BIAS::RMatrix Class Reference

3D rotation matrix More...

#include <Geometry/RMatrix.hh>

Inheritance diagram for BIAS::RMatrix:

Collaboration diagram for BIAS::RMatrix:

Public Member Functions
bool	Check (const double eps=std::numeric_limits< double >::epsilon(), const bool verbose=false) const
	Check if this is a rotation matrix, i.e. More...
virtual void	EnforceConstraints ()
	Enforce orthonormality constraints and right-handed rotation with SVD. More...
void	GetAbsMaxMin (ROTATION_MATRIX_TYPE &max, ROTATION_MATRIX_TYPE &min) const
RMatrix	GetAverageRMatrix (std::vector< RMatrix > &vecR, bool RefineRotation=true)
	Compute average rotation by pairwise weighted averaging of matrices. More...
std::string	GetCheckFailureReason (const double eps=std::numeric_limits< double >::epsilon()) const
	Return the reason for the constraint check failure in a human readable string. More...
void	GetColumn (const unsigned int col, Vector3< ROTATION_MATRIX_TYPE > &r) const
	extract one column ('Spalte') from this matrix (for convenience) More...
BIAS::Vector3 < ROTATION_MATRIX_TYPE >	GetColumn (const unsigned int col) const
ROTATION_MATRIX_TYPE *	GetData ()
const ROTATION_MATRIX_TYPE *	GetData () const
ROTATION_MATRIX_TYPE	GetDeterminant () const
	returns the Determinant |A| of this More...
int	GetInverse (Matrix3x3< ROTATION_MATRIX_TYPE > &inv) const
	Matrix inversion: inverts this and stores resulty in argument inv. More...
ROTATION_MATRIX_TYPE	GetMax () const
void	GetMaxMin (ROTATION_MATRIX_TYPE &max, ROTATION_MATRIX_TYPE &min) const
	return biggest and smallest entry More...
ROTATION_MATRIX_TYPE	GetMin () const
unsigned	GetNumElements () const
int	GetQuaternion (Quaternion< ROTATION_MATRIX_TYPE > &quat) const
	Calculates quaternion representation for this rotation matrix. More...
ROTATION_MATRIX_TYPE	GetRotationAngle () const
	Interface for angle component of GetRotationAxisAngle() More...
int	GetRotationAnglesXYZ (double &PhiX, double &PhiY, double &PhiZ) const
	Get Euler angles for this rotation matrix in order XYZ. More...
int	GetRotationAnglesXYZ (Vector3< ROTATION_MATRIX_TYPE > &r) const
	Get Euler angles for this rotation matrix in order XYZ. More...
int	GetRotationAnglesXZY (double &PhiX, double &PhiY, double &PhiZ) const
	Get Euler angles for this rotation matrix in order XZY. More...
int	GetRotationAnglesXZY (Vector3< ROTATION_MATRIX_TYPE > &r) const
	Get Euler angles for this rotation matrix in order XZY. More...
int	GetRotationAnglesYXZ (double &PhiX, double &PhiY, double &PhiZ) const
	Get Euler angles for this rotation matrix in order YXZ. More...
int	GetRotationAnglesYXZ (Vector3< ROTATION_MATRIX_TYPE > &r) const
	Get Euler angles for this rotation matrix in order YXZ. More...
int	GetRotationAnglesYZX (double &PhiX, double &PhiY, double &PhiZ) const
	Get Euler angles for this rotation matrix in order YZX. More...
int	GetRotationAnglesYZX (Vector3< ROTATION_MATRIX_TYPE > &r) const
	Get Euler angles for this rotation matrix in order YZX. More...
int	GetRotationAnglesZXY (double &PhiX, double &PhiY, double &PhiZ) const
	Get Euler angles for this rotation matrix in order ZXY. More...
int	GetRotationAnglesZXY (Vector3< ROTATION_MATRIX_TYPE > &r) const
	Get Euler angles for this rotation matrix in order ZXY. More...
int	GetRotationAnglesZYX (double &PhiX, double &PhiY, double &PhiZ) const
	Get Euler angles for this rotation matrix in order ZYX. More...
int	GetRotationAnglesZYX (Vector3< ROTATION_MATRIX_TYPE > &r) const
	Get Euler angles for this rotation matrix in order ZYX. More...
BIAS::Vector3 < ROTATION_MATRIX_TYPE >	GetRotationAxis () const
	Interface for axis component of GetRotationAxisAngle() More...
int	GetRotationAxisAngle (Vector3< ROTATION_MATRIX_TYPE > &axis, ROTATION_MATRIX_TYPE &angle) const
	Calculates angle and rotation axis representation for this rotation matrix. More...
int	GetRotationAxisAngle (Vector3< ROTATION_MATRIX_TYPE > &w) const
	Calculates the angle * rotation axis representation for this rotation matrix (modified Rodrigues vector) More...
void	GetRow (const unsigned int row, Vector3< ROTATION_MATRIX_TYPE > &r) const
	extract one row ('Zeile') from ths matrix (for convenience) More...
Vector3< ROTATION_MATRIX_TYPE >	GetRow (const unsigned int row) const
int	InvertIP ()
	In place matrix conversion. More...
bool	IsIdentity (const ROTATION_MATRIX_TYPEeps=std::numeric_limits< ROTATION_MATRIX_TYPE >::epsilon()) const
bool	IsZero (const ROTATION_MATRIX_TYPEeps=std::numeric_limits< ROTATION_MATRIX_TYPE >::epsilon()) const
bool	Load (const std::string &fname)
void	MakeSymmetric ()
void	Mult (const Vector3< ROTATION_MATRIX_TYPE > &argvec, Vector3< ROTATION_MATRIX_TYPE > &destvec) const
	matrix - vector multiplicate this matrix with Vector3, storing the result in destvec calculates: destvec = (this Matrix) * argvec More...
void	Mult (const Matrix3x3< ROTATION_MATRIX_TYPE > &argmat, Matrix3x3< ROTATION_MATRIX_TYPE > &destmat) const
	matrix-matrix multiplication with other Matrix3x3, storing the result in destmat calculates: destmat = (this mat) * argmat More...
void	Mult (const Matrix3x4< ROTATION_MATRIX_TYPE > &argmat, Matrix3x4< ROTATION_MATRIX_TYPE > &destmat) const
ROTATION_MATRIX_TYPE	Normalize ()
	divide this by biggest absolute entry, returns biggest entry More...
double	NormFrobenius () const
ROTATION_MATRIX_TYPE	NormL1 () const
double	NormL2 () const
bool	operator!= (const Matrix3x3< ROTATION_MATRIX_TYPE > &arg) const
Matrix3x3< ROTATION_MATRIX_TYPE > &	operator*= (const Matrix3x3< ROTATION_MATRIX_TYPE > &arg)
	woelk 11/2007 (c) www.vision-n.de More...
Matrix3x3< ROTATION_MATRIX_TYPE > &	operator*= (const ROTATION_MATRIX_TYPE &arg)
