Function slam_mer::pose_estimation::compute_absolute_pose

• Defined in File pose_estimation.hpp

Function Documentation

bool slam_mer::pose_estimation::compute_absolute_pose(const vector_t<point3d_t::weak_ptr> worldPoints_, const descriptor_t::vector worldPointsDescriptors_, const point2d_t::vector imagePoints_, const descriptor_t::vector imagePointsDescriptors_, const data_type::SensorData::weak_ptr cameraData_, pose_t &pose_, std::vector<bool> &inliers_, match_t<index_t>::vector &matches_, const bool unknownFocalLength_ = false, const log::Module logModule_ = log::EMPTY)

Estimates camera absolute pose from unmatched 2D and 3D features.

Parameters:

• worldPoints_ – Candidate 3D map points in world coordinates.

• worldPointsDescriptors_ – Descriptors aligned with worldPoints_.

• imagePoints_ – 2D keypoints detected in the current frame.

• imagePointsDescriptors_ – Descriptors aligned with imagePoints_.

• cameraData_ – Sensor data handle with image/intrinsics metadata.

• pose_ – Output estimated camera pose.

• inliers_ – Output inlier mask from the final PnP solve.

• matches_ – Output descriptor matches between image and world features.

• unknownFocalLength_ – Enables focal-length estimation when true.

• logModule_ – Module label used by optional logging output.

Returns:

true when pose estimation succeeds, otherwise false.