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)

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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.