Inherits opentl::core::cvdata::Pose.
Public Member Functions | |
virtual Pose3dRotoZTranslation * | clone () const |
virtual double | getAngleZ () |
virtual double | getX () |
virtual double | getY () |
virtual double | getZ () |
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 Pose & | operator= (const Pose &value) |
Assignment operator. | |
virtual Pose3dRotoZTranslation & | operator= (const Pose3dRotoZTranslation &value) |
Pose3dRotoZTranslation (const Pose3dRotoZTranslation &value) | |
Constructor. Initialize object with existing value object. | |
Pose3dRotoZTranslation (opentl::core::cvdata::Pose::T_UPDATEMODE updateMode, std::vector< math::Vector2 > *poseLimits=NULL) | |
Default constructor. | |
virtual void | setAngleZ (double val) |
void | setDataFromVal (double gamma, double tx, double ty, double tz) |
Set pose data one by one. See class definition for parameter meaning. | |
virtual void | setX (double val) |
virtual void | setY (double val) |
virtual void | setZ (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 | ~Pose3dRotoZTranslation () |
Destructor. |
x_new_hom = T(p)*x_hom ;
| tx| T = | R_z(gamma) ty| | tz| |0 0 1|
Vector6[0] = gamma (in rad) Vector6[1] = tx Vector6[2] = ty Vector6[3] = tz
opentl::core::cvdata::Pose3dRotoZTranslation::Pose3dRotoZTranslation | ( | opentl::core::cvdata::Pose::T_UPDATEMODE | updateMode, | |
std::vector< math::Vector2 > * | poseLimits = NULL | |||
) |
Default constructor.
opentl::core::cvdata::Pose3dRotoZTranslation::Pose3dRotoZTranslation | ( | const Pose3dRotoZTranslation & | value | ) |
Constructor. Initialize object with existing value object.
virtual opentl::core::cvdata::Pose3dRotoZTranslation::~Pose3dRotoZTranslation | ( | ) | [inline, virtual] |
Destructor.
virtual Pose3dRotoZTranslation* opentl::core::cvdata::Pose3dRotoZTranslation::clone | ( | ) | const [virtual] |
Implements opentl::core::cvdata::Pose.
virtual double opentl::core::cvdata::Pose3dRotoZTranslation::getAngleZ | ( | ) | [inline, virtual] |
Reimplemented from opentl::core::cvdata::Pose.
virtual double opentl::core::cvdata::Pose3dRotoZTranslation::getX | ( | ) | [inline, virtual] |
Reimplemented from opentl::core::cvdata::Pose.
virtual double opentl::core::cvdata::Pose3dRotoZTranslation::getY | ( | ) | [inline, virtual] |
Reimplemented from opentl::core::cvdata::Pose.
virtual double opentl::core::cvdata::Pose3dRotoZTranslation::getZ | ( | ) | [inline, virtual] |
Reimplemented from opentl::core::cvdata::Pose.
virtual int opentl::core::cvdata::Pose3dRotoZTranslation::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").
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) |
Implements opentl::core::cvdata::Pose.
virtual int opentl::core::cvdata::Pose3dRotoZTranslation::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::Pose3dRotoZTranslation::initLieAlgGen | ( | ) | [virtual] |
virtual Pose3dRotoZTranslation& opentl::core::cvdata::Pose3dRotoZTranslation::operator= | ( | const Pose3dRotoZTranslation & | value | ) | [inline, virtual] |
virtual void opentl::core::cvdata::Pose3dRotoZTranslation::setAngleZ | ( | double | val | ) | [inline, virtual] |
Reimplemented from opentl::core::cvdata::Pose.
void opentl::core::cvdata::Pose3dRotoZTranslation::setDataFromVal | ( | double | gamma, | |
double | tx, | |||
double | ty, | |||
double | tz | |||
) |
Set pose data one by one. See class definition for parameter meaning.
virtual void opentl::core::cvdata::Pose3dRotoZTranslation::setX | ( | double | val | ) | [inline, virtual] |
Reimplemented from opentl::core::cvdata::Pose.
virtual void opentl::core::cvdata::Pose3dRotoZTranslation::setY | ( | double | val | ) | [inline, virtual] |
Reimplemented from opentl::core::cvdata::Pose.
virtual void opentl::core::cvdata::Pose3dRotoZTranslation::setZ | ( | double | val | ) | [inline, virtual] |
Reimplemented from opentl::core::cvdata::Pose.
virtual void opentl::core::cvdata::Pose3dRotoZTranslation::updateDataFromLocalT | ( | ) | [virtual] |
virtual void opentl::core::cvdata::Pose3dRotoZTranslation::updateWorldTFromData | ( | ) | [virtual] |
Function to get the pose as homog. transformation matrix T.
Implements opentl::core::cvdata::Pose.