pose estimation option #24
Merged
Conversation
This file contains bidirectional Unicode text that may be interpreted or compiled differently than what appears below. To review, open the file in an editor that reveals hidden Unicode characters.
Learn more about bidirectional Unicode characters
christianrauch
force-pushed
the
pose
branch
2 times, most recently
from
659527c to
a38bc4a
Compare
|
P.S. Tested this branch and the results are much much more stable. |
|
Thanks for confirming this. |
Sign up for free
to join this conversation on GitHub.
Already have an account?
Sign in to comment
Add this suggestion to a batch that can be applied as a single commit.
This suggestion is invalid because no changes were made to the code.
Suggestions cannot be applied while the pull request is closed.
Suggestions cannot be applied while viewing a subset of changes.
Only one suggestion per line can be applied in a batch.
Add this suggestion to a batch that can be applied as a single commit.
Applying suggestions on deleted lines is not supported.
You must change the existing code in this line in order to create a valid suggestion.
Outdated suggestions cannot be applied.
This suggestion has been applied or marked resolved.
Suggestions cannot be applied from pending reviews.
Suggestions cannot be applied on multi-line comments.
Suggestions cannot be applied while the pull request is queued to merge.
Suggestion cannot be applied right now. Please check back later.
The previous pose estimation method via homography (https://dsp.stackexchange.com/a/2737/31703) was not very accurate in some scenarios (issue #14). This PR adds a new parameter
pose_estimation_methodthat lets a user select one of two pose estimation methods:pnp(default): uses OpenCV'scv::solvePnPhomography: essentially the old method via the homography but reusing the implementationestimate_pose_for_tag_homographyfrom the AprilTag librarypnpis more accurate but slower thanhomographyand is going to be the new default pose estimation as we prefer accuracy over runtime on this case. See #14 (comment) for details (thanks @lennartalff).Fixes #14.