v01

thirdparty/opengv/.gitignore

@@ -0,0 +1,5 @@
+lib
+build
+*.mexa64
+*.pyc
+.vscode

thirdparty/opengv/.gitmodules

@@ -0,0 +1,3 @@
+[submodule "python/pybind11"]
+	path = python/pybind11
+	url = https://github.com/pybind/pybind11.git

thirdparty/opengv/.travis.yml

@@ -0,0 +1,64 @@
+dist: trusty
+sudo: false
+
+language: cpp
+
+compiler:
+  - clang
+  - gcc
+
+cache:
+  apt: true
+
+addons:
+  apt:
+    packages:
+        - build-essential 
+        - python-dev 
+        - libboost-python-dev 
+        - python-numpy-dev
+        - libeigen3-dev
+
+env:
+  global:
+    # CMAKE minimal required version 3.1.0
+    - CMAKE_URL="https://cmake.org/files/v3.1/cmake-3.1.3-Linux-x86_64.tar.gz"
+    - CMAKE_ROOT=${TRAVIS_BUILD_DIR}/cmake
+    - CMAKE_SOURCE=${CMAKE_ROOT}/source
+    - CMAKE_INSTALL=${CMAKE_ROOT}/install
+
+before_install:
+ # CMAKE most recent version
+ - >
+    if [ "$(ls -A ${CMAKE_INSTALL})" ]; then
+      echo "CMake found in cache.";
+      ls -A ${CMAKE_INSTALL}
+      export PATH=${CMAKE_INSTALL}/bin:${PATH};
+      cmake --version
+    else
+      mkdir --parent ${CMAKE_SOURCE}
+      mkdir --parent ${CMAKE_INSTALL}
+      ls -A ${CMAKE_INSTALL}
+      travis_retry wget --no-check-certificate --quiet -O - ${CMAKE_URL} | tar --strip-components=1 -xz -C ${CMAKE_INSTALL}
+      export PATH=${CMAKE_INSTALL}/bin:${PATH};
+      cmake --version
+    fi
+
+
+before_script:
+  - mkdir build
+  - cd build
+  - >
+     if [ $CXX = "clang++" ]; then
+        cmake .. -DBUILD_TESTS:BOOL=ON -DBUILD_PYTHON:BOOL=ON -DCMAKE_CXX_FLAGS="-Wno-deprecated-register"
+     else
+        cmake .. -DBUILD_TESTS:BOOL=ON -DBUILD_PYTHON:BOOL=ON
+     fi
+
+script:
+  - make -j2 VERBOSE=1
+  - make test
+
+cache:
+  directories:
+    - $CMAKE_INSTALL

thirdparty/opengv/CMakeLists.txt

@@ -0,0 +1,394 @@
+cmake_minimum_required(VERSION 3.1.3)
+project(opengv VERSION 1.0 LANGUAGES CXX)
+
+# Set the build type.  Options are:
+#
+#  None (CMAKE_C_FLAGS or CMAKE_CXX_FLAGS used)
+#  Debug (CMAKE_C_FLAGS_DEBUG or CMAKE_CXX_FLAGS_DEBUG)
+#  Release (CMAKE_C_FLAGS_RELEASE or CMAKE_CXX_FLAGS_RELEASE)
+#  RelWithDebInfo (CMAKE_C_FLAGS_RELWITHDEBINFO or CMAKE_CXX_FLAGS_RELWITHDEBINFO)
+#  MinSizeRel (CMAKE_C_FLAGS_MINSIZEREL or CMAKE_CXX_FLAGS_MINSIZEREL)
+
+set(CMAKE_BUILD_TYPE Release)
+
+#set the default path for built executables to the "bin" directory
+set(EXECUTABLE_OUTPUT_PATH ${CMAKE_BINARY_DIR}/bin)
+#set the default path for built libraries to the "lib" directory
+set(LIBRARY_OUTPUT_PATH ${CMAKE_BINARY_DIR}/lib)
+
+OPTION(BUILD_TESTS "Build tests" ON)
+OPTION(BUILD_PYTHON "Build Python extension" OFF)
+
+IF(MSVC)
+  set(BUILD_SHARED_LIBS OFF)
+ELSE()
+  OPTION(BUILD_SHARED_LIBS "Build shared libraries" OFF)
+  OPTION(BUILD_POSITION_INDEPENDENT_CODE "Build position independent code (-fPIC)" ON)
+ENDIF()
+
+IF(MSVC)
+  add_compile_options(/wd4514 /wd4267 /bigobj)
+  add_definitions(-D_USE_MATH_DEFINES)
+ELSE()
+  IF (CMAKE_SYSTEM_PROCESSOR MATCHES "(arm64)|(ARM64)|(aarch64)|(AARCH64)")
+    add_definitions (-march=armv8-a)
+  ELSEIF (CMAKE_SYSTEM_PROCESSOR MATCHES 
+          "(arm)|(ARM)|(armhf)|(ARMHF)|(armel)|(ARMEL)")
+    add_definitions (-march=armv7-a)
+  ELSE ()
+    add_definitions (-march=native) #TODO use correct c++11 def once everybody has moved to gcc 4.7 # for now I even removed std=gnu++0x
+  ENDIF()
+  add_definitions (
+    -O3
+    -Wall
+    -Wextra
+    #-Werror
+    -Wwrite-strings
+    -Wno-unused-parameter
+    -fno-strict-aliasing
+  )
+ENDIF()
+
+IF(BUILD_POSITION_INDEPENDENT_CODE)
+  add_definitions( -fPIC )
+ENDIF()
+
+set(CMAKE_MODULE_PATH ${CMAKE_MODULE_PATH} "${PROJECT_SOURCE_DIR}/modules/")
+find_package(Eigen REQUIRED)
+set(ADDITIONAL_INCLUDE_DIRS ${EIGEN_INCLUDE_DIRS} ${EIGEN_INCLUDE_DIR}/unsupported)
+
+set( OPENGV_SOURCE_FILES
+  src/absolute_pose/modules/main.cpp
+  src/absolute_pose/modules/gp3p/code.cpp
+  src/absolute_pose/modules/gp3p/init.cpp
+  src/absolute_pose/modules/gp3p/reductors.cpp
+  src/absolute_pose/modules/gp3p/spolynomials.cpp
+  src/absolute_pose/modules/Epnp.cpp
+  src/absolute_pose/modules/gpnp1/code.cpp
+  src/absolute_pose/modules/gpnp1/init.cpp
+  src/absolute_pose/modules/gpnp1/reductors.cpp
+  src/absolute_pose/modules/gpnp1/spolynomials.cpp
+  src/absolute_pose/modules/gpnp2/code.cpp
+  src/absolute_pose/modules/gpnp2/init.cpp
+  src/absolute_pose/modules/gpnp2/reductors.cpp
+  src/absolute_pose/modules/gpnp2/spolynomials.cpp
+  src/absolute_pose/modules/gpnp3/code.cpp
+  src/absolute_pose/modules/gpnp3/init.cpp
+  src/absolute_pose/modules/gpnp3/reductors.cpp
+  src/absolute_pose/modules/gpnp3/spolynomials.cpp
+  src/absolute_pose/modules/gpnp4/code.cpp
+  src/absolute_pose/modules/gpnp4/init.cpp
+  src/absolute_pose/modules/gpnp4/reductors.cpp
+  src/absolute_pose/modules/gpnp4/spolynomials.cpp
+  src/absolute_pose/modules/gpnp5/code.cpp
+  src/absolute_pose/modules/gpnp5/init.cpp
+  src/absolute_pose/modules/gpnp5/reductors.cpp
+  src/absolute_pose/modules/gpnp5/spolynomials.cpp
+  src/absolute_pose/modules/upnp2.cpp
+  src/absolute_pose/modules/upnp4.cpp
+  src/relative_pose/modules/main.cpp
+  src/relative_pose/modules/fivept_nister/modules.cpp
+  src/relative_pose/modules/fivept_stewenius/modules.cpp
+  src/relative_pose/modules/fivept_kneip/code.cpp
+  src/relative_pose/modules/fivept_kneip/init.cpp
+  src/relative_pose/modules/fivept_kneip/reductors.cpp
+  src/relative_pose/modules/fivept_kneip/spolynomials.cpp
+  src/relative_pose/modules/sixpt/modules2.cpp
+  src/relative_pose/modules/eigensolver/modules.cpp
+  src/relative_pose/modules/ge/modules.cpp
+  src/math/cayley.cpp
+  src/math/quaternion.cpp
+  src/math/arun.cpp
+  src/math/Sturm.cpp
+  src/math/roots.cpp
+  src/math/gauss_jordan.cpp
+  src/absolute_pose/methods.cpp
+  src/absolute_pose/CentralAbsoluteAdapter.cpp
+  src/absolute_pose/NoncentralAbsoluteAdapter.cpp
+  src/absolute_pose/NoncentralAbsoluteMultiAdapter.cpp
+  src/relative_pose/methods.cpp
+  src/relative_pose/CentralRelativeAdapter.cpp
+  src/relative_pose/CentralRelativeWeightingAdapter.cpp
+  src/relative_pose/NoncentralRelativeAdapter.cpp
+  src/relative_pose/CentralRelativeMultiAdapter.cpp
+  src/relative_pose/NoncentralRelativeMultiAdapter.cpp
+  src/triangulation/methods.cpp
+  src/point_cloud/methods.cpp
+  src/point_cloud/PointCloudAdapter.cpp
+  src/sac_problems/absolute_pose/AbsolutePoseSacProblem.cpp
+  src/sac_problems/absolute_pose/MultiNoncentralAbsolutePoseSacProblem.cpp
+  src/sac_problems/relative_pose/CentralRelativePoseSacProblem.cpp
+  src/sac_problems/relative_pose/NoncentralRelativePoseSacProblem.cpp
+  src/sac_problems/relative_pose/RotationOnlySacProblem.cpp
+  src/sac_problems/relative_pose/TranslationOnlySacProblem.cpp
+  src/sac_problems/relative_pose/EigensolverSacProblem.cpp
+  src/sac_problems/relative_pose/MultiCentralRelativePoseSacProblem.cpp
+  src/sac_problems/relative_pose/MultiNoncentralRelativePoseSacProblem.cpp
+  src/sac_problems/point_cloud/PointCloudSacProblem.cpp
+  src/absolute_pose/MACentralAbsolute.cpp
+  src/absolute_pose/MANoncentralAbsolute.cpp
+  src/relative_pose/MACentralRelative.cpp
+  src/relative_pose/MANoncentralRelative.cpp
+  src/relative_pose/MANoncentralRelativeMulti.cpp
+  src/point_cloud/MAPointCloud.cpp )
+
+set( OPENGV_HEADER_FILES
+  include/opengv/types.hpp
+  include/opengv/OptimizationFunctor.hpp
+  include/opengv/absolute_pose/methods.hpp
+  include/opengv/relative_pose/methods.hpp
+  include/opengv/triangulation/methods.hpp
+  include/opengv/point_cloud/methods.hpp
+  include/opengv/math/cayley.hpp
+  include/opengv/math/quaternion.hpp
+  include/opengv/math/arun.hpp
+  include/opengv/math/Sturm.hpp
+  include/opengv/math/roots.hpp
+  include/opengv/math/gauss_jordan.hpp
+  include/opengv/absolute_pose/AbsoluteAdapterBase.hpp
+  include/opengv/absolute_pose/CentralAbsoluteAdapter.hpp
+  include/opengv/absolute_pose/NoncentralAbsoluteAdapter.hpp
+  include/opengv/absolute_pose/NoncentralAbsoluteMultiAdapter.hpp
+  include/opengv/absolute_pose/AbsoluteMultiAdapterBase.hpp
+  include/opengv/relative_pose/RelativeAdapterBase.hpp
+  include/opengv/relative_pose/RelativeMultiAdapterBase.hpp
+  include/opengv/relative_pose/CentralRelativeAdapter.hpp
+  include/opengv/relative_pose/CentralRelativeWeightingAdapter.hpp
+  include/opengv/relative_pose/NoncentralRelativeAdapter.hpp
+  include/opengv/relative_pose/CentralRelativeMultiAdapter.hpp
+  include/opengv/relative_pose/NoncentralRelativeMultiAdapter.hpp
+  include/opengv/point_cloud/PointCloudAdapterBase.hpp
+  include/opengv/point_cloud/PointCloudAdapter.hpp
+  include/opengv/sac_problems/absolute_pose/AbsolutePoseSacProblem.hpp
+  include/opengv/sac_problems/absolute_pose/MultiNoncentralAbsolutePoseSacProblem.hpp
+  include/opengv/sac_problems/relative_pose/CentralRelativePoseSacProblem.hpp
+  include/opengv/sac_problems/relative_pose/NoncentralRelativePoseSacProblem.hpp
+  include/opengv/sac_problems/relative_pose/MultiCentralRelativePoseSacProblem.hpp
+  include/opengv/sac_problems/relative_pose/MultiNoncentralRelativePoseSacProblem.hpp
+  include/opengv/sac_problems/relative_pose/EigensolverSacProblem.hpp
+  include/opengv/sac_problems/relative_pose/RotationOnlySacProblem.hpp
+  include/opengv/sac_problems/relative_pose/TranslationOnlySacProblem.hpp
+  include/opengv/sac_problems/point_cloud/PointCloudSacProblem.hpp
+  include/opengv/absolute_pose/MACentralAbsolute.hpp
+  include/opengv/absolute_pose/MANoncentralAbsolute.hpp
+  include/opengv/relative_pose/MACentralRelative.hpp
+  include/opengv/relative_pose/MANoncentralRelative.hpp
+  include/opengv/relative_pose/MANoncentralRelativeMulti.hpp
+  include/opengv/point_cloud/MAPointCloud.hpp )
+
+add_library( opengv ${OPENGV_SOURCE_FILES} ${OPENGV_HEADER_FILES} )
+add_library( random_generators test/random_generators.cpp test/random_generators.hpp test/experiment_helpers.cpp test/experiment_helpers.hpp test/time_measurement.cpp test/time_measurement.hpp )
+set_target_properties( opengv random_generators PROPERTIES
+                    SOVERSION ${PROJECT_VERSION}
+                    VERSION ${PROJECT_VERSION}
+                    CXX_STANDARD 11
+                    CXX_STANDARD_REQUIRED ON
+                    DEBUG_POSTFIX d )
+
+target_include_directories( opengv PUBLIC 
+                # only when building from the source tree
+                $<BUILD_INTERFACE:${PROJECT_SOURCE_DIR}/include>
+                # only when using the lib from the install path
+                $<INSTALL_INTERFACE:include>
+                ${ADDITIONAL_INCLUDE_DIRS} )
+
+target_include_directories( random_generators PRIVATE ${ADDITIONAL_INCLUDE_DIRS} )
+
+target_link_libraries( random_generators opengv )
+
+IF (BUILD_TESTS)
+  enable_testing()
+  include_directories( ${ADDITIONAL_INCLUDE_DIRS} )
+
+  add_executable( test_absolute_pose test/test_absolute_pose.cpp )
+  target_link_libraries( test_absolute_pose opengv random_generators )
+  add_test(NAME test_absolute_pose
+    WORKING_DIRECTORY ${EXECUTABLE_OUTPUT_PATH}
+    COMMAND test_absolute_pose)
+
+  add_executable( test_absolute_pose_sac test/test_absolute_pose_sac.cpp )
+  target_link_libraries( test_absolute_pose_sac opengv random_generators )
+  add_test(NAME test_absolute_pose_sac
+    WORKING_DIRECTORY ${CMAKE_RUNTIME_OUTPUT_DIRECTORY}
+    COMMAND test_absolute_pose_sac)
+
+  add_executable( test_noncentral_absolute_pose test/test_noncentral_absolute_pose.cpp )
+  target_link_libraries( test_noncentral_absolute_pose opengv random_generators )
+  add_test(NAME test_noncentral_absolute_pose
+    WORKING_DIRECTORY ${CMAKE_RUNTIME_OUTPUT_DIRECTORY}
+    COMMAND test_noncentral_absolute_pose)
+
+  add_executable( test_noncentral_absolute_pose_sac test/test_noncentral_absolute_pose_sac.cpp )
+  target_link_libraries( test_noncentral_absolute_pose_sac opengv random_generators )
+  add_test(NAME test_noncentral_absolute_pose_sac
+    WORKING_DIRECTORY ${CMAKE_RUNTIME_OUTPUT_DIRECTORY}
+    COMMAND test_noncentral_absolute_pose_sac)
+
+  add_executable( test_multi_noncentral_absolute_pose_sac test/test_multi_noncentral_absolute_pose_sac.cpp )
+  target_link_libraries( test_multi_noncentral_absolute_pose_sac opengv random_generators )
+  add_test(NAME test_multi_noncentral_absolute_pose_sac
+    WORKING_DIRECTORY ${CMAKE_RUNTIME_OUTPUT_DIRECTORY}
+    COMMAND test_multi_noncentral_absolute_pose_sac)
+
+  add_executable( test_relative_pose test/test_relative_pose.cpp )
+  target_link_libraries( test_relative_pose opengv random_generators )
+  add_test(NAME test_relative_pose
+    WORKING_DIRECTORY ${CMAKE_RUNTIME_OUTPUT_DIRECTORY}
+    COMMAND test_relative_pose)
+
+  add_executable( test_relative_pose_rotationOnly test/test_relative_pose_rotationOnly.cpp )
+  target_link_libraries( test_relative_pose_rotationOnly opengv random_generators )
+  add_test(NAME test_relative_pose_rotationOnly
+    WORKING_DIRECTORY ${CMAKE_RUNTIME_OUTPUT_DIRECTORY}
+    COMMAND test_relative_pose_rotationOnly)
+
+  add_executable( test_relative_pose_rotationOnly_sac test/test_relative_pose_rotationOnly_sac.cpp )
+  target_link_libraries( test_relative_pose_rotationOnly_sac opengv random_generators )
+  add_test(NAME test_relative_pose_rotationOnly_sac
+    WORKING_DIRECTORY ${CMAKE_RUNTIME_OUTPUT_DIRECTORY}
+    COMMAND test_relative_pose_rotationOnly_sac)
+
+  add_executable( test_relative_pose_sac test/test_relative_pose_sac.cpp )
+  target_link_libraries( test_relative_pose_sac opengv random_generators )
+  add_test(NAME test_relative_pose_sac
+    WORKING_DIRECTORY ${CMAKE_RUNTIME_OUTPUT_DIRECTORY}
+    COMMAND test_relative_pose_sac)
+
+  add_executable( test_noncentral_relative_pose test/test_noncentral_relative_pose.cpp )
+  target_link_libraries( test_noncentral_relative_pose opengv random_generators )
+  add_test(NAME test_noncentral_relative_pose
+    WORKING_DIRECTORY ${CMAKE_RUNTIME_OUTPUT_DIRECTORY}
+    COMMAND test_noncentral_relative_pose)
+
+  add_executable( test_noncentral_relative_pose_sac test/test_noncentral_relative_pose_sac.cpp )
+  target_link_libraries( test_noncentral_relative_pose_sac opengv random_generators )
+  add_test(NAME test_noncentral_relative_pose_sac
+    WORKING_DIRECTORY ${CMAKE_RUNTIME_OUTPUT_DIRECTORY}
+    COMMAND test_noncentral_relative_pose_sac)
+
+  add_executable( test_multi_noncentral_relative_pose_sac test/test_multi_noncentral_relative_pose_sac.cpp )
+  target_link_libraries( test_multi_noncentral_relative_pose_sac opengv random_generators )
+  add_test(NAME test_multi_noncentral_relative_pose_sac
+    WORKING_DIRECTORY ${CMAKE_RUNTIME_OUTPUT_DIRECTORY}
+    COMMAND test_multi_noncentral_relative_pose_sac)
+
+  add_executable( test_eigensolver_sac test/test_eigensolver_sac.cpp )
+  target_link_libraries( test_eigensolver_sac opengv random_generators )
+  add_test(NAME test_eigensolver_sac
+    WORKING_DIRECTORY ${CMAKE_RUNTIME_OUTPUT_DIRECTORY}
+    COMMAND test_eigensolver_sac)
+
+  add_executable( test_triangulation test/test_triangulation.cpp )
+  target_link_libraries( test_triangulation opengv random_generators )
+  add_test(NAME test_triangulation
+    WORKING_DIRECTORY ${CMAKE_RUNTIME_OUTPUT_DIRECTORY}
+    COMMAND test_triangulation)
+
+  add_executable( test_eigensolver test/test_eigensolver.cpp )
+  target_link_libraries( test_eigensolver opengv random_generators )
+  add_test(NAME test_eigensolver
+    WORKING_DIRECTORY ${CMAKE_RUNTIME_OUTPUT_DIRECTORY}
+    COMMAND test_eigensolver)
+
+  add_executable( test_point_cloud test/test_point_cloud.cpp )
+  target_link_libraries( test_point_cloud opengv random_generators )
+  add_test(NAME  test_point_cloud
+    WORKING_DIRECTORY ${CMAKE_RUNTIME_OUTPUT_DIRECTORY}
+    COMMAND test_point_cloud)
+
+  add_executable( test_point_cloud_sac test/test_point_cloud_sac.cpp )
+  target_link_libraries( test_point_cloud_sac opengv random_generators )
+  add_test(NAME test_point_cloud_sac
+    WORKING_DIRECTORY ${CMAKE_RUNTIME_OUTPUT_DIRECTORY}
+    COMMAND test_point_cloud_sac)
+
+  add_executable( test_Sturm test/test_Sturm.cpp )
+  target_link_libraries( test_Sturm opengv random_generators )
+  add_test(NAME test_Sturm
+    WORKING_DIRECTORY ${CMAKE_RUNTIME_OUTPUT_DIRECTORY}
+    COMMAND test_Sturm)
+
+  set_target_properties(
+    test_absolute_pose
+    test_absolute_pose_sac
+    test_noncentral_absolute_pose
+    test_noncentral_absolute_pose_sac
+    test_multi_noncentral_absolute_pose_sac
+    test_relative_pose
+    test_relative_pose_rotationOnly
+    test_relative_pose_rotationOnly_sac
+    test_relative_pose_sac
+    test_noncentral_relative_pose
+    test_noncentral_relative_pose_sac
+    test_multi_noncentral_relative_pose_sac
+    test_eigensolver_sac
+    test_triangulation
+    test_eigensolver
+    test_point_cloud
+    test_point_cloud_sac
+    test_Sturm
+
+    PROPERTIES
+    CXX_STANDARD 11
+    CXX_STANDARD_REQUIRED ON
+    DEBUG_POSTFIX d )
+
+
+ENDIF()
+
+# Configuration
+set(config_install_dir "lib/cmake/${PROJECT_NAME}-${PROJECT_VERSION}")
+set(include_install_dir "include")
+set(version_config "${CMAKE_CURRENT_BINARY_DIR}/${PROJECT_NAME}ConfigVersion.cmake")
+set(project_config "${CMAKE_CURRENT_BINARY_DIR}/${PROJECT_NAME}Config.cmake")
+set(targets_export_name "${PROJECT_NAME}Targets")
+
+# Include module with fuction 'write_basic_package_version_file'
+include(CMakePackageConfigHelpers)
+
+# Configure '<PROJECT-NAME>ConfigVersion.cmake'
+# Note: PROJECT_VERSION is used as a VERSION
+write_basic_package_version_file(
+    "${version_config}" COMPATIBILITY SameMajorVersion )
+
+# Configure '<PROJECT-NAME>Config.cmake'
+# Use variables:
+#   * targets_export_name
+#   * PROJECT_NAME
+configure_package_config_file(
+    "modules/Config.cmake.in"
+    "${project_config}"
+    INSTALL_DESTINATION "${config_install_dir}")
+
+# Export '<PROJECT-NAME>Targets.cmake' to build dir (to find package in build dir without install)
+export(TARGETS opengv FILE "${CMAKE_CURRENT_BINARY_DIR}/${targets_export_name}.cmake")
+
+# Targets:
+install(TARGETS opengv
+        EXPORT "${targets_export_name}"
+        LIBRARY DESTINATION "lib"
+        ARCHIVE DESTINATION "lib"
+        RUNTIME DESTINATION "bin"
+        INCLUDES DESTINATION "${include_install_dir}")
+
+# Config
+#   * <prefix>/lib/cmake/opengv/opengvConfig.cmake
+#   * <prefix>/lib/cmake/opengv/opengvConfigVersion.cmake
+install(FILES "${project_config}" "${version_config}"
+        DESTINATION "${config_install_dir}")
+
+# Config
+#   * <prefix>/lib/cmake/opengv/opengvTargets.cmake
+install(EXPORT "${targets_export_name}"
+        NAMESPACE "${namespace}"
+        DESTINATION "${config_install_dir}")
+
+# Headers
+install(DIRECTORY include/ 
+        DESTINATION ${include_install_dir} 
+        FILES_MATCHING PATTERN "*.h" PATTERN "*.hpp")
+
+
+if (BUILD_PYTHON)
+  add_subdirectory( python )
+endif()

thirdparty/opengv/License.txt

@@ -0,0 +1,29 @@
+/******************************************************************************
+ * Author:   Laurent Kneip                                                    *
+ * Contact:  kneip.laurent@gmail.com                                          *
+ * License:  Copyright (c) 2013 Laurent Kneip, ANU. All rights reserved.      *
+ *                                                                            *
+ * Redistribution and use in source and binary forms, with or without         *
+ * modification, are permitted provided that the following conditions         *
+ * are met:                                                                   *
+ * * Redistributions of source code must retain the above copyright           *
+ *   notice, this list of conditions and the following disclaimer.            *
+ * * Redistributions in binary form must reproduce the above copyright        *
+ *   notice, this list of conditions and the following disclaimer in the      *
+ *   documentation and/or other materials provided with the distribution.     *
+ * * Neither the name of ANU nor the names of its contributors may be         *
+ *   used to endorse or promote products derived from this software without   *
+ *   specific prior written permission.                                       *
+ *                                                                            *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"*
+ * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE  *
+ * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE *
+ * ARE DISCLAIMED. IN NO EVENT SHALL ANU OR THE CONTRIBUTORS BE LIABLE        *
+ * FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL *
+ * DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR *
+ * SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER *
+ * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT         *
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY  *
+ * OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF     *
+ * SUCH DAMAGE.                                                               *
+ ******************************************************************************/

thirdparty/opengv/Makefile.ros

@@ -0,0 +1 @@
+include $(shell rospack find mk)/cmake.mk

thirdparty/opengv/README.txt

@@ -0,0 +1,12 @@
+library: OpenGV
+pages:   http://laurentkneip.github.io/opengv
+brief:   OpenGV is a collection of computer vision methods for solving
+         geometric vision problems. It contains absolute-pose, relative-pose,
+         triangulation, and point-cloud alignment methods for the calibrated
+         case. All problems can be solved with central or non-central cameras,
+         and embedded into a random sample consensus or nonlinear optimization
+         context. Matlab and Python interfaces are implemented as well. The link
+         to the above pages also shows links to precompiled Matlab mex-libraries.
+         Please consult the documentation for more information.
+author:  Laurent Kneip, ShanghaiTech, Mobile Perception Lab (http://mpl.sist.shanghaitech.edu.cn)
+contact: kneip.laurent@gmail.com

thirdparty/opengv/doc/addons/01_installation.dox

@@ -0,0 +1,238 @@
+/** \page page_installation Installation
+ *
+ * \section sec_installation_0_5 Before you start
+ *
+ * If you are only interested in using the library under Matlab, now there is a precompiled mex-library for 64-bit systems available. You can download it from:
+ *
+\verbatim
+Windows: http://laurentkneip.github.io/publications/opengv.mexw64
+Mac OSX: http://laurentkneip.github.io/publications/opengv.mexmaci64
+\endverbatim
+ *
+ * These versions have been added around March 2016, so please be aware that later additions may not be included in this distribution. You can go immediately to \ref page_matlab "Use under Matlab" to receive further instructions on the Matlab interface.
+ *
+ * \section sec_installation_1 Downloading the source code
+ * 
+ * OpenGV is freely available under
+ *
+\verbatim
+https://github.com/laurentkneip/opengv
+\endverbatim
+ *
+ * You may first have to register on github.com. You can just download a zip-file with the code, but we strongly recommend that you make yourself familiar with git. Git is a distributed version-control and source code management system. By using git to clone the repository locally, you can easily get updates at a later stage, and also facilitate the integration of own improvements or extensions into the original repository on github. This is done using the pull-request mechanism.
+ *
+ * To clone the library under Mac OSX or Linux, simply type (assuming that git is installed):
+ *
+\verbatim
+git clone https://github.com/laurentkneip/opengv
+\endverbatim
+ *
+ * Under Windows you probably have a similar option. More information about git can be found here:
+ *
+\verbatim
+http://git-scm.com/
+\endverbatim
+ *
+ * Follow the "Try git" link for an amazing interactive tutorial.
+ *
+ * \section sec_installation_2 Installation under Linux
+ *
+ * <ul>
+ * <li>Setup the required tools for compilation of standard libraries under Linux (gcc compiler etc). Type:
+ *
+\verbatim
+sudo apt-get install build-essential
+\endverbatim
+ *
+ * <li>Install cmake. CMake is a cross-platform, open-source build system used for pretty much anything in the compilation process for the compilation/linking of the library. Type:
+ *
+\verbatim
+sudo apt-get install cmake
+\endverbatim
+ *
+ *
+ * <li>Install eigen3. Eigen3 is a powerful linear algebra library used for all computations in OpenGV. You can either use an installed version of a local install (unzipped version of Eigen3 downloaded from Eigen website).
+ *
+\verbatim
+sudo apt-get install cmake libeigen3-dev
+\endverbatim
+ *
+ * <li>Go to the top-level directory of OpenGV. Type:
+ *
+\verbatim
+mkdir build && cd build && cmake .. && make
+\endverbatim
+ *
+ * If a message like "Could NOT find Eigen (missing: EIGEN_INCLUDE_DIR EIGEN_VERSION_OK)" appears. It's certainly because that you does not have Eigen3 installed on your computer system path. You can specify to cmake the path where Eigen is located by adding:
+\verbatim
+mkdir build && cd build && cmake .. -DEIGEN_INCLUDE_DIR:STRING="EigenIncludePath" && make
+\endverbatim
+ *
+ * <li>Done. The default configuration does not build the tests or python-wrappers, please set the according variables in CMakeLists.txt to ON if you desire the tests or python-wrappers to be built as well.
+ * </ul>
+ *
+ * \section sec_installation_3 Installation under Windows
+ *
+ * <ul>
+ * <li>We need a suitable compiler for C++. We chose Visual Studio Express, which is free. Google for "Microsoft Visual Studio Express", it should be one of the first links. Make sure you download and install the "Windows Desktop version". If you are in a school setting without Administrator rights, just go to your local IT guy and ask him to install Microsoft Visual Studio on your machine.
+ *
+ * <li>We also need CMake under Windows. Go to:
+ *
+\verbatim
+http://www.cmake.org/
+\endverbatim
+ *
+ * and download the latest version. In a school setting without administrator rights, chose to download the zip-file. Extract it somewhere.
+ * <li>Open a new Developer Command Prompt for VS2012 and make sure all VS path variables are correctly set by checking the output of PATH. We also need to add the cmake-tools to the path. Add it by typing
+ *
+\verbatim
+cd C:\<path to cmake>\bin
+PATH=%PATH%;%cd%;
+\endverbatim
+ *
+ * <li>Go to the opengv directory and add a build folder
+ * <li>Now go to the
+ *
+\verbatim
+opengv\build
+\endverbatim
+ *
+ * directory, and setup the build process by typing:
+ *
+\verbatim
+cmake -G "Visual Studio 11" ..
+\endverbatim
+ *
+ * You need to add the correct generator for your Visual Studio version. I downloaded Visual Studio 2012, so it's 11 :)
+ * <li>Now build the library by typing:
+ *
+\verbatim
+msbuild opengv.sln /p:Configuration=Release
+\endverbatim
+ *
+ * inside the build directory. While there is not a single warning under Linux, there are thousands of warnings under Windows :) If anyone knows the reason, please let us know.
+ *
+ * <li>Note that we Eigen dependency is not longer included. It is better to get a fresh download of Eigen on your computer, and specify to cmake the Eigen include path with -DEIGEN_INCLUDE_DIR="path".
+ * </ul>
+ *
+ * \section sec_installation_35 Installation under OSX
+ *
+ * Has been succesfully tested as well.
+ *
+ * <ul>
+ * <li> Install homebrew: http://brew.sh/
+ * <li> Type: "brew install cmake eigen"
+ * <li> Compile using normal cmake procedure.
+ * </ul>
+ *
+ * \section sec_installation_36 Installing OpenGV on the host OS
+ *
+ * Installation on the host OS (including the headers) can be activated by simply launching the install target.
+ * By using "sudo make install" on Linux and OSX and by compiling the install target on the opengv Visual Studio solution in Windows. Sudo is required for system install.
+ * You can choose to have a local installation path by setting the cmake variable CMAKE_INSTALL_PREFIX to the path of your choice by using -DCMAKE_INSTALL_PREFIX:STRING="YourInstallPath" in the cmake command line.
+\verbatim
+cmake ../opengv 
+  -DEIGEN_INCLUDE_DIR="EigenIncludePath"
+  -DBUILD_TESTS=ON
+  -DCMAKE_INSTALL_PREFIX="YourInstallPath"
+make
+make install #sudo not required since we use a local installation
+\endverbatim 
+ *
+ * \section sec_installation_4 Installing the Matlab-wrapper (Windows-version)
+ *
+ * <ul>
+ * <li>First setup the compiler from Matlab. Go to the matlab console and type
+ *
+\verbatim 
+mex -setup
+\endverbatim
+ *
+ * and chose the right compiler by following the instructions. You will have to chose the same compiler than the one you used for compiling the opengv library before-hand. Under Windows you might also
+ * run into the following problem. Depending on the distribution (e.g. R2012b), Matlab does not yet "know" your compiler (e.g. Visual Studio 2012), so you will have to additionally follow the instructions under
+ *
+\verbatim
+http://jimdavid.blogspot.com.au/2012/12/matlab-2012b-mex-setup-with-vs2012.html
+\endverbatim
+ *
+ * to get things running. Also note that the Express compilers are not supported by Matlab, we ran into some issues when trying to use them. Please report if you have a solution to that.
+ * <li>Once this is done, you can compile the mex-file by going to the opengv/matlab folder and typing in the console
+ *
+\verbatim
+mex -I../include -I../EigenIncludePath -L../build/lib/Release -lopengv opengv.cpp
+\endverbatim
+ *
+ * <li>An additional note on 64-bit Windows/Matlab systems: If you have a Matlab version that is 64-bit, you will have to also compile OpenGV in 64-bit. You will have to follow
+ * two steps for this under Windows. The first one is to make sure that you open an x64 native tools command prompt to make the x64 Visual Studio compiler visible. The second one
+ * is to-when running cmake-extend the generator name by " Win64". The final command to run cmake finally looks as follows:
+ *
+\verbatim
+cmake -G "Visual Studio 11 Win64" ..
+\endverbatim
+ *
+ * The actual build command stays the same.
+ * </ul>
+ *
+ * \section sec_installation_5 Installing the Matlab-wrapper (Linux-version)
+ * 
+ * The following has been tested under Ubuntu 12.04 and a recent Matlab edition (>2013) (thanks to Oliver Dunkley for providing this information).
+ *
+ * <ul>
+ * <li> Install Matlab with the provided installer, and then add the matlab-support package through the package-repositories. This basically takes care
+ * of setting all the compiler stuff, adding a launcher, etc.
+ * <li> In order to make Matlab know about the shared object opengv.so, the path to opengv.so has to be added to LD_LIBRARY_PATH. Open .bashrc and add the line
+ *
+\verbatim
+export LD_LIBRARY_PATH=<path to OpenGV>/build/lib:$LD_LIBRARY_PATH
+\endverbatim
+ *
+ * and then start Matlab from the terminal, it'll know about opengv ...
+ * <li>Go to the opengv/matlab-folder inside Matlab, and issue the command
+ *
+\verbatim
+mex -I../include -I../EigenIncludePath -L../build/lib -lopengv opengv.cpp -cxx
+\endverbatim
+ *
+ * Note the lib directory does not contain a Release subfolder under linux, and that the -cxx option has to be added.
+ * </ul>
+ *
+ * \section sec_installation_6 Installing the Matlab-wrapper (OSX-version)
+ *
+ * To compile the Matlab interface under OSX, use the same command as under Windows, with adapted library folder (-L../build/lib instead of -L../build/lib/Release). You of course need to make sure again that Matlab knows where to find the library, and that a suitable compiler is set up in Matlab as well.
+ *
+ * \section sec_installation_7 Installing the python wrappers
+ *
+ * The Python wrappers depend on the pybind11 library, which is included as a git submodule.
+ * To get it, run
+ \verbatim
+git submodule update --init --recursive
+\endverbatim
+ * With that done, the compliation of the Python wrappers can be enabled by setting the option BUILD_PYTHON to ON.
+ * The especific version of Python to target can be set using the option PYBIND11_PYTHON_VERSION.
+ * For example,
+\verbatim
+cmake ../opengv
+  -DBUILD_PYTHON=ON
+  -DPYBIND11_PYTHON_VERSION=3.6
+\endverbatim
+ * Note that the python wrappers currently only allow access to the central methods.
+ *
+ * \section sec_installation_8 Using the OpenGV inside your cmake c++ project
+ *
+ * Once your have a system or local install of opengv you can use it in your own project.
+ * In your cmake file, add the search for the opengv library:
+\verbatim
+find_package(opengv REQUIRED)
+if (opengv_FOUND)
+  add_executable(main_opengv_demo main.cpp)
+  target_link_libraries(main_opengv_demo opengv)
+endif (opengv_FOUND)
+\endverbatim
+ *
+ * Then run cmake for your project (if you are using a local install of opengv, you can specify where the library is located by using -Dopengv_DIR:
+\verbatim
+ cmake ../myproject
+ -DCMAKE_BUILD_TYPE=RELEASE 
+ -Dopengv_DIR:STRING=/home/Foo/Documents/Dev/opengv_Build/install/CMake/
+\endverbatim
+ */

