pub unsafe extern "C" fn estimate_tag_pose_orthogonal_iteration(
info: *mut apriltag_detection_info_t,
err1: *mut f64,
pose1: *mut apriltag_pose_t,
err2: *mut f64,
pose2: *mut apriltag_pose_t,
nIters: c_int
)Expand description
Estimate pose of the tag. This returns one or two possible poses for the tag, along with the object-space error of each.
This uses the homography method described in [1] for the initial estimate. Then Orthogonal Iteration [2] is used to refine this estimate. Then [3] is used to find a potential second local minima and Orthogonal Iteration is used to refine this second estimate.
[1]: E. Olson, “Apriltag: A robust and flexible visual fiducial system,” in 2011 IEEE International Conference on Robotics and Automation, May 2011, pp. 3400–3407. [2]: Lu, G. D. Hager and E. Mjolsness, “Fast and globally convergent pose estimation from video images,” in IEEE Transactions on Pattern Analysis and Machine Intelligence, vol. 22, no. 6, pp. 610-622, June 2000. doi: 10.1109/34.862199 [3]: Schweighofer and A. Pinz, “Robust Pose Estimation from a Planar Target,” in IEEE Transactions on Pattern Analysis and Machine Intelligence, vol. 28, no. 12, pp. 2024-2030, Dec. 2006. doi: 10.1109/TPAMI.2006.252
@outparam err1, pose1, err2, pose2