mrpt::vision::pnp::ppnp Class Reference

Detailed Description

Author

Chandra Mangipudi

Date

10/08/16

Definition at line 28 of file ppnp.h.

#include <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...

Constructor & Destructor Documentation

ppnp()

mrpt::vision::pnp::ppnp::ppnp	(	const Eigen::MatrixXd &	obj_pts,
		const Eigen::MatrixXd &	img_pts,
		const Eigen::MatrixXd &	cam_intrinsic
	)

Constructor for the P-PnP class.

Definition at line 20 of file ppnp.cpp.

References C, P, and S.

Member Function Documentation

compute_pose()

bool mrpt::vision::pnp::ppnp::compute_pose	(	Eigen::Matrix3d &	R,
		Eigen::Vector3d &	t,
		int	n
	)

Function to compute pose.

Parameters

[out]	R	Rotation matrix
	t	Trnaslation Vector
	n	Number of 2d/3d correspondences

Returns

Definition at line 29 of file ppnp.cpp.

References mrpt::math::norm(), and R.

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Member Data Documentation

C

Eigen::MatrixXd mrpt::vision::pnp::ppnp::C

private

Object points in Camera Co-ordinate system.

Definition at line 48 of file ppnp.h.

Referenced by ppnp().

P

Eigen::MatrixXd mrpt::vision::pnp::ppnp::P

private

Definition at line 46 of file ppnp.h.

Referenced by ppnp().

S

Eigen::MatrixXd mrpt::vision::pnp::ppnp::S

private

Image points in pixels.

Definition at line 47 of file ppnp.h.

Referenced by ppnp().