thirdparty/opengv/doc/addons/02_how_to_use.dox

@@ -0,0 +1,498 @@
+/** \page page_how_to_use How to use
+ *
+ * This page gives an introduction to the usage of OpenGV including a description of the interface and explicit examples. More information can be found in [17]. However, in order to have a smooth communication and full understanding of the functionality and documentation of the library, we first need to clearly define the meaning of a couple of words in the present context.
+ *
+ * \section sec_vocabulary Vocabulary
+ *
+ * <ul>
+ * <li> <b>Bearing vector</b>: A bearing vector is defined to be a 3-vector with unit norm bearing at a spatial 3D point from a camera reference frame. It has 2 degrees of freedom, which are the azimuth and elevation in the camera reference frame. Because it has only two degrees of freedom, we frequently refer to it as a 2D information. It is normally expressed in a camera reference frame.
+ * <li> <b>Landmark</b>: A landmark describes a 3D spatial point (usually expressed in a fixed frame called world reference frame).
+ * <li> <b>Camera</b>: OpenGV assumes to be in the calibrated case, and landmark measurements are always given in form of bearing vectors in a camera frame. A camera therefore denotes a camera reference frame with a set of bearing vectors, all pointing from the origin to landmarks. The following figure shows a camera c with bearing vectors (in red). The bearing vectors are all lying on the unit-sphere centered around the camera.
+ *
+ * \image html central.png
+ * \image latex central.pdf "" width=0.45\columnwidth
+ *
+ * <li> <b>Viewpoint</b>: You will notice that the documentation of the code very frequently talks about viewpoints instead of cameras. One of the advantages of OpenGV is that it can transparently handle both the central and the non-central case. The viewpoint is a generalization of a camera, and can contain an arbitrary number of cameras each one having it's own landmark-measurements (e.g. bearing vectors). A practical example of a viewpoint would be the set of images and related measurements captured by a fully-calibrated, rigid multi-camera rig with synchronized cameras, which therefore still represents a single (multi)-snapshot (i.e. viewpoint). Each camera has its own transformation to the viewpoint frame. In the central case the viewpoint simply contains a single camera with an identity transformation. The most general case-the generalized camera-can also be described by the viewpoint. Each bearing vector would then have it's own camera and related transformation. A generalized camera would hence be represented by an exhaustive multi-camera system. The following image shows a viewpoint vp (in blue) with three cameras c, c', and c'', each one containing its own bearing vector measurements.
+ *
+ * \image html noncentral.png
+ * \image latex noncentral.pdf "" width=0.8\columnwidth
+ *
+ * <li> <b>Pose</b>: By a pose, we understand here the position and orientation of a viewpoint, either with respect to a fixed spatial reference frame called the "world" reference frame, or with respect to another viewpoint.
+ * <li> <b>Absolute Pose</b>: By absolute pose, we understand the pose of a viewpoint in the world reference frame.
+ * <li> <b>Relative Pose</b>: By relative pose, we understand the pose of a viewpoint with respect to another viewpoint.
+ * <li> <b>Correspondence</b>: By a correspondence, we understand a pair of bearing-vectors pointing at the same landmark from different viewpoints (2D-2D correspondence), a bearing vector and a world-point it is pointing at (2D-3D correspondence), or a pair of expressions of the same landmark in different frames (3D-3D correspondence).
+ * </ul>
+ *
+ * \section sec_organization Organization of the library
+ *
+ * The library-structure is best analyzed at the hand of the namespace or directory hierarchy (as a matter of fact, there is no difference between the two):
+ * <ul>
+ * <li> opengv: contains generic things such as the types used throughout the library.
+ * <li> opengv/math: contains a bunch of math functions that are used in different algorithms, mainly for root-finding and rotation-related stuff.
+ * <li> opengv/absolute_pose: contains the absolute-pose methods. methods.hpp is the main-header that contains the method-declarations. You can also find a bunch of adapters here for interfacing with the algorithms (explained in the next section). The sub-folder modules contains declarations of internal methods.
+ * <li> opengv/relative_pose: contains the relative-pose methods. methods.hpp is the main-header that contains the method-declarations. You can also find a bunch of adapters here for interfacing with the algorithms (explained in the next section). The sub-folder modules contains declarations of internal methods.
+ * <li> opengv/point_cloud: contains the point-cloud alignment methods. Again, methods.hpp contains the declarations, and the folder contains adapters for interfacing (explained below).
+ * <li> opengv/triangulation: contains the triangulation methods.
+ * <li> opengv/sac: contains base-classes for sample-consensus methods and problems. So far, only the Ransac algorithm is implemented.
+ * <li> opengv/sac_problems: contains sample-consensus problems derived from the base-class. Implements sample-consensus problems for point-cloud alignment and central as well as non-central absolute and relative-pose estimation.
+ * </ul>
+ *
+ * \section sec_interface Interface
+ *
+ * You will quickly notice that all methods in OpenGV use a variable called adapter as a function-call parameter. OpenGV is designed based on the adapter pattern. "Adapters" in OpenGV are used as "visitors" to all geometric vision methods. They contain the landmarks, bearing-vectors, poses, correspondences etc. used as an input to the different methods (or references to the alike), and allow to access those elements with a unified interface. Adapters are derived from a base-class that defines the unified interface and they have to implement the related functions for accessing bearing-vectors, world-points, camera-transformations, viewpoint-poses, etc. There are three adapter-base-classes:
+ *
+ * <ul>
+ * <li> <b>AbsoluteAdapterBase</b>: Base-class for adapters holding 2D-3D correspondences for absolute-pose methods.
+ * <li> <b>RelativeAdapterBase</b>: Base-class for adapters holding 2D-2D correspondences for relative-pose methods.
+ * <li> <b>PointCloudAdapterBase</b>: Base-class for adapters holding 3D-3D correspondences for point-cloud alignment methods.
+ * </ul>
+ *
+ * The derived adapters have the task of transforming the data from the user-format to OpenGV types. This gives the library great flexibility. Users have to implement only a couple of adapters for the specific data-format they are using, and can then access the full functionality of the library. OpenGV currently contains adapters that simply hold references to OpenGV types (no transformation needed) plus adapters for mexArrays used within the Matlab-interface. Further adapters are planned, such as for instance an adapter for OpenCV keypoint and match-types including a camera model. The user would then be able to chose whether normalization of keypoints is done "on-demand" or "once for all" at the beginning, which is more efficient in sample-consensus problems.
+ *
+ * Note that adapters containing the tag "Central" in their name are adapters for a single camera (i.e. view-points with only one camera having identity transformation). Adapters having the tag "Noncentral" in their name are meant for view-points with multiple cameras (e.g., multi-camera systems, generalized cameras).
+ *
+ * Please check out the doxygen documentation on the above base-classes, they contain important documentation on the functions that need to be overloaded for a proper implementation of an adapter.
+ *
+ * \section sec_conventions Conventions, problem types, and examples
+ *
+ * As already mentioned, the entire library is assuming calibrated cameras/viewpoints, and it operates with 3D unit bearing vectors expressed in the camera frame. Calibrated means that the configuration of the multi-camera system (i.e. the inter-camera transformations) is known. The following introduces the different problems that can be solved with the library, and outlines the conventions for transformations (translations and rotations) in their context. <b>Note that all problems have solutions for both the minimal and non-minimal cases, and may also be solved as sample-consensus or non-linear optimization problems</b>. The code samples are mostly taken from the test files, which you can compile along with the library by setting BUILD_TESTS in CMakeLists.txt to ON.
+ *
+ * <ul>
+ *
+ * <li> <b>Central absolute pose:</b> The central absolute pose problem consists of finding the pose of a camera (e.g. viewpoint with a single camera) given a number of 2D-3D correspondences between bearing vectors in the camera frame and points in the world frame. The seeked transformation is given by the position \f$ \mathbf{t}_{c} \f$ of the camera seen from the world frame and the rotation \f$ \mathbf{R}_{c} \f$ from the camera to the world frame. This is what the algorithms return (or part of it), and what the adapters can hold as known or prior information.
+ *
+ * \image html absolute_central.png
+ * \image latex absolute_central.pdf "" width=0.8\columnwidth
+ *
+ * The minimal variants are p2p (a solution for position if rotation is known), p3p_kneip [1], p3p_gao [2], and UPnP [19]. The non-minimal variants are epnp [4], and UPnP [19]. The non-linear optimization variant is called optimize_nonlinear. Here's how to use them:
+ *
+\code
+// create the central adapter
+absolute_pose::CentralAbsoluteAdapter adapter(
+    bearingVectors, points );
+
+// Kneip's P2P (uses rotation from adapter)
+adapter.setR( knownRotation );
+translation_t p2p_translation =
+    absolute_pose::p2p( adapter, indices1 );
+
+// Kneip's P3P
+transformations_t p3p_kneip_transformations =
+    absolute_pose::p3p_kneip( adapter, indices2 );
+
+// Gao's P3P
+transformations_t p3p_gao_transformations =
+    absolute_pose::p3p_gao( adapter, indices2 );
+
+// Lepetit's Epnp (using all correspondences)
+transformation_t epnp_transformation =
+    absolute_pose::epnp(adapter);
+
+// UPnP (using all correspondences)
+transformations_t upnp_transformations =
+    absolute_pose::upnp(adapter);
+
+// UPnP (using three correspondences)
+transformations_t upnp_transformations =
+    absolute_pose::upnp( adapter, indices2 );
+
+// non-linear optimization (using all correspondences)
+adapter.sett(initial_translation);
+adapter.setR(initial_rotation);
+transformation_t nonlinear_transformation =
+    absolute_pose::optimize_nonlinear(adapter);
+
+\endcode
+ *
+ * p3p_kneip, p3p_gao, and epnp can also be used within a sample consensus context. The following shows how to do it:
+ *
+\code
+// create the central adapter
+absolute_pose::CentralAbsoluteAdapter adapter(
+    bearingVectors, points );
+
+// create a Ransac object
+sac::Ransac<sac_problems::absolute_pose::AbsolutePoseSacProblem> ransac;
+
+// create an AbsolutePoseSacProblem
+// (algorithm is selectable: KNEIP, GAO, or EPNP)
+std::shared_ptr<sac_problems::absolute_pose::AbsolutePoseSacProblem>
+    absposeproblem_ptr(
+    new sac_problems::absolute_pose::AbsolutePoseSacProblem(
+    adapter, sac_problems::absolute_pose::AbsolutePoseSacProblem::KNEIP ) );
+
+// run ransac
+ransac.sac_model_ = absposeproblem_ptr;
+ransac.threshold_ = threshold;
+ransac.max_iterations_ = maxIterations;
+ransac.computeModel();
+
+// get the result
+transformation_t best_transformation =
+    ransac.model_coefficients_;
+\endcode
+ *
+ * These examples are taken from test_absolute_pose.cpp and test_absolute_pose_sac.cpp.
+ *
+ * <li> <b>Non-central absolute pose:</b> The non-central absolute pose problem consists of finding the pose of a viewpoint given a number of 2D-3D correspondences between bearing vectors in multiple camera frames and points in the world frame. The seeked transformation is given by the position \f$ \mathbf{t}_{vp} \f$ of the viewpoint seen from the world frame and the rotation \f$ \mathbf{R}_{vp} \f$ from the viewpoint to the world frame. This is what the algorithms return, and what the adapters can hold as known or prior information.
+ *
+ * \image html absolute_noncentral.png
+ * \image latex absolute_noncentral.pdf "" width=0.8\columnwidth
+ *
+ * The minimal variant is gp3p, and the non-minimal variant is gpnp [3]. UPnP can be used for both the minimal and the non-minimal case [19]. The non-linear optimization variant is still optimize_nonlinear (it handles both cases). Here's how to use them:
+ *
+\code
+// create the non-central adapter
+absolute_pose::NoncentralAbsoluteAdapter adapter(
+    bearingVectors,
+    camCorrespondences,
+    points,
+    camOffsets,
+    camRotations );
+
+// Kneip's GP3P
+transformations_t gp3p_transformations =
+    absolute_pose::gp3p( adapter, indices1 );
+
+// Kneip's GPNP (using all correspondences)
+transformation_t gpnp_transformation =
+    absolute_pose::gpnp(adapter);
+
+// UPnP (using all correspondences)
+transformations_t upnp_transformations =
+    absolute_pose::upnp( adapter );
+
+// UPnP (using only 3 correspondences)
+transformations_t upnp_transformations_3 =
+    absolute_pose::upnp( adapter, indices1 );
+
+// non-linear optimization
+adapter.sett(initial_translation);
+adapter.setR(initial_rotation);
+transformation_t nonlinear_transformation =
+    absolute_pose::optimize_nonlinear(adapter);
+\endcode
+ *
+ * gp3p can also be used within a sample-consensus context. It remains an AbsolutePoseSacProblem, this one is usable for both the central and the non-central case. We simply have to set algorithm to GP3P:
+ *
+\code
+// create the non-central adapter
+absolute_pose::NoncentralAbsoluteAdapter adapter(
+    bearingVectors,
+    camCorrespondences,
+    points,
+    camOffsets,
+    camRotations );
+
+// create a RANSAC object
+sac::Ransac<sac_problems::absolute_pose::AbsolutePoseSacProblem> ransac;
+
+// create a absolute-pose sample consensus problem (using GP3P as an algorithm)
+std::shared_ptr<sac_problems::absolute_pose::AbsolutePoseSacProblem>
+    absposeproblem_ptr(
+    new sac_problems::absolute_pose::AbsolutePoseSacProblem(
+    adapter, sac_problems::absolute_pose::AbsolutePoseSacProblem::GP3P ) );
+
+// run ransac
+ransac.sac_model_ = absposeproblem_ptr;
+ransac.threshold_ = threshold;
+ransac.max_iterations_ = maxIterations;
+ransac.computeModel();
+
+// get the result
+transformation_t best_transformation =
+    ransac.model_coefficients_;
+\endcode
+ *
+ * These examples are taken from test_noncentral_absolute_pose.cpp and test_noncentral_absolute_pose_sac.cpp.
+ *
+ * <li> <b>Central relative pose:</b> The central relative pose problem consists of finding the pose of a camera (e.g. viewpoint with a single camera) with respect to a different camera given a number of 2D-2D correspondences between bearing vectors in the camera frames. The seeked transformation is given by the position \f$ \mathbf{t}_{c'}^{c} \f$ of the second camera seen from the first one and the rotation \f$ \mathbf{R}_{c'}^{c} \f$ from the second camera back to the first camera frame. This is what the algorithms return (or part of it), and what the adapters can hold as known or prior information.
+ *
+ * \image html relative_central.png
+ * \image latex relative_central.pdf "" width=0.6\columnwidth
+ *
+ * There are many central relative-pose algorithms in the library. The minimal variants are twopt (in case the rotation is known), twopt_rotationOnly (in case there is only rotational change, and using only two points), fivept_stewenius [5], fivept_nister [6], and fivept_kneip [7]. The libary also contains non-minimal variants, namely rotationOnly (in case of pure-rotation change), sevenpt [8], eightpt [9,10] and the new eigensolver [11] methods. All of them except twopt, twopt_rotationOnly, and fivept_kneip can be used for an arbitrary number of correspondences (of course at least the minimal number). The non-linear optimization variant is again called optimize_nonlinear. Here's how to use most of them (we assume a regular situation here, and thus omit the rotationOnly algorithms):
+ *
+\code
+// create the central relative adapter
+relative_pose::CentralRelativeAdapter adapter(
+    bearingVectors1, bearingVectors2 );
+
+// Relative translation with only two point-correspondences
+// (no or known rotation)
+adapter.setR(knownRotation);
+translation_t twopt_translation =
+    relative_pose::twopt( adapter, true, indices1 );
+
+// Stewenius' 5-point algorithm
+complexEssentials_t fivept_stewenius_essentials =
+    relative_pose::fivept_stewenius( adapter, indices2 );
+
+// Nister's 5-point algorithm
+essentials_t fivept_nister_essentials =
+    relative_pose::fivept_nister( adapter, indices2 );
+
+// Kneip's 5-point algorithm
+rotations_t fivept_kneip_rotations =
+    relative_pose::fivept_kneip( adapter, indices2 );
+
+// the 7-point algorithm
+essentials_t sevenpt_essentials =
+    relative_pose::sevenpt( adapter, indices3 );
+
+// the 8-point algorithm
+essential_t eightpt_essential =
+    relative_pose::eightpt( adapter, indices4 );
+
+// Kneip's eigensolver
+adapter.setR(initial_rotation);
+eigensolver_rotation =
+    relative_pose::eigensolver( adapter, indices5 );
+
+// non-linear optimization (using all available correspondences)
+adapter.sett(initial_translation);
+adapter.setR(initial_rotation);
+transformation_t nonlinear_transformation =
+    relative_pose::optimize_nonlinear(adapter);
+\endcode
+ *
+ * fivept_nister, fivept_stewenius, sevenpt, and eigthpt can also be used within a random-sample consensus scheme. It is done as follows:
+ *
+\code
+// create the central relative adapter
+relative_pose::CentralRelativeAdapter adapter(
+    bearingVectors1, bearingVectors2 );
+
+// create a RANSAC object
+sac::Ransac<sac_problems::relative_pose::CentralRelativePoseSacProblem> ransac;
+
+// create a CentralRelativePoseSacProblem
+// (set algorithm to STEWENIUS, NISTER, SEVENPT, or EIGHTPT)
+std::shared_ptr<sac_problems::relative_pose::CentralRelativePoseSacProblem>
+    relposeproblem_ptr(
+    new sac_problems::relative_pose::CentralRelativePoseSacProblem(
+    adapter,
+    sac_problems::relative_pose::CentralRelativePoseSacProblem::NISTER ) );
+
+// run ransac
+ransac.sac_model_ = relposeproblem_ptr;
+ransac.threshold_ = threshold;
+ransac.max_iterations_ = maxIterations;
+ransac.computeModel();
+
+// get the result
+transformation_t best_transformation =
+    ransac.model_coefficients_;
+\endcode
+ *
+ * These examples are taken from test_relative_pose.cpp and test_relative_pose_sac.cpp. There are also sample consensus problems for the case of pure-rotation, known rotation, or the eigensolver method. Feel free to explore opengv/sac_problems/relative_pose.
+ *
+ * <li> <b>Non-central relative pose:</b> The non-central relative pose problem consists of finding the pose of a viewpoint with respect to a different viewpoint given a number of 2D-2D correspondences between bearing vectors in multiple camera frames. The seeked transformation is given by the position \f$ \mathbf{t}_{vp'}^{vp} \f$ of the second viewpoint seen from the first one and the rotation \f$ \mathbf{R}_{vp'}^{vp} \f$ from the second viewpoint back to the first viewpoint frame. This is what the algorithms return (or part of it), and what the adapters can hold as known or prior information.
+ *
+ * \image html relative_noncentral.png
+ * \image latex relative_noncentral.pdf "" width=0.8\columnwidth
+ *
+ * There are three non-central relative pose methods in the library, the 17-point algorithm by Li [12], the 6-point method by Stewenius [16], and the new generalized eigensolver [18]. The 17-point algorithm as well as the generalized eigensolver can be used with an arbitrary number of points. The 6-point algorithm is usable with only 6-points exactly. "optimize_nonlinear" is again able to also handle the non-central case. Here's how to use these methods:
+ *
+\code
+// create the non-central relative adapter
+relative_pose::NoncentralRelativeAdapter adapter(
+    bearingVectors1,
+    bearingVectors2,
+    camCorrespondences1,
+    camCorrespondences2,
+    camOffsets,
+    camRotations );
+
+// 6-point algorithm
+rotations_t sixpt_rotations =
+    relative_pose::sixpt( adapter, indices );
+
+// generalized eigensolver (over all points)
+geOutput_t output;
+relative_pose::ge(adapter,output);
+translation_t ge_translation = output.translation.block<3,1>(0,0);
+rotation_t ge_rotation = output.rotation;
+
+// 17-point algorithm
+transformation_t seventeenpt_transformation =
+    relative_pose::seventeenpt( adapter, indices );
+
+// non-linear optimization (using all available correspondences)
+adapter.sett(initial_translation);
+adapter.setR(initial_rotation);
+transformation_t nonlinear_transformation =
+    relative_pose::optimize_nonlinear(adapter);
+\endcode
+ *
+ * All algorithms are also available in a sample-consensus scheme:
+ *
+\code
+// create the non-central relative adapter
+relative_pose::NoncentralRelativeAdapter adapter(
+    bearingVectors1,
+    bearingVectors2,
+    camCorrespondences1,
+    camCorrespondences2,
+    camOffsets,
+    camRotations );
+
+// create a RANSAC object
+sac::Ransac<sac_problems::relative_pose::NoncentralRelativePoseSacProblem>
+    ransac;
+
+// create a NoncentralRelativePoseSacProblem
+std::shared_ptr<
+    sac_problems::relative_pose::NoncentralRelativePoseSacProblem>
+    relposeproblem_ptr(
+    new sac_problems::relative_pose::NoncentralRelativePoseSacProblem(
+    adapter,
+    sac_problems::relative_pose::NoncentralRelativePoseSacProblem::SEVENTEENPT)
+    );
+
+// run ransac
+ransac.sac_model_ = relposeproblem_ptr;
+ransac.threshold_ = threshold;
+ransac.max_iterations_ = maxIterations;
+ransac.computeModel();
+
+// get the result
+transformation_t best_transformation =
+    ransac.model_coefficients_;
+\endcode
+ *
+ * These examples are taken from test_noncentral_relative_pose.cpp and test_noncentral_relative_pose_sac.cpp. Simply set SEVENTEENPT to GE or SIXPT in order to use the alternative algorithms.
+ *
+ * <li> <b>Triangulation of points:</b> OpenGV contains two methods for triangulating points. They are currently only designed for the central case, and compute the position of a point expressed in the first camera given a 2D-2D correspondence between bearing vectors from two cameras. The methods reuse the relative adapter, which need to hold the transformation between the cameras given by the position \f$ \mathbf{t}_{c'}^{c} \f$ of the second camera seen from the first one and the rotation \f$ \mathbf{R}_{c'}^{c} \f$ from the second camera back to the first camera frame.
+ *
+ * \image html triangulation_central.png
+ * \image latex triangulation_central.pdf "" width=0.6\columnwidth
+ *
+ * There are two methods, triangulate (linear) and triangulate2 (a fast non-linear approximation). They are used as follows:
+ *
+\code
+// create a central relative adapter
+// (immediately pass translation and rotation)
+relative_pose::CentralRelativeAdapter adapter(
+    bearingVectors1,
+    bearingVectors2,
+    translation,
+    rotation );
+
+// run method 1
+point_t point =
+    triangulation::triangulate( adapter, index );
+
+//run method 2
+point_t point =
+    triangulation::triangulate2( adapter, index );
+\endcode
+ *
+ * The example is taken from test_triangulation.cpp.
+ *
+ * <li> <b>Alignment of two point-clouds:</b> OpenGV also contains a method for aligning point-clouds. It is currently only designed for the central case, and computes the transformation between two frames given 3D-3D correspondences between points expressed in the two frames (here denoted by c and c', although it ain't necessarily need to be cameras anymore). The method returns the transformation between the frames given by the position \f$ \mathbf{t}_{c'}^{c} \f$ of the second frame seen from the first one and the rotation \f$ \mathbf{R}_{c'}^{c} \f$ from the second frame back to the first frame.
+ *
+ * \image html point_cloud.png
+ * \image latex point_cloud.pdf "" width=0.6\columnwidth
+ *
+ * The method is called threept_arun, and it can be used for an arbitrary number of points (minimum three). There is also a non-linear optimization method again called optimize_nonlinear. The methods are used as follows:
+ *
+\code
+// create the 3D-3D adapter
+point_cloud::PointCloudAdapter adapter(
+    points1, points2 );
+
+// run threept_arun
+transformation_t threept_transformation =
+    point_cloud::threept_arun( adapter, indices );
+
+// run the non-linear optimization over all correspondences
+transformation_t nonlinear_transformation =
+    point_cloud::optimize_nonlinear(adapter);
+\endcode
+ *
+ * There is also a sample-consensus problem for the point-cloud alignment. It is set up as follows:
+ *
+\code
+// create a 3D-3D adapter
+point_cloud::PointCloudAdapter adapter(
+    points1, points2 );
+
+// create a RANSAC object
+sac::Ransac<sac_problems::point_cloud::PointCloudSacProblem> ransac;
+
+// create the sample consensus problem
+std::shared_ptr<sac_problems::point_cloud::PointCloudSacProblem>
+    relposeproblem_ptr(
+    new sac_problems::point_cloud::PointCloudSacProblem(adapter) );
+
+// run ransac
+ransac.sac_model_ = relposeproblem_ptr;
+ransac.threshold_ = threshold;
+ransac.max_iterations_ = maxIterations;
+ransac.computeModel(0);
+
+// return the result
+transformation_t best_transformation =
+    ransac.model_coefficients_;
+\endcode
+ *
+ * These examples are taken from test_point_cloud.cpp and test_point_cloud_sac.cpp.
+ *
+ * </ul>
+ *
+ * Note that there are more unit-tests in the test-directory. It shows the usage of all the methods contained in the library.
+ *
+ * \section sec_threshold Some words about the sample-consensus-classes
+ *
+ * All the above mentioned Ransac-methods make use of a number of super-classes such that only the basic functions need to be implemented in the derived SacProblem (SampleConsensusProblem). The basic functions are responsible for getting valid samples for model instantiation, model instantiation itself, as well as model verification. <b>SamplesConsensusProblem</b> is the base-class for any problem we want to solve, and contains a virtual interface for the basic methods that need to be implemented. The base-class <b>SampleConsensus</b> is then for the sample-consensus method itself, calling the basic functions. So far only the <b>Ransac</b> is implemented [15].
+ *
+ * \subsection sec_ransac Ransac threshold
+ *
+ * Since the entire library is operating in 3D, we also need a way to compute and threshold reprojection errors in 3D. What we are looking at is the angle \f$ q \f$ between the original bearing-vector \f$ \mathbf{f}_{meas} \f$ and the reprojected one \f$ \mathbf{f}_{repr} \f$. By adopting a certain threshold angle \f$ q_{threshold} \f$, we hence constrain the \f$ \mathbf{f}_{repr} \f$ to lie within a cone of axis \f$ \mathbf{f}_{meas} \f$ and of opening angle \f$ q_{threshold} \f$.
+ *
+ * \image html reprojectionError.png
+ * \image latex reprojectionError.pdf "" width=0.45\columnwidth
+ *
+ * The threshold-angle \f$ q_{threshold} \f$ can be easily obtained from classical reprojection error-thresholds expressed in pixels \f$ \psi \f$ by assuming a certain focal length \f$ l \f$. We then have \f$ q_{threshold} = \arctan{\frac{\psi}{l}} \f$.
+ *
+ * The threshold we are using in the end is still not quite this one, but a value derived from it in analogy with the computation of reprojection errors. The most efficient way to compute a "reprojection error" is given by taking the scalar product of \f$ \mathbf{f}_{meas} \f$ and \f$ \mathbf{f}_{repr} \f$, which equals to \f$ \cos q \f$. Since this value is between -1 and 1, and we actually want an error that minimizes to 0, we take \f$ \epsilon = 1 - \mathbf{f}_{meas}^{T}\mathbf{f}_{repr} = 1 - \cos q \f$. The threshold error is therefore given by
+ *
+ * \f$ \epsilon_{threshold} = 1 - \cos{q_{threshold}} = 1 - \cos({\arctan{\frac{\psi}{l}}}) \f$
+ *
+ * In the ransac-examples in the test-folder, you will often see something like this.
+ *
+\code
+ransac.threshold_ = 1.0 - cos(atan(sqrt(2.0)*0.5/800.0));
+\endcode
+ *
+ * This notably corresponds to the above computation of our "reprojection-error"-threshold, with a focal length of 800.0 and a reprojection error in pixels of 0.5*sqrt(2.0).
+ *
+ * \section sec_multi The "Multi"-stuff
+ *
+ * As you go deeper into the code you might notice that there are a number of elements (mostly in the relative-pose context) that contain the tag "multi" in their name. The adapter base-class used here is called <b>RelativeMultiAdapterBase</b>. The idea of this adapter is to hold multiple sets of bearing-vector correspondences originating from pairs of cameras. A pair of cameras is, as the name says, a set of two cameras in different viewpoints. The correspondences are accessed via a multi-index (a pair-index referring to a specific pair of cameras, and a correspondence-index refering to the correspondence within the camera-pair).
+ *
+ * Subsets of camera-pairs can be identified in a number of problems, such as
+ * <ul>
+ * <li> Non-central relative pose (2 viewpoints): Non-central relative pose problems involving two viewpoints typically originate from motion-estimation with multi-camera rigs. In the special situation where the cameras are pointing in different directions, and where the motion between the viewpoints is not too big (a practically very relevant case), the correspondences are typically originating from the same camera in both viewpoints. We therefore can do a camera-wise grouping of the correspondences in the multi-camera system. The following situation contains four pairs given by the black, green, blue, and orange camera in both viewpoints:
+ *
+ * \image html nonoverlapping.png
+ * \image latex nonoverlapping.pdf "" width=0.8\columnwidth
+ *
+ * <li> Central multi-viewpoint problems: By multi-viewpoint we understand here problems that involve more than two viewpoints. As indicated below, a problem of three central viewpoints for instance allows to identify three camera-pairs as well. The number of camera-pairs in an n-view problem amounts to the combination of 2 out of n, meaning n*(n-1)/2. For the below example, we could have tha camera pairs (c,c'), (c',c''), and (c'',c). The first pair would have a set of correspondences originating from points p1 and p4, the second one from p2 and p4, and the third one from p3 and p4.
+ *
+ * \image html multi_viewpoint.png
+ * \image latex multi_viewpoint.pdf "" width=0.8\columnwidth
+ *
+ * </ul>
+ *
+ * The multi-adapters keep track of these camera-pair-wise correspondence groups. The benefit of it appears when moving towards random sample-consensus schemes. Have a look at the "opengv/sac/"-folder, it contains the <b>MultiSampleConsensus</b>, <b>MultiRansac</b>, and <b>MultiSampleConsensusProblem</b> classes. They employ the multi-indices, and the derived MultiSampleConsensusProblems exploit the fact that the correspondences are grouped:
+ *
+ * <ul>
+ * <li>The <b>MultiNoncentralRelativePoseSacProblem</b> is for non-central, non-overlapping viewpoints with little change, and exploits the grouping in order to do homogeneous sampling of correspondences over the cameras. As an example, imagine we are computing the relative pose of a non-overlapping multi-camera rig with two cameras facing opposite directions. In terms of accuracy, it doesn't make sense to sample 16-points in one camera and one point in the other. We preferrably would like to sample 8 points in one camera, and 9 in the other. This is exactly what MultiNoncentralRelativePoseSacProblem is able to do. It uses the derived adapter <b>NoncentralRelativeMultiAdapter</b>.
+ * <li>In the multi viewpoint case, one could of course solve a central relative pose problem for each camera-pair individually. The idea of <b>MultiCentralRelativePoseSacProblem</b> is to benefit from a joint solution of multiple relative-pose problems. In the above three-view problem for instance, we can exploit additional constraints around the individual transformations such as cycles of rotations returning identity, and cycles of translations returning zero. The corresponding adapter is called <b>CentralRelativeMultiAdapter</b>.
+ * </ul>
+ *
+ * All this stuff is highly experimental, so you probably shouldn't pay too much attention to it for the moment ;)
+ *
+ */

thirdparty/opengv/doc/addons/03_matlab.dox

@@ -0,0 +1,117 @@
+/** \page page_matlab The Matlab interface
+ *
+ * All algorithms are accessed from Matlab via one interface file only. The syntax is as follows:
+ *
+ * <ul>
+ * <li>X = opengv ( method, data1, data2 )
+ * <li>X = opengv ( method, indices, data1, data2 )
+ * <li>X = opengv ( method, indices, data1, data2, prior )
+ * </ul>
+ *
+ * where
+ * <ul>
+ * <li> method is a string that characterizes the algorithm to use. It can be one of the following:
+ *
+\verbatim
+absolute pose methods:
+'p2p', 'p3p_kneip', 'p3p_gao', 'epnp', 'p3p_kneip_ransac', 'p3p_gao_ransac', 'epnp_ransac', 'abs_nonlin_central', 'gp3p', 'gp3p_ransac', 'gpnp', 'abs_nonlin_noncentral', 'upnp'.
+
+relative pose methods:
+'twopt', 'twopt_rotationOnly', 'rotationOnly', 'fivept_stewenius', 'fivept_nister', 'fivept_kneip', 'sevenpt', 'eightpt', 'eigensolver', 'rotationOnly_ransac',
+'fivept_stewenius_ransac', 'fivept_nister_ransac', 'sevenpt_ransac', 'eightpt_ransac', 'eigensolver_ransac', 'rel_nonlin_central', 'sixpt', 'seventeenpt',
+'ge', 'sixpt_ransac', 'seventeenpt_ransac', 'ge_ransac', 'rel_nonlin_noncentral'.
+
+point_cloud methods:
+'threept_arun', 'threept_arun_ransac'.
+\endverbatim
+ *
+ * <li> data1, data2 are correspondences (each one of dimension 3xn or 6xn). They are 3xn in the central case (only containing normalized bearing vectors or 3D points), and 6xn for measurements in the non-central case,
+ *      where they then also contain the position of the camera in the body frame in rows 4:6. Note that there is no camera orientation with respect to the body frame in the matlab syntax, the bearing vectors are
+ *      supposed to be prerotated into the body frame (only rotated!).
+ * <li> indices is a subset of correspondences that we plan to use for the computation.
+ * <li> prior is a 3x1 (translation), 3x3 (rotation), or 3x4 ([R t]-transformation) holding a prior value for the transformation to compute.
+ * <li> The return value X is a 3xnxm-matrix, where n is the second dimensionality of the solution space, and m is the number of solutions. n is one for methods that only compute a translation, 3 for methods that only compute a rotation, and 4 for methods that compute both rotation and translation (format: [R t]).
+ * </ul>
+ *
+ * Note that, for Ransac-methods, the indices of the inliers can now also be retrieved. Simply add one return parameter on the left-hand side arguments: [X, inliers] = opengv(...). The Matlab wrapper includes rather exhaustive checking of command validity. More algorithms are planned for inclusion.
+ *
+ * \section Examples
+ *
+ * The interface is probably explained easiest at the hand of a few examples. Let's say that we have a matrix P of size 3xn which contains n world points. Let's also assume that we have a matrix I of size 2xn which contains the corresponding 2D measurements in the image plane. Let us assume that our camera is perspective and that we have a calibration matrix K that contains the intrinsic parameters (standard upper triangular matrix). OpenGV expects normalized coordinates on the unit sphere, so we start by transforming the measurements.
+ *
+ \verbatim
+ temp = K \ [I; ones(1,size(I,2))];
+ I_norms = sqrt(sum(temp.*temp));
+ I_normalized = temp ./ repmat(I_norms,3,1);
+ \endverbatim
+ *
+ * We are now ready to call OpenGV to compute the camera pose. Let's say we want to use the EPnP method:
+ *
+ \verbatim
+ X = opengv('epnp',P,I_normalized);
+ R = X(:,1:3);
+ t = X(:,4);
+ \endverbatim
+ *
+ * Done! Ok, let's make things a bit more interesting, and assume that there are also outliers in the data. We simply have to switch to a Ransac method to take outliers into account!
+ *
+ \verbatim
+ [X, inliers] = opengv('p3p_kneip_ransac',P,I_normalized);
+ \endverbatim
+ * 
+ * Note that this will also give use the indices of the inliers.
+ *
+ * Now let us also look at a non-central example to see how this works. We assume that we have a multi-camera system with two cameras. The cameras have the positions t1 and t2 inside the body-frame. The rotation from the camera frames to the body frame is R1 and R2, respectively. Camera 1 has intrinsic parameters K1, and camera 2 has intrinsic parameters K2. Now let us assume that there are correspondences in both views. Camera one measures the image points I1 which belong to the world points P1 (I1 is 2xn1 and P1 is 3xn1). Camera 2 measures the image points I2 which belong to the world points P2 (I2 is 2xn2 and P2 is 3xn2). Now let us start with normalizing the image points into direction vectors on the unit sphere:
+ * 
+ \verbatim
+ temp = K1 \ [I1; ones(1,size(I1,2))];
+ I1_norms = sqrt(sum(temp.*temp));
+ I1_normalized = temp ./ repmat(I1_norms,3,1);
+ temp = K2 \ [I2; ones(1,size(I2,2))];
+ I2_norms = sqrt(sum(temp.*temp));
+ I2_normalized = temp ./ repmat(I2_norms,3,1);
+ \endverbatim
+ *
+ * We then can compute the absolute pose of the multi-camera system by simply executing this command
+ *
+ \verbatim
+ X = opengv('upnp',[P1 P2],[ R1*I1_normalized, R2*I2_normalized; repmat(t1,1,size(I1,2)), repmat(t2,1,size(I2,2)) ]);
+ R = X(:,1:3);
+ t = X(:,4);
+ \endverbatim
+ *
+ * In order to handle outliers as well, simply switch to 'gp3p_ransac'. Now that you know how to handle 2D-3D registration in the central and non-central case, the 2D-2D registration case is also easily learned. Simply replace the world points by 2D measurements in another view.
+ *
+ * \section sec_benchmarks Automatic benchmarking of algorithms
+ *
+ * Perhaps the nicest thing about the Matlab-code is that it includes automatic benchmarks for all algorithms. The subfolder matlab/helpers contains useful functions for the benchmarks.
+ * The most important ones are:
+ *
+ * <ul>
+ * <li> create2D2DExperiment.m: Lets you create a random relative pose problem, meaning correspondences in two viewpoints using desired number of cameras, number of correspondences,
+ *      outlier ratio, and noise. It returns the observations in both viewpoints, plus the ground truth values for the relative transformation parameters. It automatically returns
+ *      measurement data for the central or the noncentral case depending on how many cameras are configured.
+ * <li> create2D3DExperiment.m: Does pretty much the same thing, however for the absolute pose situation.
+ * <li> evaluateRotationError.m/evaluateTransformationError.m: Computes the rotation/transformation error of multiple hypotheses by selecting the one that is closest to ground truth.
+ * <li> perturb.m: puts a random perturbation on a transformation
+ * <li> rodrigues.m / cayley2rot.m / rot2cayley.m: back and forth transformation to minimal rotation representations.
+ * <li> transformEssentials.m: Transforms a set of multiple essential matrices into rotations.
+ * <li> addNoise.m: Adds noise to a bearing vector by assuming a spherical camera and extracting the corresponding tangential plane.
+ * </ul>
+ *
+ * The main benchmark files are finally given by:
+ *
+ * <ul>
+ * <li> benchmark_absolute_pose.m
+ * <li> benchmark_absolute_pose_noncentral.m
+ * <li> benchmark_relative_pose.m
+ * <li> benchmark_relative_pose_noncentral.m
+ * </ul>
+ *
+ * opengv.cpp contains the interface itself. Some other files like opengv_donotuse.cpp are used for timing experiments (named benchmark_xxx_timing.m). They execute each problem 20 times so time can be measured sufficiently accurate without overhead from Matlab. opengv_experimental1.cpp and opengv_experimental2.cpp are used for some specific ransac experiments, they are not as important.
+ *
+ * The benchmarks are fairly well documented and self-explaining. They simply run multiple tests for each algorithm while going through increasing noise-levels, and finally plot the resulting mean and
+ * median errors. Adding an algorithm or changing the set of algorithms for comparison is very easy, you simply have to modify the cell-arrays algorithms, indices, and names. They contain the internal
+ * names of the algorithms that are being evaluated, the indices of the points to use from the experiment (allowing to use different (numbers of) points for each algorithm and random experiment), and
+ * the names of the algorithms for the final plots. Comparing your new algorithm has never been easier :)
+ */

