opentl::core::cvdata::Pose2d2ScaleTranslation Class Reference

Implemented class for storing 2D solid object related transformation data with 4 DOF (2xscale, translation x, translation y). More...

Inherits opentl::core::cvdata::Pose.

List of all members.

Public Member Functions
virtual Pose2d2ScaleTranslation *	clone () const
virtual double	getScaleX ()
virtual double	getScaleY ()
virtual double	getX ()
virtual double	getY ()
virtual int	initFromPoints (const math::Matrix &bodyPoints, const math::Matrix &screenPoints, const math::SquareMatrix &intrinsicMat, const math::Vector *linkIdx=NULL)
	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)
	Compute LSE pose (world T matrix) from N1 object-screen point correspondences and N2 line correspondences.
virtual void	initLieAlgGen ()
	Function to generate Lie Algebra Generator matrices, required for calculation of Jacobians, based on a specific pose representation type.
virtual Pose2d2ScaleTranslation &	operator= (const Pose2d2ScaleTranslation &value)
	Pose2d2ScaleTranslation (const Pose2d2ScaleTranslation &value)
	Pose2d2ScaleTranslation (opentl::core::cvdata::Pose::T_UPDATEMODE updateMode, std::vector< math::Vector2 > *poseLimits=NULL)
void	setDataFromVal (double s1, double s2, double tx, double ty)
virtual void	setScaleX (double val)
virtual void	setScaleY (double val)
virtual void	setX (double val)
virtual void	setY (double val)
virtual void	updateDataFromLocalT ()
	Set pose by homog. transformation matrix.
virtual void	updateWorldTFromData ()
	Function to get the pose as homog. transformation matrix T.
virtual	~Pose2d2ScaleTranslation ()

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Detailed Description

Implemented class for storing 2D solid object related transformation data with 4 DOF (2xscale, translation x, translation y).

|s1 0 0 b1| H = |0 s2 0 b2| |0 0 1 0| |0 0 0 1|

Vector[0] = s1 Vector[1] = s2 Vector[2] = b1 Vector[3] = b2

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Constructor & Destructor Documentation

opentl::core::cvdata::Pose2d2ScaleTranslation::Pose2d2ScaleTranslation	(	opentl::core::cvdata::Pose::T_UPDATEMODE	updateMode,
		std::vector< math::Vector2 > *	poseLimits = NULL
	)

opentl::core::cvdata::Pose2d2ScaleTranslation::Pose2d2ScaleTranslation

(

const Pose2d2ScaleTranslation &

value

)

virtual opentl::core::cvdata::Pose2d2ScaleTranslation::~Pose2d2ScaleTranslation

(

)

[inline, virtual]

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Member Function Documentation

virtual Pose2d2ScaleTranslation* opentl::core::cvdata::Pose2d2ScaleTranslation::clone

(

)

const [virtual]

Implements opentl::core::cvdata::Pose.

virtual double opentl::core::cvdata::Pose2d2ScaleTranslation::getScaleX

(

)

[inline, virtual]

Reimplemented from opentl::core::cvdata::Pose.

virtual double opentl::core::cvdata::Pose2d2ScaleTranslation::getScaleY

(

)

[inline, virtual]

Reimplemented from opentl::core::cvdata::Pose.

virtual double opentl::core::cvdata::Pose2d2ScaleTranslation::getX

(

)

[inline, virtual]

Reimplemented from opentl::core::cvdata::Pose.

virtual double opentl::core::cvdata::Pose2d2ScaleTranslation::getY

(

)

[inline, virtual]

Reimplemented from opentl::core::cvdata::Pose.

virtual int opentl::core::cvdata::Pose2d2ScaleTranslation::initFromPoints	(	const math::Matrix &	bodyPoints,
		const math::Matrix &	screenPoints,
		const math::SquareMatrix &	intrinsicMat,
		const math::Vector *	linkIdx = NULL
	)			[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)

Implements opentl::core::cvdata::Pose.

virtual int opentl::core::cvdata::Pose2d2ScaleTranslation::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
	)			[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)

Returns:

Error condition (0 = OK)

Implements opentl::core::cvdata::Pose.

virtual void opentl::core::cvdata::Pose2d2ScaleTranslation::initLieAlgGen

(

)

[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.

Implements opentl::core::cvdata::Pose.

virtual Pose2d2ScaleTranslation& opentl::core::cvdata::Pose2d2ScaleTranslation::operator=

(

const Pose2d2ScaleTranslation &

value

)

[inline, virtual]

void opentl::core::cvdata::Pose2d2ScaleTranslation::setDataFromVal	(	double	s1,
		double	s2,
		double	tx,
		double	ty
	)

virtual void opentl::core::cvdata::Pose2d2ScaleTranslation::setScaleX

(

double

val

)

[inline, virtual]

Reimplemented from opentl::core::cvdata::Pose.

virtual void opentl::core::cvdata::Pose2d2ScaleTranslation::setScaleY

(

double

val

)

[inline, virtual]

Reimplemented from opentl::core::cvdata::Pose.

virtual void opentl::core::cvdata::Pose2d2ScaleTranslation::setX

(

double

val

)

[inline, virtual]

Reimplemented from opentl::core::cvdata::Pose.

virtual void opentl::core::cvdata::Pose2d2ScaleTranslation::setY

(

double

val

)

[inline, virtual]

Reimplemented from opentl::core::cvdata::Pose.

virtual void opentl::core::cvdata::Pose2d2ScaleTranslation::updateDataFromLocalT

(

)

[inline, virtual]

Set pose by homog. transformation matrix.

Implements opentl::core::cvdata::Pose.

virtual void opentl::core::cvdata::Pose2d2ScaleTranslation::updateWorldTFromData

(

)

[virtual]

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

Parameters:

linkId

If (-1) compute all link matrices

Implements opentl::core::cvdata::Pose.