.. 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
.. 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
// -- 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