Add get_second_solution() to handle tag pose ambiguity#431
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fspindle wants to merge 1 commit intoAprilRobotics:masterfrom
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Add get_second_solution() to handle tag pose ambiguity#431fspindle wants to merge 1 commit intoAprilRobotics:masterfrom
fspindle wants to merge 1 commit intoAprilRobotics:masterfrom
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Extract second pose candidate resolution into a dedicated function. Uses fix_pose_ambiguities() to find the alternative solution and refines it via orthogonal iteration. Returns HUGE_VAL in err2 if no second solution exists.
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Pose Ambiguity Handling
Planar markers often have two mathematically plausible pose solutions. This PR exposes the second solution from the orthogonal iteration algorithm.
get_second_solution()toapriltag_pose.h. It allows to extract second pose candidate into a dedicated function. Usesfix_pose_ambiguities()to find the alternative solution and refines it via orthogonal iteration. ReturnsHUGE_VALinerr2if no second solution exists.