threePointAlgorithm.h File Reference

Header file declaring the threePointAlgorithm() function template. More...

#include <dlrComputerVision/cameraIntrinsicsPinhole.h>
#include <dlrNumeric/transform3D.h>
#include <dlrNumeric/vector2D.h>
#include <dlrNumeric/vector3D.h>
#include <dlrRandom/pseudoRandom.h>
#include <cmath>
#include <complex>
#include <limits>
#include <dlrComputerVision/registerPoints3D.h>
#include <dlrNumeric/solveQuartic.h>
#include <dlrNumeric/utilities.h>

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Namespaces

namespace dlr::computerVision

This namespace is still in the early stages of development.

Functions

template<class IterType >

unsigned int dlr::computerVision::threePointAlgorithm (dlr::numeric::Vector3D const &w0, dlr::numeric::Vector3D const &w1, dlr::numeric::Vector3D const &w2, dlr::numeric::Vector2D const &u0, dlr::numeric::Vector2D const &u1, dlr::numeric::Vector2D const &u2, CameraIntrinsicsPinhole const &intrinsics, IterType p0OutputIter, IterType p1OutputIter, IterType p2OutputIter, double epsilon=1.0E-8)

This function implements the "three point perspective pose estimation algorithm" of Grunert[1][2] for recovering the camera-frame coordinates of the corners of a triangle of known size, given the projections of those corners in the camera image.

template<class InIter3D , class InIter2D , class OutIter3D >

dlr::numeric::Transform3D dlr::computerVision::threePointAlgorithmRobust (InIter3D worldPointsBegin, InIter3D worldPointsEnd, InIter2D imagePointsBegin, CameraIntrinsicsPinhole const &intrinsics, size_t iterations, double inlierProportion, double &score, dlr::random::PseudoRandom &pRandom=dlr::random::PseudoRandom())

This function implements the "robust" version of threePointAlgorithm().

template<class OutIter >

unsigned int dlr::computerVision::solveThreePointAlgorithmQuarticSystem (double cosAlpha, double cosBeta, double cosGamma, double a2, double b2, double c2, double epsilon, OutIter s0Iter, OutIter s1Iter, OutIter s2Iter, double &condition)

Detailed Description

Header file declaring the threePointAlgorithm() function template.

Revision

Date

Definition in file threePointAlgorithm.h.


Namespaces
namespace	dlr::computerVision
	This namespace is still in the early stages of development.
Functions
template<class IterType >
unsigned int	dlr::computerVision::threePointAlgorithm (dlr::numeric::Vector3D const &w0, dlr::numeric::Vector3D const &w1, dlr::numeric::Vector3D const &w2, dlr::numeric::Vector2D const &u0, dlr::numeric::Vector2D const &u1, dlr::numeric::Vector2D const &u2, CameraIntrinsicsPinhole const &intrinsics, IterType p0OutputIter, IterType p1OutputIter, IterType p2OutputIter, double epsilon=1.0E-8)
	This function implements the "three point perspective pose estimation algorithm" of Grunert[1][2] for recovering the camera-frame coordinates of the corners of a triangle of known size, given the projections of those corners in the camera image.
template<class InIter3D , class InIter2D , class OutIter3D >
dlr::numeric::Transform3D	dlr::computerVision::threePointAlgorithmRobust (InIter3D worldPointsBegin, InIter3D worldPointsEnd, InIter2D imagePointsBegin, CameraIntrinsicsPinhole const &intrinsics, size_t iterations, double inlierProportion, double &score, dlr::random::PseudoRandom &pRandom=dlr::random::PseudoRandom())
	This function implements the "robust" version of threePointAlgorithm().
template<class OutIter >
unsigned int	dlr::computerVision::solveThreePointAlgorithmQuarticSystem (double cosAlpha, double cosBeta, double cosGamma, double a2, double b2, double c2, double epsilon, OutIter s0Iter, OutIter s1Iter, OutIter s2Iter, double &condition)