opentl::core::cvdata::Pose3dTwist Class Reference

Implemented class for storing 3D solid object related value data in twist vector representation. More...

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

List of all members.

Public Member Functions

virtual Pose3dTwistclone () 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 ()
 Initialize Lie algebra generators for this pose type.
virtual Pose3dTwistoperator= (const Pose3dTwist &value)
 Pose3dTwist (const Pose3dTwist &value)
 Constructor. Initialize object with existing value object.
 Pose3dTwist (opentl::core::cvdata::Pose::T_UPDATEMODE updateMode, std::vector< math::Vector2 > *poseLimits=NULL)
 Default constructor.
void setDataFromVal (double t1, double t2, double t3, double r1, double r2, double r3)
 Set pose data.
virtual void updateDataFromLocalT ()
 Set pose by homog. transformation matrix.
virtual void updateWorldTFromData ()
 Function to get the pose as homog. transformation matrix T.
virtual ~Pose3dTwist ()
 Destructor.


Detailed Description

Implemented class for storing 3D solid object related value data in twist vector representation.

Author:
E. Roth <eroth@weihenstephan.org>
Vector components 0 to 2: translation portion Vector components 3 to 5: rotation axis, rotation angle as norm of x3,x4,x5 portion

Constructor & Destructor Documentation

opentl::core::cvdata::Pose3dTwist::Pose3dTwist ( opentl::core::cvdata::Pose::T_UPDATEMODE  updateMode,
std::vector< math::Vector2 > *  poseLimits = NULL 
)

Default constructor.

opentl::core::cvdata::Pose3dTwist::Pose3dTwist ( const Pose3dTwist value  ) 

Constructor. Initialize object with existing value object.

virtual opentl::core::cvdata::Pose3dTwist::~Pose3dTwist (  )  [inline, virtual]

Destructor.


Member Function Documentation

virtual Pose3dTwist* opentl::core::cvdata::Pose3dTwist::clone (  )  const [virtual]

virtual int opentl::core::cvdata::Pose3dTwist::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)
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::Pose3dTwist::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::Pose3dTwist::initLieAlgGen (  )  [virtual]

Initialize Lie algebra generators for this pose type.

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

virtual Pose3dTwist& opentl::core::cvdata::Pose3dTwist::operator= ( const Pose3dTwist value  )  [inline, virtual]

void opentl::core::cvdata::Pose3dTwist::setDataFromVal ( double  t1,
double  t2,
double  t3,
double  r1,
double  r2,
double  r3 
)

Set pose data.

virtual void opentl::core::cvdata::Pose3dTwist::updateDataFromLocalT (  )  [virtual]

Set pose by homog. transformation matrix.

Parameters:
matT 

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

virtual void opentl::core::cvdata::Pose3dTwist::updateWorldTFromData (  )  [virtual]

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

Returns:
transformation matrix T

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


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