ObjectPose.h
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36 // Filename: ObjectPose.h
37 // Author: Moritz Ritter
38 // Date: 08.04.2008
39 // ****************************************************************************
40 
41 
42 #ifndef _OBJECT_POSE_H_
43 #define _OBJECT_POSE_H_
44 
45 
46 // ****************************************************************************
47 // Necessary includes
48 // ****************************************************************************
49 
50 #include "Math/Math3d.h"
51 
52 
53 // ****************************************************************************
54 // Forward declarations
55 // ****************************************************************************
56 
57 class CCalibration;
58 struct Vec2d;
59 
60 
61 
62 // ****************************************************************************
63 // CObjectPose
64 // ****************************************************************************
65 
75 {
76 
77 public:
78  // constructor
79  CObjectPose(const Vec3d *pObjectPoints, int nPoints);
80 
81  // destructor
82  ~CObjectPose();
83 
84 
85  // public methods
86  bool EstimatePose(const Vec2d *pImagePoints,
87  Mat3d &rotationMatrix, Vec3d &translationVector,
88  const CCalibration *pCalibration, int nMaxIterations = 350);
89 
90 
91 private:
92  void AbsKernel(Mat3d &R, Vec3d &T, float &error);
93  Vec3d tEstimate(Mat3d &R);
94 
96  int m_nPoints;
98 
100 
103 };
104 
105 
106 
107 #endif /* _OBJECT_POSE_H_ */
Vec3d * m_pQ
Definition: ObjectPose.h:99
int m_nPoints
Definition: ObjectPose.h:96
Implementation of an alternative to the POSIT algorithm.
Definition: ObjectPose.h:74
Data structure for the representation of a 3D vector.
Definition: Math3d.h:73
Mat3d m_tFactor
Definition: ObjectPose.h:102
bool EstimatePose(const Vec2d *pImagePoints, Mat3d &rotationMatrix, Vec3d &translationVector, const CCalibration *pCalibration, int nMaxIterations=350)
Definition: ObjectPose.cpp:121
CObjectPose(const Vec3d *pObjectPoints, int nPoints)
Definition: ObjectPose.cpp:84
Vec3d * m_pP
Definition: ObjectPose.h:95
Vec3d m_tPbar
Definition: ObjectPose.h:97
Mat3d * m_pF
Definition: ObjectPose.h:101
Data structure for the representation of a 2D vector.
Definition: Math2d.h:82
Vec3d tEstimate(Mat3d &R)
Definition: ObjectPose.cpp:307
void AbsKernel(Mat3d &R, Vec3d &T, float &error)
Definition: ObjectPose.cpp:197
Data structure for the representation of a 3x3 matrix.
Definition: Math3d.h:93
Camera model parameters and functions for a single camera.
Definition: Calibration.h:125


asr_ivt
Author(s): Allgeyer Tobias, Hutmacher Robin, Kleinert Daniel, Meißner Pascal, Scholz Jonas, Stöckle Patrick
autogenerated on Mon Dec 2 2019 03:47:28