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

Detailed Description

Author

Chandra Mangipudi

Date

10/08/16

Definition at line 38 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().

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().

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().

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().

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().

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().

Member Data Documentation

cam_intrinsic

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

private

Image points in pixel co-ordinates.

Definition at line 42 of file lhm.h.

Referenced by lhm().

err

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

private

Storage matrix for each point.

Definition at line 51 of file lhm.h.

Referenced by compute_pose().

err2

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

private

Error variable for convergence selection.

Definition at line 52 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 50 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 47 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 41 of file lhm.h.

Referenced by lhm().

n

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

private

Error variable for convergence selection.

Definition at line 54 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 40 of file lhm.h.

Referenced by lhm().

P

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

private

Camera intrinsic matrix.

Definition at line 43 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 44 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 46 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 48 of file lhm.h.

Referenced by xform().