opentl::core::cvdata::Pose2d2ScaleRotation Class Reference

Implemented class for storing 2D solid object related transformation data with 3 DOF (2xscale, rotation). More...

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

List of all members.

Public Member Functions
virtual Pose2d2ScaleRotation *	clone () const
virtual double	getAngleZ ()
virtual double	getScaleX ()
virtual double	getScaleY ()
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 Pose &	operator= (const Pose &value)
	Assignment operator.
virtual Pose2d2ScaleRotation &	operator= (const Pose2d2ScaleRotation &value)
	Pose2d2ScaleRotation (const Pose2d2ScaleRotation &value)
	Pose2d2ScaleRotation (opentl::core::cvdata::Pose::T_UPDATEMODE updateMode, std::vector< math::Vector2 > *poseLimits=NULL)
virtual void	setAngleZ (double val)
void	setDataFromVal (double v0, double v1, double v2)
virtual void	setScaleX (double val)
virtual void	setScaleY (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	~Pose2d2ScaleRotation ()

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Detailed Description

Implemented class for storing 2D solid object related transformation data with 3 DOF (2xscale, rotation).

Sets transformationn matrix from 2d 2 scales, rotation vector. y=H(p)x; y = screen coordinates In order to be compatible to x in 3d homogeneous coordinates H is 4x4 matrix

|s1*cos(phi) s1*(-sin(phi)) 0 0| H = |s2*sin(phi) s2*cos(phi) 0 0| |0 0 1 0| |0 0 0 1|

Vector[0] = s1 Vector[1] = s2 Vector[2] = phi (in rad!)

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Constructor & Destructor Documentation

opentl::core::cvdata::Pose2d2ScaleRotation::Pose2d2ScaleRotation	(	opentl::core::cvdata::Pose::T_UPDATEMODE	updateMode,
		std::vector< math::Vector2 > *	poseLimits = NULL
	)

opentl::core::cvdata::Pose2d2ScaleRotation::Pose2d2ScaleRotation

(

const Pose2d2ScaleRotation &

value

)

virtual opentl::core::cvdata::Pose2d2ScaleRotation::~Pose2d2ScaleRotation

(

)

[inline, virtual]

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Member Function Documentation

virtual Pose2d2ScaleRotation* opentl::core::cvdata::Pose2d2ScaleRotation::clone

(

)

const [virtual]

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

virtual double opentl::core::cvdata::Pose2d2ScaleRotation::getAngleZ

(

)

[inline, virtual]

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

virtual double opentl::core::cvdata::Pose2d2ScaleRotation::getScaleX

(

)

[inline, virtual]

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

virtual double opentl::core::cvdata::Pose2d2ScaleRotation::getScaleY

(

)

[inline, virtual]

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

virtual int opentl::core::cvdata::Pose2d2ScaleRotation::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::Pose2d2ScaleRotation::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::Pose2d2ScaleRotation::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 Pose& opentl::core::cvdata::Pose2d2ScaleRotation::operator=

(

const Pose &

value

)

[inline, virtual]

Assignment operator.

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

virtual Pose2d2ScaleRotation& opentl::core::cvdata::Pose2d2ScaleRotation::operator=

(

const Pose2d2ScaleRotation &

value

)

[inline, virtual]

virtual void opentl::core::cvdata::Pose2d2ScaleRotation::setAngleZ

(

double

val

)

[inline, virtual]

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

void opentl::core::cvdata::Pose2d2ScaleRotation::setDataFromVal	(	double	v0,
		double	v1,
		double	v2
	)

virtual void opentl::core::cvdata::Pose2d2ScaleRotation::setScaleX

(

double

val

)

[inline, virtual]

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

virtual void opentl::core::cvdata::Pose2d2ScaleRotation::setScaleY

(

double

val

)

[inline, virtual]

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

virtual void opentl::core::cvdata::Pose2d2ScaleRotation::updateDataFromLocalT

(

)

[virtual]

Set pose by homog. transformation matrix.

Parameters:

matT

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

virtual void opentl::core::cvdata::Pose2d2ScaleRotation::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.