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ppnp.h
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1 #include <iostream>
2 #include <mrpt/utils/types_math.h> // Eigen must be included first via MRPT to enable the plugin system
3 #include <Eigen/Dense>
4 
5 namespace mrpt
6 {
7  namespace vision
8  {
9  namespace pnp
10  {
11  /** \addtogroup pnp Perspective-n-Point pose estimation
12  * \ingroup mrpt_vision_grp
13  * @{
14  */
15 
16  /**
17  * @class ppnp
18  * @author Chandra Mangipudi
19  * @date 10/08/16
20  * @file ppnp.h
21  * @brief Procrustes - PnP
22  */
23  class ppnp
24  {
25  public:
26 
27  //! Constructor for the P-PnP class
28  ppnp(const Eigen::MatrixXd& obj_pts, const Eigen::MatrixXd& img_pts, const Eigen::MatrixXd& cam_intrinsic);
29 
30  /**
31  * @brief Function to compute pose
32  * @param[out] R Rotation matrix
33  * @param t Trnaslation Vector
34  * @param n Number of 2d/3d correspondences
35  * @return
36  */
37  bool compute_pose(Eigen::Matrix3d& R, Eigen::Vector3d& t, int n);
38 
39  private:
40 
41  Eigen::MatrixXd P; //! Image points in pixels
42  Eigen::MatrixXd S; //! Object points in Camera Co-ordinate system
43  Eigen::MatrixXd C; //! Camera intrinsic matrix
44 
45  };
46 
47  /** @} */ // end of grouping
48 
49  }
50  }
51 }
GLdouble GLdouble t
Definition: glext.h:3610
Eigen::MatrixXd P
Definition: ppnp.h:41
Eigen::MatrixXd S
Image points in pixels.
Definition: ppnp.h:42
ppnp(const Eigen::MatrixXd &obj_pts, const Eigen::MatrixXd &img_pts, const Eigen::MatrixXd &cam_intrinsic)
Constructor for the P-PnP class.
Definition: ppnp.cpp:19
GLenum GLsizei n
Definition: glext.h:4618
bool compute_pose(Eigen::Matrix3d &R, Eigen::Vector3d &t, int n)
Function to compute pose.
Definition: ppnp.cpp:26
This is the global namespace for all Mobile Robot Programming Toolkit (MRPT) libraries.
Eigen::MatrixXd C
Object points in Camera Co-ordinate system.
Definition: ppnp.h:43
const float R



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