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

Legend

class

interface

Hierarchy

Matrix4
- Pose

Implements

Position<LengthUnit>

Index

Constructors

constructor

new Pose(): Pose
Returns Pose
Inherited from Matrix4.constructor
- Defined in src/three/math/Matrix4.d.ts:44

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
Position accuracy

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

Returns Orientation
- Defined in src/data/position/Pose.ts:108

position

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

Returns
3D position

Returns Absolute3DPosition
- Defined in src/data/position/Pose.ts:120

probability

get probability(): number
Get the position probability

Returns
Probability between 0 and 1

Returns number
Implementation of Position.probability
- Defined in src/data/position/Pose.ts:43
set probability(value: number): void
Position probability
Parameters
- value: number
Returns void
Implementation of Position.probability
- Defined in src/data/position/Pose.ts:48

Methods

clone

clone(): Pose
Clone the position

Returns Pose
Implementation of Position.clone

Inherited from Matrix4.clone
- Defined in src/utils/math/Matrix4.ts:70

compose

compose(translation: Vector3, rotation: Quaternion, scale: Vector3): Matrix4
Sets this matrix to the transformation composed of translation, rotation and scale.
Parameters
- translation: Vector3
- rotation: Quaternion
- scale: Vector3
Returns Matrix4
Inherited from Matrix4.compose
- Defined in src/three/math/Matrix4.d.ts:195

copy

copy(m: Matrix4): Pose
Parameters
- m: Matrix4
Returns Pose
Inherited from Matrix4.copy
- Defined in src/three/math/Matrix4.d.ts:79

copyPosition

copyPosition(m: Matrix4): Matrix4
Parameters
- m: Matrix4
Returns Matrix4
Inherited from Matrix4.copyPosition
- Defined in src/three/math/Matrix4.d.ts:80

crossVector

crossVector(v: any): void
Deprecated
Use vector.applyMatrix4( matrix ) instead.
Parameters
- v: any
Returns void
Inherited from Matrix4.crossVector
- Defined in src/three/math/Matrix4.d.ts:280

decompose

decompose(translation: Vector3, rotation: Quaternion, scale: Vector3): Matrix4
Decomposes this matrix into it's position, quaternion and scale components.
Parameters
- translation: Vector3
- rotation: Quaternion
- scale: Vector3
Returns Matrix4
Inherited from Matrix4.decompose
- Defined in src/three/math/Matrix4.d.ts:200

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:124

equals

equals(matrix: Matrix4): 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:216

extractBasis

extractBasis(xAxis: Vector3, yAxis: Vector3, zAxis: Vector3): Matrix4
Parameters
- xAxis: Vector3
- yAxis: Vector3
- zAxis: Vector3
Returns Matrix4
Inherited from Matrix4.extractBasis
- Defined in src/three/math/Matrix4.d.ts:81

extractPosition

extractPosition(m: Matrix4): Matrix4
Deprecated
Use .copyPosition() instead.
Parameters
- m: Matrix4
Returns Matrix4
Inherited from Matrix4.extractPosition
- Defined in src/three/math/Matrix4.d.ts:250

extractRotation

extractRotation(m: Matrix4): Matrix4
Copies the rotation component of the supplied matrix m into this matrix rotation component.
Parameters
- m: Matrix4
Returns Matrix4
Inherited from Matrix4.extractRotation
- Defined in src/three/math/Matrix4.d.ts:87

flattenToArrayOffset

flattenToArrayOffset(array: number[], offset: number): number[]
Deprecated
Use .toArray() instead.
Parameters
- array: number[]
- offset: number
Returns number[]
Inherited from Matrix4.flattenToArrayOffset
- Defined in src/three/math/Matrix4.d.ts:285

fromArray

fromArray(array: number[] | ArrayLike<number>, offset?: number): Matrix4
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
Inherited from Matrix4.fromArray
- Defined in src/three/math/Matrix4.d.ts:223

getInverse

getInverse(matrix: Matrix): Matrix
Deprecated
Use .invert() instead.
Parameters
- matrix: Matrix
Returns Matrix
Inherited from Matrix4.getInverse
- Defined in src/three/math/Matrix4.d.ts:290

getMaxScaleOnAxis

getMaxScaleOnAxis(): number
Returns number
Inherited from Matrix4.getMaxScaleOnAxis
- Defined in src/three/math/Matrix4.d.ts:146

identity

identity(): Matrix4
Resets this matrix to identity.

Returns Matrix4
Inherited from Matrix4.identity
- Defined in src/three/math/Matrix4.d.ts:77

invert

invert(): Matrix4
Inverts this matrix.

Returns Matrix4
Inherited from Matrix4.invert
- Defined in src/three/math/Matrix4.d.ts:139

lookAt

lookAt(eye: Vector3, target: Vector3, up: Vector3): Matrix4
Constructs a rotation matrix, looking from eye towards center with defined up vector.
Parameters
- eye: Vector3
- target: Vector3
- up: Vector3
Returns Matrix4
Inherited from Matrix4.lookAt
- Defined in src/three/math/Matrix4.d.ts:93

makeBasis

makeBasis(xAxis: Vector3, yAxis: Vector3, zAxis: Vector3): Matrix4
Parameters
- xAxis: Vector3
- yAxis: Vector3
- zAxis: Vector3
Returns Matrix4
Inherited from Matrix4.makeBasis
- Defined in src/three/math/Matrix4.d.ts:82

makeOrthographic

makeOrthographic(left: number, right: number, top: number, bottom: number, near: number, far: number): Matrix4
Creates an orthographic projection matrix.
Parameters
- left: number
- right: number
- top: number
- bottom: number
- near: number
- far: number
Returns Matrix4
Inherited from Matrix4.makeOrthographic
- Defined in src/three/math/Matrix4.d.ts:215

makePerspective

makePerspective(left: number, right: number, bottom: number, top: number, near: number, far: number): Matrix4
Creates a frustum matrix.
Parameters
- left: number
- right: number
- bottom: number
- top: number
- near: number
- far: number
Returns Matrix4
Inherited from Matrix4.makePerspective
- Defined in src/three/math/Matrix4.d.ts:205
makePerspective(fov: number, aspect: number, near: number, far: number): Matrix4
Creates a perspective projection matrix.
Parameters
- fov: number
- aspect: number
- near: number
- far: number
Returns Matrix4
Inherited from Matrix4.makePerspective
- Defined in src/three/math/Matrix4.d.ts:210

makeRotationAxis

makeRotationAxis(axis: Vector3, angle: number): Matrix4
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 Matrix4
Inherited from Matrix4.makeRotationAxis
- Defined in src/three/math/Matrix4.d.ts:180

makeRotationFromEuler

makeRotationFromEuler(euler: Euler): Matrix4
Parameters
- euler: Euler
Returns Matrix4
Inherited from Matrix4.makeRotationFromEuler
- Defined in src/three/math/Matrix4.d.ts:88

makeRotationFromQuaternion

makeRotationFromQuaternion(q: Quaternion): Matrix4
Parameters
- q: Quaternion
Returns Matrix4
Inherited from Matrix4.makeRotationFromQuaternion
- Defined in src/three/math/Matrix4.d.ts:89

makeRotationX

makeRotationX(theta: number): Matrix4
Sets this matrix as rotation transform around x axis by theta radians.
Parameters
- theta: number
  
  Rotation angle in radians.
Returns Matrix4
Inherited from Matrix4.makeRotationX
- Defined in src/three/math/Matrix4.d.ts:157

makeRotationY

makeRotationY(theta: number): Matrix4
Sets this matrix as rotation transform around y axis by theta radians.
Parameters
- theta: number
  
  Rotation angle in radians.
Returns Matrix4
Inherited from Matrix4.makeRotationY
- Defined in src/three/math/Matrix4.d.ts:164

makeRotationZ

makeRotationZ(theta: number): Matrix4
Sets this matrix as rotation transform around z axis by theta radians.
Parameters
- theta: number
  
