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vgl_norm_trans_3d< T > Class Template Reference

#include <vgl_norm_trans_3d.h>

Inheritance diagram for vgl_norm_trans_3d< T >:

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Detailed Description

template<class T>
class vgl_norm_trans_3d< T >

Definition at line 24 of file vgl_norm_trans_3d.h.

Public Member Functions

 vgl_norm_trans_3d ()
 Default constructor.
 vgl_norm_trans_3d (const vgl_norm_trans_3d< T > &M)
 Copy constructor.
 vgl_norm_trans_3d (vnl_matrix_fixed< T, 4, 4 > const &M)
 Constructor.
 vgl_norm_trans_3d (const T *t_matrix)
 Constructor.
 vgl_norm_trans_3d (vcl_istream &s)
 Constructor from vcl_istream.
 vgl_norm_trans_3d (char const *filename)
 Constructor from file.
 ~vgl_norm_trans_3d ()
 Destructor.
bool compute_from_points (vcl_vector< vgl_homg_point_3d< T > > const &points)
 compute the normalizing transform.
vgl_homg_point_3d< T > operator() (vgl_homg_point_3d< T > const &x) const
 return the transformed point.
vgl_homg_plane_3d< T > operator() (vgl_homg_plane_3d< T > const &x) const
 Transform a plane (requires an inverse).
vgl_homg_point_3d< T > operator * (vgl_homg_point_3d< T > const &x) const
vgl_h_matrix_3d< T > operator * (vgl_h_matrix_3d< T > const &H) const
 composition (*this) * H.
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).
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

Static Protected Member Functions

static bool scale_xyzroot2 (vcl_vector< vgl_homg_point_3d< T > > const &in, T &radius)
static void center_of_mass (vcl_vector< vgl_homg_point_3d< T > > const &points, T &cx, T &cy, T &cz)

Protected Attributes

vnl_matrix_fixed< T, 4, 4 > t12_matrix_

Constructor & Destructor Documentation

template<class T>
vgl_norm_trans_3d< T >::vgl_norm_trans_3d (   ) 
 

Default constructor.

Definition at line 17 of file vgl_norm_trans_3d.txx.

template<class T>
vgl_norm_trans_3d< T >::vgl_norm_trans_3d (  const vgl_norm_trans_3d< T > &  M  ) 
 

Copy constructor.

Definition at line 23 of file vgl_norm_trans_3d.txx.

template<class T>
vgl_norm_trans_3d< T >::vgl_norm_trans_3d (  vnl_matrix_fixed< T, 4, 4 > const &  M  ) 
 

Constructor.

Definition at line 46 of file vgl_norm_trans_3d.txx.

template<class T>
vgl_norm_trans_3d< T >::vgl_norm_trans_3d (  const T *  t_matrix  ) 
 

Constructor.

Definition at line 54 of file vgl_norm_trans_3d.txx.

template<class T>
vgl_norm_trans_3d< T >::vgl_norm_trans_3d (  vcl_istream &  s  ) 
 

Constructor from vcl_istream.

Definition at line 31 of file vgl_norm_trans_3d.txx.

template<class T>
vgl_norm_trans_3d< T >::vgl_norm_trans_3d (  char const *  filename  ) 
 

Constructor from file.

Definition at line 38 of file vgl_norm_trans_3d.txx.

template<class T>
vgl_norm_trans_3d< T >::~vgl_norm_trans_3d (   ) 
 

Destructor.

Definition at line 61 of file vgl_norm_trans_3d.txx.

Member Function Documentation

template<class T>
void vgl_norm_trans_3d< T >::center_of_mass (  vcl_vector< vgl_homg_point_3d< T > > const &  points,
T &  cx,
T &  cy,
T &  cz
)  [static, protected]
 

Definition at line 108 of file vgl_norm_trans_3d.txx.

template<class T>
bool vgl_norm_trans_3d< T >::compute_from_points (  vcl_vector< vgl_homg_point_3d< T > > const &  points  ) 
 

compute the normalizing transform.

Definition at line 75 of file vgl_norm_trans_3d.txx.

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

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 [inherited]
 

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 [inherited]
 

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 [inherited]
 

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, inherited]
 

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 [inherited]
 

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 [inherited]
 

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 [inherited]
 

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 [inherited]
 

Definition at line 411 of file vgl_h_matrix_3d.txx.

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

Definition at line 372 of file vgl_h_matrix_3d.txx.

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

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, inherited]
 

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, inherited]
 

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 [inherited]
 

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 [inherited]
 

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 [inherited]
 

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  )  [inherited]
 

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  )  [inherited]
 

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 &   )  [inherited]
 

Load H from ASCII file.

Definition at line 195 of file vgl_h_matrix_3d.txx.

template<class T>
bool vgl_norm_trans_3d< T >::scale_xyzroot2 (  vcl_vector< vgl_homg_point_3d< T > > const &  in,
T &  radius
)  [static, protected]
 

Definition at line 147 of file vgl_norm_trans_3d.txx.

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

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  )  [inherited]
 

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, inherited]
 

Definition at line 71 of file vgl_h_matrix_3d.h.

template<class T>
void vgl_h_matrix_3d< T >::set_identity (   )  [inherited]
 

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
)  [inherited]
 

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
)  [inherited]
 

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
)  [inherited]
 

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
)  [inherited]
 

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, inherited]
 

Definition at line 32 of file vgl_h_matrix_3d.h.

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