Class Pose

Position and orientation.

In computer vision and robotics, a typical task is to identify specific objects in an image and to determine each object's position and orientation relative to some coordinate system. This information can then be used, for example, to allow a robot to manipulate an object or to avoid moving into the object. The combination of position and orientation is referred to as the pose of an object, even though this concept is sometimes used only to describe the orientation. Exterior orientation and translation are also used as synonyms of pose.

Constructors

constructor

new Pose(): Pose
Creates an identity matrix.

Returns Pose
Inherited from Matrix4.constructor
- Defined in src/three/math/Matrix4.d.ts:48
new Pose(n11, n12, n13, n14, n21, n22, n23, n24, n31, n32, n33, n34, n41, n42, n43, n44): Pose
Creates a 4x4 matrix with the given arguments in row-major order.
Parameters
- n11: number
- n12: number
- n13: number
- n14: number
- n21: number
- n22: number
- n23: number
- n24: number
- n31: number
- n32: number
- n33: number
- n34: number
- n41: number
- n42: number
- n43: number
- n44: number
Returns Pose
Inherited from Matrix4.constructor
- Defined in src/three/math/Matrix4.d.ts:52

Properties

elements

elements: number[]

timestamp

timestamp: number = ...

Position recording timestamp

unit

unit: LengthUnit = LengthUnit.METER

Position unit

Accessors

accuracy

get accuracy(): Accuracy<LengthUnit, any>
Position accuracy

Returns Accuracy<LengthUnit, any>
Position accuracy
Implementation of Position.accuracy
- Defined in src/data/position/Pose.ts:60
set accuracy(value): void
Position accuracy
Parameters
- value: Accuracy<LengthUnit, any>
Returns void
Implementation of Position.accuracy
- Defined in src/data/position/Pose.ts:67

orientation

get orientation(): Orientation
Extract the orientation from the pose

Returns Orientation
Orientation
- Defined in src/data/position/Pose.ts:105

position

get position(): Absolute3DPosition
Extract the 3d position from the pose

Returns Absolute3DPosition
3D position
- Defined in src/data/position/Pose.ts:116

probability

get probability(): number
Get the position probability

Returns number
Probability between 0 and 1
Implementation of Position.probability
- Defined in src/data/position/Pose.ts:45
set probability(value): void
Position probability
Parameters
- value: number
Returns void
Implementation of Position.probability
- Defined in src/data/position/Pose.ts:49

Methods

clone

clone(): this
Clone the position

Returns this
Implementation of Position.clone
Inherited from Matrix4.clone
- Defined in src/utils/math/Matrix4.ts:68

compose

compose(translation, rotation, scale): this
Sets this matrix to the transformation composed of translation, rotation and scale.
Parameters
- translation: Vector3
- rotation: Quaternion
- scale: Vector3
Returns this
Inherited from Matrix4.compose
- Defined in src/three/math/Matrix4.d.ts:222

copy

copy(m): this
Parameters
- m: Matrix4
Returns this
Inherited from Matrix4.copy
- Defined in src/three/math/Matrix4.d.ts:104

copyPosition

copyPosition(m): this
Parameters
- m: Matrix4
Returns this
Inherited from Matrix4.copyPosition
- Defined in src/three/math/Matrix4.d.ts:105

crossVector

crossVector(v): void
Parameters
- v: any
Returns void
Deprecated
Use vector.applyMatrix4( matrix ) instead.
Inherited from Matrix4.crossVector
- Defined in src/three/math/Matrix4.d.ts:318

decompose

decompose(translation, rotation, scale): this
Decomposes this matrix into it's position, quaternion and scale components.
Parameters
- translation: Vector3
- rotation: Quaternion
- scale: Vector3
Returns this
Inherited from Matrix4.decompose
- Defined in src/three/math/Matrix4.d.ts:227

determinant

determinant(): number
Computes determinant of this matrix. Based on http://www.euclideanspace.com/maths/algebra/matrix/functions/inverse/fourD/index.htm

