Visual Servoing Platform  version 3.6.1 under development (2024-02-13)

#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

◆ score

float vpMegaPoseEstimate::score