opentl::core::cvdata::Pose Class Reference

Abstract class for storing object related value data. More...

List of all members.

Public Types

Public Member Functions

virtual Pose * clone () const =0

virtual void computePoseIncrement (Pose &refPose, math::Vector &increment, bool bModifyCurrentPose=true)

Compute the difference (incremental Pose vector) between a reference pose and this one.

virtual void createWorldData (int dimP, int dof, int nLinks=1)

Allocate the world-related quantities (at construction time) NOTE 1: here we suppose to have already the information about all degrees of freedom, and internal poses (articulated models) Therefore, this function should be called right at the end of the constructor (or copy constructor) NOTE 2: the camera-related matrices cannot be allocated here, but only by the Warp class (we do not know how many cameras)!

int dimension () const

Return the number of finite pose parameters.

int dof () const

Return the number of incremental parameters (= actual degrees of freedom).

virtual bool forcePoseLimits ()

Check the current pose against the limits, and force the overflowing parameters to the bounds.

virtual double getAngleX ()

virtual double getAngleY ()

virtual double getAngleZ ()

std::vector< double > & getCamK (std::size_t cameraIdx=0)

Copy camera K matrix.

std::vector< double > & getCamT (std::size_t cameraIdx=0, std::size_t linkIdx=0) const

Copy camera-related T matrix.

double getCamTDepth (std::size_t cameraIdx=0, std::size_t linkIdx=0) const

double getData (std::size_t index)

void getData (math::Vector &vec)

Function to get the stored value information.

void getIncData (math::Vector &vec)

Function to copy the stored incremental pose information.

virtual void getIncT (opentl::math::Transform &T, int linkId=0)

Function to get the stored value information.

std::vector< std::vector
< double > > & getJacScreen (std::size_t cameraIdx=0, std::size_t linkIdx=0)

Return camera T Jacobians (one matrix for each dof, stored as a vector of double).

bool getJacScreenRefreshFlag (std::size_t cameraIdx=0)

Return refresh flag for given camera Jacobians.

void getJacT (opentl::math::Transform &jacT, std::size_t dof, int linkId=0)

Function to get the stored value information.

bool getJacTRefreshFlag () const

Set the dirty flag for world T Jacobians.

std::vector< std::vector
< opentl::math::Transform > > * getJacTVector ()

Get vector of world-T matrices.

void getLieGen (std::size_t iD, opentl::math::Transform &G)

Function to get the i-th Lie generator.

virtual void getLocalT (opentl::math::Transform &T, int linkId=0)

Function to get the finite T matrix.

std::vector
< opentl::math::Vector2 > * getPoseLimitsVector ()

Get the pose limits.

virtual void getRefT (opentl::math::Transform &refT, int linkId=0) const

Return the reference T matrix.

bool getRefTSetFlag () const

Get the flag, indicating whether the reference T matrix is set (different from I) or not.

virtual double getScaleX ()

virtual double getScaleY ()

virtual double getScaleZ ()

T_UPDATEFLAG getUpdateFlag () const

Return the update flag for finite parameters.

T_UPDATEFLAG getUpdateIncFlag () const

Return the update flag for finite parameters.

T_UPDATEMODE getUpdateMode () const

Return Update mode of this Pose (additive/compositional).

void getWorldT (opentl::math::Transform &T, int linkId=0)

Function to get the stored value information.

std::vector
< opentl::math::Transform > * getWorldTVector ()

Get vector of world-T matrices.

virtual double getX ()

virtual double getY ()

virtual double getZ ()

virtual int initFromPoints (const math::Matrix &bodyPoints, const math::Matrix &screenPoints, const math::SquareMatrix &intrinsicMat, const math::Vector *linkIdx=NULL)=0

Compute LSE pose (world T matrix) from N object-screen point correspondences (also called "PnP problem").

virtual int initFromPointsAndLines (const math::Matrix &bodyPoints, const math::Matrix &screenPoints, const math::Matrix &bodyLines, const math::Matrix &screenLines, const math::SquareMatrix &intrinsicMat, const math::Vector *linkIdxForPoint=NULL, const math::Vector *linkIdxForLine=NULL)=0

Compute LSE pose (world T matrix) from N1 object-screen point correspondences and N2 line correspondences.

int links () const

Return link count. (= 1 for non-articulated objects).

virtual Pose & operator= (const Pose &value)

Pose (opentl::core::cvdata::CvData::DataReprType posetype, T_UPDATEMODE updateMode)

Constructor.

virtual void poseUpdate ()

Do a pose update with the incremental parameters.

virtual void resetData ()

Reset to 0 all parameters, and the update flag as well.

virtual void resetIncData ()

Reset to 0 only the incremental parameters, and the update flag as well.

virtual void resetRefT (int linkId=-1)

Reset the reference T matrix (to identity).

virtual void setAngleX (double)

virtual void setAngleY (double)

virtual void setAngleZ (double)

void setCamK (std::vector< double > &camK, std::size_t cameraIdx=0)

Set camera K matrix.

void setCamT (std::vector< double > &camT, std::size_t cameraIdx=0, std::size_t linkIdx=0)

Set camera-related T matrix.

virtual void setDataFromVec (const math::Vector &value)

Function to set the value of this pose.

virtual void setIncDataFromVec (const math::Vector &value)

