vpMegaPoseEstimate Class Reference

#include <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.

Tutorials & Examples

Tutorials
If you are interested in using tracking an object using Megapose, you may have a look at:

• Tutorial: Tracking with MegaPose
• Tutorial: Exporting a 3D model to MegaPose after reconstruction with NeRF

Examples

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

Definition at line 72 of file vpMegaPose.h.

Constructor & Destructor Documentation

vpMegaPoseEstimate()

vpMegaPoseEstimate::vpMegaPoseEstimate ( )

inline

Definition at line 75 of file vpMegaPose.h.

References score.

Member Data Documentation

boundingBox

vpRect vpMegaPoseEstimate::boundingBox

Definition at line 78 of file vpMegaPose.h.

cTo

vpHomogeneousMatrix vpMegaPoseEstimate::cTo

Examples

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

Definition at line 76 of file vpMegaPose.h.

score

float vpMegaPoseEstimate::score

Examples

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

Definition at line 77 of file vpMegaPose.h.

Referenced by vpMegaPoseEstimate().