Function slam_mer::pose_estimation::solve_pnp

• Defined in File pose_estimation.hpp

Function Documentation

bool slam_mer::pose_estimation::solve_pnp(const point3d_t::vector &worldPoints_, const point2d_t::vector &imagePoints_, const data_type::SensorData::weak_ptr cameraData_, pose_t &pose_, std::vector<bool> &inliers_, const bool unknownFocalLength_ = false, const log::Module logModule_ = log::EMPTY)

Solves PnP from already matched 2D-3D correspondences.

Parameters:

• worldPoints_ – Matched 3D points in world coordinates.

• imagePoints_ – Matched 2D points in image coordinates.

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

• pose_ – Output estimated camera pose.

• inliers_ – Output inlier mask aligned with input correspondences.

• unknownFocalLength_ – Enables focal-length estimation when true.

• logModule_ – Module label used by optional logging output.

Returns:

true when PnP satisfies inlier thresholds, otherwise false.