calibrated stereo camera system using a PnP algorithm.
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| PnPStereoJacobianRodrigues |
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| PnPStereoRefineRodrigues |
Minimizes the reprojection residual error for a pose estimate (left camera) in a calibrated stereo camera.
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| PnPStereoResidualReprojection |
Computes the predicted residual as a simple geometric distance between the observed and predicted
point observation in normalized pixel coordinates.
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| PointDistance3 |
Provides the distance each point is from the camera center.
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| PoseFromPairLinear6 |
Estimates 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.
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| PositionFromPairLinear2 |
Given two views of N objects and the known rotation, estimate the translation.
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| PRnPDirectLinearTransform |
Estimates a projective camera given N points, i.e.
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| Relinearlize |
Used in case 4 of EPnP.
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| Se3ToStereoPoseCodec |
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| UtilLepetitEPnP |
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