Function to set the infinitesimal pose from the matrix.

void setJacScreenRefreshFlag (bool val, std::size_t cameraIdx=0)

Set refresh flag for given camera Jacobians.

void setJacTRefreshFlag (bool flag)

Set the dirty flag for world T Jacobians.

virtual void setLocalIncT (const std::vector< opentl::math::Transform > &matT)

Set pose parameters by homog. transformation matrix data.

virtual void setLocalT (const std::vector< opentl::math::Transform > &matT)

Set pose parameters by homog. transformation matrix data.

virtual void setPoseLimits (std::vector< opentl::math::Vector2 > &poseLimits)

Set the pose limits.

virtual void setRefT (const opentl::math::Transform &refT, int linkId=0)

Set the reference T matrix.

void setRefTSetFlag (bool flag)

Set the flag, indicating whether the reference T matrix is set (different from I) or not.

virtual void setScaleX (double)

virtual void setScaleY (double)

virtual void setScaleZ (double)

void setUpdateFlag (T_UPDATEFLAG flag)

Set the update flag for finite parameters.

void setUpdateIncFlag (T_UPDATEFLAG flag)

Set the update flag for finite parameters.

virtual void setX (double)

virtual void setY (double)

virtual void setZ (double)

virtual void updateJacT ()

Function to update the pose derivatives of homog. transformation matrix T.

virtual ~Pose ()

Destructor.

Protected Member Functions

virtual void additiveUpdate ()

Add finite and incremental pose parameters for all links, store the result in mValue, and set mIncValue to 0.

virtual void compositionalUpdate ()

Multiply worldT and incT for all links, store the result in worldT, and reset incT.

void copyPoseData (const Pose &pvalue)

Internal function for the operator =.

virtual void initLieAlgGen ()=0

Function to generate Lie Algebra Generator matrices, required for calculation of Jacobians, based on a specific pose representation type.

virtual void updateAdditiveJacT ()

Jacobian of T matrix, for the additive case: J = dT/dp.

virtual void updateCompositionalJacT ()

Jacobian of T matrix, for the compositional case (using Lie algebras): J(i) = T*G{i} with G(i) the Lie generator for the i-th degree of freedom dp(i).

virtual void updateDataFromLocalT ()=0

Compute pose parameters from homog. transformation matrix data.

virtual void updateIncDataFromT ()

Function to set the infinitesimal pose, as the logarithm of small homog. transformation matrix T.

virtual void updateIncTFromData ()

Function to get the incremental homog. transformation matrix T.

virtual void updateWorldTFromData ()=0

Function to get the pose as homog. transformation matrix T.

Protected Attributes

int mDim

Overall number of finite pose parameters (mValue) NOTE: for articulated poses, this is the sum of dimensions for all internal poses.

unsigned int mIncDim

Overall number of Lie generators (= actual degrees of freedom) NOTE: for articulated poses, this is the sum of degrees of freedom for all internal poses.

std::vector
< opentl::math::Transform > * mLieGen

Lie generator matrices NOTE: for articulated poses, this is just a collection of all Lie generators of internal poses!

Friends

class modelprojection::Warp

Detailed Description

Abstract class for storing object related value data.

Author:: Erwin Roth <eroth@weihenstephan.org>

The meaning of the value within the Pose class is defined in the derived classes.

IMPORTANT: The Pose class shall store the actual degrees of freedom (DOFs) of the object to be tracked ONLY. Otherwise it will lead to problems when using optimization algorithms.

Member Enumeration Documentation

enum opentl::core::cvdata::Pose::T_UPDATEFLAG

Possible update status for the pose data (finite and incremental) Semantics:.

1 flag for the finite data (mUpdateFlag) T_UPTODATE = World Ts have been updated more recently than P P_UPTODATE = P has been updated more recently than World Ts BOTH_UPTODATE = P and World Ts are currently synchronized RESET = P and World Ts have been reset to the default values (here is the same as BOTH_UPTODATE)

1 flag for the incremental data (mUpdateIncFlag) T_UPTODATE = Local, incremental Ts have been updated more recently than P P_UPTODATE = P has been updated more recently than incremental Ts BOTH_UPTODATE = P and incremental Ts are currently synchronized RESET = P=0; incremental Ts = Identity (here is used in order to avoid compositional update)

NOTE: for 1-link poses, world and local T are the same. But not for multi-link poses!

Enumerator:

T_UPTODATE
P_UPTODATE
BOTH_UPTODATE
RESET

enum opentl::core::cvdata::Pose::T_UPDATEMODE

Possible update modalities: ADDITIVE: finite and incremental pose values are added together (which makes T dirty and P up-to-date) COMPOSITIONAL (default): finite and incremental T matrices are multiplied together (which makes P dirty and T up-to-date) NOTE: after any kind of update, both incremental parameters are reset (dP=0, dT=I).

Enumerator:

ADDITIVE
COMPOSITIONAL

Constructor & Destructor Documentation

opentl::core::cvdata::Pose::Pose	(	opentl::core::cvdata::CvData::DataReprType	posetype,
		T_UPDATEMODE	updateMode
	)

Constructor.

Parameters:

	posetype	Input pose representation type (see the CvData types)
	updateMode	Input update modality (default: compositional update)

virtual opentl::core::cvdata::Pose::~Pose ( ) [virtual]

Destructor.

