This class implements a camera pose with six degrees of freedom (6-DOF). More...

Inheritance diagram for Ocean::PoseT< T >:

Public Member Functions
	PoseT ()
	Creates a new pose object with default values (no translation and no rotation). More...

template<typename U >
	PoseT (const PoseT< U > &pose)
	Copies a pose with different element data type than T. More...

	PoseT (const VectorT3< T > &translation)
	Creates a new pose object with a translation only. More...

	PoseT (const EulerT< T > &euler)
	Creates a new pose object with a rotation component on. More...

	PoseT (const QuaternionT< T > &quaternion)
	Creates a new pose object with a rotation component on. More...

	PoseT (const RotationT< T > &rotation)
	Creates a new pose object with a rotation component on. More...

	PoseT (const HomogenousMatrixT4< T > &transformation)
	Creates a new pose object by a specified 4x4 homogeneous transformation matrix. More...

	PoseT (const T *values)
	Creates a new pose by at least six pose values. More...

	PoseT (const T tx, const T ty, const T tz, const T rx, const T ry, const T rz)
	Creates a new pose by six pose parameters. More...

	PoseT (const VectorT3< T > &translation, const EulerT< T > &euler)
	Creates a new pose object. More...

	PoseT (const VectorT3< T > &translation, const QuaternionT< T > &quaternion)
	Creates a new pose object. More...

	PoseT (const VectorT3< T > &translation, const RotationT< T > &rotation)
	Creates a new pose object. More...

VectorT3< T >	translation () const
	Returns the translation of this pose. More...

QuaternionT< T >	orientation () const
	Returns the orientation of this pose. More...

HomogenousMatrixT4< T >	transformation () const
	Returns the 4x4 homogeneous transformation matrix of this pose. More...

T	x () const
	Returns the translation value for the x-axis. More...

T &	x ()
	Returns the translation value for the x-axis. More...

T	y () const
	Returns the translation value for the y-axis. More...

T &	y ()
	Returns the translation value for the y-axis. More...

T	z () const
	Returns the translation value for the z-axis. More...

T &	z ()
	Returns the translation value for the z-axis. More...

T	rx () const
	Returns the x parameter of the rotation. More...

T &	rx ()
	Returns the x parameter of the rotation. More...

T	ry () const
	Returns the y parameter of the rotation. More...

T &	ry ()
	Returns the y parameter of the rotation. More...

T	rz () const
	Returns the z parameter of the rotation. More...

T &	rz ()
	Returns the z parameter of the rotation. More...

T	angle () const
	Returns the angle of the pose rotation. More...

bool	isNull () const
	Returns whether this pose holds no translation and no rotation. More...

const T *	data () const
	Data access operator. More...

T *	data ()
	Data access operator. More...

bool	operator== (const PoseT< T > &pose) const
	Returns whether two poses are identical up to a small epsilon. More...

bool	operator!= (const PoseT< T > &pose) const
	Returns whether two poses are not identical up to a small epsilon. More...

PoseT< T >	operator+ (const PoseT< T > &pose) const
	Returns a new pose created by the element wise sum of two poses. More...

PoseT< T > &	operator+= (const PoseT< T > &pose)
	Adds element wise the six values of a second pose to this pose. More...

PoseT< T >	operator- (const PoseT< T > &pose) const
	Returns a new pose created by the element wise subtraction of two poses. More...

PoseT< T > &	operator-= (const PoseT< T > &pose)
	Subtracts element wise the six values of a second pose from this pose. More...

PoseT< T >	operator* (const T value) const
	Multiplies this pose by a scalar value and returns the new result. More...

PoseT< T > &	operator*= (const T value)
	Multiplies this pose by a scalar. More...

T	operator() (unsigned int index) const
	Element access operator. More...

T &	operator() (unsigned int index)
	Element access operator. More...

T	operator[] (unsigned int index) const
	Element access operator. More...

T &	operator[] (unsigned int index)
	Element access operator. More...

const T *	operator() () const
	Access operator. More...

