Implements a 3D similarity transformation (rotation, translation, and isometric scaling). More...

#include <Geometry/SimilarityTransform.hh>

Inheritance diagram for BIAS::SimilarityTransform:

Collaboration diagram for BIAS::SimilarityTransform:

Public Member Functions
void	AddDebugLevel (const long int lv)

void	AddDebugLevel (const std::string &name)

bool	DebugLevelIsSet (const long int lv) const

bool	DebugLevelIsSet (const std::string &name) const

void	Dump ()
	Print transformation together with more intuitive rotation representations for debugging purposed. More...

const Vector3< double > &	GetC () const
	Return vector representing translation. More...

int	GetDebugLevel () const

std::ostream &	GetDebugStream () const

void	GetDebugStream (std::ostream &os) const

const Quaternion< double > &	GetQ () const
	Return unit quaternion representing rotation. More...

BIAS::RMatrixBase	GetR () const
	Compute rotation matrix from the unit quaternion representing the rotational part of this. More...

double	GetScale ()
	Return isometric scaling of this transformation. More...

Matrix4x4< double >	GetTransformMatrix () const
	Returns 4x4 transformation matrix corresponding to this. More...

void	InvertIP ()
	Invert the similarity transform (in place) More...

bool	Load (const std::string &inputFile)
	Load similarity transform from text file inputFile. More...

void	Mult (const SimilarityTransform &arg, SimilarityTransform &result)
	Concatenate this similarity transform and the given one so that result = this * arg holds for the corresponding 4x4 matrices. More...

void	Mult (const HomgPoint3D &vec, HomgPoint3D &result) const
	Transform the given homogeneous 3D point with this similarity transform so that result = this * vec holds for the corresponding 4x4 matrix. More...

void	MultVec (const Vector3< double > &vec, Vector3< double > &result) const
	Transform the given vector with this similarity transform so that result = this * vec holds for the corresponding 4x4 matrix. More...

long int	Name2DebugLevel (const std::string &name) const
	looks up a debuglevel in the internal map, returns 0 if not found More...

long int	NewDebugLevel (const std::string &name)
	creates a new debuglevel More...

const SimilarityTransform &	operator= (const SimilarityTransform &c)
	Copy all elements of another SimilarityTransform instance. More...

void	PrintDebugLevel (std::ostream &os=std::cout) const

void	RemoveDebugLevel (const long int lv)

void	RemoveDebugLevel (const std::string &name)

bool	Save (const std::string &outputFile)
	Save similarity transform to text file outputFile. More...

void	Set (const Quaternion< double > &Q, const Vector3< double > &C, const double &scale=1.0)
	Set rotation, translation, and optional scaling. More...

void	SetC (const Vector3< double > &C)
	Set translational part from vector C. More...

void	SetDebugLevel (const long int lv)

void	SetDebugLevel (const std::string &name)

void	SetDebugStream (const std::ostream &os)

void	SetQ (const Quaternion< double > &Q)
	Set rotational part from unit quaternion Q. More...

void	SetR (const BIAS::RMatrixBase &R)
	Set rotational part from rotation matrix R. More...

void	ShowDebugLevel (std::ostream &os=std::cout) const
	prints all internally known debuglevels More...

	SimilarityTransform ()
	Creates the identity transformation with zero covariance. More...

	SimilarityTransform (const SimilarityTransform &c)
	Copy constructor, calls operator=. More...

Static Public Member Functions
static long int	GetGlobalDebugLevel ()

static void	SetGlobalDebugLevel (long int lev)

Protected Member Functions
long	ConsumeNextFreeDebuglevel_ ()
	returns the next available debuglevel More...

Protected Attributes
long int	_liDebugLevel

long int	_liNextDebugLevel
	new concept, debuglevel are managed here in the debug class More...

std::map< std::string, long int >	_String2Debuglevel

Vector3< double >	C_
	the translation More...

Quaternion< double >	Q_
	this is the rotation More...

double	scale_

Static Protected Attributes
static std::ostream	_zDebugStream

static long int	GlobalDebugLevel = 0

Friends
std::ostream &	operator<< (std::ostream &os, const SimilarityTransform &p)

std::istream &	operator>> (std::istream &is, SimilarityTransform &p)

Detailed Description

Implements a 3D similarity transformation (rotation, translation, and isometric scaling).

