pe::PoseEstimator2d Class Reference

#include <pe2d.h>

Inheritance diagram for pe::PoseEstimator2d:

[legend]

List of all members.

Public Member Functions
virtual int	estimate (const fc::Frame &frame1, const fc::Frame &frame2, const std::vector< cv::DMatch > &matches)
	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.
	PoseEstimator2d (int NRansac=10000)
	~PoseEstimator2d ()
Protected Member Functions
void	setPose (const cv::Mat &rvec, const cv::Mat &tvec)
Protected Attributes
bool	initialized_

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Detailed Description

Definition at line 41 of file pe2d.h.

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Constructor & Destructor Documentation

pe::PoseEstimator2d::PoseEstimator2d

(

int

NRansac = 10000

)

[inline]

Definition at line 46 of file pe2d.h.

pe::PoseEstimator2d::~PoseEstimator2d

(

)

[inline]

Definition at line 52 of file pe2d.h.

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Member Function Documentation

int pe::PoseEstimator2d::estimate	(	const fc::Frame &	frame1,
		const fc::Frame &	frame2,
		const std::vector< cv::DMatch > &	matches
	)			[virtual]

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

Todo:

Don't have cv::drawKeypoints, cv::drawMatches might not be used right here

Implements pe::PoseEstimator.

Definition at line 164 of file pe2d.cpp.

int pe::PoseEstimator2d::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 from pe::PoseEstimator.

Definition at line 101 of file pe2d.cpp.

void pe::PoseEstimator2d::setPose	(	const cv::Mat &	rvec,
		const cv::Mat &	tvec
	)			[protected]

Definition at line 469 of file pe2d.cpp.

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Member Data Documentation

bool pe::PoseEstimator2d::initialized_ [protected]

Definition at line 62 of file pe2d.h.

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

• pe2d.h
• pe2d.cpp