opentl::core::cvdata::Pose3dRotoZTranslation Class Reference

Implemented class for storing 3D solid object related rotation with Euler angles and translation transformation data limiting the rotation to Z axes only. T is 4x4 matrix. More...

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

List of all members.

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.

---

Detailed Description

Implemented class for storing 3D solid object related rotation with Euler angles and translation transformation data limiting the rotation to Z axes only. T is 4x4 matrix.

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

---

Constructor & Destructor Documentation

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.

---

Member Function Documentation

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").

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::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.

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::Pose3dRotoZTranslation::initLieAlgGen

(

)

[virtual]

Initialize Lie algebra generators for this pose type.

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

virtual Pose& opentl::core::cvdata::Pose3dRotoZTranslation::operator=

(

const Pose &

value

)

[inline, virtual]

Assignment operator.

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

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]

Set pose by homog. transformation matrix.

Parameters:

matT

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

virtual void opentl::core::cvdata::Pose3dRotoZTranslation::updateWorldTFromData

(

)

[virtual]

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

Returns:

transformation matrix T

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