Detailed Description

Author: Chandra Mangipudi

Date: 12/08/16

Definition at line 30 of file dls.h.

#include <pnp/dls.h>

Public Member Functions
	dls (const cv::Mat &opoints, const cv::Mat &ipoints)
	Constructor for DLS class. More...

	~dls ()=default

bool	compute_pose (cv::Mat &R, cv::Mat &t)
	OpenCV function for computing pose. More...

Private Member Functions
template<typename OpointType , typename IpointType >
void	init_points (const cv::Mat &opoints, const cv::Mat &ipoints)
	Initialization of object points and image points. More...

cv::Mat	LeftMultVec (const cv::Mat &v)
	Create a matrix from vector. More...

void	run_kernel (const cv::Mat &pp)
	Main function to run DLS-PnP. More...

void	build_coeff_matrix (const cv::Mat &pp, cv::Mat &Mtilde, cv::Mat &D)
	Build the Maucaulay matrix co-efficients. More...

void	compute_eigenvec (const cv::Mat &Mtilde, cv::Mat &eigenval_real, cv::Mat &eigenval_imag, cv::Mat &eigenvec_real, cv::Mat &eigenvec_imag)
	Eigen Value Decomposition. More...

void	fill_coeff (const cv::Mat *D)
	Fill the hessian functions. More...

cv::Mat	cayley_LS_M (const std::vector< double > &a, const std::vector< double > &b, const std::vector< double > &c, const std::vector< double > &u)
	Fill the Maucaulay matrix with co-efficients. More...

cv::Mat	Hessian (const double s[])
	Compute the Hessian matrix for the polynomial co-efficient vector s. More...

cv::Mat	cayley2rotbar (const cv::Mat &s)
	Cayley parameters to Rotation Matrix. More...

cv::Mat	skewsymm (const cv::Mat *X1)
	Create a skwy-symmetric matrix from a vector. More...

cv::Mat	rotx (const double t)
	Rotation matrix along x-axis by angle t. More...

cv::Mat	roty (const double t)
	Rotation matrix along y-axis by angle t. More...

cv::Mat	rotz (const double t)
	Rotation matrix along z-axis by angle t. More...

cv::Mat	mean (const cv::Mat &M)
	Column-wise mean of matrix M. More...

bool	is_empty (const cv::Mat *v)
	Check for negative values in vector v. More...

bool	positive_eigenvalues (const cv::Mat *eigenvalues)
	check for positive eigenvalues More...

Private Attributes
cv::Mat	p

cv::Mat	z

cv::Mat	mn

int	N
	object-image points More...

std::vector< double >	f1coeff
	number of input points More...

std::vector< double >	f2coeff

std::vector< double >	f3coeff

std::vector< double >	cost_

std::vector< cv::Mat >	C_est_
	coefficient for coefficients matrix More...

std::vector< cv::Mat >	t_est_

cv::Mat	C_est__
	optimal candidates More...

cv::Mat	t_est__

double	cost__
	optimal found solution More...

Constructor & Destructor Documentation

◆ dls()

mrpt::vision::pnp::dls::dls	(	const cv::Mat &	opoints,
		const cv::Mat &	ipoints
	)

Constructor for DLS class.

Definition at line 20 of file dls.cpp.

References cost__, f1coeff, f2coeff, f3coeff, mn, N, p, and z.

◆ ~dls()

mrpt::vision::pnp::dls::~dls ( )

default

Member Function Documentation

◆ build_coeff_matrix()

void mrpt::vision::pnp::dls::build_coeff_matrix	(	const cv::Mat &	pp,
		cv::Mat &	Mtilde,
		cv::Mat &	D
	)

private

Build the Maucaulay matrix co-efficients.

Parameters

[in]	pp
[out]	Mtilde
[out]	D

Definition at line 204 of file dls.cpp.

◆ cayley2rotbar()

cv::Mat mrpt::vision::pnp::dls::cayley2rotbar ( const cv::Mat & s )

private

Cayley parameters to Rotation Matrix.