	woelk 11/2007 (c) www.vision-n.de More...
Matrix3x3< ROTATION_MATRIX_TYPE > &	operator+= (const Matrix3x3< ROTATION_MATRIX_TYPE > &arg)
Matrix3x3< ROTATION_MATRIX_TYPE > &	operator-= (const Matrix3x3< ROTATION_MATRIX_TYPE > &arg)
Matrix3x3< ROTATION_MATRIX_TYPE > &	operator/= (const ROTATION_MATRIX_TYPE &arg)
bool	operator== (const Matrix3x3< ROTATION_MATRIX_TYPE > &arg) const
ROTATION_MATRIX_TYPE *	operator[] (const unsigned row)
const ROTATION_MATRIX_TYPE *	operator[] (const unsigned row) const
	RMatrix ()
	RMatrix (const MatrixInitType &i)
	RMatrix (Vector3< ROTATION_MATRIX_TYPE > w, ROTATION_MATRIX_TYPE phi)
	initialization from rotation axis w and angle phi (Rodriguez) More...
	RMatrix (const Matrix3x3< ROTATION_MATRIX_TYPE > &mat)
	RMatrix (const TNT::Matrix< ROTATION_MATRIX_TYPE > &mat)
bool	Save (const std::string &fname) const
void	Scale (const ROTATION_MATRIX_TYPE &scalar, Matrix3x3< ROTATION_MATRIX_TYPE > &destmat) const
	scalar-matrix multiplication More...
void	Set (const Vector3< ROTATION_MATRIX_TYPE > &w, const ROTATION_MATRIX_TYPE phi)
	Set from rotation axis w and angle phi (in rad) More...
void	SetAsCrossProductMatrix (const Vector3< ROTATION_MATRIX_TYPE > &vec)
	Sets matrix from vector as cross product matrix of this vector. More...
void	SetAsCrossProductMatrix (const ROTATION_MATRIX_TYPE &x, const ROTATION_MATRIX_TYPE &y, const ROTATION_MATRIX_TYPE &z)
	Sets matrix from vector as cross product matrix of a vector. More...
void	SetColumn (const unsigned int col, const Vector3< ROTATION_MATRIX_TYPE > &c)
void	SetFromAxisAngle (Vector3< ROTATION_MATRIX_TYPE > w)
	Set from rotation axis * angle (modified Rodrigues vector) More...
void	SetFromColumnVectors (const BIAS::Vector3< ROTATION_MATRIX_TYPE > &v0, const BIAS::Vector3< ROTATION_MATRIX_TYPE > &v1, const BIAS::Vector3< ROTATION_MATRIX_TYPE > &v2)
	set this matrix from 3 vectors each representating a column More...
void	SetFromHV (const BIAS::Vector3< ROTATION_MATRIX_TYPE > &xh, const BIAS::Vector3< ROTATION_MATRIX_TYPE > &vy)
	Set rotation matrix from two vectors from an orthonormal basis. More...
int	SetFromOriUp (BIAS::Vector3< ROTATION_MATRIX_TYPE > ori, BIAS::Vector3< ROTATION_MATRIX_TYPE > up)
	Set rotation matrix from orientation and up vector. More...
int	SetFromOriUpGL (BIAS::Vector3< ROTATION_MATRIX_TYPE > ori, BIAS::Vector3< ROTATION_MATRIX_TYPE > up)
	Set rotation matrix from orientation and up vector. More...
void	SetFromOrthogonalBasis (const BIAS::Vector3< ROTATION_MATRIX_TYPE > &ex, const BIAS::Vector3< ROTATION_MATRIX_TYPE > &ey, const BIAS::Vector3< ROTATION_MATRIX_TYPE > &ez)
int	SetFromQuaternion (const Quaternion< ROTATION_MATRIX_TYPE > &q)
	Set rotation matrix from a quaternion. More...
void	SetFromRowVectors (const BIAS::Vector3< ROTATION_MATRIX_TYPE > &v0, const BIAS::Vector3< ROTATION_MATRIX_TYPE > &v1, const BIAS::Vector3< ROTATION_MATRIX_TYPE > &v2)
	set this matrix from 3 vectors, each representating a row More...
void	SetFromVector (const TNT::Vector< ROTATION_MATRIX_TYPE > &vec)
	sets the diagonalelements of this 3x3 Matrix rowwise with the values of the 9 (x1) vector More...
void	SetIdentity ()
	set the elements of this matrix to the identity matrix (possibly overriding the inherited method) More...
void	SetRow (const unsigned int row, const Vector3< ROTATION_MATRIX_TYPE > &r)
void	SetXYZ (ROTATION_MATRIX_TYPE PhiX, ROTATION_MATRIX_TYPE PhiY, ROTATION_MATRIX_TYPE PhiZ)
	Set Euler angles (in rad) in order XYZ. More...
void	SetXYZ (const Vector3< ROTATION_MATRIX_TYPE > &r)
	Set Euler angles (in rad) in order XYZ from vector. More...
void	SetXZY (ROTATION_MATRIX_TYPE PhiX, ROTATION_MATRIX_TYPE PhiY, ROTATION_MATRIX_TYPE PhiZ)
	Set Euler angles (in rad) in order XZY. More...
void	SetXZY (const Vector3< ROTATION_MATRIX_TYPE > &r)
	Set Euler angles (in rad) in order XZY from vector. More...
void	SetYXZ (ROTATION_MATRIX_TYPE PhiX, ROTATION_MATRIX_TYPE PhiY, ROTATION_MATRIX_TYPE PhiZ)
	Set Euler angles (in rad) in order YXZ. More...
void	SetYXZ (const Vector3< ROTATION_MATRIX_TYPE > &r)
	Set Euler angles (in rad) in order YXZ from vector. More...
void	SetYZX (ROTATION_MATRIX_TYPE PhiX, ROTATION_MATRIX_TYPE PhiY, ROTATION_MATRIX_TYPE PhiZ)
	Set Euler angles (in rad) in order YZX. More...
void	SetYZX (const Vector3< ROTATION_MATRIX_TYPE > &r)
	Set Euler angles (in rad) in order YZX from vector. More...
void	SetZero ()
	Setting to zero is forbidden since the zero matrix is not a valid rotation matrix! More...
void	SetZXY (ROTATION_MATRIX_TYPE PhiX, ROTATION_MATRIX_TYPE PhiY, ROTATION_MATRIX_TYPE PhiZ)
	Set Euler angles (in rad) in order ZXY. More...
void	SetZXY (const Vector3< ROTATION_MATRIX_TYPE > &r)
	Set Euler angles (in rad) in order ZXY from vector. More...
void	SetZYX (ROTATION_MATRIX_TYPE PhiX, ROTATION_MATRIX_TYPE PhiY, ROTATION_MATRIX_TYPE PhiZ)
	Set Euler angles (in rad) in order ZYX. More...
void	SetZYX (const Vector3< ROTATION_MATRIX_TYPE > &r)
	Set Euler angles (in rad) in order ZYX from vector. More...
ROTATION_MATRIX_TYPE	Trace () const
	return the trace of the matrix More...
Matrix3x3< ROTATION_MATRIX_TYPE >	Transpose () const
	returns transposed matrix tested 12.06.2002 More...
void	Transpose (const Matrix3x3< ROTATION_MATRIX_TYPE > &arg)
	sets this as transposed arg, fw More...
void	TransposedMult (const Vector3< ROTATION_MATRIX_TYPE > &argvec, Vector3< ROTATION_MATRIX_TYPE > &destvec) const
	multiplies matrix from left with transposed argvec, resulting in transposed destvec More...
void	TransposeIP ()
	tranpose this matrix "in place" example: 0 1 2 –> 0 3 6 3 4 5 –> 1 4 7 6 7 8 –> 2 5 8 More...
virtual	~RMatrix ()

