SolAR::MODULES::OPENGV::PoseEstimationSACEPnp Class Reference

Finds the camera pose of 2D-3D points correspondences based on opengv Efficient Perspective-n-Point algorithm with a RANdom SAmple Consensus. UUID: a2c38e05-40d9-47fc-aad4-1ea2255333d5 More...

#include <PoseEstimationSACEPnp.h>

Inheritance diagram for SolAR::MODULES::OPENGV::PoseEstimationSACEPnp:

Collaboration diagram for SolAR::MODULES::OPENGV::PoseEstimationSACEPnp:

Public Member Functions
	PoseEstimationSACEPnp ()
	SolARPoseEstimationSACEPnp constructor;.
	~PoseEstimationSACEPnp ()
	SolARPoseEstimationSACEPnp 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())
	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 opengv Efficient Perspective-n-Point algorithm with a RANdom SAmple Consensus. UUID: a2c38e05-40d9-47fc-aad4-1ea2255333d5

Member Function Documentation

estimate()

FrameworkReturnCode SolAR::MODULES::OPENGV::PoseEstimationSACEPnp::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()
	)

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 the camera defined in world corrdinate system) expressed as a Transform3D.
[in]	initialPose	(Optional), a tranfsform3D to initialize the pose (reducing the convergence time and improving its success). If your world points are planar, do not use this argument.

setCameraParameters()

void SolAR::MODULES::OPENGV::PoseEstimationSACEPnp::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.

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

• SolARModuleOpenGV/interfaces/PoseEstimationSACEPnp.h