opentl::core::cvdata::PoseArticulated Class Reference

Implemented class for storing 2D/3D articulated and multi-part objects. More...

List of all members.

Public Member Functions

virtual PoseArticulated * clone () const

virtual void copyPoseData (const Pose &value)

Internal function for the operator =.

virtual double getAngleX ()

virtual double getAngleY ()

virtual double getAngleZ ()

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 (= inter-link).

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

Return the reference T matrix.

virtual double getScaleX ()

virtual double getScaleY ()

virtual double getScaleZ ()

cvdata::Pose * getSinglePose (int linkId) const

Return the single INTER-LINK Pose class, for a given link.

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 Pose & operator= (const Pose &value)

Assignment operator.

virtual PoseArticulated & operator= (const PoseArticulated &value)

PoseArticulated (const PoseArticulated &value)

Constructor. Initialize object with existing value object.

PoseArticulated (opentl::core::cvdata::Skeleton *skel, opentl::core::cvdata::CvData::DataReprClass poseClass, 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 setAngleX (double sX)

virtual void setAngleY (double sY)

virtual void setAngleZ (double sZ)

virtual void setDataFromVec (const math::Vector &value)

Set INTER-LINK T matrices, by using a global vector.

virtual void setIncDataFromVec (const math::Vector &value)

Set INTER-LINK incremental T matrices, by using a global vector.

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 setScaleX (double sX)

virtual void setScaleY (double sY)

virtual void setScaleZ (double sZ)

virtual void setX (double X)

virtual void setY (double Y)

virtual void setZ (double Z)

virtual void updateAdditiveJacT ()

Jacobians of T matrix, in the additive case.

virtual void updateCompositionalJacT ()

Function to get the pose derivatives as homog. transformation matrices, mJacT.

void updateFromRootPose ()

virtual ~PoseArticulated ()

Destructor.

Protected Member Functions

virtual void additiveUpdate ()

Perform additive updates for all links.

virtual void compositionalUpdate ()

Perform compositional updates for all links.

virtual bool forcePoseLimits ()

Check the current pose against the limits, and force the overflowing parameters to the bounds.

virtual void initLieAlgGen ()

Initialize Lie algebra generators for all INTER-LINK poses.

virtual void setPoseLimits (std::vector< math::Vector2 > &poseLimits)

Set the pose limits.

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

std::vector< cvdata::Pose * > mPoses

List of poses (=skeleton nodes).

opentl::core::cvdata::Skeleton * mSkel

Pointer to the ShapeAppearance skeleton.

Detailed Description

Implemented class for storing 2D/3D articulated and multi-part objects.

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

Constructor & Destructor Documentation

opentl::core::cvdata::PoseArticulated::PoseArticulated	(	opentl::core::cvdata::Skeleton *	skel,
		opentl::core::cvdata::CvData::DataReprClass	poseClass,
		opentl::core::cvdata::Pose::T_UPDATEMODE	updateMode,
		std::vector< math::Vector2 > *	poseLimits = `NULL`
	)

Default constructor.

Parameters:

	skel	Skeleton model (required)
	poseClass	It can be POSE_2D or POSE_3D. Reason: the skeleton can contain EITHER 2D OR 3D poses, but not both types!
	poseLimits	(optional) Upper and lower bounds for internal pose parameters (finite P values)

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

Constructor. Initialize object with existing value object.

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

Destructor.

Member Function Documentation

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

Perform additive updates for all links.

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

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

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

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

Perform compositional updates for all links.

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

virtual void opentl::core::cvdata::PoseArticulated::copyPoseData ( const Pose & value ) [virtual]

Internal function for the operator =.

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

virtual bool opentl::core::cvdata::PoseArticulated::forcePoseLimits ( ) [protected, virtual]

Check the current pose against the limits, and force the overflowing parameters to the bounds.

Returns:: true if the pose has been changed (i.e. it was beyond the limits)

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

virtual double opentl::core::cvdata::PoseArticulated::getAngleX ( ) [inline, virtual]

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

virtual double opentl::core::cvdata::PoseArticulated::getAngleY ( ) [inline, virtual]

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

virtual double opentl::core::cvdata::PoseArticulated::getAngleZ ( ) [inline, virtual]

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

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

Function to get the local, finite T matrix (= inter-link).

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

virtual void opentl::core::cvdata::PoseArticulated::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 double opentl::core::cvdata::PoseArticulated::getScaleX ( ) [inline, virtual]

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

virtual double opentl::core::cvdata::PoseArticulated::getScaleY ( ) [inline, virtual]

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

virtual double opentl::core::cvdata::PoseArticulated::getScaleZ ( ) [inline, virtual]

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

cvdata::Pose* opentl::core::cvdata::PoseArticulated::getSinglePose ( int linkId ) const [inline]

Return the single INTER-LINK Pose class, for a given link.

virtual double opentl::core::cvdata::PoseArticulated::getX ( ) [inline, virtual]

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

virtual double opentl::core::cvdata::PoseArticulated::getY ( ) [inline, virtual]

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

virtual double opentl::core::cvdata::PoseArticulated::getZ ( ) [inline, virtual]

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

virtual int opentl::core::cvdata::PoseArticulated::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 (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::PoseArticulated::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::PoseArticulated::initLieAlgGen ( ) [protected, virtual]

Initialize Lie algebra generators for all INTER-LINK poses.

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

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

Assignment operator.

