opentl::core::cvdata::Pose2dDeformableMesh Class Reference

Implemented class for storing 2D/3D multi-part object with synchronized motion. More...

List of all members.

Public Member Functions

virtual Pose2dDeformableMesh * clone () const

virtual void getIncT (math::Transform &incT, int linkId=0)

Function to get the stored value information.

virtual void getLocalT (math::Transform &T, int linkId=0)

Function to get the local, finite T matrix.

virtual void getRefT (math::Transform &refT, int linkId=0)

Return the reference T matrix.

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 Pose & operator= (const Pose &value)

Assignment operator.

virtual Pose2dDeformableMesh & operator= (const Pose2dDeformableMesh &value)

Pose2dDeformableMesh (const Pose2dDeformableMesh &value)

Constructor. Initialize object with existing value object.

Pose2dDeformableMesh (std::vector< math::Vector2 > *verticesList, std::vector< std::vector< std::size_t > > *trianglesList, math::Matrix *deformationModes, opentl::core::cvdata::Pose::T_UPDATEMODE updateMode, std::vector< math::Vector2 > *poseLimits=NULL)

Default constructor.

virtual void resetData ()

Reset to 0 the incremental pose parameters, and the update flag as well.

virtual void resetIncData ()

Reset to 0 the incremental pose parameters, and the update flag as well.

virtual void resetRefT (int linkId=-1)

Reset the reference T matrices (to identity).

virtual void setLocalIncT (const std::vector< math::Transform > &matT)

Set pose parameters by homog. transformation matrix data.

virtual void setLocalT (const std::vector< math::Transform > &matT)

Set pose parameters by homog. transformation matrix data.

virtual void setRefT (const math::Transform &refT, int linkId=0)

Set the reference T matrix.

virtual void updateAdditiveJacT ()

Jacobians of T matrix, in the additive case.

virtual void updateCompositionalJacT ()

Jacobians of T matrix, in the compositional case.

virtual ~Pose2dDeformableMesh ()

Destructor.

Protected Member Functions

virtual void additiveUpdate ()

Add P and incP for all links.

virtual void compositionalUpdate ()

Multiply worldT and expT for all links, store the result in worldT and reset expT.

virtual void initLieAlgGen ()

Initialize Lie algebra generators for all INTER-LINK poses.

virtual void updateDataFromLocalT ()

Set a single INTER-LINK transform, by the T matrix.

void updateIncDataFromT ()

Set a single INTER-LINK incremental transform, by the T matrix.

void updateIncTFromData ()

Function to get the incremental homog. transformation matrix T of link ID.

virtual void updateWorldTFromData ()

Function to get the WORLD homog. transformation matrix T of link ID.

Protected Attributes

math::Vector * mBaseVertices

Base 2D mesh vertices (= zero pose), stacked as (x1,y1,x2,y2,...).

math::Matrix * mDeformationModes

Contour deformation modes (linear): V = V0 + M*p where V0 is the mBaseVertices list, M the deformation modes, and p the pose parameters.

math::Matrix * mTriangleIndices

Triangular indices in the base vertices list NOTE: They must be multiplied by 2, in order to access the right coordinates in mBaseVertices!

Detailed Description

Implemented class for storing 2D/3D multi-part object with synchronized motion.

Author:: G. Panin <panin@in.tum.de>

Constructor & Destructor Documentation

opentl::core::cvdata::Pose2dDeformableMesh::Pose2dDeformableMesh	(	std::vector< math::Vector2 > *	verticesList,
		std::vector< std::vector< std::size_t > > *	trianglesList,
		math::Matrix *	deformationModes,
		opentl::core::cvdata::Pose::T_UPDATEMODE	updateMode,
		std::vector< math::Vector2 > *	poseLimits = `NULL`
	)

Default constructor.

Parameters:

	baseVertices	List of 2D vertices (base shape)
	trianglesList	List of triangular faces (each one is triplet of vertex indices)
	deformationModes	Matrix containing the deformation modes (columns)
	poseLimits	Pose limits

opentl::core::cvdata::Pose2dDeformableMesh::Pose2dDeformableMesh ( const Pose2dDeformableMesh & value )

Constructor. Initialize object with existing value object.

virtual opentl::core::cvdata::Pose2dDeformableMesh::~Pose2dDeformableMesh ( ) [virtual]

Destructor.

Member Function Documentation

virtual void opentl::core::cvdata::Pose2dDeformableMesh::additiveUpdate ( ) [protected, virtual]

Add P and incP for all links.

