PnPPoseEstimator class for estimating the transformation between two frames using PnP. More...
#include <PnPPoseEstimator.h>
Inheritance diagram for isae::PnPPoseEstimator:
Collaboration diagram for isae::PnPPoseEstimator:
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 |
Detailed Description
PnPPoseEstimator class for estimating the transformation between two frames using PnP.
The estimation is done by using the PnP algorithm on the matches between the two frames. The matches must be associated with 3D landmarks.
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.
The documentation for this class was generated from the following files:
- /home/deos/ce.debeunne/colcon_ws/src/SaDVIO/cpp/include/isaeslam/estimator/PnPPoseEstimator.h
- /home/deos/ce.debeunne/colcon_ws/src/SaDVIO/cpp/src/estimator/PnPPoseEstimator.cpp
