ippe.h

Go to the documentation of this file.

#ifndef _IPPE_H_
#define _IPPE_H_
#include <opencv2/core/core.hpp>


//This is the core header file for IPPE. Infinitesimal Plane-based Pose Estimation (IPPE) is a very fast and accurate way to compute a camera's pose from a single image of a planar object using point correspondences. This has uses in several applications, including augmented reality, 3D tracking and pose estimation with planar markers, and 3D scene understanding.
//This package is free and covered by the BSD licence without any warranty. We hope you find this code useful and if so please cite our paper in your work:

//@article{ year={2014}, issn={0920-5691}, journal={International Journal of Computer Vision}, volume={109}, number={3}, doi={10.1007/s11263-014-0725-5}, title={Infinitesimal Plane-Based Pose Estimation}, url={http://dx.doi.org/10.1007/s11263-014-0725-5}, publisher={Springer US}, keywords={Plane; Pose; SfM; PnP; Homography}, author={Collins, Toby and Bartoli, Adrien}, pages={252-286}, language={English} }

//Please contact Toby (toby.collins@gmail.com) if you have any questions about the code, paper and IPPE.

namespace IPPE {
//returns the two solutions
std::vector<cv::Mat> solvePnP(const std::vector<cv::Point3f> &objPoints,const  std::vector<cv::Point2f> &imgPoints, cv::InputArray cameraMatrix, cv::InputArray distCoeffs);

std::vector<std::pair<cv::Mat,double> > solvePnP_(const std::vector<cv::Point3f> &objPoints,const  std::vector<cv::Point2f> &imgPoints, cv::InputArray cameraMatrix, cv::InputArray distCoeffs);

void solvePoseOfCentredSquare(float squareLength, cv::InputArray imagePoints, cv::InputArray cameraMatrix, cv::InputArray distCoeffs,
                                    cv::OutputArray _rvec1, cv::OutputArray _tvec1, float & reprojErr1, cv::OutputArray _rvec2, cv::OutputArray _tvec2, float & reprojErr2);



int IPPEvalBestPose(cv::InputArray _R1,cv::InputArray _R2, cv::InputArray _t1,cv::InputArray _t2, cv::InputArray _objectPoints, cv::InputArray _undistortedPoints);

float IPPEvalReprojectionError(cv::InputArray _R,cv::InputArray _t, cv::InputArray _objectPoints, cv::InputArray _undistortedPoints);


void IPPERot2vec(cv::InputArray _R, cv::OutputArray _r);

void IPPComputeTranslation(cv::InputArray _objectPoints, cv::InputArray _imgPoints, cv::InputArray _R,cv::OutputArray _t);

void IPPComputeRotations(double j00, double j01, double j10,double j11,double p,double q,cv::OutputArray _R1, cv::OutputArray _R2);

void homographyFromSquarePoints(cv::InputArray _targetPts, double halfLength,cv::OutputArray _H);


}
#endif