CObjectPose Class Reference

Implementation of an alternative to the POSIT algorithm. More...

#include <ObjectPose.h>

Public Member Functions

 CObjectPose (const Vec3d *pObjectPoints, int nPoints)
 ~CObjectPose ()
bool EstimatePose (const Vec2d *pImagePoints, Mat3d &rotationMatrix, Vec3d &translationVector, const CCalibration *pCalibration, int nMaxIterations=350)

Detailed Description

Implementation of an alternative to the POSIT algorithm.

This class implements the approach presented in (C.-P. Lu, G. D. Hager and E. Mjolsness, "Fast and Globally Convergent Pose Estimation from Video Images", 2000).

This algorithm also succeeds in the case of planar points sets (objects).

Definition at line 74 of file ObjectPose.h.

Constructor & Destructor Documentation

CObjectPose::CObjectPose ( const Vec3d pObjectPoints,
int  nPoints 

Definition at line 84 of file ObjectPose.cpp.

CObjectPose::~CObjectPose ( )

Definition at line 109 of file ObjectPose.cpp.

Member Function Documentation

bool CObjectPose::EstimatePose ( const Vec2d pImagePoints,
Mat3d rotationMatrix,
Vec3d translationVector,
const CCalibration pCalibration,
int  nMaxIterations = 350 

Definition at line 121 of file ObjectPose.cpp.

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