pnp_ransac.cpp File Reference

#include "posest/pnp_ransac.h"
#include <iostream>
#include "tbb/parallel_for.h"
#include "tbb/blocked_range.h"
#include "tbb/task_scheduler_init.h"
#include "tbb/mutex.h"
Include dependency graph for pnp_ransac.cpp:

Go to the source code of this file.

Classes

class  Iterator

Functions

void generateVar (vector< char > &mask, RNG &rng)
void Iterate (const vector< Point3f > &object_points, const vector< Point2f > &image_points, const Mat &camera_matrix, const Mat &dist_coeffs, Mat &rvec, Mat &tvec, const float max_dist, const int min_inlier_num, vector< int > *inliers, bool use_extrinsic_guess, const Mat &rvecInit, const Mat &tvecInit, RNG &rng, tbb::mutex &Mutex)
void pnpTask (const vector< char > &used_points_mask, const Mat &camera_matrix, const Mat &dist_coeffs, const vector< Point3f > &object_points, const vector< Point2f > &image_points, vector< int > &inliers, float max_dist, cv::Mat &rvec, cv::Mat &tvec, bool use_extrinsic_guess, const Mat &rvecInit, const Mat &tvecInit, tbb::mutex &Mutex)
void project3dPoints (const vector< Point3f > &points, const Mat &rvec, const Mat &tvec, vector< Point3f > &modif_points)
bool solvePnPRansac (const vector< Point3f > &object_points, const vector< Point2f > &image_points, const Mat &camera_matrix, const Mat &dist_coeffs, Mat &rvec, Mat &tvec, bool use_extrinsic_guess, int num_iterations, float max_dist, int min_inlier_num, vector< int > *inliers)

Function Documentation

void generateVar ( vector< char > &  mask,
RNG &  rng 
)

Definition at line 29 of file pnp_ransac.cpp.

void Iterate ( const vector< Point3f > &  object_points,
const vector< Point2f > &  image_points,
const Mat &  camera_matrix,
const Mat &  dist_coeffs,
Mat &  rvec,
Mat &  tvec,
const float  max_dist,
const int  min_inlier_num,
vector< int > *  inliers,
bool  use_extrinsic_guess,
const Mat &  rvecInit,
const Mat &  tvecInit,
RNG &  rng,
tbb::mutex &  Mutex 
)

Definition at line 104 of file pnp_ransac.cpp.

void pnpTask ( const vector< char > &  used_points_mask,
const Mat &  camera_matrix,
const Mat &  dist_coeffs,
const vector< Point3f > &  object_points,
const vector< Point2f > &  image_points,
vector< int > &  inliers,
float  max_dist,
cv::Mat &  rvec,
cv::Mat &  tvec,
bool  use_extrinsic_guess,
const Mat &  rvecInit,
const Mat &  tvecInit,
tbb::mutex &  Mutex 
)

Definition at line 42 of file pnp_ransac.cpp.

void project3dPoints ( const vector< Point3f > &  points,
const Mat &  rvec,
const Mat &  tvec,
vector< Point3f > &  modif_points 
)

Definition at line 12 of file pnp_ransac.cpp.

bool solvePnPRansac ( const vector< Point3f > &  object_points,
const vector< Point2f > &  image_points,
const Mat &  camera_matrix,
const Mat &  dist_coeffs,
Mat &  rvec,
Mat &  tvec,
bool  use_extrinsic_guess,
int  num_iterations,
float  max_dist,
int  min_inlier_num,
vector< int > *  inliers 
)

Definition at line 155 of file pnp_ransac.cpp.

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posest
Author(s): Kurt Konolige
autogenerated on Fri Jan 11 09:14:33 2013