T *	operator() ()
	Access operator. More...

Static Public Member Functions
static Indices32	representativePoses (const PosesT< T > &poses, const size_t subsetSize, const size_t explicitIndexOffset=0)
	Determines a subset of a set of given poses best representing the entire set of poses. More...

static Indices32	representativePoses (const HomogenousMatrixT4< T > *poseMatrices, const size_t size, const size_t subsetSize, const size_t explicitIndexOffset=0)
	Determines a subset of a set of given poses (defined as matrices) best representing the entire set of poses. More...

static HomogenousMatrixT4< T >	linearPoseInterpolation (const HomogenousMatrixT4< T > &pose0, const HomogenousMatrixT4< T > &pose1, const T &factor)
	Interpolates two camera poses by a linear interpolation. More...

Protected Attributes
T	values_ [6]
	The six values of the pose, with element order: (Tx, Ty, Tz, Rx, Ry, Rz). More...

Detailed Description

template<typename T>
class Ocean::PoseT< T >

This class implements a camera pose with six degrees of freedom (6-DOF).

Three degrees for the translation or position and three for the orientation or rotation.
This object stores six elements. The first three elements define the translation.
The last three elements define the orientation as exponential map (rotation axis and angle as axis length).
The element order is defined as: (Tx, Ty, Tz, Rx, Ry, Rz).

Template Parameters

T	The scalar floating point data type to be used, either 'float' or 'double'

Constructor & Destructor Documentation

◆ PoseT() [1/12]

template<typename T >

Ocean::PoseT< T >::PoseT ( )

Creates a new pose object with default values (no translation and no rotation).

◆ PoseT() [2/12]

template<typename T >

template<typename U >

Ocean::PoseT< T >::PoseT ( const PoseT< U > & pose )

inlineexplicit

Copies a pose with different element data type than T.

Parameters

pose	The pose object to be copied

Template Parameters

U	The element data type of the given pose

◆ PoseT() [3/12]

template<typename T >

Ocean::PoseT< T >::PoseT ( const VectorT3< T > & translation )

explicit

Creates a new pose object with a translation only.

Parameters

translation 3D vector defining the translation of the pose object

◆ PoseT() [4/12]

template<typename T >

Ocean::PoseT< T >::PoseT ( const EulerT< T > & euler )

explicit

Creates a new pose object with a rotation component on.

Parameters

euler The Euler rotation defining the rotation of the pose object

◆ PoseT() [5/12]

template<typename T >

Ocean::PoseT< T >::PoseT ( const QuaternionT< T > & quaternion )

explicit

Creates a new pose object with a rotation component on.

Parameters

quaternion Unit quaternion rotation defining the rotation of the pose object

◆ PoseT() [6/12]

template<typename T >

Ocean::PoseT< T >::PoseT ( const RotationT< T > & rotation )

explicit

Creates a new pose object with a rotation component on.

Parameters

rotation Angle-axis rotation defining the rotation of the pose object

◆ PoseT() [7/12]

template<typename T >

Ocean::PoseT< T >::PoseT ( const HomogenousMatrixT4< T > & transformation )

explicit

Creates a new pose object by a specified 4x4 homogeneous transformation matrix.

Parameters

transformation Matrix defining the position and rotation of the new pose

◆ PoseT() [8/12]

template<typename T >

Ocean::PoseT< T >::PoseT ( const T * values )

explicit

Creates a new pose by at least six pose values.

The specified pose must have the following order: (Tx, Ty, Tz, Rx, Ry, Rz).
With (Tx, Ty, Tz) as translation vector, (Rx, Ry, Rz) as rotation axis and sqrt(Rx * Rx + Ry * Ry + Rz * Rz) as rotation angle.

Parameters

values The six pose values specifying the new pose, must be valid

◆ PoseT() [9/12]

template<typename T >

Ocean::PoseT< T >::PoseT	(	const T	tx,
		const T	ty,
		const T	tz,
		const T	rx,
		const T	ry,
		const T	rz
	)

Creates a new pose by six pose parameters.

