vpMegaPoseEstimate Class Reference

#include </home/soft/visp/visp-web-script/visp/modules/tracker/dnn/include/visp3/dnn_tracker/vpMegaPose.h>

Public Member Functions
	vpMegaPoseEstimate ()

Public Attributes
vpHomogeneousMatrix	cTo
float	score
vpRect	boundingBox

Detailed Description

Result from a pose estimation performed by MegaPose. Contains:

• the estimated pose as a vpHomogeneousMatrix
• The confidence score between 0-1. This score is defined as 1 if the current pose is in the basin of attraction of the true pose (whether the MegaPose refiner can converge to the true pose). As such, it should be used to detect divergence.
• The bounding box of the object in image space.

Examples

servoAfma6MegaposePBVS.cpp, and tutorial-megapose-live-single-object-tracking.cpp.

Definition at line 65 of file vpMegaPose.h.

Constructor & Destructor Documentation

vpMegaPoseEstimate()

vpMegaPoseEstimate::vpMegaPoseEstimate ( )

inline

Definition at line 68 of file vpMegaPose.h.

Member Data Documentation

boundingBox

vpRect vpMegaPoseEstimate::boundingBox

Definition at line 71 of file vpMegaPose.h.

cTo

vpHomogeneousMatrix vpMegaPoseEstimate::cTo

Examples

servoAfma6MegaposePBVS.cpp, and tutorial-megapose-live-single-object-tracking.cpp.

Definition at line 69 of file vpMegaPose.h.

Referenced by vpMegaPoseTracker::track(), and vpMegaPoseTracker::updatePose().

score

float vpMegaPoseEstimate::score

Examples

servoAfma6MegaposePBVS.cpp, and tutorial-megapose-live-single-object-tracking.cpp.

Definition at line 70 of file vpMegaPose.h.