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

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

virtual void opentl::core::cvdata::PoseArticulated::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::PoseArticulated::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::PoseArticulated::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::PoseArticulated::setAngleX ( double sX ) [inline, virtual]

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

virtual void opentl::core::cvdata::PoseArticulated::setAngleY ( double sY ) [inline, virtual]

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

virtual void opentl::core::cvdata::PoseArticulated::setAngleZ ( double sZ ) [inline, virtual]

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

virtual void opentl::core::cvdata::PoseArticulated::setDataFromVec ( const math::Vector & value ) [virtual]

Set INTER-LINK T matrices, by using a global vector.

Parameters:

	value	Global or single-link pose vector (inc. representation)
	linkId	Update a single link, or all the body (-1)

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

virtual void opentl::core::cvdata::PoseArticulated::setIncDataFromVec ( const math::Vector & value ) [virtual]

Set INTER-LINK incremental T matrices, by using a global vector.

Parameters:

	value	Global or single-link pose vector (inc. representation)
	linkId	Update a single link, or all the body (-1)

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

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

Set pose parameters by homog. transformation matrix data.

Parameters:

	matT	Homog. transformation matrix.
	linkId	Update only one link (by default, link 0).

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

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

Set pose parameters by homog. transformation matrix data.

Parameters:

	matT	Homog. transformation matrix.
	linkId	Update only one link (by default, link 0).

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

virtual void opentl::core::cvdata::PoseArticulated::setPoseLimits ( std::vector< math::Vector2 > & poseLimits ) [protected, virtual]

Set the pose limits.

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

virtual void opentl::core::cvdata::PoseArticulated::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::PoseArticulated::setScaleX ( double sX ) [inline, virtual]

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

virtual void opentl::core::cvdata::PoseArticulated::setScaleY ( double sY ) [inline, virtual]

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

virtual void opentl::core::cvdata::PoseArticulated::setScaleZ ( double sZ ) [inline, virtual]

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

virtual void opentl::core::cvdata::PoseArticulated::setX ( double X ) [inline, virtual]

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

virtual void opentl::core::cvdata::PoseArticulated::setY ( double Y ) [inline, virtual]

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

virtual void opentl::core::cvdata::PoseArticulated::setZ ( double Z ) [inline, virtual]

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

virtual void opentl::core::cvdata::PoseArticulated::updateAdditiveJacT ( ) [inline, virtual]

Jacobians of T matrix, in the additive case.

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

virtual void opentl::core::cvdata::PoseArticulated::updateCompositionalJacT ( ) [virtual]

Function to get the pose derivatives as homog. transformation matrices, mJacT.

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

virtual void opentl::core::cvdata::PoseArticulated::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::PoseArticulated::updateFromRootPose ( ) [inline]

void opentl::core::cvdata::PoseArticulated::updateIncDataFromT ( ) [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::PoseArticulated::updateIncTFromData ( ) [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::PoseArticulated::updateWorldTFromData ( ) [protected, virtual]

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

Parameters:

linkId

link we refer to. NOTE: In this function implementation, the global data vector is not used. But the name must stay the same of the abstract class!

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

Member Data Documentation

std::vector<cvdata::Pose *> opentl::core::cvdata::PoseArticulated::mPoses [protected]

List of poses (=skeleton nodes).

opentl::core::cvdata::Skeleton* opentl::core::cvdata::PoseArticulated::mSkel [protected]

Pointer to the ShapeAppearance skeleton.


Public Member Functions
virtual PoseArticulated *	clone () const
virtual void	copyPoseData (const Pose &value)
	Internal function for the operator =.
virtual double	getAngleX ()
virtual double	getAngleY ()
virtual double	getAngleZ ()
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 (= inter-link).
virtual void	getRefT (math::Transform &refT, int linkId=0)
	Return the reference T matrix.
virtual double	getScaleX ()
virtual double	getScaleY ()
virtual double	getScaleZ ()
cvdata::Pose *	getSinglePose (int linkId) const
	Return the single INTER-LINK Pose class, for a given link.
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 Pose &	operator= (const Pose &value)
	Assignment operator.
virtual PoseArticulated &	operator= (const PoseArticulated &value)
	PoseArticulated (const PoseArticulated &value)
	Constructor. Initialize object with existing value object.
	PoseArticulated (opentl::core::cvdata::Skeleton skel, opentl::core::cvdata::CvData::DataReprClass poseClass, 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	setAngleX (double sX)
virtual void	setAngleY (double sY)
virtual void	setAngleZ (double sZ)
virtual void	setDataFromVec (const math::Vector &value)
	Set INTER-LINK T matrices, by using a global vector.
virtual void	setIncDataFromVec (const math::Vector &value)
	Set INTER-LINK incremental T matrices, by using a global vector.
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	setScaleX (double sX)
virtual void	setScaleY (double sY)
virtual void	setScaleZ (double sZ)
virtual void	setX (double X)
virtual void	setY (double Y)
virtual void	setZ (double Z)
virtual void	updateAdditiveJacT ()
	Jacobians of T matrix, in the additive case.
virtual void	updateCompositionalJacT ()
	Function to get the pose derivatives as homog. transformation matrices, mJacT.
void	updateFromRootPose ()
virtual	~PoseArticulated ()
	Destructor.
Protected Member Functions
virtual void	additiveUpdate ()
	Perform additive updates for all links.
virtual void	compositionalUpdate ()
	Perform compositional updates for all links.
virtual bool	forcePoseLimits ()
	Check the current pose against the limits, and force the overflowing parameters to the bounds.
virtual void	initLieAlgGen ()
	Initialize Lie algebra generators for all INTER-LINK poses.
virtual void	setPoseLimits (std::vector< math::Vector2 > &poseLimits)
	Set the pose limits.
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
std::vector< cvdata::Pose * >	mPoses
	List of poses (=skeleton nodes).
opentl::core::cvdata::Skeleton *	mSkel
	Pointer to the ShapeAppearance skeleton.