thirdparty/opengv/doc/addons/04_how_to_contribute.dox

@@ -0,0 +1,48 @@
+/** \page page_how_to_contribute How to contribute
+ *
+ * You are missing your geometric vision algorithm? You share the feeling that it would be nice to have a common place for all geometric vision algorithms, which then implicitly would offer automatic benchmarking without having to do the overhead everyime? Well, that place is here! Join the community today and add your algorithm(s). The instructions on this page give you some additional hints if you want to participate.
+ * 
+ * \section sec_contribute_1 Preparations
+ * 
+ * If you haven't done so, please follow the instructions in the "Installation"-section to install the library on your system. We strongly recommend that you are using github's fork/pull request mechanism.
+ * It is also recommended that you first collect some experience with using the library, and notably understand the interface of the library. Please checkout the section "How to use".
+ *
+ * \section sec_contribute_2 Design concepts:
+ *
+ * The library is developped in C++. The interface is based on the adapter-pattern, and you should use this concept in order to keep things as compatible as possible. In essence, it means that you should reuse the base-classes AbsoluteAdapterBase and RelativeAdapterBase, no matter if implementing a new algorithm or if extending the portability by implementing a new adapter. Have a look at the "How to use"-section in order to get more information.
+ *
+ * You should also make yourself familiar with some coding standards. The code written so far doesn't necessarily follow one standard exclusively, but at least reflects the effort of maintaining a reasonable level of consistency. Please try to follow that line, it will substantially facilitate the inclusion of your code. Also have a look at the directory structure, it strictly follows the namespace structure, and this should remain the case. Headers that are only intended for internal use are in sub-folders called "modules", and templated implementation-headers go into sub-directories called "implementation". Also have a look at types.hpp, these are the types used for all geometric vision constructs, and should be reused thoughout the entire library. OpenGV uses two-space indentation, and tries to stick to 80-column width.
+ *
+ * Another property that should be maintened is "independence". The library essentially depends only on Eigen. This is a powerful library that should deliver most of the functionality required for the purpose of opengv. For the sake of simplicity of installation and contribution, we should keep things along these lines, which means that it is appreciated if algorithms do not require the inclusion of any further third-party libraries.
+ *
+ * The files in the library are encoded with UTF-8. It has been mainly developed under Linux, and compilation with gcc currently returns no warnings (hopefully). If you plan to develop under Windows, make sure you use an editor that understands UTF-8 encoding (no, notepad.exe is not a nice editor ;) ).
+ *
+ * \section sec_contribute_3 Todos:
+ * 
+ * The following is a non-exhaustive list of things that could be improved.
+ * You may also want to contact kneip.laurent@gmail.com for further information, if you want to
+ * collaborate on one of these points.
+ *
+ * <ul>
+ * <li> The library should easily permit further benchmarks, for instance all the special cases (e.g. planar structure etc.).
+ * <li> The triangulation method needs to be able to handle non-central viewpoints. This would avoid some hacks here and there. Same accounts for the point-cloud alignment methods.
+ * <li> The triangulation methods (and possibly further algorithms) should be included in the opengv-Matlab-interface.
+ * <li> NoncentralRelativePoseSacProblem could decide automatically whether it should process data in a central or non-central way. Same accounts for the MultiNoncentralRelativePoseSacProblem.
+ * <li> Sometimes ransac or iterative methods reset the adapter transformation for instance to compute reprojection errors (search recursively for sett). The original value should always be reset, because other parts of the algorithm potentially want to use it.
+ * <li> Add more adapters to increase the portability. Examples are: OpenCV, Gandalf, VXR, Bundler, libcvd, OpenMVG.
+ * <li> There is an improved version of p3p_kneip lying around somewhere, which could be included.
+ * <li> Richard Hartley's implementation of the five-point should be included (replacing the current one).
+ * <li> Hongdong Li's five-point solver should be included.
+ * <li> Kukelova's polynomial eigenvalue solution could be included.
+ * <li> P4P and DLT should be included.
+ * <li> What about DLS and OPnP? Only Matlab versions are publically available.
+ * <li> The 6-point by Stewenius is extremly difficult to reimplement. The reimplementation I provide is maybe not the best.
+ * <li> Most of the current implementations treat the correspondences equally. The AdapterBase-classes however contain already a virtual function called "getWeight", which could be used to weight the correspondences differently for instance in a non-linear optimization scheme. Most of the adapters currently simply return 1.0 for these calls. Only the CentralRelativeWeightingAdapter has constructors that include the weight of the correspondences.
+ * <li> arun_complete and threept_arun are redundant, we should get rid of one of them.
+ * <li> The polynomial structures are Matlab-like arrays of coefficients, of different types, and sometimes with different conventions (coefficients once stored along the lines, once along the columns).
+ * <li> Add more comments in implementation files such that users can potentially understand what's going on.
+ * <li> Use vector.segment, block...topleftcorner etc.
+ * <li> Theia by Chris Sweeney has an interesting Sturm root finder, it could be transplanted.
+ * </ul>
+ * 
+ */

thirdparty/opengv/doc/addons/05_contact.dox

@@ -0,0 +1,9 @@
+/** \page page_contact Contact
+ *
+ * For any questions or inquiries, please contact:
+ *
+\verbatim
+kneip.laurent@gmail.com
+\endverbatim
+ *
+ */

thirdparty/opengv/doc/addons/06_references.dox

@@ -0,0 +1,42 @@
+/** \page page_references References
+ *
+[1]  L. Kneip, D. Scaramuzza, R. Siegwart, "A Novel Parametrization of the Perspective-Three-Point Problem for a Direct Computation of Absolute Camera Position and Orientation", Proc. of The IEEE Conference on Computer Vision and Pattern Recognition (CVPR), Colorado Springs, USA. June 2011.
+
+[2]  X. Gao, X. Hou, J. Tang, H. Cheng. "Complete solution classification for the perspective-three-point problem", IEEE Transactions on Pattern Analysis and Machine Intelligence, 25(8):930–943, 2003.
+
+[3]  L. Kneip, P. Furgale, R. Siegwart, "Using Multi-Camera Systems in Robotics: Efficient Solutions to the NPnP Problem", Proc. of The IEEE International Conference on Robotics and Automation (ICRA), Karlsruhe, Germany. May 2013.
+
+[4]  V. Lepetit, F. Moreno-Noguer, P. Fua. "Epnp: An accurate O(n) solution to the pnp problem", International Journal of Computer Vision (IJCV), 81(2):578–589, 2009.
+
+[5]  H. D. Stewénius, C. Engels, D. Nistér. "Recent developments on direct relative orientation", ISPRS Journal of Photogrammetry and Remote Sensing, 60(4):284–294, 2006.
+
+[6]  D. Nistér, "An efficient solution to the five-point relative pose problem", IEEE Transactions on Pattern Analysis and Machine Intelligence (PAMI), 26(6):756–777, 2004.
+
+[7]  L. Kneip, R. Siegwart, M. Pollefeys, "Finding the Exact Rotation Between Two Images Independently of the Translation", Proc. of The European Conference on Computer Vision (ECCV), Florence, Italy. October 2012.
+
+[8]  R. Hartley, A. Zisserman. "Multiple View Geometry in Computer Vision", Cambridge University Press, New York, NY, USA, second edition, 2004.
+
+[9]  H. Longuet-Higgins, "Readings in computer vision: issues, problems, principles, and paradigms", Morgan Kaufmann Publishers Inc., San Francisco, CA, USA, 1987.
+
+[10] R. Hartley, "In Defense of the Eight-Point Algorithm", IEEE Transactions on Pattern Analysis and Machine Intelligence (PAMI), 19(6):580–593, 1997.
+
+[11] L. Kneip, S. Lynen, "Direct Optimization of Frame-to-Frame Rotation", Proc. of The International Conference on Computer Vision (ICCV), Sydney, Australia. December 2013. (Accepted for publication)
+
+[12] H. Li, R. Hartley, J. Kim, "A Linear Approach  to Motion Estimation Using Generalized Camera Models", Proc. of The IEEE Conference on Computer Vision and Pattern Recognition (CVPR), Anchorage, Alaska, USA. June 2008.
+
+[13] K.S. Arun, T.S. Huang, S.D. Blostein, "Least-Squares Fitting of Two 3-D Point Sets", IEEE Transactions on Pattern Analysis and Machine Intelligence (PAMI), 9(5), 698-700, 1987.
+
+[14] A. Cayley. "About the algebraic structure of the orthogonal group and the other classical groups in a field of characteristic zero or a prime characteristic", Reine Angewandte Mathematik, 32, 1846.
+
+[15] M. Fischler, R. Bolles, "Random sample consensus: a paradigm for model fitting with applications to image analysis and automated cartography", Communications of the ACM, 24(6):381–395, 1981.
+
+[16] H. Stewenius, D. Nister, M. Oskarsson, K. Aström, "Solutions to Minimal Generalized Relative Pose Problems", Workshop on omni-directional vision, 2005.
+
+[17] L. Kneip, P. Furgale, "OpenGV: A unified and generalized approach to real-time calibrated geometric vision", Proc. of The IEEE International Conference on Robotics and Automation (ICRA), Hong Kong, China. May 2014.
+
+[18] L. Kneip, H. Li, "Efficient Computation of Relative Pose for Multi-Camera Systems", In Proc. of the IEEE Conference on Computer Vision and Pattern Recognition (CVPR), Columbus, USA. June 2014.
+
+[19] L. Kneip, H. Li, Y. Seo, "UPnP: An optimal O(n) solution to the absolute pose problem with universal applicability", In Proc. of The European Conference on Computer Vision (ECCV), Zurich, Switzerland. September 2014.
+
+ *
+ */

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+showpage

thirdparty/opengv/doc/addons/mainpage.dox

@@ -0,0 +1,101 @@
+/** \mainpage The OpenGV library
+ *
+ * <b>Important note:</b> If you are only interested in using the library under Matlab, now there is a precompiled mex-library for 64-bit systems available. You can download it from:
+ *
+\verbatim
+Windows: http://laurentkneip.github.io/publications/opengv.mexw64
+Mac OSX: http://laurentkneip.github.io/publications/opengv.mexmaci64
+\endverbatim
+ *
+ * These versions have been added around March 2016, so please be aware that later additions may not be included in this distribution. You can go immediately to \ref page_matlab "Use under Matlab" to receive further instructions on the Matlab interface.
+ *
+ * The OpenGV library aims at unifying geometric computer vision algorithms for calibrated camera pose computation within a single
+ * efficient C++-library. OpenGV stands for Open Geometric Vision. It contains classical central and more recent non-central absolute
+ * and relative camera pose computation algorithms, as well as triangulation and point-cloud alignment functionalities, all extended
+ * by non-linear optimization and RANSAC contexts. It contains a flexible C++-interface as well as Matlab and Python wrappers, and eases the
+ * comparison of different geometric vision algorithms. A benchmark to compare the various solutions for one particular problem against
+ * each other is included in the Matlab stuff.
+ *
+ * The library is described in the paper (Please cite if you use it for your research!):
+ *
+ * - L. Kneip, P. Furgale, "OpenGV: A unified and generalized approach to real-time calibrated geometric vision", Proc. of The IEEE International Conference on Robotics and Automation (ICRA), Hong Kong, China. May 2014.
+ *
+ * The library has been developped in the context of the following papers.
+ *
+ * - L. Kneip, D. Scaramuzza, R. Siegwart, "A Novel Parametrization of the Perspective-Three-Point Problem for a Direct Computation of Absolute Camera Position and Orientation", Proc. of The IEEE Conference on Computer Vision and Pattern Recognition (CVPR), Colorado Springs, USA. June 2011.
+ * - L. Kneip, M. Chli, R. Siegwart, "Robust Real-Time Visual Odometry with a Single Camera and an IMU", Proc. of The British Machine Vision Conference (BMVC), Dundee, UK. August 2011.
+ * - T. Kazik, L. Kneip, J. Nikolic, M. Pollefeys, R. Siegwart, "Real-Time 6D Stereo Visual Odometry with Non-Overlapping Fields of View", Proc. of The IEEE Conference on Computer Vision and Pattern Recognition (CVPR), Providence, USA. June 2012.
+ * - L. Kneip, R. Siegwart, M. Pollefeys, "Finding the Exact Rotation Between Two Images Independently of the Translation", Proc. of The European Conference on Computer Vision (ECCV), Florence, Italy. October 2012.
+ * - L. Kneip, P. Furgale, R. Siegwart, "Using Multi-Camera Systems in Robotics: Efficient Solutions to the NPnP Problem", Proc. of The IEEE International Conference on Robotics and Automation (ICRA), Karlsruhe, Germany. May 2013.
+ * - L. Kneip, S. Lynen, "Direct Optimization of Frame-to-Frame Rotation", Proc. of The International Conference on Computer Vision (ICCV), Sydney, Australia. December 2013.
+ * - L. Kneip, H. Li, "Efficient Computation of Relative Pose for Multi-Camera Systems", In Proc. of the IEEE Conference on Computer Vision and Pattern Recognition (CVPR), Columbus, USA. June 2014.
+ * - L. Kneip, H. Li, Y. Seo, "UPnP: An optimal O(n) solution to the absolute pose problem with universal applicability", In Proc. of The European Conference on Computer Vision (ECCV), Zurich, Switzerland. September 2014.
+ *
+ * Please cite the OpenGV paper as well as the corresponding paper if you use OpenGV to work on a particular problem.
+ *
+ * \section main_sec_2 Getting started
+ *
+ * OpenGV features the following set of algorithms:
+ * 
+ *  <ul>
+ *  <li> Absolute camera pose computation:
+ *    <ol>
+ *    <li>absolute pose computation with known rotation
+ *    <li>two P3P-algorithms (Kneip, Gao)
+ *    <li>generalized P3P
+ *    <li>the EPnP algorithm by Lepetit and Fua
+ *    <li>an extension of the EPnP algorithm to the non-central case (Kneip)
+ *    <li>the generalized absolute pose solver presented at ICRA 2013 (Kneip)
+ *    <li>non-linear optimization over n correspondences (both central and non-central)
+ *    <li>the UPnP algorithm presented at ECCV 2014 (both central and non-central, and minimal and non-minimal)
+ *    </ol>
+ *  <li> Relative camera-pose computation:
+ *    <ol>
+ *    <li>2-point algorithm for computing the translation with known relative rotation
+ *    <li>2-point algorithm for deriving the rotation in a pure-rotation situation
+ *    <li>n-point algorithm for deriving the rotation in a pure-rotation situation
+ *    <li>5-point algorithm by Stewenius
+ *    <li>5-point algorithm by Nister
+ *    <li>5-point algorithm to solve for rotations directly (by Kneip)
+ *    <li>7-point algorithm
+ *    <li>8-point algorithm by Longuet-Higgins
+ *    <li>6-point algorithm by Henrik Stewenius for generalized relative pose
+ *    <li>17-point algorithm by Hongdong Li
+ *    <li>non-linear optimization over n correspondences (both central and non-central)
+ *    <li>relative rotation as an iterative eigenproblem (by Kneip)
+ *    <li>generalized reltive rotation for multi-camera systems as an iterative eigenproblem (by Kneip)
+ *    </ol>
+ *  <li>Two methods for point-triangulation
+ *  <li>Arun's method for aligning point clouds
+ *  <li>Generic sample-consensus problems for most algorithms useable with Ransac
+ *  <li>Math tools:
+ *    <ol>
+ *    <li>Generic Sturm-sequence implementation for numerical root-finding
+ *    <li>Algebraic root finding
+ *    <li>Cayley rotations
+ *    </ol>
+ *  <li>Unit/Benchmarking tests for all algorithms
+ *  <li>Matlab interface
+ *  <li>Python interface
+ *  </ul>
+ * 
+ * The aim of OpenGV is to make these algorithms accessible
+ * to real-time computer vision and robotics-related tasks, that require efficient
+ * pose computation of calibrated cameras. It is also intended to serve as a
+ * benchmarking framework for testing and comparing different solutions
+ * to geometric-vision problems. The library realizes a clean separation between
+ * 2D-2D, 2D-3D, and 3D-3D registration tasks. It thus provides
+ * a somewhat missing block between image-processing libraries (e.g. OpenCV) and
+ * more exhaustive non-linear optimization frameworks (e.g. g2o, ceres). By
+ * working exclusively with 3D unit bearing-vectors, it allows to be applied in
+ * conjunction with any optical projection system.
+ *
+ * Please consult the following sub-pages to get a step-by-step introduction to the library:
+ * - \subpage page_installation "Installation"
+ * - \subpage page_how_to_use "How to use"
+ * - \subpage page_matlab "Use under Matlab"
+ * - \subpage page_how_to_contribute "How to contribute"
+ * - \subpage page_contact "Contact"
+ * - \subpage page_references "References"
+ *
+ */

thirdparty/opengv/include/opengv/Indices.hpp

@@ -0,0 +1,109 @@
+/******************************************************************************
+ * Author:   Laurent Kneip                                                    *
+ * Contact:  kneip.laurent@gmail.com                                          *
+ * License:  Copyright (c) 2013 Laurent Kneip, ANU. All rights reserved.      *
+ *                                                                            *
+ * Redistribution and use in source and binary forms, with or without         *
+ * modification, are permitted provided that the following conditions         *
+ * are met:                                                                   *
+ * * Redistributions of source code must retain the above copyright           *
+ *   notice, this list of conditions and the following disclaimer.            *
+ * * Redistributions in binary form must reproduce the above copyright        *
+ *   notice, this list of conditions and the following disclaimer in the      *
+ *   documentation and/or other materials provided with the distribution.     *
+ * * Neither the name of ANU nor the names of its contributors may be         *
+ *   used to endorse or promote products derived from this software without   *
+ *   specific prior written permission.                                       *
+ *                                                                            *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"*
+ * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE  *
+ * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE *
+ * ARE DISCLAIMED. IN NO EVENT SHALL ANU OR THE CONTRIBUTORS BE LIABLE        *
+ * FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL *
+ * DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR *
+ * SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER *
+ * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT         *
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY  *
+ * OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF     *
+ * SUCH DAMAGE.                                                               *
+ ******************************************************************************/
+
+/**
+ * \file Indices.hpp
+ * \brief Generic functor base for use with the Eigen-nonlinear optimization
+ *        toolbox.
+ */
+
+#ifndef OPENGV_INDICES_HPP_
+#define OPENGV_INDICES_HPP_
+
+#include <stdlib.h>
+#include <Eigen/Eigen>
+#include <Eigen/src/Core/util/DisableStupidWarnings.h>
+
+using namespace std;
+using namespace Eigen;
+
+/**
+ * \brief The namespace of this library.
+ */
+namespace opengv
+{
+
+/**
+ * Index class used internally so we can efficiently access either all or
+ * just a subset of the indices, using the same syntax
+ */
+struct Indices
+{
+  /** Indexing into vector of indices? */
+  bool _useIndices;
+  /** Pointer to a vector of indices (if used) */
+  const std::vector<int> * _indices;
+  /** The number of correspondences */
+  size_t _numberCorrespondences;
+
+  /**
+   * \brief Constructor using index-vector.
+   * \param[in] indices The index-vector.
+   */
+  Indices( const std::vector<int> & indices) :
+    _useIndices(true),
+    _indices(&indices),
+    _numberCorrespondences(indices.size())
+  {}
+
+  /**
+   * \brief Constructor without index-vector (uses all correspondences).
+   * \param[in] numberCorrespondences The number of correspondences.
+   */
+  Indices(size_t numberCorrespondences) :
+      _useIndices(false),
+      _numberCorrespondences(numberCorrespondences)
+  {}
+
+  /**
+   * \brief Get the number of correspondences.
+   * \return The number of correspondences.
+   */
+  size_t size() const
+  {
+    return _numberCorrespondences;
+  }
+
+  /**
+   * \brief Get an index.
+   * \param[in] i The index.
+   * \return The index (either directly or from the index-vector).
+   */
+  int operator[](int i) const
+  {
+    if( _useIndices )
+      return (*_indices)[i];
+    return i;
+  }
+};
+
+}
+
+#endif /* OPENGV_INDICES_HPP_ */

thirdparty/opengv/include/opengv/OptimizationFunctor.hpp

@@ -0,0 +1,103 @@
+/******************************************************************************
+ * Author:   Laurent Kneip                                                    *
+ * Contact:  kneip.laurent@gmail.com                                          *
+ * License:  Copyright (c) 2013 Laurent Kneip, ANU. All rights reserved.      *
+ *                                                                            *
+ * Redistribution and use in source and binary forms, with or without         *
+ * modification, are permitted provided that the following conditions         *
+ * are met:                                                                   *
+ * * Redistributions of source code must retain the above copyright           *
+ *   notice, this list of conditions and the following disclaimer.            *
+ * * Redistributions in binary form must reproduce the above copyright        *
+ *   notice, this list of conditions and the following disclaimer in the      *
+ *   documentation and/or other materials provided with the distribution.     *
+ * * Neither the name of ANU nor the names of its contributors may be         *
+ *   used to endorse or promote products derived from this software without   *
+ *   specific prior written permission.                                       *
+ *                                                                            *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"*
+ * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE  *
+ * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE *
+ * ARE DISCLAIMED. IN NO EVENT SHALL ANU OR THE CONTRIBUTORS BE LIABLE        *
+ * FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL *
+ * DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR *
+ * SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER *
+ * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT         *
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY  *
+ * OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF     *
+ * SUCH DAMAGE.                                                               *
+ ******************************************************************************/
+
+/**
+ * \file OptimizationFunctor.hpp
+ * \brief Generic functor base for use with the Eigen-nonlinear optimization
+ *        toolbox.
+ */
+
+#ifndef OPENGV_OPTIMIZATIONFUNCTOR_HPP_
+#define OPENGV_OPTIMIZATIONFUNCTOR_HPP_
+
+#include <stdlib.h>
+#include <Eigen/Eigen>
+#include <Eigen/src/Core/util/DisableStupidWarnings.h>
+
+using namespace std;
+using namespace Eigen;
+
+/**
+ * \brief The namespace of this library.
+ */
+namespace opengv
+{
+
+/**
+ * Generic functor base for use with the Eigen-nonlinear optimization
+ * toolbox. Please refer to the Eigen-documentation for further information.
+ */
+template<typename _Scalar, int NX=Dynamic, int NY=Dynamic>
+struct OptimizationFunctor
+{
+  /** undocumented */
+  typedef _Scalar Scalar;
+  /** undocumented */
+  enum
+  {
+    InputsAtCompileTime = NX,
+    ValuesAtCompileTime = NY
+  };
+  /** undocumented */
+  typedef Matrix<Scalar,InputsAtCompileTime,1> InputType;
+  /** undocumented */
+  typedef Matrix<Scalar,ValuesAtCompileTime,1> ValueType;
+  /** undocumented */
+  typedef Matrix<Scalar,ValuesAtCompileTime,InputsAtCompileTime> JacobianType;
+
+  /** undocumented */
+  const int m_inputs;
+  /** undocumented */
+  const int m_values;
+
+  /** undocumented */
+  OptimizationFunctor() :
+      m_inputs(InputsAtCompileTime),
+      m_values(ValuesAtCompileTime) {}
+  /** undocumented */
+  OptimizationFunctor(int inputs, int values) :
+      m_inputs(inputs),
+      m_values(values) {}
+
+  /** undocumented */
+  int inputs() const
+  {
+    return m_inputs;
+  }
+  /** undocumented */
+  int values() const
+  {
+    return m_values;
+  }
+};
+
+}
+
+#endif /* OPENGV_OPTIMIZATIONFUNCTOR_HPP_ */

thirdparty/opengv/include/opengv/absolute_pose/AbsoluteAdapterBase.hpp

@@ -0,0 +1,181 @@
+/******************************************************************************
+ * Author:   Laurent Kneip                                                    *
+ * Contact:  kneip.laurent@gmail.com                                          *
+ * License:  Copyright (c) 2013 Laurent Kneip, ANU. All rights reserved.      *
+ *                                                                            *
+ * Redistribution and use in source and binary forms, with or without         *
+ * modification, are permitted provided that the following conditions         *
+ * are met:                                                                   *
+ * * Redistributions of source code must retain the above copyright           *
+ *   notice, this list of conditions and the following disclaimer.            *
+ * * Redistributions in binary form must reproduce the above copyright        *
+ *   notice, this list of conditions and the following disclaimer in the      *
+ *   documentation and/or other materials provided with the distribution.     *
+ * * Neither the name of ANU nor the names of its contributors may be         *
+ *   used to endorse or promote products derived from this software without   *
+ *   specific prior written permission.                                       *
+ *                                                                            *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"*
+ * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE  *
+ * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE *
+ * ARE DISCLAIMED. IN NO EVENT SHALL ANU OR THE CONTRIBUTORS BE LIABLE        *
+ * FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL *
+ * DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR *
+ * SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER *
+ * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT         *
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY  *
+ * OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF     *
+ * SUCH DAMAGE.                                                               *
+ ******************************************************************************/
+
+/**
+ * \file AbsoluteAdapterBase.hpp
+ * \brief Adapter-class for passing bearing-vector-to-point correspondences to
+ *        the absolute-pose algorithms.
+ */
+
+#ifndef OPENGV_ABSOLUTE_POSE_ABSOLUTEADAPTERBASE_HPP_
+#define OPENGV_ABSOLUTE_POSE_ABSOLUTEADAPTERBASE_HPP_
+
+#include <stdlib.h>
+#include <vector>
+#include <opengv/types.hpp>
+
+/**
+ * \brief The namespace of this library.
+ */
+namespace opengv
+{
+/**
+ * \brief The namespace for the absolute pose methods.
+ */
+namespace absolute_pose
+{
+
+/**
+ * The AbsoluteAdapterBase is the base-class for the visitors to the central
+ * and non-central absolute pose algorithms. It provides a unified interface to
+ * opengv-methods to access bearing-vectors, world points, priors or
+ * known variables for the absolute pose, and the multi-camera configuration in
+ * the non-central case. Derived classes may hold the data in any user-specific
+ * format, and adapt to opengv-types.
+ */
+class AbsoluteAdapterBase
+{
+public:
+  EIGEN_MAKE_ALIGNED_OPERATOR_NEW
+
+  /**
+   * \brief Constructor.
+   */
+  AbsoluteAdapterBase() :
+      _t(Eigen::Vector3d::Zero()),
+      _R(Eigen::Matrix3d::Identity()) {};
+  /**
+   * \brief Constructor.
+   * \param[in] R A prior or known value for the rotation from the viewpoint
+   *              to the world frame.
+   */
+  AbsoluteAdapterBase( const opengv::rotation_t & R ) :
+      _t(Eigen::Vector3d::Zero()),
+      _R(R) {};
+  /**
+   * \brief Constructor.
+   * \param[in] t A prior or known value for the position of the viewpoint seen
+   *              from the world frame.
+   * \param[in] R A prior or known value for the rotation from the viewpoint
+   *              to the world frame.
+   */
+  AbsoluteAdapterBase(
+      const opengv::translation_t & t,
+      const opengv::rotation_t & R ) :
+      _t(t),
+      _R(R) {};
+  /**
+   * \brief Destructor.
+   */
+  virtual ~AbsoluteAdapterBase() {};
+
+  //Access of correspondences
+  
+  /**
+   * \brief Retrieve the bearing vector of a correspondence.
+   * \param[in] index The serialized index of the correspondence.
+   * \return The corresponding bearing vector.
+   */
+  virtual opengv::bearingVector_t getBearingVector(size_t index ) const = 0;
+  /**
+   * \brief Retrieve the weight of a correspondence. The weight is supposed to
+   *        reflect the quality of a correspondence, and typically is between
+   *        0 and 1.
+   * \param[in] index The serialized index of the correspondence.
+   * \return The corresponding weight.
+   */
+  virtual double getWeight( size_t index ) const = 0;
+  /**
+   * \brief Retrieve the position of a camera of a correspondence
+   *        seen from the viewpoint origin.
+   * \param[in] index The serialized index of the correspondence.
+   * \return The position of the corresponding camera seen from the viewpoint
+   *         origin.
+   */
+  virtual opengv::translation_t getCamOffset( size_t index ) const = 0;
+  /**
+   * \brief Retrieve the rotation from a camera of a correspondence to the
+   *        viewpoint origin.
+   * \param[in] index The serialized index of the correspondence.
+   * \return The rotation from the corresponding camera back to the viewpoint
+   *         origin.
+   */
+  virtual opengv::rotation_t getCamRotation( size_t index ) const = 0;
+  /**
+   * \brief Retrieve the world point of a correspondence.
+   * \param[in] index The serialized index of the correspondence.
+   * \return The corresponding world point.
+   */
+  virtual opengv::point_t getPoint( size_t index ) const = 0;
+  /**
+   * \brief Retrieve the number of correspondences.
+   * \return The number of correspondences.
+   */
+  virtual size_t getNumberCorrespondences() const = 0;
+
+  //Access of priors or known values
+  
+  /**
+   * \brief Retrieve the prior or known value for the position.
+   * \return The prior or known value for the position.
+   */
+  opengv::translation_t gett() const { return _t; };
+  /**
+   * \brief Set the prior or known value for the position.
+   * \param[in] t The prior or known value for the position.
+   */
+  void sett(const opengv::translation_t & t) { _t = t; };
+  /**
+   * \brief Retrieve the prior or known value for the rotation.
+   * \return The prior or known value for the rotation.
+   */
+  opengv::rotation_t getR() const { return _R; };
+  /**
+   * \brief Set the prior or known value for the rotation.
+   * \param[in] R The prior or known value for the rotation.
+   */
+  void setR(const opengv::rotation_t & R) { _R = R; };
+
+protected:
+  /** The prior or known value for the position of the viewpoint seen from the
+   * world frame. Initialized to zero if not provided.
+   */
+  opengv::translation_t _t;
+  /** The prior or known value for the rotation from the viewpoint back to the
+   * world frame. Initialized to identity if not provided.
+   */
+  opengv::rotation_t _R;
+
+};
+
+}
+};
+
+#endif /* OPENGV_ABSOLUTE_POSE_ABSOLUTEADAPTERBASE_HPP_ */

thirdparty/opengv/include/opengv/absolute_pose/AbsoluteMultiAdapterBase.hpp

@@ -0,0 +1,229 @@
+/******************************************************************************
+ * Author:   Laurent Kneip                                                    *
+ * Contact:  kneip.laurent@gmail.com                                          *
+ * License:  Copyright (c) 2013 Laurent Kneip, ANU. All rights reserved.      *
+ *                                                                            *
+ * Redistribution and use in source and binary forms, with or without         *
+ * modification, are permitted provided that the following conditions         *
+ * are met:                                                                   *
+ * * Redistributions of source code must retain the above copyright           *
+ *   notice, this list of conditions and the following disclaimer.            *
+ * * Redistributions in binary form must reproduce the above copyright        *
+ *   notice, this list of conditions and the following disclaimer in the      *
+ *   documentation and/or other materials provided with the distribution.     *
+ * * Neither the name of ANU nor the names of its contributors may be         *
+ *   used to endorse or promote products derived from this software without   *
+ *   specific prior written permission.                                       *
+ *                                                                            *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"*
+ * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE  *
+ * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE *
+ * ARE DISCLAIMED. IN NO EVENT SHALL ANU OR THE CONTRIBUTORS BE LIABLE        *
+ * FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL *
+ * DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR *
+ * SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER *
+ * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT         *
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY  *
+ * OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF     *
+ * SUCH DAMAGE.                                                               *
+ ******************************************************************************/
+
+/**
+ * \file AbsoluteMultiAdapterBase.hpp
+ * \brief Adapter-class for passing bearing-vector-to-point correspondences to
+ *        the absolute-pose algorithms. Intended for absolute non-central-
+ *        viewpoint problems. Access of correspondences etc. via an additional
+ *        frame-index referring to the camera.
+ */
+
+#ifndef OPENGV_ABSOLUTE_POSE_ABSOLUTEMULTIADAPTERBASE_HPP_
+#define OPENGV_ABSOLUTE_POSE_ABSOLUTEMULTIADAPTERBASE_HPP_
+
+#include <stdlib.h>
+#include <vector>
+#include <opengv/types.hpp>
+#include <opengv/absolute_pose/AbsoluteAdapterBase.hpp>
+
+/**
+ * \brief The namespace of this library.
+ */
+namespace opengv
+{
+/**
+ * \brief The namespace for the absolute pose methods.
+ */
+namespace absolute_pose
+{
+
+/**
+ * See the documentation of AbsoluteAdapterBase to understand the meaning of
+ * an AbsoluteAdapter. AbsoluteMultiAdapterBase extends the interface of
+ * AbsoluteAdapterBase by an additional frame-index for referring to a
+ * camera. Intended for non-central absolute viewpoint problems, allowing
+ * camera-wise access of correspondences. Derived classes need to implement
+ * functionalities for deriving unique serialization of multi-indices.
+ */
+class AbsoluteMultiAdapterBase : public AbsoluteAdapterBase
+{
+protected:
+  using AbsoluteAdapterBase::_t;
+  using AbsoluteAdapterBase::_R;
+public:
+  EIGEN_MAKE_ALIGNED_OPERATOR_NEW
+
+  /**
+   * \brief Constructor.
+   */
+  AbsoluteMultiAdapterBase() :
+      AbsoluteAdapterBase() {};
+  /**
+   * \brief Constructor.
+   * \param[in] R A prior or known value for the rotation from the viewpoint
+   *              to the world frame.
+   */
+  AbsoluteMultiAdapterBase( const opengv::rotation_t & R ) :
+      AbsoluteAdapterBase(R) {};
+  /**
+   * \brief Constructor.
+   * \param[in] t A prior or known value for the position of the viewpoint seen
+   *              from the world frame.
+   * \param[in] R A prior or known value for the rotation from the viewpoint
+   *              to the world frame.
+   */
+  AbsoluteMultiAdapterBase(
+      const opengv::translation_t & t,
+      const opengv::rotation_t & R ) :
+      AbsoluteAdapterBase(t,R) {};
+  /**
+   * \brief Destructor.
+   */
+  virtual ~AbsoluteMultiAdapterBase() {};
+
+  //camera-wise access of correspondences
+  
+  /**
+   * \brief Retrieve the bearing vector of a correspondence in a certain frame.
+   * \param[in] frameIndex Index of the frame.
+   * \param[in] correspondenceIndex Index of the correspondence in this frame.
+   * \return The corresponding bearing vector.
+   */
+  virtual opengv::bearingVector_t getBearingVector(
+      size_t frameIndex, size_t correspondenceIndex ) const = 0;
+  /**
+   * \brief Retrieve the weight of a correspondence. The weight is supposed to
+   *        reflect the quality of a correspondence, and typically is between
+   *        0 and 1.
+   * \param[in] frameIndex Index of the frame.
+   * \param[in] correspondenceIndex Index of the correspondence in this frame.
+   * \return The corresponding weight.
+   */
+  virtual double getWeight(
+      size_t frameIndex, size_t correspondenceIndex ) const = 0;
+  /**
+   * \brief Retrieve the position of a camera seen from the viewpoint origin.
+   * \param[in] frameIndex Index of the frame.
+   * \return The position of the corresponding camera seen from the viewpoint
+   *         origin.
+   */
+  virtual opengv::translation_t getMultiCamOffset( size_t frameIndex ) const = 0;
+  /**
+   * \brief Retrieve the rotation from a camera to the viewpoint frame.
+   * \param[in] frameIndex Index of the frame.
+   * \return The rotation from the corresponding camera back to the viewpoint
+   *         origin.
+   */
+  virtual opengv::rotation_t getMultiCamRotation( size_t frameIndex ) const = 0;
+  /**
+   * \brief Retrieve the world point of a correspondence.
+   * \param[in] frameIndex Index of the frame.
+   * \param[in] correspondenceIndex Index of the correspondence in this frame.
+   * \return The corresponding world point.
+   */
+  virtual opengv::point_t getPoint(
+      size_t frameIndex, size_t correspondenceIndex ) const = 0;
+  /**
+   * \brief Retrieve the number of correspondences for a camera.
+   * \param[in] frameIndex Index of the camera.
+   * \return The number of correspondences in this camera.
+   */
+  virtual size_t getNumberCorrespondences( size_t frameIndex ) const = 0;
+  /**
+   * \brief Retrieve the number of cameras.
+   * \return The number of cameras.
+   */
+  virtual size_t getNumberFrames() const = 0;
+  
+  //Conversion to and from serialized indices
+  
+  /**
+   * \brief Convert an array of (frameIndex,correspondenceIndex)-pairs into an
+   *        array of serialized indices.
+   * \param[in] multiIndices Array of (frameIndex,correspondenceIndex)-pairs.
+   * \return Array of single serialized indices referring uniquely to
+   *         (frameIndex,correspondenceIndex)-pairs.
+   */
+  virtual std::vector<int> convertMultiIndices(
+      const std::vector<std::vector<int> > & multiIndices ) const = 0;
+  /**
+   * \brief Convert a (frameIndex,correspondenceIndex)-pair into a serialized
+   *        index.
+   * \param[in] frameIndex The index of the camera.
+   * \param[in] correspondenceIndex The index of the correspondence in the camera.
+   * \return Array of single serialized indices referring uniquely to
+   *         (frameIndex,correspondenceIndex)-pairs.
+   */
+  virtual int convertMultiIndex(
+      size_t frameIndex, size_t correspondenceIndex ) const = 0;
+  /**
+   * \brief Get the frame-index corresponding to a serialized index.
+   * \param[in] index The serialized index.
+   * \return The frame index.
+   */
+  virtual int multiFrameIndex( size_t index ) const = 0;
+  /**
+   * \brief Get the correspondence-index in a camera for a serialized index.
+   * \param[in] index The serialized index.
+   * \return The correspondence-index in the camera.
+   */
+  virtual int multiCorrespondenceIndex( size_t index ) const = 0;
+  
+  //the classic interface (with serialized indices, used by the opengv-methods)
+  
+  /** See parent-class (no need to overload) */
+  virtual bearingVector_t getBearingVector( size_t index ) const
+  {
+    return getBearingVector(
+        multiFrameIndex(index), multiCorrespondenceIndex(index) );
+  }
+  /** See parent-class (no need to overload) */
+  virtual double getWeight( size_t index ) const
+  {
+    return getWeight(
+        multiFrameIndex(index), multiCorrespondenceIndex(index) );
+  }
+  /** See parent-class (no need to overload) */
+  virtual translation_t getCamOffset( size_t index ) const
+  { return getMultiCamOffset( multiFrameIndex(index) ); }
+  /** See parent-class (no need to overload) */
+  virtual rotation_t getCamRotation( size_t index ) const
+  { return getMultiCamRotation( multiFrameIndex(index) ); }
+  /** See parent-class (no need to overload) */
+  virtual point_t getPoint( size_t index ) const
+  {
+    return getPoint(
+        multiFrameIndex(index), multiCorrespondenceIndex(index) );
+  }
+  /** See parent-class (no need to overload) */
+  virtual size_t getNumberCorrespondences() const
+  {
+    size_t numberCorrespondences = 0;
+    for(size_t i = 0; i < getNumberFrames(); i++)
+      numberCorrespondences += getNumberCorrespondences(i);
+    return numberCorrespondences;
+  }
+};
+
+}
+};
+
+#endif /* OPENGV_ABSOLUTE_POSE_ABSOLUTEMULTIADAPTERBASE_HPP_ */

