Pose representation derived from the Rotation class More...

#include <Pose.h>

Inheritance diagram for alvar::Pose:

Public Member Functions
void	GetMatrix (CvMat *mat) const

void	GetMatrixGL (double gl[16], bool mirror=true)
	Get the transformation matrix representation of the Pose using OpenGL's transposed format. Note, that by default this also mirrors both the y- and z-axis (see Camera and Pose for more information) More...

void	GetTranslation (CvMat *tra) const

void	Invert ()

void	Mirror (bool x, bool y, bool z)

Pose &	operator= (const Pose &p)

void	Output () const

	Pose ()

	Pose (CvMat tra, CvMat rot, RotationType t)

	Pose (CvMat *mat)

	Pose (const Pose &p)

void	Reset ()

void	SetMatrix (const CvMat *mat)

void	SetMatrixGL (double gl[16], bool mirror=true)
	Set the Pose using OpenGL's transposed format. Note, that by default this also mirrors both the y- and z-axis (see Camera and Pose for more information) More...

void	SetTranslation (const CvMat *tra)

void	SetTranslation (const double *tra)

void	SetTranslation (const double x, const double y, const double z)

void	Transpose ()

Public Member Functions inherited from alvar::Rotation
void	GetEuler (CvMat *mat) const
	Returns the rotation in Euler angles. More...

void	GetMatrix (CvMat *mat) const
	Returns the rotation in matrix form. 3x3 and 4x4 matrices are allowed. More...

void	GetQuaternion (CvMat *mat) const
	Returns the rotation in quaternion form. More...

void	GetRodriques (CvMat *mat) const
	Returns the rotation in rotation vector form. More...

void	Mirror (bool x, bool y, bool z)
	Mirrors the rotation in selected directions. More...

Rotation &	operator+= (const Rotation &v)

Rotation &	operator= (const Rotation &p)

void	Reset ()
	Resets the rotation into identity. More...

	Rotation ()

	Rotation (const Rotation &r)

	Rotation (CvMat *data, RotationType t)
	Constructor. More...

void	SetEuler (const CvMat *mat)
	Sets the rotation from given Euler angles. More...

void	SetMatrix (const CvMat *mat)
	Sets the rotation from given rotation matrix. 3x3 and 4x4 matrices are allowed. More...

void	SetQuaternion (CvMat *mat)
	Sets the rotation from given quaternion. More...

void	SetQuaternion (const double *quat)
	Sets the rotation from given quaternion. More...

void	SetRodriques (const CvMat *mat)
	Sets the rotation from given rotation vector. More...

void	Transpose ()

Public Attributes
double	translation [4]

CvMat	translation_mat

Public Attributes inherited from alvar::Rotation
double	quaternion [4]

CvMat	quaternion_mat

Additional Inherited Members
Public Types inherited from alvar::Rotation
enum	RotationType { QUAT, MAT, EUL, ROD }
	Rotation can be represented in four ways: quaternion (QUAT), matrix (MAT), euler angles (EUL) and exponential map (ROD). More...

Static Public Member Functions inherited from alvar::Rotation
static void	EulToQuat (const double eul, double quat)
	Converts a rotation described by Euler angles into quaternion form. More...

static void	Mat9ToQuat (const double mat, double quat)
	Converts a 3x3 rotation martix into quaternion form. More...

static void	Mat9ToRod (double mat, double rod)
	Converts 3x3 rotation matrix into Rodriques representation. More...

static void	MirrorMat (CvMat *mat, bool x, bool y, bool z)
	Simple function to mirror a rotation matrix in different directions. More...

static void	QuatInv (const double q, double qi)
	Inverts unit quaternion. More...

static void	QuatMul (const double q1, const double q2, double *q3)
	Quaternion multiplication. More...

static void	QuatNorm (double *q)
	Normalizes a quaternion. More...

static void	QuatToEul (const double q, double eul)
	Converts a rotation described by a quaternion into Euler angles. More...

static void	QuatToMat16 (const double quat, double mat)
	Converts a rotation described by a quaternion into 4x4 OpenGL-like transformation matrix. The translation part is not altered. More...

static void	QuatToMat9 (const double quat, double mat)
	Converts a rotation described by a quaternion into 3x3 rotation matrix. More...

static void	RodToMat9 (double rod, double mat)
	Converts 3x1 rotation vector into 3x3 rotation matrix using Rodriques' formula. More...

Detailed Description

Pose representation derived from the Rotation class

The rotation part of the transformation is handled by Rotation . The translation part is stored internally using homogeneous 4-vector.

Internally in ALVAR we assume coordinate system where 'x' is right, 'y' is down, and 'z' is forward. However the SetMatrixGL and GetMatrixGL change the pose to support coordinates commonly used in OpenGL: 'x' is right, 'y' is up, and 'z' is backward.

