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.

See

https://en.wikipedia.org/wiki/Pose_(computer_vision)

Hierarchy-Diagram

UML class diagram of Pose
Legend
icon for a class in the UML class diagram class
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Hierarchy

Implements

Constructors

Properties

elements: number[]
timestamp: number = ...

Position recording timestamp

unit: LengthUnit = LengthUnit.METER

Position unit

Accessors

Methods

  • Sets this matrix to the transformation composed of translation, rotation and scale.

    Parameters

    • translation: Vector3
    • rotation: Quaternion
    • scale: Vector3

    Returns Matrix4

  • Parameters

    • m: Matrix4

    Returns Pose

  • Parameters

    • m: Matrix4

    Returns Matrix4

  • Decomposes this matrix into it's position, quaternion and scale components.

    Parameters

    • translation: Vector3
    • rotation: Quaternion
    • scale: Vector3

    Returns Matrix4

  • Check if this position equals another position

    Parameters

    • matrix: Matrix4

      Other position

    Returns boolean

  • Parameters

    • xAxis: Vector3
    • yAxis: Vector3
    • zAxis: Vector3

    Returns Matrix4

  • Deprecated

    Use .copyPosition() instead.

    Parameters

    • m: Matrix4

    Returns Matrix4

  • Copies the rotation component of the supplied matrix m into this matrix rotation component.

    Parameters

    • m: Matrix4

    Returns Matrix4

  • Deprecated

    Use .toArray() instead.

    Parameters

    • array: number[]
    • offset: number

    Returns number[]

  • 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 Matrix4

  • Deprecated

    Use .invert() instead.

    Parameters

    • matrix: Matrix

    Returns Matrix

  • Returns number

  • Resets this matrix to identity.

    Returns Matrix4

  • Inverts this matrix.

    Returns Matrix4

  • Constructs a rotation matrix, looking from eye towards center with defined up vector.

    Parameters

    • eye: Vector3
    • target: Vector3
    • up: Vector3

    Returns Matrix4

  • Parameters

    • xAxis: Vector3
    • yAxis: Vector3
    • zAxis: Vector3

    Returns Matrix4

  • Creates an orthographic projection matrix.

    Parameters

    • left: number
    • right: number
    • top: number
    • bottom: number
    • near: number
    • far: number

    Returns Matrix4

  • Creates a frustum matrix.

    Parameters

    • left: number
    • right: number
    • bottom: number
    • top: number
    • near: number
    • far: number

    Returns Matrix4

  • Creates a perspective projection matrix.

    Parameters

    • fov: number
    • aspect: number
    • near: number
    • far: number

    Returns Matrix4

  • Parameters

    • euler: Euler

    Returns Matrix4

  • Parameters

    • q: Quaternion

    Returns Matrix4

  • Sets this matrix as rotation transform around x axis by theta radians.

    Parameters

    • theta: number

      Rotation angle in radians.

    Returns Matrix4

  • Sets this matrix as rotation transform around y axis by theta radians.

    Parameters

    • theta: number

      Rotation angle in radians.

    Returns Matrix4

  • Sets this matrix as rotation transform around z axis by theta radians.

    Parameters

    • theta: number

      Rotation angle in radians.

    Returns Matrix4

  • Sets this matrix as scale transform.

    Parameters

    • x: number
    • y: number
    • z: number

    Returns Matrix4

  • Sets this matrix as shear transform.

    Parameters

    • xy: number
    • xz: number
    • yx: number
    • yz: number
    • zx: number
    • zy: number

    Returns Matrix4

  • Sets this matrix as translation transform.

    Parameters

    • x: number
    • y: number
    • z: number

    Returns Matrix4

  • Multiplies this matrix by m.

    Parameters

    • m: Matrix4

    Returns Matrix4

  • Sets this matrix to a x b.

    Parameters

    • a: Matrix4
    • b: Matrix4

    Returns Matrix4

  • Multiplies this matrix by s.

    Parameters

    • s: number

    Returns 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.

    Deprecated

    This method has been removed completely.

    Parameters

    • a: Matrix4
    • b: Matrix4
    • r: number[]

    Returns Matrix4

  • Deprecated

    This method has been removed completely.

    Parameters

    • array: number[]

    Returns number[]

  • Parameters

    • m: Matrix4

    Returns Matrix4

  • Multiplies the columns of this matrix by vector v.

    Parameters

    • v: Vector3

    Returns Matrix4

  • 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 Matrix4

  • Set the upper 3x3 elements of this matrix to the values of the Matrix3 m.

    Parameters

    • m: Matrix3

    Returns Matrix4

  • Sets the position component for this matrix from vector v.

    Parameters

    • v: number | Vector3
    • Optional y: number
    • Optional z: number

    Returns Matrix4

  • Returns an array with the values of this matrix, or copies them into the provided array.

    Returns

    The created or 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[]

  • Parameters

    • Optional array: Matrix4Tuple
    • Optional offset: 0

    Returns Matrix4Tuple

  • Copies he values of this matrix into the provided array-like.

    Returns

    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>

  • Transposes this matrix.

    Returns Matrix4