Parameters

[in] s

Returns: Rotation Matrix

Definition at line 2724 of file dls.cpp.

◆ cayley_LS_M()

cv::Mat mrpt::vision::pnp::dls::cayley_LS_M	(	const std::vector< double > &	a,
		const std::vector< double > &	b,
		const std::vector< double > &	c,
		const std::vector< double > &	u
	)

private

Fill the Maucaulay matrix with co-efficients.

Parameters

[in]	a
[in]	b
[in]	c
[in]	u

Returns: Maucaulay matrix M

Definition at line 606 of file dls.cpp.

◆ compute_eigenvec()

void mrpt::vision::pnp::dls::compute_eigenvec	(	const cv::Mat &	Mtilde,
		cv::Mat &	eigenval_real,
		cv::Mat &	eigenval_imag,
		cv::Mat &	eigenvec_real,
		cv::Mat &	eigenvec_imag
	)

private

Eigen Value Decomposition.

Parameters

Mtilde	Matrix to be decomposed
eigenval_real	Real eigenvalues
eigenval_imag	Imaginary eigenvalues
eigenvec_real	Eigen Vectors corresponding to real eigen values
eigenvec_imag	Eigen Vectors corresponding to imaginary eigen values

Definition at line 265 of file dls.cpp.

◆ compute_pose()

bool mrpt::vision::pnp::dls::compute_pose	(	cv::Mat &	R,
		cv::Mat &	t
	)

OpenCV function for computing pose.

Definition at line 47 of file dls.cpp.

References CV_PI, and R.

Referenced by mrpt::vision::pnp::CPnP::dls().

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◆ fill_coeff()

void mrpt::vision::pnp::dls::fill_coeff ( const cv::Mat * D )

private

Fill the hessian functions.

Parameters

[in] D

Definition at line 298 of file dls.cpp.

◆ Hessian()

cv::Mat mrpt::vision::pnp::dls::Hessian ( const double s[] )

private

Compute the Hessian matrix for the polynomial co-efficient vector s.

Parameters

[in] s

Returns

Definition at line 2588 of file dls.cpp.

◆ init_points()

template<typename OpointType , typename IpointType >

void mrpt::vision::pnp::dls::init_points	(	const cv::Mat &	opoints,
		const cv::Mat &	ipoints
	)

inlineprivate

Initialization of object points and image points.

Parameters

[in]	opoints
[in]	ipoints

Definition at line 47 of file dls.h.

References mn, N, p, and z.

◆ is_empty()

bool mrpt::vision::pnp::dls::is_empty ( const cv::Mat * v )

private

Check for negative values in vector v.

Parameters

[in] v

Returns: False if v[i] < 0 else True

Definition at line 2773 of file dls.cpp.

◆ LeftMultVec()

cv::Mat mrpt::vision::pnp::dls::LeftMultVec ( const cv::Mat & v )

private

Create a matrix from vector.

Parameters

[in] v

Returns: Matrix containing vector v as columns

Definition at line 593 of file dls.cpp.

◆ mean()

cv::Mat mrpt::vision::pnp::dls::mean ( const cv::Mat & M )

private

Column-wise mean of matrix M.

Parameters

[in] M

Returns: Mean vector

Definition at line 2766 of file dls.cpp.

◆ positive_eigenvalues()

bool mrpt::vision::pnp::dls::positive_eigenvalues ( const cv::Mat * eigenvalues )

private

check for positive eigenvalues

Parameters

[in] eigenvalues

Returns: True if positivie eigenvalues are found else False

Definition at line 2784 of file dls.cpp.

◆ rotx()

cv::Mat mrpt::vision::pnp::dls::rotx ( const double t )

private

Rotation matrix along x-axis by angle t.

Parameters

[in] t

Returns: Rotation Matrix

Definition at line 2742 of file dls.cpp.

