1 /******************************************************************************
2  * Author:   Laurent Kneip                                                    *
3  * Contact:  kneip.laurent@gmail.com                                          *
4  * License:  Copyright (c) 2013 Laurent Kneip, ANU. All rights reserved.      *
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30 
31 /**
32  * \file triangulation/methods.hpp
33  * \brief Some triangulation methods. Not exhaustive.
34  */
35 
36 #ifndef OPENGV_TRIANGULATION_METHODS_HPP_
37 #define OPENGV_TRIANGULATION_METHODS_HPP_
38 
39 #include <stdlib.h>
40 #include <vector>
41 #include <opengv/types.hpp>
42 #include <opengv/relative_pose/RelativeAdapterBase.hpp>
43 
44 /**
45  * \brief The namespace of this library.
46  */
47 namespace opengv
48 {
49 /**
50  * \brief The namespace for the triangulation methods.
51  */
52 namespace triangulation
53 {
54 
55 /**
56  * \brief Compute the position of a 3D point seen from two viewpoints. Linear
57  *        Method.
58  *
59  * \param[in] adapter Visitor holding bearing-vector correspondences, plus the
60  *                    relative transformation.
61  * \param[in] index The index of the correspondence being triangulated.
62  * \return The 3D point expressed in the first viewpoint.
63  */
64 point_t triangulate(
65     const relative_pose::RelativeAdapterBase & adapter, size_t index );
66 
67 /**
68  * \brief Compute the position of a 3D point seen from two viewpoints. Fast
69  *        non-linear approximation (closed-form).
70  *
71  * \param[in] adapter Visitor holding bearing-vector correspondences, plus the
72  *                    relative transformation.
73  * \param[in] index The index of the correspondence being triangulated.
74  * \return The 3D point expressed in the first viewpoint.
75  */
76 point_t triangulate2(
77     const relative_pose::RelativeAdapterBase & adapter, size_t index );
78 
79 }
80 
81 }
82 
83 #endif /* OPENGV_TRIANGULATION_METHODS_HPP_ */
84