opentl::modelprojection::PoseEstimation Class Reference

Pose estimation from point correspondences. This class implements pose estimation from point and/or line correspondences. It uses a two-step procedure: 1 - Initialize pose parameters, using initPose methods from the Pose abstraction 2 - Runs (if required) a Gauss-Newton nonlinear optimization, in order to refine the estimate. More...

List of all members.

Public Member Functions

 PoseEstimation (modelprojection::Warp &warp)
 Constructor.
int poseFromPoints (const opentl::core::State &state, const math::Matrix &bodyPoints, const math::Matrix &screenPoints, int cameraIdx=0, const math::Vector *linkIdx=NULL, bool useGaussNewton=false, double errCov=1.0)
 Compute the pose from a set of point correspondences (model-image), eventually using a Gauss-Newton refinement.
 ~PoseEstimation ()
 Destructor.


Detailed Description

Pose estimation from point correspondences. This class implements pose estimation from point and/or line correspondences. It uses a two-step procedure: 1 - Initialize pose parameters, using initPose methods from the Pose abstraction 2 - Runs (if required) a Gauss-Newton nonlinear optimization, in order to refine the estimate.

Author:
panin@in.tum.de

Constructor & Destructor Documentation

opentl::modelprojection::PoseEstimation::PoseEstimation ( modelprojection::Warp warp  ) 

Constructor.

opentl::modelprojection::PoseEstimation::~PoseEstimation (  ) 

Destructor.


Member Function Documentation

int opentl::modelprojection::PoseEstimation::poseFromPoints ( const opentl::core::State state,
const math::Matrix bodyPoints,
const math::Matrix screenPoints,
int  cameraIdx = 0,
const math::Vector linkIdx = NULL,
bool  useGaussNewton = false,
double  errCov = 1.0 
)

Compute the pose from a set of point correspondences (model-image), eventually using a Gauss-Newton refinement.

Parameters:
state Input/output pose to be estimated (within a State vector)
bodyPoints Input points in object space (3xN) or (2xN), for each target
screenPoints Input corresponding points in image space (2xN), for each target
cameraIdx Camera ID for all targets (default = 0)
linkIdx Input Link ID of each point, for each target (for articulated Poses only) - default = NULL
useGaussNewton Flag, whether to refine the estimate with Gauss-Newton - default = false
errCov Covariance of point re-projection errors - deafult = 1.0
Returns:
Error condition (0 = OK)


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