#include <PMatrix.h>

Inheritance diagram for PMatrix:

Public Member Functions
	PMatrix ()
	Constructor. Set up a canonical P matrix.
	PMatrix (vcl_istream &)
	Construct by loading from vcl_istream.
	PMatrix (const double *c_matrix)
	Construct from row-stored array of 12 doubles.
	PMatrix (vnl_double_3x4 const &)
	Construct from 3x4 matrix.
	PMatrix (const vnl_matrix< double > &A, const vnl_vector< double > &a)
	Construct from 3x3 matrix A and vector a. P = [A a].
	PMatrix (const PMatrix &)
	~PMatrix ()
HomgPoint2D	project (const HomgPoint3D &X) const
	Return the image point which is the projection of the specified 3D point X.
HomgLine2D	project (const HomgLine3D &L) const
HomgLineSeg2D	project (const HomgLineSeg3D &L) const
HomgPoint3D	backproject_pseudoinverse (const HomgPoint2D &x) const
HomgLine3D	backproject (const HomgPoint2D &x) const
HomgPlane3D	backproject (const HomgLine2D &l) const
vgl_homg_point_2d< double >	project (vgl_homg_point_3d< double > const &X) const
	Return the image point which is the projection of the specified 3D point X.
vgl_homg_line_2d< double >	project (vgl_homg_line_3d_2_points< double > const &L) const
	Return the image line which is the projection of the specified 3D line L.
vgl_line_segment_2d< double >	project (vgl_line_segment_3d< double > const &L) const
	Return the image linesegment which is the projection of the specified 3D linesegment L.
vgl_homg_point_3d< double >	backproject_pseudoinverse (vgl_homg_point_2d< double > const &x) const
	Return the 3D point $ X$ which is $ X = P^+ x$.
vgl_homg_line_3d_2_points< double >	backproject (vgl_homg_point_2d< double > const &x) const
	Return the 3D line which is the backprojection of the specified image point, x.
vgl_homg_plane_3d< double >	backproject (vgl_homg_line_2d< double > const &l) const
	Return the 3D plane which is the backprojection of the specified line l in the image.
PMatrix	postmultiply (vnl_double_4x4 const &H) const
	post-multiply this projection matrix with a HMatrix3D.
PMatrix	premultiply (vnl_double_3x3 const &H) const
	pre-multiply this projection matrix with a HMatrix2D.
vnl_svd< double > *	svd () const
	Compute the svd of this P and cache it, so that future operations that require it need not recompute it.
void	clear_svd () const
	Discredit the cached svd.
HomgPoint3D	get_focal_point () const
vgl_homg_point_3d< double >	get_focal () const
	Return the 3D point representing the focal point of the camera.
HMatrix3D	get_canonical_H () const
	Return the HMatrix3D s.t. P * H = [I 0].
bool	is_canonical (double tol=0) const
	Return true iff P is [I 0].
bool	is_behind_camera (const HomgPoint3D &)
bool	is_behind_camera (vgl_homg_point_3d< double > const &)
	Return true if the 3D point X is behind the camera represented by this P.
void	flip_sign ()
	Change the overall sign of the P matrix.
bool	looks_conditioned ()
	Splendid hack that tries to detect if the P is an image-coords P or a normalized P.
void	fix_cheirality ()
	Scale P so determinant of first 3x3 is 1.
PMatrix &	operator= (const PMatrix &)
bool	operator== (PMatrix const &p) const
void	get (vnl_matrix< double > A, vnl_vector< double > a) const
	Return the 3x3 matrix and 3x1 column vector of P = [A a].
void	get (vnl_double_3x3 A, vnl_double_3 a) const
	Return the 3x3 matrix and 3x1 column vector of P = [A a].
void	set (const vnl_matrix< double > &A, const vnl_vector< double > &a)
	Set from 3x3 matrix and 3x1 column vector of P = [A a].
void	get_rows (vnl_vector< double > , vnl_vector< double > , vnl_vector< double > *) const
	Return the rows of P = [a b c]'.
void	get_rows (vnl_vector_fixed< double, 4 > , vnl_vector_fixed< double, 4 > , vnl_vector_fixed< double, 4 > *) const
	Return the rows of P = [a b c]'.
void	set_rows (const vnl_vector< double > &, const vnl_vector< double > &, const vnl_vector< double > &)
double	get (unsigned int row_index, unsigned int col_index) const
	Return the element of the matrix at the specified indices.
void	get (double *c_matrix) const
	Return the 3x4 projection matrix in the array, p_matrix.
void	get (vnl_matrix< double > *p_matrix) const
void	get (vnl_double_3x4 *p_matrix) const
	Return the 3x4 projection matrix in the vnl_matrix<double>, p_matrix.
void	set (const double *p_matrix)
	Set the 3x4 projective matrix with the matrix in the array, p_matrix.
void	set (const double p_matrix[3][4])
	Set the 3x4 projective matrix with the matrix in the array, p_matrix.
void	set (const vnl_matrix< double > &p_matrix)
	Set the 3x4 projective matrix with the matrix in the array, p_matrix.
void	set (vnl_double_3x4 const &p_matrix)
	Set the fundamental matrix using the vnl_matrix<double> p_matrix.
const vnl_double_3x4 &	get_matrix () const
bool	read_ascii (vcl_istream &f)
	Load from file.
void	ref ()
void	unref ()
int	get_references () const
bool	is_referenced () const
Static Public Member Functions
static PMatrix	read (const char *filename)
	Load from file.
static PMatrix	read (vcl_istream &)
	Load from vcl_istream.
Protected Attributes
vnl_double_3x4	p_matrix_
vnl_svd< double > *	svd_

Detailed Description

Definition at line 55 of file PMatrix.h.

Constructor & Destructor Documentation

PMatrix::PMatrix ( )

Constructor. Set up a canonical P matrix.

Definition at line 41 of file PMatrix.cxx.

PMatrix::PMatrix ( vcl_istream & i )

Construct by loading from vcl_istream.

   PMatrix P(cin);

Definition at line 58 of file PMatrix.cxx.

PMatrix::PMatrix ( const double * c_matrix )

Construct from row-stored array of 12 doubles.

Definition at line 88 of file PMatrix.cxx.

PMatrix::PMatrix ( vnl_double_3x4 const & pmatrix ) [explicit]

Construct from 3x4 matrix.

Definition at line 68 of file PMatrix.cxx.

PMatrix::PMatrix	(	const vnl_matrix< double > &	A,
		const vnl_vector< double > &	a
	)

Construct from 3x3 matrix A and vector a. P = [A a].

Definition at line 78 of file PMatrix.cxx.

PMatrix::PMatrix ( const PMatrix & that )

Definition at line 98 of file PMatrix.cxx.

PMatrix::~PMatrix ( )

Definition at line 114 of file PMatrix.cxx.

Member Function Documentation

HomgLine3D PMatrix::backproject ( const HomgPoint2D & x ) const

Definition at line 185 of file PMatrix.cxx.

HomgPlane3D PMatrix::backproject ( const HomgLine2D & l ) const

Definition at line 198 of file PMatrix.cxx.

vgl_homg_line_3d_2_points< double > PMatrix::backproject ( vgl_homg_point_2d< double > const & x ) const

Return the 3D line which is the backprojection of the specified image point, x.

Uses svd().

Definition at line 180 of file PMatrix.cxx.

vgl_homg_plane_3d< double > PMatrix::backproject ( vgl_homg_line_2d< double > const & l ) const

Return the 3D plane which is the backprojection of the specified line l in the image.

Definition at line 193 of file PMatrix.cxx.

HomgPoint3D PMatrix::backproject_pseudoinverse ( const HomgPoint2D & x ) const

Definition at line 171 of file PMatrix.cxx.

vgl_homg_point_3d< double > PMatrix::backproject_pseudoinverse ( vgl_homg_point_2d< double > const & x ) const

Return the 3D point $ X$ which is $ X = P^+ x$.

Equivalently, the 3D point of smallest norm such that $P \vec X = \vec x$ . Uses svd().

Definition at line 165 of file PMatrix.cxx.

void PMatrix::clear_svd ( ) const

Discredit the cached svd.

This is necessary only in order to recover the space used by it if the PMatrix is not being deleted.

Definition at line 290 of file PMatrix.cxx.

void PMatrix::fix_cheirality ( )

Scale P so determinant of first 3x3 is 1.

Definition at line 564 of file PMatrix.cxx.

void PMatrix::flip_sign ( )

Change the overall sign of the P matrix.

Definition at line 613 of file PMatrix.cxx.

void PMatrix::get	(	vnl_matrix< double > *	A,
		vnl_vector< double > *	a
	)		const

Return the 3x3 matrix and 3x1 column vector of P = [A a].

Definition at line 402 of file PMatrix.cxx.

void PMatrix::get	(	vnl_double_3x3 *	A,
		vnl_double_3 *	a
	)		const

Return the 3x3 matrix and 3x1 column vector of P = [A a].

Definition at line 425 of file PMatrix.cxx.

double PMatrix::get	(	unsigned int	row_index,
		unsigned int	col_index
	)		const

Return the element of the matrix at the specified indices.

Definition at line 373 of file PMatrix.cxx.

void PMatrix::get ( double * c_matrix ) const

Return the 3x4 projection matrix in the array, p_matrix.

Definition at line 382 of file PMatrix.cxx.

void PMatrix::get ( vnl_matrix< double > * p_matrix ) const

void PMatrix::get ( vnl_double_3x4 * p_matrix ) const

Return the 3x4 projection matrix in the vnl_matrix<double>, p_matrix.

Definition at line 393 of file PMatrix.cxx.

HMatrix3D PMatrix::get_canonical_H ( ) const

Return the HMatrix3D s.t. P * H = [I 0].

If P = [A a], then H = [inv(A) -inv(A)*a; 0 0 0 1];

Definition at line 336 of file PMatrix.cxx.

vgl_homg_point_3d< double > PMatrix::get_focal ( ) const

Return the 3D point representing the focal point of the camera.

Uses svd().

Definition at line 299 of file PMatrix.cxx.

HomgPoint3D PMatrix::get_focal_point ( ) const

Definition at line 313 of file PMatrix.cxx.

const vnl_double_3x4& PMatrix::get_matrix ( ) const [inline]

Definition at line 139 of file PMatrix.h.

void PMatrix::get_rows	(	vnl_vector< double > *	a,
		vnl_vector< double > *	b,
		vnl_vector< double > *	c
	)		const

Return the rows of P = [a b c]'.

Definition at line 448 of file PMatrix.cxx.

void PMatrix::get_rows	(	vnl_vector_fixed< double, 4 > *	a,
		vnl_vector_fixed< double, 4 > *	b,
		vnl_vector_fixed< double, 4 > *	c
	)		const

Return the rows of P = [a b c]'.

Definition at line 470 of file PMatrix.cxx.

bool PMatrix::is_behind_camera ( const HomgPoint3D & hX )

Definition at line 598 of file PMatrix.cxx.

bool PMatrix::is_behind_camera ( vgl_homg_point_3d< double > const & hX )

Return true if the 3D point X is behind the camera represented by this P.

This depends on the overall sign of the P matrix having been set correctly, a la Hartley cheirality paper.

Definition at line 588 of file PMatrix.cxx.

bool PMatrix::is_canonical ( double tol = 0 ) const

Return true iff P is [I 0].

Equality is assumed if the max abs diff is less than tol.

Definition at line 350 of file PMatrix.cxx.

bool PMatrix::looks_conditioned ( )

Splendid hack that tries to detect if the P is an image-coords P or a normalized P.

Definition at line 622 of file PMatrix.cxx.

PMatrix & PMatrix::operator= ( const PMatrix & that )

Definition at line 104 of file PMatrix.cxx.

bool PMatrix::operator== ( PMatrix const & p ) const [inline]

Definition at line 119 of file PMatrix.h.

PMatrix PMatrix::postmultiply ( vnl_double_4x4 const & H ) const

post-multiply this projection matrix with a HMatrix3D.

Postmultiply by 4x4 matrix.

Definition at line 630 of file PMatrix.cxx.

PMatrix PMatrix::premultiply ( vnl_double_3x3 const & H ) const

pre-multiply this projection matrix with a HMatrix2D.

Premultiply by 3x3 matrix.

Definition at line 636 of file PMatrix.cxx.

HomgPoint2D PMatrix::project ( const HomgPoint3D & X ) const

Return the image point which is the projection of the specified 3D point X.

Definition at line 124 of file PMatrix.cxx.

HomgLine2D PMatrix::project ( const HomgLine3D & L ) const

Definition at line 139 of file PMatrix.cxx.

HomgLineSeg2D PMatrix::project ( const HomgLineSeg3D & L ) const

Definition at line 155 of file PMatrix.cxx.

vgl_homg_point_2d<double> PMatrix::project ( vgl_homg_point_3d< double > const & X ) const [inline]

Return the image point which is the projection of the specified 3D point X.

Definition at line 83 of file PMatrix.h.

vgl_homg_line_2d< double > PMatrix::project ( vgl_homg_line_3d_2_points< double > const & L ) const

Return the image line which is the projection of the specified 3D line L.

Definition at line 134 of file PMatrix.cxx.

vgl_line_segment_2d< double > PMatrix::project ( vgl_line_segment_3d< double > const & L ) const

Return the image linesegment which is the projection of the specified 3D linesegment L.

Definition at line 148 of file PMatrix.cxx.

PMatrix PMatrix::read ( const char * filename ) [static]

Load from file.

Static method, so you can say

 PMatrix P = PMatrix::read("file.P");

Definition at line 251 of file PMatrix.cxx.

PMatrix PMatrix::read ( vcl_istream & s ) [static]

Load from vcl_istream.

Definition at line 267 of file PMatrix.cxx.

bool PMatrix::read_ascii ( vcl_istream & f )

Load from file.

 P.read_ascii("file.P");

Definition at line 227 of file PMatrix.cxx.

void PMatrix::set	(	const vnl_matrix< double > &	A,
		const vnl_vector< double > &	a
	)

Set from 3x3 matrix and 3x1 column vector of P = [A a].

Definition at line 543 of file PMatrix.cxx.

void PMatrix::set ( const double * p_matrix )

Set the 3x4 projective matrix with the matrix in the array, p_matrix.

Definition at line 519 of file PMatrix.cxx.

void PMatrix::set ( const double p_matrix[3][4] )

Set the 3x4 projective matrix with the matrix in the array, p_matrix.

Definition at line 494 of file PMatrix.cxx.

void PMatrix::set ( const vnl_matrix< double > & p_matrix )

Set the 3x4 projective matrix with the matrix in the array, p_matrix.

Definition at line 505 of file PMatrix.cxx.

void PMatrix::set ( vnl_double_3x4 const & p_matrix )

Set the fundamental matrix using the vnl_matrix<double> p_matrix.

Definition at line 532 of file PMatrix.cxx.

void PMatrix::set_rows	(	const vnl_vector< double > &	,
		const vnl_vector< double > &	,
		const vnl_vector< double > &
	)

vnl_svd< double > * PMatrix::svd ( ) const

Compute the svd of this P and cache it, so that future operations that require it need not recompute it.

Definition at line 279 of file PMatrix.cxx.

Member Data Documentation

vnl_double_3x4 PMatrix::p_matrix_ [protected]

Definition at line 146 of file PMatrix.h.

vnl_svd<double>* PMatrix::svd_ [mutable, protected]

Definition at line 147 of file PMatrix.h.

The documentation for this class was generated from the following files:

contrib/oxl/mvl/PMatrix.h
contrib/oxl/mvl/PMatrix.cxx

Public Member Functions

Static Public Member Functions

Protected Attributes

Detailed Description

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation