MRPT  1.9.9
List of all members | Public Member Functions | Private Attributes
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]RRotation matrix
tTrnaslation Vector
nNumber of 2d/3d correspondences
Returns

Definition at line 29 of file ppnp.cpp.

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

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

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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().




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