thirdparty/opengv/include/opengv/absolute_pose/CentralAbsoluteAdapter.hpp

@@ -0,0 +1,122 @@
+/******************************************************************************
+ * Author:   Laurent Kneip                                                    *
+ * Contact:  kneip.laurent@gmail.com                                          *
+ * License:  Copyright (c) 2013 Laurent Kneip, ANU. All rights reserved.      *
+ *                                                                            *
+ * Redistribution and use in source and binary forms, with or without         *
+ * modification, are permitted provided that the following conditions         *
+ * are met:                                                                   *
+ * * Redistributions of source code must retain the above copyright           *
+ *   notice, this list of conditions and the following disclaimer.            *
+ * * Redistributions in binary form must reproduce the above copyright        *
+ *   notice, this list of conditions and the following disclaimer in the      *
+ *   documentation and/or other materials provided with the distribution.     *
+ * * Neither the name of ANU nor the names of its contributors may be         *
+ *   used to endorse or promote products derived from this software without   *
+ *   specific prior written permission.                                       *
+ *                                                                            *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"*
+ * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE  *
+ * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE *
+ * ARE DISCLAIMED. IN NO EVENT SHALL ANU OR THE CONTRIBUTORS BE LIABLE        *
+ * FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL *
+ * DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR *
+ * SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER *
+ * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT         *
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY  *
+ * OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF     *
+ * SUCH DAMAGE.                                                               *
+ ******************************************************************************/
+
+/**
+ * \file CentralAbsoluteAdapter.hpp
+ * \brief Adapter-class for passing bearing-vector-to-point correspondences to
+ *        the central absolute-pose algorithms. It maps opengv types
+ *        back to opengv types.
+ */
+
+#ifndef OPENGV_ABSOLUTE_POSE_CENTRALABSOLUTEADAPTER_HPP_
+#define OPENGV_ABSOLUTE_POSE_CENTRALABSOLUTEADAPTER_HPP_
+
+#include <stdlib.h>
+#include <vector>
+#include <opengv/types.hpp>
+#include <opengv/absolute_pose/AbsoluteAdapterBase.hpp>
+
+/**
+ * \brief The namespace of this library.
+ */
+namespace opengv
+{
+/**
+ * \brief The namespace for the absolute pose methods.
+ */
+namespace absolute_pose
+{
+
+/**
+ * Check the documentation of the parent-class to understand the meaning of
+ * an AbsoluteAdapter. This child-class is for the central case and holds data
+ * in form of references to opengv-types.
+ */
+class CentralAbsoluteAdapter : public AbsoluteAdapterBase
+{
+protected:
+  using AbsoluteAdapterBase::_t;
+  using AbsoluteAdapterBase::_R;
+
+public:
+  EIGEN_MAKE_ALIGNED_OPERATOR_NEW
+
+  /**
+   * \brief Constructor. See protected class-members to understand parameters
+   */
+  CentralAbsoluteAdapter(
+      const bearingVectors_t & bearingVectors,
+      const points_t & points );
+  /**
+   * \brief Constructor. See protected class-members to understand parameters
+   */
+  CentralAbsoluteAdapter(
+      const bearingVectors_t & bearingVectors,
+      const points_t & points,
+      const rotation_t & R );
+  /**
+   * \brief Constructor. See protected class-members to understand parameters
+   */
+  CentralAbsoluteAdapter(
+      const bearingVectors_t & bearingVectors,
+      const points_t & points,
+      const translation_t & t,
+      const rotation_t & R );
+  /**
+   * Destructor
+   */
+  virtual ~CentralAbsoluteAdapter();
+
+  //Access of correspondences
+  
+  /** See parent-class */
+  virtual opengv::bearingVector_t getBearingVector( size_t index ) const;
+  /** See parent-class */
+  virtual double getWeight( size_t index ) const;
+  /** See parent-class. Returns zero for this adapter. */
+  virtual opengv::translation_t getCamOffset( size_t index ) const;
+  /** See parent-class Returns identity for this adapter. */
+  virtual opengv::rotation_t getCamRotation( size_t index ) const;
+  /** See parent-class */
+  virtual opengv::point_t getPoint( size_t index ) const;
+  /** See parent-class */
+  virtual size_t getNumberCorrespondences() const;
+
+protected:
+  /** Reference to the bearing-vectors expressed in the camera-frame */
+  const bearingVectors_t & _bearingVectors;
+  /** Reference to the points expressed in the world-frame. */
+  const points_t & _points;
+};
+
+}
+}
+
+#endif /* OPENGV_ABSOLUTE_POSE_CENTRALABSOLUTEADAPTER_HPP_ */

thirdparty/opengv/include/opengv/absolute_pose/MACentralAbsolute.hpp

@@ -0,0 +1,115 @@
+/******************************************************************************
+ * Author:   Laurent Kneip                                                    *
+ * Contact:  kneip.laurent@gmail.com                                          *
+ * License:  Copyright (c) 2013 Laurent Kneip, ANU. All rights reserved.      *
+ *                                                                            *
+ * Redistribution and use in source and binary forms, with or without         *
+ * modification, are permitted provided that the following conditions         *
+ * are met:                                                                   *
+ * * Redistributions of source code must retain the above copyright           *
+ *   notice, this list of conditions and the following disclaimer.            *
+ * * Redistributions in binary form must reproduce the above copyright        *
+ *   notice, this list of conditions and the following disclaimer in the      *
+ *   documentation and/or other materials provided with the distribution.     *
+ * * Neither the name of ANU nor the names of its contributors may be         *
+ *   used to endorse or promote products derived from this software without   *
+ *   specific prior written permission.                                       *
+ *                                                                            *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"*
+ * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE  *
+ * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE *
+ * ARE DISCLAIMED. IN NO EVENT SHALL ANU OR THE CONTRIBUTORS BE LIABLE        *
+ * FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL *
+ * DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR *
+ * SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER *
+ * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT         *
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY  *
+ * OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF     *
+ * SUCH DAMAGE.                                                               *
+ ******************************************************************************/
+
+/**
+ * \file MACentralAbsolute.hpp
+ * \brief Adapter-class for passing bearing-vector-to-point correspondences to
+ *        the central absolute-pose algorithms. It maps matlab types
+ *        back to opengv types.
+ */
+
+#ifndef OPENGV_ABSOLUTE_POSE_MACENTRALABSOLUTE_HPP_
+#define OPENGV_ABSOLUTE_POSE_MACENTRALABSOLUTE_HPP_
+
+#include <stdlib.h>
+#include <vector>
+#include <opengv/types.hpp>
+#include <opengv/absolute_pose/AbsoluteAdapterBase.hpp>
+
+/**
+ * \brief The namespace of this library.
+ */
+namespace opengv
+{
+/**
+ * \brief The namespace for the absolute pose methods.
+ */
+namespace absolute_pose
+{
+
+/**
+ * Check the documentation of the parent-class to understand the meaning of
+ * an AbsoluteAdapter. This child-class is for the central case and holds data
+ * in form of pointers to matlab data.
+ */
+class MACentralAbsolute : public AbsoluteAdapterBase
+{
+protected:
+  using AbsoluteAdapterBase::_t;
+  using AbsoluteAdapterBase::_R;
+
+public:
+  EIGEN_MAKE_ALIGNED_OPERATOR_NEW
+
+  /**
+   * \brief Constructor. See protected class-members to understand parameters
+   */
+  MACentralAbsolute(
+      const double * points,
+      const double * bearingVectors,
+      int numberPoints,
+      int numberBearingVectors );
+      
+  /**
+   * Destructor
+   */
+  virtual ~MACentralAbsolute();
+
+  //Access of correspondences
+  
+  /** See parent-class */
+  virtual opengv::bearingVector_t getBearingVector( size_t index ) const;
+  /** See parent-class */
+  virtual double getWeight( size_t index ) const;
+  /** See parent-class. Returns zero for this adapter. */
+  virtual opengv::translation_t getCamOffset( size_t index ) const;
+  /** See parent-class Returns identity for this adapter. */
+  virtual opengv::rotation_t getCamRotation( size_t index ) const;
+  /** See parent-class */
+  virtual opengv::point_t getPoint( size_t index ) const;
+  /** See parent-class */
+  virtual size_t getNumberCorrespondences() const;
+
+protected:
+
+  /** A pointer to the point data */  
+  const double * _points;
+  /** A pointer to the bearing-vectors */
+  const double * _bearingVectors;
+  /** The number of points */
+  int _numberPoints;
+  /** The number of bearing vectors */
+  int _numberBearingVectors;
+};
+
+}
+}
+
+#endif /* OPENGV_ABSOLUTE_POSE_MACENTRALABSOLUTE_HPP_ */

thirdparty/opengv/include/opengv/absolute_pose/MANoncentralAbsolute.hpp

@@ -0,0 +1,115 @@
+/******************************************************************************
+ * Author:   Laurent Kneip                                                    *
+ * Contact:  kneip.laurent@gmail.com                                          *
+ * License:  Copyright (c) 2013 Laurent Kneip, ANU. All rights reserved.      *
+ *                                                                            *
+ * Redistribution and use in source and binary forms, with or without         *
+ * modification, are permitted provided that the following conditions         *
+ * are met:                                                                   *
+ * * Redistributions of source code must retain the above copyright           *
+ *   notice, this list of conditions and the following disclaimer.            *
+ * * Redistributions in binary form must reproduce the above copyright        *
+ *   notice, this list of conditions and the following disclaimer in the      *
+ *   documentation and/or other materials provided with the distribution.     *
+ * * Neither the name of ANU nor the names of its contributors may be         *
+ *   used to endorse or promote products derived from this software without   *
+ *   specific prior written permission.                                       *
+ *                                                                            *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"*
+ * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE  *
+ * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE *
+ * ARE DISCLAIMED. IN NO EVENT SHALL ANU OR THE CONTRIBUTORS BE LIABLE        *
+ * FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL *
+ * DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR *
+ * SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER *
+ * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT         *
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY  *
+ * OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF     *
+ * SUCH DAMAGE.                                                               *
+ ******************************************************************************/
+
+/**
+ * \file MANoncentralAbsolute.hpp
+ * \brief Adapter-class for passing bearing-vector-to-point correspondences to
+ *        the non-central absolute-pose algorithms. It maps matlab
+ *        types to opengv types.
+ */
+
+#ifndef OPENGV_ABSOLUTE_POSE_MANONCENTRALABSOLUTE_HPP_
+#define OPENGV_ABSOLUTE_POSE_MANONCENTRALABSOLUTE_HPP_
+
+#include <stdlib.h>
+#include <vector>
+#include <opengv/types.hpp>
+#include <opengv/absolute_pose/AbsoluteAdapterBase.hpp>
+
+/**
+ * \brief The namespace of this library.
+ */
+namespace opengv
+{
+/**
+ * \brief The namespace for the absolute pose methods.
+ */
+namespace absolute_pose
+{
+
+/**
+ * Check the documentation of the parent-class to understand the meaning of
+ * an AbsoluteAdapter. This child-class is for the non-central case and holds
+ * data in form of pointers to matlab-data.
+ */
+class MANoncentralAbsolute : public AbsoluteAdapterBase
+{
+protected:
+  using AbsoluteAdapterBase::_t;
+  using AbsoluteAdapterBase::_R;
+
+public:
+  EIGEN_MAKE_ALIGNED_OPERATOR_NEW
+
+  /**
+   * \brief Constructor. See protected class-members to understand parameters
+   */
+  MANoncentralAbsolute(
+      const double * points,
+      const double * bearingVectors,
+      int numberPoints,
+      int numberBearingVectors );
+      
+  /**
+   * Destructor
+   */
+  virtual ~MANoncentralAbsolute();
+
+  //Access of correspondences
+  
+  /** See parent-class */
+  virtual opengv::bearingVector_t getBearingVector( size_t index ) const;
+  /** See parent-class */
+  virtual double getWeight( size_t index ) const;
+  /** See parent-class */
+  virtual opengv::translation_t getCamOffset( size_t index ) const;
+  /** See parent-class */
+  virtual opengv::rotation_t getCamRotation( size_t index ) const;
+  /** See parent-class */
+  virtual opengv::point_t getPoint( size_t index ) const;
+  /** See parent-class */
+  virtual size_t getNumberCorrespondences() const;
+
+protected:
+
+  /** A pointer to the point data */  
+  const double * _points;
+  /** A pointer to the bearing-vectors */
+  const double * _bearingVectors;
+  /** The number of points */
+  int _numberPoints;
+  /** The number of bearing vectors */
+  int _numberBearingVectors;
+};
+
+}
+}
+
+#endif /* OPENGV_ABSOLUTE_POSE_MANONCENTRALABSOLUTE_HPP_ */

thirdparty/opengv/include/opengv/absolute_pose/NoncentralAbsoluteAdapter.hpp

@@ -0,0 +1,150 @@
+/******************************************************************************
+ * Author:   Laurent Kneip                                                    *
+ * Contact:  kneip.laurent@gmail.com                                          *
+ * License:  Copyright (c) 2013 Laurent Kneip, ANU. All rights reserved.      *
+ *                                                                            *
+ * Redistribution and use in source and binary forms, with or without         *
+ * modification, are permitted provided that the following conditions         *
+ * are met:                                                                   *
+ * * Redistributions of source code must retain the above copyright           *
+ *   notice, this list of conditions and the following disclaimer.            *
+ * * Redistributions in binary form must reproduce the above copyright        *
+ *   notice, this list of conditions and the following disclaimer in the      *
+ *   documentation and/or other materials provided with the distribution.     *
+ * * Neither the name of ANU nor the names of its contributors may be         *
+ *   used to endorse or promote products derived from this software without   *
+ *   specific prior written permission.                                       *
+ *                                                                            *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"*
+ * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE  *
+ * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE *
+ * ARE DISCLAIMED. IN NO EVENT SHALL ANU OR THE CONTRIBUTORS BE LIABLE        *
+ * FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL *
+ * DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR *
+ * SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER *
+ * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT         *
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY  *
+ * OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF     *
+ * SUCH DAMAGE.                                                               *
+ ******************************************************************************/
+
+/**
+ * \file NoncentralAbsoluteAdapter.hpp
+ * \brief Adapter-class for passing bearing-vector-to-point correspondences to
+ *        the non-central absolute-pose algorithms. It maps opengv
+ *        types back to opengv types.
+ */
+
+#ifndef OPENGV_ABSOLUTE_POSE_NONCENTRALABSOLUTEADAPTER_HPP_
+#define OPENGV_ABSOLUTE_POSE_NONCENTRALABSOLUTEADAPTER_HPP_
+
+#include <stdlib.h>
+#include <vector>
+#include <opengv/types.hpp>
+#include <opengv/absolute_pose/AbsoluteAdapterBase.hpp>
+
+/**
+ * \brief The namespace of this library.
+ */
+namespace opengv
+{
+/**
+ * \brief The namespace for the absolute pose methods.
+ */
+namespace absolute_pose
+{
+
+/**
+ * Check the documentation of the parent-class to understand the meaning of
+ * an AbsoluteAdapter. This child-class is for the non-central case and holds
+ * data in form of references to opengv-types.
+ */
+class NoncentralAbsoluteAdapter : public AbsoluteAdapterBase
+{
+protected:
+  using AbsoluteAdapterBase::_t;
+  using AbsoluteAdapterBase::_R;
+
+public:
+  EIGEN_MAKE_ALIGNED_OPERATOR_NEW
+
+  /** A type defined for the camera-correspondences, see protected
+   *  class-members
+   */
+  typedef std::vector<int> camCorrespondences_t;
+
+  /**
+   * \brief Constructor. See protected class-members to understand parameters
+   */
+  NoncentralAbsoluteAdapter(
+      const bearingVectors_t & bearingVectors,
+      const camCorrespondences_t & camCorrespondences,
+      const points_t & points,
+      const translations_t & camOffsets,
+      const rotations_t & camRotations );
+  /**
+   * \brief Constructor. See protected class-members to understand parameters
+   */
+  NoncentralAbsoluteAdapter(
+      const bearingVectors_t & bearingVectors,
+      const camCorrespondences_t & camCorrespondences,
+      const points_t & points,
+      const translations_t & camOffsets,
+      const rotations_t & camRotations,
+      const rotation_t & R );
+  /**
+   * \brief Constructor. See protected class-members to understand parameters
+   */
+  NoncentralAbsoluteAdapter(
+      const bearingVectors_t & bearingVectors,
+      const camCorrespondences_t & camCorrespondences,
+      const points_t & points,
+      const translations_t & camOffsets,
+      const rotations_t & camRotations,
+      const translation_t & t,
+      const rotation_t & R );
+  /**
+   * \brief Destructor.
+   */
+  virtual ~NoncentralAbsoluteAdapter();
+
+  //Access of correspondences
+  
+  /** See parent-class */
+  virtual opengv::bearingVector_t getBearingVector( size_t index ) const;
+  /** See parent-class */
+  virtual double getWeight( size_t index ) const;
+  /** See parent-class */
+  virtual opengv::translation_t getCamOffset( size_t index ) const;
+  /** See parent-class */
+  virtual opengv::rotation_t getCamRotation( size_t index ) const;
+  /** See parent-class */
+  virtual opengv::point_t getPoint( size_t index ) const;
+  /** See parent-class */
+  virtual size_t getNumberCorrespondences() const;
+
+protected:
+  /** Reference to the bearing-vectors expressed in the camera-frames */
+  const bearingVectors_t & _bearingVectors;
+  /** Reference to an array of camera-indices for the bearing vectors. Length
+   *  equals to number of bearing-vectors, and elements are indices of cameras
+   *  in the _camOffsets and _camRotations arrays.
+   */
+  const camCorrespondences_t & _camCorrespondences;
+  /** Reference to the points expressed in the world-frame. */
+  const points_t & _points;
+
+  /** Reference to positions of the different cameras seen from the
+   *  viewpoint.
+   */
+  const translations_t & _camOffsets;
+  /** Reference to rotations from the different cameras back to the
+   *  viewpoint.
+   */
+  const rotations_t & _camRotations;
+};
+
+}
+};
+
+#endif /* OPENGV_ABSOLUTE_POSE_NONCENTRALABSOLUTEADAPTER_HPP_ */

thirdparty/opengv/include/opengv/absolute_pose/NoncentralAbsoluteMultiAdapter.hpp

@@ -0,0 +1,147 @@
+/******************************************************************************
+ * Author:   Laurent Kneip                                                    *
+ * Contact:  kneip.laurent@gmail.com                                          *
+ * License:  Copyright (c) 2013 Laurent Kneip, ANU. All rights reserved.      *
+ *                                                                            *
+ * Redistribution and use in source and binary forms, with or without         *
+ * modification, are permitted provided that the following conditions         *
+ * are met:                                                                   *
+ * * Redistributions of source code must retain the above copyright           *
+ *   notice, this list of conditions and the following disclaimer.            *
+ * * Redistributions in binary form must reproduce the above copyright        *
+ *   notice, this list of conditions and the following disclaimer in the      *
+ *   documentation and/or other materials provided with the distribution.     *
+ * * Neither the name of ANU nor the names of its contributors may be         *
+ *   used to endorse or promote products derived from this software without   *
+ *   specific prior written permission.                                       *
+ *                                                                            *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"*
+ * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE  *
+ * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE *
+ * ARE DISCLAIMED. IN NO EVENT SHALL ANU OR THE CONTRIBUTORS BE LIABLE        *
+ * FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL *
+ * DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR *
+ * SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER *
+ * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT         *
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY  *
+ * OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF     *
+ * SUCH DAMAGE.                                                               *
+ ******************************************************************************/
+
+/**
+ * \file NoncentralAbsoluteMultiAdapter.hpp
+ * \brief Adapter-class for passing bearing-vector-to-point correspondences to
+ *        the non-central absolute-pose algorithms. It maps opengv
+ *        types back to opengv types. Manages multiple match-lists for each camera.
+ *        This allows to draw samples homogeneously over the cameras.
+ */
+
+#ifndef OPENGV_ABSOLUTE_POSE_NONCENTRALABSOLUTEMULTIADAPTER_HPP_
+#define OPENGV_ABSOLUTE_POSE_NONCENTRALABSOLUTEMULTIADAPTER_HPP_
+
+#include <memory>
+#include <stdlib.h>
+#include <vector>
+#include <opengv/types.hpp>
+#include <opengv/absolute_pose/AbsoluteMultiAdapterBase.hpp>
+
+/**
+ * \brief The namespace of this library.
+ */
+namespace opengv
+{
+/**
+ * \brief The namespace for the absolute pose methods.
+ */
+namespace absolute_pose
+{
+
+/**
+ * Check the documentation of the parent-class to understand the meaning of
+ * an AbsoluteAdapter. This child-class is for the non-central case and holds
+ * data in form of references to opengv-types.
+ */
+
+class NoncentralAbsoluteMultiAdapter : public AbsoluteMultiAdapterBase
+{
+protected:
+  using AbsoluteMultiAdapterBase::_t;
+  using AbsoluteMultiAdapterBase::_R;
+
+public:
+  EIGEN_MAKE_ALIGNED_OPERATOR_NEW
+
+  /**
+   * \brief Constructor. See protected class-members to understand parameters
+   */
+  NoncentralAbsoluteMultiAdapter(
+      std::vector<std::shared_ptr<bearingVectors_t> > bearingVectors,
+      std::vector<std::shared_ptr<points_t> > points,
+      const translations_t & camOffsets,
+      const rotations_t & camRotations );
+  /**
+   * \brief Destructor.
+   */
+  virtual ~NoncentralAbsoluteMultiAdapter();
+
+  //camera-wise access of correspondences
+
+  /** See parent-class */
+  virtual point_t getPoint(
+      size_t frameIndex, size_t correspondenceIndex ) const;
+  /** See parent-class */
+  virtual bearingVector_t getBearingVector(
+      size_t frameIndex, size_t correspondenceIndex ) const;
+  /** See parent-class */
+  virtual double getWeight( size_t frameIndex, size_t correspondenceIndex ) const;
+  /** See parent-class */
+  virtual translation_t getMultiCamOffset( size_t frameIndex ) const;
+  /** See parent-class */
+  virtual rotation_t getMultiCamRotation( size_t frameIndex ) const;
+  /** See parent-class */
+  virtual size_t getNumberCorrespondences( size_t frameIndex ) const;
+  /** See parent-class */
+  virtual size_t getNumberFrames() const;
+
+  //Conversion to and from serialized indices
+
+  /** See parent-class */
+  virtual std::vector<int> convertMultiIndices(
+      const std::vector<std::vector<int> > & multiIndices ) const;
+  /** See parent-class */
+  virtual int convertMultiIndex(
+      size_t frameIndex, size_t correspondenceIndex ) const;
+  /** See parent-class */
+  virtual int multiFrameIndex( size_t index ) const;
+  /** See parent-class */
+  virtual int multiCorrespondenceIndex( size_t index ) const;
+
+protected:
+  /** References to multiple sets of bearing-vectors (the ones from each camera).
+   */
+  std::vector<std::shared_ptr<bearingVectors_t> > _bearingVectors;
+  /** References to multiple sets of points (the ones from each camera).
+   */
+  std::vector<std::shared_ptr<points_t> > _points;
+
+  /** Reference to positions of the different cameras seen from the
+   *  viewpoint.
+   */
+  const translations_t & _camOffsets;
+  /** Reference to rotations from the different cameras back to the
+   *  viewpoint.
+   */
+  const rotations_t & _camRotations;
+
+  /** Initialized in constructor, used for (de)-serialiaztion of indices */
+  std::vector<int> multiFrameIndices;
+  /** Initialized in constructor, used for (de)-serialiaztion of indices */
+  std::vector<int> multiKeypointIndices;
+  /** Initialized in constructor, used for (de)-serialiaztion of indices */
+  std::vector<int> singleIndexOffsets;
+};
+
+}
+};
+
+#endif /* OPENGV_ABSOLUTE_POSE_NONCENTRALABSOLUTEADAPTER_HPP_ */

thirdparty/opengv/include/opengv/absolute_pose/methods.hpp

@@ -0,0 +1,322 @@
+/******************************************************************************
+ * Author:   Laurent Kneip                                                    *
+ * Contact:  kneip.laurent@gmail.com                                          *
+ * License:  Copyright (c) 2013 Laurent Kneip, ANU. All rights reserved.      *
+ *                                                                            *
+ * Redistribution and use in source and binary forms, with or without         *
+ * modification, are permitted provided that the following conditions         *
+ * are met:                                                                   *
+ * * Redistributions of source code must retain the above copyright           *
+ *   notice, this list of conditions and the following disclaimer.            *
+ * * Redistributions in binary form must reproduce the above copyright        *
+ *   notice, this list of conditions and the following disclaimer in the      *
+ *   documentation and/or other materials provided with the distribution.     *
+ * * Neither the name of ANU nor the names of its contributors may be         *
+ *   used to endorse or promote products derived from this software without   *
+ *   specific prior written permission.                                       *
+ *                                                                            *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"*
+ * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE  *
+ * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE *
+ * ARE DISCLAIMED. IN NO EVENT SHALL ANU OR THE CONTRIBUTORS BE LIABLE        *
+ * FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL *
+ * DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR *
+ * SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER *
+ * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT         *
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY  *
+ * OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF     *
+ * SUCH DAMAGE.                                                               *
+ ******************************************************************************/
+
+/**
+ * \file absolute_pose/methods.hpp
+ * \brief Methods for computing the absolute pose of a calibrated viewpoint.
+ *
+ * The collection includes both minimal and non-minimal solutions for
+ * computing the absolute pose of a calibrated, either central or non-central
+ * viewpoint.
+ */
+
+#ifndef OPENGV_ABSOLUTE_POSE_METHODS_HPP_
+#define OPENGV_ABSOLUTE_POSE_METHODS_HPP_
+
+#include <stdlib.h>
+#include <vector>
+#include <opengv/types.hpp>
+#include <opengv/absolute_pose/AbsoluteAdapterBase.hpp>
+
+/**
+ * \brief The namespace of this library.
+ */
+namespace opengv
+{
+/**
+ * \brief The namespace for the absolute pose methods.
+ */
+namespace absolute_pose
+{
+
+/** \brief Compute the pose of a central viewpoint with known rotation using two
+ *         point correspondences.
+ *
+ * \param[in] adapter Visitor holding bearing vectors, world points, and
+ *                    known rotation.
+ * \param[in] indices Indices of the two correspondences that are used for
+ *                    deriving the translation.
+ * \return The position of the viewpoint seen from the world frame.
+ */
+translation_t p2p(
+    const AbsoluteAdapterBase & adapter,
+    const std::vector<int> & indices );
+
+/**
+ * \brief Compute the pose of a central viewpoint with known rotation using two
+ *        point correspondences.
+ *
+ * \param[in] adapter Visitor holding bearing vectors, world points, and
+ *                    known rotation.
+ * \param[in] index0 Index of the first correspondence used for deriving the
+ *                   translation (use default value if only two vectors provided
+ *                   by the visitor anyway).
+ * \param[in] index1 Index of the second correspondence used for deriving the
+ *                   translation (use default value if only two vectors provided
+ *                   by the visitor anyway).
+ * \return The position of the viewpoint seen from the world frame.
+ */
+translation_t p2p(
+    const AbsoluteAdapterBase & adapter,
+    size_t index0 = 0,
+    size_t index1 = 1 );
+
+/**
+ * \brief Compute the pose of a central viewpoint using three point
+ *        correspondences and Kneip's method [1].
+ *
+ * \param[in] adapter Visitor holding bearing vector to world point correspondences.
+ * \param[in] indices Indices of the three correspondences that are used for
+ *                    deriving the pose.
+ * \return Poses of viewpoint (position seen from world frame and orientation
+ *         from viewpoint to world frame, transforms points from viewpoint to
+ *         world, frame, maximum 4 solutions).
+ */
+transformations_t p3p_kneip(
+    const AbsoluteAdapterBase & adapter,
+    const std::vector<int> & indices );
+
+/**
+ * \brief Compute the pose of a central viewpoint using three point
+ *        correspondences and Kneip's method [1].
+ *
+ * \param[in] adapter Visitor holding bearing vector to world point correspondences.
+ * \param[in] index0 Index of the first correspondence used for deriving the
+ *                   pose (use default value if only three correspondences
+ *                   provided anyway).
+ * \param[in] index1 Index of the second correspondence used for deriving the
+ *                   pose (use default value if only three correspondences
+ *                   provided anyway).
+ * \param[in] index2 Index of the third correspondence used for deriving the
+ *                   pose (use default value if only three correspondences
+ *                   provided anyway).
+ * \return Poses of viewpoint (position seen from world frame and orientation
+ *         from viewpoint to world frame, transforms points from viewpoint to
+ *         world frame, maximum 4 solutions).
+ */
+transformations_t p3p_kneip(
+    const AbsoluteAdapterBase & adapter,
+    size_t index0 = 0,
+    size_t index1 = 1,
+    size_t index2 = 2 );
+
+/**
+ * \brief Compute the pose of a central viewpoint using three point correspondences
+ *        and Gao's method [2].
+ *
+ * \param[in] adapter Visitor holding bearing vector to world point correspondences.
+ * \param[in] indices Indices of the three correspondences that are used for
+ *                    deriving the pose.
+ * \return Poses of viewpoint (position seen from world frame and orientation
+ *         from viewpoint to world frame, transforms points from viewpoint to
+ *         world frame, maximum 4 solutions).
+ */
+transformations_t p3p_gao(
+    const AbsoluteAdapterBase & adapter,
+    const std::vector<int> & indices );
+
+/**
+ * \brief Compute the pose of a central viewpoint using three point
+ *        correspondences and Gao's method [2].
+ *
+ * \param[in] adapter Visitor holding bearing vector to world point correspondences.
+ * \param[in] index0 Index of the first correspondence used for deriving the
+ *                   pose (use default value if only three correspondences
+ *                   provided anyway).
+ * \param[in] index1 Index of the second correspondence used for deriving the
+ *                   pose (use default value if only three correspondences
+ *                   provided anyway).
+ * \param[in] index2 Index of the third correspondence used for deriving the
+ *                   pose (use default value if only three correspondences
+ *                   provided anyway).
+ * \return Poses of viewpoint (position seen from world frame and orientation
+ *         from viewpoint to world frame, transforms points from viewpoint to
+ *         world frame, maximum 4 solutions).
+ */
+transformations_t p3p_gao(
+    const AbsoluteAdapterBase & adapter,
+    size_t index0 = 0,
+    size_t index1 = 1,
+    size_t index2 = 2 );
+
+/**
+ * \brief Compute the pose of a non-central viewpoint using three point
+ *        correspondences and Kneip's method [3].
+ *
+ * \param[in] adapter Visitor holding bearing vector to world point
+ *                    correspondences, plus the multi-camera configuration.
+ * \param[in] indices Indices of the three correspondences that are used for
+ *                    deriving the pose.
+ * \return Poses of viewpoint (position seen from world frame and orientation
+ *         from viewpoint to world frame, transforms points from
+ *         viewpoint to world frame, maximum 8 solutions).
+ */
+transformations_t gp3p(
+    const AbsoluteAdapterBase & adapter,
+    const std::vector<int> & indices );
+
+/**
+ * \brief Compute the pose of a non-central viewpoint using three point
+ *        correspondences and Kneip's method [3].
+ *
+ * \param[in] adapter Visitor holding bearing vector to world point
+ *                    correspondences, plus the multi-camera configuration.
+ * \param[in] index0 Index of the first correspondence used for deriving the
+ *                   pose (use default value if only three correspondences
+ *                   provided anyway).
+ * \param[in] index1 Index of the second correspondence used for deriving the
+ *                   pose (use default value if only three correspondences
+ *                   provided anyway).
+ * \param[in] index2 Index of the third correspondence used for deriving the
+ *                   pose (use default value if only three correspondences
+ *                   provided anyway).
+ * \return Poses of viewpoint (position seen from world frame and orientation
+ *         from viewpoint to world frame, transforms points from
+ *         viewpoint to world frame, maximum 8 solutions).
+ */
+transformations_t gp3p(
+    const AbsoluteAdapterBase & adapter,
+    size_t index0 = 0,
+    size_t index1 = 1,
+    size_t index2 = 2 );
+
+/**
+ * \brief Compute the pose of a central viewpoint using the EPnP method [4].
+ *        Using all available correspondences.
+ *
+ * \param[in] adapter Visitor holding bearing vector to world point correspondences.
+ * \return Pose of viewpoint (position seen from world frame and orientation
+ *         from viewpoint to world frame, transforms points from viewpoint to
+ *         world frame).
+ */
+transformation_t epnp( const AbsoluteAdapterBase & adapter );
+
+/**
+ * \brief Compute the pose of a central viewpoint using the EPnP method [4].
+ *
+ * \param[in] adapter Visitor holding bearing vector to world point correspondences.
+ * \param[in] indices Indices of the n correspondences that are used for
+ *                    deriving the pose.
+ * \return Pose of viewpoint (position seen from world frame and orientation
+ *         from viewpoint to world frame, transforms points from viewpoint to
+ *         world frame).
+ */
+transformation_t epnp(
+    const AbsoluteAdapterBase & adapter,
+    const std::vector<int> & indices );
+
+/**
+ * \brief Compute the pose of a non-central viewpoint using the gPnP method [3].
+ *        Using all available correspondences.
+ *
+ * \param[in] adapter Visitor holding bearing vector to world point
+ *                    correspondences, plus the multi-camera configuration.
+ * \return Pose of viewpoint (position seen from world frame and orientation
+ *         from viewpoint to world frame, transforms points from viewpoint to
+ *         world frame).
+ */
+transformation_t gpnp( const AbsoluteAdapterBase & adapter );
+
+/**
+ * \brief Compute the pose of a non-central viewpoint using the gPnP method [3].
+ *
+ * \param[in] adapter Visitor holding bearing vector to world point
+ *                    correspondences, plus the multi-camera configuration.
+ * \param[in] indices Indices of the n correspondences that are used for
+ *                    deriving the pose.
+ * \return Pose of viewpoint (position seen from world frame and orientation
+ *         from viewpoint to world frame, transforms points from viewpoint to
+ *         world frame).
+ */
+transformation_t gpnp(
+    const AbsoluteAdapterBase & adapter,
+    const std::vector<int> & indices );
+
+/**
+ * \brief Compute the poses of a non-central viewpoint using the uPnP method.
+ *        Using all available correspondences.
+ *
+ * \param[in] adapter Visitor holding bearing vector to world point
+ *                    correspondences, plus the multi-camera configuration.
+ * \return Poses of viewpoint (position seen from world frame and orientation
+ *         from viewpoint to world frame, transforms points from viewpoint to
+ *         world frame).
+ */
+transformations_t upnp( const AbsoluteAdapterBase & adapter );
+
+/**
+ * \brief Compute the poses of a non-central viewpoint using the uPnP method.
+ *
+ * \param[in] adapter Visitor holding bearing vector to world point
+ *                    correspondences, plus the multi-camera configuration.
+ * \param[in] indices Indices of the n correspondences that are used for
+ *                    deriving the pose.
+ * \return Poses of viewpoint (position seen from world frame and orientation
+ *         from viewpoint to world frame, transforms points from viewpoint to
+ *         world frame).
+ */
+transformations_t upnp(
+    const AbsoluteAdapterBase & adapter,
+    const std::vector<int> & indices );
+
+/**
+ * \brief Compute the pose of a viewpoint using nonlinear optimization. Using
+ *        all available correspondences. Works for central and non-central case.
+ *
+ * \param[in] adapter Visitor holding bearing vector to world point
+ *                    correspondences, the multi-camera configuration, plus
+ *                    the initial values.
+ * \return Pose of viewpoint (position seen from world frame and orientation
+ *         from viewpoint to world frame, transforms points from viewpoint to
+ *         world frame).
+ */
+transformation_t optimize_nonlinear( const AbsoluteAdapterBase & adapter );
+
+/**
+ * \brief Compute the pose of a viewpoint using nonlinear optimization. Works
+ *        for central and non-central viewpoints.
+ *
+ * \param[in] adapter Visitor holding bearing vector to world point
+ *                    correspondences, the multi-camera configuration, plus
+ *                    the initial values.
+ * \param[in] indices Indices of the n correspondences that are used for
+ *                    deriving the pose.
+ * \return Pose of viewpoint (position seen from world frame and orientation
+ *         from viewpoint to world frame, transforms points from viewpoint to
+ *         world frame).
+ */
+transformation_t optimize_nonlinear(
+    const AbsoluteAdapterBase & adapter,
+    const std::vector<int> & indices );
+
+}
+}
+
+#endif /* OPENGV_ABSOLUTE_POSE_METHODS_HPP_ */

