EpipolarPoseEstimator class for estimating the pose between two frames using Essential Matrix. More...
#include <EpipolarPoseEstimator.h>
Inheritance diagram for isae::EpipolarPoseEstimator:
Collaboration diagram for isae::EpipolarPoseEstimator:
Public Member Functions | |
| bool | estimateTransformBetween (const std::shared_ptr< Frame > &frame1, const std::shared_ptr< Frame > &frame2, vec_match &matches, Eigen::Affine3d &dT, Eigen::MatrixXd &covdT) override |
| bool | estimateTransformBetween (const std::shared_ptr< Frame > &frame1, const std::shared_ptr< Frame > &frame2, typed_vec_match &typed_matches, Eigen::Affine3d &dT, Eigen::MatrixXd &covdT) override |
| bool | estimateTransformSensors (const std::shared_ptr< ImageSensor > &sensor1, const std::shared_ptr< ImageSensor > &sensor2, vec_match &matches, Eigen::Affine3d &dT, Eigen::MatrixXd &covdT) |
| A particular implementation of the pose estimation between two sensors. More... | |
Detailed Description
EpipolarPoseEstimator class for estimating the pose between two frames using Essential Matrix.
Beware: the pose estimated with Essential matrix is up to a scale factor.
Member Function Documentation
◆ estimateTransformBetween() [1/2]
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overridevirtual |
Implements isae::APoseEstimator.
◆ estimateTransformBetween() [2/2]
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overridevirtual |
Implements isae::APoseEstimator.
◆ estimateTransformSensors()
| bool isae::EpipolarPoseEstimator::estimateTransformSensors | ( | const std::shared_ptr< ImageSensor > & | sensor1, |
| const std::shared_ptr< ImageSensor > & | sensor2, | ||
| vec_match & | matches, | ||
| Eigen::Affine3d & | dT, | ||
| Eigen::MatrixXd & | covdT | ||
| ) |
A particular implementation of the pose estimation between two sensors.
It was implemented for the non overlapping FoV case.
The documentation for this class was generated from the following files:
- /home/deos/ce.debeunne/colcon_ws/src/SaDVIO/cpp/include/isaeslam/estimator/EpipolarPoseEstimator.h
- /home/deos/ce.debeunne/colcon_ws/src/SaDVIO/cpp/src/estimator/EpipolarPoseEstimator.cpp