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

virtual Pose2dDeformableMesh* opentl::core::cvdata::Pose2dDeformableMesh::clone ( ) const [virtual]

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

virtual void opentl::core::cvdata::Pose2dDeformableMesh::compositionalUpdate ( ) [inline, protected, virtual]

Multiply worldT and expT for all links, store the result in worldT and reset expT.

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

virtual void opentl::core::cvdata::Pose2dDeformableMesh::getIncT	(	math::Transform &	incT,
		int	linkId = `0`
	)			`[inline, virtual]`

Function to get the stored value information.

Parameters:

	T	Input and output incremental world T matrix
	linkId	Input which link we refer to.

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

virtual void opentl::core::cvdata::Pose2dDeformableMesh::getLocalT	(	math::Transform &	T,
		int	linkId = `0`
	)			`[virtual]`

Function to get the local, finite T matrix.

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

virtual void opentl::core::cvdata::Pose2dDeformableMesh::getRefT	(	math::Transform &	refT,
		int	linkId = `0`
	)			`[inline, virtual]`

Return the reference T matrix.

Parameters:

	refT	input T matrix: this is pre-multiplied by the local T, to obtain the world T
	linkId	Input which link we refer to.

virtual int opentl::core::cvdata::Pose2dDeformableMesh::initFromPoints	(	const math::Matrix &	bodyPoints,
		const math::Matrix &	screenPoints,
		const math::SquareMatrix &	intrinsicMat,
		const math::Vector *	linkIdx = `NULL`
	)			`[inline, 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::Pose2dDeformableMesh::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::Pose2dDeformableMesh::initLieAlgGen ( ) [inline, protected, virtual]

Initialize Lie algebra generators for all INTER-LINK poses.

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

virtual Pose& opentl::core::cvdata::Pose2dDeformableMesh::operator= ( const Pose & value ) [inline, virtual]

Assignment operator.

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

virtual Pose2dDeformableMesh& opentl::core::cvdata::Pose2dDeformableMesh::operator= ( const Pose2dDeformableMesh & value ) [inline, virtual]

virtual void opentl::core::cvdata::Pose2dDeformableMesh::resetData ( ) [virtual]

Reset to 0 the incremental pose parameters, and the update flag as well.

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

virtual void opentl::core::cvdata::Pose2dDeformableMesh::resetIncData ( ) [virtual]

Reset to 0 the incremental pose parameters, and the update flag as well.

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

virtual void opentl::core::cvdata::Pose2dDeformableMesh::resetRefT ( int linkId = -1 ) [inline, virtual]

Reset the reference T matrices (to identity).

Parameters:

linkId

Input which link we refer to (-1 = reset all links) NOTE: This also resets the internal flag (to speed-up computations, we do not multiply by I!)

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

virtual void opentl::core::cvdata::Pose2dDeformableMesh::setLocalIncT ( const std::vector< math::Transform > & matT ) [inline, virtual]

Set pose parameters by homog. transformation matrix data.

Parameters:

	matT	Homog. transformation matrix.
	linkId	Link ID.

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

virtual void opentl::core::cvdata::Pose2dDeformableMesh::setLocalT ( const std::vector< math::Transform > & matT ) [virtual]

Set pose parameters by homog. transformation matrix data.

Parameters:

	matT	Homog. transformation matrix.
	linkId	Link ID is NOT USED: all links are updated with the same T matrix.

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

virtual void opentl::core::cvdata::Pose2dDeformableMesh::setRefT	(	const math::Transform &	refT,
		int	linkId = `0`
	)			`[inline, virtual]`

Set the reference T matrix.

Parameters:

	refT	input T matrix: this is pre-multiplied by the local T, to obtain the world T
	linkId	Input which link we refer to.

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

virtual void opentl::core::cvdata::Pose2dDeformableMesh::updateAdditiveJacT ( ) [virtual]

Jacobians of T matrix, in the additive case.

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

virtual void opentl::core::cvdata::Pose2dDeformableMesh::updateCompositionalJacT ( ) [inline, virtual]

Jacobians of T matrix, in the compositional case.

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

virtual void opentl::core::cvdata::Pose2dDeformableMesh::updateDataFromLocalT ( ) [protected, virtual]

Set a single INTER-LINK transform, by the T matrix.

Parameters:

linkId

link we refer to.

