hololib::ApriltagLocalization::IPPEOutput Struct Reference

The two pose solutions produced by the IPPE square solver. More...

#include <ApriltagLocalization.hpp>

Public Attributes
Eigen::Vector3f	rvec1
	Rotation vector for the lower-error solution, in radians.
Eigen::Vector3f	rvec2
	Rotation vector for the alternate solution, in radians.
Eigen::Vector3f	tvec1
	Translation vector for the lower-error solution.
Eigen::Vector3f	tvec2
	Translation vector for the alternate solution.
float	reprojection_error1
	Reprojection error of the first solution, in pixels.
float	reprojection_error2
	Reprojection error of the second solution, in pixels.
bool	valid
	Whether both solutions contain finite reprojection errors.

Detailed Description

The two pose solutions produced by the IPPE square solver.

Definition at line 18 of file ApriltagLocalization.hpp.

Member Data Documentation

rvec1

Eigen::Vector3f hololib::ApriltagLocalization::IPPEOutput::rvec1

Rotation vector for the lower-error solution, in radians.

Definition at line 20 of file ApriltagLocalization.hpp.

rvec2

Eigen::Vector3f hololib::ApriltagLocalization::IPPEOutput::rvec2

Rotation vector for the alternate solution, in radians.

Definition at line 22 of file ApriltagLocalization.hpp.

tvec1

Eigen::Vector3f hololib::ApriltagLocalization::IPPEOutput::tvec1

Translation vector for the lower-error solution.

Definition at line 24 of file ApriltagLocalization.hpp.

tvec2

Eigen::Vector3f hololib::ApriltagLocalization::IPPEOutput::tvec2

Translation vector for the alternate solution.

Definition at line 26 of file ApriltagLocalization.hpp.

reprojection_error1

float hololib::ApriltagLocalization::IPPEOutput::reprojection_error1

Reprojection error of the first solution, in pixels.

Definition at line 28 of file ApriltagLocalization.hpp.

reprojection_error2

float hololib::ApriltagLocalization::IPPEOutput::reprojection_error2

Reprojection error of the second solution, in pixels.

Definition at line 30 of file ApriltagLocalization.hpp.

valid

bool hololib::ApriltagLocalization::IPPEOutput::valid

Whether both solutions contain finite reprojection errors.

Definition at line 32 of file ApriltagLocalization.hpp.