#include </build/mrpt-zSSx3r/mrpt-1.5.3/libs/vision/src/pnp/posit.h>
Public Member Functions | |
posit (Eigen::MatrixXd obj_pts_, Eigen::MatrixXd img_pts_, Eigen::MatrixXd camera_intrinsic_, int n) | |
Used to store img_vecs from previous iteration. More... | |
void | POS () |
Function used to compute pose from orthogonality. More... | |
bool | compute_pose (Eigen::Ref< Eigen::Matrix3d > R_, Eigen::Ref< Eigen::Vector3d > t_) |
Computes pose using iterative computation of POS() More... | |
long | get_img_diff () |
Function to check for convergence. More... | |
Private Attributes | |
Eigen::MatrixXd | obj_pts |
Eigen::MatrixXd | img_pts |
Object Points in Camera Co-ordinate system. More... | |
Eigen::MatrixXd | cam_intrinsic |
Image Points in pixels. More... | |
Eigen::MatrixXd | obj_matrix |
Camera Intrinsic matrix. More... | |
double | f |
Pseudo-Inverse of Object Points matrix. More... | |
Eigen::VectorXd | epsilons |
Focal Length from camera intrinsic matrix. More... | |
int | n |
Co-efficients used for scaling. More... | |
Eigen::MatrixXd | R |
Number of 2d/3d correspondences. More... | |
Eigen::VectorXd | t |
Rotation Matrix. More... | |
Eigen::MatrixXd | obj_vecs |
Translation Vector. More... | |
Eigen::MatrixXd | img_vecs |
Object Points relative to 1st object point. More... | |
Eigen::MatrixXd | img_vecs_old |
Image Points relative to 1st image point. More... | |
mrpt::vision::pnp::posit::posit | ( | Eigen::MatrixXd | obj_pts_, |
Eigen::MatrixXd | img_pts_, | ||
Eigen::MatrixXd | camera_intrinsic_, | ||
int | n | ||
) |
Used to store img_vecs from previous iteration.
Constructor for P-PnP class
Definition at line 19 of file posit.cpp.
References cam_intrinsic, epsilons, f, img_pts, img_vecs, img_vecs_old, mrpt::pbmap::inverse(), n, obj_matrix, obj_pts, obj_vecs, R, and t.
bool mrpt::vision::pnp::posit::compute_pose | ( | Eigen::Ref< Eigen::Matrix3d > | R_, |
Eigen::Ref< Eigen::Vector3d > | t_ | ||
) |
Computes pose using iterative computation of POS()
Iterate over results obtained by the POS function; see paper "Model-Based Object Pose in 25 Lines of Code", IJCV 15, pp.
[out] | R_ | |
[out] | t_ |
123-141, 1995.
Definition at line 82 of file posit.cpp.
References epsilons, get_img_diff(), img_pts, img_vecs, img_vecs_old, LOOP_MAX_COUNT, n, obj_pts, obj_vecs, POS(), R, and t.
Referenced by mrpt::vision::pnp::CPnP::posit().
long mrpt::vision::pnp::posit::get_img_diff | ( | ) |
Function to check for convergence.
Definition at line 139 of file posit.cpp.
References img_vecs, img_vecs_old, and n.
Referenced by compute_pose().
void mrpt::vision::pnp::posit::POS | ( | ) |
Function used to compute pose from orthogonality.
Definition at line 43 of file posit.cpp.
References f, img_pts, img_vecs, obj_matrix, R, and t.
Referenced by compute_pose().
|
private |
|
private |
Focal Length from camera intrinsic matrix.
Definition at line 45 of file posit.h.
Referenced by compute_pose(), and posit().
|
private |
|
private |
Object Points in Camera Co-ordinate system.
Definition at line 40 of file posit.h.
Referenced by compute_pose(), POS(), and posit().
|
private |
Object Points relative to 1st object point.
Definition at line 52 of file posit.h.
Referenced by compute_pose(), get_img_diff(), POS(), and posit().
|
private |
Image Points relative to 1st image point.
Definition at line 53 of file posit.h.
Referenced by compute_pose(), get_img_diff(), and posit().
|
private |
Co-efficients used for scaling.
Definition at line 46 of file posit.h.
Referenced by compute_pose(), get_img_diff(), and posit().
|
private |
|
private |
Definition at line 39 of file posit.h.
Referenced by compute_pose(), and posit().
|
private |
Translation Vector.
Definition at line 51 of file posit.h.
Referenced by compute_pose(), and posit().
|
private |
Number of 2d/3d correspondences.
Definition at line 48 of file posit.h.
Referenced by compute_pose(), POS(), and posit().
|
private |
Rotation Matrix.
Definition at line 49 of file posit.h.
Referenced by compute_pose(), POS(), and posit().
Page generated by Doxygen 1.8.13 for MRPT 1.5.3 at Mon Oct 30 10:27:08 UTC 2017 |