Returns number
Inherited from Matrix4.determinant
- Defined in src/three/math/Matrix4.d.ts:149

equals

equals(matrix): boolean
Check if this position equals another position
Parameters
- matrix: Matrix4
  Other position
Returns boolean
Implementation of Position.equals
Inherited from Matrix4.equals
- Defined in src/three/math/Matrix4.d.ts:254

extractBasis

extractBasis(xAxis, yAxis, zAxis): this
Parameters
- xAxis: Vector3
- yAxis: Vector3
- zAxis: Vector3
Returns this
Inherited from Matrix4.extractBasis
- Defined in src/three/math/Matrix4.d.ts:106

extractPosition

extractPosition(m): Matrix4
Parameters
- m: Matrix4
Returns Matrix4
Deprecated
Use .copyPosition() instead.
Inherited from Matrix4.extractPosition
- Defined in src/three/math/Matrix4.d.ts:288

extractRotation

extractRotation(m): this
Copies the rotation component of the supplied matrix m into this matrix rotation component.
Parameters
- m: Matrix4
Returns this
Inherited from Matrix4.extractRotation
- Defined in src/three/math/Matrix4.d.ts:112

flattenToArrayOffset

flattenToArrayOffset(array, offset): number[]
Parameters
- array: number[]
- offset: number
Returns number[]
Deprecated
Use .toArray() instead.
Inherited from Matrix4.flattenToArrayOffset
- Defined in src/three/math/Matrix4.d.ts:323

fromArray

fromArray(array, offset?): this
Sets the values of this matrix from the provided array or array-like.
Parameters
- array: number[] | ArrayLike<number>
  the source array or array-like.
- Optional offset: number
  (optional) offset into the array-like. Default is 0.
Returns this
Inherited from Matrix4.fromArray
- Defined in src/three/math/Matrix4.d.ts:261

getInverse

getInverse(matrix): Matrix
Parameters
- matrix: Matrix
Returns Matrix
Deprecated
Use .invert() instead.
Inherited from Matrix4.getInverse
- Defined in src/three/math/Matrix4.d.ts:328

getMaxScaleOnAxis

getMaxScaleOnAxis(): number
Returns number
Inherited from Matrix4.getMaxScaleOnAxis
- Defined in src/three/math/Matrix4.d.ts:172

identity

identity(): this
Resets this matrix to identity.

Returns this
Inherited from Matrix4.identity
- Defined in src/three/math/Matrix4.d.ts:102

invert

invert(): this
Inverts this matrix.

Returns this
Inherited from Matrix4.invert
- Defined in src/three/math/Matrix4.d.ts:165

lookAt

lookAt(eye, target, up): this
Constructs a rotation matrix, looking from eye towards center with defined up vector.
Parameters
- eye: Vector3
- target: Vector3
- up: Vector3
Returns this
Inherited from Matrix4.lookAt
- Defined in src/three/math/Matrix4.d.ts:118

makeBasis

makeBasis(xAxis, yAxis, zAxis): this
Parameters
- xAxis: Vector3
- yAxis: Vector3
- zAxis: Vector3
Returns this
Inherited from Matrix4.makeBasis
- Defined in src/three/math/Matrix4.d.ts:107

makeOrthographic

makeOrthographic(left, right, top, bottom, near, far, coordinateSystem?): this
Creates an orthographic projection matrix.
Parameters
- left: number
- right: number
- top: number
- bottom: number
- near: number
- far: number
- Optional coordinateSystem: CoordinateSystem
Returns this
Inherited from Matrix4.makeOrthographic
- Defined in src/three/math/Matrix4.d.ts:245

makePerspective

makePerspective(left, right, top, bottom, near, far, coordinateSystem?): this
Creates a perspective projection matrix.
Parameters
- left: number
- right: number
- top: number
- bottom: number
- near: number
- far: number
- Optional coordinateSystem: CoordinateSystem
Returns this
Inherited from Matrix4.makePerspective
- Defined in src/three/math/Matrix4.d.ts:232

