RPP Namespace Reference

Classes
class	Quaternion
class	Solution
Functions
void	AbsKernel (cv::Mat P, cv::Mat Q, const std::vector< cv::Mat > &F, const cv::Mat &G, cv::Mat &R, cv::Mat &t, cv::Mat &Qout, double &err2)
void	AbsKernel (Mat P, Mat Q, const vector< Mat > &F, const Mat &G, Mat &R, Mat &t, Mat &Qout, double &err2)
bool	DecomposeR (const cv::Mat &R, cv::Mat &Rz2, cv::Mat &ret)
bool	DecomposeR (const Mat &R, Mat &Rz2, Mat &ret)
cv::Mat	EstimateT (const cv::Mat &R, const cv::Mat &G, const std::vector< cv::Mat > &F, const cv::Mat &P)
Mat	EstimateT (const Mat &R, const Mat &G, const vector< Mat > &F, const Mat &P)
bool	Get2ndPose_Exact (const cv::Mat &v, const cv::Mat &P, const cv::Mat &R, const cv::Mat &t, std::vector< Solution > &ret)
bool	Get2ndPose_Exact (const Mat &v, const Mat &P, const Mat &R, const Mat &t, vector< Solution > &ret)
bool	GetRfor2ndPose_V_Exact (const cv::Mat &v, const cv::Mat &P, const cv::Mat &R, const cv::Mat &t, std::vector< Solution > &ret)
bool	GetRfor2ndPose_V_Exact (const Mat &v, const Mat &P, const Mat &R, const Mat &t, vector< Solution > &ret)
cv::Mat	GetRotationbyVector (const cv::Vec3d &v1, const cv::Vec3d &v2)
Mat	GetRotationbyVector (const Vec3d &v1, const Vec3d &v2)
void	GetRotationY_wrtT (const cv::Mat &v, const cv::Mat &P, const cv::Mat &t, const cv::Mat &Rz, std::vector< double > &al, cv::Mat &tnew, std::vector< double > &at)
void	GetRotationY_wrtT (const Mat &v, const Mat &p, const Mat &t, const Mat &Rz, vector< double > &al, Mat &tnew, vector< double > &at)
cv::Mat	Mean (const cv::Mat &m)
Mat	Mean (const Mat &m)
cv::Mat	Mul (const cv::Mat &a, const cv::Mat &b)
Mat	Mul (const Mat &a, const Mat &b)
double	Norm (const cv::Mat &m)
double	Norm (const Mat &m)
cv::Mat	NormRv (const cv::Mat &R)
cv::Mat	NormRv (const cv::Vec3d &V)
Mat	NormRv (const Mat &R)
Mat	NormRv (const Vec3d &V)
void	ObjPose (const Mat _P, Mat Qp, Mat initR, Mat &R, Mat &t, int &it, double &obj_err, double &img_err)
void	ObjPose (const cv::Mat P, cv::Mat Qp, cv::Mat initR, cv::Mat &R, cv::Mat &t, int &it, double &obj_err, double &img_err)
cv::Mat	Point2Mat (const std::vector< cv::Point3d > &pts)
cv::Mat	Point2Mat (const std::vector< cv::Point2d > &pts)
Mat	Point2Mat (const vector< Point3d > &pts)
Mat	Point2Mat (const vector< Point2d > &pts)
void	Print (const cv::Mat &m)
void	Print (const Quaternion &q)
void	Print (const Mat &m)
cv::Mat	quat2mat (const Quaternion &Q)
Quaternion	Quaternion_byAngleAndVector (double q_angle, const cv::Vec3d &q_vector)
Quaternion	Quaternion_byAngleAndVector (double q_angle, const Vec3d &q_vector)
Quaternion	Quaternion_byVectorAndScalar (const cv::Vec3d &vector, double scalar)
Quaternion	Quaternion_multiplyByScalar (const Quaternion &q, double scalar)
double	Quaternion_Norm (const Quaternion &Q)
bool	Rpp (const Mat &model_3D, const Mat &iprts, Mat &Rlu, Mat &tlu, int &it1, double &obj_err1, double &img_err1, vector< Solution > &sol)
bool	Rpp (const cv::Mat &model_3D, const cv::Mat &iprts, cv::Mat &Rlu, cv::Mat &tlu, int &it1, double &obj_err1, double &img_err1, std::vector< Solution > &sol)
bool	RpyAng (const cv::Mat &R, cv::Vec3d &ret)
bool	RpyAng (const Mat &R, Vec3d &ret)
bool	RpyAng_X (const cv::Mat &R, cv::Vec3d &ret)
bool	RpyAng_X (const Mat &R, Vec3d &ret)
cv::Mat	RpyMat (const cv::Vec3d &angs)
Mat	RpyMat (const Vec3d &angs)
int	sign (double x)
cv::Mat	Sq (const cv::Mat &m)
Mat	Sq (const Mat &m)
cv::Mat	Sum (const cv::Mat &m, int dim=1)
Mat	Sum (const Mat &m, int dim)
cv::Mat	Vec2Mat (const cv::Vec3d &v)
Mat	Vec2Mat (const Vec3d &v)
cv::Mat	Xform (const cv::Mat &P, const cv::Mat &R, const cv::Mat &t)
Mat	Xform (const Mat &P, const Mat &R, const Mat &t)

