SolAR::MODULES::OPENCV::SolARPoseEstimationPnpEPFL Class Reference

Finds the camera pose of 2D-3D points correspondences based on EPFL Perspective-n-Points algorithm. UUID: a38edf79-f0dc-45ca-92fc-2b336fceedf9 More...

#include <SolARPoseEstimationPnpEPFL.h>

Inheritance diagram for SolAR::MODULES::OPENCV::SolARPoseEstimationPnpEPFL:

Collaboration diagram for SolAR::MODULES::OPENCV::SolARPoseEstimationPnpEPFL:

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

Detailed Description

Finds the camera pose of 2D-3D points correspondences based on EPFL Perspective-n-Points algorithm. UUID: a38edf79-f0dc-45ca-92fc-2b336fceedf9

Member Function Documentation

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

override

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

Parameters

[in]	imagePoints,set	of 2d_points seen in view_1.
[in]	worldPoints,set	of 3d_points corresponding to view_1.
[out]	pose,camera	pose (pose of the world in the coordinate system of the camera) expressed as a Transform3D.
[in]	initialPose	(Optional), a tranfsform3D to initialize the pose (reducing the convergence time and improving its success).

void SolAR::MODULES::OPENCV::SolARPoseEstimationPnpEPFL::setCameraParameters ( const CamCalibration &  intrinsicParams, const CamDistortion &  distorsionParams  )

override

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

Parameters

[in]	Camera	calibration matrix parameters.
[in]	Camera	distorsion parameters.

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

• SolARModuleOpenCV/interfaces/SolARPoseEstimationPnpEPFL.h