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12 #include <Eigen/Dense>
17 #define LOOP_MAX_COUNT 30
55 Eigen::MatrixXd obj_pts_, Eigen::MatrixXd img_pts_,
56 Eigen::MatrixXd camera_intrinsic_,
int n);
70 Eigen::Ref<Eigen::Matrix3d> R_, Eigen::Ref<Eigen::Vector3d> t_);
long get_img_diff()
Function to check for convergence.
posit(Eigen::MatrixXd obj_pts_, Eigen::MatrixXd img_pts_, Eigen::MatrixXd camera_intrinsic_, int n)
Used to store img_vecs from previous iteration.
bool compute_pose(Eigen::Ref< Eigen::Matrix3d > R_, Eigen::Ref< Eigen::Vector3d > t_)
Computes pose using iterative computation of @func POS()
void POS()
Function used to compute pose from orthogonality.
Eigen::MatrixXd obj_matrix
Camera Intrinsic matrix.
Eigen::MatrixXd img_vecs
Object Points relative to 1st object point.
Eigen::MatrixXd cam_intrinsic
Image Points in pixels.
Perspective n Point (PnP) Algorithms toolkit for MRPT.
Eigen::MatrixXd obj_vecs
Translation Vector.
int n
Co-efficients used for scaling.
Eigen::MatrixXd img_pts
Object Points in Camera Co-ordinate system.
Eigen::VectorXd epsilons
Focal Length from camera intrinsic matrix.
Eigen::MatrixXd R
Number of 2d/3d correspondences.
Eigen::VectorXd t
Rotation Matrix.
Eigen::MatrixXd img_vecs_old
Image Points relative to 1st image point.
double f
Pseudo-Inverse of Object Points matrix.
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