icl::geom::RansacBasedPoseEstimator Class Reference

RANSAC-based pose estimation. More...

#include <RansacBasedPoseEstimator.h>

Inheritance diagram for icl::geom::RansacBasedPoseEstimator:

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::Point32f >	getLastConsensusSet ()
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...
Configurable &	operator= (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 Configurable *	get (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 Configurable *	create_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...
Property &	prop (const std::string &propertyName)
	this CAN be used e.g. to store a property value in internal property-list More...
const Property &	prop (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< Callback >	callbacks
	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

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

• /Users/alneuman/vm/icl/ICLGeom/src/ICLGeom/RansacBasedPoseEstimator.h