thirdparty/opengv/include/opengv/absolute_pose/modules/Epnp.hpp

@@ -0,0 +1,161 @@
+/******************************************************************************
+ * Author:   Laurent Kneip                                                    *
+ * Contact:  kneip.laurent@gmail.com                                          *
+ * License:  Copyright (c) 2013 Laurent Kneip, ANU. All rights reserved.      *
+ *                                                                            *
+ * Redistribution and use in source and binary forms, with or without         *
+ * modification, are permitted provided that the following conditions         *
+ * are met:                                                                   *
+ * * Redistributions of source code must retain the above copyright           *
+ *   notice, this list of conditions and the following disclaimer.            *
+ * * Redistributions in binary form must reproduce the above copyright        *
+ *   notice, this list of conditions and the following disclaimer in the      *
+ *   documentation and/or other materials provided with the distribution.     *
+ * * Neither the name of ANU nor the names of its contributors may be         *
+ *   used to endorse or promote products derived from this software without   *
+ *   specific prior written permission.                                       *
+ *                                                                            *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"*
+ * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE  *
+ * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE *
+ * ARE DISCLAIMED. IN NO EVENT SHALL ANU OR THE CONTRIBUTORS BE LIABLE        *
+ * FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL *
+ * DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR *
+ * SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER *
+ * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT         *
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY  *
+ * OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF     *
+ * SUCH DAMAGE.                                                               *
+ ******************************************************************************/
+
+// Note: this code has been downloaded from the homepage of the "Computer 
+// Vision Laboratory" at EPFL Lausanne, and was originally developped by the 
+// authors of [4]. I only adapted it to Eigen.
+
+
+#ifndef OPENGV_ABSOLUTE_POSE_MODULES_EPNP_HPP_
+#define OPENGV_ABSOLUTE_POSE_MODULES_EPNP_HPP_
+
+#include <stdlib.h>
+#include <Eigen/Eigen>
+#include <Eigen/src/Core/util/DisableStupidWarnings.h>
+
+namespace opengv
+{
+namespace absolute_pose
+{
+namespace modules
+{
+
+class Epnp
+{
+public:
+  Epnp(void);
+  ~Epnp();
+
+  void set_maximum_number_of_correspondences(const int n);
+  void reset_correspondences(void);
+  void add_correspondence(
+      const double X,
+      const double Y,
+      const double Z,
+      const double x,
+      const double y,
+      const double z);
+
+  double compute_pose(double R[3][3], double T[3]);
+
+  void relative_error(
+      double & rot_err,
+      double & transl_err,
+      const double Rtrue[3][3],
+      const double ttrue[3],
+      const double Rest[3][3],
+      const double test[3]);
+
+  void print_pose(const double R[3][3], const double t[3]);
+  double reprojection_error(const double R[3][3], const double t[3]);
+
+private:
+  void choose_control_points(void);
+  void compute_barycentric_coordinates(void);
+  void fill_M(
+      Eigen::MatrixXd & M,
+      const int row,
+      const double * alphas,
+      const double u,
+      const double v);
+  void compute_ccs(const double * betas, const Eigen::MatrixXd & ut);
+  void compute_pcs(void);
+
+  void solve_for_sign(void);
+
+  void find_betas_approx_1(
+      const Eigen::Matrix<double,6,10> & L_6x10,
+      const Eigen::Matrix<double,6,1> & Rho,
+      double * betas);
+  void find_betas_approx_2(
+      const Eigen::Matrix<double,6,10> & L_6x10,
+      const Eigen::Matrix<double,6,1> & Rho,
+      double * betas);
+  void find_betas_approx_3(
+      const Eigen::Matrix<double,6,10> & L_6x10,
+      const Eigen::Matrix<double,6,1> & Rho,
+      double * betas);
+  void qr_solve(
+      Eigen::Matrix<double,6,4> & A,
+      Eigen::Matrix<double,6,1> & b,
+      Eigen::Matrix<double,4,1> & X);
+
+  double dot(const double * v1, const double * v2);
+  double dist2(const double * p1, const double * p2);
+
+  void compute_rho(Eigen::Matrix<double,6,1> & Rho);
+  void compute_L_6x10(
+      const Eigen::MatrixXd & Ut,
+      Eigen::Matrix<double,6,10> & L_6x10 );
+
+  void gauss_newton(
+      const Eigen::Matrix<double,6,10> & L_6x10,
+      const Eigen::Matrix<double,6,1> & Rho,
+      double current_betas[4]);
+  void compute_A_and_b_gauss_newton(
+      const Eigen::Matrix<double,6,10> & L_6x10,
+      const Eigen::Matrix<double,6,1> & Rho,
+      double cb[4],
+      Eigen::Matrix<double,6,4> & A,
+      Eigen::Matrix<double,6,1> & b);
+
+  double compute_R_and_t(
+      const Eigen::MatrixXd & Ut,
+      const double * betas,
+      double R[3][3],
+      double t[3]);
+
+  void estimate_R_and_t(double R[3][3], double t[3]);
+
+  void copy_R_and_t(
+      const double R_dst[3][3],
+      const double t_dst[3],
+      double R_src[3][3],
+      double t_src[3]);
+
+  void mat_to_quat(const double R[3][3], double q[4]);
+
+
+  double uc, vc, fu, fv;
+
+  double * pws, * us, * alphas, * pcs;
+  int * signs; //added!
+  int maximum_number_of_correspondences;
+  int number_of_correspondences;
+
+  double cws[4][3], ccs[4][3];
+  double cws_determinant;
+};
+
+}
+}
+}
+
+#endif /* OPENGV_ABSOLUTE_POSE_MODULES_EPNP_HPP_ */

thirdparty/opengv/include/opengv/absolute_pose/modules/gp3p/modules.hpp

@@ -0,0 +1,193 @@
+/******************************************************************************
+ * Author:   Laurent Kneip                                                    *
+ * Contact:  kneip.laurent@gmail.com                                          *
+ * License:  Copyright (c) 2013 Laurent Kneip, ANU. All rights reserved.      *
+ *                                                                            *
+ * Redistribution and use in source and binary forms, with or without         *
+ * modification, are permitted provided that the following conditions         *
+ * are met:                                                                   *
+ * * Redistributions of source code must retain the above copyright           *
+ *   notice, this list of conditions and the following disclaimer.            *
+ * * Redistributions in binary form must reproduce the above copyright        *
+ *   notice, this list of conditions and the following disclaimer in the      *
+ *   documentation and/or other materials provided with the distribution.     *
+ * * Neither the name of ANU nor the names of its contributors may be         *
+ *   used to endorse or promote products derived from this software without   *
+ *   specific prior written permission.                                       *
+ *                                                                            *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"*
+ * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE  *
+ * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE *
+ * ARE DISCLAIMED. IN NO EVENT SHALL ANU OR THE CONTRIBUTORS BE LIABLE        *
+ * FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL *
+ * DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR *
+ * SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER *
+ * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT         *
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY  *
+ * OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF     *
+ * SUCH DAMAGE.                                                               *
+ ******************************************************************************/
+
+
+#ifndef OPENGV_ABSOLUTE_POSE_MODULES_GP3P_MODULES_HPP_
+#define OPENGV_ABSOLUTE_POSE_MODULES_GP3P_MODULES_HPP_
+
+#include <stdlib.h>
+#include <Eigen/Eigen>
+#include <Eigen/src/Core/util/DisableStupidWarnings.h>
+
+
+namespace opengv
+{
+namespace absolute_pose
+{
+namespace modules
+{
+namespace gp3p
+{
+
+void init(
+    Eigen::Matrix<double,48,85> & groebnerMatrix,
+    const Eigen::Matrix<double,3,3> & f,
+    const Eigen::Matrix<double,3,3> & v,
+    const Eigen::Matrix<double,3,3> & p );
+void compute( Eigen::Matrix<double,48,85> & groebnerMatrix );
+void sPolynomial9( Eigen::Matrix<double,48,85> & groebnerMatrix );
+void sPolynomial10( Eigen::Matrix<double,48,85> & groebnerMatrix );
+void groebnerRow9_000000_f( Eigen::Matrix<double,48,85> & groebnerMatrix, int targetRow );
+void sPolynomial11( Eigen::Matrix<double,48,85> & groebnerMatrix );
+void groebnerRow10_000010_f( Eigen::Matrix<double,48,85> & groebnerMatrix, int targetRow );
+void groebnerRow10_000000_f( Eigen::Matrix<double,48,85> & groebnerMatrix, int targetRow );
+void sPolynomial12( Eigen::Matrix<double,48,85> & groebnerMatrix );
+void groebnerRow11_000000_f( Eigen::Matrix<double,48,85> & groebnerMatrix, int targetRow );
+void sPolynomial13( Eigen::Matrix<double,48,85> & groebnerMatrix );
+void groebnerRow10_000100_f( Eigen::Matrix<double,48,85> & groebnerMatrix, int targetRow );
+void groebnerRow12_000010_f( Eigen::Matrix<double,48,85> & groebnerMatrix, int targetRow );
+void groebnerRow12_000100_f( Eigen::Matrix<double,48,85> & groebnerMatrix, int targetRow );
+void groebnerRow12_000000_f( Eigen::Matrix<double,48,85> & groebnerMatrix, int targetRow );
+void sPolynomial14( Eigen::Matrix<double,48,85> & groebnerMatrix );
+void sPolynomial15( Eigen::Matrix<double,48,85> & groebnerMatrix );
+void groebnerRow14_000000_f( Eigen::Matrix<double,48,85> & groebnerMatrix, int targetRow );
+void sPolynomial16( Eigen::Matrix<double,48,85> & groebnerMatrix );
+void groebnerRow15_010000_f( Eigen::Matrix<double,48,85> & groebnerMatrix, int targetRow );
+void groebnerRow10_100000_f( Eigen::Matrix<double,48,85> & groebnerMatrix, int targetRow );
+void groebnerRow12_100000_f( Eigen::Matrix<double,48,85> & groebnerMatrix, int targetRow );
+void groebnerRow15_100000_f( Eigen::Matrix<double,48,85> & groebnerMatrix, int targetRow );
+void groebnerRow15_000000_f( Eigen::Matrix<double,48,85> & groebnerMatrix, int targetRow );
+void sPolynomial17( Eigen::Matrix<double,48,85> & groebnerMatrix );
+void sPolynomial18( Eigen::Matrix<double,48,85> & groebnerMatrix );
+void groebnerRow15_000100_f( Eigen::Matrix<double,48,85> & groebnerMatrix, int targetRow );
+void groebnerRow17_000000_f( Eigen::Matrix<double,48,85> & groebnerMatrix, int targetRow );
+void sPolynomial19( Eigen::Matrix<double,48,85> & groebnerMatrix );
+void groebnerRow12_010000_f( Eigen::Matrix<double,48,85> & groebnerMatrix, int targetRow );
+void groebnerRow16_000000_f( Eigen::Matrix<double,48,85> & groebnerMatrix, int targetRow );
+void sPolynomial20( Eigen::Matrix<double,48,85> & groebnerMatrix );
+void groebnerRow12_000001_f( Eigen::Matrix<double,48,85> & groebnerMatrix, int targetRow );
+void groebnerRow15_000001_f( Eigen::Matrix<double,48,85> & groebnerMatrix, int targetRow );
+void sPolynomial21( Eigen::Matrix<double,48,85> & groebnerMatrix );
+void groebnerRow19_000100_f( Eigen::Matrix<double,48,85> & groebnerMatrix, int targetRow );
+void groebnerRow19_000000_f( Eigen::Matrix<double,48,85> & groebnerMatrix, int targetRow );
+void sPolynomial22( Eigen::Matrix<double,48,85> & groebnerMatrix );
+void groebnerRow19_000010_f( Eigen::Matrix<double,48,85> & groebnerMatrix, int targetRow );
+void groebnerRow18_000000_f( Eigen::Matrix<double,48,85> & groebnerMatrix, int targetRow );
+void sPolynomial23( Eigen::Matrix<double,48,85> & groebnerMatrix );
+void groebnerRow19_000001_f( Eigen::Matrix<double,48,85> & groebnerMatrix, int targetRow );
+void groebnerRow20_000000_f( Eigen::Matrix<double,48,85> & groebnerMatrix, int targetRow );
+void sPolynomial24( Eigen::Matrix<double,48,85> & groebnerMatrix );
+void groebnerRow15_100100_f( Eigen::Matrix<double,48,85> & groebnerMatrix, int targetRow );
+void groebnerRow16_000100_f( Eigen::Matrix<double,48,85> & groebnerMatrix, int targetRow );
+void groebnerRow21_000000_f( Eigen::Matrix<double,48,85> & groebnerMatrix, int targetRow );
+void sPolynomial25( Eigen::Matrix<double,48,85> & groebnerMatrix );
+void groebnerRow15_100010_f( Eigen::Matrix<double,48,85> & groebnerMatrix, int targetRow );
+void groebnerRow16_000010_f( Eigen::Matrix<double,48,85> & groebnerMatrix, int targetRow );
+void groebnerRow22_000000_f( Eigen::Matrix<double,48,85> & groebnerMatrix, int targetRow );
+void groebnerRow15_000010_f( Eigen::Matrix<double,48,85> & groebnerMatrix, int targetRow );
+void sPolynomial26( Eigen::Matrix<double,48,85> & groebnerMatrix );
+void groebnerRow15_100001_f( Eigen::Matrix<double,48,85> & groebnerMatrix, int targetRow );
+void groebnerRow16_000001_f( Eigen::Matrix<double,48,85> & groebnerMatrix, int targetRow );
+void groebnerRow23_000000_f( Eigen::Matrix<double,48,85> & groebnerMatrix, int targetRow );
+void sPolynomial27( Eigen::Matrix<double,48,85> & groebnerMatrix );
+void groebnerRow12_100100_f( Eigen::Matrix<double,48,85> & groebnerMatrix, int targetRow );
+void groebnerRow24_000000_f( Eigen::Matrix<double,48,85> & groebnerMatrix, int targetRow );
+void sPolynomial28( Eigen::Matrix<double,48,85> & groebnerMatrix );
+void groebnerRow12_100010_f( Eigen::Matrix<double,48,85> & groebnerMatrix, int targetRow );
+void groebnerRow25_000000_f( Eigen::Matrix<double,48,85> & groebnerMatrix, int targetRow );
+void sPolynomial29( Eigen::Matrix<double,48,85> & groebnerMatrix );
+void groebnerRow12_100001_f( Eigen::Matrix<double,48,85> & groebnerMatrix, int targetRow );
+void groebnerRow10_000001_f( Eigen::Matrix<double,48,85> & groebnerMatrix, int targetRow );
+void groebnerRow26_000000_f( Eigen::Matrix<double,48,85> & groebnerMatrix, int targetRow );
+void sPolynomial30( Eigen::Matrix<double,48,85> & groebnerMatrix );
+void groebnerRow28_000000_f( Eigen::Matrix<double,48,85> & groebnerMatrix, int targetRow );
+void groebnerRow27_000000_f( Eigen::Matrix<double,48,85> & groebnerMatrix, int targetRow );
+void sPolynomial31( Eigen::Matrix<double,48,85> & groebnerMatrix );
+void groebnerRow29_000000_f( Eigen::Matrix<double,48,85> & groebnerMatrix, int targetRow );
+void sPolynomial32( Eigen::Matrix<double,48,85> & groebnerMatrix );
+void groebnerRow31_100000_f( Eigen::Matrix<double,48,85> & groebnerMatrix, int targetRow );
+void groebnerRow30_100000_f( Eigen::Matrix<double,48,85> & groebnerMatrix, int targetRow );
+void groebnerRow31_000000_f( Eigen::Matrix<double,48,85> & groebnerMatrix, int targetRow );
+void groebnerRow30_000000_f( Eigen::Matrix<double,48,85> & groebnerMatrix, int targetRow );
+void sPolynomial33( Eigen::Matrix<double,48,85> & groebnerMatrix );
+void groebnerRow32_000000_f( Eigen::Matrix<double,48,85> & groebnerMatrix, int targetRow );
+void sPolynomial34( Eigen::Matrix<double,48,85> & groebnerMatrix );
+void groebnerRow32_100000_f( Eigen::Matrix<double,48,85> & groebnerMatrix, int targetRow );
+void groebnerRow33_100000_f( Eigen::Matrix<double,48,85> & groebnerMatrix, int targetRow );
+void groebnerRow33_000000_f( Eigen::Matrix<double,48,85> & groebnerMatrix, int targetRow );
+void sPolynomial35( Eigen::Matrix<double,48,85> & groebnerMatrix );
+void groebnerRow34_100000_f( Eigen::Matrix<double,48,85> & groebnerMatrix, int targetRow );
+void groebnerRow34_000000_f( Eigen::Matrix<double,48,85> & groebnerMatrix, int targetRow );
+void sPolynomial36( Eigen::Matrix<double,48,85> & groebnerMatrix );
+void groebnerRow35_100000_f( Eigen::Matrix<double,48,85> & groebnerMatrix, int targetRow );
+void groebnerRow35_000000_f( Eigen::Matrix<double,48,85> & groebnerMatrix, int targetRow );
+void sPolynomial37( Eigen::Matrix<double,48,85> & groebnerMatrix );
+void sPolynomial38( Eigen::Matrix<double,48,85> & groebnerMatrix );
+void groebnerRow37_100000_f( Eigen::Matrix<double,48,85> & groebnerMatrix, int targetRow );
+void groebnerRow36_000000_f( Eigen::Matrix<double,48,85> & groebnerMatrix, int targetRow );
+void groebnerRow37_000000_f( Eigen::Matrix<double,48,85> & groebnerMatrix, int targetRow );
+void sPolynomial39( Eigen::Matrix<double,48,85> & groebnerMatrix );
+void groebnerRow38_100000_f( Eigen::Matrix<double,48,85> & groebnerMatrix, int targetRow );
+void groebnerRow38_000000_f( Eigen::Matrix<double,48,85> & groebnerMatrix, int targetRow );
+void sPolynomial40( Eigen::Matrix<double,48,85> & groebnerMatrix );
+void groebnerRow39_100000_f( Eigen::Matrix<double,48,85> & groebnerMatrix, int targetRow );
+void groebnerRow39_000000_f( Eigen::Matrix<double,48,85> & groebnerMatrix, int targetRow );
+void sPolynomial41( Eigen::Matrix<double,48,85> & groebnerMatrix );
+void groebnerRow40_100000_f( Eigen::Matrix<double,48,85> & groebnerMatrix, int targetRow );
+void groebnerRow40_000000_f( Eigen::Matrix<double,48,85> & groebnerMatrix, int targetRow );
+void sPolynomial42( Eigen::Matrix<double,48,85> & groebnerMatrix );
+void groebnerRow32_000100_f( Eigen::Matrix<double,48,85> & groebnerMatrix, int targetRow );
+void groebnerRow33_000010_f( Eigen::Matrix<double,48,85> & groebnerMatrix, int targetRow );
+void groebnerRow34_000010_f( Eigen::Matrix<double,48,85> & groebnerMatrix, int targetRow );
+void groebnerRow33_000100_f( Eigen::Matrix<double,48,85> & groebnerMatrix, int targetRow );
+void groebnerRow34_000100_f( Eigen::Matrix<double,48,85> & groebnerMatrix, int targetRow );
+void groebnerRow35_000100_f( Eigen::Matrix<double,48,85> & groebnerMatrix, int targetRow );
+void groebnerRow37_000010_f( Eigen::Matrix<double,48,85> & groebnerMatrix, int targetRow );
+void groebnerRow38_000010_f( Eigen::Matrix<double,48,85> & groebnerMatrix, int targetRow );
+void groebnerRow37_000100_f( Eigen::Matrix<double,48,85> & groebnerMatrix, int targetRow );
+void groebnerRow38_000100_f( Eigen::Matrix<double,48,85> & groebnerMatrix, int targetRow );
+void groebnerRow39_000100_f( Eigen::Matrix<double,48,85> & groebnerMatrix, int targetRow );
+void groebnerRow41_100000_f( Eigen::Matrix<double,48,85> & groebnerMatrix, int targetRow );
+void groebnerRow41_000000_f( Eigen::Matrix<double,48,85> & groebnerMatrix, int targetRow );
+void sPolynomial43( Eigen::Matrix<double,48,85> & groebnerMatrix );
+void groebnerRow33_000001_f( Eigen::Matrix<double,48,85> & groebnerMatrix, int targetRow );
+void groebnerRow37_000001_f( Eigen::Matrix<double,48,85> & groebnerMatrix, int targetRow );
+void groebnerRow42_000000_f( Eigen::Matrix<double,48,85> & groebnerMatrix, int targetRow );
+void sPolynomial44( Eigen::Matrix<double,48,85> & groebnerMatrix );
+void groebnerRow31_000100_f( Eigen::Matrix<double,48,85> & groebnerMatrix, int targetRow );
+void groebnerRow30_000100_f( Eigen::Matrix<double,48,85> & groebnerMatrix, int targetRow );
+void sPolynomial45( Eigen::Matrix<double,48,85> & groebnerMatrix );
+void groebnerRow36_000100_f( Eigen::Matrix<double,48,85> & groebnerMatrix, int targetRow );
+void groebnerRow36_010000_f( Eigen::Matrix<double,48,85> & groebnerMatrix, int targetRow );
+void groebnerRow44_000000_f( Eigen::Matrix<double,48,85> & groebnerMatrix, int targetRow );
+void sPolynomial46( Eigen::Matrix<double,48,85> & groebnerMatrix );
+void groebnerRow36_000010_f( Eigen::Matrix<double,48,85> & groebnerMatrix, int targetRow );
+void groebnerRow45_000000_f( Eigen::Matrix<double,48,85> & groebnerMatrix, int targetRow );
+void sPolynomial47( Eigen::Matrix<double,48,85> & groebnerMatrix );
+void groebnerRow36_000001_f( Eigen::Matrix<double,48,85> & groebnerMatrix, int targetRow );
+void groebnerRow43_000000_f( Eigen::Matrix<double,48,85> & groebnerMatrix, int targetRow );
+void groebnerRow46_000000_f( Eigen::Matrix<double,48,85> & groebnerMatrix, int targetRow );
+
+}
+}
+}
+}
+
+#endif /* OPENGV_ABSOLUTE_POSE_MODULES_GP3P_MODULES_HPP_ */

thirdparty/opengv/include/opengv/absolute_pose/modules/gpnp1/modules.hpp

@@ -0,0 +1,67 @@
+/******************************************************************************
+ * Author:   Laurent Kneip                                                    *
+ * Contact:  kneip.laurent@gmail.com                                          *
+ * License:  Copyright (c) 2013 Laurent Kneip, ANU. All rights reserved.      *
+ *                                                                            *
+ * Redistribution and use in source and binary forms, with or without         *
+ * modification, are permitted provided that the following conditions         *
+ * are met:                                                                   *
+ * * Redistributions of source code must retain the above copyright           *
+ *   notice, this list of conditions and the following disclaimer.            *
+ * * Redistributions in binary form must reproduce the above copyright        *
+ *   notice, this list of conditions and the following disclaimer in the      *
+ *   documentation and/or other materials provided with the distribution.     *
+ * * Neither the name of ANU nor the names of its contributors may be         *
+ *   used to endorse or promote products derived from this software without   *
+ *   specific prior written permission.                                       *
+ *                                                                            *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"*
+ * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE  *
+ * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE *
+ * ARE DISCLAIMED. IN NO EVENT SHALL ANU OR THE CONTRIBUTORS BE LIABLE        *
+ * FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL *
+ * DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR *
+ * SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER *
+ * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT         *
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY  *
+ * OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF     *
+ * SUCH DAMAGE.                                                               *
+ ******************************************************************************/
+
+
+#ifndef OPENGV_ABSOLUTE_POSE_MODULES_GPNP1_MODULES_HPP_
+#define OPENGV_ABSOLUTE_POSE_MODULES_GPNP1_MODULES_HPP_
+
+#include <stdlib.h>
+#include <Eigen/Eigen>
+#include <Eigen/src/Core/util/DisableStupidWarnings.h>
+#include <vector>
+
+namespace opengv
+{
+namespace absolute_pose
+{
+namespace modules
+{
+namespace gpnp1
+{
+
+void init(
+    Eigen::Matrix<double,5,3> & groebnerMatrix,
+    const Eigen::Matrix<double,12,1> & a,
+    Eigen::Matrix<double,12,1> & n,
+    Eigen::Vector3d & c0,
+    Eigen::Vector3d & c1,
+    Eigen::Vector3d & c2,
+    Eigen::Vector3d & c3 );
+void compute( Eigen::Matrix<double,5,3> & groebnerMatrix );
+void sPolynomial3( Eigen::Matrix<double,5,3> & groebnerMatrix );
+void sPolynomial4( Eigen::Matrix<double,5,3> & groebnerMatrix );
+void groebnerRow3_0_f( Eigen::Matrix<double,5,3> & groebnerMatrix, int targetRow );
+
+}
+}
+}
+}
+
+#endif /* OPENGV_ABSOLUTE_POSE_MODULES_GPNP1_MODULES_HPP_ */

thirdparty/opengv/include/opengv/absolute_pose/modules/gpnp2/modules.hpp

@@ -0,0 +1,75 @@
+/******************************************************************************
+ * Author:   Laurent Kneip                                                    *
+ * Contact:  kneip.laurent@gmail.com                                          *
+ * License:  Copyright (c) 2013 Laurent Kneip, ANU. All rights reserved.      *
+ *                                                                            *
+ * Redistribution and use in source and binary forms, with or without         *
+ * modification, are permitted provided that the following conditions         *
+ * are met:                                                                   *
+ * * Redistributions of source code must retain the above copyright           *
+ *   notice, this list of conditions and the following disclaimer.            *
+ * * Redistributions in binary form must reproduce the above copyright        *
+ *   notice, this list of conditions and the following disclaimer in the      *
+ *   documentation and/or other materials provided with the distribution.     *
+ * * Neither the name of ANU nor the names of its contributors may be         *
+ *   used to endorse or promote products derived from this software without   *
+ *   specific prior written permission.                                       *
+ *                                                                            *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"*
+ * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE  *
+ * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE *
+ * ARE DISCLAIMED. IN NO EVENT SHALL ANU OR THE CONTRIBUTORS BE LIABLE        *
+ * FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL *
+ * DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR *
+ * SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER *
+ * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT         *
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY  *
+ * OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF     *
+ * SUCH DAMAGE.                                                               *
+ ******************************************************************************/
+
+
+#ifndef OPENGV_ABSOLUTE_POSE_MODULES_GPNP2_MODULES_HPP_
+#define OPENGV_ABSOLUTE_POSE_MODULES_GPNP2_MODULES_HPP_
+
+#include <stdlib.h>
+#include <Eigen/Eigen>
+#include <Eigen/src/Core/util/DisableStupidWarnings.h>
+#include <vector>
+
+namespace opengv
+{
+namespace absolute_pose
+{
+namespace modules
+{
+namespace gpnp2
+{
+
+void init(
+    Eigen::Matrix<double,10,6> & groebnerMatrix,
+    const Eigen::Matrix<double,12,1> & a,
+    Eigen::Matrix<double,12,1> & n,
+    Eigen::Matrix<double,12,1> & m,
+    Eigen::Vector3d & c0,
+    Eigen::Vector3d & c1,
+    Eigen::Vector3d & c2,
+    Eigen::Vector3d & c3 );
+void compute( Eigen::Matrix<double,10,6> & groebnerMatrix );
+void sPolynomial5( Eigen::Matrix<double,10,6> & groebnerMatrix );
+void sPolynomial6( Eigen::Matrix<double,10,6> & groebnerMatrix );
+void groebnerRow5_00_f( Eigen::Matrix<double,10,6> & groebnerMatrix, int targetRow );
+void sPolynomial7( Eigen::Matrix<double,10,6> & groebnerMatrix );
+void groebnerRow6_00_f( Eigen::Matrix<double,10,6> & groebnerMatrix, int targetRow );
+void sPolynomial8( Eigen::Matrix<double,10,6> & groebnerMatrix );
+void groebnerRow7_10_f( Eigen::Matrix<double,10,6> & groebnerMatrix, int targetRow );
+void groebnerRow7_00_f( Eigen::Matrix<double,10,6> & groebnerMatrix, int targetRow );
+void sPolynomial9( Eigen::Matrix<double,10,6> & groebnerMatrix );
+void groebnerRow8_00_f( Eigen::Matrix<double,10,6> & groebnerMatrix, int targetRow );
+
+}
+}
+}
+}
+
+#endif /* OPENGV_ABSOLUTE_POSE_MODULES_GPNP2_MODULES_HPP_ */

thirdparty/opengv/include/opengv/absolute_pose/modules/gpnp3/modules.hpp

@@ -0,0 +1,100 @@
+/******************************************************************************
+ * Author:   Laurent Kneip                                                    *
+ * Contact:  kneip.laurent@gmail.com                                          *
+ * License:  Copyright (c) 2013 Laurent Kneip, ANU. All rights reserved.      *
+ *                                                                            *
+ * Redistribution and use in source and binary forms, with or without         *
+ * modification, are permitted provided that the following conditions         *
+ * are met:                                                                   *
+ * * Redistributions of source code must retain the above copyright           *
+ *   notice, this list of conditions and the following disclaimer.            *
+ * * Redistributions in binary form must reproduce the above copyright        *
+ *   notice, this list of conditions and the following disclaimer in the      *
+ *   documentation and/or other materials provided with the distribution.     *
+ * * Neither the name of ANU nor the names of its contributors may be         *
+ *   used to endorse or promote products derived from this software without   *
+ *   specific prior written permission.                                       *
+ *                                                                            *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"*
+ * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE  *
+ * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE *
+ * ARE DISCLAIMED. IN NO EVENT SHALL ANU OR THE CONTRIBUTORS BE LIABLE        *
+ * FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL *
+ * DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR *
+ * SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER *
+ * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT         *
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY  *
+ * OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF     *
+ * SUCH DAMAGE.                                                               *
+ ******************************************************************************/
+
+
+#ifndef OPENGV_ABSOLUTE_POSE_MODULES_GPNP3_MODULES_HPP_
+#define OPENGV_ABSOLUTE_POSE_MODULES_GPNP3_MODULES_HPP_
+
+#include <stdlib.h>
+#include <Eigen/Eigen>
+#include <Eigen/src/Core/util/DisableStupidWarnings.h>
+#include <vector>
+
+namespace opengv
+{
+namespace absolute_pose
+{
+namespace modules
+{
+namespace gpnp3
+{
+
+void init(
+    Eigen::Matrix<double,15,18> & groebnerMatrix,
+    const Eigen::Matrix<double,12,1> & a,
+    Eigen::Matrix<double,12,1> & n,
+    Eigen::Matrix<double,12,1> & m,
+    Eigen::Matrix<double,12,1> & k,
+    Eigen::Vector3d & c0,
+    Eigen::Vector3d & c1,
+    Eigen::Vector3d & c2,
+    Eigen::Vector3d & c3 );
+void compute( Eigen::Matrix<double,15,18> & groebnerMatrix );
+void sPolynomial4( Eigen::Matrix<double,15,18> & groebnerMatrix );
+void sPolynomial5( Eigen::Matrix<double,15,18> & groebnerMatrix );
+void groebnerRow4_000_f( Eigen::Matrix<double,15,18> & groebnerMatrix, int targetRow );
+void sPolynomial6( Eigen::Matrix<double,15,18> & groebnerMatrix );
+void groebnerRow5_000_f( Eigen::Matrix<double,15,18> & groebnerMatrix, int targetRow );
+void sPolynomial7( Eigen::Matrix<double,15,18> & groebnerMatrix );
+void groebnerRow5_100_f( Eigen::Matrix<double,15,18> & groebnerMatrix, int targetRow );
+void groebnerRow6_100_f( Eigen::Matrix<double,15,18> & groebnerMatrix, int targetRow );
+void groebnerRow6_000_f( Eigen::Matrix<double,15,18> & groebnerMatrix, int targetRow );
+void sPolynomial8( Eigen::Matrix<double,15,18> & groebnerMatrix );
+void groebnerRow4_100_f( Eigen::Matrix<double,15,18> & groebnerMatrix, int targetRow );
+void groebnerRow7_000_f( Eigen::Matrix<double,15,18> & groebnerMatrix, int targetRow );
+void groebnerRow3_000_f( Eigen::Matrix<double,15,18> & groebnerMatrix, int targetRow );
+void sPolynomial9( Eigen::Matrix<double,15,18> & groebnerMatrix );
+void groebnerRow5_010_f( Eigen::Matrix<double,15,18> & groebnerMatrix, int targetRow );
+void groebnerRow3_100_f( Eigen::Matrix<double,15,18> & groebnerMatrix, int targetRow );
+void groebnerRow8_000_f( Eigen::Matrix<double,15,18> & groebnerMatrix, int targetRow );
+void sPolynomial10( Eigen::Matrix<double,15,18> & groebnerMatrix );
+void groebnerRow4_010_f( Eigen::Matrix<double,15,18> & groebnerMatrix, int targetRow );
+void groebnerRow9_100_f( Eigen::Matrix<double,15,18> & groebnerMatrix, int targetRow );
+void groebnerRow9_000_f( Eigen::Matrix<double,15,18> & groebnerMatrix, int targetRow );
+void sPolynomial11( Eigen::Matrix<double,15,18> & groebnerMatrix );
+void groebnerRow10_000_f( Eigen::Matrix<double,15,18> & groebnerMatrix, int targetRow );
+void sPolynomial12( Eigen::Matrix<double,15,18> & groebnerMatrix );
+void groebnerRow10_100_f( Eigen::Matrix<double,15,18> & groebnerMatrix, int targetRow );
+void groebnerRow11_100_f( Eigen::Matrix<double,15,18> & groebnerMatrix, int targetRow );
+void groebnerRow11_000_f( Eigen::Matrix<double,15,18> & groebnerMatrix, int targetRow );
+void sPolynomial13( Eigen::Matrix<double,15,18> & groebnerMatrix );
+void groebnerRow11_010_f( Eigen::Matrix<double,15,18> & groebnerMatrix, int targetRow );
+void groebnerRow12_010_f( Eigen::Matrix<double,15,18> & groebnerMatrix, int targetRow );
+void groebnerRow12_100_f( Eigen::Matrix<double,15,18> & groebnerMatrix, int targetRow );
+void groebnerRow12_000_f( Eigen::Matrix<double,15,18> & groebnerMatrix, int targetRow );
+void sPolynomial14( Eigen::Matrix<double,15,18> & groebnerMatrix );
+void groebnerRow13_000_f( Eigen::Matrix<double,15,18> & groebnerMatrix, int targetRow );
+
+}
+}
+}
+}
+
+#endif /* OPENGV_ABSOLUTE_POSE_MODULES_GPNP3_MODULES_HPP_ */