Public Attributes
double	bestErrorSoFar_
Quaternion< double >	bestQuaternionSoFar_
std::vector< RMatrix > *	pvecR_

Protected Attributes
ROTATION_MATRIX_TYPE	Data_ [9]

Detailed Description

3D rotation matrix

Test:

tested with TestRMatrix.cpp

Author

JMF finished (07/05/2002)

Examples:

EvaluateAlignment.cpp, ExampleAbsoluteOrientation.cpp, ExampleAutoCalib.cpp, ExampleCamera.cpp, ExampleCamPoseCalib.cpp, ExampleDrawLines.cpp, ExampleEpipolarLine.cpp, ExampleFMatrix.cpp, ExampleLoadBOG_P.cpp, ExamplePMatrix.cpp, ExampleProjectionMapping.cpp, ExampleProjectionParametersPerspective2.cpp, ExampleProjectionParametersProjective.cpp, ExampleStencilBuffer.cpp, ExampleThreeDOutVRML.cpp, ExampleTriangulate.cpp, ExampleVRMLOutProjection.cpp, InvestigatePRelations.cpp, PMatrixTest.cpp, and PMatrixTest2.cpp.

Definition at line 49 of file RMatrix.hh.

Constructor & Destructor Documentation

BIAS::RMatrix::RMatrix ( )

inline

Definition at line 53 of file RMatrix.hh.

Referenced by GetAverageRMatrix().

BIAS::RMatrix::RMatrix ( const MatrixInitType &  i )

inlineexplicit

Definition at line 56 of file RMatrix.hh.

BIAS::RMatrix::RMatrix ( Vector3< ROTATION_MATRIX_TYPE >  w, ROTATION_MATRIX_TYPE  phi  )

inline

initialization from rotation axis w and angle phi (Rodriguez)

Definition at line 60 of file RMatrix.hh.

RMatrix::~RMatrix ( )

virtual

Definition at line 34 of file RMatrix.cpp.

BIAS::RMatrix::RMatrix ( const Matrix3x3< ROTATION_MATRIX_TYPE > &  mat )

inline

Definition at line 65 of file RMatrix.hh.

RMatrix::RMatrix

(

const TNT::Matrix< ROTATION_MATRIX_TYPE > &

mat

)

Definition at line 37 of file RMatrix.cpp.

References bestErrorSoFar_, bestQuaternionSoFar_, TNT::Matrix< T >::num_cols(), TNT::Matrix< T >::num_rows(), pvecR_, and BIAS::Vector4< T >::Set().

Member Function Documentation

bool RMatrixBase::Check ( const double  eps = std::numeric_limits<double>::epsilon(), const bool  verbose = false  ) const

inherited

Check if this is a rotation matrix, i.e.

if the determinant is +1 and the columns are orthonormal

Parameters

eps	Numerical limit for constraint evaluation
verbose	Show reason in case of failure

Definition at line 891 of file RMatrixBase.cpp.

References BIAS::Equal(), BIAS::RMatrixBase::GetCheckFailureReason(), BIAS::Matrix3x3< ROTATION_MATRIX_TYPE >::GetColumn(), BIAS::Matrix3x3< ROTATION_MATRIX_TYPE >::GetDeterminant(), and BIAS::Matrix3x3< ROTATION_MATRIX_TYPE >::NormL2().

Referenced by BIAS::RMatrixBase::GetQuaternion(), BIAS::RMatrixBase::RMatrixBase(), BIAS::RMatrixBase::SetFromHV(), and BIAS::RMatrixBase::SetFromOrthogonalBasis().

void RMatrix::EnforceConstraints ( )

virtual

Enforce orthonormality constraints and right-handed rotation with SVD.

Author

koeser

Reimplemented from BIAS::RMatrixBase.

Definition at line 49 of file RMatrix.cpp.

References BIAS::Matrix3x3< ROTATION_MATRIX_TYPE >::Data_, BIAS::Matrix3x3< T >::GetData(), BIAS::Matrix3x3< ROTATION_MATRIX_TYPE >::GetDeterminant(), BIAS::SVD::GetU(), and BIAS::SVD::GetVT().

Referenced by BIAS::RotationAveraging::ChordalL2Mean(), GetAverageRMatrix(), and BIAS::ProjectionParametersIO::ReadFromBBCStream().

void BIAS::Matrix3x3< ROTATION_MATRIX_TYPE >::GetAbsMaxMin ( ROTATION_MATRIX_TYPE &  max, ROTATION_MATRIX_TYPE &  min  ) const

inherited

Author

woelk 11/2007 (c) www.vision-n.de

RMatrix RMatrix::GetAverageRMatrix	(	std::vector< RMatrix > &	vecR,
		bool	RefineRotation = true
	)

Compute average rotation by pairwise weighted averaging of matrices.

Parameters

vecR	vector containt rotation matrices

Returns

average rotation matrix with minimal distance to all in vecR

Attention

unfinished code

Author

koeser

Definition at line 94 of file RMatrix.cpp.

References bestErrorSoFar_, bestQuaternionSoFar_, EnforceConstraints(), BIAS::RMatrixBase::GetQuaternion(), BIAS::RMatrixBase::GetRotationAxisAngle(), BIAS::LevenbergMarquardtExtended(), BIAS::MatrixIdentity, pvecR_, RMatrix(), BIAS::RMatrixBase::Set(), and BIAS::RMatrixBase::SetFromQuaternion().

std::string RMatrixBase::GetCheckFailureReason ( const double  eps = std::numeric_limits<double>::epsilon() ) const

inherited

Return the reason for the constraint check failure in a human readable string.

Parameters

eps	Numerical limit for constraint evaluation

Returns

empty string when check succeeds, error message otherwise

Definition at line 919 of file RMatrixBase.cpp.

References BIAS::Equal(), BIAS::Matrix3x3< ROTATION_MATRIX_TYPE >::GetColumn(), BIAS::Matrix3x3< ROTATION_MATRIX_TYPE >::GetDeterminant(), BIAS::Vector3< T >::NormL2(), BIAS::Matrix3x3< ROTATION_MATRIX_TYPE >::NormL2(), and BIAS::Vector3< T >::ScalarProduct().

Referenced by BIAS::RMatrixBase::Check(), BIAS::RMatrixBase::GetQuaternion(), BIAS::RMatrixBase::RMatrixBase(), BIAS::RMatrixBase::SetFromHV(), and BIAS::RMatrixBase::SetFromOrthogonalBasis().

void BIAS::Matrix3x3< ROTATION_MATRIX_TYPE >::GetColumn ( const unsigned int  col, Vector3< ROTATION_MATRIX_TYPE > &  r  ) const

inherited

extract one column ('Spalte') from this matrix (for convenience)

Examples:

ExampleFMatrix.cpp.

Referenced by BIAS::RMatrixBase::Check(), BIAS::RMatrixBase::EnforceConstraints(), and BIAS::RMatrixBase::GetCheckFailureReason().

BIAS::Vector3<ROTATION_MATRIX_TYPE > BIAS::Matrix3x3< ROTATION_MATRIX_TYPE >::GetColumn ( const unsigned int  col ) const

inlineinherited

Definition at line 202 of file Matrix3x3.hh.

ROTATION_MATRIX_TYPE * BIAS::Matrix3x3< ROTATION_MATRIX_TYPE >::GetData ( )

inlineinherited

Author

woelk 11/2007 (c) www.vision-n.de

Definition at line 99 of file Matrix3x3.hh.

Referenced by BIAS::RMatrixBase::SetFromQuaternion().

const ROTATION_MATRIX_TYPE * BIAS::Matrix3x3< ROTATION_MATRIX_TYPE >::GetData ( ) const

inlineinherited

Author

woelk 11/2007 (c) www.vision-n.de

Definition at line 103 of file Matrix3x3.hh.

ROTATION_MATRIX_TYPE BIAS::Matrix3x3< ROTATION_MATRIX_TYPE >::GetDeterminant ( ) const

inherited

returns the Determinant |A| of this

Author

grest

Examples:

ExampleFMatrix.cpp.

Referenced by BIAS::RMatrixBase::Check(), EnforceConstraints(), BIAS::RMatrixBase::EnforceConstraints(), and BIAS::RMatrixBase::GetCheckFailureReason().

int BIAS::Matrix3x3< ROTATION_MATRIX_TYPE >::GetInverse ( Matrix3x3< ROTATION_MATRIX_TYPE > &  inv ) const

inherited

Matrix inversion: inverts this and stores resulty in argument inv.

Returns -1 if determinant is zero, 0 on success.

