Ocean::Tracking::PoseProjection Class Reference

This class implements a pose projection. More...

#include <PoseProjection.h>

Public Member Functions
	PoseProjection ()=default
	Creates an empty pose projection object.
	PoseProjection (const HomogenousMatrix4 &world_T_camera, const AnyCamera &camera, const Vector3 *objectPoints, const size_t number)
	Creates a new pose projection object by a given pose and object points.
const HomogenousMatrix4 &	world_T_camera () const
	Returns the pose of this projection.
const Vectors2 &	imagePoints () const
	Returns the image points (the projected object points) of this pose projection.
size_t	size () const
	Returns the number of stored pose points.
template<Geometry::Estimator::EstimatorType tEstimator>
Scalar	minimalAverageSquareError (const Vector2 *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 Vector3 &element)
	Converts an element to an object point.

Private Attributes
HomogenousMatrix4	world_T_camera_ = HomogenousMatrix4(false)
	Pose of this projection.
Vectors2	imagePoints_
	Projection object points for this pose.

Detailed Description

This class implements a pose projection.

Constructor & Destructor Documentation

PoseProjection() [1/2]

Ocean::Tracking::PoseProjection::PoseProjection ( )

default

Creates an empty pose projection object.

PoseProjection() [2/2]

Ocean::Tracking::PoseProjection::PoseProjection	(	const HomogenousMatrix4 &	world_T_camera,
		const AnyCamera &	camera,
		const Vector3 *	objectPoints,
		const size_t	number
	)

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

Parameters

world_T_camera	The transformation between camera and world, with default camera looking into the negative z-space with y-axis up, must be valid
camera	The camera object defining the projection
objectPoints	Object points to be projected
number	Number Of object points to be projected

Member Function Documentation

imagePoints()

const Vectors2 & 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 Vector2 *	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 Vector3 &  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

size()

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

inline

Returns the number of stored pose points.

Returns

Pose points

world_T_camera()

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

inline

Returns the pose of this projection.

Returns

Projection pose

Field Documentation

imagePoints_

Vectors2 Ocean::Tracking::PoseProjection::imagePoints_

private

Projection object points for this pose.

world_T_camera_

HomogenousMatrix4 Ocean::Tracking::PoseProjection::world_T_camera_ = HomogenousMatrix4(false)

private

Pose of this projection.

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

• PoseProjection.h