A class that estimates camera pose from features in image frames. More...

#include <pe.h>

Inheritance diagram for pe::PoseEstimator:

Public Types
enum	MethodType { SFM = 0, PnP = 1, Stereo = 2 }
Public Member Functions
virtual int	estimate (const fc::Frame &frame1, const fc::Frame &frame2, const std::vector< cv::DMatch > &matches)=0
	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.
MethodType	getMethod () const
	Get the method used for inlier detection.
	PoseEstimator (int NRansac, bool LMpolish, double mind, double maxidx, double maxidd)
void	setMatcher (const cv::Ptr< cv::DescriptorMatcher > &matcher)
	Set the Descriptor Matcher to use to match features between frames.
void	setTestMatches (const std::vector< cv::DMatch > &matches)
void	setTestMode (bool mode)
	~PoseEstimator ()
Public Attributes
std::vector< cv::DMatch >	inliers
	RANSAC inliers of matches.
cv::Ptr< cv::DescriptorMatcher >	matcher
	Descriptor matcher to use (features_2d::BruteForceMatcher by default).
std::vector< cv::DMatch >	matches
	Matches between features in frames.
double	maxInlierDDist2
double	maxInlierXDist2
	Maximum dist^2 for inliers in pixels.
double	minMatchDisp
	Minimum disparity for RANSAC point matches.
int	numRansac
	number of RANSAC iterations
bool	polish
Eigen::Matrix3d	rot
	Rotation matrix of camera between the frames.
Eigen::Vector3d	trans
	Translation of the camera between the frames.
MethodType	usedMethod
int	windowed
	Whether to do windowed or whole-image matching.
int	wx
int	wy
Protected Member Functions
void	matchFrames (const fc::Frame &f0, const fc::Frame &f1, std::vector< cv::DMatch > &fwd_matches)
Protected Attributes
std::vector< cv::DMatch >	testMatches
bool	testMode

Detailed Description

A class that estimates camera pose from features in image frames.

Definition at line 50 of file pe.h.

Member Enumeration Documentation

enum pe::PoseEstimator::MethodType

Enumerator:

SFM
PnP
Stereo

Definition at line 55 of file pe.h.

Constructor & Destructor Documentation

pe::PoseEstimator::PoseEstimator	(	int	NRansac,
		bool	LMpolish,
		double	mind,
		double	maxidx,
		double	maxidd
	)

Definition at line 50 of file pe.cpp.

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

Definition at line 83 of file pe.h.

Member Function Documentation

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

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

Implemented in pe::PoseEstimator3d, pe::PoseEstimator2d, and pe::PoseEstimatorH.

int pe::PoseEstimator::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 in pe::PoseEstimator2d, and pe::PoseEstimatorH.

Definition at line 86 of file pe.cpp.

MethodType pe::PoseEstimator::getMethod ( ) const [inline]

Get the method used for inlier detection.

Definition at line 116 of file pe.h.