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]

IncrementalPose

New 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]

NewPose

New 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]

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

• /build/master-contrib_docs-mac/opencv_contrib/modules/surface_matching/include/opencv2/surface_matching/pose_3d.hpp