describes a projective 3D -> 2D mapping in homogenous coordinates More...

#include <Geometry/PMatrix.hh>

Inheritance diagram for BIAS::PMatrix:

Collaboration diagram for BIAS::PMatrix:

Public Types
typedef const T *	const_iterator

typedef const T &	const_reference

enum	E_ParametrizationType { AXIS_TIMES_ANGLE, AXIS_AND_ANGLE, EULER, QUATERNION }
	description of supported parametrization types More...

typedef T	element_type

typedef T *	iterator

typedef T *	pointer

typedef T &	reference

typedef Subscript	size_type

typedef T	value_type

Public Member Functions
void	AbsIP ()
	absolute values of all elements of the matrix (in place) More...

Matrix< PMATRIX_TYPE >	Adjoint () const
	computes the adjoint matrix More...

HomgPoint3D	Backproject (const HomgPoint2D &x, double mu=1)
	Back projects image point x to 3D space and returns ray on which the 3D space point lies. More...

void	BackprojectByZDepth (const double &x, const double &y, const double &z_depth, HomgPoint3D &res)
	Inverts the PMatrix application to a 3D point whose z-component in cameracoordinates and its imagepoint (x,y) is known. More...

HomgPoint3D	BackprojectPseudoinverse (const HomgPoint2D &x)
	Returns a homogenized 3D point X on the viewray of x, which always lies in front of the camera(this is checked). More...

void	BackprojectWorldCoo (const HomgPoint2D &point, double depth, HomgPoint3D &res)
	returns a 3D point res which is located depth away from center of projection in direction given by point More...

int	BBCIn (std::ifstream &ifs, const double &AddCenterPointShiftX=0.0, const double &AddCenterPointShiftY=0.0)
	Load next piece of calibration data from an open BBC-Free-D file. More...

void	clear ()
	stl conform interface More...

void	Compose (const Matrix3x3< PMATRIX_TYPE > &K, const Matrix3x3< PMATRIX_TYPE > &R, const Vector3< PMATRIX_TYPE > &C)
	composes this from K, R and C using P = [ K R' \| -K R' C ] with R' = transpose(R) More...

void	Compose (const Matrix3x3< PMATRIX_TYPE > &K, const Matrix3x3< PMATRIX_TYPE > &R, const HomgPoint3D &C)

void	Compose (const Matrix3x3< PMATRIX_TYPE > &R, const Vector3< PMATRIX_TYPE > &C)
	calibrated case, uses K=Identity More...

void	Compose (const Matrix3x3< PMATRIX_TYPE > &R, const HomgPoint3D &C)
	calibrated case, uses K=Identity More...

void	Compose (const Matrix3x3< PMATRIX_TYPE > &K, const Vector< double > &parametrization, const enum E_ParametrizationType param_type)
	Compose a projection matrix using a parametrization. More...

void	Compose (const Matrix3x3< double > &K, const Matrix3x3< double > &R, const Vector3< double > &C)
	composes this from K, R and C using P = [ K R' \| -K R' C ] with R' = transpose(R) More...

void	Compose (const Matrix3x3< double > &K, const Matrix3x3< double > &R, const HomgPoint3D &C)

void	Compose (const Matrix3x3< double > &K, const Vector< double > &parametrization, enum E_ParametrizationType param_type)

void	DecomposeAa (BIAS::Matrix3x3< PMATRIX_TYPE > &A, BIAS::Vector3< PMATRIX_TYPE > &a) const
	decompose the P-matrix to [ A \| a ] where A is a 3x3-matrix and a is a 3-vector. More...

Subscript	dim (Subscript d) const

void	GaussJordan ()
	use the Gauss Jordan Algrithm to transform the matrix to reduced row echelon form. More...

int	GetA (Vector3< double > &A)
	returns the unit vector A which is the normal vector to the image plane in world coordinates. More...

BIAS::Vector3< double >	GetA ()
	returns the unit vector A which is the normal vector to the image plane in world coordinates. More...

int	GetC (Vector3< double > &C)
	computes translation vector origin world coo -> origin camera coo (center), uses decomposition, which is cached More...

BIAS::Vector3< double >	GetC ()
	computes translation vector origin world coo -> origin camera coo (center), uses decomposition, which is cached More...

int	GetC (HomgPoint3D &C)
	computes translation vector origin world coo -> origin camera coo (center), uses decomposition, which is cached More...

Matrix4x4< PMATRIX_TYPE >	GetCanonicalH () const
	Get the projective homography matrix so that P * H = [ I \| 0 ]. More...

void	GetCanonicalH (Matrix4x4< PMATRIX_TYPE > &ProjH) const

int	GetCovariance (BIAS::Matrix< double > &cov)

float	GetFieldOfView (const unsigned int dimX, const unsigned int dimY, const bool optmin=true)

float	GetFieldOfViewX (const unsigned int dimX, const unsigned int dimY)

float	GetFieldOfViewY (const unsigned int dimX, const unsigned int dimY, const bool &compY=true)

int	GetH (Vector3< double > &H)
	returns the unit vector H0, while H0 and V0 span the camera coordinate system in world coordinates More...

BIAS::Vector3< double >	GetH ()

int	GetHinf (BIAS::Matrix3x3< double > &Hinf)

void	GetImagePlane (HomgPlane3D &plane)
	returns image plane in world coordinates More...

HomgPlane3D	GetImagePlane ()
	calls the above More...

int	GetIntersectionOfImagePlanes (PMatrix &P, HomgLine2D &intersection)
	return line resulting of intersection of the two image planes in pixel coordinates of this camera return -1 if camera planes are parallel More...

HomgLine2D	GetIntersectionOfImagePlanes (PMatrix &P)
	calls the above returns line at infinity if planes are parallel More...

int	GetK (KMatrix &K)
	calibration matrix More...

KMatrix	GetK ()

Matrix< PMATRIX_TYPE >	GetMax (Matrix< PMATRIX_TYPE > &m)
	returns an matrix the same size as the matrix n and m with the largest elements taken from n or m More...

Matrix< PMATRIX_TYPE >	GetMin (Matrix< PMATRIX_TYPE > &m)
	returns an matrix the same size as the matrix n and m with the smallest elements taken from n or m More...

Vector3< double >	GetNormRayWorldCoo (const HomgPoint2D &point)
	returns normed vector from C to point analytical inverse of K is used More...

int	GetNullVector (HomgPoint3D &C)
	this is another way of getting C, especially interesting for non-metric cameras More...

double	GetProjectionError (const std::vector< BIAS::HomgPoint2D > &points2D, const std::vector< BIAS::HomgPoint3D > &points3D)
	returns average squared projection Error More...

int	GetPseudoInverse (BIAS::Matrix< double > &Pinv)
	returns 4x3 pseudo inverse More...

int	GetR (Matrix3x3< double > &R)

Matrix3x3< double >	GetR ()

Vector3< double >	GetRayWorldCoo (const HomgPoint2D &point)
	returns vector from C to point, w of point determines ray length analytical inverse of K is used More...

void	GetSVD (Matrix< double > &U, Vector< double > &S, Matrix< double > &VT)
	Returns SVD of this. More...

BIAS::Vector3< double >	GetUp_gl ()

int	GetV (Vector3< double > &V)
	This is not the cam.# standard CAHV, but the unit vector H0. More...

BIAS::Vector3< double >	GetV ()

	initialize (M, N)

void	InvalidateDecomposition ()
	to re-Decompose_() after filling with data use this. More...

bool	IsIdentity (double eps=0.0) const
	Checks if the matrix a an identity. More...

bool	IsInFrontOfCamera (const Vector3< double > &X)
	checks whether X is in optical A-dir from C (only for metric cameras) More...

bool	IsMetric ()

bool	IsZero (double eps=0.0) const
	Checks if the matrix is a null matrix. More...

void	Kronecker (Matrix< PMATRIX_TYPE > const B, Matrix< PMATRIX_TYPE > &dest) const
	Kronecker-product with matrix, result in dest. More...

Subscript	lbound () const

bool	Load (const std::string &filename)
	overload Load because it has to invalidate decomposition! JW 09/2003 More...

int	LoadBan (const std::string &filename, const unsigned int &Time=0)
	Loads a PMatrix from .ban file given by AddCameraKey and Time index. More...

int	LoadBBC (const std::string &filename, const double &AddCenterPointShiftX=0.0, const double &AddCenterPointShiftY=0.0)
	Load calibration data file from BBC-Free-D system. More...

int	LoadBOG (const std::string &filename)
	Load a Daimler .bog fiel and compose a P matrix from it. More...

int	LoadPARTXT (const std::string &filenameParTxt, const unsigned int &index, std::string &correspImgFilename, int &nTotal)
	Load a PMatrix from a _par.txt (S. More...

void	Mult (const Vector4< PMATRIX_TYPE > &argvec, Vector3< PMATRIX_TYPE > &destvec) const
	matrix - vector multiplicate this matrix with Vector4, storing the result in destvec calculates: destvec = (this Matrix) * argvec More...

void	Mult (const Matrix4x4< PMATRIX_TYPE > &argmat, Matrix3x4< PMATRIX_TYPE > &destmat) const
	matrix-matrix multiplication with Matrix4x4 storing the result in destmat More...