  Rotation angle in radians.
Returns Matrix4
Inherited from Matrix4.makeRotationZ
- Defined in src/three/math/Matrix4.d.ts:171

makeScale

makeScale(x: number, y: number, z: number): Matrix4
Sets this matrix as scale transform.
Parameters
- x: number
- y: number
- z: number
Returns Matrix4
Inherited from Matrix4.makeScale
- Defined in src/three/math/Matrix4.d.ts:185

makeShear

makeShear(xy: number, xz: number, yx: number, yz: number, zx: number, zy: number): Matrix4
Sets this matrix as shear transform.
Parameters
- xy: number
- xz: number
- yx: number
- yz: number
- zx: number
- zy: number
Returns Matrix4
Inherited from Matrix4.makeShear
- Defined in src/three/math/Matrix4.d.ts:190

makeTranslation

makeTranslation(x: number, y: number, z: number): Matrix4
Sets this matrix as translation transform.
Parameters
- x: number
- y: number
- z: number
Returns Matrix4
Inherited from Matrix4.makeTranslation
- Defined in src/three/math/Matrix4.d.ts:150

multiply

multiply(m: Matrix4): Matrix4
Multiplies this matrix by m.
Parameters
- m: Matrix4
Returns Matrix4
Inherited from Matrix4.multiply
- Defined in src/three/math/Matrix4.d.ts:98

multiplyMatrices

multiplyMatrices(a: Matrix4, b: Matrix4): Matrix4
Sets this matrix to a x b.
Parameters
- a: Matrix4
- b: Matrix4
Returns Matrix4
Inherited from Matrix4.multiplyMatrices
- Defined in src/three/math/Matrix4.d.ts:105

multiplyScalar

multiplyScalar(s: number): Matrix4
Multiplies this matrix by s.
Parameters
- s: number
Returns Matrix4
Inherited from Matrix4.multiplyScalar
- Defined in src/three/math/Matrix4.d.ts:118

multiplyToArray

multiplyToArray(a: Matrix4, b: Matrix4, r: number[]): 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
Inherited from Matrix4.multiplyToArray
- Defined in src/three/math/Matrix4.d.ts:113

multiplyVector3

multiplyVector3(v: any): any
Deprecated
Use vector.applyMatrix4( matrix ) instead.
Parameters
- v: any
Returns any
Inherited from Matrix4.multiplyVector3
- Defined in src/three/math/Matrix4.d.ts:260

multiplyVector3Array

multiplyVector3Array(array: number[]): number[]
Deprecated
This method has been removed completely.
Parameters
- array: number[]
Returns number[]
Inherited from Matrix4.multiplyVector3Array
- Defined in src/three/math/Matrix4.d.ts:270

multiplyVector4

multiplyVector4(v: any): any
Deprecated
Use vector.applyMatrix4( matrix ) instead.
Parameters
- v: any
Returns any
Inherited from Matrix4.multiplyVector4
- Defined in src/three/math/Matrix4.d.ts:265

premultiply

premultiply(m: Matrix4): Matrix4
Parameters
- m: Matrix4
Returns Matrix4
Inherited from Matrix4.premultiply
- Defined in src/three/math/Matrix4.d.ts:100

rotateAxis

rotateAxis(v: any): void
Deprecated
Use Vector3.transformDirection( matrix ) instead.
Parameters
- v: any
Returns void
Inherited from Matrix4.rotateAxis
- Defined in src/three/math/Matrix4.d.ts:275

scale

scale(v: Vector3): Matrix4
Multiplies the columns of this matrix by vector v.
Parameters
- v: Vector3
Returns Matrix4
Inherited from Matrix4.scale
- Defined in src/three/math/Matrix4.d.ts:144

set

set(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): 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
Inherited from Matrix4.set
- Defined in src/three/math/Matrix4.d.ts:55

setFromMatrix3

setFromMatrix3(m: Matrix3): Matrix4
Set the upper 3x3 elements of this matrix to the values of the Matrix3 m.
Parameters
- m: Matrix3
Returns Matrix4
Inherited from Matrix4.setFromMatrix3
- Defined in src/three/math/Matrix4.d.ts:245

setPosition

setPosition(v: number | Vector3, y?: number, z?: number): Matrix4
Sets the position component for this matrix from vector v.
Parameters
- v: number | Vector3
- Optional y: number
- Optional z: number
Returns Matrix4
Inherited from Matrix4.setPosition
- Defined in src/three/math/Matrix4.d.ts:134

setRotationFromQuaternion

setRotationFromQuaternion(q: Quaternion): Matrix4
Deprecated
Use .makeRotationFromQuaternion() instead.
Parameters
- q: Quaternion
Returns Matrix4
Inherited from Matrix4.setRotationFromQuaternion
- Defined in src/three/math/Matrix4.d.ts:255

toArray

toArray(array?: number[], offset?: number): number[]
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[]
Inherited from Matrix4.toArray
- Defined in src/three/math/Matrix4.d.ts:231
toArray(array?: Matrix4Tuple, offset?: 0): Matrix4Tuple
Parameters
- Optional array: Matrix4Tuple
- Optional offset: 0
Returns Matrix4Tuple
Inherited from Matrix4.toArray
- Defined in src/three/math/Matrix4.d.ts:232
toArray(array?: ArrayLike<number>, offset?: number): ArrayLike<number>
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>
Inherited from Matrix4.toArray
- Defined in src/three/math/Matrix4.d.ts:240

transpose

transpose(): Matrix4
Transposes this matrix.

Returns Matrix4
Inherited from Matrix4.transpose
- Defined in src/three/math/Matrix4.d.ts:129

`Static` fromArray

fromArray<T>(array: number[][]): T
Create a matrix from array

Returns
Matrix4
Type Parameters
- T extends Matrix4<T>
Parameters
- array: number[][]
  
  Array
Returns T
Inherited from Matrix4.fromArray
- Defined in src/utils/math/Matrix4.ts:26

`Static` fromMatrix4

fromMatrix4<T>(matrix: Matrix4): T
Get a pose from a 4d matrix

Returns
Pose instance
Type Parameters
- T extends Pose<T>
Parameters
- matrix: Matrix4
  
  4x4 Matrix
Returns T
- Defined in src/data/position/Pose.ts:77

`Static` fromPosition

fromPosition<T>(position: Absolute3DPosition): T
Create a pose from a position

Returns
Output pose
Type Parameters
- T extends Pose<T>
Parameters
- position: Absolute3DPosition
  
  3D position
Returns T
- Defined in src/data/position/Pose.ts:89

`Static` rotationFromAxisAngle

rotationFromAxisAngle<T>(vector: Vector3, angle: number): T
Create a rotation matrix from euler angles

Returns
Rotation matrix
Type Parameters
- T extends Matrix4<T>
Parameters
- vector: Vector3
  
  Vector
- angle: number
  
  Angle
Returns T
Inherited from Matrix4.rotationFromAxisAngle
- Defined in src/utils/math/Matrix4.ts:64

`Static` rotationFromEuler

rotationFromEuler<T>(euler: Euler): T
Create a rotation matrix from euler angles

Returns
Rotation matrix
Type Parameters
- T extends Matrix4<T>
Parameters
- euler: Euler
  
  Euler angles
Returns T
Inherited from Matrix4.rotationFromEuler
- Defined in src/utils/math/Matrix4.ts:51

`Static` rotationFromQuaternion

rotationFromQuaternion<T>(quat: Quaternion): T
Create a rotation matrix from quaternion

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

`Static` round

round(value: Matrix4, decimals?: number): Matrix4
Parameters
- value: Matrix4
- decimals: number = 0
Returns Matrix4
Inherited from Matrix4.round
- Defined in src/utils/math/Matrix4.ts:12

Class Pose

See

Hierarchy-Diagram

Legend

Hierarchy

Implements

Index

Constructors

Properties

Accessors

Methods

Constructors

constructor

Returns Pose

Properties

elements

timestamp

unit

Accessors

accuracy

Returns

Returns Accuracy<LengthUnit, any>

Parameters

value: Accuracy<LengthUnit, any>

Returns void

orientation

Returns

Returns Orientation

position

Returns

Returns Absolute3DPosition

probability

Returns

Returns number

Parameters

value: number

Returns void

Methods

clone

Returns Pose

compose

Parameters

translation: Vector3

rotation: Quaternion

scale: Vector3

Returns Matrix4

copy

Parameters

m: Matrix4

Returns Pose

copyPosition

Parameters

m: Matrix4

Returns Matrix4

crossVector

Deprecated

Parameters

v: any

Returns void

decompose

Parameters

translation: Vector3

rotation: Quaternion

scale: Vector3

Returns Matrix4

determinant

Returns number

equals

Parameters

matrix: Matrix4

Returns boolean

extractBasis

Parameters

xAxis: Vector3

yAxis: Vector3

zAxis: Vector3

Returns Matrix4

extractPosition

Deprecated

Parameters

`Optional` offset: number