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Function Documentation

void RPP::AbsKernel	(	cv::Mat	P,
		cv::Mat	Q,
		const std::vector< cv::Mat > &	F,
		const cv::Mat &	G,
		cv::Mat &	R,
		cv::Mat &	t,
		cv::Mat &	Qout,
		double &	err2
	)

void RPP::AbsKernel	(	Mat	P,
		Mat	Q,
		const vector< Mat > &	F,
		const Mat &	G,
		Mat &	R,
		Mat &	t,
		Mat &	Qout,
		double &	err2
	)

Definition at line 229 of file RPP.cpp.

bool RPP::DecomposeR	(	const cv::Mat &	R,
		cv::Mat &	Rz2,
		cv::Mat &	ret
	)

bool RPP::DecomposeR	(	const Mat &	R,
		Mat &	Rz2,
		Mat &	ret
	)

Definition at line 755 of file RPP.cpp.

cv::Mat RPP::EstimateT	(	const cv::Mat &	R,
		const cv::Mat &	G,
		const std::vector< cv::Mat > &	F,
		const cv::Mat &	P
	)

Mat RPP::EstimateT	(	const Mat &	R,
		const Mat &	G,
		const vector< Mat > &	F,
		const Mat &	P
	)

Definition at line 210 of file RPP.cpp.

bool RPP::Get2ndPose_Exact	(	const cv::Mat &	v,
		const cv::Mat &	P,
		const cv::Mat &	R,
		const cv::Mat &	t,
		std::vector< Solution > &	ret
	)

bool RPP::Get2ndPose_Exact	(	const Mat &	v,
		const Mat &	P,
		const Mat &	R,
		const Mat &	t,
		vector< Solution > &	ret
	)

Definition at line 693 of file RPP.cpp.

bool RPP::GetRfor2ndPose_V_Exact	(	const cv::Mat &	v,
		const cv::Mat &	P,
		const cv::Mat &	R,
		const cv::Mat &	t,
		std::vector< Solution > &	ret
	)

bool RPP::GetRfor2ndPose_V_Exact	(	const Mat &	v,
		const Mat &	P,
		const Mat &	R,
		const Mat &	t,
		vector< Solution > &	ret
	)

Definition at line 847 of file RPP.cpp.

cv::Mat RPP::GetRotationbyVector	(	const cv::Vec3d &	v1,
		const cv::Vec3d &	v2
	)

Mat RPP::GetRotationbyVector	(	const Vec3d &	v1,
		const Vec3d &	v2
	)

Definition at line 425 of file RPP.cpp.

void RPP::GetRotationY_wrtT	(	const cv::Mat &	v,
		const cv::Mat &	P,
		const cv::Mat &	t,
		const cv::Mat &	Rz,
		std::vector< double > &	al,
		cv::Mat &	tnew,
		std::vector< double > &	at
	)

void RPP::GetRotationY_wrtT	(	const Mat &	v,
		const Mat &	p,
		const Mat &	t,
		const Mat &	Rz,
		vector< double > &	al,
		Mat &	tnew,
		vector< double > &	at
	)

Definition at line 947 of file RPP.cpp.

cv::Mat RPP::Mean

(

const cv::Mat &

m

)

Mat RPP::Mean

(

const Mat &

m

)

Definition at line 508 of file RPP.cpp.

cv::Mat RPP::Mul	(	const cv::Mat &	a,
		const cv::Mat &	b
	)

Mat RPP::Mul	(	const Mat &	a,
		const Mat &	b
	)

Definition at line 493 of file RPP.cpp.

double RPP::Norm

(

const cv::Mat &

m

)

double RPP::Norm

(

const Mat &

m

)

Definition at line 840 of file RPP.cpp.

cv::Mat RPP::NormRv

(

const cv::Mat &

R

)

cv::Mat RPP::NormRv

(

const cv::Vec3d &

V

)

Mat RPP::NormRv

(

const Mat &

R

)

Definition at line 334 of file RPP.cpp.

