Finds the camera pose of 2D-3D points correspondences based on opencv Perspective-n-Points algorithm using Ransac method. UUID: 4d369049-809c-4e99-9994-5e8167bab808
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#include <SolARPoseEstimationSACPnpOpencv.h>
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| SolARPoseEstimationSACPnpOpencv () |
| SolARPoseEstimationSACPnpOpencv constructor;.
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| ~SolARPoseEstimationSACPnpOpencv () override |
| SolARPoseEstimationSACPnpOpencv destructor;.
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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...
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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...
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void | unloadComponent () override final |
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Finds the camera pose of 2D-3D points correspondences based on opencv Perspective-n-Points algorithm using Ransac method. UUID: 4d369049-809c-4e99-9994-5e8167bab808
- Properties
iterationsCount | number of iterations |
type: int; range : [0..MAX INT]; default: 1000 |
reprojError | 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: 4.f |
confidence | the probability that the algorithm produces a useful result |
type: float; range : [0..1]; default: 0.99f |
minNbInliers | the minimum of number of inliers to valid a good pose estimation |
type: int; range : [0..MAX INT]; default: 10 |
method | the method for solving the PnP problem (ITERATIVE, P3P, AP3P, EPNP, DLS, UPNP, IPPE, IPPE_SQUARE) |
type: string; default: "ITERATIVE" |
◆ estimate()
FrameworkReturnCode SolAR::MODULES::OPENCV::SolARPoseEstimationSACPnpOpencv::estimate |
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const std::vector< datastructure::Point2Df > & |
imagePoints, |
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const std::vector< datastructure::Point3Df > & |
worldPoints, |
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std::vector< uint32_t > & |
inliers, |
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datastructure::Transform3Df & |
pose, |
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const datastructure::Transform3Df |
initialPose = datastructure::Transform3Df::Identity() |
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Estimates camera pose from a set of 2D image points of their corresponding 3D world points.
- Parameters
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[in] | imagePoints,set | of 2d_points seen in view_1. |
[in] | worldPoints,set | of 3d_points corresponding to view_1. |
[out] | inliers | indices of inlier correspondences. |
[out] | pose,camera | pose (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::SolARPoseEstimationSACPnpOpencv::setCameraParameters |
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const datastructure::CamCalibration & |
intrinsicParams, |
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const datastructure::CamDistortion & |
distorsionParams |
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override |
this method is used to set intrinsic parameters and distorsion of the camera
- Parameters
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[in] | Camera | calibration matrix parameters. |
[in] | Camera | distorsion parameters. |
The documentation for this class was generated from the following file: