#include </build/mrpt-mNTjag/mrpt-1.5.3/libs/vision/src/pnp/ppnp.h>
Public Member Functions | |
ppnp (const Eigen::MatrixXd &obj_pts, const Eigen::MatrixXd &img_pts, const Eigen::MatrixXd &cam_intrinsic) | |
Constructor for the P-PnP class. More... | |
bool | compute_pose (Eigen::Matrix3d &R, Eigen::Vector3d &t, int n) |
Function to compute pose. More... | |
Private Attributes | |
Eigen::MatrixXd | P |
Eigen::MatrixXd | S |
Image points in pixels. More... | |
Eigen::MatrixXd | C |
Object points in Camera Co-ordinate system. More... | |
mrpt::vision::pnp::ppnp::ppnp | ( | const Eigen::MatrixXd & | obj_pts, |
const Eigen::MatrixXd & | img_pts, | ||
const Eigen::MatrixXd & | cam_intrinsic | ||
) |
bool mrpt::vision::pnp::ppnp::compute_pose | ( | Eigen::Matrix3d & | R, |
Eigen::Vector3d & | t, | ||
int | n | ||
) |
Function to compute pose.
[out] | R | Rotation matrix |
t | Trnaslation Vector | |
n | Number of 2d/3d correspondences |
Definition at line 26 of file ppnp.cpp.
References exprtk::details::numeric::constant::e, mrpt::math::norm(), P, S, and Sophus::transpose().
Referenced by mrpt::vision::pnp::CPnP::ppnp().
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private |
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private |
Definition at line 41 of file ppnp.h.
Referenced by compute_pose(), and ppnp().
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private |
Image points in pixels.
Definition at line 42 of file ppnp.h.
Referenced by compute_pose(), and ppnp().
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