vgl_h_matrix_3d< T > Class Template Reference

#include <vgl_h_matrix_3d.h>

Inheritance diagram for vgl_h_matrix_3d< T >:

[legend]List of all members.

---

Detailed Description

template<class T>
class vgl_h_matrix_3d< T >

A class to hold a 3-d projective transformation matrix and to perform common operations using it e.g.

transform point.

Definition at line 29 of file vgl_h_matrix_3d.h.

Public Member Functions
	vgl_h_matrix_3d ()
	~vgl_h_matrix_3d ()
	vgl_h_matrix_3d (const vgl_h_matrix_3d &M)
	vgl_h_matrix_3d (vnl_matrix_fixed< T, 4, 4 > const &M)
	Constructor.
	vgl_h_matrix_3d (vnl_matrix_fixed< T, 3, 3 > const &M, vnl_vector_fixed< T, 3 > const &m)
	Construct an affine vgl_h_matrix_3d from 3x3 M and 3x1 m.
	vgl_h_matrix_3d (const T *t_matrix)
	Construct from a 16-element row-storage array of double.
	vgl_h_matrix_3d (vcl_istream &)
	Load H from ASCII vcl_istream.
	vgl_h_matrix_3d (char const *filename)
	Load from file.
	vgl_h_matrix_3d (vcl_vector< vgl_homg_point_3d< T > > const &points1, vcl_vector< vgl_homg_point_3d< T > > const &points2)
	Constructor - calculate homography between two sets of 3D points (minimum 5).
vgl_homg_point_3d< T >	operator() (vgl_homg_point_3d< T > const &x) const
	return the transformed point.
vgl_homg_point_3d< T >	operator * (vgl_homg_point_3d< T > const &x) const
vgl_homg_plane_3d< T >	preimage (vgl_homg_plane_3d< T > const &p)
	Return the preimage of a transformed plane.
vgl_homg_point_3d< T >	preimage (vgl_homg_point_3d< T > const &x) const
	Return the preimage of a transformed point (requires an inverse).
vgl_homg_plane_3d< T >	operator() (vgl_homg_plane_3d< T > const &x) const
	Transform a plane (requires an inverse).
vgl_h_matrix_3d< T >	operator * (vgl_h_matrix_3d< T > const &H) const
	composition (*this) * H.
bool	read (vcl_istream &)
	Load H from ASCII file.
T	get (unsigned int row_index, unsigned int col_index) const
	Get matrix element at (row_index, col_index).
void	get (T *t_matrix) const
	Fill t_matrix with contents of H.
void	get (vnl_matrix_fixed< T, 4, 4 > *t_matrix) const
	Fill t_matrix with contents of H.
const vnl_matrix_fixed< T, 4, 4 > &	get_matrix () const
vgl_h_matrix_3d	get_inverse () const
	Return the inverse of this vgl_h_matrix_3d<T>.
void	set (unsigned int row_index, unsigned int col_index, const T value)
void	set (const T *t_matrix)
	Set to 4x4 row-stored matrix.
void	set (vnl_matrix_fixed< T, 4, 4 > const &t_matrix)
	Set to given vnl_matrix.
bool	projective_basis (vcl_vector< vgl_homg_point_3d< T > > const &five_points)
	Compute transform to projective basis given five points, no 4 coplanar.
void	set_identity ()
	Set to identity.
void	set_translation (T tx, T ty, T tz)
	Set to translation.
void	set_rotation_about_axis (const vnl_vector_fixed< T, 3 > &axis, T angle)
	rotation angle is in radians.
void	set_rotation_roll_pitch_yaw (T yaw, T pitch, T roll)
	Set to roll, pitch and yaw specified rotation.
void	set_rotation_euler (T rz1, T ry, T rz2)
	Set to rotation specified by Euler angles.
bool	is_rotation () const
bool	is_euclidean () const
vgl_h_matrix_3d< T >	get_upper_3x3 () const
	corresponds to rotation for Euclidan transformations.
vnl_matrix_fixed< T, 3, 3 >	get_upper_3x3_matrix () const
vgl_homg_point_3d< T >	get_translation () const
	corresponds to translation for affine transformations.
vnl_vector_fixed< T, 3 >	get_translation_vector () const
Protected Attributes
vnl_matrix_fixed< T, 4, 4 >	t12_matrix_

