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