Author

woelk 07/2005

ROTATION_MATRIX_TYPE BIAS::Matrix3x3< ROTATION_MATRIX_TYPE >::GetMax ( ) const

inherited

Author

woelk 11/2007 (c) www.vision-n.de

void BIAS::Matrix3x3< ROTATION_MATRIX_TYPE >::GetMaxMin ( ROTATION_MATRIX_TYPE &  max, ROTATION_MATRIX_TYPE &  min  ) const

inherited

return biggest and smallest entry

Author

woelk 08/2004

ROTATION_MATRIX_TYPE BIAS::Matrix3x3< ROTATION_MATRIX_TYPE >::GetMin ( ) const

inherited

Author

woelk 11/2007 (c) www.vision-n.de

unsigned BIAS::Matrix3x3< ROTATION_MATRIX_TYPE >::GetNumElements ( ) const

inlineinherited

Author

woelk 11/2007 (c) www.vision-n.de

Definition at line 107 of file Matrix3x3.hh.

int RMatrixBase::GetQuaternion ( Quaternion< ROTATION_MATRIX_TYPE > &  quat ) const

inherited

Calculates quaternion representation for this rotation matrix.

Attention

Scalar part of quaternion will always be non-negative for sake of uniqueness of the resulting quaternion!

Author

woelk 12/2003

esquivel 03/2011 (changed algorithm, bugfix)

Examples:

ExampleEParametrization.cpp, ExampleQuaternion.cpp, ExampleRMatrix.cpp, and ExampleVRMLOutProjection.cpp.

Definition at line 345 of file RMatrixBase.cpp.

References BIAS::RMatrixBase::Check(), BIAS::RMatrixBase::GetCheckFailureReason(), BIAS::Vector4< QUAT_TYPE >::MultiplyIP(), and BIAS::Vector4< QUAT_TYPE >::NormL2().

Referenced by BIAS::RectificationBase< InputStorageType, OutputStorageType >::CalculateMeanOrientation(), BIAS::RectificationBase< InputStorageType, OutputStorageType >::CalculateRectifiedBases(), BIAS::ProjectionParametersFactory::Create(), BIAS::Parametrization::EMatrixToParams(), GetAverageRMatrix(), BIAS::RMatrixBase::GetRotationAxisAngle(), BIAS::EMatrix::GetRotationTranslation(), BIAS::PMDImageProc::PoseFromMeta(), BIAS::SimilarityTransform::SetR(), BIAS::Pose::SetR(), BIAS::CoordinateTransform3D::SetR(), BIAS::ProjectionParametersBase::SetR(), BIAS::PoseParametrizationCovariance::Transform(), and BIAS::CovEuler2Quaternion::Transform_().

ROTATION_MATRIX_TYPE RMatrixBase::GetRotationAngle ( ) const

inherited

Interface for angle component of GetRotationAxisAngle()

Definition at line 543 of file RMatrixBase.cpp.

References BIAS::RMatrixBase::GetRotationAxisAngle().

int RMatrixBase::GetRotationAnglesXYZ ( double &  PhiX, double &  PhiY, double &  PhiZ  ) const

inherited

Get Euler angles for this rotation matrix in order XYZ.

Attention

Representation is not unique and has singularities at +-pi/2. Assume for example (*this) = Rx * Ry * Rz, then we have either Euler angles in order 1. x, 2. y, 3. z and moving axes or in order 1. z, 2. y, 3. x and fixed axes.

Author

woelk 01/2003

Examples:

ExampleAutoCalib.cpp, ExampleFMatrix.cpp, and ExampleRMatrix.cpp.

Definition at line 575 of file RMatrixBase.cpp.

Referenced by BIAS::PMatrixEstimation::AutoCalib_(), BIAS::GenGroundTruth::CreateMatches(), BIAS::EuclideanTransf3D::GetAnglesXYZ(), BIAS::CamPoseCalib::GetResult(), BIAS::OnlyRotationControl::LeftMouseDoubleClicked(), BIAS::OnlyRotationControl::LeftMouseMoved(), BIAS::OnlyRotationControl::MiddleMouseMoved(), BIAS::ProjectionParametersIO::ReadFromBBCStream(), BIAS::OnlyRotationControl::RightMouseMoved(), BIAS::GenSynthMatchesRig::Setup_(), and BIAS::CamPoseCalib::TransformVec().

int BIAS::RMatrixBase::GetRotationAnglesXYZ ( Vector3< ROTATION_MATRIX_TYPE > &  r ) const

inlineinherited

Get Euler angles for this rotation matrix in order XYZ.

See Also

GetRotationAnglesXYZ(double&, double&, double&)

Definition at line 310 of file RMatrixBase.hh.

int RMatrixBase::GetRotationAnglesXZY ( double &  PhiX, double &  PhiY, double &  PhiZ  ) const

inherited

Get Euler angles for this rotation matrix in order XZY.

Attention

Representation is not unique and has singularities at +-pi/2. Rotation order is 1. x, 2. z, 3. y with moving axes or

1. y, 2. z, 3. x with fixed axes.

Author

esquivel 2014

Examples:

ExampleRMatrix.cpp.

Definition at line 683 of file RMatrixBase.cpp.

int BIAS::RMatrixBase::GetRotationAnglesXZY ( Vector3< ROTATION_MATRIX_TYPE > &  r ) const

inlineinherited

Get Euler angles for this rotation matrix in order XZY.

See Also

GetRotationAnglesXZY(double&, double&, double&)

Definition at line 373 of file RMatrixBase.hh.

int RMatrixBase::GetRotationAnglesYXZ ( double &  PhiX, double &  PhiY, double &  PhiZ  ) const

inherited

Get Euler angles for this rotation matrix in order YXZ.

Attention

Representation is not unique and has singularities at +-pi/2. Rotation order is 1. y, 2. x, 3. z with moving axes or

1. z, 2. x, 3. y with fixed axes.

Author

haase 2007

Examples:

ExampleRMatrix.cpp.

Definition at line 656 of file RMatrixBase.cpp.

int BIAS::RMatrixBase::GetRotationAnglesYXZ ( Vector3< ROTATION_MATRIX_TYPE > &  r ) const

inlineinherited

Get Euler angles for this rotation matrix in order YXZ.

See Also

GetRotationAnglesYXZ(double&, double&, double&)

Definition at line 349 of file RMatrixBase.hh.

int RMatrixBase::GetRotationAnglesYZX ( double &  PhiX, double &  PhiY, double &  PhiZ  ) const

inherited

Get Euler angles for this rotation matrix in order YZX.

Attention

Representation is not unique and has singularities at +-pi/2. Rotation order is 1. y, 2. z, 3. x with moving axes or

1. x, 2. z, 3. y with fixed axes.

Author

esquivel 2014

Examples:

ExampleRMatrix.cpp.

Definition at line 710 of file RMatrixBase.cpp.

int BIAS::RMatrixBase::GetRotationAnglesYZX ( Vector3< ROTATION_MATRIX_TYPE > &  r ) const

inlineinherited

Get Euler angles for this rotation matrix in order YZX.

See Also

GetRotationAnglesYZX(double&, double&, double&)

Definition at line 361 of file RMatrixBase.hh.

int RMatrixBase::GetRotationAnglesZXY ( double &  PhiX, double &  PhiY, double &  PhiZ  ) const

inherited

Get Euler angles for this rotation matrix in order ZXY.

Attention

Representation is not unique and has singularities at +-pi/2. Rotation order is 1. z, 2. x, 3. y with moving axes or

1. y, 2. x, 3. z with fixed axes.

Author

haase 2007

Examples:

ExampleRMatrix.cpp.

Definition at line 629 of file RMatrixBase.cpp.

int BIAS::RMatrixBase::GetRotationAnglesZXY ( Vector3< ROTATION_MATRIX_TYPE > &  r ) const

inlineinherited

Get Euler angles for this rotation matrix in order ZXY.

See Also

GetRotationAnglesZXY(double&, double&, double&)

Definition at line 337 of file RMatrixBase.hh.

int RMatrixBase::GetRotationAnglesZYX ( double &  PhiX, double &  PhiY, double &  PhiZ  ) const

inherited

Get Euler angles for this rotation matrix in order ZYX.

Attention

Representation is not unique and has singularities at +-pi/2. Assume for example (*this) = Rz * Ry * Rx, then we have either Euler angles in order 1. z, 2. y, 3. x and moving axes or in order 1. x, 2. y, 3. z and fixed axes.

Author

woelk 01/2003

Examples:

ExampleRMatrix.cpp.

Definition at line 602 of file RMatrixBase.cpp.

Referenced by BIAS::DPPanTiltControlExtended::CompensateHeliMovement(), and BIAS::CovTransformPose::Transform_().

int BIAS::RMatrixBase::GetRotationAnglesZYX ( Vector3< ROTATION_MATRIX_TYPE > &  r ) const

inlineinherited

Get Euler angles for this rotation matrix in order ZYX.

See Also

GetRotationAnglesZYX(double&, double&, double&)

Definition at line 324 of file RMatrixBase.hh.

Vector3< ROTATION_MATRIX_TYPE > RMatrixBase::GetRotationAxis ( ) const

inherited

Interface for axis component of GetRotationAxisAngle()

Definition at line 526 of file RMatrixBase.cpp.

References BIAS::RMatrixBase::GetRotationAxisAngle().

int RMatrixBase::GetRotationAxisAngle ( Vector3< ROTATION_MATRIX_TYPE > &  axis, ROTATION_MATRIX_TYPE &  angle  ) const

inherited

Calculates angle and rotation axis representation for this rotation matrix.

Parameters

angle

Rotation angle is returned in radians

Author

woelk 12/2003

Examples:

ExampleAbsoluteOrientation.cpp, ExampleCamPoseCalib.cpp, ExampleLoadBOG_P.cpp, and ExampleRMatrix.cpp.

Definition at line 514 of file RMatrixBase.cpp.

References BIAS::Quaternion< T >::GetAxisAngle(), and BIAS::RMatrixBase::GetQuaternion().

Referenced by BIAS::ThreeDOut::AddEllipsoid(), BIAS::SimilarityTransform::Dump(), BIAS::Parametrization::EMatrixToParams(), BIAS::CamPoseCalib::Estimate(), BIAS::RotationAveraging::GeodesicL1Mean(), BIAS::RotationAveraging::GeodesicL2Mean(), GetAverageRMatrix(), BIAS::RMatrixBase::GetRotationAngle(), BIAS::RMatrixBase::GetRotationAxis(), BIAS::Projection3DData::Set(), BIAS::CamPoseCalib::SolveLM_(), BIAS::CoordinateTransform3D::Talk(), and BIAS::ThreeDOut::UpdateEllipsoid().

int RMatrixBase::GetRotationAxisAngle ( Vector3< ROTATION_MATRIX_TYPE > &  w ) const

inherited

Calculates the angle * rotation axis representation for this rotation matrix (modified Rodrigues vector)

Author

evers

Definition at line 560 of file RMatrixBase.cpp.

References BIAS::Quaternion< T >::GetAxisAngle(), BIAS::RMatrixBase::GetQuaternion(), and BIAS::Vector3< T >::Normalize().

void BIAS::Matrix3x3< ROTATION_MATRIX_TYPE >::GetRow ( const unsigned int  row, Vector3< ROTATION_MATRIX_TYPE > &  r  ) const

inherited

extract one row ('Zeile') from ths matrix (for convenience)

Vector3<ROTATION_MATRIX_TYPE > BIAS::Matrix3x3< ROTATION_MATRIX_TYPE >::GetRow ( const unsigned int  row ) const

inlineinherited

Definition at line 196 of file Matrix3x3.hh.

int BIAS::Matrix3x3< ROTATION_MATRIX_TYPE >::InvertIP ( )

inherited

In place matrix conversion.

Returns -1 if determinant is zero, 0 on success.

Author

woelk 07/2005

bool BIAS::Matrix3x3< ROTATION_MATRIX_TYPE >::IsIdentity ( const ROTATION_MATRIX_TYPE  eps = std::numeric_limits<T>::epsilon() ) const

inherited

Author

woelk 12/2007 (c) www.vision-n.de

Examples:

ExampleFMatrix.cpp.

bool BIAS::Matrix3x3< ROTATION_MATRIX_TYPE >::IsZero ( const ROTATION_MATRIX_TYPE  eps = std::numeric_limits<T>::epsilon() ) const

inherited

Author

woelk 11/2007 (c) www.vision-n.de

bool BIAS::Matrix3x3< ROTATION_MATRIX_TYPE >::Load ( const std::string &  fname )

inherited

void BIAS::Matrix3x3< ROTATION_MATRIX_TYPE >::MakeSymmetric ( )

inherited

Author

woelk 11/2007 (c) www.vision-n.de

void BIAS::Matrix3x3< ROTATION_MATRIX_TYPE >::Mult ( const Vector3< ROTATION_MATRIX_TYPE > &  argvec, Vector3< ROTATION_MATRIX_TYPE > &  destvec  ) const

inlineinherited

matrix - vector multiplicate this matrix with Vector3, storing the result in destvec calculates: destvec = (this Matrix) * argvec

Author

Ingo Thomsen, Jan Woetzel untested (04/17/2002)

Examples:

ExampleDrawLines.cpp, and ExampleProjectionMapping.cpp.

void BIAS::Matrix3x3< ROTATION_MATRIX_TYPE >::Mult ( const Matrix3x3< ROTATION_MATRIX_TYPE > &  argmat, Matrix3x3< ROTATION_MATRIX_TYPE > &  destmat  ) const

inlineinherited

matrix-matrix multiplication with other Matrix3x3, storing the result in destmat calculates: destmat = (this mat) * argmat

Author

Ingo Thomsen, Jan Woetzel untested (04/17/2002)

void BIAS::Matrix3x3< ROTATION_MATRIX_TYPE >::Mult ( const Matrix3x4< ROTATION_MATRIX_TYPE > &  argmat, Matrix3x4< ROTATION_MATRIX_TYPE > &  destmat  ) const

inherited

Author

woelk 06 2003

ROTATION_MATRIX_TYPE BIAS::Matrix3x3< ROTATION_MATRIX_TYPE >::Normalize ( )

inherited

divide this by biggest absolute entry, returns biggest entry

Author

woelk 11/2007 (c) www.vision-n.de

double BIAS::Matrix3x3< ROTATION_MATRIX_TYPE >::NormFrobenius ( ) const

inlineinherited

Author

woelk 11/2007 (c) www.vision-n.de

ROTATION_MATRIX_TYPE BIAS::Matrix3x3< ROTATION_MATRIX_TYPE >::NormL1 ( ) const

inlineinherited

double BIAS::Matrix3x3< ROTATION_MATRIX_TYPE >::NormL2 ( ) const

inlineinherited

Definition at line 255 of file Matrix3x3.hh.

Referenced by BIAS::RMatrixBase::Check(), BIAS::RMatrixBase::EnforceConstraints(), and BIAS::RMatrixBase::GetCheckFailureReason().

bool BIAS::Matrix3x3< ROTATION_MATRIX_TYPE >::operator!= ( const Matrix3x3< ROTATION_MATRIX_TYPE > &  arg ) const

inlineinherited

Definition at line 274 of file Matrix3x3.hh.

Matrix3x3<ROTATION_MATRIX_TYPE >& BIAS::Matrix3x3< ROTATION_MATRIX_TYPE >::operator*= ( const Matrix3x3< ROTATION_MATRIX_TYPE > &  arg )

inlineinherited

woelk 11/2007 (c) www.vision-n.de

Definition at line 143 of file Matrix3x3.hh.