Similarity transformations can be interpreted either as a coordinate transformation or motion and scaling of points. Euclidean transformations are special similiarty transformations with scale = 1.

This transformation is identical to the following matrix:

          [                C_[0] ]
          [   scale_*R     C_[1] ]
   T  =   [                C_[2] ]
          [  0    0    0     1   ]

The internal representation of the rotation is a unit quaternion Q_. This quaternion, a translation vector and a scale are used to parametrize the similarity with 8 parameters (and one constraint Q_.NormL2() == 1). Additional, a covariance matrix for all parameters can be stored.

Can be used to represent poses, rigid motions or coordinate transforms.

Author: grest 05/2006

Definition at line 65 of file SimilarityTransform.hh.

Constructor & Destructor Documentation

BIAS::SimilarityTransform::SimilarityTransform ( )

inline

Creates the identity transformation with zero covariance.

Definition at line 70 of file SimilarityTransform.hh.

BIAS::SimilarityTransform::SimilarityTransform ( const SimilarityTransform & c )

inline

Copy constructor, calls operator=.

Definition at line 75 of file SimilarityTransform.hh.

Member Function Documentation

void BIAS::Debug::AddDebugLevel ( const long int lv )

inlineinherited

Examples:: EvaluateAlignment.cpp, ExampleAlignment.cpp, ExampleMinMax.cpp, ExampleRANSAC_double.cpp, ExampleRANSACPlane.cpp, and ExampleTriangulateOptimal.cpp.

Definition at line 355 of file Debug.hh.

Referenced by BIAS::GLProjectionParametersBase::AddDebugLevel(), BIAS::Triangulation::CorrectCorrespondences(), BIAS::FilterBase< InputStorageType, OutputStorageType >::FilterBase(), BIAS::ShowCamWxVideoSourceFactory::OpenDevice(), and BIAS::SceneOpenSceneGraph::SceneOpenSceneGraph().

void BIAS::Debug::AddDebugLevel ( const std::string & name )

inlineinherited

Definition at line 362 of file Debug.hh.

long BIAS::Debug::ConsumeNextFreeDebuglevel_ ( )

inlineprotectedinherited

returns the next available debuglevel

Author: woelk 09/2006

Definition at line 521 of file Debug.hh.

bool BIAS::Debug::DebugLevelIsSet ( const long int lv ) const

inlineinherited

Examples:: ExampleTriangulateOptimal.cpp.

Definition at line 341 of file Debug.hh.

Referenced by BIAS::GenSynthMatches::_AddUniformDistributedOutliers(), BIAS::GenSynthMatches::_CreateCamMovement(), BIAS::GenSynthMatches::_CreateStatic2DPoints(), BIAS::UnscentedTransform::ComputeSigmaPoints_(), BIAS::Triangulation::CorrectCorrespondences(), BIAS::GenSynthMatches::GetGTNormalizedF(), BIAS::MonteCarloTransform::GetSamples_(), and BIAS::MonteCarloTransform::Transform().

bool BIAS::Debug::DebugLevelIsSet ( const std::string & name ) const

inlineinherited

Definition at line 350 of file Debug.hh.

void SimilarityTransform::Dump ( )

Print transformation together with more intuitive rotation representations for debugging purposed.

Definition at line 67 of file SimilarityTransform.cpp.

References BIAS::RMatrixBase::GetRotationAxisAngle(), and BIAS::RMatrixBase::SetFromQuaternion().

const Vector3<double>& BIAS::SimilarityTransform::GetC ( ) const

inline

Return vector representing translation.

Definition at line 107 of file SimilarityTransform.hh.

int BIAS::Debug::GetDebugLevel ( ) const

inlineinherited

Examples:: ExampleCamera.cpp, ExampleCamPoseCalib.cpp, ExampleCopy.cpp, and ExampleParabola.cpp.

Definition at line 332 of file Debug.hh.

Referenced by BIAS::listenthread(), BIAS::Image< StorageType >::operator=(), and BIAS::ImageBase::operator=().

std::ostream& BIAS::Debug::GetDebugStream ( ) const

inlineinherited

Definition at line 405 of file Debug.hh.

void BIAS::Debug::GetDebugStream ( std::ostream & os ) const

inlineinherited

Definition at line 414 of file Debug.hh.

static long int BIAS::Debug::GetGlobalDebugLevel ( )

inlinestaticinherited

Definition at line 431 of file Debug.hh.

const Quaternion<double>& BIAS::SimilarityTransform::GetQ ( ) const

inline

Return unit quaternion representing rotation.