Member Function Documentation

virtual void opentl::core::cvdata::Pose::additiveUpdate ( ) [protected, virtual]

Add finite and incremental pose parameters for all links, store the result in mValue, and set mIncValue to 0.

Reimplemented in opentl::core::cvdata::PoseArticulated.

virtual Pose* opentl::core::cvdata::Pose::clone ( ) const [pure virtual]

virtual void opentl::core::cvdata::Pose::compositionalUpdate ( ) [protected, virtual]

Multiply worldT and incT for all links, store the result in worldT, and reset incT.

Reimplemented in opentl::core::cvdata::PoseArticulated.

virtual void opentl::core::cvdata::Pose::computePoseIncrement	(	Pose &	refPose,
		math::Vector &	increment,
		bool	bModifyCurrentPose = `true`
	)			`[virtual]`

Compute the difference (incremental Pose vector) between a reference pose and this one.

Parameters:

	refPose	Reference Pose vector (T0)
	increment	Output incremental pose vector between reference and current Pose (dp)
	bModifyCurrentPose	Whether to modify the current Pose or the reference one, for doing the computation NOTE: The modified Pose will need a warpUpdate afterwards (since the incremental data are non-zero anymore)! This is performed differently, according to the update rule: If the update is additive, the increment is simply the difference between the two mValues If the update is compositional, the increment is computed in three steps: For each link, do 1. getWorldT() of the reference pose -> T0 2. getWorldT() of this pose -> T 3. Take dT = inv(T0)*T, and setIncT() of this pose 4. getIncValue() of this pose -> dp

void opentl::core::cvdata::Pose::copyPoseData ( const Pose & pvalue ) [inline, protected]

Internal function for the operator =.

virtual void opentl::core::cvdata::Pose::createWorldData	(	int	dimP,
		int	dof,
		int	nLinks = `1`
	)			`[virtual]`

Allocate the world-related quantities (at construction time) NOTE 1: here we suppose to have already the information about all degrees of freedom, and internal poses (articulated models) Therefore, this function should be called right at the end of the constructor (or copy constructor) NOTE 2: the camera-related matrices cannot be allocated here, but only by the Warp class (we do not know how many cameras)!

int opentl::core::cvdata::Pose::dimension ( ) const [inline]

Return the number of finite pose parameters.

int opentl::core::cvdata::Pose::dof ( ) const [inline]

Return the number of incremental parameters (= actual degrees of freedom).

virtual bool opentl::core::cvdata::Pose::forcePoseLimits ( ) [virtual]

Check the current pose against the limits, and force the overflowing parameters to the bounds.

Returns:: true if the pose has been changed (i.e. it was beyond the limits)

Reimplemented in opentl::core::cvdata::PoseArticulated.

virtual double opentl::core::cvdata::Pose::getAngleX ( ) [inline, virtual]

Reimplemented in opentl::core::cvdata::Pose3dEulerRotation, opentl::core::cvdata::Pose3dEulerRotoTranslation, opentl::core::cvdata::Pose3dRotationXaxis, opentl::core::cvdata::Pose3dRotationXYaxis, and opentl::core::cvdata::PoseArticulated.

virtual double opentl::core::cvdata::Pose::getAngleY ( ) [inline, virtual]

Reimplemented in opentl::core::cvdata::Pose3dEulerRotation, opentl::core::cvdata::Pose3dEulerRotoTranslation, opentl::core::cvdata::Pose3dRotationXYaxis, opentl::core::cvdata::Pose3dRotationYaxis, and opentl::core::cvdata::PoseArticulated.

virtual double opentl::core::cvdata::Pose::getAngleZ ( ) [inline, virtual]

Reimplemented in opentl::core::cvdata::Pose2d1ScaleRotoTranslation, opentl::core::cvdata::Pose2d2ScaleRotation, opentl::core::cvdata::Pose2d2ScaleRotoTranslation, opentl::core::cvdata::Pose2dRotation, opentl::core::cvdata::Pose2dRotoTranslation, opentl::core::cvdata::Pose3dEulerRotation, opentl::core::cvdata::Pose3dEulerRotoTranslation, opentl::core::cvdata::Pose3dPlanarRotoTranslation, opentl::core::cvdata::Pose3dRotationZaxis, and opentl::core::cvdata::PoseArticulated.

std::vector<double >& opentl::core::cvdata::Pose::getCamK ( std::size_t cameraIdx = 0 ) [inline]

Copy camera K matrix.

Parameters:

	camK	Camera K (stored as a vector of double)
	cameraIdx	Camera index

std::vector<double>& opentl::core::cvdata::Pose::getCamT	(	std::size_t	cameraIdx = `0`,
		std::size_t	linkIdx = `0`
	)			const `[inline]`

Copy camera-related T matrix.

Parameters:

	camT	Camera-to-object T (stored as a vector of double)
	cameraIdx	Camera index
	linkIdx	Link index

double opentl::core::cvdata::Pose::getCamTDepth	(	std::size_t	cameraIdx = `0`,
		std::size_t	linkIdx = `0`
	)			const `[inline]`

double opentl::core::cvdata::Pose::getData ( std::size_t index ) [inline]

void opentl::core::cvdata::Pose::getData ( math::Vector & vec ) [inline]

Function to get the stored value information.

Parameters:

vec

Input and output vector with pose data

void opentl::core::cvdata::Pose::getIncData ( math::Vector & vec ) [inline]

Function to copy the stored incremental pose information.

Parameters:

vec

Input and output vector with pose data

virtual void opentl::core::cvdata::Pose::getIncT	(	opentl::math::Transform &	T,
		int	linkId = `0`
	)			`[inline, virtual]`

Function to get the stored value information.

Parameters:

	T	Input and output incremental world T matrix
	linkId	Input which link we refer to.

Reimplemented in opentl::core::cvdata::PoseArticulated.

std::vector<std::vector<double> >& opentl::core::cvdata::Pose::getJacScreen	(	std::size_t	cameraIdx = `0`,
		std::size_t	linkIdx = `0`
	)			`[inline]`

Return camera T Jacobians (one matrix for each dof, stored as a vector of double).

Parameters:

	cameraIdx	Camera index
	linkIdx	Link index

bool opentl::core::cvdata::Pose::getJacScreenRefreshFlag ( std::size_t cameraIdx = 0 ) [inline]

Return refresh flag for given camera Jacobians.

Parameters:

cameraIdx

Camera index

void opentl::core::cvdata::Pose::getJacT	(	opentl::math::Transform &	jacT,
		std::size_t	dof,
		int	linkId = `0`
	)			`[inline]`

Function to get the stored value information.

Parameters:

	T	output world T matrix
	linkId	Input which link we refer to.

bool opentl::core::cvdata::Pose::getJacTRefreshFlag ( ) const [inline]

Set the dirty flag for world T Jacobians.

std::vector<std::vector<opentl::math::Transform> >* opentl::core::cvdata::Pose::getJacTVector ( ) [inline]

Get vector of world-T matrices.

void opentl::core::cvdata::Pose::getLieGen	(	std::size_t	iD,
		opentl::math::Transform &	G
	)			`[inline]`

Function to get the i-th Lie generator.

virtual void opentl::core::cvdata::Pose::getLocalT	(	opentl::math::Transform &	T,
		int	linkId = `0`
	)			`[inline, virtual]`

Function to get the finite T matrix.

Parameters:

	T	output inter-link T matrix
	linkId	Input which link we refer to.

Reimplemented in opentl::core::cvdata::PoseArticulated.

std::vector<opentl::math::Vector2>* opentl::core::cvdata::Pose::getPoseLimitsVector ( ) [inline]

Get the pose limits.

virtual void opentl::core::cvdata::Pose::getRefT	(	opentl::math::Transform &	refT,
		int	linkId = `0`
	)			const `[inline, virtual]`

Return the reference T matrix.

Parameters:

	refT	input T matrix: this is pre-multiplied by the local T, to obtain the world T
	linkId	Input which link we refer to.

bool opentl::core::cvdata::Pose::getRefTSetFlag ( ) const [inline]

Get the flag, indicating whether the reference T matrix is set (different from I) or not.

virtual double opentl::core::cvdata::Pose::getScaleX ( ) [inline, virtual]

Reimplemented in opentl::core::cvdata::Pose2d1ScaleRotoTranslation, opentl::core::cvdata::Pose2d1ScaleTranslation, opentl::core::cvdata::Pose2d2ScaleRotation, opentl::core::cvdata::Pose2d2ScaleRotoTranslation, opentl::core::cvdata::Pose2d2ScaleTranslation, and opentl::core::cvdata::PoseArticulated.

virtual double opentl::core::cvdata::Pose::getScaleY ( ) [inline, virtual]

Reimplemented in opentl::core::cvdata::Pose2d1ScaleRotoTranslation, opentl::core::cvdata::Pose2d1ScaleTranslation, opentl::core::cvdata::Pose2d2ScaleRotation, opentl::core::cvdata::Pose2d2ScaleRotoTranslation, opentl::core::cvdata::Pose2d2ScaleTranslation, and opentl::core::cvdata::PoseArticulated.

virtual double opentl::core::cvdata::Pose::getScaleZ ( ) [inline, virtual]

Reimplemented in opentl::core::cvdata::PoseArticulated.

T_UPDATEFLAG opentl::core::cvdata::Pose::getUpdateFlag ( ) const [inline]

Return the update flag for finite parameters.

T_UPDATEFLAG opentl::core::cvdata::Pose::getUpdateIncFlag ( ) const [inline]

Return the update flag for finite parameters.

T_UPDATEMODE opentl::core::cvdata::Pose::getUpdateMode ( ) const [inline]

Return Update mode of this Pose (additive/compositional).

void opentl::core::cvdata::Pose::getWorldT	(	opentl::math::Transform &	T,
		int	linkId = `0`
	)			`[inline]`

Function to get the stored value information.

Parameters:

	T	output world T matrix
	linkId	Input which link we refer to.

std::vector<opentl::math::Transform>* opentl::core::cvdata::Pose::getWorldTVector ( ) [inline]

Get vector of world-T matrices.

virtual double opentl::core::cvdata::Pose::getX ( ) [inline, virtual]

virtual double opentl::core::cvdata::Pose::getY ( ) [inline, virtual]

virtual double opentl::core::cvdata::Pose::getZ ( ) [inline, virtual]

Reimplemented in opentl::core::cvdata::Pose3dEulerRotoTranslation, opentl::core::cvdata::Pose3dTranslation, and opentl::core::cvdata::PoseArticulated.

virtual int opentl::core::cvdata::Pose::initFromPoints	(	const math::Matrix &	bodyPoints,
		const math::Matrix &	screenPoints,
		const math::SquareMatrix &	intrinsicMat,
		const math::Vector *	linkIdx = `NULL`
	)			`[pure virtual]`

Compute LSE pose (world T matrix) from N object-screen point correspondences (also called "PnP problem").

Parameters:

	bodyPoints	Input points in object space (3xN) or (2xN)
	screenPoints	Input corresponding points in image space (2xN)
	intrinsicMat	Input camera calibration matrix (3x3)
	linkIdx	Input Link ID of each point (for articulated Poses only)

Returns:: Error condition (0 = OK)

virtual int opentl::core::cvdata::Pose::initFromPointsAndLines	(	const math::Matrix &	bodyPoints,
		const math::Matrix &	screenPoints,
		const math::Matrix &	bodyLines,
		const math::Matrix &	screenLines,
		const math::SquareMatrix &	intrinsicMat,
		const math::Vector *	linkIdxForPoint = `NULL`,
		const math::Vector *	linkIdxForLine = `NULL`
	)			`[pure virtual]`

Compute LSE pose (world T matrix) from N1 object-screen point correspondences and N2 line correspondences.

Parameters:

	bodyPoints	Input points in object space (3xN1) or (2xN1)
	screenPoints	Input corresponding points in image space (2xN1)
	bodyLines	Input line segments in object space (3x2*N2)
	screenLines	Input corresponding lines in image space (3xN2 for 2D represantation)
	intrinsicMat	Input camera calibration matrix (3x3)
	linkIdxForPoint	Input Link ID of each point (for articulated Poses only)
	linkIdxForLine	Input Link ID of each line (for articulated Poses only)
	preProcessLines	for articulated poses, if the screenlines are already precossed before

Returns:: Error condition (0 = OK)

virtual void opentl::core::cvdata::Pose::initLieAlgGen ( ) [protected, pure virtual]

Function to generate Lie Algebra Generator matrices, required for calculation of Jacobians, based on a specific pose representation type.

Parameters:

mLieGen

STL vector to store matrices.

int opentl::core::cvdata::Pose::links ( ) const [inline]

Return link count. (= 1 for non-articulated objects).

virtual Pose& opentl::core::cvdata::Pose::operator= ( const Pose & value ) [virtual]

virtual void opentl::core::cvdata::Pose::poseUpdate ( ) [virtual]

Do a pose update with the incremental parameters.

virtual void opentl::core::cvdata::Pose::resetData ( ) [virtual]

Reset to 0 all parameters, and the update flag as well.

Reimplemented in opentl::core::cvdata::PoseArticulated.

virtual void opentl::core::cvdata::Pose::resetIncData ( ) [virtual]

Reset to 0 only the incremental parameters, and the update flag as well.

Reimplemented in opentl::core::cvdata::PoseArticulated.

virtual void opentl::core::cvdata::Pose::resetRefT ( int linkId = -1 ) [virtual]

Reset the reference T matrix (to identity).

Parameters:

linkId

Input which link we refer to (-1 = reset all links) NOTE: This also resets the internal flag (to speed-up computations, we do not multiply by I!)

Reimplemented in opentl::core::cvdata::PoseArticulated.

virtual void opentl::core::cvdata::Pose::setAngleX ( double ) [inline, virtual]

Reimplemented in opentl::core::cvdata::Pose3dEulerRotation, opentl::core::cvdata::Pose3dEulerRotoTranslation, opentl::core::cvdata::Pose3dRotationXaxis, opentl::core::cvdata::Pose3dRotationXYaxis, and opentl::core::cvdata::PoseArticulated.

virtual void opentl::core::cvdata::Pose::setAngleY ( double ) [inline, virtual]

Reimplemented in opentl::core::cvdata::Pose3dEulerRotation, opentl::core::cvdata::Pose3dEulerRotoTranslation, opentl::core::cvdata::Pose3dRotationXYaxis, opentl::core::cvdata::Pose3dRotationYaxis, and opentl::core::cvdata::PoseArticulated.

virtual void opentl::core::cvdata::Pose::setAngleZ ( double ) [inline, virtual]

Reimplemented in opentl::core::cvdata::Pose2d1ScaleRotoTranslation, opentl::core::cvdata::Pose2d2ScaleRotation, opentl::core::cvdata::Pose2d2ScaleRotoTranslation, opentl::core::cvdata::Pose2dRotation, opentl::core::cvdata::Pose2dRotoTranslation, opentl::core::cvdata::Pose3dEulerRotation, opentl::core::cvdata::Pose3dEulerRotoTranslation, opentl::core::cvdata::Pose3dPlanarRotoTranslation, opentl::core::cvdata::Pose3dRotationZaxis, and opentl::core::cvdata::PoseArticulated.

void opentl::core::cvdata::Pose::setCamK	(	std::vector< double > &	camK,
		std::size_t	cameraIdx = `0`
	)			`[inline]`

Set camera K matrix.

Parameters:

	camK	Camera K (stored as a vector of double)
	cameraIdx	Camera index

void opentl::core::cvdata::Pose::setCamT	(	std::vector< double > &	camT,
		std::size_t	cameraIdx = `0`,
		std::size_t	linkIdx = `0`
	)			`[inline]`

Set camera-related T matrix.

Parameters:

	camT	Camera-to-object T (stored as a vector of double)
	cameraIdx	Camera index
	linkIdx	Link index

virtual void opentl::core::cvdata::Pose::setDataFromVec ( const math::Vector & value ) [virtual]

Function to set the value of this pose.

Parameters:

value

Set data by vector.

Reimplemented in opentl::core::cvdata::PoseArticulated.

virtual void opentl::core::cvdata::Pose::setIncDataFromVec ( const math::Vector & value ) [virtual]

Function to set the infinitesimal pose from the matrix.

Parameters:

value

Input inf. pose vector.

Reimplemented in opentl::core::cvdata::PoseArticulated.

void opentl::core::cvdata::Pose::setJacScreenRefreshFlag	(	bool	val,
		std::size_t	cameraIdx = `0`
	)			`[inline]`

Set refresh flag for given camera Jacobians.

Parameters:

cameraIdx

Camera index

void opentl::core::cvdata::Pose::setJacTRefreshFlag ( bool flag ) [inline]

Set the dirty flag for world T Jacobians.

virtual void opentl::core::cvdata::Pose::setLocalIncT ( const std::vector< opentl::math::Transform > & matT ) [virtual]

Set pose parameters by homog. transformation matrix data.

Parameters:

matT

Homog. transformation matrix.

Reimplemented in opentl::core::cvdata::PoseArticulated.

virtual void opentl::core::cvdata::Pose::setLocalT ( const std::vector< opentl::math::Transform > & matT ) [virtual]

Set pose parameters by homog. transformation matrix data.

Parameters:

	matT	Homog. transformation matrix.
	linkId	Update only one link (by default, link 0).

Reimplemented in opentl::core::cvdata::PoseArticulated.

virtual void opentl::core::cvdata::Pose::setPoseLimits ( std::vector< opentl::math::Vector2 > & poseLimits ) [virtual]

Set the pose limits.

Reimplemented in opentl::core::cvdata::PoseArticulated.

virtual void opentl::core::cvdata::Pose::setRefT	(	const opentl::math::Transform &	refT,
		int	linkId = `0`
	)			`[virtual]`

Set the reference T matrix.

Parameters:

	refT	input T matrix: this is pre-multiplied by the local T, to obtain the world T
	linkId	Input which link we refer to.

Reimplemented in opentl::core::cvdata::PoseArticulated.

void opentl::core::cvdata::Pose::setRefTSetFlag ( bool flag ) [inline]

Set the flag, indicating whether the reference T matrix is set (different from I) or not.

virtual void opentl::core::cvdata::Pose::setScaleX ( double ) [inline, virtual]

Reimplemented in opentl::core::cvdata::Pose2d1ScaleRotoTranslation, opentl::core::cvdata::Pose2d1ScaleTranslation, opentl::core::cvdata::Pose2d2ScaleRotation, opentl::core::cvdata::Pose2d2ScaleRotoTranslation, opentl::core::cvdata::Pose2d2ScaleTranslation, and opentl::core::cvdata::PoseArticulated.

virtual void opentl::core::cvdata::Pose::setScaleY ( double ) [inline, virtual]

Reimplemented in opentl::core::cvdata::Pose2d1ScaleRotoTranslation, opentl::core::cvdata::Pose2d1ScaleTranslation, opentl::core::cvdata::Pose2d2ScaleRotation, opentl::core::cvdata::Pose2d2ScaleRotoTranslation, opentl::core::cvdata::Pose2d2ScaleTranslation, and opentl::core::cvdata::PoseArticulated.

virtual void opentl::core::cvdata::Pose::setScaleZ ( double ) [inline, virtual]

Reimplemented in opentl::core::cvdata::PoseArticulated.

void opentl::core::cvdata::Pose::setUpdateFlag ( T_UPDATEFLAG flag ) [inline]

Set the update flag for finite parameters.

void opentl::core::cvdata::Pose::setUpdateIncFlag ( T_UPDATEFLAG flag ) [inline]

Set the update flag for finite parameters.

virtual void opentl::core::cvdata::Pose::setX ( double ) [inline, virtual]

virtual void opentl::core::cvdata::Pose::setY ( double ) [inline, virtual]

virtual void opentl::core::cvdata::Pose::setZ ( double ) [inline, virtual]

Reimplemented in opentl::core::cvdata::Pose3dEulerRotoTranslation, opentl::core::cvdata::Pose3dTranslation, and opentl::core::cvdata::PoseArticulated.

virtual void opentl::core::cvdata::Pose::updateAdditiveJacT ( ) [inline, protected, virtual]

Jacobian of T matrix, for the additive case: J = dT/dp.

Reimplemented in opentl::core::cvdata::PoseArticulated.

virtual void opentl::core::cvdata::Pose::updateCompositionalJacT ( ) [protected, virtual]

Jacobian of T matrix, for the compositional case (using Lie algebras): J(i) = T*G{i} with G(i) the Lie generator for the i-th degree of freedom dp(i).

Reimplemented in opentl::core::cvdata::PoseArticulated.

virtual void opentl::core::cvdata::Pose::updateDataFromLocalT ( ) [protected, pure virtual]

Compute pose parameters from homog. transformation matrix data.

Parameters:

linkId

Update only one link (by default, link 0).

virtual void opentl::core::cvdata::Pose::updateIncDataFromT ( ) [protected, virtual]

Function to set the infinitesimal pose, as the logarithm of small homog. transformation matrix T.

Parameters:

linkId

Input which link we refer to.

Reimplemented in opentl::core::cvdata::PoseArticulated.

virtual void opentl::core::cvdata::Pose::updateIncTFromData ( ) [protected, virtual]

Function to get the incremental homog. transformation matrix T.

Parameters:

	matT	Return incremental matrix T.
	linkId	Input which link we refer to.

Reimplemented in opentl::core::cvdata::PoseArticulated.

virtual void opentl::core::cvdata::Pose::updateJacT ( ) [virtual]

Function to update the pose derivatives of homog. transformation matrix T.

virtual void opentl::core::cvdata::Pose::updateWorldTFromData ( ) [protected, pure virtual]

Function to get the pose as homog. transformation matrix T.

Parameters:

linkId

If (-1) compute all link matrices

Friends And Related Function Documentation

friend class modelprojection::Warp [friend]

Member Data Documentation

int opentl::core::cvdata::Pose::mDim [protected]

Overall number of finite pose parameters (mValue) NOTE: for articulated poses, this is the sum of dimensions for all internal poses.

unsigned int opentl::core::cvdata::Pose::mIncDim [protected]

Overall number of Lie generators (= actual degrees of freedom) NOTE: for articulated poses, this is the sum of degrees of freedom for all internal poses.

std::vector<opentl::math::Transform>* opentl::core::cvdata::Pose::mLieGen [protected]

Lie generator matrices NOTE: for articulated poses, this is just a collection of all Lie generators of internal poses!


Public Types
Public Member Functions
virtual Pose *	clone () const =0
virtual void	computePoseIncrement (Pose &refPose, math::Vector &increment, bool bModifyCurrentPose=true)
	Compute the difference (incremental Pose vector) between a reference pose and this one.
virtual void	createWorldData (int dimP, int dof, int nLinks=1)
	Allocate the world-related quantities (at construction time) NOTE 1: here we suppose to have already the information about all degrees of freedom, and internal poses (articulated models) Therefore, this function should be called right at the end of the constructor (or copy constructor) NOTE 2: the camera-related matrices cannot be allocated here, but only by the Warp class (we do not know how many cameras)!
int	dimension () const
	Return the number of finite pose parameters.
int	dof () const
	Return the number of incremental parameters (= actual degrees of freedom).
virtual bool	forcePoseLimits ()
	Check the current pose against the limits, and force the overflowing parameters to the bounds.
virtual double	getAngleX ()
virtual double	getAngleY ()
virtual double	getAngleZ ()
std::vector< double > &	getCamK (std::size_t cameraIdx=0)
	Copy camera K matrix.
std::vector< double > &	getCamT (std::size_t cameraIdx=0, std::size_t linkIdx=0) const
	Copy camera-related T matrix.
double	getCamTDepth (std::size_t cameraIdx=0, std::size_t linkIdx=0) const
double	getData (std::size_t index)
void	getData (math::Vector &vec)
	Function to get the stored value information.
void	getIncData (math::Vector &vec)
	Function to copy the stored incremental pose information.
virtual void	getIncT (opentl::math::Transform &T, int linkId=0)
	Function to get the stored value information.
std::vector< std::vector < double > > &	getJacScreen (std::size_t cameraIdx=0, std::size_t linkIdx=0)
	Return camera T Jacobians (one matrix for each dof, stored as a vector of double).
bool	getJacScreenRefreshFlag (std::size_t cameraIdx=0)
	Return refresh flag for given camera Jacobians.
void	getJacT (opentl::math::Transform &jacT, std::size_t dof, int linkId=0)
	Function to get the stored value information.
bool	getJacTRefreshFlag () const
	Set the dirty flag for world T Jacobians.
std::vector< std::vector < opentl::math::Transform > > *	getJacTVector ()
	Get vector of world-T matrices.
void	getLieGen (std::size_t iD, opentl::math::Transform &G)
	Function to get the i-th Lie generator.
virtual void	getLocalT (opentl::math::Transform &T, int linkId=0)
	Function to get the finite T matrix.
std::vector < opentl::math::Vector2 > *	getPoseLimitsVector ()
	Get the pose limits.
virtual void	getRefT (opentl::math::Transform &refT, int linkId=0) const
	Return the reference T matrix.
bool	getRefTSetFlag () const
	Get the flag, indicating whether the reference T matrix is set (different from I) or not.
virtual double	getScaleX ()
virtual double	getScaleY ()
virtual double	getScaleZ ()
T_UPDATEFLAG	getUpdateFlag () const
	Return the update flag for finite parameters.
T_UPDATEFLAG	getUpdateIncFlag () const
	Return the update flag for finite parameters.
T_UPDATEMODE	getUpdateMode () const
	Return Update mode of this Pose (additive/compositional).
void	getWorldT (opentl::math::Transform &T, int linkId=0)
	Function to get the stored value information.
std::vector < opentl::math::Transform > *	getWorldTVector ()
	Get vector of world-T matrices.
virtual double	getX ()
virtual double	getY ()
virtual double	getZ ()
virtual int	initFromPoints (const math::Matrix &bodyPoints, const math::Matrix &screenPoints, const math::SquareMatrix &intrinsicMat, const math::Vector *linkIdx=NULL)=0
	Compute LSE pose (world T matrix) from N object-screen point correspondences (also called "PnP problem").
virtual int	initFromPointsAndLines (const math::Matrix &bodyPoints, const math::Matrix &screenPoints, const math::Matrix &bodyLines, const math::Matrix &screenLines, const math::SquareMatrix &intrinsicMat, const math::Vector linkIdxForPoint=NULL, const math::Vector linkIdxForLine=NULL)=0
	Compute LSE pose (world T matrix) from N1 object-screen point correspondences and N2 line correspondences.
int	links () const
	Return link count. (= 1 for non-articulated objects).
virtual Pose &	operator= (const Pose &value)
	Pose (opentl::core::cvdata::CvData::DataReprType posetype, T_UPDATEMODE updateMode)
	Constructor.
virtual void	poseUpdate ()
	Do a pose update with the incremental parameters.
virtual void	resetData ()
	Reset to 0 all parameters, and the update flag as well.
virtual void	resetIncData ()
	Reset to 0 only the incremental parameters, and the update flag as well.
virtual void	resetRefT (int linkId=-1)
	Reset the reference T matrix (to identity).
virtual void	setAngleX (double)
virtual void	setAngleY (double)
virtual void	setAngleZ (double)
void	setCamK (std::vector< double > &camK, std::size_t cameraIdx=0)
	Set camera K matrix.
void	setCamT (std::vector< double > &camT, std::size_t cameraIdx=0, std::size_t linkIdx=0)
	Set camera-related T matrix.
virtual void	setDataFromVec (const math::Vector &value)
	Function to set the value of this pose.
virtual void	setIncDataFromVec (const math::Vector &value)
	Function to set the infinitesimal pose from the matrix.
void	setJacScreenRefreshFlag (bool val, std::size_t cameraIdx=0)
	Set refresh flag for given camera Jacobians.
void	setJacTRefreshFlag (bool flag)
	Set the dirty flag for world T Jacobians.
virtual void	setLocalIncT (const std::vector< opentl::math::Transform > &matT)
	Set pose parameters by homog. transformation matrix data.
virtual void	setLocalT (const std::vector< opentl::math::Transform > &matT)
	Set pose parameters by homog. transformation matrix data.
virtual void	setPoseLimits (std::vector< opentl::math::Vector2 > &poseLimits)
	Set the pose limits.
virtual void	setRefT (const opentl::math::Transform &refT, int linkId=0)
	Set the reference T matrix.
void	setRefTSetFlag (bool flag)
	Set the flag, indicating whether the reference T matrix is set (different from I) or not.
virtual void	setScaleX (double)
virtual void	setScaleY (double)
virtual void	setScaleZ (double)
void	setUpdateFlag (T_UPDATEFLAG flag)
	Set the update flag for finite parameters.
void	setUpdateIncFlag (T_UPDATEFLAG flag)
	Set the update flag for finite parameters.
virtual void	setX (double)
virtual void	setY (double)
virtual void	setZ (double)
virtual void	updateJacT ()
	Function to update the pose derivatives of homog. transformation matrix T.
virtual	~Pose ()
	Destructor.
Protected Member Functions
virtual void	additiveUpdate ()
	Add finite and incremental pose parameters for all links, store the result in mValue, and set mIncValue to 0.
virtual void	compositionalUpdate ()
	Multiply worldT and incT for all links, store the result in worldT, and reset incT.
void	copyPoseData (const Pose &pvalue)
	Internal function for the operator =.
virtual void	initLieAlgGen ()=0
	Function to generate Lie Algebra Generator matrices, required for calculation of Jacobians, based on a specific pose representation type.
virtual void	updateAdditiveJacT ()
	Jacobian of T matrix, for the additive case: J = dT/dp.
virtual void	updateCompositionalJacT ()
	Jacobian of T matrix, for the compositional case (using Lie algebras): J(i) = T*G{i} with G(i) the Lie generator for the i-th degree of freedom dp(i).
virtual void	updateDataFromLocalT ()=0
	Compute pose parameters from homog. transformation matrix data.
virtual void	updateIncDataFromT ()
	Function to set the infinitesimal pose, as the logarithm of small homog. transformation matrix T.
virtual void	updateIncTFromData ()
	Function to get the incremental homog. transformation matrix T.
virtual void	updateWorldTFromData ()=0
	Function to get the pose as homog. transformation matrix T.
Protected Attributes
int	mDim
	Overall number of finite pose parameters (mValue) NOTE: for articulated poses, this is the sum of dimensions for all internal poses.
unsigned int	mIncDim
	Overall number of Lie generators (= actual degrees of freedom) NOTE: for articulated poses, this is the sum of degrees of freedom for all internal poses.
std::vector < opentl::math::Transform > *	mLieGen
	Lie generator matrices NOTE: for articulated poses, this is just a collection of all Lie generators of internal poses!
Friends
class	modelprojection::Warp