thirdparty/opengv/include/opengv/absolute_pose/modules/gpnp4/modules.hpp

@@ -0,0 +1,145 @@
+/******************************************************************************
+ * Author:   Laurent Kneip                                                    *
+ * Contact:  kneip.laurent@gmail.com                                          *
+ * License:  Copyright (c) 2013 Laurent Kneip, ANU. All rights reserved.      *
+ *                                                                            *
+ * Redistribution and use in source and binary forms, with or without         *
+ * modification, are permitted provided that the following conditions         *
+ * are met:                                                                   *
+ * * Redistributions of source code must retain the above copyright           *
+ *   notice, this list of conditions and the following disclaimer.            *
+ * * Redistributions in binary form must reproduce the above copyright        *
+ *   notice, this list of conditions and the following disclaimer in the      *
+ *   documentation and/or other materials provided with the distribution.     *
+ * * Neither the name of ANU nor the names of its contributors may be         *
+ *   used to endorse or promote products derived from this software without   *
+ *   specific prior written permission.                                       *
+ *                                                                            *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"*
+ * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE  *
+ * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE *
+ * ARE DISCLAIMED. IN NO EVENT SHALL ANU OR THE CONTRIBUTORS BE LIABLE        *
+ * FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL *
+ * DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR *
+ * SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER *
+ * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT         *
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY  *
+ * OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF     *
+ * SUCH DAMAGE.                                                               *
+ ******************************************************************************/
+
+
+#ifndef OPENGV_ABSOLUTE_POSE_MODULES_GPNP4_MODULES_HPP_
+#define OPENGV_ABSOLUTE_POSE_MODULES_GPNP4_MODULES_HPP_
+
+#include <stdlib.h>
+#include <Eigen/Eigen>
+#include <Eigen/src/Core/util/DisableStupidWarnings.h>
+#include <vector>
+
+namespace opengv
+{
+namespace absolute_pose
+{
+namespace modules
+{
+namespace gpnp4
+{
+
+void init(
+    Eigen::Matrix<double,25,37> & groebnerMatrix,
+    const Eigen::Matrix<double,12,1> & a,
+    Eigen::Matrix<double,12,1> & n,
+    Eigen::Matrix<double,12,1> & m,
+    Eigen::Matrix<double,12,1> & k,
+    Eigen::Matrix<double,12,1> & l,
+    Eigen::Vector3d & c0,
+    Eigen::Vector3d & c1,
+    Eigen::Vector3d & c2,
+    Eigen::Vector3d & c3 );
+void compute( Eigen::Matrix<double,25,37> & groebnerMatrix );
+void sPolynomial5( Eigen::Matrix<double,25,37> & groebnerMatrix );
+void sPolynomial6( Eigen::Matrix<double,25,37> & groebnerMatrix );
+void groebnerRow5_0000_f( Eigen::Matrix<double,25,37> & groebnerMatrix, int targetRow );
+void sPolynomial7( Eigen::Matrix<double,25,37> & groebnerMatrix );
+void groebnerRow6_0000_f( Eigen::Matrix<double,25,37> & groebnerMatrix, int targetRow );
+void sPolynomial8( Eigen::Matrix<double,25,37> & groebnerMatrix );
+void groebnerRow7_0000_f( Eigen::Matrix<double,25,37> & groebnerMatrix, int targetRow );
+void sPolynomial9( Eigen::Matrix<double,25,37> & groebnerMatrix );
+void groebnerRow7_0100_f( Eigen::Matrix<double,25,37> & groebnerMatrix, int targetRow );
+void groebnerRow8_0100_f( Eigen::Matrix<double,25,37> & groebnerMatrix, int targetRow );
+void groebnerRow5_1000_f( Eigen::Matrix<double,25,37> & groebnerMatrix, int targetRow );
+void groebnerRow6_1000_f( Eigen::Matrix<double,25,37> & groebnerMatrix, int targetRow );
+void groebnerRow7_1000_f( Eigen::Matrix<double,25,37> & groebnerMatrix, int targetRow );
+void groebnerRow8_1000_f( Eigen::Matrix<double,25,37> & groebnerMatrix, int targetRow );
+void groebnerRow8_0000_f( Eigen::Matrix<double,25,37> & groebnerMatrix, int targetRow );
+void sPolynomial10( Eigen::Matrix<double,25,37> & groebnerMatrix );
+void groebnerRow6_0100_f( Eigen::Matrix<double,25,37> & groebnerMatrix, int targetRow );
+void groebnerRow9_0000_f( Eigen::Matrix<double,25,37> & groebnerMatrix, int targetRow );
+void sPolynomial11( Eigen::Matrix<double,25,37> & groebnerMatrix );
+void groebnerRow4_1000_f( Eigen::Matrix<double,25,37> & groebnerMatrix, int targetRow );
+void groebnerRow10_0000_f( Eigen::Matrix<double,25,37> & groebnerMatrix, int targetRow );
+void groebnerRow4_0000_f( Eigen::Matrix<double,25,37> & groebnerMatrix, int targetRow );
+void sPolynomial12( Eigen::Matrix<double,25,37> & groebnerMatrix );
+void groebnerRow5_0100_f( Eigen::Matrix<double,25,37> & groebnerMatrix, int targetRow );
+void groebnerRow11_0000_f( Eigen::Matrix<double,25,37> & groebnerMatrix, int targetRow );
+void sPolynomial13( Eigen::Matrix<double,25,37> & groebnerMatrix );
+void groebnerRow6_0010_f( Eigen::Matrix<double,25,37> & groebnerMatrix, int targetRow );
+void groebnerRow4_0100_f( Eigen::Matrix<double,25,37> & groebnerMatrix, int targetRow );
+void groebnerRow12_0000_f( Eigen::Matrix<double,25,37> & groebnerMatrix, int targetRow );
+void sPolynomial14( Eigen::Matrix<double,25,37> & groebnerMatrix );
+void groebnerRow5_0010_f( Eigen::Matrix<double,25,37> & groebnerMatrix, int targetRow );
+void groebnerRow13_0000_f( Eigen::Matrix<double,25,37> & groebnerMatrix, int targetRow );
+void sPolynomial15( Eigen::Matrix<double,25,37> & groebnerMatrix );
+void groebnerRow14_1000_f( Eigen::Matrix<double,25,37> & groebnerMatrix, int targetRow );
+void groebnerRow14_0000_f( Eigen::Matrix<double,25,37> & groebnerMatrix, int targetRow );
+void sPolynomial16( Eigen::Matrix<double,25,37> & groebnerMatrix );
+void groebnerRow13_1000_f( Eigen::Matrix<double,25,37> & groebnerMatrix, int targetRow );
+void groebnerRow15_0100_f( Eigen::Matrix<double,25,37> & groebnerMatrix, int targetRow );
+void groebnerRow15_1000_f( Eigen::Matrix<double,25,37> & groebnerMatrix, int targetRow );
+void groebnerRow15_0000_f( Eigen::Matrix<double,25,37> & groebnerMatrix, int targetRow );
+void sPolynomial17( Eigen::Matrix<double,25,37> & groebnerMatrix );
+void groebnerRow12_1000_f( Eigen::Matrix<double,25,37> & groebnerMatrix, int targetRow );
+void groebnerRow16_1000_f( Eigen::Matrix<double,25,37> & groebnerMatrix, int targetRow );
+void groebnerRow16_0000_f( Eigen::Matrix<double,25,37> & groebnerMatrix, int targetRow );
+void sPolynomial18( Eigen::Matrix<double,25,37> & groebnerMatrix );
+void groebnerRow14_0001_f( Eigen::Matrix<double,25,37> & groebnerMatrix, int targetRow );
+void groebnerRow14_0010_f( Eigen::Matrix<double,25,37> & groebnerMatrix, int targetRow );
+void groebnerRow17_1000_f( Eigen::Matrix<double,25,37> & groebnerMatrix, int targetRow );
+void groebnerRow17_0000_f( Eigen::Matrix<double,25,37> & groebnerMatrix, int targetRow );
+void sPolynomial19( Eigen::Matrix<double,25,37> & groebnerMatrix );
+void groebnerRow18_0000_f( Eigen::Matrix<double,25,37> & groebnerMatrix, int targetRow );
+void sPolynomial20( Eigen::Matrix<double,25,37> & groebnerMatrix );
+void groebnerRow18_1000_f( Eigen::Matrix<double,25,37> & groebnerMatrix, int targetRow );
+void groebnerRow19_1000_f( Eigen::Matrix<double,25,37> & groebnerMatrix, int targetRow );
+void groebnerRow19_0000_f( Eigen::Matrix<double,25,37> & groebnerMatrix, int targetRow );
+void sPolynomial21( Eigen::Matrix<double,25,37> & groebnerMatrix );
+void groebnerRow20_1000_f( Eigen::Matrix<double,25,37> & groebnerMatrix, int targetRow );
+void groebnerRow20_0000_f( Eigen::Matrix<double,25,37> & groebnerMatrix, int targetRow );
+void sPolynomial22( Eigen::Matrix<double,25,37> & groebnerMatrix );
+void groebnerRow19_0001_f( Eigen::Matrix<double,25,37> & groebnerMatrix, int targetRow );
+void groebnerRow19_0010_f( Eigen::Matrix<double,25,37> & groebnerMatrix, int targetRow );
+void groebnerRow20_0001_f( Eigen::Matrix<double,25,37> & groebnerMatrix, int targetRow );
+void groebnerRow20_0010_f( Eigen::Matrix<double,25,37> & groebnerMatrix, int targetRow );
+void groebnerRow21_0010_f( Eigen::Matrix<double,25,37> & groebnerMatrix, int targetRow );
+void groebnerRow20_0100_f( Eigen::Matrix<double,25,37> & groebnerMatrix, int targetRow );
+void groebnerRow21_0100_f( Eigen::Matrix<double,25,37> & groebnerMatrix, int targetRow );
+void groebnerRow21_1000_f( Eigen::Matrix<double,25,37> & groebnerMatrix, int targetRow );
+void groebnerRow21_0000_f( Eigen::Matrix<double,25,37> & groebnerMatrix, int targetRow );
+void sPolynomial23( Eigen::Matrix<double,25,37> & groebnerMatrix );
+void groebnerRow20_1100_f( Eigen::Matrix<double,25,37> & groebnerMatrix, int targetRow );
+void groebnerRow21_1100_f( Eigen::Matrix<double,25,37> & groebnerMatrix, int targetRow );
+void groebnerRow22_1100_f( Eigen::Matrix<double,25,37> & groebnerMatrix, int targetRow );
+void groebnerRow19_0100_f( Eigen::Matrix<double,25,37> & groebnerMatrix, int targetRow );
+void groebnerRow22_0100_f( Eigen::Matrix<double,25,37> & groebnerMatrix, int targetRow );
+void groebnerRow22_1000_f( Eigen::Matrix<double,25,37> & groebnerMatrix, int targetRow );
+void groebnerRow22_0000_f( Eigen::Matrix<double,25,37> & groebnerMatrix, int targetRow );
+void sPolynomial24( Eigen::Matrix<double,25,37> & groebnerMatrix );
+void groebnerRow23_0000_f( Eigen::Matrix<double,25,37> & groebnerMatrix, int targetRow );
+
+}
+}
+}
+}
+
+#endif /* OPENGV_ABSOLUTE_POSE_MODULES_GPNP4_MODULES_HPP_ */

thirdparty/opengv/include/opengv/absolute_pose/modules/gpnp5/modules.hpp

@@ -0,0 +1,250 @@
+/******************************************************************************
+ * Author:   Laurent Kneip                                                    *
+ * Contact:  kneip.laurent@gmail.com                                          *
+ * License:  Copyright (c) 2013 Laurent Kneip, ANU. All rights reserved.      *
+ *                                                                            *
+ * Redistribution and use in source and binary forms, with or without         *
+ * modification, are permitted provided that the following conditions         *
+ * are met:                                                                   *
+ * * Redistributions of source code must retain the above copyright           *
+ *   notice, this list of conditions and the following disclaimer.            *
+ * * Redistributions in binary form must reproduce the above copyright        *
+ *   notice, this list of conditions and the following disclaimer in the      *
+ *   documentation and/or other materials provided with the distribution.     *
+ * * Neither the name of ANU nor the names of its contributors may be         *
+ *   used to endorse or promote products derived from this software without   *
+ *   specific prior written permission.                                       *
+ *                                                                            *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"*
+ * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE  *
+ * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE *
+ * ARE DISCLAIMED. IN NO EVENT SHALL ANU OR THE CONTRIBUTORS BE LIABLE        *
+ * FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL *
+ * DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR *
+ * SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER *
+ * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT         *
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY  *
+ * OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF     *
+ * SUCH DAMAGE.                                                               *
+ ******************************************************************************/
+
+
+#ifndef OPENGV_ABSOLUTE_POSE_MODULES_GPNP5_MODULES_HPP_
+#define OPENGV_ABSOLUTE_POSE_MODULES_GPNP5_MODULES_HPP_
+
+#include <stdlib.h>
+#include <Eigen/Eigen>
+#include <Eigen/src/Core/util/DisableStupidWarnings.h>
+#include <vector>
+
+namespace opengv
+{
+namespace absolute_pose
+{
+namespace modules
+{
+namespace gpnp5
+{
+
+void init(
+    Eigen::Matrix<double,44,80> & groebnerMatrix,
+    const Eigen::Matrix<double,12,1> & a,
+    Eigen::Matrix<double,12,1> & n,
+    Eigen::Matrix<double,12,1> & m,
+    Eigen::Matrix<double,12,1> & k,
+    Eigen::Matrix<double,12,1> & l,
+    Eigen::Matrix<double,12,1> & p,
+    Eigen::Vector3d & c0,
+    Eigen::Vector3d & c1,
+    Eigen::Vector3d & c2,
+    Eigen::Vector3d & c3 );
+void compute( Eigen::Matrix<double,44,80> & groebnerMatrix );
+void sPolynomial6( Eigen::Matrix<double,44,80> & groebnerMatrix );
+void sPolynomial7( Eigen::Matrix<double,44,80> & groebnerMatrix );
+void groebnerRow6_00000_f( Eigen::Matrix<double,44,80> & groebnerMatrix, int targetRow );
+void sPolynomial8( Eigen::Matrix<double,44,80> & groebnerMatrix );
+void groebnerRow7_00000_f( Eigen::Matrix<double,44,80> & groebnerMatrix, int targetRow );
+void sPolynomial9( Eigen::Matrix<double,44,80> & groebnerMatrix );
+void groebnerRow8_00000_f( Eigen::Matrix<double,44,80> & groebnerMatrix, int targetRow );
+void sPolynomial10( Eigen::Matrix<double,44,80> & groebnerMatrix );
+void groebnerRow9_00000_f( Eigen::Matrix<double,44,80> & groebnerMatrix, int targetRow );
+void sPolynomial11( Eigen::Matrix<double,44,80> & groebnerMatrix );
+void groebnerRow10_00100_f( Eigen::Matrix<double,44,80> & groebnerMatrix, int targetRow );
+void groebnerRow6_01000_f( Eigen::Matrix<double,44,80> & groebnerMatrix, int targetRow );
+void groebnerRow7_01000_f( Eigen::Matrix<double,44,80> & groebnerMatrix, int targetRow );
+void groebnerRow8_01000_f( Eigen::Matrix<double,44,80> & groebnerMatrix, int targetRow );
+void groebnerRow9_01000_f( Eigen::Matrix<double,44,80> & groebnerMatrix, int targetRow );
+void groebnerRow10_01000_f( Eigen::Matrix<double,44,80> & groebnerMatrix, int targetRow );
+void groebnerRow6_10000_f( Eigen::Matrix<double,44,80> & groebnerMatrix, int targetRow );
+void groebnerRow7_10000_f( Eigen::Matrix<double,44,80> & groebnerMatrix, int targetRow );
+void groebnerRow8_10000_f( Eigen::Matrix<double,44,80> & groebnerMatrix, int targetRow );
+void groebnerRow9_10000_f( Eigen::Matrix<double,44,80> & groebnerMatrix, int targetRow );
+void groebnerRow10_10000_f( Eigen::Matrix<double,44,80> & groebnerMatrix, int targetRow );
+void groebnerRow10_00000_f( Eigen::Matrix<double,44,80> & groebnerMatrix, int targetRow );
+void sPolynomial12( Eigen::Matrix<double,44,80> & groebnerMatrix );
+void groebnerRow9_00100_f( Eigen::Matrix<double,44,80> & groebnerMatrix, int targetRow );
+void groebnerRow5_01000_f( Eigen::Matrix<double,44,80> & groebnerMatrix, int targetRow );
+void groebnerRow11_00000_f( Eigen::Matrix<double,44,80> & groebnerMatrix, int targetRow );
+void groebnerRow5_10000_f( Eigen::Matrix<double,44,80> & groebnerMatrix, int targetRow );
+void groebnerRow5_00000_f( Eigen::Matrix<double,44,80> & groebnerMatrix, int targetRow );
+void sPolynomial13( Eigen::Matrix<double,44,80> & groebnerMatrix );
+void groebnerRow8_00100_f( Eigen::Matrix<double,44,80> & groebnerMatrix, int targetRow );
+void groebnerRow12_00000_f( Eigen::Matrix<double,44,80> & groebnerMatrix, int targetRow );
+void sPolynomial14( Eigen::Matrix<double,44,80> & groebnerMatrix );
+void groebnerRow7_00100_f( Eigen::Matrix<double,44,80> & groebnerMatrix, int targetRow );
+void groebnerRow13_00000_f( Eigen::Matrix<double,44,80> & groebnerMatrix, int targetRow );
+void sPolynomial15( Eigen::Matrix<double,44,80> & groebnerMatrix );
+void groebnerRow14_00000_f( Eigen::Matrix<double,44,80> & groebnerMatrix, int targetRow );
+void sPolynomial16( Eigen::Matrix<double,44,80> & groebnerMatrix );
+void groebnerRow6_00100_f( Eigen::Matrix<double,44,80> & groebnerMatrix, int targetRow );
+void groebnerRow15_00000_f( Eigen::Matrix<double,44,80> & groebnerMatrix, int targetRow );
+void sPolynomial17( Eigen::Matrix<double,44,80> & groebnerMatrix );
+void groebnerRow7_00010_f( Eigen::Matrix<double,44,80> & groebnerMatrix, int targetRow );
+void groebnerRow5_00100_f( Eigen::Matrix<double,44,80> & groebnerMatrix, int targetRow );
+void groebnerRow16_00000_f( Eigen::Matrix<double,44,80> & groebnerMatrix, int targetRow );
+void sPolynomial18( Eigen::Matrix<double,44,80> & groebnerMatrix );
+void groebnerRow6_00010_f( Eigen::Matrix<double,44,80> & groebnerMatrix, int targetRow );
+void groebnerRow17_00000_f( Eigen::Matrix<double,44,80> & groebnerMatrix, int targetRow );
+void sPolynomial19( Eigen::Matrix<double,44,80> & groebnerMatrix );
+void groebnerRow15_10000_f( Eigen::Matrix<double,44,80> & groebnerMatrix, int targetRow );
+void groebnerRow16_10000_f( Eigen::Matrix<double,44,80> & groebnerMatrix, int targetRow );
+void groebnerRow17_10000_f( Eigen::Matrix<double,44,80> & groebnerMatrix, int targetRow );
+void groebnerRow18_10000_f( Eigen::Matrix<double,44,80> & groebnerMatrix, int targetRow );
+void groebnerRow18_00000_f( Eigen::Matrix<double,44,80> & groebnerMatrix, int targetRow );
+void sPolynomial20( Eigen::Matrix<double,44,80> & groebnerMatrix );
+void groebnerRow14_10000_f( Eigen::Matrix<double,44,80> & groebnerMatrix, int targetRow );
+void groebnerRow19_00000_f( Eigen::Matrix<double,44,80> & groebnerMatrix, int targetRow );
+void sPolynomial21( Eigen::Matrix<double,44,80> & groebnerMatrix );
+void groebnerRow8_20000_f( Eigen::Matrix<double,44,80> & groebnerMatrix, int targetRow );
+void groebnerRow9_20000_f( Eigen::Matrix<double,44,80> & groebnerMatrix, int targetRow );
+void groebnerRow10_20000_f( Eigen::Matrix<double,44,80> & groebnerMatrix, int targetRow );
+void groebnerRow20_00000_f( Eigen::Matrix<double,44,80> & groebnerMatrix, int targetRow );
+void sPolynomial22( Eigen::Matrix<double,44,80> & groebnerMatrix );
+void groebnerRow13_10000_f( Eigen::Matrix<double,44,80> & groebnerMatrix, int targetRow );
+void groebnerRow21_00000_f( Eigen::Matrix<double,44,80> & groebnerMatrix, int targetRow );
+void sPolynomial23( Eigen::Matrix<double,44,80> & groebnerMatrix );
+void groebnerRow6_20000_f( Eigen::Matrix<double,44,80> & groebnerMatrix, int targetRow );
+void groebnerRow7_20000_f( Eigen::Matrix<double,44,80> & groebnerMatrix, int targetRow );
+void groebnerRow22_00000_f( Eigen::Matrix<double,44,80> & groebnerMatrix, int targetRow );
+void sPolynomial24( Eigen::Matrix<double,44,80> & groebnerMatrix );
+void groebnerRow12_10000_f( Eigen::Matrix<double,44,80> & groebnerMatrix, int targetRow );
+void groebnerRow23_00000_f( Eigen::Matrix<double,44,80> & groebnerMatrix, int targetRow );
+void sPolynomial25( Eigen::Matrix<double,44,80> & groebnerMatrix );
+void groebnerRow5_20000_f( Eigen::Matrix<double,44,80> & groebnerMatrix, int targetRow );
+void groebnerRow24_10000_f( Eigen::Matrix<double,44,80> & groebnerMatrix, int targetRow );
+void groebnerRow24_00000_f( Eigen::Matrix<double,44,80> & groebnerMatrix, int targetRow );
+void sPolynomial26( Eigen::Matrix<double,44,80> & groebnerMatrix );
+void groebnerRow11_10000_f( Eigen::Matrix<double,44,80> & groebnerMatrix, int targetRow );
+void groebnerRow25_10000_f( Eigen::Matrix<double,44,80> & groebnerMatrix, int targetRow );
+void groebnerRow25_00000_f( Eigen::Matrix<double,44,80> & groebnerMatrix, int targetRow );
+void sPolynomial27( Eigen::Matrix<double,44,80> & groebnerMatrix );
+void groebnerRow10_11000_f( Eigen::Matrix<double,44,80> & groebnerMatrix, int targetRow );
+void groebnerRow26_10000_f( Eigen::Matrix<double,44,80> & groebnerMatrix, int targetRow );
+void groebnerRow26_00000_f( Eigen::Matrix<double,44,80> & groebnerMatrix, int targetRow );
+void sPolynomial28( Eigen::Matrix<double,44,80> & groebnerMatrix );
+void groebnerRow27_10000_f( Eigen::Matrix<double,44,80> & groebnerMatrix, int targetRow );
+void groebnerRow27_00000_f( Eigen::Matrix<double,44,80> & groebnerMatrix, int targetRow );
+void sPolynomial29( Eigen::Matrix<double,44,80> & groebnerMatrix );
+void groebnerRow9_11000_f( Eigen::Matrix<double,44,80> & groebnerMatrix, int targetRow );
+void groebnerRow28_10000_f( Eigen::Matrix<double,44,80> & groebnerMatrix, int targetRow );
+void groebnerRow28_00000_f( Eigen::Matrix<double,44,80> & groebnerMatrix, int targetRow );
+void sPolynomial30( Eigen::Matrix<double,44,80> & groebnerMatrix );
+void groebnerRow18_00001_f( Eigen::Matrix<double,44,80> & groebnerMatrix, int targetRow );
+void groebnerRow24_01000_f( Eigen::Matrix<double,44,80> & groebnerMatrix, int targetRow );
+void groebnerRow29_01000_f( Eigen::Matrix<double,44,80> & groebnerMatrix, int targetRow );
+void groebnerRow29_10000_f( Eigen::Matrix<double,44,80> & groebnerMatrix, int targetRow );
+void groebnerRow29_00000_f( Eigen::Matrix<double,44,80> & groebnerMatrix, int targetRow );
+void sPolynomial31( Eigen::Matrix<double,44,80> & groebnerMatrix );
+void groebnerRow14_01000_f( Eigen::Matrix<double,44,80> & groebnerMatrix, int targetRow );
+void groebnerRow8_11000_f( Eigen::Matrix<double,44,80> & groebnerMatrix, int targetRow );
+void groebnerRow18_00010_f( Eigen::Matrix<double,44,80> & groebnerMatrix, int targetRow );
+void groebnerRow25_01000_f( Eigen::Matrix<double,44,80> & groebnerMatrix, int targetRow );
+void groebnerRow30_01000_f( Eigen::Matrix<double,44,80> & groebnerMatrix, int targetRow );
+void groebnerRow30_10000_f( Eigen::Matrix<double,44,80> & groebnerMatrix, int targetRow );
+void groebnerRow30_00000_f( Eigen::Matrix<double,44,80> & groebnerMatrix, int targetRow );
+void sPolynomial32( Eigen::Matrix<double,44,80> & groebnerMatrix );
+void groebnerRow14_00100_f( Eigen::Matrix<double,44,80> & groebnerMatrix, int targetRow );
+void groebnerRow6_11000_f( Eigen::Matrix<double,44,80> & groebnerMatrix, int targetRow );
+void groebnerRow7_11000_f( Eigen::Matrix<double,44,80> & groebnerMatrix, int targetRow );
+void groebnerRow18_00100_f( Eigen::Matrix<double,44,80> & groebnerMatrix, int targetRow );
+void groebnerRow26_01000_f( Eigen::Matrix<double,44,80> & groebnerMatrix, int targetRow );
+void groebnerRow31_01000_f( Eigen::Matrix<double,44,80> & groebnerMatrix, int targetRow );
+void groebnerRow31_10000_f( Eigen::Matrix<double,44,80> & groebnerMatrix, int targetRow );
+void groebnerRow31_00000_f( Eigen::Matrix<double,44,80> & groebnerMatrix, int targetRow );
+void sPolynomial33( Eigen::Matrix<double,44,80> & groebnerMatrix );
+void groebnerRow32_00000_f( Eigen::Matrix<double,44,80> & groebnerMatrix, int targetRow );
+void sPolynomial34( Eigen::Matrix<double,44,80> & groebnerMatrix );
+void groebnerRow32_10000_f( Eigen::Matrix<double,44,80> & groebnerMatrix, int targetRow );
+void groebnerRow33_10000_f( Eigen::Matrix<double,44,80> & groebnerMatrix, int targetRow );
+void groebnerRow33_00000_f( Eigen::Matrix<double,44,80> & groebnerMatrix, int targetRow );
+void sPolynomial35( Eigen::Matrix<double,44,80> & groebnerMatrix );
+void groebnerRow34_10000_f( Eigen::Matrix<double,44,80> & groebnerMatrix, int targetRow );
+void groebnerRow34_00000_f( Eigen::Matrix<double,44,80> & groebnerMatrix, int targetRow );
+void sPolynomial36( Eigen::Matrix<double,44,80> & groebnerMatrix );
+void groebnerRow35_10000_f( Eigen::Matrix<double,44,80> & groebnerMatrix, int targetRow );
+void groebnerRow35_00000_f( Eigen::Matrix<double,44,80> & groebnerMatrix, int targetRow );
+void sPolynomial37( Eigen::Matrix<double,44,80> & groebnerMatrix );
+void groebnerRow36_10000_f( Eigen::Matrix<double,44,80> & groebnerMatrix, int targetRow );
+void groebnerRow36_00000_f( Eigen::Matrix<double,44,80> & groebnerMatrix, int targetRow );
+void sPolynomial38( Eigen::Matrix<double,44,80> & groebnerMatrix );
+void groebnerRow32_01000_f( Eigen::Matrix<double,44,80> & groebnerMatrix, int targetRow );
+void groebnerRow37_10000_f( Eigen::Matrix<double,44,80> & groebnerMatrix, int targetRow );
+void groebnerRow37_00000_f( Eigen::Matrix<double,44,80> & groebnerMatrix, int targetRow );
+void sPolynomial39( Eigen::Matrix<double,44,80> & groebnerMatrix );
+void groebnerRow35_00001_f( Eigen::Matrix<double,44,80> & groebnerMatrix, int targetRow );
+void groebnerRow36_00001_f( Eigen::Matrix<double,44,80> & groebnerMatrix, int targetRow );
+void groebnerRow37_00001_f( Eigen::Matrix<double,44,80> & groebnerMatrix, int targetRow );
+void groebnerRow38_00001_f( Eigen::Matrix<double,44,80> & groebnerMatrix, int targetRow );
+void groebnerRow38_00010_f( Eigen::Matrix<double,44,80> & groebnerMatrix, int targetRow );
+void groebnerRow38_00100_f( Eigen::Matrix<double,44,80> & groebnerMatrix, int targetRow );
+void groebnerRow38_01000_f( Eigen::Matrix<double,44,80> & groebnerMatrix, int targetRow );
+void groebnerRow38_10000_f( Eigen::Matrix<double,44,80> & groebnerMatrix, int targetRow );
+void groebnerRow38_00000_f( Eigen::Matrix<double,44,80> & groebnerMatrix, int targetRow );
+void sPolynomial40( Eigen::Matrix<double,44,80> & groebnerMatrix );
+void groebnerRow36_00010_f( Eigen::Matrix<double,44,80> & groebnerMatrix, int targetRow );
+void groebnerRow37_00010_f( Eigen::Matrix<double,44,80> & groebnerMatrix, int targetRow );
+void groebnerRow39_00010_f( Eigen::Matrix<double,44,80> & groebnerMatrix, int targetRow );
+void groebnerRow39_00100_f( Eigen::Matrix<double,44,80> & groebnerMatrix, int targetRow );
+void groebnerRow39_01000_f( Eigen::Matrix<double,44,80> & groebnerMatrix, int targetRow );
+void groebnerRow39_10000_f( Eigen::Matrix<double,44,80> & groebnerMatrix, int targetRow );
+void groebnerRow39_00000_f( Eigen::Matrix<double,44,80> & groebnerMatrix, int targetRow );
+void sPolynomial41( Eigen::Matrix<double,44,80> & groebnerMatrix );
+void groebnerRow32_00100_f( Eigen::Matrix<double,44,80> & groebnerMatrix, int targetRow );
+void groebnerRow38_10010_f( Eigen::Matrix<double,44,80> & groebnerMatrix, int targetRow );
+void groebnerRow39_10010_f( Eigen::Matrix<double,44,80> & groebnerMatrix, int targetRow );
+void groebnerRow38_10100_f( Eigen::Matrix<double,44,80> & groebnerMatrix, int targetRow );
+void groebnerRow39_10100_f( Eigen::Matrix<double,44,80> & groebnerMatrix, int targetRow );
+void groebnerRow40_10100_f( Eigen::Matrix<double,44,80> & groebnerMatrix, int targetRow );
+void groebnerRow36_00100_f( Eigen::Matrix<double,44,80> & groebnerMatrix, int targetRow );
+void groebnerRow37_00100_f( Eigen::Matrix<double,44,80> & groebnerMatrix, int targetRow );
+void groebnerRow40_00100_f( Eigen::Matrix<double,44,80> & groebnerMatrix, int targetRow );
+void groebnerRow40_01000_f( Eigen::Matrix<double,44,80> & groebnerMatrix, int targetRow );
+void groebnerRow40_10000_f( Eigen::Matrix<double,44,80> & groebnerMatrix, int targetRow );
+void groebnerRow40_00000_f( Eigen::Matrix<double,44,80> & groebnerMatrix, int targetRow );
+void sPolynomial42( Eigen::Matrix<double,44,80> & groebnerMatrix );
+void groebnerRow39_02000_f( Eigen::Matrix<double,44,80> & groebnerMatrix, int targetRow );
+void groebnerRow40_02000_f( Eigen::Matrix<double,44,80> & groebnerMatrix, int targetRow );
+void groebnerRow41_02000_f( Eigen::Matrix<double,44,80> & groebnerMatrix, int targetRow );
+void groebnerRow38_11000_f( Eigen::Matrix<double,44,80> & groebnerMatrix, int targetRow );
+void groebnerRow39_11000_f( Eigen::Matrix<double,44,80> & groebnerMatrix, int targetRow );
+void groebnerRow40_11000_f( Eigen::Matrix<double,44,80> & groebnerMatrix, int targetRow );
+void groebnerRow41_11000_f( Eigen::Matrix<double,44,80> & groebnerMatrix, int targetRow );
+void groebnerRow37_01000_f( Eigen::Matrix<double,44,80> & groebnerMatrix, int targetRow );
+void groebnerRow41_01000_f( Eigen::Matrix<double,44,80> & groebnerMatrix, int targetRow );
+void groebnerRow41_10000_f( Eigen::Matrix<double,44,80> & groebnerMatrix, int targetRow );
+void groebnerRow41_00000_f( Eigen::Matrix<double,44,80> & groebnerMatrix, int targetRow );
+void sPolynomial43( Eigen::Matrix<double,44,80> & groebnerMatrix );
+void groebnerRow38_20000_f( Eigen::Matrix<double,44,80> & groebnerMatrix, int targetRow );
+void groebnerRow39_20000_f( Eigen::Matrix<double,44,80> & groebnerMatrix, int targetRow );
+void groebnerRow40_20000_f( Eigen::Matrix<double,44,80> & groebnerMatrix, int targetRow );
+void groebnerRow41_20000_f( Eigen::Matrix<double,44,80> & groebnerMatrix, int targetRow );
+void groebnerRow42_20000_f( Eigen::Matrix<double,44,80> & groebnerMatrix, int targetRow );
+void groebnerRow42_10000_f( Eigen::Matrix<double,44,80> & groebnerMatrix, int targetRow );
+void groebnerRow42_00000_f( Eigen::Matrix<double,44,80> & groebnerMatrix, int targetRow );
+
+}
+}
+}
+}
+
+#endif /* OPENGV_ABSOLUTE_POSE_MODULES_GPNP5_MODULES_HPP_ */

thirdparty/opengv/include/opengv/absolute_pose/modules/main.hpp

@@ -0,0 +1,97 @@
+/******************************************************************************
+ * Author:   Laurent Kneip                                                    *
+ * Contact:  kneip.laurent@gmail.com                                          *
+ * License:  Copyright (c) 2013 Laurent Kneip, ANU. All rights reserved.      *
+ *                                                                            *
+ * Redistribution and use in source and binary forms, with or without         *
+ * modification, are permitted provided that the following conditions         *
+ * are met:                                                                   *
+ * * Redistributions of source code must retain the above copyright           *
+ *   notice, this list of conditions and the following disclaimer.            *
+ * * Redistributions in binary form must reproduce the above copyright        *
+ *   notice, this list of conditions and the following disclaimer in the      *
+ *   documentation and/or other materials provided with the distribution.     *
+ * * Neither the name of ANU nor the names of its contributors may be         *
+ *   used to endorse or promote products derived from this software without   *
+ *   specific prior written permission.                                       *
+ *                                                                            *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"*
+ * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE  *
+ * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE *
+ * ARE DISCLAIMED. IN NO EVENT SHALL ANU OR THE CONTRIBUTORS BE LIABLE        *
+ * FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL *
+ * DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR *
+ * SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER *
+ * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT         *
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY  *
+ * OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF     *
+ * SUCH DAMAGE.                                                               *
+ ******************************************************************************/
+
+
+#ifndef OPENGV_ABSOLUTE_POSE_MODULES_MAIN_HPP_
+#define OPENGV_ABSOLUTE_POSE_MODULES_MAIN_HPP_
+
+#include <stdlib.h>
+#include <opengv/types.hpp>
+
+namespace opengv
+{
+namespace absolute_pose
+{
+namespace modules
+{
+
+void p3p_kneip_main(
+    const bearingVectors_t & f,
+    const points_t & p,
+    transformations_t & solutions );
+void p3p_gao_main(
+    const bearingVectors_t & f,
+    const points_t & p,
+    transformations_t & solutions );
+void gp3p_main(
+    const Eigen::Matrix3d & f,
+    const Eigen::Matrix3d & v,
+    const Eigen::Matrix3d & p,
+    transformations_t & solutions );
+void gpnp_main(
+    const Eigen::Matrix<double,12,1> & a,
+    const Eigen::Matrix<double,12,12> & V,
+    const points_t & c,
+    transformation_t & transformation );
+double gpnp_evaluate(
+    const Eigen::Matrix<double,12,1> & solution,
+    const points_t & c,
+    translation_t & t,
+    rotation_t & R );
+void gpnp_optimize(
+    const Eigen::Matrix<double,12,1> & a,
+    const Eigen::Matrix<double,12,12> & V,
+    const points_t & c,
+    std::vector<double> & factors );
+void upnp_fill_s(
+    const Eigen::Vector4d & quaternion,
+    Eigen::Matrix<double,10,1> & s );
+void upnp_main(
+    const Eigen::Matrix<double,10,10> & M,
+    const Eigen::Matrix<double,1,10> & C,
+    double gamma,
+    std::vector<
+        std::pair<double,Eigen::Vector4d>,
+        Eigen::aligned_allocator< std::pair<double,Eigen::Vector4d> >
+        > & quaternions );
+void upnp_main_sym(
+    const Eigen::Matrix<double,10,10> & M,
+    const Eigen::Matrix<double,1,10> & C,
+    double gamma,
+    std::vector<
+        std::pair<double,Eigen::Vector4d>,
+        Eigen::aligned_allocator< std::pair<double,Eigen::Vector4d> >
+        > & quaternions );
+
+}
+}
+}
+
+#endif /* OPENGV_ABSOLUTE_POSE_MODULES_MAIN_HPP_ */

thirdparty/opengv/include/opengv/absolute_pose/modules/upnp2.hpp

@@ -0,0 +1,58 @@
+/******************************************************************************
+ * Author:   Laurent Kneip                                                    *
+ * Contact:  kneip.laurent@gmail.com                                          *
+ * License:  Copyright (c) 2013 Laurent Kneip, ANU. All rights reserved.      *
+ *                                                                            *
+ * Redistribution and use in source and binary forms, with or without         *
+ * modification, are permitted provided that the following conditions         *
+ * are met:                                                                   *
+ * * Redistributions of source code must retain the above copyright           *
+ *   notice, this list of conditions and the following disclaimer.            *
+ * * Redistributions in binary form must reproduce the above copyright        *
+ *   notice, this list of conditions and the following disclaimer in the      *
+ *   documentation and/or other materials provided with the distribution.     *
+ * * Neither the name of ANU nor the names of its contributors may be         *
+ *   used to endorse or promote products derived from this software without   *
+ *   specific prior written permission.                                       *
+ *                                                                            *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"*
+ * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE  *
+ * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE *
+ * ARE DISCLAIMED. IN NO EVENT SHALL ANU OR THE CONTRIBUTORS BE LIABLE        *
+ * FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL *
+ * DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR *
+ * SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER *
+ * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT         *
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY  *
+ * OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF     *
+ * SUCH DAMAGE.                                                               *
+ ******************************************************************************/
+
+
+#ifndef OPENGV_ABSOLUTE_POSE_MODULES_UPNP2_HPP_
+#define OPENGV_ABSOLUTE_POSE_MODULES_UPNP2_HPP_
+
+#include <stdlib.h>
+#include <opengv/types.hpp>
+
+namespace opengv
+{
+namespace absolute_pose
+{
+namespace modules
+{
+namespace upnp
+{
+
+void setupAction_gj(
+    const Eigen::Matrix<double,10,10> & M,
+    const Eigen::Matrix<double,1,10> & C,
+    double gamma,
+    Eigen::Matrix<double,16,16> & Action );
+
+}
+}
+}
+}
+
+#endif /* OPENGV_ABSOLUTE_POSE_MODULES_UPNP2_HPP_ */

