BIAS::Normalization Class Reference

class Normalization Functions, e.g. More...

#include <Base/Geometry/Normalization.hh>

Public Member Functions
int	Hartley (const std::vector< HomgPoint2D > &Points, std::vector< HomgPoint2D > &NormPoints, KMatrix &Normalization) const
	linearly transform Points with 3x3 matrix, such that they have mean zero and stddev sqrt(2) More...
int	Hartley (const std::vector< HomgPoint3D > &Points, std::vector< HomgPoint3D > &NormPoints, Matrix4x4< double > &normMatrix) const
	Normalization ()
	default constructor, does nothing More...
int	Woelk (const std::vector< HomgPoint2D > &Points, std::vector< HomgPoint2D > &NormPoints, Matrix3x3< double > &Normalization) const
	normalization for fisheye cameras wher points may have a w component = 0 More...

Detailed Description

class Normalization Functions, e.g.

Hartley

Author

koeser 07/2004

Definition at line 46 of file Normalization.hh.

Constructor & Destructor Documentation

BIAS::Normalization::Normalization ( )

inline

default constructor, does nothing

Definition at line 51 of file Normalization.hh.

Member Function Documentation

int Normalization::Hartley	(	const std::vector< HomgPoint2D > &	Points,
		std::vector< HomgPoint2D > &	NormPoints,
		KMatrix &	Normalization
	)		const

linearly transform Points with 3x3 matrix, such that they have mean zero and stddev sqrt(2)

Parameters

Points	original (homogenized) points
NormPoints	normalized (homogenized) points correponding to Points
Normalization	matrix used for normalization

Author

koeser

Definition at line 102 of file Normalization.cpp.

References BIAS::HomgPoint2D::Homogenize(), BIAS::Matrix3x3< T >::Mult(), and BIAS::Matrix3x3< T >::SetIdentity().

int Normalization::Hartley	(	const std::vector< HomgPoint3D > &	Points,
		std::vector< HomgPoint3D > &	NormPoints,
		Matrix4x4< double > &	normMatrix
	)		const

Definition at line 39 of file Normalization.cpp.

References BIAS::Matrix4x4< T >::Mult(), and BIAS::Matrix4x4< T >::SetIdentity().

int Normalization::Woelk	(	const std::vector< HomgPoint2D > &	Points,
		std::vector< HomgPoint2D > &	NormPoints,
		Matrix3x3< double > &	Normalization
	)		const

normalization for fisheye cameras wher points may have a w component = 0

Linearly transform Points with 3x3 matrix, such that their zero is (0,0,1) using a rotation matrix. If the average angle of the points with (0,0,1) is less than 60 deg, the points are scaled such that afterwards their average angle with (0,0,1) is as close aspossible to 60 deg subject to the constrant that no point has an angle greater than 80deg with (0,0,1)

Parameters

Points	original points, can be at infinity
NormPoints	normalized points correponding to Points
Normalization	matrix used for normalization

Author

woelk 11/2006

Definition at line 163 of file Normalization.cpp.

References BIAS::Vector3< T >::CrossProduct(), BIAS::Equal(), BIAS::MatrixIdentity, BIAS::Matrix3x3< T >::Mult(), BIAS::Vector3< T >::NormL2(), BIAS::Vector3< T >::ScalarProduct(), BIAS::Vector3< T >::Set(), and BIAS::RMatrixBase::Set().

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

• Base/Geometry/Normalization.hh
• Base/Geometry/Normalization.cpp