mrpt::vision::pnp::lhm Class Reference

Detailed Description

Author

Chandra Mangipudi

Date

10/08/16

Definition at line 42 of file lhm.h.

#include <pnp/lhm.h>

Public Member Functions
	lhm (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 using LHM PnP algorithm. More...
void	absKernel ()
	Function to compute pose during an iteration. More...
void	estimate_t ()
	Function to estimate translation given an estimated rotation matrix. More...
void	xform ()
	Transform object points in Body frame (Landmark Frame) to estimated Camera Frame. More...
Eigen::Matrix4d	qMatQ (Eigen::VectorXd q)
	Iternal Function of quaternion. More...
Eigen::Matrix4d	qMatW (Eigen::VectorXd q)
	Iternal Function of quaternion. 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 pixel co-ordinates. More...
Eigen::MatrixXd	P
	Camera intrinsic matrix. More...
Eigen::MatrixXd	Q
	Trnaspose of Object points . More...
Eigen::Matrix3d	R
	Transpose of Image points . More...
Eigen::Matrix3d	G
	Matrix for internal computations. More...
Eigen::Vector3d	t
	Rotation Matrix. More...
std::vector< Eigen::Matrix3d >	F
	Translation Vector. More...
double	err
	Storage matrix for each point. More...
double	err2
	Error variable for convergence selection. More...
int	n
	Error variable for convergence selection. More...

Constructor & Destructor Documentation

lhm()

lhm::lhm	(	Eigen::MatrixXd	obj_pts_,
		Eigen::MatrixXd	img_pts_,
		Eigen::MatrixXd	cam_,
		int	n0
	)

Number of 2d/3d correspondences.

Constructor for the LHM class

Definition at line 29 of file lhm.cpp.

References cam_intrinsic, img_pts, obj_pts, P, and Q.

Member Function Documentation

absKernel()

void lhm::absKernel

(

)

Function to compute pose during an iteration.

Definition at line 81 of file lhm.cpp.

References err2, estimate_t(), F, n, P, Q, qMatQ(), qMatW(), R, and xform().

Referenced by compute_pose().

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compute_pose()

bool lhm::compute_pose	(	Eigen::Ref< Eigen::Matrix3d >	R_,
		Eigen::Ref< Eigen::Vector3d >	t_
	)

Function to compute pose using LHM PnP algorithm.

Parameters

R_	Rotation matrix
t_	Trnaslation Vector

Returns

Success flag

Definition at line 194 of file lhm.cpp.

References absKernel(), EPSILON_LHM, err, err2, F, G, mrpt::pbmap::inverse(), n, P, Q, R, and TOL_LHM.

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

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estimate_t()

void lhm::estimate_t

(

)

Function to estimate translation given an estimated rotation matrix.

Definition at line 48 of file lhm.cpp.

References F, G, n, P, and R.

Referenced by absKernel().

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qMatQ()

Eigen::Matrix4d lhm::qMatQ

(

Eigen::VectorXd

q

)

Iternal Function of quaternion.

Parameters

q	Quaternion

Returns

Definition at line 61 of file lhm.cpp.

Referenced by absKernel().

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qMatW()

Eigen::Matrix4d lhm::qMatW

(

Eigen::VectorXd

q

)

Iternal Function of quaternion.

Parameters

q	Quaternion

Returns

Definition at line 71 of file lhm.cpp.

Referenced by absKernel().

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xform()

void lhm::xform

(

)

Transform object points in Body frame (Landmark Frame) to estimated Camera Frame.

Definition at line 56 of file lhm.cpp.

References n, P, Q, R, and t.

Referenced by absKernel().

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Member Data Documentation

cam_intrinsic

Eigen::MatrixXd mrpt::vision::pnp::lhm::cam_intrinsic

private

Image points in pixel co-ordinates.

Definition at line 46 of file lhm.h.

Referenced by lhm().

err

double mrpt::vision::pnp::lhm::err

private

Storage matrix for each point.

Definition at line 55 of file lhm.h.

Referenced by compute_pose().

err2

double mrpt::vision::pnp::lhm::err2

private

Error variable for convergence selection.

Definition at line 56 of file lhm.h.

Referenced by absKernel(), and compute_pose().

F

std::vector<Eigen::Matrix3d> mrpt::vision::pnp::lhm::F

private

Translation Vector.

Definition at line 54 of file lhm.h.

Referenced by absKernel(), compute_pose(), and estimate_t().

G

Eigen::Matrix3d mrpt::vision::pnp::lhm::G

private

Matrix for internal computations.

Definition at line 51 of file lhm.h.

Referenced by compute_pose(), and estimate_t().

img_pts

Eigen::MatrixXd mrpt::vision::pnp::lhm::img_pts

private

Object points in Camera Co-ordinate system.

Definition at line 45 of file lhm.h.

Referenced by lhm().

n

int mrpt::vision::pnp::lhm::n

private

Error variable for convergence selection.

Definition at line 58 of file lhm.h.

Referenced by absKernel(), compute_pose(), estimate_t(), and xform().

obj_pts

Eigen::MatrixXd mrpt::vision::pnp::lhm::obj_pts

private

Definition at line 44 of file lhm.h.

Referenced by lhm().

P

Eigen::MatrixXd mrpt::vision::pnp::lhm::P

private

Camera intrinsic matrix.

Definition at line 47 of file lhm.h.

Referenced by absKernel(), compute_pose(), estimate_t(), lhm(), and xform().

Q

Eigen::MatrixXd mrpt::vision::pnp::lhm::Q

private

Trnaspose of Object points .

Definition at line 48 of file lhm.h.

Referenced by absKernel(), compute_pose(), lhm(), and xform().

R

Eigen::Matrix3d mrpt::vision::pnp::lhm::R

private

Transpose of Image points .

Definition at line 50 of file lhm.h.

Referenced by absKernel(), compute_pose(), estimate_t(), and xform().

t

Eigen::Vector3d mrpt::vision::pnp::lhm::t

private

Rotation Matrix.

Definition at line 52 of file lhm.h.

Referenced by xform().