---

Constructor & Destructor Documentation

template<class T> vgl_h_matrix_3d< T >::vgl_h_matrix_3d (   )  [inline]

Definition at line 34 of file vgl_h_matrix_3d.h.

template<class T> vgl_h_matrix_3d< T >::~vgl_h_matrix_3d (   )  [inline]

Definition at line 35 of file vgl_h_matrix_3d.h.

template<class T> vgl_h_matrix_3d< T >::vgl_h_matrix_3d (  const vgl_h_matrix_3d< T > &  M  )

template<class T> vgl_h_matrix_3d< T >::vgl_h_matrix_3d (  vnl_matrix_fixed< T, 4, 4 > const &  M  )

Constructor. Definition at line 33 of file vgl_h_matrix_3d.txx.

template<class T> vgl_h_matrix_3d< T >::vgl_h_matrix_3d (  vnl_matrix_fixed< T, 3, 3 > const &  M, vnl_vector_fixed< T, 3 > const &  m )

Construct an affine vgl_h_matrix_3d from 3x3 M and 3x1 m. Definition at line 108 of file vgl_h_matrix_3d.txx.

template<class T> vgl_h_matrix_3d< T >::vgl_h_matrix_3d (  const T *  t_matrix  )

Construct from a 16-element row-storage array of double. Definition at line 125 of file vgl_h_matrix_3d.txx.

template<class T> vgl_h_matrix_3d< T >::vgl_h_matrix_3d (  vcl_istream &   )

Load H from ASCII vcl_istream. Definition at line 85 of file vgl_h_matrix_3d.txx.

template<class T> vgl_h_matrix_3d< T >::vgl_h_matrix_3d (  char const *  filename  )

Load from file. Definition at line 94 of file vgl_h_matrix_3d.txx.

template<class T> vgl_h_matrix_3d< T >::vgl_h_matrix_3d (  vcl_vector< vgl_homg_point_3d< T > > const &  points1, vcl_vector< vgl_homg_point_3d< T > > const &  points2 )

Constructor - calculate homography between two sets of 3D points (minimum 5). Definition at line 42 of file vgl_h_matrix_3d.txx.

---

Member Function Documentation

template<class T> void vgl_h_matrix_3d< T >::get (  vnl_matrix_fixed< T, 4, 4 > *  t_matrix  )  const

Fill t_matrix with contents of H. Definition at line 235 of file vgl_h_matrix_3d.txx.

template<class T> void vgl_h_matrix_3d< T >::get (  T *  t_matrix  )  const

Fill t_matrix with contents of H. Definition at line 224 of file vgl_h_matrix_3d.txx.

template<class T> T vgl_h_matrix_3d< T >::get (  unsigned int  row_index, unsigned int  col_index )  const

Get matrix element at (row_index, col_index). Definition at line 215 of file vgl_h_matrix_3d.txx.

template<class T> vgl_h_matrix_3d< T > vgl_h_matrix_3d< T >::get_inverse (   )  const

Return the inverse of this vgl_h_matrix_3d<T>. Definition at line 244 of file vgl_h_matrix_3d.txx.

template<class T> const vnl_matrix_fixed<T,4,4>& vgl_h_matrix_3d< T >::get_matrix (   )  const [inline]

Definition at line 68 of file vgl_h_matrix_3d.h.

template<class T> vgl_homg_point_3d< T > vgl_h_matrix_3d< T >::get_translation (   )  const

corresponds to translation for affine transformations. Definition at line 423 of file vgl_h_matrix_3d.txx.

template<class T> vnl_vector_fixed< T, 3 > vgl_h_matrix_3d< T >::get_translation_vector (   )  const

Definition at line 437 of file vgl_h_matrix_3d.txx.

template<class T> vgl_h_matrix_3d< T > vgl_h_matrix_3d< T >::get_upper_3x3 (   )  const

corresponds to rotation for Euclidan transformations. Definition at line 396 of file vgl_h_matrix_3d.txx.

template<class T> vnl_matrix_fixed< T, 3, 3 > vgl_h_matrix_3d< T >::get_upper_3x3_matrix (   )  const

Definition at line 411 of file vgl_h_matrix_3d.txx.

template<class T> bool vgl_h_matrix_3d< T >::is_euclidean (   )  const

Definition at line 372 of file vgl_h_matrix_3d.txx.

template<class T> bool vgl_h_matrix_3d< T >::is_rotation (   )  const

Definition at line 358 of file vgl_h_matrix_3d.txx.

template<class T> vgl_h_matrix_3d<T> vgl_h_matrix_3d< T >::operator * (  vgl_h_matrix_3d< T > const &  H  )  const [inline]

composition (*this) * H. Definition at line 58 of file vgl_h_matrix_3d.h.

template<class T> vgl_homg_point_3d<T> vgl_h_matrix_3d< T >::operator * (  vgl_homg_point_3d< T > const &  x  )  const [inline]

Definition at line 49 of file vgl_h_matrix_3d.h.

template<class T> vgl_homg_plane_3d< T > vgl_h_matrix_3d< T >::operator() (  vgl_homg_plane_3d< T > const &  x  )  const

Transform a plane (requires an inverse). Definition at line 176 of file vgl_h_matrix_3d.txx.

template<class T> vgl_homg_point_3d< T > vgl_h_matrix_3d< T >::operator() (  vgl_homg_point_3d< T > const &  x  )  const

return the transformed point. Definition at line 137 of file vgl_h_matrix_3d.txx.

template<class T> vgl_homg_point_3d< T > vgl_h_matrix_3d< T >::preimage (  vgl_homg_point_3d< T > const &  x  )  const

Return the preimage of a transformed point (requires an inverse). Definition at line 163 of file vgl_h_matrix_3d.txx.

template<class T> vgl_homg_plane_3d< T > vgl_h_matrix_3d< T >::preimage (  vgl_homg_plane_3d< T > const &  p  )

Return the preimage of a transformed plane. Definition at line 150 of file vgl_h_matrix_3d.txx.

template<class T> bool vgl_h_matrix_3d< T >::projective_basis (  vcl_vector< vgl_homg_point_3d< T > > const &  five_points  )

Compute transform to projective basis given five points, no 4 coplanar. Definition at line 272 of file vgl_h_matrix_3d.txx.

template<class T> bool vgl_h_matrix_3d< T >::read (  vcl_istream &   )

Load H from ASCII file. Definition at line 195 of file vgl_h_matrix_3d.txx.

template<class T> void vgl_h_matrix_3d< T >::set (  vnl_matrix_fixed< T, 4, 4 > const &  t_matrix  )

Set to given vnl_matrix. Definition at line 263 of file vgl_h_matrix_3d.txx.

template<class T> void vgl_h_matrix_3d< T >::set (  const T *  t_matrix  )

Set to 4x4 row-stored matrix. Definition at line 253 of file vgl_h_matrix_3d.txx.

template<class T> void vgl_h_matrix_3d< T >::set (  unsigned int  row_index, unsigned int  col_index, const T  value )  [inline]

Definition at line 71 of file vgl_h_matrix_3d.h.

template<class T> void vgl_h_matrix_3d< T >::set_identity (   )

Set to identity. Definition at line 281 of file vgl_h_matrix_3d.txx.

template<class T> void vgl_h_matrix_3d< T >::set_rotation_about_axis (  const vnl_vector_fixed< T, 3 > &  axis, T  angle )

rotation angle is in radians. Definition at line 300 of file vgl_h_matrix_3d.txx.

template<class T> void vgl_h_matrix_3d< T >::set_rotation_euler (  T  rz1, T  ry, T  rz2 )

Set to rotation specified by Euler angles. Definition at line 339 of file vgl_h_matrix_3d.txx.

template<class T> void vgl_h_matrix_3d< T >::set_rotation_roll_pitch_yaw (  T  yaw, T  pitch, T  roll )

Set to roll, pitch and yaw specified rotation. roll is rotation about z pitch is rotation about y yaw is rotation about x Definition at line 318 of file vgl_h_matrix_3d.txx.

template<class T> void vgl_h_matrix_3d< T >::set_translation (  T  tx, T  ty, T  tz )

Set to translation. Definition at line 289 of file vgl_h_matrix_3d.txx.

---

Member Data Documentation

template<class T> vnl_matrix_fixed<T,4,4> vgl_h_matrix_3d< T >::t12_matrix_ [protected]

Definition at line 32 of file vgl_h_matrix_3d.h.

---

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

• core/vgl/algo/vgl_h_matrix_3d.h
• core/vgl/algo/vgl_h_matrix_3d.txx

---