makeRotationAxis

makeRotationAxis(axis, angle): this
Sets this matrix as rotation transform around axis by angle radians. Based on http://www.gamedev.net/reference/articles/article1199.asp.
Parameters
- axis: Vector3
  Rotation axis.
- angle: number
Returns this
Inherited from Matrix4.makeRotationAxis
- Defined in src/three/math/Matrix4.d.ts:207

makeRotationFromEuler

makeRotationFromEuler(euler): this
Parameters
- euler: Euler
Returns this
Inherited from Matrix4.makeRotationFromEuler
- Defined in src/three/math/Matrix4.d.ts:113

makeRotationFromQuaternion

makeRotationFromQuaternion(q): this
Parameters
- q: Quaternion
Returns this
Inherited from Matrix4.makeRotationFromQuaternion
- Defined in src/three/math/Matrix4.d.ts:114

makeRotationX

makeRotationX(theta): this
Sets this matrix as rotation transform around x axis by theta radians.
Parameters
- theta: number
  Rotation angle in radians.
Returns this
Inherited from Matrix4.makeRotationX
- Defined in src/three/math/Matrix4.d.ts:184

makeRotationY

makeRotationY(theta): this
Sets this matrix as rotation transform around y axis by theta radians.
Parameters
- theta: number
  Rotation angle in radians.
Returns this
Inherited from Matrix4.makeRotationY
- Defined in src/three/math/Matrix4.d.ts:191

makeRotationZ

makeRotationZ(theta): this
Sets this matrix as rotation transform around z axis by theta radians.
Parameters
- theta: number
  Rotation angle in radians.
Returns this
Inherited from Matrix4.makeRotationZ
- Defined in src/three/math/Matrix4.d.ts:198

makeScale

makeScale(x, y, z): this
Sets this matrix as scale transform.
Parameters
- x: number
- y: number
- z: number
Returns this
Inherited from Matrix4.makeScale
- Defined in src/three/math/Matrix4.d.ts:212

makeShear

makeShear(xy, xz, yx, yz, zx, zy): this
Sets this matrix as shear transform.
Parameters
- xy: number
- xz: number
- yx: number
- yz: number
- zx: number
- zy: number
Returns this
Inherited from Matrix4.makeShear
- Defined in src/three/math/Matrix4.d.ts:217

makeTranslation

makeTranslation(v): this
Sets this matrix as translation transform.
Parameters
- v: Vector3
Returns this
Inherited from Matrix4.makeTranslation
- Defined in src/three/math/Matrix4.d.ts:176
makeTranslation(x, y, z): this
Parameters
- x: number
- y: number
- z: number
Returns this
Inherited from Matrix4.makeTranslation
- Defined in src/three/math/Matrix4.d.ts:177

multiply

multiply(m): this
Multiplies this matrix by m.
Parameters
- m: Matrix4
Returns this
Inherited from Matrix4.multiply
- Defined in src/three/math/Matrix4.d.ts:123

multiplyMatrices

multiplyMatrices(a, b): this
Sets this matrix to a x b.
Parameters
- a: Matrix4
- b: Matrix4
Returns this
Inherited from Matrix4.multiplyMatrices
- Defined in src/three/math/Matrix4.d.ts:130

multiplyScalar

multiplyScalar(s): this
Multiplies this matrix by s.
Parameters
- s: number
Returns this
Inherited from Matrix4.multiplyScalar
- Defined in src/three/math/Matrix4.d.ts:143

multiplyToArray

multiplyToArray(a, b, r): Matrix4
Sets this matrix to a x b and stores the result into the flat array r. r can be either a regular Array or a TypedArray.
Parameters
- a: Matrix4
- b: Matrix4
- r: number[]
Returns Matrix4
Deprecated
This method has been removed completely.
Inherited from Matrix4.multiplyToArray
- Defined in src/three/math/Matrix4.d.ts:138

multiplyVector3

multiplyVector3(v): any
Parameters
- v: any
Returns any
Deprecated
Use vector.applyMatrix4( matrix ) instead.
Inherited from Matrix4.multiplyVector3
- Defined in src/three/math/Matrix4.d.ts:298

multiplyVector3Array

multiplyVector3Array(array): number[]
Parameters
- array: number[]
Returns number[]
Deprecated
This method has been removed completely.
Inherited from Matrix4.multiplyVector3Array
- Defined in src/three/math/Matrix4.d.ts:308

multiplyVector4

multiplyVector4(v): any
Parameters
- v: any
Returns any
Deprecated
Use vector.applyMatrix4( matrix ) instead.
Inherited from Matrix4.multiplyVector4
- Defined in src/three/math/Matrix4.d.ts:303

premultiply

premultiply(m): this
Parameters
- m: Matrix4
Returns this
Inherited from Matrix4.premultiply
- Defined in src/three/math/Matrix4.d.ts:125

rotateAxis

rotateAxis(v): void
Parameters
- v: any
Returns void
Deprecated
Use Vector3.transformDirection( matrix ) instead.
Inherited from Matrix4.rotateAxis
- Defined in src/three/math/Matrix4.d.ts:313

scale

scale(v): this
Multiplies the columns of this matrix by vector v.
Parameters
- v: Vector3
Returns this
Inherited from Matrix4.scale
- Defined in src/three/math/Matrix4.d.ts:170

set

set(n11, n12, n13, n14, n21, n22, n23, n24, n31, n32, n33, n34, n41, n42, n43, n44): this
Sets all fields of this matrix.
Parameters
- n11: number
- n12: number
- n13: number
- n14: number
- n21: number
- n22: number
- n23: number
- n24: number
- n31: number
- n32: number
- n33: number
- n34: number
- n41: number
- n42: number
- n43: number
- n44: number
Returns this
Inherited from Matrix4.set
- Defined in src/three/math/Matrix4.d.ts:80

setFromMatrix3

setFromMatrix3(m): this
Set the upper 3x3 elements of this matrix to the values of the Matrix3 m.
Parameters
- m: Matrix3
Returns this
Inherited from Matrix4.setFromMatrix3
- Defined in src/three/math/Matrix4.d.ts:283

setPosition

setPosition(v): this
Sets the position component for this matrix from vector v.
Parameters
- v: Vector3
Returns this
Inherited from Matrix4.setPosition
- Defined in src/three/math/Matrix4.d.ts:159
setPosition(x, y, z): this
Parameters
- x: number
- y: number
- z: number
Returns this
Inherited from Matrix4.setPosition
- Defined in src/three/math/Matrix4.d.ts:160

setRotationFromQuaternion

setRotationFromQuaternion(q): Matrix4
Parameters
- q: Quaternion
Returns Matrix4
Deprecated
Use .makeRotationFromQuaternion() instead.
Inherited from Matrix4.setRotationFromQuaternion
- Defined in src/three/math/Matrix4.d.ts:293

toArray

toArray(array?, offset?): number[]
Returns an array with the values of this matrix, or copies them into the provided array.
Parameters
- Optional array: number[]
  (optional) array to store the matrix to. If this is not provided, a new array will be created.
- Optional offset: number
  (optional) optional offset into the array.
Returns number[]
The created or provided array.
Inherited from Matrix4.toArray
- Defined in src/three/math/Matrix4.d.ts:269
toArray(array?, offset?): Matrix4Tuple
Parameters
- Optional array: Matrix4Tuple
- Optional offset: 0
Returns Matrix4Tuple
Inherited from Matrix4.toArray
- Defined in src/three/math/Matrix4.d.ts:270
toArray(array?, offset?): ArrayLike<number>
Copies he values of this matrix into the provided array-like.
Parameters
- Optional array: ArrayLike<number>
  array-like to store the matrix to.
- Optional offset: number
  (optional) optional offset into the array-like.
Returns ArrayLike<number>
The provided array-like.
Inherited from Matrix4.toArray
- Defined in src/three/math/Matrix4.d.ts:278

transpose

transpose(): this
Transposes this matrix.

