mrpt::vision::pnp::posit Class Reference

Detailed Description

Definition at line 33 of file posit.h.

#include <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...

Constructor & Destructor Documentation

posit()

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, and R.

Here is the call graph for this function:

Member Function Documentation

compute_pose()

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.

Parameters

[out]	R_
[out]	t_

Returns

true on success

123-141, 1995.

Definition at line 85 of file posit.cpp.

References LOOP_MAX_COUNT, and R.

get_img_diff()

long mrpt::vision::pnp::posit::get_img_diff

(

)

Function to check for convergence.

Returns

Representative value of error

Definition at line 140 of file posit.cpp.

POS()

void mrpt::vision::pnp::posit::POS

(

)

Function used to compute pose from orthogonality.

Definition at line 46 of file posit.cpp.

References R.

Member Data Documentation

cam_intrinsic

Eigen::MatrixXd mrpt::vision::pnp::posit::cam_intrinsic

private

Image Points in pixels.

Definition at line 37 of file posit.h.

Referenced by posit().

epsilons

Eigen::VectorXd mrpt::vision::pnp::posit::epsilons

private

Focal Length from camera intrinsic matrix.

Definition at line 41 of file posit.h.

Referenced by posit().

f

double mrpt::vision::pnp::posit::f

private

Pseudo-Inverse of Object Points matrix.

Definition at line 40 of file posit.h.

Referenced by posit().

img_pts

Eigen::MatrixXd mrpt::vision::pnp::posit::img_pts

private

Object Points in Camera Co-ordinate system.

Definition at line 36 of file posit.h.

Referenced by posit().

img_vecs

Eigen::MatrixXd mrpt::vision::pnp::posit::img_vecs

private

Object Points relative to 1st object point.

Definition at line 48 of file posit.h.

Referenced by posit().

img_vecs_old

Eigen::MatrixXd mrpt::vision::pnp::posit::img_vecs_old

private

Image Points relative to 1st image point.

Definition at line 50 of file posit.h.

Referenced by posit().

n

int mrpt::vision::pnp::posit::n

private

Co-efficients used for scaling.

Definition at line 42 of file posit.h.

Referenced by posit().

obj_matrix

Eigen::MatrixXd mrpt::vision::pnp::posit::obj_matrix

private

Camera Intrinsic matrix.

Definition at line 38 of file posit.h.

Referenced by posit().

obj_pts

Eigen::MatrixXd mrpt::vision::pnp::posit::obj_pts

private

Definition at line 35 of file posit.h.

Referenced by posit().

obj_vecs

Eigen::MatrixXd mrpt::vision::pnp::posit::obj_vecs

private

Translation Vector.

Definition at line 47 of file posit.h.

Referenced by posit().

R

Eigen::MatrixXd mrpt::vision::pnp::posit::R

private

Number of 2d/3d correspondences.

Definition at line 44 of file posit.h.

Referenced by posit().

t

Eigen::VectorXd mrpt::vision::pnp::posit::t

private

Rotation Matrix.

Definition at line 45 of file posit.h.