Image Component Library (ICL)
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icl::geom::RansacBasedPoseEstimator Class Reference

RANSAC-based pose estimation. More...

#include <RansacBasedPoseEstimator.h>

Inheritance diagram for icl::geom::RansacBasedPoseEstimator:
icl::utils::Configurable

Classes

struct  Result
 

Public Member Functions

 RansacBasedPoseEstimator (const geom::Camera &camera, int iterations=200, int minPoints=4, float maxErr=5, float minPointsForGoodModel=12, bool storeLastConsensusSet=false)
 
 ~RansacBasedPoseEstimator ()
 
void setIterations (int iterations)
 
void setMinPoints (int minPoints)
 
void setMaxError (float maxError)
 
void setMinPointsForGoodModel (float f)
 
void setStoreLastConsensusSet (bool)
 
std::vector< utils::Point32fgetLastConsensusSet ()
 
Result fit (const std::vector< utils::Point32f > &modelPoints, const std::vector< utils::Point32f > &imagePoints)
 fit from planar target More...
 
Result fit (const std::vector< geom::Vec > &modelPoints, const std::vector< utils::Point32f > &imagePoints)
 fit from non-planar target More...
 
std::vector< float > fit_coplanar (const std::vector< std::vector< float > > &pts)
 internal utility method More...
 
icl64f err_coplanar (const std::vector< float > &m, const std::vector< float > &p)
 internal utility method More...
 
- Public Member Functions inherited from icl::utils::Configurable
virtual ~Configurable ()
 virtual destructor More...
 
 Configurable (const Configurable &other)
 Copy constructor. More...
 
Configurableoperator= (const Configurable &other)
 Assignment operator. More...
 
void setConfigurableID (const std::string &ID)
 sets the ID of this configurable More...
 
const std::string & getConfigurableID () const
 returns the configurables static ID More...
 
bool isOrderedFlagSet () const
 returns whether the ordered flag is set More...
 
void deactivateProperty (const std::string &pattern)
 adds an additional deativation pattern More...
 
void deleteDeactivationPattern (const std::string &pattern)
 removed a formerly added deactivation pattern More...
 
std::vector< std::string > getPropertyListWithoutDeactivated () const
 this returns a filtered list of properties (using all filters added by deactivateProperty) More...
 
virtual void adaptProperty (const std::string &name, const std::string &newType, const std::string &newInfo, const std::string &newToolTip)
 this function can be used to adapt a specific property afterwards More...
 
void registerCallback (const Callback &cb)
 add a callback for changed properties More...
 
void removedCallback (const Callback &cb)
 removes a callback that was registered before More...
 
void syncChangesTo (Configurable *others, int num=1)
 this can be used to let this instance also apply property changes to others More...
 
virtual void setPropertyValue (const std::string &propertyName, const Any &value)
 sets a property value More...
 
virtual std::vector< std::string > getPropertyList () const
 returns a list of All properties, that can be set using setProperty More...
 
virtual bool supportsProperty (const std::string &propertyName) const
 base implementation for property check (seaches in the property list) More...
 
virtual void saveProperties (const std::string &filename, const std::vector< std::string > &propertiesToSkip=EMPTY_VEC) const
 writes all available properties into a file More...
 
virtual void loadProperties (const std::string &filename, const std::vector< std::string > &propertiesToSkip=EMPTY_VEC)
 reads a camera config file from disc More...
 
virtual std::string getPropertyType (const std::string &propertyName) const
 get type of property More...
 
virtual std::string getPropertyInfo (const std::string &propertyName) const
 get information of a properties valid values More...
 
virtual Any getPropertyValue (const std::string &propertyName) const
 returns the current value of a property or a parameter More...
 
virtual std::string getPropertyToolTip (const std::string &propertyName) const
 returns the tooltip description for a given property More...
 
virtual int getPropertyVolatileness (const std::string &propertyName) const
 Returns whether this property may be changed internally. More...
 

Private Attributes

Data * m_data
 internal data handling More...
 

Additional Inherited Members

- Public Types inherited from icl::utils::Configurable
typedef Function< void, const Property & > Callback
 Function type for changed properties. More...
 
- Static Public Member Functions inherited from icl::utils::Configurable
static std::string create_default_ID (const std::string &prefix)
 this function can be used in subclasses to create a default ID More...
 
static Configurableget (const std::string &id)
 returns configurable by given ID More...
 
static void register_configurable_type (const std::string &classname, Function< Configurable * > creator)
 registers a configurable type More...
 
static std::vector< std::string > get_registered_configurables ()
 returns a list of all registered configurable classnames More...
 
static Configurablecreate_configurable (const std::string &classname)
 creates a configurable by given name More...
 
- Static Public Attributes inherited from icl::utils::Configurable
static const std::vector< std::string > EMPTY_VEC
 used as shortcut – just an empty vector of std::strings More...
 
- Protected Member Functions inherited from icl::utils::Configurable
void addProperty (const std::string &name, const std::string &type, const std::string &info, const Any &value=Any(), const int volatileness=0, const std::string &tooltip=std::string())
 This can be used by derived classes to store supported properties in the internal list. More...
 
void addChildConfigurable (Configurable *configurable, const std::string &childPrefix="")
 This adds another configurable as child. More...
 
void removeChildConfigurable (Configurable *configurable)
 removes the given child configurable More...
 
Propertyprop (const std::string &propertyName)
 this CAN be used e.g. to store a property value in internal property-list More...
 
const Propertyprop (const std::string &propertyName) const
 this CAN be used e.g. to store a property value in internal property-list More...
 
 Configurable (const std::string &ID="", bool ordered=true)
 create this configurable with given ID More...
 
void call_callbacks (const std::string &propertyName, const Configurable *caller) const
 calls all registered callbacks More...
 
- Protected Attributes inherited from icl::utils::Configurable
std::vector< Callbackcallbacks
 internally managed list of callbacks More...
 

Detailed Description

RANSAC-based pose estimation.

Constructor & Destructor Documentation

◆ RansacBasedPoseEstimator()

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

◆ ~RansacBasedPoseEstimator()

icl::geom::RansacBasedPoseEstimator::~RansacBasedPoseEstimator ( )

Member Function Documentation

◆ err_coplanar()

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

internal utility method

◆ fit() [1/2]

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

fit from planar target

◆ fit() [2/2]

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

fit from non-planar target

◆ fit_coplanar()

std::vector<float> icl::geom::RansacBasedPoseEstimator::fit_coplanar ( const std::vector< std::vector< float > > &  pts)

internal utility method

◆ getLastConsensusSet()

std::vector<utils::Point32f> icl::geom::RansacBasedPoseEstimator::getLastConsensusSet ( )

◆ setIterations()

void icl::geom::RansacBasedPoseEstimator::setIterations ( int  iterations)

◆ setMaxError()

void icl::geom::RansacBasedPoseEstimator::setMaxError ( float  maxError)

◆ setMinPoints()

void icl::geom::RansacBasedPoseEstimator::setMinPoints ( int  minPoints)

◆ setMinPointsForGoodModel()

void icl::geom::RansacBasedPoseEstimator::setMinPointsForGoodModel ( float  f)

◆ setStoreLastConsensusSet()

void icl::geom::RansacBasedPoseEstimator::setStoreLastConsensusSet ( bool  )

Member Data Documentation

◆ m_data

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

internal data handling

internal data pointer


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