Returns this
Inherited from Matrix4.transpose
- Defined in src/three/math/Matrix4.d.ts:154

`Static` fromArray

fromArray<T>(array): T
Create a matrix from array
Type Parameters
- T extends Matrix4
Parameters
- array: number[][]
  Array
Returns T
Matrix4
Inherited from Matrix4.fromArray
- Defined in src/utils/math/Matrix4.ts:27

`Static` fromMatrix4

fromMatrix4<T>(matrix): T
Get a pose from a 4d matrix
Type Parameters
- T extends Pose
Parameters
- matrix: Matrix4
  4x4 Matrix
Returns T
Pose instance
- Defined in src/data/position/Pose.ts:76

`Static` fromPosition

fromPosition<T>(position): T
Create a pose from a position
Type Parameters
- T extends Pose
Parameters
- position: Absolute3DPosition
  3D position
Returns T
Output pose
- Defined in src/data/position/Pose.ts:87

`Static` rotationFromAxisAngle

rotationFromAxisAngle<T>(vector, angle): T
Create a rotation matrix from euler angles
Type Parameters
- T extends Matrix4
Parameters
- vector: Vector3
  Vector
- angle: number
  Angle
Returns T
Rotation matrix
Inherited from Matrix4.rotationFromAxisAngle
- Defined in src/utils/math/Matrix4.ts:62

`Static` rotationFromEuler

rotationFromEuler<T>(euler): T
Create a rotation matrix from euler angles
Type Parameters
- T extends Matrix4
Parameters
- euler: Euler
  Euler angles
Returns T
Rotation matrix
Inherited from Matrix4.rotationFromEuler
- Defined in src/utils/math/Matrix4.ts:50

`Static` rotationFromQuaternion

rotationFromQuaternion<T>(quat): T
Create a rotation matrix from quaternion
Type Parameters
- T extends Matrix4
Parameters
- quat: Quaternion
  Quaternion
Returns T
Rotation matrix
Inherited from Matrix4.rotationFromQuaternion
- Defined in src/utils/math/Matrix4.ts:39

`Static` round

round(value, decimals?): Matrix4
Parameters
- value: Matrix4
- decimals: number = 0
Returns Matrix4
Inherited from Matrix4.round
- Defined in src/utils/math/Matrix4.ts:14

Class Pose

See

Hierarchy (view full)

Implements

Index

Constructors

Properties

Accessors

Methods

Constructors

constructor

Returns Pose

Parameters

n11: number

n12: number

n13: number

n14: number

n21: number

n22: number

n23: number

n24: number

n31: number

n32: number

n33: number

n34: number

n41: number

n42: number

n43: number

n44: number

Returns Pose

Properties

elements

timestamp

unit

Accessors

accuracy

Returns Accuracy<LengthUnit, any>

Parameters

value: Accuracy<LengthUnit, any>

Returns void

orientation

Returns Orientation

position

Returns Absolute3DPosition

probability

Returns number

Parameters

value: number

Returns void

Methods

clone

Returns this

compose

Parameters

translation: Vector3

rotation: Quaternion

scale: Vector3

Returns this

copy

Parameters

m: Matrix4

Returns this

copyPosition

Parameters

m: Matrix4

Returns this

crossVector

Parameters

v: any

Returns void

Deprecated

decompose

Parameters

translation: Vector3

rotation: Quaternion

scale: Vector3

Returns this

determinant

Returns number

equals

`Optional` offset: number

`Optional` coordinateSystem: CoordinateSystem