pe::PoseEstimator2d Class Reference

#include <pe2d.h>

Inheritance diagram for pe::PoseEstimator2d:
Inheritance graph
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List of all members.

Public Member Functions

virtual int estimate (const fc::Frame &frame1, const fc::Frame &frame2, const std::vector< cv::DMatch > &matches)
 Uses RANSAC to find best inlier count from provided matches, optionally polishes the result. Frames must have filled features and descriptors.
virtual int estimate (const fc::Frame &frame1, const fc::Frame &frame2)
 Uses RANSAC to find best inlier count by finding matches using the provided matcher, optionally polishes the result. Frames must have filled features and descriptors.
 PoseEstimator2d (int NRansac=10000)
 ~PoseEstimator2d ()

Protected Member Functions

void setPose (const cv::Mat &rvec, const cv::Mat &tvec)

Protected Attributes

bool initialized_

Detailed Description

Definition at line 41 of file pe2d.h.


Constructor & Destructor Documentation

pe::PoseEstimator2d::PoseEstimator2d ( int  NRansac = 10000  )  [inline]

Definition at line 46 of file pe2d.h.

pe::PoseEstimator2d::~PoseEstimator2d (  )  [inline]

Definition at line 52 of file pe2d.h.


Member Function Documentation

int pe::PoseEstimator2d::estimate ( const fc::Frame &  frame1,
const fc::Frame &  frame2,
const std::vector< cv::DMatch > &  matches 
) [virtual]

Uses RANSAC to find best inlier count from provided matches, optionally polishes the result. Frames must have filled features and descriptors.

Todo:
Don't have cv::drawKeypoints, cv::drawMatches might not be used right here

Implements pe::PoseEstimator.

Definition at line 164 of file pe2d.cpp.

int pe::PoseEstimator2d::estimate ( const fc::Frame &  frame1,
const fc::Frame &  frame2 
) [virtual]

Uses RANSAC to find best inlier count by finding matches using the provided matcher, optionally polishes the result. Frames must have filled features and descriptors.

Reimplemented from pe::PoseEstimator.

Definition at line 101 of file pe2d.cpp.

void pe::PoseEstimator2d::setPose ( const cv::Mat &  rvec,
const cv::Mat &  tvec 
) [protected]

Definition at line 469 of file pe2d.cpp.


Member Data Documentation

Definition at line 62 of file pe2d.h.


The documentation for this class was generated from the following files:
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posest
Author(s): Kurt Konolige
autogenerated on Fri Jan 11 09:14:36 2013