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edgarriba 2014-08-05 16:53:30 +02:00
parent 4447dbe265
commit 2353436cb5
1 changed files with 4 additions and 4 deletions
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doc/tutorials/calib3d/real_time_pose/real_time_pose.rst
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@ -111,7 +111,7 @@ In order to read the model mesh I implemented a *class* **Mesh** which has a fun
.. code-block:: cpp
/** Load a CSV with *.ply format **/
void Mesh::load(const std::string path)
void Mesh::load(const std::string path)
{
// Create the reader
@ -220,7 +220,7 @@ The following code is to get the model 3D points and its descriptors and then ca
.. code-block:: cpp
// -- Step 1: Robust matching between model descriptors and scene descriptors
std::vector<cv::DMatch> good_matches; // to obtain the model 3D points in the scene
std::vector<cv::KeyPoint> keypoints_scene; // to obtain the 2D points of the scene
@ -634,9 +634,9 @@ The last and optional step is draw the found pose. To do it I implemented a func
// -- Step X: Draw pose
drawObjectMesh(frame_vis, &mesh, &pnp_detection, green); // draw current pose
drawObjectMesh(frame_vis, &mesh, &pnp_detection, green); // draw current pose
drawObjectMesh(frame_vis, &mesh, &pnp_detection_est, yellow); // draw estimated pose
double l = 5;
std::vector<cv::Point2f> pose_points2d;
pose_points2d.push_back(pnp_detection_est.backproject3DPoint(cv::Point3f(0,0,0))); // axis center