class mrpt::vision::pnp::upnp

Chandra Mangipudi

12/08/16

#include </home/jlblanco/mrpt/libs/vision/src/pnp/upnp.h>

class upnp
{
public:
    // construction

    upnp(const cv::Mat& cameraMatrix, const cv::Mat& opoints, const cv::Mat& ipoints);

    //
methods

    double compute_pose(cv::Mat& R, cv::Mat& t);
};

Construction

upnp(
    const cv::Mat& cameraMatrix,
    const cv::Mat& opoints,
    const cv::Mat& ipoints
    )

Constructor for UPnP class.

Methods

double compute_pose(cv::Mat& R, cv::Mat& t)

Function to compute pose.

Parameters:

R	Rotation Matrix
t	Translation Vector

Returns: