CObjectPose Class Reference

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
	)

Definition at line 121 of file ObjectPose.cpp.

Vec3d CObjectPose::tEstimate ( Mat3d &  R )

private

Definition at line 307 of file ObjectPose.cpp.

Member Data Documentation

int CObjectPose::m_nPoints

private

Definition at line 96 of file ObjectPose.h.

Mat3d* CObjectPose::m_pF

private

Definition at line 101 of file ObjectPose.h.

Vec3d* CObjectPose::m_pP

private

Definition at line 95 of file ObjectPose.h.

Vec3d* CObjectPose::m_pQ

private

Definition at line 99 of file ObjectPose.h.

Mat3d CObjectPose::m_tFactor

private

Definition at line 102 of file ObjectPose.h.

Vec3d CObjectPose::m_tPbar

private

Definition at line 97 of file ObjectPose.h.

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The documentation for this class was generated from the following files:

• ObjectPose.h
• ObjectPose.cpp