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 More...

#include <SolARPoseEstimationSACPnpOpencv.h>

Inheritance diagram for SolAR::MODULES::OPENCV::SolARPoseEstimationSACPnpOpencv:

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Collaboration diagram for SolAR::MODULES::OPENCV::SolARPoseEstimationSACPnpOpencv:

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Public Member Functions
	SolARPoseEstimationSACPnpOpencv ()
	SolARPoseEstimationSACPnpOpencv constructor;.

	~SolARPoseEstimationSACPnpOpencv () override
	SolARPoseEstimationSACPnpOpencv 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 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"

Member Function Documentation

◆ estimate()

FrameworkReturnCode SolAR::MODULES::OPENCV::SolARPoseEstimationSACPnpOpencv::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,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	(	const datastructure::CamCalibration &	intrinsicParams,
		const datastructure::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.

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

SolARModuleOpenCV/interfaces/SolARPoseEstimationSACPnpOpencv.h

Public Member Functions

Detailed Description

Member Function Documentation

◆ estimate()

◆ setCameraParameters()