Definition at line 104 of file SimilarityTransform.hh.

BIAS::RMatrixBase BIAS::SimilarityTransform::GetR ( ) const

inline

Compute rotation matrix from the unit quaternion representing the rotational part of this.

Definition at line 114 of file SimilarityTransform.hh.

References BIAS::RMatrixBase::SetFromQuaternion().

double BIAS::SimilarityTransform::GetScale ( )

inline

Return isometric scaling of this transformation.

Definition at line 121 of file SimilarityTransform.hh.

Matrix4x4< double > SimilarityTransform::GetTransformMatrix ( ) const

Returns 4x4 transformation matrix corresponding to this.

Definition at line 84 of file SimilarityTransform.cpp.

References BIAS::RMatrixBase::SetFromQuaternion().

void BIAS::SimilarityTransform::InvertIP ( )

inline

Invert the similarity transform (in place)

Definition at line 137 of file SimilarityTransform.hh.

Referenced by BIAS::CamPoseCalib::GuessInitialCam_().

bool SimilarityTransform::Load ( const std::string & inputFile )

Load similarity transform from text file inputFile.

Returns: Return true when loading was successful, false otherwise

Definition at line 37 of file SimilarityTransform.cpp.

void BIAS::SimilarityTransform::Mult	(	const SimilarityTransform &	arg,
		SimilarityTransform &	result
	)

inline

Concatenate this similarity transform and the given one so that result = this * arg holds for the corresponding 4x4 matrices.

Definition at line 145 of file SimilarityTransform.hh.

References C_, Q_, and scale_.

Referenced by BIAS::operator*().

void BIAS::SimilarityTransform::Mult	(	const HomgPoint3D &	vec,
		HomgPoint3D &	result
	)		const

inline

Transform the given homogeneous 3D point with this similarity transform so that result = this * vec holds for the corresponding 4x4 matrix.

Computes the 4x4 transformation matrix internally.

Definition at line 165 of file SimilarityTransform.hh.

void BIAS::SimilarityTransform::MultVec	(	const Vector3< double > &	vec,
		Vector3< double > &	result
	)		const

inline

Transform the given vector with this similarity transform so that result = this * vec holds for the corresponding 4x4 matrix.

Definition at line 157 of file SimilarityTransform.hh.

Referenced by BIAS::operator*().

long int BIAS::Debug::Name2DebugLevel ( const std::string & name ) const

inlineinherited

looks up a debuglevel in the internal map, returns 0 if not found

Author: woelk 09/2006

Definition at line 454 of file Debug.hh.

long int BIAS::Debug::NewDebugLevel ( const std::string & name )

inlineinherited

creates a new debuglevel

Author: woelk 09/2006

Definition at line 474 of file Debug.hh.

Referenced by BIAS::COSAC< SolutionType >::COSAC(), BIAS::ProjectionParametersPerspectiveDepth::Init(), BIAS::MonteCarloTransform::MonteCarloTransform(), BIAS::PMatrixEstimation::PMatrixEstimation(), BIAS::PreemptiveRANSAC< SolutionType >::PreemptiveRANSAC(), BIAS::RANSACPreKnowledge< SolutionType >::RANSACPreKnowledge(), BIAS::ROI::ROI(), BIAS::RotationAveraging::RotationAveraging(), BIAS::SceneOpenSceneGraph::SceneOpenSceneGraph(), BIAS::ThreeDOutOpenSceneGraph::ThreeDOutOpenSceneGraph(), BIAS::Triangulation::Triangulation(), and BIAS::UnscentedTransform::UnscentedTransform().

const SimilarityTransform& BIAS::SimilarityTransform::operator= ( const SimilarityTransform & c )

inline

Copy all elements of another SimilarityTransform instance.

Definition at line 81 of file SimilarityTransform.hh.

References C_, Q_, and scale_.

void BIAS::Debug::PrintDebugLevel ( std::ostream & os = std::cout ) const

inlineinherited

Definition at line 383 of file Debug.hh.

void BIAS::Debug::RemoveDebugLevel ( const long int lv )

inlineinherited

Definition at line 369 of file Debug.hh.

void BIAS::Debug::RemoveDebugLevel ( const std::string & name )

inlineinherited

Definition at line 376 of file Debug.hh.

bool SimilarityTransform::Save ( const std::string & outputFile )

Save similarity transform to text file outputFile.

