#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.