thirdparty/opengv/include/opengv/absolute_pose/modules/upnp4.hpp

@@ -0,0 +1,58 @@
+/******************************************************************************
+ * Author:   Laurent Kneip                                                    *
+ * Contact:  kneip.laurent@gmail.com                                          *
+ * License:  Copyright (c) 2013 Laurent Kneip, ANU. All rights reserved.      *
+ *                                                                            *
+ * Redistribution and use in source and binary forms, with or without         *
+ * modification, are permitted provided that the following conditions         *
+ * are met:                                                                   *
+ * * Redistributions of source code must retain the above copyright           *
+ *   notice, this list of conditions and the following disclaimer.            *
+ * * Redistributions in binary form must reproduce the above copyright        *
+ *   notice, this list of conditions and the following disclaimer in the      *
+ *   documentation and/or other materials provided with the distribution.     *
+ * * Neither the name of ANU nor the names of its contributors may be         *
+ *   used to endorse or promote products derived from this software without   *
+ *   specific prior written permission.                                       *
+ *                                                                            *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"*
+ * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE  *
+ * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE *
+ * ARE DISCLAIMED. IN NO EVENT SHALL ANU OR THE CONTRIBUTORS BE LIABLE        *
+ * FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL *
+ * DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR *
+ * SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER *
+ * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT         *
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY  *
+ * OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF     *
+ * SUCH DAMAGE.                                                               *
+ ******************************************************************************/
+
+
+#ifndef OPENGV_ABSOLUTE_POSE_MODULES_UPNP4_HPP_
+#define OPENGV_ABSOLUTE_POSE_MODULES_UPNP4_HPP_
+
+#include <stdlib.h>
+#include <opengv/types.hpp>
+
+namespace opengv
+{
+namespace absolute_pose
+{
+namespace modules
+{
+namespace upnp
+{
+
+void setupAction_sym_gj(
+    const Eigen::Matrix<double,10,10> & M,
+    const Eigen::Matrix<double,1,10> & C,
+    double gamma,
+    Eigen::Matrix<double,8,8> & Action );
+
+}
+}
+}
+}
+
+#endif /* OPENGV_ABSOLUTE_POSE_MODULES_UPNP4_HPP_ */

thirdparty/opengv/include/opengv/math/Sturm.hpp

@@ -0,0 +1,165 @@
+/******************************************************************************
+ * Author:   Laurent Kneip                                                    *
+ * Contact:  kneip.laurent@gmail.com                                          *
+ * License:  Copyright (c) 2013 Laurent Kneip, ANU. All rights reserved.      *
+ *                                                                            *
+ * Redistribution and use in source and binary forms, with or without         *
+ * modification, are permitted provided that the following conditions         *
+ * are met:                                                                   *
+ * * Redistributions of source code must retain the above copyright           *
+ *   notice, this list of conditions and the following disclaimer.            *
+ * * Redistributions in binary form must reproduce the above copyright        *
+ *   notice, this list of conditions and the following disclaimer in the      *
+ *   documentation and/or other materials provided with the distribution.     *
+ * * Neither the name of ANU nor the names of its contributors may be         *
+ *   used to endorse or promote products derived from this software without   *
+ *   specific prior written permission.                                       *
+ *                                                                            *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"*
+ * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE  *
+ * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE *
+ * ARE DISCLAIMED. IN NO EVENT SHALL ANU OR THE CONTRIBUTORS BE LIABLE        *
+ * FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL *
+ * DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR *
+ * SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER *
+ * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT         *
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY  *
+ * OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF     *
+ * SUCH DAMAGE.                                                               *
+ ******************************************************************************/
+
+/**
+ * \file Sturm.hpp
+ * \brief Class for evaluating Sturm chains on polynomials, and bracketing the
+ *        real roots.
+ */
+
+#ifndef OPENGV_STURM_HPP_
+#define OPENGV_STURM_HPP_
+
+#include <memory>
+#include <stdlib.h>
+#include <vector>
+#include <list>
+#include <Eigen/Eigen>
+#include <Eigen/src/Core/util/DisableStupidWarnings.h>
+
+/**
+ * \brief The namespace of this library.
+ */
+namespace opengv
+{
+/**
+ * \brief The namespace of the math tools.
+ */
+namespace math
+{
+
+class Bracket
+{
+public:
+  typedef std::shared_ptr<Bracket> Ptr;
+  typedef std::shared_ptr<const Bracket> ConstPtr;
+
+  Bracket( double lowerBound, double upperBound );
+  Bracket( double lowerBound, double upperBound, size_t changes, bool setUpperBoundChanges );
+  virtual ~Bracket();
+
+  bool dividable( double eps ) const;
+  void divide( std::list<Ptr> & brackets ) const;
+  double lowerBound() const;
+  double upperBound() const;
+  bool lowerBoundChangesComputed() const;
+  bool upperBoundChangesComputed() const;
+  void setLowerBoundChanges( size_t changes );
+  void setUpperBoundChanges( size_t changes );
+  size_t numberRoots() const;
+
+private:
+  double _lowerBound;
+  double _upperBound;
+  bool _lowerBoundChangesComputed;
+  bool _upperBoundChangesComputed;
+  size_t _lowerBoundChanges;
+  size_t _upperBoundChanges;
+};
+
+/**
+ * Sturm is initialized over polynomials of arbitrary order, and used to compute
+ * the real roots of the polynomial.
+ */
+class Sturm
+{
+
+public:
+  EIGEN_MAKE_ALIGNED_OPERATOR_NEW
+  /** A pair of values bracketing a real root */
+  typedef std::pair<double,double> bracket_t;
+
+  /**
+   * \brief Contructor.
+   * \param[in] p The polynomial coefficients (poly = p(0,0)*x^n + p(0,1)*x^(n-1) ...).
+   */
+  Sturm( const Eigen::MatrixXd & p );
+  /**
+   * \brief Contructor.
+   * \param[in] p The polynomial coefficients (poly = p[0]*x^n + p[1]*x^(n-1) ...).
+   */
+  Sturm( const std::vector<double> & p );
+  /**
+   * \brief Destructor.
+   */
+  virtual ~Sturm();
+
+  void findRoots2( std::vector<double> & roots, double eps_x = 0.001, double eps_val = 0.001 );
+  /**
+   * \brief Finds the roots of the polynomial.
+   * \return An array with the real roots of the polynomial.
+   */
+  std::vector<double> findRoots();
+  /**
+   * \brief Finds brackets for the real roots of the polynomial.
+   * \return A list of brackets for the real roots of the polynomial.
+   */
+  void bracketRoots( std::vector<double> & roots, double eps = -1.0 );
+  /**
+   * \brief Evaluates the Sturm chain at a single bound.
+   * \param[in] bound The bound.
+   * \return The number of sign changes on the bound.
+   */
+  size_t evaluateChain( double bound );
+  /**
+   * \brief Evaluates the Sturm chain at a single bound.
+   * \param[in] bound The bound.
+   * \return The number of sign changes on the bound.
+   */
+  size_t evaluateChain2( double bound );
+  /**
+   * \brief Composes an initial bracket for all the roots of the polynomial.
+   * \return The maximum of the absolute values of the bracket-values (That's
+   *         what the Lagrangian bound is able to find).
+   */
+  double computeLagrangianBound();
+
+private:
+  /**
+   * \brief Internal function used for composing the Sturm chain
+   * \param[in] p1 First polynomial.
+   * \param[in] p2 Second polynomial.
+   * \param[out] r The negated remainder of the polynomial division p1/p2.
+   */
+  void computeNegatedRemainder(
+      const Eigen::MatrixXd & p1,
+      const Eigen::MatrixXd & p2,
+      Eigen::MatrixXd & r );
+
+  /** A matrix containing the coefficients of the Sturm-chain of the polynomial */
+  Eigen::MatrixXd _C;
+  /** The dimension _C, which corresponds to (polynomial order+1) */
+  size_t _dimension;
+};
+
+}
+}
+
+#endif /* OPENGV_STURM_HPP_ */

thirdparty/opengv/include/opengv/math/arun.hpp

@@ -0,0 +1,83 @@
+/******************************************************************************
+ * Author:   Laurent Kneip                                                    *
+ * Contact:  kneip.laurent@gmail.com                                          *
+ * License:  Copyright (c) 2013 Laurent Kneip, ANU. All rights reserved.      *
+ *                                                                            *
+ * Redistribution and use in source and binary forms, with or without         *
+ * modification, are permitted provided that the following conditions         *
+ * are met:                                                                   *
+ * * Redistributions of source code must retain the above copyright           *
+ *   notice, this list of conditions and the following disclaimer.            *
+ * * Redistributions in binary form must reproduce the above copyright        *
+ *   notice, this list of conditions and the following disclaimer in the      *
+ *   documentation and/or other materials provided with the distribution.     *
+ * * Neither the name of ANU nor the names of its contributors may be         *
+ *   used to endorse or promote products derived from this software without   *
+ *   specific prior written permission.                                       *
+ *                                                                            *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"*
+ * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE  *
+ * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE *
+ * ARE DISCLAIMED. IN NO EVENT SHALL ANU OR THE CONTRIBUTORS BE LIABLE        *
+ * FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL *
+ * DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR *
+ * SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER *
+ * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT         *
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY  *
+ * OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF     *
+ * SUCH DAMAGE.                                                               *
+ ******************************************************************************/
+
+/**
+ * \file arun.hpp
+ * \brief Arun's method for computing the rotation between two point sets.
+ */
+
+#ifndef OPENGV_ARUN_HPP_
+#define OPENGV_ARUN_HPP_
+
+#include <stdlib.h>
+#include <Eigen/Eigen>
+#include <Eigen/src/Core/util/DisableStupidWarnings.h>
+#include <opengv/types.hpp>
+
+/**
+ * \brief The namespace of this library.
+ */
+namespace opengv
+{
+/**
+ * \brief The namespace of the math tools.
+ */
+namespace math
+{
+
+/**
+ * \brief Arun's method for computing the rotation between two point sets.
+ *        Core function [13].
+ *
+ * \param[in] Hcross The summation over the exterior products between the
+ *            normalized points.
+ * \return The rotation matrix that aligns the points.
+ */
+rotation_t arun( const Eigen::MatrixXd & Hcross );
+
+/**
+ * \brief Arun's method for complete point cloud alignment [13]. The method
+ *        actually does the same than threept_arun, but has a different
+ *        interface.
+ *
+ * \param[in] p1 The points expressed in the first frame.
+ * \param[in] p2 The points expressed in the second frame.
+ * \return The Transformation from frame 2 to frame 1 (
+ *         \f$ \mathbf{T} = \left(\begin{array}{cc} \mathbf{R} & \mathbf{t} \end{array}\right) \f$,
+ *         with \f$ \mathbf{t} \f$ being the position of frame 2 seen from
+ *         frame 1, and \f$ \mathbf{R} \f$ being the rotation from
+ *         frame 2 to frame 1).
+ */
+transformation_t arun_complete( const points_t & p1, const points_t & p2 );
+
+}
+}
+
+#endif /* OPENGV_ARUN_HPP_ */

thirdparty/opengv/include/opengv/math/cayley.hpp

@@ -0,0 +1,84 @@
+/******************************************************************************
+ * Author:   Laurent Kneip                                                    *
+ * Contact:  kneip.laurent@gmail.com                                          *
+ * License:  Copyright (c) 2013 Laurent Kneip, ANU. All rights reserved.      *
+ *                                                                            *
+ * Redistribution and use in source and binary forms, with or without         *
+ * modification, are permitted provided that the following conditions         *
+ * are met:                                                                   *
+ * * Redistributions of source code must retain the above copyright           *
+ *   notice, this list of conditions and the following disclaimer.            *
+ * * Redistributions in binary form must reproduce the above copyright        *
+ *   notice, this list of conditions and the following disclaimer in the      *
+ *   documentation and/or other materials provided with the distribution.     *
+ * * Neither the name of ANU nor the names of its contributors may be         *
+ *   used to endorse or promote products derived from this software without   *
+ *   specific prior written permission.                                       *
+ *                                                                            *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"*
+ * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE  *
+ * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE *
+ * ARE DISCLAIMED. IN NO EVENT SHALL ANU OR THE CONTRIBUTORS BE LIABLE        *
+ * FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL *
+ * DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR *
+ * SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER *
+ * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT         *
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY  *
+ * OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF     *
+ * SUCH DAMAGE.                                                               *
+ ******************************************************************************/
+
+/**
+ * \file cayley.hpp
+ * \brief Functions for back-and-forth transformation between rotation matrices
+ *        and Cayley-parameters.
+ */
+
+#ifndef OPENGV_CAYLEY_HPP_
+#define OPENGV_CAYLEY_HPP_
+
+#include <stdlib.h>
+#include <opengv/types.hpp>
+
+/**
+ * \brief The namespace of this library.
+ */
+namespace opengv
+{
+/**
+ * \brief The namespace of the math tools.
+ */
+namespace math
+{
+
+/**
+ * \brief Compute a rotation matrix from Cayley-parameters, following [14].
+ *
+ * \param[in] cayley The Cayley-parameters of a rotation.
+ * \return The 3x3 rotation matrix.
+ */
+rotation_t cayley2rot( const cayley_t & cayley);
+
+/**
+ * \brief Compute a fake rotation matrix from Cayley-parameters, following [14].
+ *        The rotation matrix is missing the scaling parameter of the
+ *        Cayley-transform. This short form is useful for the Jacobian-based
+ *        iterative rotation optimization of the eigensolver [11].
+ *
+ * \param[in] cayley The Cayley-parameters of the rotation.
+ * \return The false 3x3 rotation matrix.
+ */
+rotation_t cayley2rot_reduced( const cayley_t & cayley);
+
+/**
+ * \brief Compute the Cayley-parameters of a rotation matrix, following [14].
+ *
+ * \param[in] R The 3x3 rotation matrix.
+ * \return The Cayley-parameters.
+ */
+cayley_t rot2cayley( const rotation_t & R );
+
+}
+}
+
+#endif /* OPENGV_CAYLEY_HPP_ */

thirdparty/opengv/include/opengv/math/gauss_jordan.hpp

@@ -0,0 +1,67 @@
+/******************************************************************************
+ * Author:   Laurent Kneip                                                    *
+ * Contact:  kneip.laurent@gmail.com                                          *
+ * License:  Copyright (c) 2013 Laurent Kneip, ANU. All rights reserved.      *
+ *                                                                            *
+ * Redistribution and use in source and binary forms, with or without         *
+ * modification, are permitted provided that the following conditions         *
+ * are met:                                                                   *
+ * * Redistributions of source code must retain the above copyright           *
+ *   notice, this list of conditions and the following disclaimer.            *
+ * * Redistributions in binary form must reproduce the above copyright        *
+ *   notice, this list of conditions and the following disclaimer in the      *
+ *   documentation and/or other materials provided with the distribution.     *
+ * * Neither the name of ANU nor the names of its contributors may be         *
+ *   used to endorse or promote products derived from this software without   *
+ *   specific prior written permission.                                       *
+ *                                                                            *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"*
+ * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE  *
+ * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE *
+ * ARE DISCLAIMED. IN NO EVENT SHALL ANU OR THE CONTRIBUTORS BE LIABLE        *
+ * FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL *
+ * DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR *
+ * SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER *
+ * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT         *
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY  *
+ * OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF     *
+ * SUCH DAMAGE.                                                               *
+ ******************************************************************************/
+
+/**
+ * \file gauss_jordan.hpp
+ * \brief Sparse, fast Gauss Jordan elimination.
+ */
+
+#ifndef OPENGV_GAUSS_JORDAN_HPP_
+#define OPENGV_GAUSS_JORDAN_HPP_
+
+#include <stdlib.h>
+#include <vector>
+
+/**
+ * \brief The namespace of this library.
+ */
+namespace opengv
+{
+/**
+ * \brief The namespace of the math tools.
+ */
+namespace math
+{
+
+/**
+ * \brief Sparse, fast Gauss Jordan elimination on matrices with a left square
+ *        invertible block.
+ *
+ * \param[in] matrix The matrix.
+ * \param[in] exitCondition The last row we process when stepping up.
+ */
+void gauss_jordan(
+    std::vector<std::vector<double>*> & matrix,
+    int exitCondition = 0 );
+
+}
+}
+
+#endif /* OPENGV_GAUSS_JORDAN_HPP_ */

thirdparty/opengv/include/opengv/math/quaternion.hpp

@@ -0,0 +1,74 @@
+/******************************************************************************
+ * Author:   Laurent Kneip                                                    *
+ * Contact:  kneip.laurent@gmail.com                                          *
+ * License:  Copyright (c) 2013 Laurent Kneip, ANU. All rights reserved.      *
+ *                                                                            *
+ * Redistribution and use in source and binary forms, with or without         *
+ * modification, are permitted provided that the following conditions         *
+ * are met:                                                                   *
+ * * Redistributions of source code must retain the above copyright           *
+ *   notice, this list of conditions and the following disclaimer.            *
+ * * Redistributions in binary form must reproduce the above copyright        *
+ *   notice, this list of conditions and the following disclaimer in the      *
+ *   documentation and/or other materials provided with the distribution.     *
+ * * Neither the name of ANU nor the names of its contributors may be         *
+ *   used to endorse or promote products derived from this software without   *
+ *   specific prior written permission.                                       *
+ *                                                                            *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"*
+ * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE  *
+ * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE *
+ * ARE DISCLAIMED. IN NO EVENT SHALL ANU OR THE CONTRIBUTORS BE LIABLE        *
+ * FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL *
+ * DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR *
+ * SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER *
+ * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT         *
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY  *
+ * OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF     *
+ * SUCH DAMAGE.                                                               *
+ ******************************************************************************/
+
+/**
+ * \file quaternion.hpp
+ * \brief Functions for back-and-forth transformation between rotation matrices
+ *        and quaternion-parameters.
+ */
+
+#ifndef OPENGV_QUATERNION_HPP_
+#define OPENGV_QUATERNION_HPP_
+
+#include <stdlib.h>
+#include <opengv/types.hpp>
+
+/**
+ * \brief The namespace of this library.
+ */
+namespace opengv
+{
+/**
+ * \brief The namespace of the math tools.
+ */
+namespace math
+{
+
+/**
+ * \brief Compute a rotation matrix from quaternion-parameters. Assumes that the
+ *        quaternion has unit norm.
+ *
+ * \param[in] quaternion The quaternion-parameters of a rotation.
+ * \return The 3x3 rotation matrix.
+ */
+rotation_t quaternion2rot( const quaternion_t & quaternion);
+
+/**
+ * \brief Compute the quaternion-parameters of a rotation matrix.
+ *
+ * \param[in] R The 3x3 rotation matrix.
+ * \return The quaternion-parameters.
+ */
+quaternion_t rot2quaternion( const rotation_t & R );
+
+}
+}
+
+#endif /* OPENGV_QUATERNION_HPP_ */

thirdparty/opengv/include/opengv/math/roots.hpp

@@ -0,0 +1,83 @@
+/******************************************************************************
+ * Author:   Laurent Kneip                                                    *
+ * Contact:  kneip.laurent@gmail.com                                          *
+ * License:  Copyright (c) 2013 Laurent Kneip, ANU. All rights reserved.      *
+ *                                                                            *
+ * Redistribution and use in source and binary forms, with or without         *
+ * modification, are permitted provided that the following conditions         *
+ * are met:                                                                   *
+ * * Redistributions of source code must retain the above copyright           *
+ *   notice, this list of conditions and the following disclaimer.            *
+ * * Redistributions in binary form must reproduce the above copyright        *
+ *   notice, this list of conditions and the following disclaimer in the      *
+ *   documentation and/or other materials provided with the distribution.     *
+ * * Neither the name of ANU nor the names of its contributors may be         *
+ *   used to endorse or promote products derived from this software without   *
+ *   specific prior written permission.                                       *
+ *                                                                            *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"*
+ * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE  *
+ * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE *
+ * ARE DISCLAIMED. IN NO EVENT SHALL ANU OR THE CONTRIBUTORS BE LIABLE        *
+ * FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL *
+ * DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR *
+ * SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER *
+ * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT         *
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY  *
+ * OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF     *
+ * SUCH DAMAGE.                                                               *
+ ******************************************************************************/
+
+/**
+ * \file roots.hpp
+ * \brief Closed-form solutions for computing the roots of a polynomial.
+ */
+
+#ifndef OPENGV_ROOTS_HPP_
+#define OPENGV_ROOTS_HPP_
+
+#include <stdlib.h>
+#include <vector>
+#include <Eigen/Eigen>
+#include <Eigen/src/Core/util/DisableStupidWarnings.h>
+
+/**
+ * \brief The namespace of this library.
+ */
+namespace opengv
+{
+/**
+ * \brief The namespace of the math tools.
+ */
+namespace math
+{
+
+/**
+ * \brief The roots of a third-order polynomial.
+ * 
+ * \param[in] p The polynomial coefficients (poly = p[0]*x^3 + p[1]*x^2 ...).
+ * \return The roots of the polynomial (only real ones).
+ */
+std::vector<double> o3_roots( const std::vector<double> & p );
+
+/**
+ * \brief Ferrari's method for computing the roots of a fourth order polynomial.
+ *
+ * \param[in] p The polynomial coefficients (poly = p(0,0)*x^4 + p(1,0)*x^3 ...).
+ * \return The roots of the polynomial (only real ones).
+ */
+std::vector<double> o4_roots( const Eigen::MatrixXd & p );
+
+/**
+ * \brief Ferrari's method for computing the roots of a fourth order polynomial.
+ *        With a different interface.
+ *
+ * \param[in] p The polynomial coefficients (poly = p[0]*x^4 + p[1]*x^3 ...).
+ * \return The roots of the polynomial (only real ones).
+ */
+std::vector<double> o4_roots( const std::vector<double> & p );
+
+}
+}
+
+#endif /* OPENGV_ROOTS_HPP_ */

thirdparty/opengv/include/opengv/point_cloud/MAPointCloud.hpp

@@ -0,0 +1,109 @@
+/******************************************************************************
+ * Author:   Laurent Kneip                                                    *
+ * Contact:  kneip.laurent@gmail.com                                          *
+ * License:  Copyright (c) 2013 Laurent Kneip, ANU. All rights reserved.      *
+ *                                                                            *
+ * Redistribution and use in source and binary forms, with or without         *
+ * modification, are permitted provided that the following conditions         *
+ * are met:                                                                   *
+ * * Redistributions of source code must retain the above copyright           *
+ *   notice, this list of conditions and the following disclaimer.            *
+ * * Redistributions in binary form must reproduce the above copyright        *
+ *   notice, this list of conditions and the following disclaimer in the      *
+ *   documentation and/or other materials provided with the distribution.     *
+ * * Neither the name of ANU nor the names of its contributors may be         *
+ *   used to endorse or promote products derived from this software without   *
+ *   specific prior written permission.                                       *
+ *                                                                            *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"*
+ * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE  *
+ * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE *
+ * ARE DISCLAIMED. IN NO EVENT SHALL ANU OR THE CONTRIBUTORS BE LIABLE        *
+ * FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL *
+ * DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR *
+ * SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER *
+ * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT         *
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY  *
+ * OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF     *
+ * SUCH DAMAGE.                                                               *
+ ******************************************************************************/
+
+/**
+ * \file MAPointCloud.hpp
+ * \brief Adapter-class for passing 3D point correspondences. Maps
+ *        matlab types to opengv types.
+ */
+
+#ifndef OPENGV_MAPOINTCLOUD_HPP_
+#define OPENGV_MAPOINTCLOUD_HPP_
+
+#include <stdlib.h>
+#include <vector>
+#include <opengv/types.hpp>
+#include <opengv/point_cloud/PointCloudAdapterBase.hpp>
+
+/**
+ * \brief The namespace of this library.
+ */
+namespace opengv
+{
+/**
+ * \brief The namespace for the point-cloud alignment methods.
+ */
+namespace point_cloud
+{
+
+/**
+ * Check the documentation of the parent-class to understand the meaning of
+ * a PointCloudAdapter. This child-class is used for holding
+ * data in form of pointers to matlab-data.
+ */
+class MAPointCloud : public PointCloudAdapterBase
+{
+private:
+  using PointCloudAdapterBase::_t12;
+  using PointCloudAdapterBase::_R12;
+
+public:
+  EIGEN_MAKE_ALIGNED_OPERATOR_NEW
+
+  /**
+   * \brief Constructor. See protected class-members to understand parameters
+   */
+  MAPointCloud(
+      const double * points1,
+      const double * points2,
+      int numberPoints1,
+      int numberPoints2 );
+
+  /**
+   * Destructor
+   */
+  virtual ~MAPointCloud();
+
+  //Access of correspondences
+  
+  /** See parent-class */
+  virtual opengv::point_t getPoint1( size_t index ) const;
+  /** See parent-class */
+  virtual opengv::point_t getPoint2( size_t index ) const;
+  /** See parent-class */
+  virtual double getWeight( size_t index ) const;
+  /** See parent-class */
+  virtual size_t getNumberCorrespondences() const;
+
+private:
+  /** A pointer to the points in frame 1 */
+  const double * _points1;
+  /** A pointer to the points in frame 2 */
+  const double * _points2;
+  /** The number of points in frame 1 */
+  int _numberPoints1;
+  /** The number of points in frame 2 */
+  int _numberPoints2;
+};
+
+}
+}
+
+#endif /* OPENGV_MAPOINTCLOUD_HPP_ */

thirdparty/opengv/include/opengv/point_cloud/PointCloudAdapter.hpp

@@ -0,0 +1,117 @@
+/******************************************************************************
+ * Author:   Laurent Kneip                                                    *
+ * Contact:  kneip.laurent@gmail.com                                          *
+ * License:  Copyright (c) 2013 Laurent Kneip, ANU. All rights reserved.      *
+ *                                                                            *
+ * Redistribution and use in source and binary forms, with or without         *
+ * modification, are permitted provided that the following conditions         *
+ * are met:                                                                   *
+ * * Redistributions of source code must retain the above copyright           *
+ *   notice, this list of conditions and the following disclaimer.            *
+ * * Redistributions in binary form must reproduce the above copyright        *
+ *   notice, this list of conditions and the following disclaimer in the      *
+ *   documentation and/or other materials provided with the distribution.     *
+ * * Neither the name of ANU nor the names of its contributors may be         *
+ *   used to endorse or promote products derived from this software without   *
+ *   specific prior written permission.                                       *
+ *                                                                            *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"*
+ * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE  *
+ * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE *
+ * ARE DISCLAIMED. IN NO EVENT SHALL ANU OR THE CONTRIBUTORS BE LIABLE        *
+ * FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL *
+ * DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR *
+ * SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER *
+ * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT         *
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY  *
+ * OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF     *
+ * SUCH DAMAGE.                                                               *
+ ******************************************************************************/
+
+/**
+ * \file PointCloudAdapter.hpp
+ * \brief Adapter-class for passing 3D point correspondences. Maps
+ *        opengv types back to opengv types.
+ */
+
+#ifndef OPENGV_POINTCLOUDADAPTER_HPP_
+#define OPENGV_POINTCLOUDADAPTER_HPP_
+
+#include <stdlib.h>
+#include <vector>
+#include <opengv/types.hpp>
+#include <opengv/point_cloud/PointCloudAdapterBase.hpp>
+
+/**
+ * \brief The namespace of this library.
+ */
+namespace opengv
+{
+/**
+ * \brief The namespace for the point-cloud alignment methods.
+ */
+namespace point_cloud
+{
+
+/**
+ * Check the documentation of the parent-class to understand the meaning of
+ * a PointCloudAdapter. This child-class is used for holding
+ * data in form of references to opengv-types.
+ */
+class PointCloudAdapter : public PointCloudAdapterBase
+{
+private:
+  using PointCloudAdapterBase::_t12;
+  using PointCloudAdapterBase::_R12;
+
+public:
+  EIGEN_MAKE_ALIGNED_OPERATOR_NEW
+
+  /**
+   * \brief Constructor. See protected class-members to understand parameters
+   */
+  PointCloudAdapter(
+      const points_t & points1,
+      const points_t & points2 );
+  /**
+   * \brief Constructor. See protected class-members to understand parameters
+   */
+  PointCloudAdapter(
+      const points_t & points1,
+      const points_t & points2,
+      const rotation_t & R12 );
+  /**
+   * \brief Constructor. See protected class-members to understand parameters
+   */
+  PointCloudAdapter(
+      const points_t & points1,
+      const points_t & points2,
+      const translation_t & t12,
+      const rotation_t & R12 );
+  /**
+   * Destructor
+   */
+  virtual ~PointCloudAdapter();
+
+  //Access of correspondences
+  
+  /** See parent-class */
+  virtual opengv::point_t getPoint1( size_t index ) const;
+  /** See parent-class */
+  virtual opengv::point_t getPoint2( size_t index ) const;
+  /** See parent-class */
+  virtual double getWeight( size_t index ) const;
+  /** See parent-class */
+  virtual size_t getNumberCorrespondences() const;
+
+private:
+  /** Reference to the 3D-points in frame 1 */
+  const points_t & _points1;
+  /** Reference to the 3D-points in frame 2 */
+  const points_t & _points2;
+};
+
+}
+}
+
+#endif /* OPENGV_POINTCLOUDADAPTER_HPP_ */

thirdparty/opengv/include/opengv/point_cloud/PointCloudAdapterBase.hpp

@@ -0,0 +1,161 @@
+/******************************************************************************
+ * Author:   Laurent Kneip                                                    *
+ * Contact:  kneip.laurent@gmail.com                                          *
+ * License:  Copyright (c) 2013 Laurent Kneip, ANU. All rights reserved.      *
+ *                                                                            *
+ * Redistribution and use in source and binary forms, with or without         *
+ * modification, are permitted provided that the following conditions         *
+ * are met:                                                                   *
+ * * Redistributions of source code must retain the above copyright           *
+ *   notice, this list of conditions and the following disclaimer.            *
+ * * Redistributions in binary form must reproduce the above copyright        *
+ *   notice, this list of conditions and the following disclaimer in the      *
+ *   documentation and/or other materials provided with the distribution.     *
+ * * Neither the name of ANU nor the names of its contributors may be         *
+ *   used to endorse or promote products derived from this software without   *
+ *   specific prior written permission.                                       *
+ *                                                                            *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"*
+ * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE  *
+ * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE *
+ * ARE DISCLAIMED. IN NO EVENT SHALL ANU OR THE CONTRIBUTORS BE LIABLE        *
+ * FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL *
+ * DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR *
+ * SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER *
+ * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT         *
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY  *
+ * OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF     *
+ * SUCH DAMAGE.                                                               *
+ ******************************************************************************/
+
+/**
+ * \file PointCloudAdapter.hpp
+ * \brief Adapter-class for passing 3D point correspondences.
+ */
+
+#ifndef OPENGV_POINTCLOUDADAPTERBASE_HPP_
+#define OPENGV_POINTCLOUDADAPTERBASE_HPP_
+
+#include <stdlib.h>
+#include <vector>
+#include <opengv/types.hpp>
+
+/**
+ * \brief The namespace of this library.
+ */
+namespace opengv
+{
+/**
+ * \brief The namespace for the point-cloud alignment methods.
+ */
+namespace point_cloud
+{
+
+/**
+ * The PointCloudAdapterBase is the base-class for the visitors to the
+ * point-cloud alignment methods. It provides a unified interface to
+ * opengv-methods to access point correspondences and priors or known variables
+ * for the alignment. Derived classes may hold the data in any user-specific
+ * format, and adapt to opengv-types.
+ */
+class PointCloudAdapterBase
+{
+public:
+  EIGEN_MAKE_ALIGNED_OPERATOR_NEW
+
+  /**
+   * \brief Constructor.
+   */
+  PointCloudAdapterBase( ) :
+      _t12(Eigen::Vector3d::Zero()),
+      _R12(Eigen::Matrix3d::Identity()) {};
+  /**
+   * \brief Constructor.
+   * \param[in] R12 A prior or known value for the rotation from frame 2 to
+   *                frame 1.
+   */
+  PointCloudAdapterBase( const rotation_t & R12 ) :
+      _t12(Eigen::Vector3d::Zero()),
+      _R12(R12) {};
+  /**
+   * \brief Constructor.
+   * \param[in] t12 A prior or known value for the position of frame 2 seen
+   *                from frame 1.
+   * \param[in] R12 A prior or known value for the rotation from frame 2
+   *                to frame 1.
+   */
+  PointCloudAdapterBase( const translation_t & t12, const rotation_t & R12 ) :
+      _t12(t12),
+      _R12(R12) {};
+  /**
+   * \brief Destructor.
+   */
+  virtual ~PointCloudAdapterBase() {};
+
+  //Access of correspondences
+  
+  /**
+   * \brief Retrieve the 3D-point of a correspondence in frame 1.
+   * \param[in] index The serialized index of the correspondence.
+   * \return The corresponding 3D-point.
+   */
+  virtual opengv::point_t getPoint1( size_t index ) const = 0;
+  /**
+   * \brief Retrieve the 3D-point of a correspondence in frame 2.
+   * \param[in] index The serialized index of the correspondence.
+   * \return The corresponding 3D-point.
+   */
+  virtual opengv::point_t getPoint2( size_t index ) const = 0;
+  /**
+   * \brief Retrieve the number of correspondences.
+   * \return The number of correspondences.
+   */
+  virtual size_t getNumberCorrespondences() const = 0;
+  /**
+   * \brief Retrieve the weight of a correspondence. The weight is supposed to
+   *        reflect the quality of a correspondence, and typically is between
+   *        0 and 1.
+   * \param[in] index The serialized index of the correspondence.
+   * \return The corresponding weight.
+   */
+  virtual double getWeight( size_t index ) const = 0;
+
+  //Access of priors or known values
+  
+  /**
+   * \brief Retrieve the prior or known value for the relative position.
+   * \return The prior or known value for the position.
+   */
+  virtual opengv::translation_t gett12() const { return _t12; };
+  /**
+   * \brief Set the prior or known value for the relative position.
+   * \param[in] t12 The prior or known value for the position.
+   */
+  virtual void sett12(const translation_t & t12) { _t12 = t12; };
+  /**
+   * \brief Retrieve the prior or known value for the relative rotation.
+   * \return The prior or known value for the rotation.
+   */
+  virtual opengv::rotation_t getR12() const { return _R12; };
+  /**
+   * \brief Set the prior or known value for the relative rotation.
+   * \param[in] R12 The prior or known value for the rotation.
+   */
+  virtual void setR12(const rotation_t & R12) { _R12 = R12; };
+
+public:
+  /** Prior or known value for the position of frame 2 seen from frame 1.
+   *  Initialized to zero if not provided.
+   */
+  translation_t _t12;
+  /** Prior or known value for the rotation from frame 2 to frame 1.
+   *  Initialized to identity if not provided.
+   */
+  rotation_t _R12;
+
+};
+
+}
+}
+
+#endif /* OPENGV_POINTCLOUDADAPTERBASE_HPP_ */

thirdparty/opengv/include/opengv/point_cloud/methods.hpp

@@ -0,0 +1,120 @@
+/******************************************************************************
+ * Author:   Laurent Kneip                                                    *
+ * Contact:  kneip.laurent@gmail.com                                          *
+ * License:  Copyright (c) 2013 Laurent Kneip, ANU. All rights reserved.      *
+ *                                                                            *
+ * Redistribution and use in source and binary forms, with or without         *
+ * modification, are permitted provided that the following conditions         *
+ * are met:                                                                   *
+ * * Redistributions of source code must retain the above copyright           *
+ *   notice, this list of conditions and the following disclaimer.            *
+ * * Redistributions in binary form must reproduce the above copyright        *
+ *   notice, this list of conditions and the following disclaimer in the      *
+ *   documentation and/or other materials provided with the distribution.     *
+ * * Neither the name of ANU nor the names of its contributors may be         *
+ *   used to endorse or promote products derived from this software without   *
+ *   specific prior written permission.                                       *
+ *                                                                            *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"*
+ * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE  *
+ * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE *
+ * ARE DISCLAIMED. IN NO EVENT SHALL ANU OR THE CONTRIBUTORS BE LIABLE        *
+ * FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL *
+ * DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR *
+ * SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER *
+ * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT         *
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY  *
+ * OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF     *
+ * SUCH DAMAGE.                                                               *
+ ******************************************************************************/
+
+/**
+ * \file point_cloud/methods.hpp
+ * \brief Methods for computing the transformation between two frames that
+ *        contain point-clouds.
+ */
+
+#ifndef OPENGV_POINT_CLOUD_METHODS_HPP_
+#define OPENGV_POINT_CLOUD_METHODS_HPP_
+
+#include <stdlib.h>
+#include <vector>
+#include <opengv/types.hpp>
+#include <opengv/point_cloud/PointCloudAdapterBase.hpp>
+
+/**
+ * \brief The namespace of this library.
+ */
+namespace opengv
+{
+/**
+ * \brief The namespace for the point-cloud alignment methods.
+ */
+namespace point_cloud
+{
+
+/**
+ * \brief Compute the transformation between two frames containing point clouds,
+ *        following Arun's method [13]. Using all available correspondences.
+ *
+ * \param[in] adapter Visitor holding world-point correspondences.
+ * \return Transformation from frame 2 back to frame 1 (
+ *         \f$ \mathbf{T} = \left(\begin{array}{cc} \mathbf{R} & \mathbf{t} \end{array}\right) \f$,
+ *         with \f$ \mathbf{t} \f$ being the position of frame 2 seen from
+ *         frame 1, and \f$ \mathbf{R} \f$ being the rotation from
+ *         frame 2 to frame 1).
+ */
+transformation_t threept_arun( const PointCloudAdapterBase & adapter );
+
+/**
+ * \brief Compute the transformation between two frames containing point clouds,
+ *        following Arun's method [13].
+ *
+ * \param[in] adapter Visitor holding world-point correspondences.
+ * \param[in] indices Indices of the correspondences used for deriving the
+ *                    transformation.
+ * \return Transformation from frame 2 back to frame 1 (
+ *         \f$ \mathbf{T} = \left(\begin{array}{cc} \mathbf{R} & \mathbf{t} \end{array}\right) \f$,
+ *         with \f$ \mathbf{t} \f$ being the position of frame 2 seen from
+ *         frame 1, and \f$ \mathbf{R} \f$ being the rotation from
+ *         frame 2 to frame 1).
+ */
+transformation_t threept_arun(
+    const PointCloudAdapterBase & adapter,
+    const std::vector<int> & indices );
+
+/**
+ * \brief Compute the transformation between two frames containing point clouds
+ *        using nonlinear optimization. Using all available correspondences.
+ *
+ * \param[in] adapter Visitor holding world-point correspondences, plus the
+ *                    initial values.
+ * \return Transformation from frame 2 back to frame 1 (
+ *         \f$ \mathbf{T} = \left(\begin{array}{cc} \mathbf{R} & \mathbf{t} \end{array}\right) \f$,
+ *         with \f$ \mathbf{t} \f$ being the position of frame 2 seen from
+ *         frame 1, and \f$ \mathbf{R} \f$ being the rotation from
+ *         frame 2 to frame 1).
+ */
+transformation_t optimize_nonlinear( PointCloudAdapterBase & adapter );
+
+/**
+ * \brief Compute the transformation between two frames containing point clouds.
+ *        Using nonlinear optimization.
+ *
+ * \param[in] adapter Visitor holding world-point correspondences, plus the
+ *                    initial values.
+ * \param[in] indices Indices of the correspondences used for optimization.
+ * \return Transformation from frame 2 back to frame 1 (
+ *         \f$ \mathbf{T} = \left(\begin{array}{cc} \mathbf{R} & \mathbf{t} \end{array}\right) \f$,
+ *         with \f$ \mathbf{t} \f$ being the position of frame 2 seen from
+ *         frame 1, and \f$ \mathbf{R} \f$ being the rotation from
+ *         frame 2 to frame 1).
+ */
+transformation_t optimize_nonlinear(
+    PointCloudAdapterBase & adapter,
+    const std::vector<int> & indices );
+
+}
+}
+
+#endif /* OPENGV_POINT_CLOUD_METHODS_HPP_ */

