This class provides functions determining the camera's pose by a set of four 3D object and 2D image points. More...

Inheritance diagram for Ocean::Geometry::P4P:

Static Public Member Functions
static bool	pose (const AnyCamera &camera, const Vector3 objectPoints, const Vector2 imagePoints, HomogenousMatrix4 &world_T_camera)
	Calculates the pose of a camera by a set of four image and object points. More...

Static Protected Member Functions
static bool	calculatePointDistances (const Vector3 objectPoints, const Vector3 imageRays, Scalar distances[4])
	Calculates four distances between camera center and the four 3D object points. More...

Static Protected Member Functions inherited from Ocean::Geometry::PerspectivePose
template<typename T >
static bool	calculateCosineSolutions (const T x1, const T x1_2, const T cos12, const T d12_2, T &x2a, T &x2b)
	Calculates the two possible solutions for the law of cosines. More...

template<typename T >
static T	calculateCosineResults (const T x1, const T x1_2, const T x2, const T x2_2, const T cos12, const T d12_2)
	Returns the result of the law of cosines. More...

Detailed Description

This class provides functions determining the camera's pose by a set of four 3D object and 2D image points.

Member Function Documentation

static bool Ocean::Geometry::P4P::calculatePointDistances	(	const Vector3 *	objectPoints,
		const Vector3 *	imageRays,
		Scalar	distances[4]
	)

staticprotected

Calculates four distances between camera center and the four 3D object points.

Parameters

objectPoints	Four object points, must be valid
imageRays	Three 3D rays with unit length, defined in the coordinate system of the camera, starting at the camera's center of projection (equal to the origin), hitting the image plane at image points corresponding to the 3D object points and pointing towards the object points, each ray corresponds to one 3D object point, must be valid
distances	The four resulting distances between camera center and each of the four object points

static bool Ocean::Geometry::P4P::pose	(	const AnyCamera &	camera,
		const Vector3 *	objectPoints,
		const Vector2 *	imagePoints,
		HomogenousMatrix4 &	world_T_camera
	)

static

Calculates the pose of a camera by a set of four image and object points.

Parameters

camera	The camera profile defining the projection, must be valid
objectPoints	Four 3D object points, defined in world, must be valid
imagePoints	Four 2D image points, one for each 3D object point, must be valid
world_T_camera	Resulting camera pose, with default camera pointing towards the negative z-space, with y-axis upwards

The documentation for this class was generated from the following file: