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Author: simutisernestas

modules/tracking/include/opencv2/tracking/twist.hpp

@@ -21,11 +21,35 @@ class CV_EXPORTS Twist
 public:
     Twist() = default;
 
-    // TODO(ernie): docs
+    /**
+     * @brief Compute the camera twist from a set of 2D pixel locations, their
+     * velocities, depth values and intrinsic parameters of the camera. The pixel
+     * velocities are usually obtained from optical flow algorithms, both dense and
+     * sparse flow can be used to compute the flow between images and duv computed by
+     * dividing the flow by the time interval between the images.
+     *
+     * @param uv 2xN matrix of 2D pixel locations
+     * @param duv 2Nx1 matrix of 2D pixel velocities
+     * @param depths 1xN matrix of depth values
+     * @param K 3x3 camera intrinsic matrix
+     *
+     * @return cv::Vec6d 6x1 camera twist
+     */
     cv::Vec6d compute(const cv::Mat& uv, const cv::Mat& duv, const cv::Mat depths,
                       const cv::Mat& K);
 
-    // TODO(ernie): docs
+    /**
+     * @brief Compute the interaction matrix for a set of 2D pixels. This is usually
+     * used in visual servoing applications to command a robot to move at desired pixel
+     * locations/velocities. By inverting this matrix one can estimate camera spatial
+     * velocity i.e., the twist.
+     *
+     * @param uv 2xN matrix of 2D pixel locations
+     * @param depth 1xN matrix of depth values
+     * @param K 3x3 camera intrinsic matrix
+     * @param J 2Nx6 interaction matrix
+     *
+     */
     void interactionMatrix(const cv::Mat& uv, const cv::Mat& depth, const cv::Mat& K, cv::Mat& J);
 };