OpenCV  3.4.11-dev
Open Source Computer Vision
Public Member Functions | Public Attributes | List of all members
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 <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]IncrementalPoseNew 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]NewPoseNew 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: