Crate sqpnp 

Implementation of SQPnP perspective-n-point algorithm.

This can be used to determine the pose of a 3D object given two sets of corresponding points: a set of 3D points from the object and a set of 2D projected points (often from an image).

See the C++ implementation for more information about SQPnP: terzakig/sqpnp.

Structs

DefaultParameters

Default parameters for the SQPnP algorithm.

Solution

A possible PnP solution.

Solver

A SQPnP solver.

Traits

Parameters

Parameters used by the SQPnP algorithm.

Functions

eigen_vectors_rrqr

Generate Eigen vectors, and initial Eigen values given the omega matrix, using QR decomposition.

eigen_vectors_svd

Generate Eigen vectors, and initial Eigen values given the omega matrix, using SVD.

nearest_rotation_matrix_foam

Calculate the nearest rotation matrix to m using an algorithm derived from the FOAM algorithm.

nearest_rotation_matrix_svd

Calculate the nearest rotation matrix to m using SVD.

Type Aliases

NMat3

NMat9

NVec9