checkerboard_pose_estimation: checkerboard_pose_estimation: estimator.cpp Source File

00001 #include "checkerboard_pose_estimation/estimator.h"
00002 
00003 namespace checkerboard_pose_estimation {
00004 
00005 visual_pose_estimation::PoseEstimator createCheckerboardEstimator(int width, int height, float square_size)
00006 {
00007   cv::Mat_<cv::Vec3f> grid_points(width*height, 1);
00008   int j = 0;
00009   for (int y = 0; y < height; ++y) {
00010     for (int x = 0; x < width; ++x) {
00011       grid_points(j, 0) = cv::Vec3f(x*square_size, y*square_size, 0.0f);
00012       ++j;
00013     }
00014   }
00015 
00016   return visual_pose_estimation::PoseEstimator(grid_points);
00017 }
00018 
00019 } //namespace checkerboard_pose_estimation