class mrpt::vision::pnp::posit
#include </home/jlblanco/mrpt/libs/vision/src/pnp/posit.h> class posit { public: // construction posit( Eigen::MatrixXd obj_pts_, Eigen::MatrixXd img_pts_, Eigen::MatrixXd camera_intrinsic_, int n ); // methods void POS(); bool compute_pose(Eigen::Ref<Eigen::Matrix3d> R_, Eigen::Ref<Eigen::Vector3d> t_); long get_img_diff(); };
Construction
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
Methods
void POS()
Function used to compute pose from orthogonality.
bool compute_pose( Eigen::Ref<Eigen::Matrix3d> R_, Eigen::Ref<Eigen::Vector3d> t_ )
Computes pose using iterative computation of @func POS()
Iterate over results obtained by the POS function; see paper “Model-Based Object Pose in 25 Lines of Code”, IJCV 15, pp.
123-141, 1995.
Parameters:
R_ |
|
t_ |
Returns:
true on success
long get_img_diff()
Function to check for convergence.
Returns:
Representative value of error