Mat RPP::NormRv

(

const Vec3d &

V

)

Definition at line 354 of file RPP.cpp.

void RPP::ObjPose	(	const Mat	_P,
		Mat	Qp,
		Mat	initR,
		Mat &	R,
		Mat &	t,
		int &	it,
		double &	obj_err,
		double &	img_err
	)

Definition at line 66 of file RPP.cpp.

void RPP::ObjPose	(	const cv::Mat	P,
		cv::Mat	Qp,
		cv::Mat	initR,
		cv::Mat &	R,
		cv::Mat &	t,
		int &	it,
		double &	obj_err,
		double &	img_err
	)

cv::Mat RPP::Point2Mat

(

const std::vector< cv::Point3d > &

pts

)

cv::Mat RPP::Point2Mat

(

const std::vector< cv::Point2d > &

pts

)

Mat RPP::Point2Mat

(

const vector< Point3d > &

pts

)

Definition at line 525 of file RPP.cpp.

Mat RPP::Point2Mat

(

const vector< Point2d > &

pts

)

Definition at line 538 of file RPP.cpp.

void RPP::Print

(

const cv::Mat &

m

)

void RPP::Print

(

const Quaternion &

q

)

Definition at line 1236 of file RPP.cpp.

void RPP::Print

(

const Mat &

m

)

Definition at line 1224 of file RPP.cpp.

Mat RPP::quat2mat

(

const Quaternion &

Q

)

Definition at line 401 of file RPP.cpp.

Quaternion RPP::Quaternion_byAngleAndVector	(	double	q_angle,
		const cv::Vec3d &	q_vector
	)

Quaternion RPP::Quaternion_byAngleAndVector	(	double	q_angle,
		const Vec3d &	q_vector
	)

Definition at line 367 of file RPP.cpp.

Quaternion RPP::Quaternion_byVectorAndScalar	(	const cv::Vec3d &	vector,
		double	scalar
	)		[inline]

Definition at line 139 of file RPP.h.

Quaternion RPP::Quaternion_multiplyByScalar	(	const Quaternion &	q,
		double	scalar
	)		[inline]

Definition at line 144 of file RPP.h.

double RPP::Quaternion_Norm

(

const Quaternion &

Q

)

[inline]

Definition at line 157 of file RPP.h.

bool RPP::Rpp	(	const Mat &	model_3D,
		const Mat &	iprts,
		Mat &	Rlu,
		Mat &	tlu,
		int &	it1,
		double &	obj_err1,
		double &	img_err1,
		vector< Solution > &	sol
	)

Definition at line 13 of file RPP.cpp.

bool RPP::Rpp	(	const cv::Mat &	model_3D,
		const cv::Mat &	iprts,
		cv::Mat &	Rlu,
		cv::Mat &	tlu,
		int &	it1,
		double &	obj_err1,
		double &	img_err1,
		std::vector< Solution > &	sol
	)

bool RPP::RpyAng	(	const cv::Mat &	R,
		cv::Vec3d &	ret
	)

bool RPP::RpyAng	(	const Mat &	R,
		Vec3d &	ret
	)

Definition at line 592 of file RPP.cpp.

bool RPP::RpyAng_X	(	const cv::Mat &	R,
		cv::Vec3d &	ret
	)

bool RPP::RpyAng_X	(	const Mat &	R,
		Vec3d &	ret
	)

Definition at line 659 of file RPP.cpp.

cv::Mat RPP::RpyMat

(

const cv::Vec3d &

angs

)

Mat RPP::RpyMat

(

const Vec3d &

angs

)

Definition at line 563 of file RPP.cpp.

int RPP::sign

(

double

x

)

[inline]

Definition at line 162 of file RPP.h.

cv::Mat RPP::Sq

(

const cv::Mat &

m

)

Mat RPP::Sq

(

const Mat &

m

)

Definition at line 810 of file RPP.cpp.

cv::Mat RPP::Sum	(	const cv::Mat &	m,
		int	dim = 1
	)

Mat RPP::Sum	(	const Mat &	m,
		int	dim
	)

Definition at line 458 of file RPP.cpp.

cv::Mat RPP::Vec2Mat

(

const cv::Vec3d &

v

)

Mat RPP::Vec2Mat

(

const Vec3d &

v

)

Definition at line 551 of file RPP.cpp.

cv::Mat RPP::Xform	(	const cv::Mat &	P,
		const cv::Mat &	R,
		const cv::Mat &	t
	)

Mat RPP::Xform	(	const Mat &	P,
		const Mat &	R,
		const Mat &	t
	)

Definition at line 823 of file RPP.cpp.