◆ roty()

cv::Mat mrpt::vision::pnp::dls::roty ( const double t )

private

Rotation matrix along y-axis by angle t.

Parameters

[in] t

Returns: Rotation Matrix

Definition at line 2750 of file dls.cpp.

◆ rotz()

cv::Mat mrpt::vision::pnp::dls::rotz ( const double t )

private

Rotation matrix along z-axis by angle t.

Parameters

[in] t

Returns: Rotation Matrix

Definition at line 2758 of file dls.cpp.

◆ run_kernel()

void mrpt::vision::pnp::dls::run_kernel ( const cv::Mat & pp )

private

Main function to run DLS-PnP.

Parameters

[in] pp

Definition at line 89 of file dls.cpp.

References mrpt::obs::gnss::b2.

◆ skewsymm()

cv::Mat mrpt::vision::pnp::dls::skewsymm ( const cv::Mat * X1 )

private

Create a skwy-symmetric matrix from a vector.

Parameters

[in] X1

Returns: Skew-symmetric matrix

Definition at line 2734 of file dls.cpp.

Member Data Documentation

◆ C_est_

std::vector<cv::Mat> mrpt::vision::pnp::dls::C_est_

private

coefficient for coefficients matrix

Definition at line 195 of file dls.h.

◆ C_est__

cv::Mat mrpt::vision::pnp::dls::C_est__

private

optimal candidates

Definition at line 196 of file dls.h.

◆ cost_

std::vector<double> mrpt::vision::pnp::dls::cost_

private

Definition at line 193 of file dls.h.

◆ cost__

double mrpt::vision::pnp::dls::cost__

private

optimal found solution

Definition at line 197 of file dls.h.

Referenced by dls().

◆ f1coeff

std::vector<double> mrpt::vision::pnp::dls::f1coeff

private

number of input points

Definition at line 193 of file dls.h.

Referenced by dls().

◆ f2coeff

std::vector<double> mrpt::vision::pnp::dls::f2coeff

private

Definition at line 193 of file dls.h.

Referenced by dls().

◆ f3coeff

std::vector<double> mrpt::vision::pnp::dls::f3coeff

private

Definition at line 193 of file dls.h.

Referenced by dls().

◆ mn

cv::Mat mrpt::vision::pnp::dls::mn

private

Definition at line 191 of file dls.h.

Referenced by dls(), and init_points().

◆ N

int mrpt::vision::pnp::dls::N

private

object-image points

Definition at line 192 of file dls.h.

Referenced by dls(), and init_points().

◆ p

cv::Mat mrpt::vision::pnp::dls::p

private

Definition at line 191 of file dls.h.

Referenced by dls(), and init_points().

◆ t_est_

std::vector<cv::Mat> mrpt::vision::pnp::dls::t_est_

private

Definition at line 195 of file dls.h.

◆ t_est__

cv::Mat mrpt::vision::pnp::dls::t_est__

private

Definition at line 196 of file dls.h.

◆ z

cv::Mat mrpt::vision::pnp::dls::z

private

Definition at line 191 of file dls.h.

Referenced by dls(), and init_points().

Detailed Description

Public Member Functions

Private Member Functions

Private Attributes

Constructor & Destructor Documentation

◆ dls()

◆ ~dls()

Member Function Documentation

◆ build_coeff_matrix()

◆ cayley2rotbar()

◆ cayley_LS_M()

◆ compute_eigenvec()

◆ compute_pose()

◆ fill_coeff()

◆ Hessian()

◆ init_points()

◆ is_empty()

◆ LeftMultVec()

◆ mean()

◆ positive_eigenvalues()

◆ rotx()

◆ roty()

◆ rotz()

◆ run_kernel()

◆ skewsymm()

Member Data Documentation

◆ C_est_

◆ C_est__

◆ cost_

◆ cost__

◆ f1coeff

◆ f2coeff

◆ f3coeff

◆ mn

◆ N

◆ p

◆ t_est_

◆ t_est__

◆ z