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 <opencv2/surface_matching/pose_3d.hpp>

Public Member Functions
	Pose3D ()

	Pose3D (double Alpha, size_t ModelIndex=0, size_t NumVotes=0)

virtual	~Pose3D ()

void	appendPose (Matx44d &IncrementalPose)
	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 (Matx44d &NewPose)
	Updates the pose with the new one. More...

void	updatePose (Matx33d &NewR, Vec3d &NewT)
	Updates the pose with the new one. More...

void	updatePoseQuat (Vec4d &Q, Vec3d &NewT)
	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

size_t	modelIndex

size_t	numVotes

Matx44d	pose

Vec4d	q

double	residual

Vec3d	t

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

◆ Pose3D() [1/2]

cv::ppf_match_3d::Pose3D::Pose3D ( )

inline

◆ Pose3D() [2/2]

cv::ppf_match_3d::Pose3D::Pose3D	(	double	Alpha,
		size_t	ModelIndex = `0`,
		size_t	NumVotes = `0`
	)

inline

◆ ~Pose3D()

virtual cv::ppf_match_3d::Pose3D::~Pose3D ( )

inlinevirtual

Member Function Documentation

◆ appendPose()

void cv::ppf_match_3d::Pose3D::appendPose ( Matx44d & IncrementalPose )

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

Parameters

[in] IncrementalPose New pose to apply

◆ clone()

Pose3DPtr cv::ppf_match_3d::Pose3D::clone ( )

◆ printPose()

void cv::ppf_match_3d::Pose3D::printPose ( )

◆ readPose() [1/2]

int cv::ppf_match_3d::Pose3D::readPose ( FILE * f )

◆ readPose() [2/2]

int cv::ppf_match_3d::Pose3D::readPose ( const std::string & FileName )

◆ updatePose() [1/2]

void cv::ppf_match_3d::Pose3D::updatePose ( Matx44d & NewPose )

Updates the pose with the new one.

Parameters

[in] NewPose New pose to overwrite

◆ updatePose() [2/2]

void cv::ppf_match_3d::Pose3D::updatePose	(	Matx33d &	NewR,
		Vec3d &	NewT
	)

Updates the pose with the new one.

◆ updatePoseQuat()

void cv::ppf_match_3d::Pose3D::updatePoseQuat	(	Vec4d &	Q,
		Vec3d &	NewT
	)

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

◆ writePose() [1/2]

int cv::ppf_match_3d::Pose3D::writePose ( FILE * f )

◆ writePose() [2/2]

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

Member Data Documentation

◆ alpha

double cv::ppf_match_3d::Pose3D::alpha

◆ angle

double cv::ppf_match_3d::Pose3D::angle

◆ modelIndex

size_t cv::ppf_match_3d::Pose3D::modelIndex

◆ numVotes

size_t cv::ppf_match_3d::Pose3D::numVotes

◆ pose

Matx44d cv::ppf_match_3d::Pose3D::pose

◆ q

Vec4d cv::ppf_match_3d::Pose3D::q

◆ residual

double cv::ppf_match_3d::Pose3D::residual

◆ t

Vec3d cv::ppf_match_3d::Pose3D::t

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

opencv2/surface_matching/pose_3d.hpp

Public Member Functions

Public Attributes