References BIAS::Matrix3x3< T >::Mult().

Matrix3x3<ROTATION_MATRIX_TYPE >& BIAS::Matrix3x3< ROTATION_MATRIX_TYPE >::operator*= ( const ROTATION_MATRIX_TYPE &  arg )

inherited

woelk 11/2007 (c) www.vision-n.de

Matrix3x3<ROTATION_MATRIX_TYPE >& BIAS::Matrix3x3< ROTATION_MATRIX_TYPE >::operator+= ( const Matrix3x3< ROTATION_MATRIX_TYPE > &  arg )

inherited

Author

woelk 11/2007 (c) www.vision-n.de

Matrix3x3<ROTATION_MATRIX_TYPE >& BIAS::Matrix3x3< ROTATION_MATRIX_TYPE >::operator-= ( const Matrix3x3< ROTATION_MATRIX_TYPE > &  arg )

inherited

Author

woelk 11/2007 (c) www.vision-n.de

Matrix3x3<ROTATION_MATRIX_TYPE >& BIAS::Matrix3x3< ROTATION_MATRIX_TYPE >::operator/= ( const ROTATION_MATRIX_TYPE &  arg )

inherited

Author

woelk 11/2007 (c) www.vision-n.de

bool BIAS::Matrix3x3< ROTATION_MATRIX_TYPE >::operator== ( const Matrix3x3< ROTATION_MATRIX_TYPE > &  arg ) const

inherited

ROTATION_MATRIX_TYPE * BIAS::Matrix3x3< ROTATION_MATRIX_TYPE >::operator[] ( const unsigned  row )

inlineinherited

Author

woelk 11/2007 (c) www.vision-n.de

Definition at line 91 of file Matrix3x3.hh.

const ROTATION_MATRIX_TYPE * BIAS::Matrix3x3< ROTATION_MATRIX_TYPE >::operator[] ( const unsigned  row ) const

inlineinherited

Author

woelk 11/2007 (c) www.vision-n.de

Definition at line 95 of file Matrix3x3.hh.

bool BIAS::Matrix3x3< ROTATION_MATRIX_TYPE >::Save ( const std::string &  fname ) const

inherited

void BIAS::Matrix3x3< ROTATION_MATRIX_TYPE >::Scale ( const ROTATION_MATRIX_TYPE &  scalar, Matrix3x3< ROTATION_MATRIX_TYPE > &  destmat  ) const

inlineinherited

scalar-matrix multiplication

void RMatrixBase::Set ( const Vector3< ROTATION_MATRIX_TYPE > &  w, const ROTATION_MATRIX_TYPE  phi  )

inherited

Set from rotation axis w and angle phi (in rad)

Parameters

w	Axis vector w will be normalized to length 1, so we need |w|>1e-6 if phi != 0, otherwise an exception is thrown
phi	Rotation angle is given in radians

Author

evers, woelk

Examples:

EvaluateAlignment.cpp, and ExamplePMatrix.cpp.

Definition at line 291 of file RMatrixBase.cpp.

References BIAS::Equal(), BIAS::Vector3< T >::NormL2(), BIAS::RMatrixBase::RMatrixBase(), BIAS::Matrix3x3< ROTATION_MATRIX_TYPE >::SetIdentity(), and BIAS::Matrix3x3< T >::SetIdentity().

Referenced by BIAS::RotationAveraging::GeodesicL1Mean(), BIAS::RotationAveraging::GeodesicL2Mean(), GetAverageRMatrix(), BIAS::ProjectionParametersBase::GetUnProjectionJacobian(), BIAS::VideoSource_Shm::GrabSingle(), BIAS::PMatrixBase::Parametrization2R_(), BIAS::Parametrization::ParamsToEMatrix(), BIAS::RMatrixBase::RMatrixBase(), BIAS::RMatrixBase::SetFromAxisAngle(), and BIAS::Normalization::Woelk().

void BIAS::Matrix3x3< ROTATION_MATRIX_TYPE >::SetAsCrossProductMatrix ( const Vector3< ROTATION_MATRIX_TYPE > &  vec )

inherited

Sets matrix from vector as cross product matrix of this vector.

void BIAS::Matrix3x3< ROTATION_MATRIX_TYPE >::SetAsCrossProductMatrix ( const ROTATION_MATRIX_TYPE &  x, const ROTATION_MATRIX_TYPE &  y, const ROTATION_MATRIX_TYPE &  z  )

inherited

Sets matrix from vector as cross product matrix of a vector.

with components (x, y, z)

void BIAS::Matrix3x3< ROTATION_MATRIX_TYPE >::SetColumn ( const unsigned int  col, const Vector3< ROTATION_MATRIX_TYPE > &  c  )

inherited

Author

woelk 11/2007 (c) www.vision-n.de

Referenced by BIAS::RMatrixBase::EnforceConstraints().

void RMatrixBase::SetFromAxisAngle ( Vector3< ROTATION_MATRIX_TYPE >  w )

inherited

Set from rotation axis * angle (modified Rodrigues vector)

Author

evers

Examples:

ExampleAbsoluteOrientation.cpp, and ExampleRMatrix.cpp.

Definition at line 332 of file RMatrixBase.cpp.

References BIAS::Vector3< T >::Normalize(), BIAS::Vector3< T >::NormL2(), BIAS::RMatrixBase::Set(), and BIAS::Matrix3x3< ROTATION_MATRIX_TYPE >::SetIdentity().

Referenced by BIAS::PMDImageProc::HFromMeta_(), BIAS::RotationAveraging::LogarithmicL2Mean(), BIAS::PMatrixBase::Parametrization2R_(), and BIAS::PMDImageProc::PoseFromMeta().

void BIAS::Matrix3x3< ROTATION_MATRIX_TYPE >::SetFromColumnVectors ( const BIAS::Vector3< ROTATION_MATRIX_TYPE > &  v0, const BIAS::Vector3< ROTATION_MATRIX_TYPE > &  v1, const BIAS::Vector3< ROTATION_MATRIX_TYPE > &  v2  )

inherited

set this matrix from 3 vectors each representating a column

Referenced by BIAS::RMatrixBase::SetFromOriUp(), and BIAS::RMatrixBase::SetFromOriUpGL().

void RMatrixBase::SetFromHV ( const BIAS::Vector3< ROTATION_MATRIX_TYPE > &  xh, const BIAS::Vector3< ROTATION_MATRIX_TYPE > &  vy  )

inherited

Set rotation matrix from two vectors from an orthonormal basis.

Parameters

xh	represents the first base vector and is left unchanged
vy	should be orthogonal to xh, it is orthogonalized otherwise

You can think of this routine as computing R from an image plane given by two (usually orthogonal) base vectors. If the given base vectors are not orthogonal, xh is kept and yv is orthogonalized appropriately.

Author

jw

Definition at line 829 of file RMatrixBase.cpp.

References BIAS::RMatrixBase::Check(), BIAS::Vector3< T >::CrossProduct(), BIAS::RMatrixBase::EnforceConstraints(), BIAS::RMatrixBase::GetCheckFailureReason(), and BIAS::Vector3< T >::GetNormalized().

int RMatrixBase::SetFromOriUp ( BIAS::Vector3< ROTATION_MATRIX_TYPE >  ori, BIAS::Vector3< ROTATION_MATRIX_TYPE >  up  )

inherited

Set rotation matrix from orientation and up vector.

Definition at line 874 of file RMatrixBase.cpp.

References BIAS::Vector3< T >::CrossProduct(), BIAS::Vector3< T >::Normalize(), and BIAS::Matrix3x3< ROTATION_MATRIX_TYPE >::SetFromColumnVectors().

Referenced by BIAS::Pose::LookAt().

int RMatrixBase::SetFromOriUpGL ( BIAS::Vector3< ROTATION_MATRIX_TYPE >  ori, BIAS::Vector3< ROTATION_MATRIX_TYPE >  up  )

inherited

Set rotation matrix from orientation and up vector.

Note

This is openGL conform, similar to gluLookAt(), i.e. if ori is (0,0,-1) and up is (0,1,0) the resulting matrix is identity.

Author

grest 12/2005

Definition at line 856 of file RMatrixBase.cpp.

References BIAS::Vector3< T >::CrossProduct(), BIAS::Vector3< T >::Normalize(), and BIAS::Matrix3x3< ROTATION_MATRIX_TYPE >::SetFromColumnVectors().

void RMatrixBase::SetFromOrthogonalBasis ( const BIAS::Vector3< ROTATION_MATRIX_TYPE > &  ex, const BIAS::Vector3< ROTATION_MATRIX_TYPE > &  ey, const BIAS::Vector3< ROTATION_MATRIX_TYPE > &  ez  )

inherited

Definition at line 810 of file RMatrixBase.cpp.

References BIAS::RMatrixBase::Check(), BIAS::RMatrixBase::EnforceConstraints(), BIAS::RMatrixBase::GetCheckFailureReason(), BIAS::Vector3< T >::GetNormalized(), and BIAS::Matrix3x3< ROTATION_MATRIX_TYPE >::SetFromRowVectors().

int RMatrixBase::SetFromQuaternion ( const Quaternion< ROTATION_MATRIX_TYPE > &  q )

inherited

Set rotation matrix from a quaternion.

Author

grest 06/2003

Examples:

ExampleQuaternion.cpp, and ExampleRMatrix.cpp.

Definition at line 751 of file RMatrixBase.cpp.

References BIAS::Equal(), BIAS::Matrix3x3< ROTATION_MATRIX_TYPE >::GetData(), BIAS::MatrixZero, BIAS::Quaternion< T >::Normalize(), and BIAS::Vector4< QUAT_TYPE >::NormL2().

Referenced by BIAS::ThreeDOut::AddProjection(), BIAS::clfTrimmedICP::ComputeOptimalMotion_(), BIAS::SimilarityTransform::Dump(), GetAverageRMatrix(), BIAS::EParametrization::GetEssentialMatrix(), BIAS::SimilarityTransform::GetR(), BIAS::CoordinateTransform3D::GetR(), BIAS::ProjectionParametersBase::GetR(), BIAS::RParametrization::GetRotationMatrix(), BIAS::SimilarityTransform::GetTransformMatrix(), BIAS::PMatrixBase::Parametrization2R_(), BIAS::Parametrization::ParamsToEMatrix(), BIAS::RotationAveraging::QuaternionL2Mean(), BIAS::Projection3DData::Set(), BIAS::CoordinateTransform3D::Talk(), BIAS::CovTransformPose::Transform_(), and BIAS::CoordinateTransform3D::UpdateMatrix_().

void BIAS::Matrix3x3< ROTATION_MATRIX_TYPE >::SetFromRowVectors ( const BIAS::Vector3< ROTATION_MATRIX_TYPE > &  v0, const BIAS::Vector3< ROTATION_MATRIX_TYPE > &  v1, const BIAS::Vector3< ROTATION_MATRIX_TYPE > &  v2  )

inherited

set this matrix from 3 vectors, each representating a row

Referenced by BIAS::RMatrixBase::SetFromOrthogonalBasis().

void BIAS::Matrix3x3< ROTATION_MATRIX_TYPE >::SetFromVector ( const TNT::Vector< ROTATION_MATRIX_TYPE > &  vec )

inherited

sets the diagonalelements of this 3x3 Matrix rowwise with the values of the 9 (x1) vector

Author

Ingo Thomsen, Jan Woetzel

void BIAS::Matrix3x3< ROTATION_MATRIX_TYPE >::SetIdentity ( )

inlineinherited

set the elements of this matrix to the identity matrix (possibly overriding the inherited method)

Author

Ingo Thomsen, Jan Woetzel

Date

04/17/2002 untested

Examples:

ExampleAutoCalib.cpp, ExampleFMatrix.cpp, and InvestigateEpipoleEstimation.cpp.

Referenced by BIAS::RMatrixBase::Set(), and BIAS::RMatrixBase::SetFromAxisAngle().

void BIAS::Matrix3x3< ROTATION_MATRIX_TYPE >::SetRow ( const unsigned int  row, const Vector3< ROTATION_MATRIX_TYPE > &  r  )

inherited

Author

woelk 11/2007 (c) www.vision-n.de

void RMatrixBase::SetXYZ ( ROTATION_MATRIX_TYPE  PhiX, ROTATION_MATRIX_TYPE  PhiY, ROTATION_MATRIX_TYPE  PhiZ  )

inherited

Set Euler angles (in rad) in order XYZ.

Set angles either in order 1. x, 2. y, 3. z and moving axes or in order 1. z, 2. y, 3. x and fixed axes. Angles are measured as in mathematics (counter-clockwise), i.e. Set(x, 0, 0) results in the following matrix:

| 1 0 0 | | 0 cos(x) -sin(x) | | 0 sin(x) cos(x) |

(*this) = Rx*Ry*Rz =

| c(y)c(z) -c(y)s(z) s(y) | | c(z)s(x)s(y)+c(x)s(z) c(x)c(z)-s(x)s(y)s(z) -c(y)s(x) | | -c(x)c(z)s(y)+s(x)s(z) c(z)s(x)+c(x)s(y)s(z) c(x)c(y) |

with s(g) = sin(g), c(g) = cos(g), x = PhiX, y = PhiY and z = PhiZ

Author

frahm, woelk

Examples:

ExampleAutoCalib.cpp, ExampleCamera.cpp, ExampleCamPoseCalib.cpp, ExampleDrawLines.cpp, ExampleEParametrization.cpp, ExampleFMatrix.cpp, ExampleProjectionParametersPerspective2.cpp, ExampleProjectionParametersProjective.cpp, ExampleRMatrix.cpp, ExampleTriangulate.cpp, ExampleTriangulateOptimal.cpp, ExampleVRMLOutProjection.cpp, InvestigateEpipoleEstimation.cpp, and InvestigatePRelations.cpp.

Definition at line 131 of file RMatrixBase.cpp.

References BIAS::MatrixIdentity.

Referenced by BIAS::GenSynthMatches::_AddUniformDistributedOutliers(), BIAS::GenSynthMatches::_CreateCamMovement(), BIAS::CamPoseCalib::ApplySolution_(), BIAS::PMatrixEstimation::AutoCalib_(), BIAS::ProjectionParametersFactory::Create(), BIAS::GenGroundTruth::CreateMatches(), BIAS::GenSynthMatches::GetGTNormalizedF(), BIAS::ProjectionError::Init(), BIAS::PMatrixBase::Parametrization2R_(), BIAS::FMatrixBase::Set(), BIAS::GenSynthMatchesRig::Setup_(), BIAS::EuclideanTransf3D::SetXYZ(), and BIAS::CamPoseCalib::TransformVec().

void BIAS::RMatrixBase::SetXYZ ( const Vector3< ROTATION_MATRIX_TYPE > &  r )

inlineinherited

Set Euler angles (in rad) in order XYZ from vector.

Definition at line 101 of file RMatrixBase.hh.

void RMatrixBase::SetXZY ( ROTATION_MATRIX_TYPE  PhiX, ROTATION_MATRIX_TYPE  PhiY, ROTATION_MATRIX_TYPE  PhiZ  )

inherited

Set Euler angles (in rad) in order XZY.

Set angles either in order 1. x, 2. z, 3. y and moving axes or in order 1. y, 2. z, 3. x and fixed axes.

Author

esquivel

Examples:

ExampleRMatrix.cpp.

Definition at line 265 of file RMatrixBase.cpp.

