OpenCV  3.0.0
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cv::ppf_match_3d::Pose3D Class Reference

Class, allowing the storage of a pose. The data structure stores both the quaternions and the matrix forms. It supports IO functionality together with various helper methods to work with poses. More...

#include "pose_3d.hpp"

Public Member Functions

 Pose3D ()
 
 Pose3D (double Alpha, unsigned int ModelIndex=0, unsigned int NumVotes=0)
 
virtual ~Pose3D ()
 
void appendPose (double IncrementalPose[16])
 Left multiplies the existing pose in order to update the transformation. More...
 
Pose3DPtr clone ()
 
void printPose ()
 
int readPose (FILE *f)
 
int readPose (const std::string &FileName)
 
void updatePose (double NewPose[16])
 Updates the pose with the new one. More...
 
void updatePose (double NewR[9], double NewT[3])
 Updates the pose with the new one. More...
 
void updatePoseQuat (double Q[4], double NewT[3])
 Updates the pose with the new one, but this time using quaternions to represent rotation. More...
 
int writePose (FILE *f)
 
int writePose (const std::string &FileName)
 

Public Attributes

double alpha
 
double angle
 
unsigned int modelIndex
 
unsigned int numVotes
 
double pose [16]
 
double q [4]
 
double residual
 
double t [3]
 

Detailed Description

Class, allowing the storage of a pose. The data structure stores both the quaternions and the matrix forms. It supports IO functionality together with various helper methods to work with poses.

Constructor & Destructor Documentation

cv::ppf_match_3d::Pose3D::Pose3D ( )
inline
cv::ppf_match_3d::Pose3D::Pose3D ( double  Alpha,
unsigned int  ModelIndex = 0,
unsigned int  NumVotes = 0 
)
inline
virtual cv::ppf_match_3d::Pose3D::~Pose3D ( )
inlinevirtual

Member Function Documentation

void cv::ppf_match_3d::Pose3D::appendPose ( double  IncrementalPose[16])

Left multiplies the existing pose in order to update the transformation.

Parameters
[in]IncrementalPoseNew pose to apply
Pose3DPtr cv::ppf_match_3d::Pose3D::clone ( )
void cv::ppf_match_3d::Pose3D::printPose ( )
int cv::ppf_match_3d::Pose3D::readPose ( FILE *  f)
int cv::ppf_match_3d::Pose3D::readPose ( const std::string &  FileName)
void cv::ppf_match_3d::Pose3D::updatePose ( double  NewPose[16])

Updates the pose with the new one.

Parameters
[in]NewPoseNew pose to overwrite
void cv::ppf_match_3d::Pose3D::updatePose ( double  NewR[9],
double  NewT[3] 
)

Updates the pose with the new one.

void cv::ppf_match_3d::Pose3D::updatePoseQuat ( double  Q[4],
double  NewT[3] 
)

Updates the pose with the new one, but this time using quaternions to represent rotation.

int cv::ppf_match_3d::Pose3D::writePose ( FILE *  f)
int cv::ppf_match_3d::Pose3D::writePose ( const std::string &  FileName)

Member Data Documentation

double cv::ppf_match_3d::Pose3D::alpha
double cv::ppf_match_3d::Pose3D::angle
unsigned int cv::ppf_match_3d::Pose3D::modelIndex
unsigned int cv::ppf_match_3d::Pose3D::numVotes
double cv::ppf_match_3d::Pose3D::pose[16]
double cv::ppf_match_3d::Pose3D::q[4]
double cv::ppf_match_3d::Pose3D::residual
double cv::ppf_match_3d::Pose3D::t[3]

The documentation for this class was generated from the following file: