Pattern pose estimation
The pose estimation is done in a similar manner to marker pose estimation from the previous chapter. As usual we need 2D-3D correspondences to estimate the camera-extrinsic parameters. We assign four 3D points to coordinate with the corners of the unit rectangle that lies in the XY plane (the Z axis is up), and 2D points correspond to the corners of the image bitmap.
PatternDetector.cpp
The
buildPatternFromImage class creates a Pattern object from the input image as follows:
void PatternDetector::buildPatternFromImage(const cv::Mat& image, Pattern& pattern) const { int numImages = 4; float step = sqrtf(2.0f); // Store original image in pattern structure pattern.size = cv::Size(image.cols, image.rows); pattern.frame = image.clone(); ...Get Mastering OpenCV with Practical Computer Vision Projects now with the O’Reilly learning platform.
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