| OpenCV 3.4.1 Open Source Computer Vision

Public Member Functions | Public Attributes | List of all members
cv::ppf_match_3d::Pose3D Class Reference
Surface Matching

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 "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

## § Pose3D() [2/2]

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

## § ~Pose3D()

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

## Member Function Documentation

## § appendPose()

void cv::ppf_match_3d::Pose3D::appendPose | ( | Matx44d & | 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 | ( |  | ) |

## § 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 | ) |

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
| ) |  |

Updates the pose with the new one.

## § updatePoseQuat()

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

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

- /build/master-contrib_docs-lin64/opencv_contrib/modules/surface_matching/include/opencv2/surface_matching/pose_3d.hpp