Ocean::Tracking::PoseProjection Class Reference

This class implements a pose projection. More...

#include <PoseProjection.h>

Public Member Functions
	PoseProjection ()
	Creates an empty pose projection object.
	PoseProjection (const HomogenousMatrix4 &pose, const PinholeCamera &pinholeCamera, const Geometry::ObjectPoint *objectPoints, const size_t number, const bool distortImagePoints)
	Creates a new pose projection object by a given pose and object points.
const HomogenousMatrix4 &	pose () const
	Returns the pose of this projection.
const Geometry::ImagePoints &	imagePoints () const
	Returns the image points (the projected object points) of this pose projection.
CV::Detector::PointFeature::DistortionState	distortionState () const
	Returns the distortion state of this projection.
size_t	size () const
	Returns the number of stored pose points.
template<Geometry::Estimator::EstimatorType tEstimator>
Scalar	minimalAverageSquareError (const Geometry::ImagePoint *imagePoints, const size_t numberImagePoints, const size_t validImagePoints, const Geometry::Error::ErrorDetermination errorDetermination)
	Returns the robust minimal average square error between this pose projection and a given 2D point cloud.
bool	isEmpty () const
	Returns whether this pose projection holds no points.
	operator bool () const
	Returns whether this pose projection holds at least one point.

Static Private Member Functions
static const Vector3 &	objectPoint2objectPoint (const Geometry::ObjectPoint &element)
	Converts an element to an object point.

Private Attributes
HomogenousMatrix4	poseTransformation
	Pose of this projection.
Geometry::ImagePoints	poseImagePoints
	Projection object points for this pose.
CV::Detector::PointFeature::DistortionState	poseDistortionState
	Distortion state of the image points.

Detailed Description

This class implements a pose projection.

Constructor & Destructor Documentation

PoseProjection() [1/2]

Ocean::Tracking::PoseProjection::PoseProjection

(

)

Creates an empty pose projection object.

PoseProjection() [2/2]

Ocean::Tracking::PoseProjection::PoseProjection	(	const HomogenousMatrix4 &	pose,
		const PinholeCamera &	pinholeCamera,
		const Geometry::ObjectPoint *	objectPoints,
		const size_t	number,
		const bool	distortImagePoints
	)

Creates a new pose projection object by a given pose and object points.

Parameters

pose	Pose used to project the object points to the image plane
pinholeCamera	The pinhole camera object defining the projection
objectPoints	Object points to be projected
number	Number Of object points to be projected
distortImagePoints	Distorts the image points after projection if True

Member Function Documentation

distortionState()

CV::Detector::PointFeature::DistortionState Ocean::Tracking::PoseProjection::distortionState ( ) const

inline

Returns the distortion state of this projection.

Returns

Distortion state

imagePoints()

const Geometry::ImagePoints & Ocean::Tracking::PoseProjection::imagePoints ( ) const

inline

Returns the image points (the projected object points) of this pose projection.

Returns

Pose image points

isEmpty()

bool Ocean::Tracking::PoseProjection::isEmpty ( ) const

inline

Returns whether this pose projection holds no points.

Returns

True, if so

minimalAverageSquareError()

template<Geometry::Estimator::EstimatorType tEstimator>

Scalar Ocean::Tracking::PoseProjection::minimalAverageSquareError	(	const Geometry::ImagePoint *	imagePoints,
		const size_t	numberImagePoints,
		const size_t	validImagePoints,
		const Geometry::Error::ErrorDetermination	errorDetermination
	)

Returns the robust minimal average square error between this pose projection and a given 2D point cloud.

The number of given image points must be equal or small to the number of internal pose points of this object.

Parameters

imagePoints	Image points to find corresponding pose points for
numberImagePoints	Number of given image points
validImagePoints	Number of valid image points expecting to have corresponding points in the pose points, with range [1, numberImagePoints]
errorDetermination	Depending on this flag uniqueAveragedRobustErrorInPointCloud, approximatedAveragedRobustErrorInPointCloud() or ambiguousAveragedRobustErrorInPointCloud() will be used

Returns

Resulting minimal average square error

Template Parameters

tEstimator

Estimator to be applied

objectPoint2objectPoint()

const Vector3 & Ocean::Tracking::PoseProjection::objectPoint2objectPoint ( const Geometry::ObjectPoint &  element )

inlinestaticprivate

Converts an element to an object point.

Parameters

element

Element to be converted

Returns

Converted object point

operator bool()

Ocean::Tracking::PoseProjection::operator bool ( ) const

inlineexplicit

Returns whether this pose projection holds at least one point.

Returns

True, if so

pose()

const HomogenousMatrix4 & Ocean::Tracking::PoseProjection::pose ( ) const

inline

Returns the pose of this projection.

Returns

Projection pose

size()

size_t Ocean::Tracking::PoseProjection::size ( ) const

inline

Returns the number of stored pose points.

Returns

Pose points

Field Documentation

poseDistortionState

CV::Detector::PointFeature::DistortionState Ocean::Tracking::PoseProjection::poseDistortionState

private

Distortion state of the image points.

poseImagePoints

Geometry::ImagePoints Ocean::Tracking::PoseProjection::poseImagePoints

private

Projection object points for this pose.

poseTransformation

HomogenousMatrix4 Ocean::Tracking::PoseProjection::poseTransformation

private

Pose of this projection.

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

• PoseProjection.h