tag::Point4SE3Estimation< ImagePlaneZ > Struct Template Reference

#include <fourpointpose.h>

Collaboration diagram for tag::Point4SE3Estimation< ImagePlaneZ >:

Public Member Functions
	Point4SE3Estimation (double ang=0.14)
template<class It >
bool	estimate (It begin, It end)
template<class Obs , class Tol >
bool	isInlier (const Obs &obs, const Tol &tolerance) const
template<class Obs >
double	score (const Obs &obs) const
template<class Obs >
double	getSqError (const Obs &obs) const

Public Attributes
TooN::SE3	T
	SE3 describing the transformation from world to camera coordinate frame. More...
bool	valid
	was the estimation valid More...
double	angularError
	angular error to accept in the 4 point pose estimation More...

Static Public Attributes
static const int	hypothesis_size = 4
	minimal number of correspondences More...

Detailed Description

template<int ImagePlaneZ = 1>
struct tag::Point4SE3Estimation< ImagePlaneZ >

A RANSAC estimator using the fourPointPose function. The Correspondence datatype must provide a member position for the 3D point and a member pixel for the 2D pixel.

struct Correspondence {
    TooN::Vector<3> position;
    TooN::Vector<2> pixel;
};

Constructor & Destructor Documentation

template<int ImagePlaneZ = 1>

tag::Point4SE3Estimation< ImagePlaneZ >::Point4SE3Estimation ( double  ang = 0.14 )

inline

Member Function Documentation

template<int ImagePlaneZ = 1>

template<class It >

bool tag::Point4SE3Estimation< ImagePlaneZ >::estimate ( It  begin, It  end  )

inline

References tag::Point4SE3Estimation< ImagePlaneZ >::angularError, tag::fourPointPoseFromCamera(), tag::Point4SE3Estimation< ImagePlaneZ >::T, and tag::Point4SE3Estimation< ImagePlaneZ >::valid.

template<int ImagePlaneZ = 1>

template<class Obs >

double tag::Point4SE3Estimation< ImagePlaneZ >::getSqError ( const Obs &  obs ) const

inline

References tag::Point4SE3Estimation< ImagePlaneZ >::score().

template<int ImagePlaneZ = 1>

template<class Obs , class Tol >

bool tag::Point4SE3Estimation< ImagePlaneZ >::isInlier ( const Obs &  obs, const Tol &  tolerance  ) const

inline

References tag::Point4SE3Estimation< ImagePlaneZ >::score().

template<int ImagePlaneZ = 1>

template<class Obs >

double tag::Point4SE3Estimation< ImagePlaneZ >::score ( const Obs &  obs ) const

inline

References tag::Point4SE3Estimation< ImagePlaneZ >::T, and tag::Point4SE3Estimation< ImagePlaneZ >::valid.

Referenced by tag::Point4SE3Estimation< ImagePlaneZ >::getSqError(), and tag::Point4SE3Estimation< ImagePlaneZ >::isInlier().

Member Data Documentation

template<int ImagePlaneZ = 1>

double tag::Point4SE3Estimation< ImagePlaneZ >::angularError

angular error to accept in the 4 point pose estimation

Referenced by tag::Point4SE3Estimation< ImagePlaneZ >::estimate().

template<int ImagePlaneZ = 1>

const int tag::Point4SE3Estimation< ImagePlaneZ >::hypothesis_size = 4

static

minimal number of correspondences

template<int ImagePlaneZ = 1>

TooN::SE3 tag::Point4SE3Estimation< ImagePlaneZ >::T

SE3 describing the transformation from world to camera coordinate frame.

Referenced by tag::Point4SE3Estimation< ImagePlaneZ >::estimate(), and tag::Point4SE3Estimation< ImagePlaneZ >::score().

template<int ImagePlaneZ = 1>

bool tag::Point4SE3Estimation< ImagePlaneZ >::valid

was the estimation valid

Referenced by tag::Point4SE3Estimation< ImagePlaneZ >::estimate(), and tag::Point4SE3Estimation< ImagePlaneZ >::score().

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The documentation for this struct was generated from the following file:

• fourpointpose.h