Examples:: SampleCamCalib.cpp, SampleMarkerCreator.cpp, SampleMarkerDetector.cpp, SampleMarkerHide.cpp, SampleMarkerlessDetector.cpp, SampleMultiMarker.cpp, SampleMultiMarkerBundle.cpp, and SamplePointcloud.cpp.

Definition at line 50 of file Pose.h.

Constructor & Destructor Documentation

alvar::Pose::Pose ( )

Constructor

Definition at line 36 of file Pose.cpp.

alvar::Pose::Pose	(	CvMat *	tra,
		CvMat *	rot,
		RotationType	t
	)

Constructor using the given translation and rotation elements

Parameters

tra	Column vector containing three translation elements
rot	Handled using the Rotation class
t	Handled using the Rotation class

Definition at line 42 of file Pose.cpp.

alvar::Pose::Pose ( CvMat * mat )

Constructor with 3x3, 3x4 or 4x4 matrix representation

Parameters

mat	A 3x3 rotation matrix or 3x4 / 4x4 transformation matrix

Definition at line 52 of file Pose.cpp.

alvar::Pose::Pose ( const Pose & p )

Copy constructor

Definition at line 64 of file Pose.cpp.

Member Function Documentation

void alvar::Pose::GetMatrix ( CvMat * mat ) const

Get the transformation into the given matrix mat

Parameters

mat	A 3x3 rotation matrix or 3x4 / 4x4 transformation matrix

Definition at line 91 of file Pose.cpp.

void alvar::Pose::GetMatrixGL	(	double	gl[16],
		bool	mirror = `true`
	)

Get the transformation matrix representation of the Pose using OpenGL's transposed format. Note, that by default this also mirrors both the y- and z-axis (see Camera and Pose for more information)

Parameters

gl	OpenGL 4x4 transformation matrix elements in column-order

Examples:: SampleMarkerDetector.cpp, SampleMarkerHide.cpp, SampleMarkerlessDetector.cpp, and SamplePointcloud.cpp.

Definition at line 104 of file Pose.cpp.

void alvar::Pose::GetTranslation ( CvMat * tra ) const

Get the translation part from the Pose

Parameters

tra	Column vector where the three translation elements are filled in

Definition at line 168 of file Pose.cpp.

void alvar::Pose::Invert ( )

Invert the pose

Examples:: SamplePointcloud.cpp.

Definition at line 132 of file Pose.cpp.

void alvar::Pose::Mirror	(	bool	x,
		bool	y,
		bool	z
	)

Mirror the Pose

Parameters

x	If true mirror the x-coordinates
y	If true mirror the y-coordinates
z	If true mirror the z-coordinates

Definition at line 141 of file Pose.cpp.

Pose & alvar::Pose::operator= ( const Pose & p )

Assignment operator for copying Pose class

Definition at line 175 of file Pose.cpp.

void alvar::Pose::Output ( ) const

Output for debugging purposes

Definition at line 31 of file Pose.cpp.

void alvar::Pose::Reset ( )

Reset the pose

Examples:: SampleMarkerCreator.cpp, SampleMultiMarker.cpp, SampleMultiMarkerBundle.cpp, and SamplePointcloud.cpp.

Definition at line 69 of file Pose.cpp.

void alvar::Pose::SetMatrix ( const CvMat * mat )

Set the transformation from the given matrix mat

Parameters

mat	A 3x3 rotation matrix or 3x4 / 4x4 transformation matrix

Definition at line 75 of file Pose.cpp.

void alvar::Pose::SetMatrixGL	(	double	gl[16],
		bool	mirror = `true`
	)

Set the Pose using OpenGL's transposed format. Note, that by default this also mirrors both the y- and z-axis (see Camera and Pose for more information)

Parameters

gl	OpenGL 4x4 transformation matrix elements in column-order

Definition at line 113 of file Pose.cpp.

void alvar::Pose::SetTranslation ( const CvMat * tra )

Set the translation part for the Pose

Parameters

tra	Column vector containing three translation elements

Examples:: SampleMarkerCreator.cpp, SampleMultiMarker.cpp, and SamplePointcloud.cpp.

Definition at line 150 of file Pose.cpp.

void alvar::Pose::SetTranslation ( const double * tra )

Set the translation part for the Pose

Parameters

tra	Array containing three translation elements

Definition at line 156 of file Pose.cpp.

void alvar::Pose::SetTranslation	(	const double	x,
		const double	y,
		const double	z
	)

Set the translation part for the Pose

Definition at line 162 of file Pose.cpp.

void alvar::Pose::Transpose ( )

Transpose the transformation

Definition at line 123 of file Pose.cpp.

Member Data Documentation

double alvar::Pose::translation[4]

Definition at line 54 of file Pose.h.

CvMat alvar::Pose::translation_mat

Definition at line 55 of file Pose.h.

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

Public Member Functions

Public Attributes

Additional Inherited Members

Detailed Description

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation