A special case of the general fourPointPose function which assumes that points are in front of a given camera plane but now may also lie in the same plane (but not all on one line). The frontal assumption is made for the data, but not encoded in any constraint. Care should be taken that the given 3D vectors for the directions are actually pointing towards the points, not away from them. In the general case, all points in a plane has two solutions, if we assume that all points are in front of the camera, there is only one solution. It also is slighlty more optimized, because it does not need to check as many cases.
|[in] ||points ||a vector containing 4 3D points |
|[in] ||pixels ||a vector containing 4 2D pixels as 3D vectors to allow arbitrary image planes |
|[out] ||valid ||output argument, it is set to true to signal a valid result and false otherwise |
|[in] ||angularError ||maximal angular error that will be tolerated before no result can be computed. The default value corresponds to 90 deg VOW over 640 pixels. |
- SE3 describing the camera pose