Implementation of an alternative to the POSIT algorithm. More...

#include <ObjectPose.h>

Public Member Functions
	CObjectPose (const Vec3d *pObjectPoints, int nPoints)
bool	EstimatePose (const Vec2d pImagePoints, Mat3d &rotationMatrix, Vec3d &translationVector, const CCalibration pCalibration, int nMaxIterations=350)
	~CObjectPose ()
Private Member Functions
void	AbsKernel (Mat3d &R, Vec3d &T, float &error)
Vec3d	tEstimate (Mat3d &R)
Private Attributes
int	m_nPoints
Mat3d *	m_pF
Vec3d *	m_pP
Vec3d *	m_pQ
Mat3d	m_tFactor
Vec3d	m_tPbar

Detailed Description

Implementation of an alternative to the POSIT algorithm.

This class implements the approach presented in (C.-P. Lu, G. D. Hager and E. Mjolsness, "Fast and Globally Convergent Pose Estimation from Video Images", 2000).

This algorithm also succeeds in the case of planar points sets (objects).

Definition at line 74 of file ObjectPose.h.

Constructor & Destructor Documentation

CObjectPose::CObjectPose	(	const Vec3d *	pObjectPoints,
		int	nPoints
	)

Definition at line 84 of file ObjectPose.cpp.

CObjectPose::~CObjectPose ( )

Definition at line 109 of file ObjectPose.cpp.

Member Function Documentation

void CObjectPose::AbsKernel	(	Mat3d &	R,
		Vec3d &	T,
		float &	error
	)		`[private]`

Definition at line 197 of file ObjectPose.cpp.

bool CObjectPose::EstimatePose	(	const Vec2d *	pImagePoints,
		Mat3d &	rotationMatrix,
		Vec3d &	translationVector,
		const CCalibration *	pCalibration,
		int	nMaxIterations = `350`
	)