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

Python:
	<ppf_match_3d_Pose3D object>	=	cv.ppf_match_3d_Pose3D(		)
	<ppf_match_3d_Pose3D object>	=	cv.ppf_match_3d_Pose3D(	Alpha[, ModelIndex[, NumVotes]]	)

Pose3D() [2/2]

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

inline

Python:
	<ppf_match_3d_Pose3D object>	=	cv.ppf_match_3d_Pose3D(		)
	<ppf_match_3d_Pose3D object>	=	cv.ppf_match_3d_Pose3D(	Alpha[, ModelIndex[, NumVotes]]	)

~Pose3D()

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

inlinevirtual

Member Function Documentation

appendPose()

void cv::ppf_match_3d::Pose3D::appendPose

(

Matx44d &

IncrementalPose

)

Python:
	None	=	cv.ppf_match_3d_Pose3D.appendPose(	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

(

)

Python:
	None	=	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

)

Python:
	None	=	cv.ppf_match_3d_Pose3D.updatePose(	NewPose	)
	None	=	cv.ppf_match_3d_Pose3D.updatePose(	NewR, NewT	)

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
	)

Python:
	None	=	cv.ppf_match_3d_Pose3D.updatePose(	NewPose	)
	None	=	cv.ppf_match_3d_Pose3D.updatePose(	NewR, NewT	)

Updates the pose with the new one.

updatePoseQuat()

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

Python:
	None	=	cv.ppf_match_3d_Pose3D.updatePoseQuat(	Q, 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

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

• opencv2/surface_matching/pose_3d.hpp