euclidean_resection.h

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// Copyright (c) 2010 libmv authors.
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#ifndef LIBMV_MULTIVIEW_EUCLIDEAN_RESECTION_H_
#define LIBMV_MULTIVIEW_EUCLIDEAN_RESECTION_H_
 
#include "libmv/multiview/projection.h"
#include "libmv/numeric/numeric.h"
 
namespace libmv {
namespace euclidean_resection {
 
enum ResectionMethod {
  RESECTION_ANSAR_DANIILIDIS,
 
  // The "EPnP" algorithm by Lepetit et al.
  // http://cvlab.epfl.ch/~lepetit/papers/lepetit_ijcv08.pdf
  RESECTION_EPNP,
 
  // The Procrustes PNP algorithm ("PPnP")
  // http://www.diegm.uniud.it/fusiello/papers/3dimpvt12-b.pdf
  RESECTION_PPNP
};
 
bool EuclideanResection(const Mat2X& x_camera,
                        const Mat3X& X_world,
                        Mat3* R,
                        Vec3* t,
                        ResectionMethod method = RESECTION_EPNP);
 
bool EuclideanResection(const Mat& x_image,
                        const Mat3X& X_world,
                        const Mat3& K,
                        Mat3* R,
                        Vec3* t,
                        ResectionMethod method = RESECTION_EPNP);
 
void AbsoluteOrientation(const Mat3X& X, const Mat3X& Xp, Mat3* R, Vec3* t);
 
void EuclideanResectionAnsarDaniilidis(const Mat2X& x_camera,
                                       const Mat3X& X_world,
                                       Mat3* R,
                                       Vec3* t);
bool EuclideanResectionEPnP(const Mat2X& x_camera,
                            const Mat3X& X_world,
                            Mat3* R,
                            Vec3* t);
 
bool EuclideanResectionPPnP(const Mat2X& x_camera,
                            const Mat3X& X_world,
                            Mat3* R,
                            Vec3* t);
 
}  // namespace euclidean_resection
}  // namespace libmv
 
#endif /* LIBMV_MULTIVIEW_EUCLIDEAN_RESECTION_H_ */