Inherits opentl::core::cvdata::Pose.
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. |
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.
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.
virtual void opentl::core::cvdata::PoseArticulated::additiveUpdate | ( | ) | [protected, virtual] |
virtual PoseArticulated* opentl::core::cvdata::PoseArticulated::clone | ( | ) | const [virtual] |
Implements opentl::core::cvdata::Pose.
virtual void opentl::core::cvdata::PoseArticulated::compositionalUpdate | ( | ) | [protected, virtual] |
virtual void opentl::core::cvdata::PoseArticulated::copyPoseData | ( | const Pose & | value | ) | [virtual] |
virtual bool opentl::core::cvdata::PoseArticulated::forcePoseLimits | ( | ) | [protected, virtual] |
Check the current pose against the limits, and force the overflowing parameters to the bounds.
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.
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.
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").
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::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.
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::PoseArticulated::initLieAlgGen | ( | ) | [protected, virtual] |
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).
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.
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.
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.
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.
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] |
virtual void opentl::core::cvdata::PoseArticulated::setRefT | ( | const math::Transform & | refT, | |
int | linkId = 0 | |||
) | [inline, virtual] |
Set the reference T matrix.
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] |
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.
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.
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.
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.
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.
std::vector<cvdata::Pose *> opentl::core::cvdata::PoseArticulated::mPoses [protected] |
List of poses (=skeleton nodes).
Pointer to the ShapeAppearance skeleton.