vpRBKltTracker::vpTrackedKltPoint Struct Reference

#include <vpRBKltTracker.h>

Public Member Functions
double	rotationDifferenceToInitial (const vpHomogeneousMatrix &oMc)
double	normalDotProd (const vpHomogeneousMatrix &cMo)
void	update (const vpHomogeneousMatrix &cMo)
void	error (vpColVector &e, unsigned i) const
double	distance (const vpTrackedKltPoint &other) const
void	interaction (vpMatrix &L, unsigned i) const

Public Attributes
vpHomogeneousMatrix	cTo0
vpPoint	oX
vpColVector	normal
vpImagePoint	currentPos

Detailed Description

Definition at line 190 of file vpRBKltTracker.h.

Member Function Documentation

distance()

double vpRBKltTracker::vpTrackedKltPoint::distance ( const vpTrackedKltPoint & other ) const

inline

Definition at line 225 of file vpRBKltTracker.h.

References vpPoint::get_oX(), vpPoint::get_oY(), vpPoint::get_oZ(), and oX.

error()

void vpRBKltTracker::vpTrackedKltPoint::error ( vpColVector & e, unsigned i ) const

inline

Definition at line 219 of file vpRBKltTracker.h.

References currentPos, and oX.

interaction()

void vpRBKltTracker::vpTrackedKltPoint::interaction ( vpMatrix & L, unsigned i ) const

inline

Definition at line 233 of file vpRBKltTracker.h.

References oX.

normalDotProd()

double vpRBKltTracker::vpTrackedKltPoint::normalDotProd ( const vpHomogeneousMatrix & cMo )

inline

Definition at line 204 of file vpRBKltTracker.h.

References normal, vpColVector::normalize(), and oX.

rotationDifferenceToInitial()

double vpRBKltTracker::vpTrackedKltPoint::rotationDifferenceToInitial ( const vpHomogeneousMatrix & oMc )

inline

Current image coordinates, in normalized image coordinates.

Definition at line 198 of file vpRBKltTracker.h.

References cTo0, vpThetaUVector::getTheta(), and vpHomogeneousMatrix::getThetaUVector().

update()

void vpRBKltTracker::vpTrackedKltPoint::update ( const vpHomogeneousMatrix & cMo )

inline

Definition at line 213 of file vpRBKltTracker.h.

References oX.

Member Data Documentation

cTo0

vpHomogeneousMatrix vpRBKltTracker::vpTrackedKltPoint::cTo0

Definition at line 193 of file vpRBKltTracker.h.

Referenced by rotationDifferenceToInitial().

currentPos

vpImagePoint vpRBKltTracker::vpTrackedKltPoint::currentPos

Surface normal at this point, in the object frame.

Definition at line 196 of file vpRBKltTracker.h.

Referenced by error().

normal

vpColVector vpRBKltTracker::vpTrackedKltPoint::normal

Tracked 3D point.

Definition at line 195 of file vpRBKltTracker.h.

Referenced by normalDotProd().

oX

vpPoint vpRBKltTracker::vpTrackedKltPoint::oX

Initial pose of the object in the camera frame, acquired when the tracked point was first constructed.

Definition at line 194 of file vpRBKltTracker.h.

Referenced by distance(), error(), interaction(), normalDotProd(), and update().