aram::Extrinsic Class Reference

#include <Extrinsic.hpp>

Public Member Functions
	Extrinsic (Intrinsic intr, vecPoint2D imgPoint, vecPoint3D objPoint)
	Extrinsic (Intrinsic intr, vecPoint2D imgPoint, vecPoint3D objPoint, float &error)
	Extrinsic (Intrinsic intr, cv::Mat &rmat, cv::Mat &tvec)
float	error ()
const cv::Mat &	rotationMatrix ()
const cv::Mat &	rotationVector ()
const cv::Mat &	translationVector ()
Point2D	project (Point3D pt)
vecPoint2D	project (vecPoint3D objPoints)
vecPoint3D	objPoints ()
vecPoint2D	imgPoints ()

Detailed Description

Contains rotation matrix and translation vector

Constructor & Destructor Documentation

aram::Extrinsic::Extrinsic	(	Intrinsic	intr,
		vecPoint2D	imgPoint,
		vecPoint3D	objPoint
	)

Compute extrinsics parameters using solvePnP (see OpenCV)

Parameters

[in]	Intrinsic	intr intrinsics parameters for the camera
[in]	vecPoint2D	imgPoint
[in]	vecPoint3D	objPoint

aram::Extrinsic::Extrinsic	(	Intrinsic	intr,
		vecPoint2D	imgPoint,
		vecPoint3D	objPoint,
		float &	error
	)

Compute extrinsics parameters using solvePnP (see OpenCV)

Parameters

[in]	Intrinsic	intr intrinsics parameters for the camera
[in]	vecPoint2D	imgPoint
[in]	vecPoint3D	objPoint
[out]	float	&error reprojection error

aram::Extrinsic::Extrinsic	(	Intrinsic	intr,
		cv::Mat &	rmat,
		cv::Mat &	tvec
	)

Store rotation matrix and translation matrix

Parameters

[in]	Intrinsic	intr intrinsics parameters for the camera
[in]	cv::Mat	&rmat rotation matrix
[in]	cv::Mat	&tvec translation vector

Member Function Documentation

float aram::Extrinsic::error

(

)

Compute reprojection error

Returns

float reprojection error

vecPoint2D aram::Extrinsic::imgPoints

(

)

Getter

vecPoint3D aram::Extrinsic::objPoints

(

)

Getter

Point2D aram::Extrinsic::project

(

Point3D

pt

)

Project a 3d point on image

Parameters

[in]

Point3D

pt point to project (3D space)

Returns

Point2D point in image coordinates

vecPoint2D aram::Extrinsic::project

(

vecPoint3D

objPoints

)

Project 3d points on image

Parameters

[in]

vecPoint3D

objPoints point to project (3D space)

Returns

vecPoint2D point in image coordinates

const cv::Mat & aram::Extrinsic::rotationMatrix

(

)

Get rotation matrix

Returns

const cv::Mat & rotation matrix (3x3)

const cv::Mat & aram::Extrinsic::rotationVector

(

)

Get rotation vector

Returns

const cv::Mat & rotation vector (3x1) in openCV format (see openCV doc)

const cv::Mat & aram::Extrinsic::translationVector

(

)

Get translation vector

Returns

const cv::Mat & translation vector (3x1)

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The documentation for this class was generated from the following files:

• include/ARAM/tools/Extrinsic.hpp
• src/tools/Extrinsic.cpp