opentl::core::cvdata::Pose2dHomography Class Reference

Sets 2d homography transformation matrix from parameter vector. _y =H(p)x; y = screen coordinates. More...

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

List of all members.

Public Member Functions
virtual Pose2dHomography *	clone () const
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 Pose2dHomography &	operator= (const Pose2dHomography &value)
	Pose2dHomography (const Pose2dHomography &value)
	Pose2dHomography (opentl::core::cvdata::Pose::T_UPDATEMODE updateMode, std::vector< math::Vector2 > *poseLimits=NULL)
void	setDataFromVal (double v0, double v1, double v2, double v3, double v4, double v5, double v6, double v7)
virtual void	updateDataFromLocalT ()
	Set pose by homog. transformation matrix.
virtual void	updateWorldTFromData ()
	Function to get the pose as homog. transformation matrix T.
virtual	~Pose2dHomography ()

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Detailed Description

Sets 2d homography transformation matrix from parameter vector. _y =H(p)x; y = screen coordinates.

y = |_y1/_y3| |_y2/_y3|

In order to be compatible to x in 3d homogeneous coordinates H is 4x4 matrix

|h11+1 h12 0 h13| H = |h21 h22+1 0 h23| |0 0 1 0| |h31 h32 0 1|

Vector[0] = h11 Vector[1] = h21 Vector[2] = h31 Vector[3] = h12 Vector[4] = h22 Vector[5] = h32 Vector[6] = h13 Vector[7] = h23

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Constructor & Destructor Documentation

opentl::core::cvdata::Pose2dHomography::Pose2dHomography	(	opentl::core::cvdata::Pose::T_UPDATEMODE	updateMode,
		std::vector< math::Vector2 > *	poseLimits = NULL
	)

opentl::core::cvdata::Pose2dHomography::Pose2dHomography

(

const Pose2dHomography &

value

)

virtual opentl::core::cvdata::Pose2dHomography::~Pose2dHomography

(

)

[inline, virtual]

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Member Function Documentation

virtual Pose2dHomography* opentl::core::cvdata::Pose2dHomography::clone

(

)

const [virtual]

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

virtual int opentl::core::cvdata::Pose2dHomography::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 (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::Pose2dHomography::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
	)			[inline, 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::Pose2dHomography::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 Pose2dHomography& opentl::core::cvdata::Pose2dHomography::operator=

(

const Pose2dHomography &

value

)

[inline, virtual]

void opentl::core::cvdata::Pose2dHomography::setDataFromVal	(	double	v0,
		double	v1,
		double	v2,
		double	v3,
		double	v4,
		double	v5,
		double	v6,
		double	v7
	)

virtual void opentl::core::cvdata::Pose2dHomography::updateDataFromLocalT

(

)

[inline, virtual]

Set pose by homog. transformation matrix.

Parameters:

matT

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

virtual void opentl::core::cvdata::Pose2dHomography::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.