thirdparty/opengv/include/opengv/relative_pose/CentralRelativeAdapter.hpp

@@ -0,0 +1,126 @@
+/******************************************************************************
+ * Author:   Laurent Kneip                                                    *
+ * Contact:  kneip.laurent@gmail.com                                          *
+ * License:  Copyright (c) 2013 Laurent Kneip, ANU. All rights reserved.      *
+ *                                                                            *
+ * Redistribution and use in source and binary forms, with or without         *
+ * modification, are permitted provided that the following conditions         *
+ * are met:                                                                   *
+ * * Redistributions of source code must retain the above copyright           *
+ *   notice, this list of conditions and the following disclaimer.            *
+ * * Redistributions in binary form must reproduce the above copyright        *
+ *   notice, this list of conditions and the following disclaimer in the      *
+ *   documentation and/or other materials provided with the distribution.     *
+ * * Neither the name of ANU nor the names of its contributors may be         *
+ *   used to endorse or promote products derived from this software without   *
+ *   specific prior written permission.                                       *
+ *                                                                            *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"*
+ * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE  *
+ * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE *
+ * ARE DISCLAIMED. IN NO EVENT SHALL ANU OR THE CONTRIBUTORS BE LIABLE        *
+ * FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL *
+ * DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR *
+ * SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER *
+ * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT         *
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY  *
+ * OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF     *
+ * SUCH DAMAGE.                                                               *
+ ******************************************************************************/
+
+/**
+ * \file CentralRelativeAdapter.hpp
+ * \brief Adapter-class for passing bearing-vector correspondences to the
+ *        central relative-pose algorithms. Maps opengv types back to
+ *        opengv types.
+ */
+
+#ifndef OPENGV_RELATIVE_POSE_CENTRALRELATIVEADAPTER_HPP_
+#define OPENGV_RELATIVE_POSE_CENTRALRELATIVEADAPTER_HPP_
+
+#include <stdlib.h>
+#include <vector>
+#include <opengv/types.hpp>
+#include <opengv/relative_pose/RelativeAdapterBase.hpp>
+
+/**
+ * \brief The namespace of this library.
+ */
+namespace opengv
+{
+/**
+ * \brief The namespace for the relative pose methods.
+ */
+namespace relative_pose
+{
+
+/**
+ * Check the documentation of the parent-class to understand the meaning of
+ * a RelativeAdapter. This child-class is for the central case and holds data
+ * in form of references to opengv-types.
+ */
+class CentralRelativeAdapter : public RelativeAdapterBase
+{
+protected:
+  using RelativeAdapterBase::_t12;
+  using RelativeAdapterBase::_R12;
+
+public:
+  EIGEN_MAKE_ALIGNED_OPERATOR_NEW
+
+  /**
+   * \brief Constructor. See protected class-members to understand parameters
+   */
+  CentralRelativeAdapter(
+      const bearingVectors_t & bearingVectors1,
+      const bearingVectors_t & bearingVectors2 );
+  /**
+   * \brief Constructor. See protected class-members to understand parameters
+   */
+  CentralRelativeAdapter(
+      const bearingVectors_t & bearingVectors1,
+      const bearingVectors_t & bearingVectors2,
+      const rotation_t & R12 );
+  /**
+   * \brief Constructor. See protected class-members to understand parameters
+   */
+  CentralRelativeAdapter(
+      const bearingVectors_t & bearingVectors1,
+      const bearingVectors_t & bearingVectors2,
+      const translation_t & t12,
+      const rotation_t & R12 );
+  /**
+   * \brief Destructor.
+   */
+  virtual ~CentralRelativeAdapter();
+
+  //Access of correspondences
+  
+  /** See parent-class */
+  virtual bearingVector_t getBearingVector1( size_t index ) const;
+  /** See parent-class */
+  virtual bearingVector_t getBearingVector2( size_t index ) const;
+  /** See parent-class */
+  virtual double getWeight( size_t index ) const;
+  /** See parent-class. Returns zero for this adapter. */
+  virtual translation_t getCamOffset1( size_t index ) const;
+  /** See parent-class. Returns identity for this adapter. */
+  virtual rotation_t getCamRotation1( size_t index ) const;
+  /** See parent-class. Returns zero for this adapter. */
+  virtual translation_t getCamOffset2( size_t index ) const;
+  /** See parent-class. Returns identity for this adapter. */
+  virtual rotation_t getCamRotation2( size_t index ) const;
+  /** See parent-class */
+  virtual size_t getNumberCorrespondences() const;
+
+protected:
+  /** Reference to bearing-vectors expressed in viewpoint 1. */
+  const bearingVectors_t & _bearingVectors1;
+  /** Reference to bearing-vectors expressed in viewpoint 2. */
+  const bearingVectors_t & _bearingVectors2;
+};
+
+}
+}
+
+#endif /* OPENGV_RELATIVE_POSE_CENTRALRELATIVEADAPTER_HPP_ */

thirdparty/opengv/include/opengv/relative_pose/CentralRelativeMultiAdapter.hpp

@@ -0,0 +1,138 @@
+/******************************************************************************
+ * Author:   Laurent Kneip                                                    *
+ * Contact:  kneip.laurent@gmail.com                                          *
+ * License:  Copyright (c) 2013 Laurent Kneip, ANU. All rights reserved.      *
+ *                                                                            *
+ * Redistribution and use in source and binary forms, with or without         *
+ * modification, are permitted provided that the following conditions         *
+ * are met:                                                                   *
+ * * Redistributions of source code must retain the above copyright           *
+ *   notice, this list of conditions and the following disclaimer.            *
+ * * Redistributions in binary form must reproduce the above copyright        *
+ *   notice, this list of conditions and the following disclaimer in the      *
+ *   documentation and/or other materials provided with the distribution.     *
+ * * Neither the name of ANU nor the names of its contributors may be         *
+ *   used to endorse or promote products derived from this software without   *
+ *   specific prior written permission.                                       *
+ *                                                                            *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"*
+ * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE  *
+ * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE *
+ * ARE DISCLAIMED. IN NO EVENT SHALL ANU OR THE CONTRIBUTORS BE LIABLE        *
+ * FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL *
+ * DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR *
+ * SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER *
+ * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT         *
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY  *
+ * OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF     *
+ * SUCH DAMAGE.                                                               *
+ ******************************************************************************/
+
+/**
+ * \file CentralRelativeMultiAdapter.hpp
+ * \brief Adapter-class for passing bearing-vector correspondences to the
+ *        central relative-pose algorithms. Maps opengv types
+ *        back to opengv types. For multi-central-viewpoint. Manages multiple
+ *        match-lists for pairs of cameras (e.g. pairs of central viewpoints).
+ */
+
+#ifndef OPENGV_RELATIVE_POSE_CENTRALRELATIVEMULTIADAPTER_HPP_
+#define OPENGV_RELATIVE_POSE_CENTRALRELATIVEMULTIADAPTER_HPP_
+
+#include <stdlib.h>
+#include <vector>
+#include <memory>
+#include <opengv/types.hpp>
+#include <opengv/relative_pose/RelativeMultiAdapterBase.hpp>
+
+/**
+ * \brief The namespace of this library.
+ */
+namespace opengv
+{
+/**
+ * \brief The namespace for the relative pose methods.
+ */
+namespace relative_pose
+{
+
+/**
+ * Check the documentation of the parent-class to understand the meaning of
+ * a RelativeMultiAdapter. This child-class is for the multi-central case and
+ * holds data in form of references to opengv-types. It is meant to be used for
+ * problems involving more than two central viewpoints. This is experimental!
+ */
+class CentralRelativeMultiAdapter : public RelativeMultiAdapterBase
+{
+protected:
+  using RelativeAdapterBase::_t12;
+  using RelativeAdapterBase::_R12;
+
+public:
+  EIGEN_MAKE_ALIGNED_OPERATOR_NEW
+
+  /**
+   * \brief Constructor. See protected class-members to understand parameters
+   */
+  CentralRelativeMultiAdapter(
+      std::vector<std::shared_ptr<bearingVectors_t> > bearingVectors1,
+      std::vector<std::shared_ptr<bearingVectors_t> > bearingVectors2 );
+  /**
+   * \brief Destructor.
+   */
+  virtual ~CentralRelativeMultiAdapter();
+
+  //camera-pair-wise access of correspondences
+  
+  /** See parent-class */
+  virtual bearingVector_t getBearingVector1(
+      size_t pairIndex, size_t correspondenceIndex ) const;
+  /** See parent-class */
+  virtual bearingVector_t getBearingVector2(
+      size_t pairIndex, size_t correspondenceIndex ) const;
+  /** See parent-class */
+  virtual double getWeight( size_t pairIndex, size_t correspondenceIndex ) const;
+  /** See parent-class */
+  virtual translation_t getCamOffset( size_t pairIndex ) const;
+  /** See parent-class */
+  virtual rotation_t getCamRotation( size_t pairIndex ) const;
+  /** See parent-class */
+  virtual size_t getNumberCorrespondences( size_t pairIndex ) const;
+  /** See parent-class */
+  virtual size_t getNumberPairs() const;
+
+  //Conversion to and from serialized indices
+  
+  /** See parent-class */
+  virtual std::vector<int> convertMultiIndices(
+      const std::vector<std::vector<int> > & multiIndices ) const;
+  /** See parent-class */
+  virtual int convertMultiIndex(
+      size_t pairIndex, size_t correspondenceIndex ) const;
+  /** See parent-class */
+  virtual int multiPairIndex( size_t index ) const;
+  /** See parent-class */
+  virtual int multiCorrespondenceIndex( size_t index ) const;
+
+protected:
+  /** References to multiple sets of bearing-vectors (the ones from camera 1 of
+   *  each pair, and expressed in there
+   */
+  std::vector<std::shared_ptr<bearingVectors_t> > _bearingVectors1;
+  /** References to multiple sets of bearing-vectors (the ones from camera 1 of
+   *  each pair, and expressed in there).
+   */
+  std::vector<std::shared_ptr<bearingVectors_t> > _bearingVectors2;
+
+  /** Initialized in constructor, used for (de)-serialiaztion of indices */
+  std::vector<int> multiPairIndices;
+  /** Initialized in constructor, used for (de)-serialiaztion of indices */
+  std::vector<int> multiKeypointIndices;
+  /** Initialized in constructor, used for (de)-serialiaztion of indices */
+  std::vector<int> singleIndexOffsets;
+};
+
+}
+}
+
+#endif /* OPENGV_RELATIVE_POSE_CENTRALRELATIVEMULTIADAPTER_HPP_ */

thirdparty/opengv/include/opengv/relative_pose/CentralRelativeWeightingAdapter.hpp

@@ -0,0 +1,133 @@
+/******************************************************************************
+ * Author:   Laurent Kneip                                                    *
+ * Contact:  kneip.laurent@gmail.com                                          *
+ * License:  Copyright (c) 2013 Laurent Kneip, ANU. All rights reserved.      *
+ *                                                                            *
+ * Redistribution and use in source and binary forms, with or without         *
+ * modification, are permitted provided that the following conditions         *
+ * are met:                                                                   *
+ * * Redistributions of source code must retain the above copyright           *
+ *   notice, this list of conditions and the following disclaimer.            *
+ * * Redistributions in binary form must reproduce the above copyright        *
+ *   notice, this list of conditions and the following disclaimer in the      *
+ *   documentation and/or other materials provided with the distribution.     *
+ * * Neither the name of ANU nor the names of its contributors may be         *
+ *   used to endorse or promote products derived from this software without   *
+ *   specific prior written permission.                                       *
+ *                                                                            *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"*
+ * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE  *
+ * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE *
+ * ARE DISCLAIMED. IN NO EVENT SHALL ANU OR THE CONTRIBUTORS BE LIABLE        *
+ * FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL *
+ * DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR *
+ * SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER *
+ * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT         *
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY  *
+ * OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF     *
+ * SUCH DAMAGE.                                                               *
+ ******************************************************************************/
+
+/**
+ * \file CentralRelativeWeightingAdapter.hpp
+ * \brief Adapter-class for passing bearing-vector correspondences to the
+ *        central relative-pose algorithms. Maps opengv types back to
+ *        opengv types. Also contains "weights" reflecting the quality of
+ *        a feature correspondence (typically between 0 and 1)
+ */
+
+#ifndef OPENGV_RELATIVE_POSE_CENTRALRELATIVEWEIGHTINGADAPTER_HPP_
+#define OPENGV_RELATIVE_POSE_CENTRALRELATIVEWEIGHTINGADAPTER_HPP_
+
+#include <stdlib.h>
+#include <vector>
+#include <opengv/types.hpp>
+#include <opengv/relative_pose/RelativeAdapterBase.hpp>
+
+/**
+ * \brief The namespace of this library.
+ */
+namespace opengv
+{
+/**
+ * \brief The namespace for the relative pose methods.
+ */
+namespace relative_pose
+{
+
+/**
+ * Check the documentation of the parent-class to understand the meaning of
+ * a RelativeAdapter. This child-class is for the central case and holds data
+ * in form of references to opengv-types. It also includes weights for the
+ * correspondences.
+ */
+class CentralRelativeWeightingAdapter : public RelativeAdapterBase
+{
+protected:
+  using RelativeAdapterBase::_t12;
+  using RelativeAdapterBase::_R12;
+
+public:
+  EIGEN_MAKE_ALIGNED_OPERATOR_NEW
+  
+  /**
+   * \brief Constructor. See protected class-members to understand parameters
+   */
+  CentralRelativeWeightingAdapter(
+      const bearingVectors_t & bearingVectors1,
+      const bearingVectors_t & bearingVectors2,
+      const std::vector<double> & weights );
+  /**
+   * \brief Constructor. See protected class-members to understand parameters
+   */
+  CentralRelativeWeightingAdapter(
+      const bearingVectors_t & bearingVectors1,
+      const bearingVectors_t & bearingVectors2,
+      const std::vector<double> & weights,
+      const rotation_t & R12 );
+  /**
+   * \brief Constructor. See protected class-members to understand parameters
+   */
+  CentralRelativeWeightingAdapter(
+      const bearingVectors_t & bearingVectors1,
+      const bearingVectors_t & bearingVectors2,
+      const std::vector<double> & weights,
+      const translation_t & t12,
+      const rotation_t & R12 );
+  /**
+   * \brief Destructor.
+   */
+  virtual ~CentralRelativeWeightingAdapter();
+
+  //Access of correspondences
+  
+  /** See parent-class */
+  virtual bearingVector_t getBearingVector1( size_t index ) const;
+  /** See parent-class */
+  virtual bearingVector_t getBearingVector2( size_t index ) const;
+  /** See parent-class */
+  virtual double getWeight( size_t index ) const;
+  /** See parent-class. Returns zero for this adapter. */
+  virtual translation_t getCamOffset1( size_t index ) const;
+  /** See parent-class. Returns identity for this adapter. */
+  virtual rotation_t getCamRotation1( size_t index ) const;
+  /** See parent-class. Returns zero for this adapter. */
+  virtual translation_t getCamOffset2( size_t index ) const;
+  /** See parent-class. Returns identity for this adapter. */
+  virtual rotation_t getCamRotation2( size_t index ) const;
+  /** See parent-class */
+  virtual size_t getNumberCorrespondences() const;
+
+protected:
+  /** Reference to bearing-vectors expressed in viewpoint 1. */
+  const bearingVectors_t & _bearingVectors1;
+  /** Reference to bearing-vectors expressed in viewpoint 2. */
+  const bearingVectors_t & _bearingVectors2;
+  /** Reference to an array of weights. Indexing follows _bearingVectors2. */
+  const std::vector<double> & _weights;
+};
+
+}
+}
+
+#endif /* OPENGV_RELATIVE_POSE_CENTRALRELATIVEWEIGHTINGADAPTER_HPP_ */

thirdparty/opengv/include/opengv/relative_pose/MACentralRelative.hpp

@@ -0,0 +1,117 @@
+/******************************************************************************
+ * Author:   Laurent Kneip                                                    *
+ * Contact:  kneip.laurent@gmail.com                                          *
+ * License:  Copyright (c) 2013 Laurent Kneip, ANU. All rights reserved.      *
+ *                                                                            *
+ * Redistribution and use in source and binary forms, with or without         *
+ * modification, are permitted provided that the following conditions         *
+ * are met:                                                                   *
+ * * Redistributions of source code must retain the above copyright           *
+ *   notice, this list of conditions and the following disclaimer.            *
+ * * Redistributions in binary form must reproduce the above copyright        *
+ *   notice, this list of conditions and the following disclaimer in the      *
+ *   documentation and/or other materials provided with the distribution.     *
+ * * Neither the name of ANU nor the names of its contributors may be         *
+ *   used to endorse or promote products derived from this software without   *
+ *   specific prior written permission.                                       *
+ *                                                                            *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"*
+ * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE  *
+ * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE *
+ * ARE DISCLAIMED. IN NO EVENT SHALL ANU OR THE CONTRIBUTORS BE LIABLE        *
+ * FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL *
+ * DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR *
+ * SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER *
+ * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT         *
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY  *
+ * OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF     *
+ * SUCH DAMAGE.                                                               *
+ ******************************************************************************/
+
+/**
+ * \file MACentralRelative.hpp
+ * \brief Adapter-class for passing bearing-vector correspondences to the
+ *        central relative-pose algorithms. Maps matlab types to opengv types.
+ */
+
+#ifndef OPENGV_RELATIVE_POSE_MACENTRALRELATIVE_HPP_
+#define OPENGV_RELATIVE_POSE_MACENTRALRELATIVE_HPP_
+
+#include <stdlib.h>
+#include <vector>
+#include <opengv/types.hpp>
+#include <opengv/relative_pose/RelativeAdapterBase.hpp>
+
+/**
+ * \brief The namespace of this library.
+ */
+namespace opengv
+{
+/**
+ * \brief The namespace for the relative pose methods.
+ */
+namespace relative_pose
+{
+
+/**
+ * Check the documentation of the parent-class to understand the meaning of
+ * a RelativeAdapter. This child-class is for the central case and holds data
+ * in form of pointers to matlab data.
+ */
+class MACentralRelative : public RelativeAdapterBase
+{
+protected:
+  using RelativeAdapterBase::_t12;
+  using RelativeAdapterBase::_R12;
+
+public:
+  EIGEN_MAKE_ALIGNED_OPERATOR_NEW
+
+  /**
+   * \brief Constructor. See protected class-members to understand parameters
+   */
+  MACentralRelative(
+      const double * bearingVectors1,
+      const double * bearingVectors2,
+      int numberBearingVectors1,
+      int numberBearingVectors2 );
+
+  /**
+   * \brief Destructor.
+   */
+  virtual ~MACentralRelative();
+
+  //Access of correspondences
+  
+  /** See parent-class */
+  virtual bearingVector_t getBearingVector1( size_t index ) const;
+  /** See parent-class */
+  virtual bearingVector_t getBearingVector2( size_t index ) const;
+  /** See parent-class */
+  virtual double getWeight( size_t index ) const;
+  /** See parent-class. Returns zero for this adapter. */
+  virtual translation_t getCamOffset1( size_t index ) const;
+  /** See parent-class. Returns identity for this adapter. */
+  virtual rotation_t getCamRotation1( size_t index ) const;
+  /** See parent-class. Returns zero for this adapter. */
+  virtual translation_t getCamOffset2( size_t index ) const;
+  /** See parent-class. Returns identity for this adapter. */
+  virtual rotation_t getCamRotation2( size_t index ) const;
+  /** See parent-class */
+  virtual size_t getNumberCorrespondences() const;
+
+protected:
+  /** A pointer to the bearing-vectors in viewpoint 1 */  
+  const double * _bearingVectors1;
+  /** A pointer to the bearing-vectors in viewpoint 2 */
+  const double * _bearingVectors2;
+  /** The number of bearing-vectors in viewpoint 1 */
+  int _numberBearingVectors1;
+  /** The number of bearing-vectors in viewpoint 2 */
+  int _numberBearingVectors2;
+};
+
+}
+}
+
+#endif /* OPENGV_RELATIVE_POSE_MACENTRALRELATIVE_HPP_ */

thirdparty/opengv/include/opengv/relative_pose/MANoncentralRelative.hpp

@@ -0,0 +1,118 @@
+/******************************************************************************
+ * Author:   Laurent Kneip                                                    *
+ * Contact:  kneip.laurent@gmail.com                                          *
+ * License:  Copyright (c) 2013 Laurent Kneip, ANU. All rights reserved.      *
+ *                                                                            *
+ * Redistribution and use in source and binary forms, with or without         *
+ * modification, are permitted provided that the following conditions         *
+ * are met:                                                                   *
+ * * Redistributions of source code must retain the above copyright           *
+ *   notice, this list of conditions and the following disclaimer.            *
+ * * Redistributions in binary form must reproduce the above copyright        *
+ *   notice, this list of conditions and the following disclaimer in the      *
+ *   documentation and/or other materials provided with the distribution.     *
+ * * Neither the name of ANU nor the names of its contributors may be         *
+ *   used to endorse or promote products derived from this software without   *
+ *   specific prior written permission.                                       *
+ *                                                                            *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"*
+ * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE  *
+ * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE *
+ * ARE DISCLAIMED. IN NO EVENT SHALL ANU OR THE CONTRIBUTORS BE LIABLE        *
+ * FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL *
+ * DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR *
+ * SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER *
+ * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT         *
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY  *
+ * OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF     *
+ * SUCH DAMAGE.                                                               *
+ ******************************************************************************/
+
+/**
+ * \file MANoncentralRelative.hpp
+ * \brief Adapter-class for passing bearing-vector correspondences to the
+ *        non-central relative-pose algorithms. Maps matlab types
+ *        to opengv types.
+ */
+
+#ifndef OPENGV_RELATIVE_POSE_MANONCENTRALRELATIVE_HPP_
+#define OPENGV_RELATIVE_POSE_MANONCENTRALRELATIVE_HPP_
+
+#include <stdlib.h>
+#include <vector>
+#include <opengv/types.hpp>
+#include <opengv/relative_pose/RelativeAdapterBase.hpp>
+
+/**
+ * \brief The namespace of this library.
+ */
+namespace opengv
+{
+/**
+ * \brief The namespace for the relative pose methods.
+ */
+namespace relative_pose
+{
+
+/**
+ * Check the documentation of the parent-class to understand the meaning of
+ * a RelativeAdapter. This child-class is for the non-central case and holds
+ * data in form of pointers to matlab-types.
+ */
+class MANoncentralRelative : public RelativeAdapterBase
+{
+protected:
+  using RelativeAdapterBase::_t12;
+  using RelativeAdapterBase::_R12;
+
+public:
+  EIGEN_MAKE_ALIGNED_OPERATOR_NEW
+
+  /**
+   * \brief Constructor. See protected class-members to understand parameters
+   */
+  MANoncentralRelative(
+      const double * bearingVectors1,
+      const double * bearingVectors2,
+      int numberBearingVectors1,
+      int numberBearingVectors2 );
+
+  /**
+   * \brief Destructor.
+   */
+  virtual ~MANoncentralRelative();
+
+  //Access of correspondences
+  
+  /** See parent-class */
+  virtual bearingVector_t getBearingVector1( size_t index ) const;
+  /** See parent-class */
+  virtual bearingVector_t getBearingVector2( size_t index ) const;
+  /** See parent-class */
+  virtual double getWeight( size_t index ) const;
+  /** See parent-class */
+  virtual translation_t getCamOffset1( size_t index ) const;
+  /** See parent-class */
+  virtual rotation_t getCamRotation1( size_t index ) const;
+  /** See parent-class */
+  virtual translation_t getCamOffset2( size_t index ) const;
+  /** See parent-class */
+  virtual rotation_t getCamRotation2( size_t index ) const;
+  /** See parent-class */
+  virtual size_t getNumberCorrespondences() const;
+
+protected:
+  /** A pointer to the bearing-vectors in viewpoint 1 */  
+  const double * _bearingVectors1;
+  /** A pointer to the bearing-vectors in viewpoint 2 */
+  const double * _bearingVectors2;
+  /** The number of bearing-vectors in viewpoint 1 */
+  int _numberBearingVectors1;
+  /** The number of bearing-vectors in viewpoint 2 */
+  int _numberBearingVectors2;
+};
+
+}
+}
+
+#endif /* OPENGV_RELATIVE_POSE_MANONCENTRALRELATIVE_HPP_ */

thirdparty/opengv/include/opengv/relative_pose/MANoncentralRelativeMulti.hpp

@@ -0,0 +1,144 @@
+/******************************************************************************
+ * Author:   Laurent Kneip                                                    *
+ * Contact:  kneip.laurent@gmail.com                                          *
+ * License:  Copyright (c) 2013 Laurent Kneip, ANU. All rights reserved.      *
+ *                                                                            *
+ * Redistribution and use in source and binary forms, with or without         *
+ * modification, are permitted provided that the following conditions         *
+ * are met:                                                                   *
+ * * Redistributions of source code must retain the above copyright           *
+ *   notice, this list of conditions and the following disclaimer.            *
+ * * Redistributions in binary form must reproduce the above copyright        *
+ *   notice, this list of conditions and the following disclaimer in the      *
+ *   documentation and/or other materials provided with the distribution.     *
+ * * Neither the name of ANU nor the names of its contributors may be         *
+ *   used to endorse or promote products derived from this software without   *
+ *   specific prior written permission.                                       *
+ *                                                                            *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"*
+ * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE  *
+ * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE *
+ * ARE DISCLAIMED. IN NO EVENT SHALL ANU OR THE CONTRIBUTORS BE LIABLE        *
+ * FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL *
+ * DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR *
+ * SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER *
+ * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT         *
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY  *
+ * OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF     *
+ * SUCH DAMAGE.                                                               *
+ ******************************************************************************/
+
+/**
+ * \file MANoncentralRelativeMulti.hpp
+ * \brief Adapter-class for passing bearing-vector correspondences to the
+ *        non-central relative-pose algorithms. Maps Matlab types
+ *        to opengv types. Manages multiple match-lists for pairs of cameras.
+ *        This allows to draw samples homogeneously over the cameras.
+ */
+
+#ifndef OPENGV_RELATIVE_POSE_MANONCENTRALRELATIVEMULTI_HPP_
+#define OPENGV_RELATIVE_POSE_MANONCENTRALRELATIVEMULTI_HPP_
+
+#include <stdlib.h>
+#include <vector>
+#include <opengv/types.hpp>
+#include <opengv/relative_pose/RelativeMultiAdapterBase.hpp>
+
+/**
+ * \brief The namespace of this library.
+ */
+namespace opengv
+{
+/**
+ * \brief The namespace for the relative pose methods.
+ */
+namespace relative_pose
+{
+
+/**
+ * Check the documentation of the parent-class to understand the meaning of
+ * a RelativeMultiAdapter. This child-class is for the relative non-central case
+ * and holds data in form of pointers to matlab-types. It is meant to be used
+ * for problems involving two non-central viewpoints, but in the special case
+ * where correspondences result from two cameras with equal transformation
+ * to their two viewpoints.
+ */
+class MANoncentralRelativeMulti : public RelativeMultiAdapterBase
+{
+protected:
+  using RelativeMultiAdapterBase::_t12;
+  using RelativeMultiAdapterBase::_R12;
+
+public:
+  EIGEN_MAKE_ALIGNED_OPERATOR_NEW
+
+  /**
+   * \brief Constructor. See protected class-members to understand parameters
+   */
+  MANoncentralRelativeMulti(
+      const std::vector<double*> & bearingVectors1,
+      const std::vector<double*> & bearingVectors2,
+      const double * camOffsets,
+      const std::vector<int> & numberBearingVectors );
+  /**
+   * \brief Destructor.
+   */
+  virtual ~MANoncentralRelativeMulti();
+
+  //camera-pair-wise access of correspondences
+  
+  /** See parent-class */
+  virtual bearingVector_t getBearingVector1(
+      size_t pairIndex, size_t correspondenceIndex ) const;
+  /** See parent-class */
+  virtual bearingVector_t getBearingVector2(
+      size_t pairIndex, size_t correspondenceIndex ) const;
+  /** See parent-class */
+  virtual double getWeight( size_t camIndex, size_t correspondenceIndex ) const;
+  /** See parent-class */
+  virtual translation_t getCamOffset( size_t pairIndex ) const;
+  /** See parent-class */
+  virtual rotation_t getCamRotation( size_t pairIndex ) const;
+  /** See parent-class */
+  virtual size_t getNumberCorrespondences( size_t pairIndex ) const;
+  /** See parent-class */
+  virtual size_t getNumberPairs() const;
+
+  //Conversion to and from serialized indices
+  
+  /** See parent-class */
+  virtual std::vector<int> convertMultiIndices(
+      const std::vector<std::vector<int> > & multiIndices ) const;
+  /** See parent-class */
+  virtual int convertMultiIndex(
+      size_t camIndex, size_t correspondenceIndex ) const;
+  /** See parent-class */
+  virtual int multiPairIndex( size_t index ) const;
+  /** See parent-class */
+  virtual int multiCorrespondenceIndex( size_t index ) const;
+
+protected:
+  /** A pointer to the bearing-vectors in viewpoint 1 */  
+  std::vector<double *> _bearingVectors1;
+  
+  /** A pointer to the bearing-vectors in viewpoint 2 */  
+  std::vector<double *> _bearingVectors2;
+
+  /** The offset from the viewpoint origin of each vector */
+  const double * _camOffsets;
+
+  /** The number of bearing-vectors in each camera */
+  std::vector<int> _numberBearingVectors;
+  
+  /** Initialized in constructor, used for (de)-serialiaztion of indices */
+  std::vector<int> multiPairIndices;
+  /** Initialized in constructor, used for (de)-serialiaztion of indices */
+  std::vector<int> multiKeypointIndices;
+  /** Initialized in constructor, used for (de)-serialiaztion of indices */
+  std::vector<int> singleIndexOffsets;
+};
+
+}
+}
+
+#endif /* OPENGV_RELATIVE_POSE_MANONCENTRALRELATIVEMULTI_HPP_ */

thirdparty/opengv/include/opengv/relative_pose/NoncentralRelativeAdapter.hpp

@@ -0,0 +1,168 @@
+/******************************************************************************
+ * Author:   Laurent Kneip                                                    *
+ * Contact:  kneip.laurent@gmail.com                                          *
+ * License:  Copyright (c) 2013 Laurent Kneip, ANU. All rights reserved.      *
+ *                                                                            *
+ * Redistribution and use in source and binary forms, with or without         *
+ * modification, are permitted provided that the following conditions         *
+ * are met:                                                                   *
+ * * Redistributions of source code must retain the above copyright           *
+ *   notice, this list of conditions and the following disclaimer.            *
+ * * Redistributions in binary form must reproduce the above copyright        *
+ *   notice, this list of conditions and the following disclaimer in the      *
+ *   documentation and/or other materials provided with the distribution.     *
+ * * Neither the name of ANU nor the names of its contributors may be         *
+ *   used to endorse or promote products derived from this software without   *
+ *   specific prior written permission.                                       *
+ *                                                                            *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"*
+ * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE  *
+ * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE *
+ * ARE DISCLAIMED. IN NO EVENT SHALL ANU OR THE CONTRIBUTORS BE LIABLE        *
+ * FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL *
+ * DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR *
+ * SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER *
+ * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT         *
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY  *
+ * OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF     *
+ * SUCH DAMAGE.                                                               *
+ ******************************************************************************/
+
+/**
+ * \file NoncentralRelativeAdapter.hpp
+ * \brief Adapter-class for passing bearing-vector correspondences to the
+ *        non-central relative-pose algorithms. Maps opengv types
+ *        back to opengv types.
+ */
+
+#ifndef OPENGV_RELATIVE_POSE_NONCENTRALRELATIVEADAPTER_HPP_
+#define OPENGV_RELATIVE_POSE_NONCENTRALRELATIVEADAPTER_HPP_
+
+#include <stdlib.h>
+#include <vector>
+#include <opengv/types.hpp>
+#include <opengv/relative_pose/RelativeAdapterBase.hpp>
+
+/**
+ * \brief The namespace of this library.
+ */
+namespace opengv
+{
+/**
+ * \brief The namespace for the relative pose methods.
+ */
+namespace relative_pose
+{
+
+/**
+ * Check the documentation of the parent-class to understand the meaning of
+ * a RelativeAdapter. This child-class is for the non-central case and holds
+ * data in form of references to opengv-types.
+ */
+class NoncentralRelativeAdapter : public RelativeAdapterBase
+{
+protected:
+  using RelativeAdapterBase::_t12;
+  using RelativeAdapterBase::_R12;
+
+public:
+  EIGEN_MAKE_ALIGNED_OPERATOR_NEW
+
+  /** A type defined for the camera-correspondences, see protected
+   *  class-members
+   */
+  typedef std::vector<int> camCorrespondences_t;
+
+  /**
+   * \brief Constructor. See protected class-members to understand parameters
+   */
+  NoncentralRelativeAdapter(
+      const bearingVectors_t & bearingVectors1,
+      const bearingVectors_t & bearingVectors2,
+      const camCorrespondences_t & camCorrespondences1,
+      const camCorrespondences_t & camCorrespondences2,
+      const translations_t & camOffsets,
+      const rotations_t & camRotations );
+  /**
+   * \brief Constructor. See protected class-members to understand parameters
+   */
+  NoncentralRelativeAdapter(
+      const bearingVectors_t & bearingVectors1,
+      const bearingVectors_t & bearingVectors2,
+      const camCorrespondences_t & camCorrespondences1,
+      const camCorrespondences_t & camCorrespondences2,
+      const translations_t & camOffsets,
+      const rotations_t & camRotations,
+      const rotation_t & R12 );
+  /**
+   * \brief Constructor. See protected class-members to understand parameters
+   */
+  NoncentralRelativeAdapter(
+      const bearingVectors_t & bearingVectors1,
+      const bearingVectors_t & bearingVectors2,
+      const camCorrespondences_t & camCorrespondences1,
+      const camCorrespondences_t & camCorrespondences2,
+      const translations_t & camOffsets,
+      const rotations_t & camRotations,
+      const translation_t & t12,
+      const rotation_t & R12 );
+  /**
+   * \brief Destructor.
+   */
+  virtual ~NoncentralRelativeAdapter();
+
+  //Access of correspondences
+  
+  /** See parent-class */
+  virtual bearingVector_t getBearingVector1( size_t index ) const;
+  /** See parent-class */
+  virtual bearingVector_t getBearingVector2( size_t index ) const;
+  /** See parent-class */
+  virtual double getWeight( size_t index ) const;
+  /** See parent-class */
+  virtual translation_t getCamOffset1( size_t index ) const;
+  /** See parent-class */
+  virtual rotation_t getCamRotation1( size_t index ) const;
+  /** See parent-class */
+  virtual translation_t getCamOffset2( size_t index ) const;
+  /** See parent-class */
+  virtual rotation_t getCamRotation2( size_t index ) const;
+  /** See parent-class */
+  virtual size_t getNumberCorrespondences() const;
+
+protected:
+  /** Reference to bearing-vectors in viewpoint 1.
+   *  (expressed in their individual cameras)
+   */
+  const bearingVectors_t & _bearingVectors1;
+  /** Reference to bearing-vectors in viewpoint 2.
+   *  (expressed in their individual cameras)
+   */
+  const bearingVectors_t & _bearingVectors2;
+  /** Reference to an array of camera-indices for the bearing vectors in
+   *  viewpoint 1. Length equals to number of bearing-vectors in viewpoint 1,
+   *  and elements are indices of cameras in the _camOffsets and _camRotations
+   *  arrays.
+   */
+  const camCorrespondences_t & _camCorrespondences1;
+  /** Reference to an array of camera-indices for the bearing vectors in
+   *  viewpoint 2. Length equals to number of bearing-vectors in viewpoint 2,
+   *  and elements are indices of cameras in the _camOffsets and _camRotations
+   *  arrays.
+   */
+  const camCorrespondences_t & _camCorrespondences2;
+
+  /** Reference to positions of the different cameras seen from their
+   *  viewpoint.
+   */
+  const translations_t & _camOffsets;
+  /** Reference to rotations from the different cameras back to their
+   *  viewpoint.
+   */
+  const rotations_t & _camRotations;
+};
+
+}
+}
+
+#endif /* OPENGV_RELATIVE_POSE_NONCENTRALRELATIVEADAPTER_HPP_ */