PoseFromCorrespondences Namespace Reference

Classes
class	PoseFromCorrespondences
Functions
def	FindExtrinsicCameraParams
Variables
string	help = "If set will not print extraction output and times."
string	NAME = 'PoseFromCorrespondences'
tuple	parser = OptionParser(description='Estiamtes the pose of an openrave object by specifying manual correspondeces between the image and the openrave environment. If a separate ObjectDetection pattern is added, will publish the pose of the object with respect to the pattern.')
string	PKG = 'posedetectiondb'
tuple	processor = PoseFromCorrespondences(options.kinbody)

---

Function Documentation

def PoseFromCorrespondences.FindExtrinsicCameraParams	(		imagepoints,
			objectpoints,
			KK
	)

Use OpenCV to solve for the affine transformation that matches imagepoints to object points
imagepoints - 2xN array
objectpoints - 3xN array
KK - 3x3 array or 4 element array

Definition at line 42 of file PoseFromCorrespondences.py.

---

Variable Documentation

string PoseFromCorrespondences::help = "If set will not print extraction output and times."

Definition at line 334 of file PoseFromCorrespondences.py.

string PoseFromCorrespondences::NAME = 'PoseFromCorrespondences'

Definition at line 17 of file PoseFromCorrespondences.py.

tuple PoseFromCorrespondences::parser = OptionParser(description='Estiamtes the pose of an openrave object by specifying manual correspondeces between the image and the openrave environment. If a separate ObjectDetection pattern is added, will publish the pose of the object with respect to the pattern.')

Definition at line 332 of file PoseFromCorrespondences.py.

string PoseFromCorrespondences::PKG = 'posedetectiondb'

Definition at line 16 of file PoseFromCorrespondences.py.

tuple PoseFromCorrespondences::processor = PoseFromCorrespondences(options.kinbody)

Definition at line 349 of file PoseFromCorrespondences.py.