28 ppnp(
const Eigen::MatrixXd& obj_pts,
const Eigen::MatrixXd& img_pts,
const Eigen::MatrixXd& cam_intrinsic);
Vector3< double > Vector3d
Eigen::MatrixXd S
Image points in pixels.
ppnp(const Eigen::MatrixXd &obj_pts, const Eigen::MatrixXd &img_pts, const Eigen::MatrixXd &cam_intrinsic)
Constructor for the P-PnP class.
EIGEN_STRONG_INLINE const AdjointReturnType t() const
Transpose.
bool compute_pose(Eigen::Matrix3d &R, Eigen::Vector3d &t, int n)
Function to compute pose.
Matrix3< double > Matrix3d
This is the global namespace for all Mobile Robot Programming Toolkit (MRPT) libraries.
Eigen::MatrixXd C
Object points in Camera Co-ordinate system.