mrpt::vision::pnp::rpnp Class Reference

Detailed Description

Author

Chandra Mangipudi

Date

10/08/16

Definition at line 27 of file rpnp.h.

#include <pnp/rpnp.h>

Public Member Functions
	rpnp (Eigen::MatrixXd obj_pts_, Eigen::MatrixXd img_pts_, Eigen::MatrixXd cam_, int n0)
	Number of 2D/3D correspondences. More...
bool	compute_pose (Eigen::Ref< Eigen::Matrix3d > R_, Eigen::Ref< Eigen::Vector3d > t_)
	Function to compute pose. More...
Eigen::VectorXd	getp3p (double l1, double l2, double A5, double C1, double C2, double D1, double D2, double D3)
	Function to compute pose using P3P. More...
Eigen::VectorXd	getpoly7 (const Eigen::VectorXd &vin)
	Get Polynomial from input vector. More...
void	calcampose (Eigen::MatrixXd &XXc, Eigen::MatrixXd &XXw, Eigen::Matrix3d &R2, Eigen::Vector3d &t2)
	Function to calculate final pose. More...

Private Attributes
Eigen::MatrixXd	obj_pts
Eigen::MatrixXd	img_pts
	Object Points (n X 3) in Camera Co-ordinate system. More...
Eigen::MatrixXd	cam_intrinsic
	Image Points (n X 3) in Camera Co-ordinate system. More...
Eigen::MatrixXd	P
	Camera Intrinsic Matrix. More...
Eigen::MatrixXd	Q
	Transposed Object Points (3 X n) for computations. More...
Eigen::Matrix3d	R
	Transposed Image Points (3 X n) for computations. More...
Eigen::Vector3d	t
	Rotation matrix. More...
int	n
	Translation vector. More...

Constructor & Destructor Documentation

rpnp()

mrpt::vision::pnp::rpnp::rpnp	(	Eigen::MatrixXd	obj_pts_,
		Eigen::MatrixXd	img_pts_,
		Eigen::MatrixXd	cam_,
		int	n0
	)

Number of 2D/3D correspondences.

Constructor for rpnp class

Definition at line 24 of file rpnp.cpp.

References cam_intrinsic, img_pts, n, obj_pts, P, Q, R, and t.

Member Function Documentation

calcampose()

void mrpt::vision::pnp::rpnp::calcampose	(	Eigen::MatrixXd &	XXc,
		Eigen::MatrixXd &	XXw,
		Eigen::Matrix3d &	R2,
		Eigen::Vector3d &	t2
	)

Function to calculate final pose.

Parameters

XXc	Object points
XXw	Image Points
R2	Final Rotation matrix
t2	Final Translation vector

Definition at line 318 of file rpnp.cpp.

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

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compute_pose()

bool mrpt::vision::pnp::rpnp::compute_pose	(	Eigen::Ref< Eigen::Matrix3d >	R_,
		Eigen::Ref< Eigen::Vector3d >	t_
	)

Function to compute pose.

Parameters

[out]	R_	Rotaiton matrix
[out]	t_	Translation vector

Returns

Success flag

Definition at line 43 of file rpnp.cpp.

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

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

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getp3p()

Eigen::VectorXd mrpt::vision::pnp::rpnp::getp3p	(	double	l1,
		double	l2,
		double	A5,
		double	C1,
		double	C2,
		double	D1,
		double	D2,
		double	D3
	)

Function to compute pose using P3P.

Parameters

[in]	l1	Internal parameter for P3P computation
[in]	l2	Internal parameter for P3P computation
[in]	A5	Internal parameter for P3P computation
[in]	C1	Internal parameter for P3P computation
[in]	C2	Internal parameter for P3P computation
[in]	D1	Internal parameter for P3P computation
[in]	D2	Internal parameter for P3P computation
[in]	D3	Internal parameter for P3P computation

Returns

Output vector

Definition at line 367 of file rpnp.cpp.

References mrpt::obs::gnss::A1.

getpoly7()

Eigen::VectorXd mrpt::vision::pnp::rpnp::getpoly7

(

const Eigen::VectorXd &

vin

)

Get Polynomial from input vector.

Parameters

vin	Input vector

Returns

Output Polynomial co-efficients

Definition at line 355 of file rpnp.cpp.

Member Data Documentation

cam_intrinsic

Eigen::MatrixXd mrpt::vision::pnp::rpnp::cam_intrinsic

private

Image Points (n X 3) in Camera Co-ordinate system.

Definition at line 33 of file rpnp.h.

Referenced by rpnp().

img_pts

Eigen::MatrixXd mrpt::vision::pnp::rpnp::img_pts

private

Object Points (n X 3) in Camera Co-ordinate system.

Definition at line 32 of file rpnp.h.

Referenced by rpnp().

n

int mrpt::vision::pnp::rpnp::n

private

Translation vector.

Definition at line 39 of file rpnp.h.

Referenced by rpnp().

obj_pts

Eigen::MatrixXd mrpt::vision::pnp::rpnp::obj_pts

private

Definition at line 30 of file rpnp.h.

Referenced by rpnp().

P

Eigen::MatrixXd mrpt::vision::pnp::rpnp::P

private

Camera Intrinsic Matrix.

Definition at line 34 of file rpnp.h.

Referenced by rpnp().

Q

Eigen::MatrixXd mrpt::vision::pnp::rpnp::Q

private

Transposed Object Points (3 X n) for computations.

Definition at line 35 of file rpnp.h.

Referenced by rpnp().

R

Eigen::Matrix3d mrpt::vision::pnp::rpnp::R

private

Transposed Image Points (3 X n) for computations.

Definition at line 37 of file rpnp.h.

Referenced by rpnp().

t

Eigen::Vector3d mrpt::vision::pnp::rpnp::t

private

Rotation matrix.

Definition at line 38 of file rpnp.h.

Referenced by rpnp().