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  /external/opencv3/samples/cpp/tutorial_code/calib3d/real_time_pose_estimation/src/
PnPProblem.h 36 cv::Mat get_R_matrix() const { return _R_matrix; }
46 cv::Mat _R_matrix;
PnPProblem.cpp 80 _R_matrix = cv::Mat::zeros(3, 3, CV_64FC1); // rotation matrix
124 Rodrigues(rvec,_R_matrix);
128 this->set_P_matrix(_R_matrix, _t_matrix);
151 Rodrigues(rvec,_R_matrix); // converts Rotation Vector to Matrix
154 this->set_P_matrix(_R_matrix, _t_matrix); // set rotation-translation matrix
216 cv::Mat X_w = _R_matrix.inv() * ( X_c - _t_matrix ); // 3x1
219 cv::Mat C_op = cv::Mat(_R_matrix.inv()).mul(-1) * _t_matrix; // 3x1
  /external/opencv3/doc/tutorials/calib3d/real_time_pose/
real_time_pose.markdown 421 _R_matrix = cv::Mat::zeros(3, 3, CV_64FC1); // rotation matrix
474 Rodrigues(rvec,_R_matrix); // converts Rotation Vector to Matrix
477 this->set_P_matrix(_R_matrix, _t_matrix); // set rotation-translation matrix
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