ppnp.h

Go to the documentation of this file.

#include <iostream>
#include <mrpt/utils/types_math.h> // Eigen must be included first via MRPT to enable the plugin system
#include <Eigen/Dense>

namespace mrpt
{
    namespace vision
    {
        namespace pnp
        {
            /** \addtogroup pnp Perspective-n-Point pose estimation
             *  \ingroup mrpt_vision_grp
             *  @{  
             */
             
            /**
             * @class ppnp
             * @author Chandra Mangipudi
             * @date 10/08/16
             * @file ppnp.h
             * @brief Procrustes - PnP 
             */
            class ppnp
            {
            public:
                
                //! Constructor for the P-PnP class
                ppnp(const Eigen::MatrixXd& obj_pts, const Eigen::MatrixXd& img_pts, const Eigen::MatrixXd& cam_intrinsic);
                
                /**
                 * @brief Function to compute pose 
                 * @param[out] R Rotation matrix
                 * @param t Trnaslation Vector
                 * @param n Number of 2d/3d correspondences
                 * @return 
                 */
                bool compute_pose(Eigen::Matrix3d& R, Eigen::Vector3d& t, int n);
                
                private:
                
                Eigen::MatrixXd P; //! Image points in pixels
                Eigen::MatrixXd S; //! Object points in Camera Co-ordinate system
                Eigen::MatrixXd C; //! Camera intrinsic matrix
                
            };
            
            /** @}  */ // end of grouping
        
        }
    }
}