Parameters

tx	Translation value for the x-axis
ty	Translation value for the y-axis
tz	Translation value for the z-axis
rx	X parameter of the rotation
ry	Y parameter of the rotation
rz	Z parameter of the rotation

◆ PoseT() [10/12]

template<typename T >

Ocean::PoseT< T >::PoseT	(	const VectorT3< T > &	translation,
		const EulerT< T > &	euler
	)

Creates a new pose object.

Parameters

translation	3D vector defining the translation component of the pose object
euler	The Euler rotation defining the rotation component of the pose object

◆ PoseT() [11/12]

template<typename T >

Ocean::PoseT< T >::PoseT	(	const VectorT3< T > &	translation,
		const QuaternionT< T > &	quaternion
	)

Creates a new pose object.

Parameters

translation	3D vector defining the translation component of the pose object
quaternion	Unit quaternion rotation defining the rotation component of the pose object

◆ PoseT() [12/12]

template<typename T >

Ocean::PoseT< T >::PoseT	(	const VectorT3< T > &	translation,
		const RotationT< T > &	rotation
	)

Creates a new pose object.

Parameters

translation	3D vector defining the translation component of the pose object
rotation	Angle-axis rotation defining the rotation component of the pose object

Member Function Documentation

◆ angle()

template<typename T >

T Ocean::PoseT< T >::angle ( ) const

Returns the angle of the pose rotation.

Returns: Rotation angle in radian

◆ data() [1/2]

template<typename T >

T * Ocean::PoseT< T >::data

inline

Data access operator.

Returns: Pointer to the internal elements.

◆ data() [2/2]

template<typename T >

const T * Ocean::PoseT< T >::data

inline

Data access operator.

Returns: Pointer to the internal elements.

◆ isNull()

template<typename T >

bool Ocean::PoseT< T >::isNull ( ) const

Returns whether this pose holds no translation and no rotation.

Returns: True, if so

◆ linearPoseInterpolation()

template<typename T >

static HomogenousMatrixT4<T> Ocean::PoseT< T >::linearPoseInterpolation	(	const HomogenousMatrixT4< T > &	pose0,
		const HomogenousMatrixT4< T > &	pose1,
		const T &	factor
	)

static

Interpolates two camera poses by a linear interpolation.

Parameters

pose0	The first camera pose
pose1	The second camera pose
factor	The interpolation factor which is applied as follows: pose0 * (1 - factor) + pose1 * factor, with range [0, 1]

Returns: The resulting interpolated camera pose

◆ operator!=()

template<typename T >

bool Ocean::PoseT< T >::operator!= ( const PoseT< T > & pose ) const

inline

Returns whether two poses are not identical up to a small epsilon.

Parameters

pose	Right pose to compare

Returns: True, if so

◆ operator()() [1/4]

template<typename T >

T * Ocean::PoseT< T >::operator()

inline

Access operator.

Returns: Pointer to the internal elements.

◆ operator()() [2/4]

template<typename T >

const T * Ocean::PoseT< T >::operator()

inline

Access operator.

Returns: Pointer to the internal elements.

◆ operator()() [3/4]

template<typename T >

T & Ocean::PoseT< T >::operator() ( unsigned int index )

inline

Element access operator.

Beware: No range check will be done!

Parameters

index The index of the element to return, with range [0, 5]

Returns: Internal element

◆ operator()() [4/4]

template<typename T >

T Ocean::PoseT< T >::operator() ( unsigned int index ) const

inline

Element access operator.

Beware: No range check will be done!

Parameters

index The index of the element to return, with range [0, 5]

Returns: Internal element

◆ operator*()

template<typename T >

PoseT<T> Ocean::PoseT< T >::operator* ( const T value ) const

Multiplies this pose by a scalar value and returns the new result.

The multiplication is done element wise.

Parameters

value Scalar value for multiplication

Returns: New resulting pose

◆ operator*=()

template<typename T >

PoseT<T>& Ocean::PoseT< T >::operator*= ( const T value )

Multiplies this pose by a scalar.

The multiplication is done element wise.

Parameters

value Scalar value for multiplication

Returns: Reference to this object

◆ operator+()

template<typename T >

PoseT<T> Ocean::PoseT< T >::operator+ ( const PoseT< T > & pose ) const

Returns a new pose created by the element wise sum of two poses.

Parameters

pose	Second pose to add

Returns: New pose

◆ operator+=()

template<typename T >

PoseT<T>& Ocean::PoseT< T >::operator+= ( const PoseT< T > & pose )

Adds element wise the six values of a second pose to this pose.

Parameters

pose	Second pose to add the six values

Returns: Reference to this object

◆ operator-()

template<typename T >

PoseT<T> Ocean::PoseT< T >::operator- ( const PoseT< T > & pose ) const

Returns a new pose created by the element wise subtraction of two poses.

Parameters

pose	Second pose to subtract

Returns: New pose

◆ operator-=()

template<typename T >

PoseT<T>& Ocean::PoseT< T >::operator-= ( const PoseT< T > & pose )

Subtracts element wise the six values of a second pose from this pose.

Parameters

pose	Second pose to subtract the six values

Returns: Reference to this object

◆ operator==()

template<typename T >

bool Ocean::PoseT< T >::operator== ( const PoseT< T > & pose ) const

inline

Returns whether two poses are identical up to a small epsilon.

Parameters

pose	Right pose to compare

Returns: True, if so

◆ operator[]() [1/2]

template<typename T >

T & Ocean::PoseT< T >::operator[] ( unsigned int index )

inline

Element access operator.

Beware: No range check will be done!

Parameters

index The index of the element to return, with range [0, 5]

Returns: Internal element

◆ operator[]() [2/2]

template<typename T >

T Ocean::PoseT< T >::operator[] ( unsigned int index ) const

inline

Element access operator.

Beware: No range check will be done!

Parameters

index The index of the element to return, with range [0, 5]

Returns: Internal element

◆ orientation()

template<typename T >

QuaternionT<T> Ocean::PoseT< T >::orientation ( ) const

Returns the orientation of this pose.

Returns: Unit quaternion defining the pose orientation

◆ representativePoses() [1/2]

template<typename T >

static Indices32 Ocean::PoseT< T >::representativePoses	(	const HomogenousMatrixT4< T > *	poseMatrices,
		const size_t	size,
		const size_t	subsetSize,
		const size_t	explicitIndexOffset = `0`
	)

static

Determines a subset of a set of given poses (defined as matrices) best representing the entire set of poses.

Parameters

poseMatrices	The entire set of given pose matrices from which a subset is extracted, must be valid
size	The number of provided set of pose matrices, with range [1, infinity)
subsetSize	The number of poses in the resulting subset, with range [1, size]
explicitIndexOffset	The explicit offset which is added to each index of the resulting (pose) subset allowing to add an explicit index shift

Returns: The indices of the poses defining the subset

◆ representativePoses() [2/2]

template<typename T >

static Indices32 Ocean::PoseT< T >::representativePoses	(	const PosesT< T > &	poses,
		const size_t	subsetSize,
		const size_t	explicitIndexOffset = `0`
	)

static

Determines a subset of a set of given poses best representing the entire set of poses.

Parameters

poses	The entire set of given poses from which a subset is extracted, must be valid
subsetSize	The number of poses in the resulting subset, with range [1, poses.size()]
explicitIndexOffset	The explicit offset which is added to each index of the resulting (pose) subset allowing to add an explicit index shift

Returns: The indices of the poses defining the subset

◆ rx() [1/2]

template<typename T >

T & Ocean::PoseT< T >::rx

inline

Returns the x parameter of the rotation.

Returns: Rotation x parameter

◆ rx() [2/2]

template<typename T >

T Ocean::PoseT< T >::rx

inline

Returns the x parameter of the rotation.

