| Interface | Description |
|---|---|
| P3PLineDistance |
A related problem to the full P3P problem is to estimate the distance between the camera center and each of the 3
points being viewed.
|
| Class | Description |
|---|---|
| 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.
|
| 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.
|
| PnPDistanceReprojectionSq |
Computes the reprojection error squared for a given motion and
Point2D3D. |
| PnPJacobianRodrigues |
Computes the Jacobian of the error function in
PnPResidualReprojection. |
| 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).
|
| PnPResidualReprojection |
Computes the predicted residual as a simple geometric distance between the observed and predicted
point observation in normalized pixel coordinates.
|
| PnPRodriguesCodec |
Encoding an decoding a rotation and translation where the rotation is encoded as a 3-vector
Rodrigues coordinate.
|
| PointDistance3 |
Provides the distance each point is from the camera center.
|
| 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.
|
| PositionFromPairLinear2 |
Given two views of N objects and the known rotation, estimate the translation.
|
| Relinearlize |
Used in case 4 of EPnP.
|
| UtilLepetitEPnP |
Various utility functions for
PnPLepetitEPnP. |