apriltag_pose.h File Reference

#include "apriltag.h"
#include "common/matd.h"

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Classes
struct	apriltag_detection_info_t
struct	apriltag_pose_t

Functions
void	estimate_pose_for_tag_homography (apriltag_detection_info_t *info, apriltag_pose_t *pose)
double	estimate_tag_pose (apriltag_detection_info_t *info, apriltag_pose_t *pose)
void	estimate_tag_pose_orthogonal_iteration (apriltag_detection_info_t *info, double *err1, apriltag_pose_t *pose1, double *err2, apriltag_pose_t *pose2, int nIters)

Function Documentation

estimate_pose_for_tag_homography()

void estimate_pose_for_tag_homography	(	apriltag_detection_info_t *	info,
		apriltag_pose_t *	solution
	)

Estimate pose of the tag using the homography method described in [1]. @outparam pose

Estimate pose of the tag using the homography method.

Definition at line 455 of file apriltag_pose.c.

estimate_tag_pose()

double estimate_tag_pose	(	apriltag_detection_info_t *	info,
		apriltag_pose_t *	pose
	)

Estimate tag pose. This method is an easier to use interface to estimate_tag_pose_orthogonal_iteration.

@outparam pose

Returns

Object-space error of returned pose.

Estimate tag pose.

Definition at line 528 of file apriltag_pose.c.

estimate_tag_pose_orthogonal_iteration()

void estimate_tag_pose_orthogonal_iteration	(	apriltag_detection_info_t *	info,
		double *	err1,
		apriltag_pose_t *	solution1,
		double *	err2,
		apriltag_pose_t *	solution2,
		int	nIters
	)

Estimate pose of the tag. This returns one or two possible poses for the tag, along with the object-space error of each.

This uses the homography method described in [1] for the initial estimate. Then Orthogonal Iteration [2] is used to refine this estimate. Then [3] is used to find a potential second local minima and Orthogonal Iteration is used to refine this second estimate.

[1]: E. Olson, "Apriltag: A robust and flexible visual fiducial system," in 2011 IEEE International Conference on Robotics and Automation, May 2011, pp. 3400-3407. [2]: Lu, G. D. Hager and E. Mjolsness, "Fast and globally convergent pose estimation from video images," in IEEE Transactions on Pattern Analysis and Machine Intelligence, vol. 22, no. 6, pp. 610-622, June 2000. doi: 10.1109/34.862199 [3]: Schweighofer and A. Pinz, "Robust Pose Estimation from a Planar Target," in IEEE Transactions on Pattern Analysis and Machine Intelligence, vol. 28, no. 12, pp. 2024-2030, Dec. 2006. doi: 10.1109/TPAMI.2006.252

@outparam err1, pose1, err2, pose2

Estimate tag pose using orthogonal iteration.

Definition at line 490 of file apriltag_pose.c.