A class interface to deal with the problem of determining the matrix transformation between two sets of matching 3D points. More...

#include <matrixTransformation.h>

Inheritance diagram for iCub::optimization::MatrixTransformationWithMatchedPoints:

Public Member Functions
virtual void	setBounds (const yarp::sig::Matrix &min, const yarp::sig::Matrix &max)=0
	Allow specifying the minimum and maximum bounds of the elements belonging to the transformation.

virtual bool	addPoints (const yarp::sig::Vector &p0, const yarp::sig::Vector &p1)=0
	Add to the internal database the 3D-point p0 and the corresponding 3D-point p1.

virtual size_t	getNumPoints () const =0
	Return the number of 3D-points pairs currently contained into the internal database.

virtual void	getPoints (std::deque< yarp::sig::Vector > &p0, std::deque< yarp::sig::Vector > &p1) const =0
	Retrieve copies of the database of 3D-points pairs.

virtual void	clearPoints ()=0
	Clear the internal database of 3D points.

virtual bool	setInitialGuess (const yarp::sig::Matrix &M)=0
	Allow specifiying the initial guess for the matrix transformation we seek for.

virtual bool	setCalibrationOptions (const yarp::os::Property &options)
	Allow setting further options used during calibration.

virtual bool	calibrate (yarp::sig::Matrix &M, double &error)=0
	Perform optimization to determine the matrix transformation.

virtual	~MatrixTransformationWithMatchedPoints ()
	Destructor.

Detailed Description

A class interface to deal with the problem of determining the matrix transformation between two sets of matching 3D points.

Definition at line 47 of file matrixTransformation.h.

Constructor & Destructor Documentation

◆ ~MatrixTransformationWithMatchedPoints()

virtual iCub::optimization::MatrixTransformationWithMatchedPoints::~MatrixTransformationWithMatchedPoints ( )

inlinevirtual

Destructor.

Definition at line 116 of file matrixTransformation.h.

Member Function Documentation

◆ addPoints()

virtual bool iCub::optimization::MatrixTransformationWithMatchedPoints::addPoints	(	const yarp::sig::Vector &	p0,
		const yarp::sig::Vector &	p1
	)

pure virtual

Add to the internal database the 3D-point p0 and the corresponding 3D-point p1.

Parameters

p0	the free 3D-point.
p1	the 3D-point which transforms p0.

Returns: true/false on success/fail.

Implemented in iCub::optimization::AffinityWithMatchedPoints, and iCub::optimization::CalibReferenceWithMatchedPoints.

◆ calibrate()

virtual bool iCub::optimization::MatrixTransformationWithMatchedPoints::calibrate	(	yarp::sig::Matrix &	M,
		double &	error
	)

pure virtual

Perform optimization to determine the matrix transformation.

Parameters

M	the final matrix that links the two clouds of 3D points.
error	returns the residual error.

Returns: true/false on success/fail.

Implemented in iCub::optimization::AffinityWithMatchedPoints, and iCub::optimization::CalibReferenceWithMatchedPoints.

◆ clearPoints()

virtual void iCub::optimization::MatrixTransformationWithMatchedPoints::clearPoints ( )

pure virtual

Clear the internal database of 3D points.

Implemented in iCub::optimization::AffinityWithMatchedPoints, and iCub::optimization::CalibReferenceWithMatchedPoints.

◆ getNumPoints()

virtual size_t iCub::optimization::MatrixTransformationWithMatchedPoints::getNumPoints ( ) const

pure virtual

Return the number of 3D-points pairs currently contained into the internal database.

Returns: the number of pairs.

Implemented in iCub::optimization::AffinityWithMatchedPoints, and iCub::optimization::CalibReferenceWithMatchedPoints.

◆ getPoints()

virtual void iCub::optimization::MatrixTransformationWithMatchedPoints::getPoints	(	std::deque< yarp::sig::Vector > &	p0,
		std::deque< yarp::sig::Vector > &	p1
	)		const

pure virtual

Retrieve copies of the database of 3D-points pairs.

Parameters

p0	the list of free 3D-points.
p1	the list of 3D-points which trasnform p0.

Note: points are retrived in 4x1 homogeneous format.

Implemented in iCub::optimization::AffinityWithMatchedPoints, and iCub::optimization::CalibReferenceWithMatchedPoints.

◆ setBounds()

virtual void iCub::optimization::MatrixTransformationWithMatchedPoints::setBounds	(	const yarp::sig::Matrix &	min,
		const yarp::sig::Matrix &	max
	)

pure virtual

Allow specifying the minimum and maximum bounds of the elements belonging to the transformation.

Parameters

min	the 4x4 Matrix containining the minimum bounds.
max	the 4x4 Matrix containining the maximum bounds.

Implemented in iCub::optimization::AffinityWithMatchedPoints, and iCub::optimization::CalibReferenceWithMatchedPoints.

◆ setCalibrationOptions()

virtual bool iCub::optimization::MatrixTransformationWithMatchedPoints::setCalibrationOptions ( const yarp::os::Property & options )

inlinevirtual

Allow setting further options used during calibration.

Parameters

options a Property-like object accounting for calibration options.

Returns: true/false on success/fail.

Reimplemented in iCub::optimization::AffinityWithMatchedPoints, and iCub::optimization::CalibReferenceWithMatchedPoints.

Definition at line 102 of file matrixTransformation.h.

◆ setInitialGuess()

virtual bool iCub::optimization::MatrixTransformationWithMatchedPoints::setInitialGuess ( const yarp::sig::Matrix & M )

pure virtual

Allow specifiying the initial guess for the matrix transformation we seek for.

Parameters

M	the 4x4 homogeneous matrix used as initial guess.

Returns: true/false on success/fail.

Implemented in iCub::optimization::AffinityWithMatchedPoints, and iCub::optimization::CalibReferenceWithMatchedPoints.

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

icub-main/src/libraries/optimization/include/iCub/optimization/matrixTransformation.h

Public Member Functions

Detailed Description

Constructor & Destructor Documentation

◆ ~MatrixTransformationWithMatchedPoints()

Member Function Documentation

◆ addPoints()

◆ calibrate()

◆ clearPoints()

◆ getNumPoints()

◆ getPoints()

◆ setBounds()

◆ setCalibrationOptions()

◆ setInitialGuess()