This class provides functions determining the camera's pose based on at least five 3D object and corresponding 2D image points. More...

Inheritance diagram for Ocean::Geometry::PnP:

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

Static Protected Member Functions
static bool	calculatePointDistances (const Vector3 objectPoints, const Vector3 imageRays, const size_t correspondences, Scalars &distances)
	Calculates distances between camera center and at least five 3D object points. More...

static bool	calculateResultant (const Scalar cos12, const Scalar cos13, const Scalar cos23, const Scalar d12_2, const Scalar d13_2, const Scalar d23_2, Scalar &a0, Scalar &a1, Scalar &a2, Scalar &a3, Scalar &a4)
	Calculates the eighth degree polynomial resulting from three law of cosine polynomials. More...

static bool	calculateResultantOptimized (const Scalar cos12, const Scalar cos13, const Scalar cos23, const Scalar d12_2, const Scalar d13_2, const Scalar d23_2, Scalar &a0, Scalar &a1, Scalar &a2, Scalar &a3, Scalar &a4)
	Calculates the eighth degree polynomial resulting from three law of cosine polynomials. 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 based on at least five 3D object and corresponding 2D image points.

Member Function Documentation

static bool Ocean::Geometry::PnP::calculatePointDistances	(	const Vector3 *	objectPoints,
		const Vector3 *	imageRays,
		const size_t	correspondences,
		Scalars &	distances
	)

staticprotected

Calculates distances between camera center and at least five 3D object points.

Parameters

objectPoints	The object points for which the distances will be determined, 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
correspondences	Number of point correspondences, with range [5, infinity)
distances	Resulting distances between camera center and each of the object points

static bool Ocean::Geometry::PnP::calculateResultant	(	const Scalar	cos12,
		const Scalar	cos13,
		const Scalar	cos23,
		const Scalar	d12_2,
		const Scalar	d13_2,
		const Scalar	d23_2,
		Scalar &	a0,
		Scalar &	a1,
		Scalar &	a2,
		Scalar &	a3,
		Scalar &	a4
	)

staticprotected

Calculates the eighth degree polynomial resulting from three law of cosine polynomials.

It uses the method of Sylvester resultants.

g(x) = a4 x^8 + a3 x^6 + a2 x^4 + a1 x1^2 + a0 = 0

Parameters

cos12	Cosine value of angle between first and second leg
cos13	Cosine value of angle between first and third leg
cos23	Cosine value of angle between second and third leg
d12_2	Square of distance between first and second object point
d13_2	Square of distance between first and third object point
d23_2	Square of distance between second and third object point
a0	Resulting parameter for x1^0
a1	Resulting parameter for x1^2
a2	Resulting parameter for x1^4
a3	Resulting parameter for x1^6
a4	Resulting parameter for x1^8

static bool Ocean::Geometry::PnP::calculateResultantOptimized	(	const Scalar	cos12,
		const Scalar	cos13,
		const Scalar	cos23,
		const Scalar	d12_2,
		const Scalar	d13_2,
		const Scalar	d23_2,
		Scalar &	a0,
		Scalar &	a1,
		Scalar &	a2,
		Scalar &	a3,
		Scalar &	a4
	)

staticprotected

Calculates the eighth degree polynomial resulting from three law of cosine polynomials.

It uses the method of Sylvester resultants.
It's optimized to performance.

g(x) = a4 x^8 + a3 x^6 + a2 x^4 + a1 x1^2 + a0 = 0

Parameters

cos12	Cosine value of angle between first and second leg
cos13	Cosine value of angle between first and third leg
cos23	Cosine value of angle between second and third leg
d12_2	Square of distance between first and second object point
d13_2	Square of distance between first and third object point
d23_2	Square of distance between second and third object point
a0	Resulting parameter for x1^0
a1	Resulting parameter for x1^2
a2	Resulting parameter for x1^4
a3	Resulting parameter for x1^6
a4	Resulting parameter for x1^8

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

static

Calculates the pose of a camera by a set of at least five image and object points.

Parameters

camera	The camera profile defining the projection, must be valid
objectPoints	The 3D object points for which the camera pose will be determined, defined in world, must be valid
imagePoints	The 2D image points located in the camera image, one for each 3D object point, must be valid
correspondences	Number of point correspondences, with range [5, infinity)
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: