tag::Point4SE3Estimation< ImagePlaneZ > Struct Template Reference
[Pose estimation from 4 2D-3D point correspondences, RANSAC robust estimation]

#include <fourpointpose.h>

List of all members.

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	getSqError (const Obs &obs) const
template<class Obs>
double	score (const Obs &obs) const
Public Attributes
TooN::SE3	T
bool	valid
double	angularError

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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;
    };

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Constructor & Destructor Documentation

template<int ImagePlaneZ = 1> tag::Point4SE3Estimation< ImagePlaneZ >::Point4SE3Estimation (  double  ang = 0.14  )  [inline]

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Member Function Documentation

template<int ImagePlaneZ = 1> template<class It> bool tag::Point4SE3Estimation< ImagePlaneZ >::estimate (  It  begin, It  end )  [inline]

template<int ImagePlaneZ = 1> template<class Obs> double tag::Point4SE3Estimation< ImagePlaneZ >::getSqError (  const Obs &  obs  )  const [inline]

template<int ImagePlaneZ = 1> template<class Obs, class Tol> bool tag::Point4SE3Estimation< ImagePlaneZ >::isInlier (  const Obs &  obs, const Tol &  tolerance )  const [inline]

template<int ImagePlaneZ = 1> template<class Obs> double tag::Point4SE3Estimation< ImagePlaneZ >::score (  const Obs &  obs  )  const [inline]

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Member Data Documentation

template<int ImagePlaneZ = 1> double tag::Point4SE3Estimation< ImagePlaneZ >::angularError

template<int ImagePlaneZ = 1> TooN::SE3 tag::Point4SE3Estimation< ImagePlaneZ >::T

template<int ImagePlaneZ = 1> bool tag::Point4SE3Estimation< ImagePlaneZ >::valid

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

• fourpointpose.h

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