Inherits opentl::core::cvdata::Pose.
Public Member Functions | |
virtual Pose3dTwist * | 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 () |
Initialize Lie algebra generators for this pose type. | |
virtual Pose3dTwist & | operator= (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. |
Vector components 0 to 2: translation portion Vector components 3 to 5: rotation axis, rotation angle as norm of x3,x4,x5 portion
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.
virtual Pose3dTwist* opentl::core::cvdata::Pose3dTwist::clone | ( | ) | const [virtual] |
Implements opentl::core::cvdata::Pose.
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").
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) |
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.
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) |
Implements opentl::core::cvdata::Pose.
virtual void opentl::core::cvdata::Pose3dTwist::initLieAlgGen | ( | ) | [virtual] |
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] |
virtual void opentl::core::cvdata::Pose3dTwist::updateWorldTFromData | ( | ) | [virtual] |
Function to get the pose as homog. transformation matrix T.
Implements opentl::core::cvdata::Pose.