References BIAS::MatrixIdentity.

void BIAS::RMatrixBase::SetXZY ( const Vector3< ROTATION_MATRIX_TYPE > &  r )

inlineinherited

Set Euler angles (in rad) in order XZY from vector.

Definition at line 193 of file RMatrixBase.hh.

void RMatrixBase::SetYXZ ( ROTATION_MATRIX_TYPE  PhiX, ROTATION_MATRIX_TYPE  PhiY, ROTATION_MATRIX_TYPE  PhiZ  )

inherited

Set Euler angles (in rad) in order YXZ.

Set angles either in order 1. y, 2. x, 3. z and moving axes or in order 1. z, 2. x, 3. y and fixed axes. Angles are measured as in mathematics (counter-clockwise), i.e. Set(x, 0, 0) results in the following matrix:

| 1 0 0 | | 0 cos(x) -sin(x) | | 0 sin(x) cos(x) |

(*this) = Ry*Rx*Rz

Author

haase

Examples:

ExampleRMatrix.cpp.

Definition at line 185 of file RMatrixBase.cpp.

References BIAS::MatrixIdentity.

void BIAS::RMatrixBase::SetYXZ ( const Vector3< ROTATION_MATRIX_TYPE > &  r )

inlineinherited

Set Euler angles (in rad) in order YXZ from vector.

Definition at line 179 of file RMatrixBase.hh.

void RMatrixBase::SetYZX ( ROTATION_MATRIX_TYPE  PhiX, ROTATION_MATRIX_TYPE  PhiY, ROTATION_MATRIX_TYPE  PhiZ  )

inherited

Set Euler angles (in rad) in order YZX.

Set angles either in order 1. y, 2. z, 3. x and moving axes or in order 1. x, 2. z, 3. y and fixed axes.

Author

esquivel

Examples:

ExampleRMatrix.cpp.

Definition at line 238 of file RMatrixBase.cpp.

References BIAS::MatrixIdentity.

void BIAS::RMatrixBase::SetYZX ( const Vector3< ROTATION_MATRIX_TYPE > &  r )

inlineinherited

Set Euler angles (in rad) in order YZX from vector.

Definition at line 208 of file RMatrixBase.hh.

void BIAS::RMatrixBase::SetZero ( )

inlineinherited

Setting to zero is forbidden since the zero matrix is not a valid rotation matrix!

Definition at line 401 of file RMatrixBase.hh.

void RMatrixBase::SetZXY ( ROTATION_MATRIX_TYPE  PhiX, ROTATION_MATRIX_TYPE  PhiY, ROTATION_MATRIX_TYPE  PhiZ  )

inherited

Set Euler angles (in rad) in order ZXY.

Set angles either in order 1. z, 2. x, 3. y and moving axes or in order 1. y, 2. x, 3. z and fixed axes. Angles are measured as in mathematics (counter-clockwise), i.e. Set(x, 0, 0) results in the following matrix:

| 1 0 0 | | 0 cos(x) -sin(x) | | 0 sin(x) cos(x) |

(*this) = Rz*Rx*Ry =

| c(y)c(z)-s(x)s(y)s(z), c(x)s(z), s(y)c(z)+s(x)c(y)s(z) | | s(z)c(y)+s(x)s(y)c(z), c(x)c(z), s(y)*s(z)+s(x)-c(y)c(z) | | -c(x)s(y) , s(x) , c(x)c(y) |

with s(g) = sin(g), c(g) = cos(g), x = PhiX, y = PhiY and z = PhiZ

Author

haase

Examples:

ExampleRMatrix.cpp.

Definition at line 212 of file RMatrixBase.cpp.

References BIAS::MatrixIdentity.

void BIAS::RMatrixBase::SetZXY ( const Vector3< ROTATION_MATRIX_TYPE > &  r )

inlineinherited

Set Euler angles (in rad) in order ZXY from vector.

Definition at line 157 of file RMatrixBase.hh.

void RMatrixBase::SetZYX ( ROTATION_MATRIX_TYPE  PhiX, ROTATION_MATRIX_TYPE  PhiY, ROTATION_MATRIX_TYPE  PhiZ  )

inherited

Set Euler angles (in rad) in order ZYX.

Set angles either in order 1. z, 2. y, 3. x and moving axes or in order 1. x, 2. y, 3. z and fixed axes. Angles are measured as in mathematics (counter-clockwise), i.e. Set(x, 0, 0) results in the following matrix:

| 1 0 0 | | 0 cos(x) -sin(x) | | 0 sin(x) cos(x) |

(*this) = Rz*Ry*Rx =

| c(y)c(z) s(x)s(y)c(z)-c(x)s(z) c(x)s(y)c(z)+s(x)s(z) | | c(y)s(z) s(x)s(y)s(z)+c(x)c(z) c(x)s(y)s(z)-s(x)s(z) | | -s(y) s(x)c(y) c(x)c(y) |

with s(g) = sin(g), c(g) = cos(g), x = PhiX, y = PhiY and z = PhiZ

Author

frahm, woelk

Examples:

ExampleRMatrix.cpp.

Definition at line 158 of file RMatrixBase.cpp.

References BIAS::MatrixIdentity.

Referenced by BIAS::CovEuler2Quaternion::Transform_().

void BIAS::RMatrixBase::SetZYX ( const Vector3< ROTATION_MATRIX_TYPE > &  r )

inlineinherited

Set Euler angles (in rad) in order ZYX from vector.

Definition at line 129 of file RMatrixBase.hh.

ROTATION_MATRIX_TYPE BIAS::Matrix3x3< ROTATION_MATRIX_TYPE >::Trace ( ) const

inlineinherited

return the trace of the matrix

Author

woelk 04/2006

Definition at line 230 of file Matrix3x3.hh.

Matrix3x3<ROTATION_MATRIX_TYPE > BIAS::Matrix3x3< ROTATION_MATRIX_TYPE >::Transpose ( ) const

inherited

returns transposed matrix tested 12.06.2002

Author

Felix Woelk

Examples:

ExampleAbsoluteOrientation.cpp, ExampleEParametrization.cpp, ExampleFMatrix.cpp, and ExampleTriangulate.cpp.

void BIAS::Matrix3x3< ROTATION_MATRIX_TYPE >::Transpose ( const Matrix3x3< ROTATION_MATRIX_TYPE > &  arg )

inlineinherited

sets this as transposed arg, fw

void BIAS::Matrix3x3< ROTATION_MATRIX_TYPE >::TransposedMult ( const Vector3< ROTATION_MATRIX_TYPE > &  argvec, Vector3< ROTATION_MATRIX_TYPE > &  destvec  ) const

inlineinherited

multiplies matrix from left with transposed argvec, resulting in transposed destvec

Author

woelk 05/2003

void BIAS::Matrix3x3< ROTATION_MATRIX_TYPE >::TransposeIP ( )

inlineinherited

tranpose this matrix "in place" example: 0 1 2 –> 0 3 6 3 4 5 –> 1 4 7 6 7 8 –> 2 5 8

Member Data Documentation

double BIAS::RMatrix::bestErrorSoFar_

Definition at line 84 of file RMatrix.hh.

Referenced by GetAverageRMatrix(), and RMatrix().

Quaternion<double> BIAS::RMatrix::bestQuaternionSoFar_

Definition at line 86 of file RMatrix.hh.

Referenced by GetAverageRMatrix(), and RMatrix().

ROTATION_MATRIX_TYPE BIAS::Matrix3x3< ROTATION_MATRIX_TYPE >::Data_[9]

protectedinherited

Definition at line 282 of file Matrix3x3.hh.

Referenced by EnforceConstraints().

std::vector<RMatrix>* BIAS::RMatrix::pvecR_

Definition at line 82 of file RMatrix.hh.

Referenced by GetAverageRMatrix(), and RMatrix().

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

• Geometry/RMatrix.hh
• Geometry/RMatrix.cpp