Returns: Rotation x parameter

◆ ry() [1/2]

template<typename T >

T & Ocean::PoseT< T >::ry

inline

Returns the y parameter of the rotation.

Returns: Rotation y parameter

◆ ry() [2/2]

template<typename T >

T Ocean::PoseT< T >::ry

inline

Returns the y parameter of the rotation.

Returns: Rotation y parameter

◆ rz() [1/2]

template<typename T >

T & Ocean::PoseT< T >::rz

inline

Returns the z parameter of the rotation.

Returns: Rotation z parameter

◆ rz() [2/2]

template<typename T >

T Ocean::PoseT< T >::rz

inline

Returns the z parameter of the rotation.

Returns: Rotation z parameter

◆ transformation()

template<typename T >

HomogenousMatrixT4<T> Ocean::PoseT< T >::transformation ( ) const

Returns the 4x4 homogeneous transformation matrix of this pose.

Returns: Transformation matrix

◆ translation()

template<typename T >

VectorT3< T > Ocean::PoseT< T >::translation

inline

Returns the translation of this pose.

Returns: 3D translation vector

◆ x() [1/2]

template<typename T >

T & Ocean::PoseT< T >::x

inline

Returns the translation value for the x-axis.

Returns: Translation value for x-axis

◆ x() [2/2]

template<typename T >

T Ocean::PoseT< T >::x

inline

Returns the translation value for the x-axis.

Returns: Translation value for x-axis

◆ y() [1/2]

template<typename T >

T & Ocean::PoseT< T >::y

inline

Returns the translation value for the y-axis.

Returns: Translation value for y-axis

◆ y() [2/2]

template<typename T >

T Ocean::PoseT< T >::y

inline

Returns the translation value for the y-axis.

Returns: Translation value for y-axis

◆ z() [1/2]

template<typename T >

T & Ocean::PoseT< T >::z

inline

Returns the translation value for the z-axis.

Returns: Translation value for z-axis

◆ z() [2/2]

template<typename T >

T Ocean::PoseT< T >::z

inline

Returns the translation value for the z-axis.

Returns: Translation value for z-axis

Field Documentation

◆ values_

template<typename T >

T Ocean::PoseT< T >::values_[6]

protected

The six values of the pose, with element order: (Tx, Ty, Tz, Rx, Ry, Rz).

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

Pose.h

Public Member Functions

Static Public Member Functions

Protected Attributes

Detailed Description

template<typename T> class Ocean::PoseT< T >

Constructor & Destructor Documentation

◆ PoseT() [1/12]

◆ PoseT() [2/12]

◆ PoseT() [3/12]

◆ PoseT() [4/12]

◆ PoseT() [5/12]

◆ PoseT() [6/12]

◆ PoseT() [7/12]

◆ PoseT() [8/12]

◆ PoseT() [9/12]

◆ PoseT() [10/12]

◆ PoseT() [11/12]

◆ PoseT() [12/12]

Member Function Documentation

◆ angle()

◆ data() [1/2]

◆ data() [2/2]

◆ isNull()

◆ linearPoseInterpolation()

◆ operator!=()

◆ operator()() [1/4]

◆ operator()() [2/4]

◆ operator()() [3/4]

◆ operator()() [4/4]

◆ operator*()

◆ operator*=()

◆ operator+()

◆ operator+=()

◆ operator-()

◆ operator-=()

◆ operator==()

◆ operator[]() [1/2]

◆ operator[]() [2/2]

◆ orientation()

◆ representativePoses() [1/2]

◆ representativePoses() [2/2]

◆ rx() [1/2]

◆ rx() [2/2]

◆ ry() [1/2]

◆ ry() [2/2]

◆ rz() [1/2]

◆ rz() [2/2]

◆ transformation()

◆ translation()

◆ x() [1/2]

◆ x() [2/2]

◆ y() [1/2]

◆ y() [2/2]

◆ z() [1/2]

◆ z() [2/2]

Field Documentation

◆ values_

template<typename T>
class Ocean::PoseT< T >