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SolAR::MODULES::OPENCV::SolARPoseEstimationPlanarPointsOpencv Class Reference

Finds the camera pose of 2D-3D planar points correspondences based on opencv homography. UUID: 9fbadf80-251f-4160-94f8-a64dc3d40a2f More...

#include <SolARPoseEstimationPlanarPointsOpencv.h>

Inheritance diagram for SolAR::MODULES::OPENCV::SolARPoseEstimationPlanarPointsOpencv:
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Collaboration diagram for SolAR::MODULES::OPENCV::SolARPoseEstimationPlanarPointsOpencv:
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Public Member Functions

 SolARPoseEstimationPlanarPointsOpencv ()
 SolARPoseEstimationPlanarPointsOpencv constructor;.
 
 ~SolARPoseEstimationPlanarPointsOpencv () override
 SolARPoseEstimationPlanarPointsOpencv destructor;.
 
FrameworkReturnCode estimate (const std::vector< datastructure::Point2Df > &imagePoints, const std::vector< datastructure::Point3Df > &worldPoints, std::vector< uint32_t > &inliers, datastructure::Transform3Df &pose, const datastructure::Transform3Df initialPose=datastructure::Transform3Df::Identity()) override
 Estimates camera pose from a set of 2D image points of their corresponding 3D world points. More...
 
void setCameraParameters (const datastructure::CamCalibration &intrinsicParams, const datastructure::CamDistortion &distorsionParams) override
 this method is used to set intrinsic parameters and distorsion of the camera More...
 
void unloadComponent () override final
 

Detailed Description

Finds the camera pose of 2D-3D planar points correspondences based on opencv homography. UUID: 9fbadf80-251f-4160-94f8-a64dc3d40a2f

Properties
minNbInliers minimal number of inliers to validate the pose
type: int; range : [0..MAX INT]; default: 10
reprojErrorThreshold Inlier threshold value used by the RANSAC procedure. The parameter value is the maximum allowed distance between the observed and computed point projections to consider it an inlier.
type: float; range : [0..MAX FLOAT]; default: 0.1f

Member Function Documentation

◆ estimate()

FrameworkReturnCode SolAR::MODULES::OPENCV::SolARPoseEstimationPlanarPointsOpencv::estimate ( const std::vector< datastructure::Point2Df > &  imagePoints,
const std::vector< datastructure::Point3Df > &  worldPoints,
std::vector< uint32_t > &  inliers,
datastructure::Transform3Df &  pose,
const datastructure::Transform3Df  initialPose = datastructure::Transform3Df::Identity() 
)
override

Estimates camera pose from a set of 2D image points of their corresponding 3D world points.

Parameters
[in]imagePoints,setof 2d_points seen in view_1.
[in]worldPoints,setof 3d_points corresponding to view_1.
[out]inliersindices of inlier correspondences.
[out]pose,camerapose (pose of the camera defined in world corrdinate system) expressed as a Transform3D.
[in]initialPose(Optional), a transform3D to initialize the pose (reducing the convergence time and improving its success).

◆ setCameraParameters()

void SolAR::MODULES::OPENCV::SolARPoseEstimationPlanarPointsOpencv::setCameraParameters ( const datastructure::CamCalibration &  intrinsicParams,
const datastructure::CamDistortion &  distorsionParams 
)
override

this method is used to set intrinsic parameters and distorsion of the camera

Parameters
[in]Cameracalibration matrix parameters.
[in]Cameradistorsion parameters.

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