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

void opentl::core::cvdata::Pose2dDeformableMesh::updateIncDataFromT ( ) [inline, protected, virtual]

Set a single INTER-LINK incremental transform, by the T matrix.

Parameters:

linkId

link we refer to.

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

void opentl::core::cvdata::Pose2dDeformableMesh::updateIncTFromData ( ) [inline, protected, virtual]

Function to get the incremental homog. transformation matrix T of link ID.

Parameters:

linkId

link we refer to.

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

virtual void opentl::core::cvdata::Pose2dDeformableMesh::updateWorldTFromData ( ) [protected, virtual]

Function to get the WORLD homog. transformation matrix T of link ID.

Parameters:

linkId

link we refer to.

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

Member Data Documentation

math::Vector* opentl::core::cvdata::Pose2dDeformableMesh::mBaseVertices [protected]

Base 2D mesh vertices (= zero pose), stacked as (x1,y1,x2,y2,...).

math::Matrix* opentl::core::cvdata::Pose2dDeformableMesh::mDeformationModes [protected]

Contour deformation modes (linear): V = V0 + M*p where V0 is the mBaseVertices list, M the deformation modes, and p the pose parameters.

math::Matrix* opentl::core::cvdata::Pose2dDeformableMesh::mTriangleIndices [protected]

Triangular indices in the base vertices list NOTE: They must be multiplied by 2, in order to access the right coordinates in mBaseVertices!


Public Member Functions
virtual Pose2dDeformableMesh *	clone () const
virtual void	getIncT (math::Transform &incT, int linkId=0)
	Function to get the stored value information.
virtual void	getLocalT (math::Transform &T, int linkId=0)
	Function to get the local, finite T matrix.
virtual void	getRefT (math::Transform &refT, int linkId=0)
	Return the reference T matrix.
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 Pose &	operator= (const Pose &value)
	Assignment operator.
virtual Pose2dDeformableMesh &	operator= (const Pose2dDeformableMesh &value)
	Pose2dDeformableMesh (const Pose2dDeformableMesh &value)
	Constructor. Initialize object with existing value object.
	Pose2dDeformableMesh (std::vector< math::Vector2 > verticesList, std::vector< std::vector< std::size_t > > trianglesList, math::Matrix deformationModes, opentl::core::cvdata::Pose::T_UPDATEMODE updateMode, std::vector< math::Vector2 > poseLimits=NULL)
	Default constructor.
virtual void	resetData ()
	Reset to 0 the incremental pose parameters, and the update flag as well.
virtual void	resetIncData ()
	Reset to 0 the incremental pose parameters, and the update flag as well.
virtual void	resetRefT (int linkId=-1)
	Reset the reference T matrices (to identity).
virtual void	setLocalIncT (const std::vector< math::Transform > &matT)
	Set pose parameters by homog. transformation matrix data.
virtual void	setLocalT (const std::vector< math::Transform > &matT)
	Set pose parameters by homog. transformation matrix data.
virtual void	setRefT (const math::Transform &refT, int linkId=0)
	Set the reference T matrix.
virtual void	updateAdditiveJacT ()
	Jacobians of T matrix, in the additive case.
virtual void	updateCompositionalJacT ()
	Jacobians of T matrix, in the compositional case.
virtual	~Pose2dDeformableMesh ()
	Destructor.
Protected Member Functions
virtual void	additiveUpdate ()
	Add P and incP for all links.
virtual void	compositionalUpdate ()
	Multiply worldT and expT for all links, store the result in worldT and reset expT.
virtual void	initLieAlgGen ()
	Initialize Lie algebra generators for all INTER-LINK poses.
virtual void	updateDataFromLocalT ()
	Set a single INTER-LINK transform, by the T matrix.
void	updateIncDataFromT ()
	Set a single INTER-LINK incremental transform, by the T matrix.
void	updateIncTFromData ()
	Function to get the incremental homog. transformation matrix T of link ID.
virtual void	updateWorldTFromData ()
	Function to get the WORLD homog. transformation matrix T of link ID.
Protected Attributes
math::Vector *	mBaseVertices
	Base 2D mesh vertices (= zero pose), stacked as (x1,y1,x2,y2,...).
math::Matrix *	mDeformationModes
	Contour deformation modes (linear): V = V0 + M*p where V0 is the mBaseVertices list, M the deformation modes, and p the pose parameters.
math::Matrix *	mTriangleIndices
	Triangular indices in the base vertices list NOTE: They must be multiplied by 2, in order to access the right coordinates in mBaseVertices!