pose_optimize.cpp File Reference

RANSAC PnP pose refinement. More...

#include "util/u_logging.h"
#include "tracking/t_camera_models.h"
#include "tracking/t_constellation.h"
#include "math/m_api.h"
#include "camera_model.h"
#include <opencv2/calib3d/calib3d.hpp>
#include <opencv2/imgproc/imgproc.hpp>
#include <iostream>
#include <stdio.h>
#include "pose_optimize.h"

Include dependency graph for pose_optimize.cpp:

Functions
static void	undistort_blob_points (std::vector< cv::Point2f > in_points, std::vector< cv::Point2f > &out_points, struct camera_model *calib)
bool	ransac_pnp_pose (enum u_logging_level log_level, struct xrt_pose *pose, struct t_blob *blobs, int num_blobs, struct t_constellation_tracker_led_model *leds_model, t_constellation_device_id_t device_id, struct camera_model *calib, int *num_leds_out, int *num_inliers)

Detailed Description

RANSAC PnP pose refinement.

Author

Philipp Zabel phili.nosp@m.pp.z.nosp@m.abel@.nosp@m.gmai.nosp@m.l.com

Jan Schmidt jan@c.nosp@m.entr.nosp@m.icula.nosp@m.r.co.nosp@m.m

Beyley Cardellio ep1cm.nosp@m.1n10.nosp@m.n123@.nosp@m.gmai.nosp@m.l.com