pose_estimation.h File Reference

#include <ff_common/eigen_vectors.h>
#include <localization_common/logger.h>
#include <localization_common/pose_with_covariance.h>
#include <localization_common/utilities.h>
#include <optimization_common/residuals.h>
#include <optimization_common/utilities.h>
#include <vision_common/pose_with_covariance_and_inliers.h>
#include <vision_common/ransac_pnp_params.h>
#include <vision_common/reprojection_pose_estimate_params.h>
#include <vision_common/utilities.h>
#include <Eigen/Geometry>
#include <ceres/ceres.h>
#include <ceres/solver.h>
#include <opencv2/calib3d/calib3d.hpp>
#include <opencv2/core/eigen.hpp>
#include <opencv2/imgcodecs.hpp>
#include <opencv2/imgproc.hpp>
#include <opencv2/opencv.hpp>
#include <boost/optional.hpp>
#include <algorithm>
#include <string>
#include <unordered_set>
#include <utility>
#include <vector>

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Namespaces
	vision_common

Functions
void	vision_common::UndistortedPnP (const std::vector< cv::Point2d > &undistorted_image_points, const std::vector< cv::Point3d > &points_3d, const cv::Mat &intrinsics, const int pnp_method, cv::Mat &rotation, cv::Mat &translation)
std::vector< int >	vision_common::RandomNIndices (const int num_possible_indices, const int num_sampled_indices)
template<typename DISTORTER >
int	vision_common::Inliers (const std::vector< Eigen::Vector2d > &image_points, const std::vector< Eigen::Vector3d > &points_3d, const Eigen::Matrix3d &intrinsics, const Eigen::VectorXd &distortion, const Eigen::Isometry3d &pose_estimate, const double max_inlier_threshold, boost::optional< std::vector< int > & > inliers=boost::none)
template<typename T >
std::vector< T >	vision_common::SampledValues (const std::vector< T > &values, const std::vector< int > &indices)
template<typename DISTORTER >
boost::optional< PoseWithCovarianceAndInliers >	vision_common::RansacPnP (const std::vector< Eigen::Vector2d > &image_points, const std::vector< Eigen::Vector3d > &points_3d, const Eigen::Matrix3d &intrinsics, const Eigen::VectorXd &distortion, const RansacPnPParams &params)
template<typename DISTORTER >
boost::optional< PoseWithCovarianceAndInliers >	vision_common::ReprojectionPoseEstimate (const std::vector< Eigen::Vector2d > &image_points, const std::vector< Eigen::Vector3d > &points_3d, const Eigen::Vector2d &focal_lengths, const Eigen::Vector2d &principal_points, const Eigen::VectorXd &distortion, const ReprojectionPoseEstimateParams &params)
template<typename DISTORTER >
boost::optional< PoseWithCovarianceAndInliers >	vision_common::ReprojectionPoseEstimate (const std::vector< Eigen::Vector2d > &image_points, const std::vector< Eigen::Vector3d > &points_3d, const Eigen::Matrix3d &intrinsics, const Eigen::VectorXd &distortion, const ReprojectionPoseEstimateParams &params)
template<typename DISTORTER >
boost::optional< PoseWithCovarianceAndInliers >	vision_common::ReprojectionPoseEstimateWithInitialEstimate (const std::vector< Eigen::Vector2d > &image_points, const std::vector< Eigen::Vector3d > &points_3d, const Eigen::Vector2d &focal_lengths, const Eigen::Vector2d &principal_points, const Eigen::VectorXd &distortion, const ReprojectionPoseEstimateParams &params, const Eigen::Isometry3d &initial_estimate, const std::vector< int > &initial_inliers)
template<typename DISTORTER >
boost::optional< PoseWithCovarianceAndInliers >	vision_common::ReprojectionPoseEstimateWithInitialEstimate (const std::vector< Eigen::Vector2d > &image_points, const std::vector< Eigen::Vector3d > &points_3d, const Eigen::Matrix3d &intrinsics, const Eigen::VectorXd &distortion, const ReprojectionPoseEstimateParams &params, const Eigen::Isometry3d &initial_estimate, const std::vector< int > &initial_inliers)