icl::geom::RansacBasedPoseEstimator Class Reference

RANSAC-based pose estimation. More...

#include <RansacBasedPoseEstimator.h>

Inheritance diagram for icl::geom::RansacBasedPoseEstimator:

List of all members.

Classes
struct	Result
Public Member Functions
	RansacBasedPoseEstimator (const geom::Camera &camera, int iterations=200, int minPoints=4, float maxErr=5, float minPointsForGoodModel=12)
	~RansacBasedPoseEstimator ()
void	setIterations (int iterations)
void	setMinPoints (int minPoints)
void	setMaxError (float maxError)
void	setMinPointsForGoodModel (float f)
Result	fit (const std::vector< utils::Point32f > &modelPoints, const std::vector< utils::Point32f > &imagePoints)
	fit from planar target
Result	fit (const std::vector< geom::Vec > &modelPoints, const std::vector< utils::Point32f > &imagePoints)
	fit from non-planar target
std::vector< float >	fit_coplanar (const std::vector< std::vector< float > > &pts)
	internal utility method
icl64f	err_coplanar (const std::vector< float > &m, const std::vector< float > &p)
	internal utility method
Private Attributes
Data *	m_data
	internal data handling

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Detailed Description

RANSAC-based pose estimation.

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Constructor & Destructor Documentation

icl::geom::RansacBasedPoseEstimator::RansacBasedPoseEstimator	(	const geom::Camera &	camera,
		int	iterations = 200,
		int	minPoints = 4,
		float	maxErr = 5,
		float	minPointsForGoodModel = 12
	)

icl::geom::RansacBasedPoseEstimator::~RansacBasedPoseEstimator

(

)

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Member Function Documentation

icl64f icl::geom::RansacBasedPoseEstimator::err_coplanar	(	const std::vector< float > &	m,
		const std::vector< float > &	p
	)

internal utility method

Result icl::geom::RansacBasedPoseEstimator::fit	(	const std::vector< utils::Point32f > &	modelPoints,
		const std::vector< utils::Point32f > &	imagePoints
	)

fit from planar target

Result icl::geom::RansacBasedPoseEstimator::fit	(	const std::vector< geom::Vec > &	modelPoints,
		const std::vector< utils::Point32f > &	imagePoints
	)

fit from non-planar target

std::vector<float> icl::geom::RansacBasedPoseEstimator::fit_coplanar

(

const std::vector< std::vector< float > > &

pts

)

internal utility method

void icl::geom::RansacBasedPoseEstimator::setIterations

(

int

iterations

)

void icl::geom::RansacBasedPoseEstimator::setMaxError

(

float

maxError

)

void icl::geom::RansacBasedPoseEstimator::setMinPoints

(

int

minPoints

)

void icl::geom::RansacBasedPoseEstimator::setMinPointsForGoodModel

(

float

f

)

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Member Data Documentation

Data* icl::geom::RansacBasedPoseEstimator::m_data [private]

internal data handling

internal data pointer

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

• /home/jenkins/workspace/icl-manual-trunk/icl-manual/ICLGeom/src/ICLGeom/RansacBasedPoseEstimator.h