mrpt::vision::pnp::rpnp Class Reference

Detailed Description

Author

Chandra Mangipudi

Date

10/08/16

Definition at line 23 of file rpnp.h.

#include <pnp/rpnp.h>

Public Member Functions
	rpnp (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. More...
Eigen::VectorXd	getp3p (double l1, double l2, double A5, double C1, double C2, double D1, double D2, double D3)
	Function to compute pose using P3P. More...
Eigen::VectorXd	getpoly7 (const Eigen::VectorXd &vin)
	Get Polynomial from input vector. More...
void	calcampose (Eigen::MatrixXd &XXc, Eigen::MatrixXd &XXw, Eigen::Matrix3d &R2, Eigen::Vector3d &t2)
	Function to calculate final pose. More...

Private Attributes
Eigen::MatrixXd	obj_pts
Eigen::MatrixXd	img_pts
	Object Points (n X 3) in Camera Co-ordinate system. More...
Eigen::MatrixXd	cam_intrinsic
	Image Points (n X 3) in Camera Co-ordinate system. More...
Eigen::MatrixXd	P
	Camera Intrinsic Matrix. More...
Eigen::MatrixXd	Q
	Transposed Object Points (3 X n) for computations. More...
Eigen::Matrix3d	R
	Transposed Image Points (3 X n) for computations. More...
Eigen::Vector3d	t
	Rotation matrix. More...
int	n
	Translation vector. More...

Constructor & Destructor Documentation

rpnp()

mrpt::vision::pnp::rpnp::rpnp	(	Eigen::MatrixXd	obj_pts_,
		Eigen::MatrixXd	img_pts_,
		Eigen::MatrixXd	cam_,
		int	n0
	)

Number of 2D/3D correspondences.

Constructor for rpnp class

Definition at line 24 of file rpnp.cpp.

References cam_intrinsic, img_pts, n, obj_pts, P, Q, and R.

Member Function Documentation

calcampose()

void mrpt::vision::pnp::rpnp::calcampose	(	Eigen::MatrixXd &	XXc,
		Eigen::MatrixXd &	XXw,
		Eigen::Matrix3d &	R2,
		Eigen::Vector3d &	t2
	)

Function to calculate final pose.

Parameters

XXc	Object points
XXw	Image Points
R2	Final Rotation matrix
t2	Final Translation vector

Definition at line 306 of file rpnp.cpp.

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

compute_pose()

bool mrpt::vision::pnp::rpnp::compute_pose	(	Eigen::Ref< Eigen::Matrix3d >	R_,
		Eigen::Ref< Eigen::Vector3d >	t_
	)

Function to compute pose.

Parameters

[out]	R_	Rotaiton matrix
[out]	t_	Translation vector

Returns

Success flag

Definition at line 42 of file rpnp.cpp.

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

getp3p()

Eigen::VectorXd mrpt::vision::pnp::rpnp::getp3p	(	double	l1,
		double	l2,
		double	A5,
		double	C1,
		double	C2,
		double	D1,
		double	D2,
		double	D3
	)

Function to compute pose using P3P.

Parameters

[in]	l1	Internal parameter for P3P computation
[in]	l2	Internal parameter for P3P computation
[in]	A5	Internal parameter for P3P computation
[in]	C1	Internal parameter for P3P computation
[in]	C2	Internal parameter for P3P computation
[in]	D1	Internal parameter for P3P computation
[in]	D2	Internal parameter for P3P computation
[in]	D3	Internal parameter for P3P computation

Returns

Output vector

Definition at line 354 of file rpnp.cpp.

References mrpt::obs::gnss::A1.

getpoly7()

Eigen::VectorXd mrpt::vision::pnp::rpnp::getpoly7

(

const Eigen::VectorXd &

vin

)

Get Polynomial from input vector.

Parameters

vin	Input vector

Returns

Output Polynomial co-efficients

Definition at line 340 of file rpnp.cpp.

Member Data Documentation

cam_intrinsic

Eigen::MatrixXd mrpt::vision::pnp::rpnp::cam_intrinsic

private

Image Points (n X 3) in Camera Co-ordinate system.

Definition at line 27 of file rpnp.h.

Referenced by rpnp().

img_pts

Eigen::MatrixXd mrpt::vision::pnp::rpnp::img_pts

private

Object Points (n X 3) in Camera Co-ordinate system.

Definition at line 26 of file rpnp.h.

Referenced by rpnp().

n

int mrpt::vision::pnp::rpnp::n

private

Translation vector.

Definition at line 33 of file rpnp.h.

Referenced by rpnp().

obj_pts

Eigen::MatrixXd mrpt::vision::pnp::rpnp::obj_pts

private

Definition at line 25 of file rpnp.h.

Referenced by rpnp().

P

Eigen::MatrixXd mrpt::vision::pnp::rpnp::P

private

Camera Intrinsic Matrix.

Definition at line 28 of file rpnp.h.

Referenced by rpnp().

Q

Eigen::MatrixXd mrpt::vision::pnp::rpnp::Q

private

Transposed Object Points (3 X n) for computations.

Definition at line 29 of file rpnp.h.

Referenced by rpnp().

R

Eigen::Matrix3d mrpt::vision::pnp::rpnp::R

private

Transposed Image Points (3 X n) for computations.

Definition at line 31 of file rpnp.h.

Referenced by rpnp().

t

Eigen::Vector3d mrpt::vision::pnp::rpnp::t

private

Rotation matrix.

Definition at line 32 of file rpnp.h.