Returns: Return true when saving was successful, false otherwise

Definition at line 52 of file SimilarityTransform.cpp.

void BIAS::SimilarityTransform::Set	(	const Quaternion< double > &	Q,
		const Vector3< double > &	C,
		const double &	scale = `1.0`
	)

inline

Set rotation, translation, and optional scaling.

Definition at line 99 of file SimilarityTransform.hh.

void BIAS::SimilarityTransform::SetC ( const Vector3< double > & C )

inline

Set translational part from vector C.

Definition at line 96 of file SimilarityTransform.hh.

Referenced by BIAS::CamPoseCalib::GuessInitialCam_().

void BIAS::Debug::SetDebugLevel ( const long int lv )

inlineinherited

void BIAS::Debug::SetDebugLevel ( const std::string & name )

inlineinherited

Definition at line 325 of file Debug.hh.

void BIAS::Debug::SetDebugStream ( const std::ostream & os )

inlineinherited

Definition at line 398 of file Debug.hh.

static void BIAS::Debug::SetGlobalDebugLevel ( long int lev )

inlinestaticinherited

Definition at line 424 of file Debug.hh.

void BIAS::SimilarityTransform::SetQ ( const Quaternion< double > & Q )

inline

Set rotational part from unit quaternion Q.

Definition at line 89 of file SimilarityTransform.hh.

void BIAS::SimilarityTransform::SetR ( const BIAS::RMatrixBase & R )

inline

Set rotational part from rotation matrix R.

Definition at line 92 of file SimilarityTransform.hh.

References BIAS::RMatrixBase::GetQuaternion().

Referenced by BIAS::CamPoseCalib::GuessInitialCam_().

void BIAS::Debug::ShowDebugLevel ( std::ostream & os = std::cout ) const

inlineinherited

prints all internally known debuglevels

Author: woelk 09/2006

Definition at line 496 of file Debug.hh.

Friends And Related Function Documentation

std::ostream& operator<<	(	std::ostream &	os,
		const SimilarityTransform &	p
	)

friend

Definition at line 184 of file SimilarityTransform.hh.

std::istream& operator>>	(	std::istream &	is,
		SimilarityTransform &	p
	)

friend

Definition at line 190 of file SimilarityTransform.hh.

Member Data Documentation

long int BIAS::Debug::_liDebugLevel

protectedinherited

Definition at line 510 of file Debug.hh.

Referenced by BIAS::Debug::operator=(), and BIAS::ImageBase::operator=().

long int BIAS::Debug::_liNextDebugLevel

protectedinherited

new concept, debuglevel are managed here in the debug class

Definition at line 516 of file Debug.hh.

Referenced by BIAS::Debug::operator=().

std::map<std::string, long int> BIAS::Debug::_String2Debuglevel

protectedinherited

Definition at line 517 of file Debug.hh.

Referenced by BIAS::Debug::operator=().

std::ostream BIAS::Debug::_zDebugStream

staticprotectedinherited

Definition at line 511 of file Debug.hh.

Referenced by BIAS::Debug::operator=().

Vector3<double> BIAS::SimilarityTransform::C_

protected

the translation

Definition at line 179 of file SimilarityTransform.hh.

Referenced by Mult(), BIAS::operator<<(), operator=(), and BIAS::operator>>().

long int BIAS::Debug::GlobalDebugLevel = 0

staticprotectedinherited

Definition at line 513 of file Debug.hh.

Quaternion<double> BIAS::SimilarityTransform::Q_

protected

this is the rotation

Definition at line 176 of file SimilarityTransform.hh.

Referenced by Mult(), BIAS::operator<<(), operator=(), and BIAS::operator>>().

double BIAS::SimilarityTransform::scale_

protected

Definition at line 181 of file SimilarityTransform.hh.

Referenced by Mult(), BIAS::operator<<(), operator=(), and BIAS::operator>>().

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

Geometry/SimilarityTransform.hh
Geometry/SimilarityTransform.cpp

Public Member Functions

Static Public Member Functions

Protected Member Functions

Protected Attributes

Static Protected Attributes

Friends

Detailed Description

Constructor & Destructor Documentation

Member Function Documentation

Friends And Related Function Documentation

Member Data Documentation