A class to hold a 3-d projective transformation matrix and to perform common operations using it e.g. More...
#include <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) | |
| Copy constructor. | |
| 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 |
| bool | operator== (vgl_h_matrix_3d< T > const &M) |
| 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. | |
| void | set_rotation_matrix (vnl_matrix_fixed< T, 3, 3 > const &R) |
| 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_ |
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.
Constructor & Destructor Documentation
| vgl_h_matrix_3d< T >::vgl_h_matrix_3d | ( | ) | [inline] |
Definition at line 34 of file vgl_h_matrix_3d.h.
| vgl_h_matrix_3d< T >::~vgl_h_matrix_3d | ( | ) | [inline] |
Definition at line 35 of file vgl_h_matrix_3d.h.
| vgl_h_matrix_3d< T >::vgl_h_matrix_3d | ( | const vgl_h_matrix_3d< T > & | M | ) |
Copy constructor.
Definition at line 24 of file vgl_h_matrix_3d.txx.
| 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.
| 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.
| 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.
| vgl_h_matrix_3d< T >::vgl_h_matrix_3d | ( | vcl_istream & | s | ) |
Load H from ASCII vcl_istream.
Definition at line 85 of file vgl_h_matrix_3d.txx.
| 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.
| 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
| 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.
| 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.
| 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.
| 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.
| const vnl_matrix_fixed<T,4,4>& vgl_h_matrix_3d< T >::get_matrix | ( | ) | const [inline] |
Definition at line 69 of file vgl_h_matrix_3d.h.
| vgl_homg_point_3d< T > vgl_h_matrix_3d< T >::get_translation | ( | ) | const |
corresponds to translation for affine transformations.
Definition at line 428 of file vgl_h_matrix_3d.txx.
| vnl_vector_fixed< T, 3 > vgl_h_matrix_3d< T >::get_translation_vector | ( | ) | const |
Definition at line 442 of file vgl_h_matrix_3d.txx.
| vgl_h_matrix_3d< T > vgl_h_matrix_3d< T >::get_upper_3x3 | ( | ) | const |
corresponds to rotation for Euclidan transformations.
Definition at line 401 of file vgl_h_matrix_3d.txx.
| vnl_matrix_fixed< T, 3, 3 > vgl_h_matrix_3d< T >::get_upper_3x3_matrix | ( | ) | const |
Definition at line 416 of file vgl_h_matrix_3d.txx.
| bool vgl_h_matrix_3d< T >::is_euclidean | ( | ) | const |
Definition at line 377 of file vgl_h_matrix_3d.txx.
| bool vgl_h_matrix_3d< T >::is_rotation | ( | ) | const |
Definition at line 366 of file vgl_h_matrix_3d.txx.
| 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.
| 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.
| 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.
| 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 59 of file vgl_h_matrix_3d.h.
| bool vgl_h_matrix_3d< T >::operator== | ( | vgl_h_matrix_3d< T > const & | M | ) | [inline] |
Definition at line 50 of file vgl_h_matrix_3d.h.
| 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.
| 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.
| 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.
| bool vgl_h_matrix_3d< T >::read | ( | vcl_istream & | s | ) |
Load H from ASCII file.
Definition at line 195 of file vgl_h_matrix_3d.txx.
| void vgl_h_matrix_3d< T >::set | ( | unsigned int | row_index, |
| unsigned int | col_index, | ||
| const T | value | ||
| ) | [inline] |
Definition at line 72 of file vgl_h_matrix_3d.h.
| 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.
| 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.
| void vgl_h_matrix_3d< T >::set_identity | ( | ) |
Set to identity.
Definition at line 281 of file vgl_h_matrix_3d.txx.
| void vgl_h_matrix_3d< T >::set_rotation_about_axis | ( | const vnl_vector_fixed< T, 3 > & | axis, |
| T | angle | ||
| ) |
rotation angle is in radians.
Set to rotation about an axis.
Definition at line 300 of file vgl_h_matrix_3d.txx.
| 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.
| void vgl_h_matrix_3d< T >::set_rotation_matrix | ( | vnl_matrix_fixed< T, 3, 3 > const & | R | ) |
Definition at line 358 of file vgl_h_matrix_3d.txx.
| 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.
| 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
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