PMatrix &	newsize (int rows, int cols)
	setting a new size different from 3x4 is not allowed for the fixed size P-Matrix overloads the general newsize from basec class More...

Matrix< T > &	newsize (Subscript M, Subscript N)

void	Normalize ()
	scale P such that optical axis (first three entries of last row) has unit length More...

Subscript	num_cols () const

Subscript	num_rows () const

reference	operator() (Subscript i)

const_reference	operator() (Subscript i) const

reference	operator() (Subscript i, Subscript j)

const_reference	operator() (Subscript i, Subscript j) const

PMatrix &	operator= (const PMatrix &mat)
	assignment operator More...

T *	operator[] (Subscript i)

const T *	operator[] (Subscript i) const

	PMatrix ()

	PMatrix (const MatrixInitType &i)

	PMatrix (const std::string &s)
	replacement for above JW More...

	PMatrix (const PMatrix &A)

	PMatrix (const PMatrixBase &Amat_)

	PMatrix (const Matrix< PMATRIX_TYPE > &Amat)

	PMatrix (const Matrix3x3< PMATRIX_TYPE > &K, const Matrix3x3< PMATRIX_TYPE > &R, const Vector3< PMATRIX_TYPE > &C)
	Take R, K, C and compose PMatrix. More...

std::ostream &	Print (std::ostream &s, const int width, const int precision, bool scientific=true) const

std::ostream &	Print (std::ostream &s, const bool intCastOutput=false, const bool binaryOutput=false, const bool forceFullPrecision=false) const

std::ostream &	PrintPretty (std::ostream &s, const std::string &name="", const int width=8, const bool alignLeft=true) const

std::istream &	Read (std::istream &s, const bool intCastInput=false, const bool binaryInput=false)
	JW. More...

bool	Save (const std::string &filename)

	set (value)

void	set_identity ()
	Convert the PMatrixBase to 'identity' matrix, overriding the Matrix3x4 method: 1 0 0 0 0 1 0 0 0 0 1 0. More...

void	SetC (const Vector3< double > &newC)
	modify C and re-compose P not fine to use, better use: Compose() More...

int	SetCovariance (const BIAS::Matrix< double > &cov)

void	SetFromVector (const Vector< PMATRIX_TYPE > &vals)
	Sets P-Matrix from a vector which contains the elements of P row wise. More...

void	SetIdentity ()
	set the elements of this matrix to the matrix 1 0 0 0 0 1 0 0 0 0 1 0 which is no strict identity (!) More...

Subscript	size () const

void	SwapRows (const int i, const int r)
	swaps two rows More...

Matrix< PMATRIX_TYPE >	Transpose () const
	transpose function, storing data destination matrix More...

void	Vec (Vector< PMATRIX_TYPE > &dest) const
	vec-operator returns the elements of the matrix columwise as vector More...

int	WriteCAHV_10 (int cols, int rows, std::ostream &os=std::cout)
	write the CAHV decomposition of this P matrix in CAHV 1,0 format to stream os (see RK's/TNT CAHV1.0 fromat in SequenceReconstruction/ Sequenetracking/KochSI.C) cols, rows is the size of the image this P matrix corresponds to. More...

xmlNodePtr	XMLAdd (const xmlNodePtr Node, XMLIO &XMLObject) const
	call this to add the class to a node of a given xml tree More...

virtual int	XMLGetClassName (std::string &TopLevelTag, double &Version) const
	specialization of XML block name function More...

virtual int	XMLIn (const xmlNodePtr Node, XMLIO &XMLObject)
	specialization of XML read function More...

virtual int	XMLOut (const xmlNodePtr Node, XMLIO &XMLObject) const
	specialization of XML write function More...

int	XMLRead (const std::string &Filename)
	derived classes must implement the function XMLIn which is called by this function XMLRead to read everything with name Filename into (*this). More...

int	XMLReadFromString (const std::string &str)
	reconstruct xml tree from string More...

int	XMLWrite (const std::string &Filename, int CompressionLevel=0, bool AutoAddCompressionSuffix=true, std::string encoding="UTF-8") const
	call this to add the class to a new xml tree and write it to the file Filename. More...

int	XMLWriteToString (std::string &str, std::string encoding="UTF-8") const
	serialize xml tree to string More...

virtual	~PMatrix ()
	destructor untested (04/17/2002) More...

Arithmetic
void	Mult (const Matrix< PMATRIX_TYPE > &arg, Matrix< PMATRIX_TYPE > &result) const
	matrix multiplication, result is not allocated More...

void	Mult (const Matrix< PMATRIX_TYPE > &arg)
	in Place matrix multiplication this is equal to M = M * arg, but faster More...

void	Mult (const Vector< PMATRIX_TYPE > &arg, Vector< PMATRIX_TYPE > &result) const
	matrix vector multiplication, result is not allocated More...

void	AddIP (const PMATRIX_TYPE &scalar)
	in place addition function More...

void	AddIP (const Matrix< PMATRIX_TYPE > &arg)
	Adds arg to this. More...

void	SubIP (const Matrix< PMATRIX_TYPE > &arg)
	Subtracts arg from this this -= arg. More...

void	SubIP (const PMATRIX_TYPE &scalar)
	in place subtraction function More...

void	Add (const PMATRIX_TYPE &scalar, Matrix< PMATRIX_TYPE > &dest) const
	addition function, storing data destination matrix More...

void	Sub (const PMATRIX_TYPE &scalar, Matrix< PMATRIX_TYPE > &dest) const
	substraction function, storing data destination matrix More...

void	MultiplyIP (const PMATRIX_TYPE &scalar)
	in place multiplication function More...

void	Multiply (const PMATRIX_TYPE &scalar, Matrix< PMATRIX_TYPE > &dest) const
	multiplication function, storing data destination matrix More...

void	MultLeft (const Matrix< PMATRIX_TYPE > &arg)
	in Place matrix multiplication this is equal to M = arg*M, but faster More...

void	MultLeft (const Vector< PMATRIX_TYPE > &arg, Vector< PMATRIX_TYPE > &result) const
	vector matrix multiplication result=arg*this. More...

void	MultiplyWithTransposeOf (const Matrix< PMATRIX_TYPE > &arg, Matrix< PMATRIX_TYPE > &result) const
	matrix matrix multiplication for multiplication with the transpose of the given matrix, result=this*arg^T. More...

void	DivideIP (const PMATRIX_TYPE &scalar)
	in place division function More...

void	Divide (const PMATRIX_TYPE &scalar, Matrix< PMATRIX_TYPE > &dest) const
	division function, storing data destination matrix More...

void	DivideElementwise (const Matrix< PMATRIX_TYPE > &arg)
	elementwise division function in place More...

void	GetSystemMatrix (Matrix< PMATRIX_TYPE > &dest) const
	compute square system matrix dest = A^T * A More...

Get Functions
PMATRIX_TYPE	GetMax () const
	Returns the maximum value of the matrix elements. More...

PMATRIX_TYPE	GetMin () const
	Returns the minimum value of the matrix elements. More...

PMATRIX_TYPE *	GetData ()
	get the pointer to the data array of the matrix (for faster direct memeory access) More...

const PMATRIX_TYPE *	GetData () const

const PMATRIX_TYPE **	GetDataArray () const
	returns zero based arry for data access More...

PMATRIX_TYPE **	GetDataArray ()

PMATRIX_TYPE **	GetDataArray1 () const
	returns 1 based array to data access More...

unsigned int	GetRows () const

unsigned int	GetCols () const

const PMATRIX_TYPE *	GetDataLast () const
	Get a pointer to the last data element Do not use this on unitilized matrices with <= on pointers because on an unitilized matrix GetData() will be NULL and last Element < (typically FFFFF8) We don't want an if here for performance reasons of the innerst loop. More...

PMATRIX_TYPE *	GetDataLast ()

Vector< PMATRIX_TYPE >	GetRow (const int &row) const
	return a copy of row "row" of this matrix, zero based counting More...

Vector< PMATRIX_TYPE >	GetCol (const int &col) const
	return a copy of column "col", zero based counting More...

void	GetSubMatrix (const size_t startRow, const size_t startCol, const size_t numRows, const size_t numCols, Matrix< PMATRIX_TYPE > &submatrix) const
	return a submatrix from this. More...

void	GetSubMatrix (const Vector< int > &rows, const Vector< int > &cols, Matrix< PMATRIX_TYPE > &submatrix) const
	return a submatrix from this. More...

Matrix< PMATRIX_TYPE >	GetSubMatrix (const Vector< int > &rows, const Vector< int > &cols) const
	return a submatrix from this. More...

void	SetSubMatrix (const size_t startRowInThis, const size_t startColInThis, const Matrix< PMATRIX_TYPE > &submatrix, const size_t startRowInSub, const size_t startColInSub, const size_t numRows, const size_t numCols)
	sets a submatrix in this. More...

void	SetSubMatrix (const size_t startRowInThis, const size_t startColInThis, const Matrix3x3< PMATRIX_TYPE > &submatrix)
	sets a 3x3 submatrix in this. More...

void	SetSubMatrix (const size_t startRowInThis, const size_t startColInThis, const Vector3< PMATRIX_TYPE > &subvector)
	sets a 3x1 submatrix in this. More...

void	SetRow (const int row, const Vector< PMATRIX_TYPE > &data)
	set a row of matrix from vector More...

void	SetCol (const int row, const Vector< PMATRIX_TYPE > &data)
	set a col of matrix from vector More...

void	Set (const int row, const int col, const Matrix< PMATRIX_TYPE > &data)
	Copies the contents of data into this at the position indicated by row and col. More...

void	Set (const int row, const int col, const Vector< PMATRIX_TYPE > &data)
	Copies the contents of data into this at the position indicated by row and col. More...

void	SetTranspose (const int row, const int col, const Vector< PMATRIX_TYPE > &data)
	Copies the contents of data into this at the position indicated by row and col. More...

int	GetNumElements () const
	Returns the total number of elements. More...

void	GetMaxMin (PMATRIX_TYPE &max, PMATRIX_TYPE &min) const
	return biggest and smallest entry More...

void	GetAbsMaxMin (PMATRIX_TYPE &max, PMATRIX_TYPE &min) const
	return biggest and smallest absolute values More...

PMATRIX_TYPE	GetMean () const
	Returns the mean value of the matrix elements. More...

PMATRIX_TYPE	NormL1 () const
	Return the L1 norm: \|a\| + \|b\| + \|c\| + ... More...

double	NormL2 () const
	Return the L2 norm: a^2 + b^2 + c^2 + ... More...

double	NormFrobenius () const
	Return Frobenius norm = sqrt(trace(A^t * A)). More...

PMATRIX_TYPE	Trace () const

PMATRIX_TYPE	DetSquare () const

Set Functions
void	SetZero ()
	Sets all values to zero. More...

void	MakeSymmetric ()
	componentwise: this = 0.5(this + this^T) yields symmetric matrix only allowed for square shaped matrices More...

void	Fill (const PMATRIX_TYPE &scalar)
	Takes the elements of a Vector and put them as diagonal elements into a matrix. More...

Scaling and Normalization
void	NormalizeColsToOne (const int norm_row_index)
	divides each column of the matrix through the element norm_row_index. More...

void	NormalizeRowsToOne (const int norm_col_index)
	divides each row of the matrix through the element norm_col_index. More...

void	NormalizeRows ()
	Normalizes each row to L2 norm one. More...

void	NormalizeCols ()
	Normalizes each coloumn to L_2 norm one. More...

void	ScaleRow (int NoRow, PMATRIX_TYPEscale)
	Scales row NoRow with scale. More...

void	ScaleCol (int NoCol, PMATRIX_TYPEscale)
	Scales column NoCol with scale. More...

Input / Output
bool	Save (const std::string &filename) const
	method to save directly to a given filename. More...

int	WriteMatlab (std::ostream &ostr, const std::string &name) const
	Write the matrix in Matlab format to the given stream. More...

bool	BinRead (const char *filename) const
	This method reads a matrix from a given file in binary format. More...

bool	BinWrite (const char *filename) const
	This method writes a matrix to a given file in binary format. More...

Protected Member Functions
void	CheckDecomposition_ ()
	check if Decomposition is still valid More...

void	CheckSVD_ ()
	check if SVD is still valid More...

void	Compose_ ()

void	copy (const T *v)

int	Decompose_ ()
	Computes K,R,C, assuming a metric PMatrix P = K[R^T \| -R^T * C] with K[0][1]=0 (zero skew) and K[2][2]=1. More...

void	destroy ()

void	initialize (Subscript M, Subscript N)

int	MakeSVD_ ()

RMatrixBase	Parametrization2R_ (const Vector< double > &parametrization, const enum E_ParametrizationType param_type) const

void	set (const T &val)

Protected Attributes
Vector3< double >	A_
	unit vector in wcs assigning the direction of the optical axis More...

Vector3< double >	C_
	camera center in wcs (extrinsic parameter) More...

Matrix< double >	Covariance_

Vector3< double >	H0_
	unit vector in wcs assigning the direction of the horizontal axis of the image plane More...

Matrix3x3< double >	Hinf_
	Hinfinity. More...

bool	IsDecomposed_
	tells us whether we have a chached decomposition with C,A,... More...

bool	IsMetric_
	tells us whether we have an arbitrary 3x4 matrix or a P which is exactly a composition of P = K * R [ I \| -C ] this is called a metric pmatrix More...

KMatrix	K_
	camera calibration matrix (intrinsic parameter) More...

Subscript	m_

Subscript	mn_

Subscript	n_

Matrix3x4< double >	PConsistencyBackup_
	backup of P at time of last decomposition to check whether decomposition is still valid More...

Matrix3x4< double >	PConsistencyBackupSVD_

Matrix3x3< double >	R_
	rotation matrix (intrinsic parameter) More...

T **	row_

T **	rowm1_

SVD *	Svd_
	(for decomposition, docu: JW 11/2002) More...

Vector3< double >	V0_
	unit vector in wcs assigning the direction of the vertical axis of the image plane More...

T *	v_

T *	vm1_

Related Functions
(Note that these are not member functions.)
template<class T >
Matrix< T >	operator* (const Matrix< T > &A, const Matrix< T > &B)

template<class T >
Vector< T >	operator* (const Matrix< T > &A, const Vector< T > &x)

template<class T >
Matrix< T >	operator+ (const Matrix< T > &A, const Matrix< T > &B)

template<class T >
Matrix< T >	operator- (const Matrix< T > &A, const Matrix< T > &B)

std::ostream &	operator<< (std::ostream &s, const Matrix< char > &A)

std::ostream &	operator<< (std::ostream &s, const Matrix< unsigned char > &A)

template<class T >
std::ostream &	operator<< (std::ostream &s, const Matrix< T > &A)

std::istream &	operator>> (std::istream &s, Matrix< unsigned char > &A)

std::istream &	operator>> (std::istream &s, Matrix< char > &A)

template<class T >
std::istream &	operator>> (std::istream &s, Matrix< T > &A)

Detailed Description

describes a projective 3D -> 2D mapping in homogenous coordinates

The P Matrix is a 3x4 matrix (3 rows {Zeilen}, 4 columns{Spalten}) describing a mapping between a 3D projective point X in space and the corresponding projective 2D point x (in an image plane).

x = P * X

where X is of type HomgPoint3D and x of type HomgPoint2D. After homogenizing, x[0] and x[1] contain the image coordinates of the projection of the 3D point.

If P is a metric camera, it can be composed/decomposed into external parameters (orientation R and center C) and internal parameters (such as the focal length in the calibration matrix K):

With R' = transpose of R, K = Camera calibration matrix and C = Camera center is: P = (K R' | -K R' C)

Only implementation very specific to PMatrix (and not valid for general matrices, e.g. like decomposition) should be implemented here.

Attention: For performance reasons, the PMatrix decomposition/svd is only done once, subsequent calls to GetC(),... only return copies of the precomputed values. If the fields of the PMatrix have changed, the user is responsible for calling InvalidateDecomposition() to force a re-decomposition at the next GetC(),... call. If one does not call InvalidateDecomposition() after changing a PMatrix, subsequent calls of GetC() may return outdated values !

Author: Jan Woetzel

Examples:: EvaluateAlignment.cpp, ExampleAutoCalib.cpp, ExampleCamera.cpp, ExampleCamPoseCalib.cpp, ExampleConic.cpp, ExampleDynamicCastImage.cpp, ExampleEpipolarLine.cpp, ExampleFMatrix.cpp, ExampleLoadBBC.cpp, ExampleLoadBOG_P.cpp, ExamplePMatrix.cpp, ExampleProjectionParametersPerspective2.cpp, ExampleProjectionParametersProjective.cpp, ExampleShowFreeD.cpp, ExampleThreeDOutVRML.cpp, ExampleTriangleMeshQuad.cpp, ExampleTriangulate.cpp, ExampleTriangulate2.cpp, ExampleTriangulateOptimal.cpp, FMatrixTest.cpp, InvestigateEpipoleEstimation.cpp, InvestigatePRelations.cpp, PMatrixTest.cpp, and PMatrixTest2.cpp.

Definition at line 88 of file PMatrix.hh.

Member Typedef Documentation

template<class T>

typedef const T* TNT::Matrix< T >::const_iterator

inherited

Definition at line 78 of file cmat.h.

template<class T>

typedef const T& TNT::Matrix< T >::const_reference

inherited

Definition at line 79 of file cmat.h.

template<class T>

typedef T TNT::Matrix< T >::element_type

inherited

Definition at line 74 of file cmat.h.

template<class T>

typedef T* TNT::Matrix< T >::iterator

inherited

Definition at line 76 of file cmat.h.

template<class T>

typedef T* TNT::Matrix< T >::pointer

inherited

Definition at line 75 of file cmat.h.

template<class T>

typedef T& TNT::Matrix< T >::reference

inherited

Definition at line 77 of file cmat.h.

template<class T>

typedef Subscript TNT::Matrix< T >::size_type

inherited

Definition at line 72 of file cmat.h.

template<class T>

typedef T TNT::Matrix< T >::value_type

inherited

Definition at line 73 of file cmat.h.

Member Enumeration Documentation

enum BIAS::PMatrixBase::E_ParametrizationType

inherited

description of supported parametrization types

Enumerator
AXIS_TIMES_ANGLE
AXIS_AND_ANGLE
EULER
QUATERNION

Definition at line 166 of file PMatrixBase.hh.

Constructor & Destructor Documentation

BIAS::PMatrix::PMatrix ( )

inline

Definition at line 95 of file PMatrix.hh.

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

inlineexplicit

Definition at line 98 of file PMatrix.hh.

BIAS::PMatrix::PMatrix ( const std::string & s )

explicit

replacement for above JW

Definition at line 52 of file PMatrix.cpp.

References InvalidateDecomposition(), and Svd_.

BIAS::PMatrix::PMatrix ( const PMatrix & A )

inline

Author: grest

Definition at line 107 of file PMatrix.hh.

BIAS::PMatrix::PMatrix ( const PMatrixBase & Amat_ )

inline

Author: Jan Woetzel beta (04/17/2002)

Definition at line 112 of file PMatrix.hh.

BIAS::PMatrix::PMatrix ( const Matrix< PMATRIX_TYPE > & Amat )

Author: Jan Woetzel not fine, should no be here, better cast stepwise between direct father and child untested (04/17/2002)

Definition at line 69 of file PMatrix.cpp.

References InvalidateDecomposition(), IsMetric_, TNT::Matrix< T >::num_cols(), TNT::Matrix< T >::num_rows(), and Svd_.

BIAS::PMatrix::PMatrix	(	const Matrix3x3< PMATRIX_TYPE > &	K,
		const Matrix3x3< PMATRIX_TYPE > &	R,
		const Vector3< PMATRIX_TYPE > &	C
	)

inline

Take R, K, C and compose PMatrix.

Author: Jan-Friso Evers-Senne

Date: 2002-08-20

Definition at line 125 of file PMatrix.hh.

BIAS::PMatrix::~PMatrix ( )

virtual

destructor untested (04/17/2002)

Definition at line 45 of file PMatrix.cpp.

Member Function Documentation

void BIAS::Matrix< PMATRIX_TYPE >::AbsIP ( )

inherited

absolute values of all elements of the matrix (in place)

Author: bangerer 01/2009

void BIAS::Matrix< PMATRIX_TYPE >::Add	(	const PMATRIX_TYPE &	scalar,
		Matrix< PMATRIX_TYPE > &	dest
	)		const

inlineinherited

addition function, storing data destination matrix

implementation

Author: Ingo Thomsen tested

void BIAS::Matrix< PMATRIX_TYPE >::AddIP ( const PMATRIX_TYPE & scalar )

inlineinherited

in place addition function

Author: Ingo Thomsen tested

Definition at line 415 of file Matrix.hh.

void BIAS::Matrix< PMATRIX_TYPE >::AddIP ( const Matrix< PMATRIX_TYPE > & arg )

inlineinherited

Adds arg to this.

Author: grest,2004

Matrix<PMATRIX_TYPE > BIAS::Matrix< PMATRIX_TYPE >::Adjoint ( ) const

inlineinherited

computes the adjoint matrix

Author: Christian Beder

HomgPoint3D PMatrixBase::Backproject	(	const HomgPoint2D &	x,
		double	mu = `1`
	)

inherited

Back projects image point x to 3D space and returns ray on which the 3D space point lies.

Note: Inverted matrix is computed on each call.

Author: jmf

Definition at line 164 of file PMatrixBase.cpp.

References BIAS::HomgPoint3D, and BIAS::Matrix3x3< T >::InvertIP().

void BIAS::PMatrix::BackprojectByZDepth	(	const double &	x,
		const double &	y,
		const double &	z_depth,
		HomgPoint3D &	res
	)

Inverts the PMatrix application to a 3D point whose z-component in cameracoordinates and its imagepoint (x,y) is known.

Examples:: ExampleProjectionParametersPerspective2.cpp.

Definition at line 454 of file PMatrix.cpp.

References GetC(), GetK(), GetR(), BIAS::KMatrix::Invert(), and BIAS::HomgPoint3D::Set().

HomgPoint3D BIAS::PMatrix::BackprojectPseudoinverse ( const HomgPoint2D & x )

Returns a homogenized 3D point X on the viewray of x, which always lies in front of the camera(this is checked).

Author: Daniel Grest, last edit Jan 2003

Definition at line 483 of file PMatrix.cpp.

References GetC(), GetPseudoInverse(), and BIAS::HomgPoint3D::Homogenize().

void BIAS::PMatrix::BackprojectWorldCoo	(	const HomgPoint2D &	point,
		double	depth,
		HomgPoint3D &	res
	)

returns a 3D point res which is located depth away from center of projection in direction given by point

Examples:: ExampleProjectionParametersPerspective2.cpp.

Definition at line 468 of file PMatrix.cpp.

References GetC(), GetNormRayWorldCoo(), and BIAS::HomgPoint3D::Set().

Referenced by BIAS::GenSynthMatches::_CreateStatic3DPoints(), and BIAS::GenSynthMatches::CreateStatic3DPoint().

int BIAS::PMatrix::BBCIn	(	std::ifstream &	ifs,
		const double &	AddCenterPointShiftX = `0.0`,
		const double &	AddCenterPointShiftY = `0.0`
	)

Load next piece of calibration data from an open BBC-Free-D file.

Parameters

AddCenterPointShiftX	add this to the principle point (in meter)
AddCenterPointShiftY	add this to the principle point (in meter)

Author: evers, koeser

Examples:: ExampleShowFreeD.cpp.

Definition at line 917 of file PMatrix.cpp.

References Compose(), BIAS::Vector3< T >::CrossProduct(), and BIAS::Matrix3x3< T >::SetIdentity().

Referenced by LoadBBC().

bool BIAS::Matrix< PMATRIX_TYPE >::BinRead ( const char * filename ) const

inherited

This method reads a matrix from a given file in binary format.

The file is not human read-/editable but provides full precision. A dimension check is performed.

Returns: true on success

Author: mdunda 04 2004

bool BIAS::Matrix< PMATRIX_TYPE >::BinWrite ( const char * filename ) const

inherited

This method writes a matrix to a given file in binary format.

The file is not human read-/editable but provides full precision.

Returns: true on success

Author: mdunda 04 2004

void BIAS::PMatrix::CheckDecomposition_ ( )

inlineprotected

check if Decomposition is still valid

Definition at line 576 of file PMatrix.hh.

References BIAS::Matrix< T >::GetData(), BIAS::Matrix< PMATRIX_TYPE >::GetData(), and PConsistencyBackup_.

Referenced by GetA(), GetC(), GetH(), GetHinf(), GetImagePlane(), GetK(), GetR(), GetRayWorldCoo(), GetV(), and Normalize().

void BIAS::PMatrix::CheckSVD_ ( )

inlineprotected

check if SVD is still valid

Definition at line 564 of file PMatrix.hh.

References BIAS::Matrix< T >::GetData(), BIAS::Matrix< PMATRIX_TYPE >::GetData(), and PConsistencyBackupSVD_.

Referenced by GetPseudoInverse(), MakeSVD_(), and Normalize().

void BIAS::Matrix3x4< PMATRIX_TYPE >::clear ( )

inlinevirtualinherited

stl conform interface

Reimplemented from BIAS::Matrix< PMATRIX_TYPE >.

Definition at line 149 of file Matrix3x4.hh.

void PMatrixBase::Compose	(	const Matrix3x3< PMATRIX_TYPE > &	K,
		const Matrix3x3< PMATRIX_TYPE > &	R,
		const Vector3< PMATRIX_TYPE > &	C
	)

inherited

composes this from K, R and C using P = [ K R' | -K R' C ] with R' = transpose(R)

Author: Felix Woelk

Definition at line 34 of file PMatrixBase.cpp.

References BIAS::Matrix3x3< T >::Mult(), BIAS::Vector3< T >::MultIP(), and BIAS::Matrix3x3< T >::TransposeIP().

Referenced by Compose(), BIAS::PMatrixBase::PMatrixBase(), BIAS::Covariance3Dto2D::Transform_(), and BIAS::Covariance3Dto2DHomg::Transform_().

void PMatrixBase::Compose	(	const Matrix3x3< PMATRIX_TYPE > &	K,
		const Matrix3x3< PMATRIX_TYPE > &	R,
		const HomgPoint3D &	C
	)

inherited

Definition at line 57 of file PMatrixBase.cpp.

References BIAS::HomgPoint3D::IsAtInfinity(), and BIAS::Vector3< T >::Set().

void PMatrixBase::Compose	(	const Matrix3x3< PMATRIX_TYPE > &	R,
		const Vector3< PMATRIX_TYPE > &	C
	)

inherited

calibrated case, uses K=Identity

Definition at line 70 of file PMatrixBase.cpp.

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

void PMatrixBase::Compose	(	const Matrix3x3< PMATRIX_TYPE > &	R,
		const HomgPoint3D &	C
	)

inherited

calibrated case, uses K=Identity

Definition at line 78 of file PMatrixBase.cpp.

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

void PMatrixBase::Compose	(	const Matrix3x3< PMATRIX_TYPE > &	K,
		const Vector< double > &	parametrization,
		const enum E_ParametrizationType	param_type
	)

inherited

Compose a projection matrix using a parametrization.

The supported parametrization vector always starts with the camera center followed by the camera orientation. Currently Euler angles, axis (norm 1) and angle, axis times angle and quaternion are supported as orientation parametrization.

Author: woelk 02/2006

Definition at line 86 of file PMatrixBase.cpp.

void BIAS::PMatrix::Compose	(	const Matrix3x3< double > &	K,
		const Matrix3x3< double > &	R,
		const Vector3< double > &	C
	)

composes this from K, R and C using P = [ K R' | -K R' C ] with R' = transpose(R)

Author: Felix Woelk

Examples:: ExampleAutoCalib.cpp, ExampleCamera.cpp, ExampleCamPoseCalib.cpp, ExampleFMatrix.cpp, ExamplePMatrix.cpp, ExampleProjectionParametersPerspective2.cpp, ExampleProjectionParametersProjective.cpp, ExampleTriangulate.cpp, ExampleTriangulateOptimal.cpp, InvestigateEpipoleEstimation.cpp, InvestigatePRelations.cpp, and PMatrixTest2.cpp.

Definition at line 581 of file PMatrix.cpp.

References A_, C_, BIAS::PMatrixBase::Compose(), H0_, Hinf_, BIAS::Matrix3x3< T >::InvertIP(), IsDecomposed_, IsMetric_, K_, PConsistencyBackup_, R_, Svd_, and V0_.

Referenced by BIAS::PMatrixEstimation::AutoCalib(), BIAS::PMatrixEstimation::AutoCalib_(), BBCIn(), Compose(), BIAS::PMatrixLinear::ComputeCalibrated(), BIAS::GenGroundTruth::CreateMatches(), BIAS::TriangleMesh::GenerateDenseMesh(), BIAS::CamPoseCalib::GetP(), and XMLIn().

void BIAS::PMatrix::Compose	(	const Matrix3x3< double > &	K,
		const Matrix3x3< double > &	R,
		const HomgPoint3D &	C
	)

Definition at line 617 of file PMatrix.cpp.

References Compose(), Hinf_, BIAS::Matrix3x3< T >::InvertIP(), BIAS::HomgPoint3D::IsAtInfinity(), IsDecomposed_, PConsistencyBackup_, and BIAS::Vector3< T >::Set().

void BIAS::PMatrix::Compose	(	const Matrix3x3< double > &	K,
		const Vector< double > &	parametrization,
		enum E_ParametrizationType	param_type
	)

Author: woelk 02/2006

Definition at line 643 of file PMatrix.cpp.

References Compose(), BIAS::PMatrixBase::Parametrization2R_(), and BIAS::Vector3< T >::Set().

void BIAS::PMatrix::Compose_ ( )

protected

template<class T>

void TNT::Matrix< T >::copy ( const T * v )

inlineprotectedinherited

Definition at line 122 of file cmat.h.

Referenced by TNT::Matrix< BIAS::BIAS::Vector< int > >::Matrix(), and TNT::Matrix< BIAS::BIAS::Vector< int > >::operator=().

int BIAS::PMatrix::Decompose_ ( )

protected

Computes K,R,C, assuming a metric PMatrix P = K[R^T | -R^T * C] with K[0][1]=0 (zero skew) and K[2][2]=1.

Does a LU-Decomposition of the first 3x3 part. Finally C is computed from the last column of P

Attention: this is NOT the cam.### 'standard' CAHV ! and pmatrix must be metric, i.e. there must not be a projective skew due to distorted 3d space coordinates: .Projection equation: x = P * H^-1 * H * X . = (P * H^-1) * (H * X) . = P' * X' If such a P' (with a projective distortion H) is estimated for some reason, the lu factorization makes no sense and the Get-Functions will return bad values, e.g. R is no rotation ... To get the center in the H-distorted space in that case, you should call PMatrix::GetNullVector instead. If you get a k[0][1]==skew!=0.0 the decomposition failed. (comments added by koeser)

Author: woelk

Definition at line 318 of file PMatrix.cpp.

References A_, C_, BIAS::HomgPoint3D::GetEuclidean(), BIAS::Matrix3x3< T >::GetInverse(), GetNullVector(), H0_, Hinf_, IsDecomposed_, K_, BIAS::Matrix3x3< T >::Mult(), BIAS::Vector3< T >::NormL2(), PConsistencyBackup_, R_, BIAS::Vector3< T >::ScalarProduct(), BIAS::Matrix3x3< T >::SetZero(), and V0_.

Referenced by GetA(), GetC(), GetH(), GetHinf(), GetImagePlane(), GetK(), GetR(), GetRayWorldCoo(), and GetV().

void BIAS::PMatrix::DecomposeAa	(	BIAS::Matrix3x3< PMATRIX_TYPE > &	A,
		BIAS::Vector3< PMATRIX_TYPE > &	a
	)		const

decompose the P-matrix to [ A | a ] where A is a 3x3-matrix and a is a 3-vector.

Author: mdunda 01 2004

Definition at line 854 of file PMatrix.cpp.

Referenced by GetCanonicalH().

template<class T>

void TNT::Matrix< T >::destroy ( )

inlineprotectedinherited

Definition at line 181 of file cmat.h.

Referenced by TNT::Matrix< BIAS::BIAS::Vector< int > >::newsize(), TNT::Matrix< BIAS::BIAS::Vector< int > >::operator=(), and TNT::Matrix< BIAS::BIAS::Vector< int > >::~Matrix().

PMATRIX_TYPE BIAS::Matrix< PMATRIX_TYPE >::DetSquare ( ) const

inlineinherited

Author: koeser

Warning: very slow, generic implementation (order "n!"), better to use matrix decomposition (see BIAS/MathAlgo/Lapack.hh)

Definition at line 369 of file Matrix.hh.

template<class T>

Subscript TNT::Matrix< T >::dim ( Subscript d ) const

inlineinherited

Definition at line 310 of file cmat.h.

void BIAS::Matrix< PMATRIX_TYPE >::Divide	(	const PMATRIX_TYPE &	scalar,
		Matrix< PMATRIX_TYPE > &	dest
	)		const

inlineinherited

division function, storing data destination matrix

Author: Ingo Thomsen tested

void BIAS::Matrix< PMATRIX_TYPE >::DivideElementwise ( const Matrix< PMATRIX_TYPE > & arg )

inlineinherited

elementwise division function in place

Author: Ingo Schiller tested

void BIAS::Matrix< PMATRIX_TYPE >::DivideIP ( const PMATRIX_TYPE & scalar )

inlineinherited

in place division function

Author: Ingo Thomsen tested

Definition at line 486 of file Matrix.hh.

void BIAS::Matrix< PMATRIX_TYPE >::Fill ( const PMATRIX_TYPE & scalar )

inherited

Takes the elements of a Vector and put them as diagonal elements into a matrix.

The size of this Vector must be exactly min( matrix.width, matrix.height). Optionally all other elements may be set to zero

Author: Ingo Thomsen

Parameters

zero_others Must be true, if all non-diagonal elements shall be set to zero

void BIAS::Matrix< PMATRIX_TYPE >::GaussJordan ( )

inherited

use the Gauss Jordan Algrithm to transform the matrix to reduced row echelon form.

Author: woelk 05/2008 www.vision-n.de

int BIAS::PMatrix::GetA ( Vector3< double > & A )

returns the unit vector A which is the normal vector to the image plane in world coordinates.

or in other words: the camera orientation
A,H,V are orthonormal

Definition at line 287 of file PMatrix.cpp.

References A_, CheckDecomposition_(), Decompose_(), and IsDecomposed_.

Referenced by BIAS::ThreeDOut::AddPMatrix(), and BIAS::GeometryGL::DisplayCameraExternalParams().

BIAS::Vector3< double > BIAS::PMatrix::GetA ( )

returns the unit vector A which is the normal vector to the image plane in world coordinates.

or in other words: the camera orientation
A,H,V are orthonormal

Definition at line 304 of file PMatrix.cpp.

void BIAS::Matrix< PMATRIX_TYPE >::GetAbsMaxMin	(	PMATRIX_TYPE &	max,
		PMATRIX_TYPE &	min
	)		const

inherited

return biggest and smallest absolute values

int BIAS::PMatrix::GetC ( Vector3< double > & C )

computes translation vector origin world coo -> origin camera coo (center), uses decomposition, which is cached

Examples:: ExampleAutoCalib.cpp, ExampleFMatrix.cpp, ExampleLoadBBC.cpp, ExampleLoadBOG_P.cpp, ExamplePMatrix.cpp, PMatrixTest.cpp, and PMatrixTest2.cpp.

Definition at line 165 of file PMatrix.cpp.

References C_, CheckDecomposition_(), Decompose_(), and IsDecomposed_.

Referenced by BIAS::ThreeDOut::AddPMatrix(), BIAS::PMatrixEstimation::AutoCalib(), BIAS::PMatrixEstimation::ComputeFromFDirect(), BIAS::PMatrixEstimation::ComputeRotationCenter(), BIAS::GeometryGL::DisplayCameraExternalParams(), BIAS::GeometryGL::DisplayP(), BIAS::TriangleMesh::GenerateDenseMesh(), BIAS::GeometryGL::GetImgCorner3d(), BIAS::HMatrix::MapAcrossPlane(), BIAS::CamPoseCalib::SetInitialCamera(), BIAS::ProjectionParametersPerspective::SetP(), and BIAS::Triangulation::Triangulate2D().

BIAS::Vector3< double > BIAS::PMatrix::GetC ( )

computes translation vector origin world coo -> origin camera coo (center), uses decomposition, which is cached

Definition at line 182 of file PMatrix.cpp.

Referenced by BackprojectByZDepth(), BackprojectPseudoinverse(), BackprojectWorldCoo(), and WriteCAHV_10().

int BIAS::PMatrix::GetC ( HomgPoint3D & C )

computes translation vector origin world coo -> origin camera coo (center), uses decomposition, which is cached

Definition at line 188 of file PMatrix.cpp.

References C_, CheckDecomposition_(), Decompose_(), IsDecomposed_, and BIAS::HomgPoint3D::Set().

Matrix4x4< PMATRIX_TYPE > BIAS::PMatrix::GetCanonicalH ( ) const

Get the projective homography matrix so that P * H = [ I | 0 ].

Author: mdunda 01 2004

Definition at line 865 of file PMatrix.cpp.

Referenced by BIAS::TrifocalTensor::Compose().

void BIAS::PMatrix::GetCanonicalH ( Matrix4x4< PMATRIX_TYPE > & ProjH ) const

Definition at line 872 of file PMatrix.cpp.

References DecomposeAa(), BIAS::SVD::Invert(), and BIAS::SVD::Solve().

Vector<PMATRIX_TYPE > BIAS::Matrix< PMATRIX_TYPE >::GetCol ( const int & col ) const

inherited

return a copy of column "col", zero based counting

Author: Jan Woetzel

unsigned int BIAS::Matrix< PMATRIX_TYPE >::GetCols ( ) const

inlineinherited

Definition at line 204 of file Matrix.hh.

int BIAS::PMatrix::GetCovariance ( BIAS::Matrix< double > & cov )

inline

Definition at line 408 of file PMatrix.hh.

PMATRIX_TYPE * BIAS::Matrix< PMATRIX_TYPE >::GetData ( )

inlineinherited

get the pointer to the data array of the matrix (for faster direct memeory access)

the order of the data is linewise, which means an elemnt sequence of e.g. [0] = M(0,0) [1] = M(0,1) [2] = M(0,2) [3] = M(1,0) // next line [4] = M(1,1) ...

Author: Jan Woetzel

Returns: a pointer to the data array (beginning with GetData[0]) alpha (02/27/2002) -added const (jw) 03/12/2002

Examples:: ExampleDynamicCastImage.cpp.

Definition at line 185 of file Matrix.hh.

Referenced by CheckDecomposition_(), CheckSVD_(), BIAS::PMatrixBase::PMatrixBase(), BIAS::PMatrixBase::set_identity(), XMLIn(), and XMLOut().

const PMATRIX_TYPE * BIAS::Matrix< PMATRIX_TYPE >::GetData ( ) const

inlineinherited

Definition at line 188 of file Matrix.hh.

const PMATRIX_TYPE ** BIAS::Matrix< PMATRIX_TYPE >::GetDataArray ( ) const

inlineinherited

returns zero based arry for data access

Definition at line 192 of file Matrix.hh.

PMATRIX_TYPE ** BIAS::Matrix< PMATRIX_TYPE >::GetDataArray ( )

inlineinherited

Definition at line 195 of file Matrix.hh.

PMATRIX_TYPE ** BIAS::Matrix< PMATRIX_TYPE >::GetDataArray1 ( ) const

inlineinherited

returns 1 based array to data access

Definition at line 199 of file Matrix.hh.

const PMATRIX_TYPE * BIAS::Matrix< PMATRIX_TYPE >::GetDataLast ( ) const

inlineinherited

Get a pointer to the last data element Do not use this on unitilized matrices with <= on pointers because on an unitilized matrix GetData() will be NULL and last Element < (typically FFFFF8) We don't want an if here for performance reasons of the innerst loop.

Author: Ingo Thomsen, Jan Woetzel

Date: 04/11/2002

Definition at line 213 of file Matrix.hh.

PMATRIX_TYPE * BIAS::Matrix< PMATRIX_TYPE >::GetDataLast ( )

inlineinherited

Definition at line 219 of file Matrix.hh.

float BIAS::PMatrix::GetFieldOfView	(	const unsigned int	dimX,
		const unsigned int	dimY,
		const bool	optmin = `true`
	)

Returns: field of view angle in rad. for max: angle in rad between upper left and lower right opposing image corners. for min: min. angle of (horiz. vert) angle. Max. field of view (not horizontal or verttical fov.)

Parameters

optmin	true if the min angle should be used, else the max angle(=quer)
dimX	horiz. image dimension in pixel (=columns)
dimY	vert. image dimension in pixel (=rows) unfortunately not const because missing consts in decompose etc.. we assume rectangular pixels for min(x,y) selection.

Author: JW 06/2003

Definition at line 789 of file PMatrix.cpp.

References GetNormRayWorldCoo(), BIAS::HomgPoint2D, and BIAS::Vector3< T >::ScalarProduct().

float BIAS::PMatrix::GetFieldOfViewX	(	const unsigned int	dimX,
		const unsigned int	dimY
	)

inline

Definition at line 336 of file PMatrix.hh.

float BIAS::PMatrix::GetFieldOfViewY	(	const unsigned int	dimX,
		const unsigned int	dimY,
		const bool &	compY = `true`
	)

Returns: field of view in y-direction in rad this routine is complexer than expected... ... because the principal point may not be within camera center. HACK/FIXME/TODO:

Todo:: not in general correct impl. !!! the principal may converge the view -> what is the field of view? (JW 09/2003)

Definition at line 828 of file PMatrix.cpp.

References GetNormRayWorldCoo(), BIAS::HomgPoint2D, BIAS::Vector3< T >::Normalize(), and BIAS::Vector3< T >::ScalarProduct().

int BIAS::PMatrix::GetH ( Vector3< double > & H )

returns the unit vector H0, while H0 and V0 span the camera coordinate system in world coordinates

This is not the cam.# standard CAHV, but the unit vector H0.

returns the unit vector H0 which is not the cam. standard CAHV because image size is unknown (docu: JW 11/2002) represents the world coordinates of the vector (1,0,0) in ics A,H,V are orthonormal

Definition at line 237 of file PMatrix.cpp.

References CheckDecomposition_(), Decompose_(), H0_, and IsDecomposed_.

BIAS::Vector3< double > BIAS::PMatrix::GetH ( )

Definition at line 256 of file PMatrix.cpp.

int BIAS::PMatrix::GetHinf ( BIAS::Matrix3x3< double > & Hinf )

Examples:: ExamplePMatrix.cpp.

Definition at line 151 of file PMatrix.cpp.

References CheckDecomposition_(), Decompose_(), Hinf_, and IsDecomposed_.

Referenced by BIAS::Triangulation::Triangulate().

void BIAS::PMatrix::GetImagePlane ( HomgPlane3D & plane )

returns image plane in world coordinates

Definition at line 513 of file PMatrix.cpp.

References A_, C_, CheckDecomposition_(), Decompose_(), IsDecomposed_, BIAS::Matrix3x3< T >::Mult(), BIAS::Vector3< T >::NormL2(), and R_.

Referenced by GetIntersectionOfImagePlanes().

HomgPlane3D BIAS::PMatrix::GetImagePlane ( )

calls the above

Definition at line 533 of file PMatrix.cpp.

int BIAS::PMatrix::GetIntersectionOfImagePlanes	(	PMatrix &	P,
		HomgLine2D &	intersection
	)

return line resulting of intersection of the two image planes in pixel coordinates of this camera return -1 if camera planes are parallel

Definition at line 539 of file PMatrix.cpp.

References GetImagePlane(), GetR(), BIAS::AffineTransf::Mult(), BIAS::Vector4< T >::ScalarProduct(), BIAS::AffineTransf::SetAsRotationMatrix(), and BIAS::Matrix3x3< T >::TransposeIP().

Referenced by GetIntersectionOfImagePlanes().

HomgLine2D BIAS::PMatrix::GetIntersectionOfImagePlanes ( PMatrix & P )

inline

calls the above returns line at infinity if planes are parallel

Definition at line 492 of file PMatrix.hh.

References GetIntersectionOfImagePlanes().

int BIAS::PMatrix::GetK ( KMatrix & K )

calibration matrix

Examples:: ExampleAutoCalib.cpp, ExampleCamPoseCalib.cpp, ExampleLoadBBC.cpp, ExampleLoadBOG_P.cpp, ExamplePMatrix.cpp, and PMatrixTest2.cpp.

Definition at line 220 of file PMatrix.cpp.

References CheckDecomposition_(), Decompose_(), IsDecomposed_, and K_.

Referenced by BIAS::ThreeDOut::AddPMatrix(), BIAS::PMatrixEstimation::AutoCalib(), BIAS::TriangleMesh::GenerateDenseMesh(), BIAS::GeometryGL::GetImgCorner3d(), BIAS::Projection::Load(), BIAS::HMatrix::MapAcrossPlane(), BIAS::CamPoseCalib::SetInitialCamera(), and BIAS::ProjectionParametersPerspective::SetP().

KMatrix BIAS::PMatrix::GetK ( )

inline

Definition at line 168 of file PMatrix.hh.

Referenced by BackprojectByZDepth(), and WriteCAHV_10().

Matrix<PMATRIX_TYPE > BIAS::Matrix< PMATRIX_TYPE >::GetMax ( Matrix< PMATRIX_TYPE > & m )

inherited

returns an matrix the same size as the matrix n and m with the largest elements taken from n or m

Author: bangerer 01/2009

PMATRIX_TYPE BIAS::Matrix< PMATRIX_TYPE >::GetMax ( ) const

inherited

Returns the maximum value of the matrix elements.

Author: Ingo Thomsen

Date: 04/11/2002 tested

void BIAS::Matrix< PMATRIX_TYPE >::GetMaxMin	(	PMATRIX_TYPE &	max,
		PMATRIX_TYPE &	min
	)		const

inherited

return biggest and smallest entry

PMATRIX_TYPE BIAS::Matrix< PMATRIX_TYPE >::GetMean ( void ) const

inherited

Returns the mean value of the matrix elements.

Author: Ingo Thomsen

Date: 04/11/2002 tested

Matrix<PMATRIX_TYPE > BIAS::Matrix< PMATRIX_TYPE >::GetMin ( Matrix< PMATRIX_TYPE > & m )

inherited

returns an matrix the same size as the matrix n and m with the smallest elements taken from n or m

Author: bangerer 01/2009

PMATRIX_TYPE BIAS::Matrix< PMATRIX_TYPE >::GetMin ( ) const

inherited

Returns the minimum value of the matrix elements.

Author: Ingo Thomsen

Date: 04/11/2002 tested

Vector3< double > BIAS::PMatrix::GetNormRayWorldCoo ( const HomgPoint2D & point )

returns normed vector from C to point analytical inverse of K is used

Definition at line 656 of file PMatrix.cpp.

References GetRayWorldCoo(), and BIAS::Vector3< T >::NormL2().

Referenced by BackprojectWorldCoo(), GetFieldOfView(), GetFieldOfViewY(), and BIAS::Triangulation::Triangulate2D().

int BIAS::PMatrix::GetNullVector ( HomgPoint3D & C )

this is another way of getting C, especially interesting for non-metric cameras

Author: koeser 07/2004

Definition at line 137 of file PMatrix.cpp.

References BIAS::SVD::GetNullvector(), MakeSVD_(), BIAS::HomgPoint3D::Set(), and Svd_.

Referenced by BIAS::FMatrix::ComputeFromPMatrices(), Decompose_(), and BIAS::Triangulation::Triangulate().

int BIAS::Matrix< PMATRIX_TYPE >::GetNumElements ( ) const

inlineinherited

Returns the total number of elements.

Author: Ingo Thomsen

Date: 04/11/2002 tested

Definition at line 321 of file Matrix.hh.

double BIAS::PMatrix::GetProjectionError	(	const std::vector< BIAS::HomgPoint2D > &	points2D,
		const std::vector< BIAS::HomgPoint3D > &	points3D
	)

returns average squared projection Error

Definition at line 1165 of file PMatrix.cpp.

References BIAS::HomgPoint2D::DistanceSquared(), BIAS::HomgPoint2D, and BIAS::HomgPoint2D::Homogenize().

int BIAS::PMatrix::GetPseudoInverse ( BIAS::Matrix< double > & Pinv )

returns 4x3 pseudo inverse

Todo:: 5 different Back-Project-Funktions, "Please cleanup" (evers 2004-11-29)

Definition at line 113 of file PMatrix.cpp.

References CheckSVD_(), BIAS::SVD::GetS(), BIAS::SVD::GetU(), BIAS::SVD::GetV(), MakeSVD_(), BIAS::Matrix< T >::SetZero(), and Svd_.

Referenced by BackprojectPseudoinverse(), and BIAS::FMatrix::ComputeFromPMatrices().

int BIAS::PMatrix::GetR ( Matrix3x3< double > & R )

Returns: rotation matrix camera -> world coo (which contains the column-vectors H0, V0, A (from left to right) )

Examples:: ExampleAutoCalib.cpp, ExampleLoadBBC.cpp, ExampleLoadBOG_P.cpp, ExamplePMatrix.cpp, and PMatrixTest2.cpp.

Definition at line 204 of file PMatrix.cpp.

References CheckDecomposition_(), Decompose_(), IsDecomposed_, and R_.

Referenced by BIAS::ThreeDOut::AddPMatrix(), BIAS::PMatrixEstimation::AutoCalib(), BIAS::TriangleMesh::GenerateDenseMesh(), BIAS::HMatrix::MapAcrossPlane(), BIAS::CamPoseCalib::SetInitialCamera(), and BIAS::ProjectionParametersPerspective::SetP().

Matrix3x3<double> BIAS::PMatrix::GetR ( )

inline

Definition at line 161 of file PMatrix.hh.

Referenced by BackprojectByZDepth(), and GetIntersectionOfImagePlanes().

Vector3< double > BIAS::PMatrix::GetRayWorldCoo ( const HomgPoint2D & point )

returns vector from C to point, w of point determines ray length analytical inverse of K is used

Definition at line 665 of file PMatrix.cpp.

References CheckDecomposition_(), Decompose_(), BIAS::KMatrix::Invert(), IsDecomposed_, K_, BIAS::Matrix3x3< T >::Mult(), and R_.

Referenced by BIAS::GeometryGL::GetImgCorner3d(), and GetNormRayWorldCoo().

Vector<PMATRIX_TYPE > BIAS::Matrix< PMATRIX_TYPE >::GetRow ( const int & row ) const

inherited

return a copy of row "row" of this matrix, zero based counting

Author: Jan Woetzel

unsigned int BIAS::Matrix< PMATRIX_TYPE >::GetRows ( ) const

inlineinherited

Definition at line 202 of file Matrix.hh.

void BIAS::Matrix< PMATRIX_TYPE >::GetSubMatrix	(	const size_t	startRow,
		const size_t	startCol,
		const size_t	numRows,
		const size_t	numCols,
		Matrix< PMATRIX_TYPE > &	submatrix
	)		const

inherited

return a submatrix from this.

Start index is [startRow][startCol] end index is [startRow+numRows-1][startCol+numCols-1]. submatrix is resized to numRows/numCols if necessary.

Author: apetersen 12/2010

void BIAS::Matrix< PMATRIX_TYPE >::GetSubMatrix	(	const Vector< int > &	rows,
		const Vector< int > &	cols,
		Matrix< PMATRIX_TYPE > &	submatrix
	)		const

inherited

return a submatrix from this.

Similar to matlab notation (except indexing, starts with 0 of course!). Vectors rows = '1 3' and cols = '1 2' for matrix: / 1 2 3 \ | 4 5 6 | \ 7 8 9 / results in: / 1 2 \ \ 7 8 / Matrix has to be initialized!!!

Author: apetersen 7/2011

Matrix<PMATRIX_TYPE > BIAS::Matrix< PMATRIX_TYPE >::GetSubMatrix	(	const Vector< int > &	rows,
		const Vector< int > &	cols
	)		const

inherited

return a submatrix from this.

Similar to matlab notation (except indexing, starts with 0 of course!), see GetSubMatrix(const Vector<int> &rows, const Vector<int> &cols, Matrix<T> &submatrix)

Author: apetersen 7/2011

void BIAS::PMatrix::GetSVD	(	Matrix< double > &	U,
		Vector< double > &	S,
		Matrix< double > &	VT
	)

Returns SVD of this.

Definition at line 310 of file PMatrix.cpp.

References BIAS::SVD::GetS(), BIAS::SVD::GetU(), BIAS::SVD::GetVT(), MakeSVD_(), and Svd_.

void BIAS::Matrix< PMATRIX_TYPE >::GetSystemMatrix ( Matrix< PMATRIX_TYPE > & dest ) const

inlineinherited

compute square system matrix dest = A^T * A

Parameters

dest	holds result of this->Transpose * this

If you want to solve A * x = b, where A has more rows than columns, a common technique is to solve x = (A^T * A)^-1 * A^T * b. This function provides a fast way to compute A^T*A from A.

Author: grest/koeser

BIAS::Vector3<double> BIAS::PMatrix::GetUp_gl ( )

inline

Definition at line 191 of file PMatrix.hh.

References BIAS::Vector3< T >::GetNormalized().

int BIAS::PMatrix::GetV ( Vector3< double > & V )

This is not the cam.# standard CAHV, but the unit vector H0.

Returns: the unit vector V0 which is not the cam.# standard CAHV because image size is unknown (docu: JW 11/2002) A,H,V are orthonormal

Definition at line 264 of file PMatrix.cpp.

References CheckDecomposition_(), Decompose_(), IsDecomposed_, and V0_.

Referenced by BIAS::GeometryGL::DisplayCameraExternalParams().

BIAS::Vector3< double > BIAS::PMatrix::GetV ( )

Definition at line 281 of file PMatrix.cpp.

template<class T>

void TNT::Matrix< T >::initialize	(	Subscript	M,
		Subscript	N
	)

inlineprotectedinherited

Definition at line 95 of file cmat.h.

Referenced by TNT::Matrix< BIAS::BIAS::Vector< int > >::Matrix(), TNT::Matrix< BIAS::BIAS::Vector< int > >::newsize(), and TNT::Matrix< BIAS::BIAS::Vector< int > >::operator=().

template<class T>

TNT::Matrix< T >::initialize	(	M	,
		N
	)

inherited

void BIAS::PMatrix::InvalidateDecomposition ( )

inline

to re-Decompose_() after filling with data use this.

Author: Jan-Friso Evers-Senne

Examples:: ExampleFMatrix.cpp, ExamplePMatrix.cpp, ExampleProjectionParametersPerspective2.cpp, ExampleTriangulate.cpp, ExampleTriangulateOptimal.cpp, FMatrixTest.cpp, InvestigatePRelations.cpp, and PMatrixTest2.cpp.

Definition at line 499 of file PMatrix.hh.

References BIAS::Matrix< T >::Fill(), IsDecomposed_, IsMetric_, PConsistencyBackup_, PConsistencyBackupSVD_, and Svd_.

Referenced by BIAS::PMatrixEstimation::AutoCalib(), BIAS::PMatrixEstimation::AutoCalib_(), BIAS::PMatrixEstimation::ComputeFromFDirect(), BIAS::TriangleMesh::GenerateDenseMesh(), PMatrix(), and XMLIn().

bool BIAS::Matrix< PMATRIX_TYPE >::IsIdentity ( double eps = 0.0 ) const

inherited

Checks if the matrix a an identity.

I.e. all elements with index i==j are equal 1 and all others are zero.

Author: mdunda 12 2003

Returns: true if matrix is identity

bool BIAS::PMatrix::IsInFrontOfCamera ( const Vector3< double > & X )

inline

checks whether X is in optical A-dir from C (only for metric cameras)

Author: koeser 01/05

Definition at line 198 of file PMatrix.hh.

bool BIAS::PMatrix::IsMetric ( )

inline

Definition at line 134 of file PMatrix.hh.

Referenced by BIAS::TriangleMesh::GenerateDenseMesh().

bool BIAS::Matrix< PMATRIX_TYPE >::IsZero ( double eps = 0.0 ) const

inherited

Checks if the matrix is a null matrix.

Author: mdunda 12 2003

Returns: true if all elements are zero

void BIAS::Matrix< PMATRIX_TYPE >::Kronecker	(	Matrix< PMATRIX_TYPE > const	B,
		Matrix< PMATRIX_TYPE > &	dest
	)		const

inherited

Kronecker-product with matrix, result in dest.

Kronecker-product with matrix B, result in dest.

template<class T>

Subscript TNT::Matrix< T >::lbound ( ) const

inlineinherited

Definition at line 81 of file cmat.h.

bool BIAS::PMatrix::Load ( const std::string & filename )

inline

overload Load because it has to invalidate decomposition! JW 09/2003

Definition at line 348 of file PMatrix.hh.

References BIAS::Matrix< PMATRIX_TYPE >::Load().

Referenced by BIAS::Projection::Load().

int BIAS::Matrix3x4< PMATRIX_TYPE >::LoadBan	(	const std::string &	filename,
		const unsigned int &	Time = `0`
	)

inherited

Loads a PMatrix from .ban file given by AddCameraKey and Time index.

Returns: 0 in case of success and negative nr. in case of error.

Author: Jan Woetzel

int BIAS::PMatrix::LoadBBC	(	const std::string &	filename,
		const double &	AddCenterPointShiftX = `0.0`,
		const double &	AddCenterPointShiftY = `0.0`
	)

Load calibration data file from BBC-Free-D system.

opens a free-d file and reads first (or only) piece of free-d data

Parameters

AddCenterPointShiftX	add this to the principle point (in meter)
AddCenterPointShiftY	add this to the principle point (in meter)

Author: evers, koeser

Examples:: ExampleLoadBBC.cpp.

Definition at line 905 of file PMatrix.cpp.

References BBCIn().

int PMatrixBase::LoadBOG ( const std::string & filename )

inherited

Load a Daimler .bog fiel and compose a P matrix from it.

Author: Jan Woetzel 03/2005

Examples:: ExampleLoadBOG_P.cpp.

Definition at line 193 of file PMatrixBase.cpp.

References BIAS::LoadBogK(), BIAS::LoadBogRC(), and BIAS::Vector3< T >::LoadBogTC().

int BIAS::Matrix3x4< PMATRIX_TYPE >::LoadPARTXT	(	const std::string &	filenameParTxt,
		const unsigned int &	index,
		std::string &	correspImgFilename,
		int &	nTotal
	)

inherited

Load a PMatrix from a _par.txt (S.

Seitz' format)

Useful to load camera parameters of S. Seitz' sequences, e.g. temple Ring "templeR_par.txt". The file format is: There is one line for each image. The format for each line is: "imgname.png k11 k12 k13 k21 k22 k23 k31 k32 k33 r11 r12 r13 r21 r22 r23 r31 r32 r33 t1 t2 t3" The Seitz' projection matrix representation is given by K*[R t] in contrast to BIAS::PMatrix semantics. However, we convert into our 3x4 PMatrix representation on Load internally.

Parameters

filenameParTxt	input xxx_par.txt file in Steven Seitz' format with linewise camparams
index	desired image nr.
correspImgFilename	corresponding "original" image filename
nTotal	total number of cameras for that sequence, given at beginning of file.

Author: Jan Woetzel, Marc Grauel

int BIAS::PMatrix::MakeSVD_ ( )

inlineprotected

Definition at line 548 of file PMatrix.hh.

References CheckSVD_(), BIAS::SVD::compute(), PConsistencyBackupSVD_, and Svd_.

Referenced by GetNullVector(), GetPseudoInverse(), and GetSVD().

void BIAS::Matrix< PMATRIX_TYPE >::MakeSymmetric ( )

inlineinherited

componentwise: this = 0.5(this + this^T) yields symmetric matrix only allowed for square shaped matrices

Author: koeser 01/2007

Definition at line 522 of file Matrix.hh.

void BIAS::Matrix3x4< PMATRIX_TYPE >::Mult	(	const Vector4< PMATRIX_TYPE > &	argvec,
		Vector3< PMATRIX_TYPE > &	destvec
	)		const

inlineinherited

matrix - vector multiplicate this matrix with Vector4, storing the result in destvec calculates: destvec = (this Matrix) * argvec

Author: Jan Woetzel untested (04/17/2002)

void BIAS::Matrix3x4< PMATRIX_TYPE >::Mult	(	const Matrix4x4< PMATRIX_TYPE > &	argmat,
		Matrix3x4< PMATRIX_TYPE > &	destmat
	)		const

inlineinherited

matrix-matrix multiplication with Matrix4x4 storing the result in destmat

Definition at line 155 of file Matrix3x4.hh.

References BIAS::Matrix< T >::GetData().

void BIAS::Matrix< PMATRIX_TYPE >::Mult	(	const Matrix< PMATRIX_TYPE > &	arg,
		Matrix< PMATRIX_TYPE > &	result
	)		const

inlineinherited

matrix multiplication, result is not allocated

Author: Felix Woelk

void BIAS::Matrix< PMATRIX_TYPE >::Mult ( const Matrix< PMATRIX_TYPE > & arg )

inlineinherited

in Place matrix multiplication this is equal to M = M * arg, but faster

Author: Daniel Grest

void BIAS::Matrix< PMATRIX_TYPE >::Mult	(	const Vector< PMATRIX_TYPE > &	arg,
		Vector< PMATRIX_TYPE > &	result
	)		const

inlineinherited

matrix vector multiplication, result is not allocated

Author: Felix Woelk

void BIAS::Matrix< PMATRIX_TYPE >::Multiply	(	const PMATRIX_TYPE &	scalar,
		Matrix< PMATRIX_TYPE > &	dest
	)		const

inlineinherited

multiplication function, storing data destination matrix

Author: Ingo Thomsen tested

void BIAS::Matrix< PMATRIX_TYPE >::MultiplyIP ( const PMATRIX_TYPE & scalar )

inlineinherited

in place multiplication function

Author: Ingo Thomsen tested

Definition at line 448 of file Matrix.hh.

Referenced by Normalize().

void BIAS::Matrix< PMATRIX_TYPE >::MultiplyWithTransposeOf	(	const Matrix< PMATRIX_TYPE > &	arg,
		Matrix< PMATRIX_TYPE > &	result
	)		const

inlineinherited

matrix matrix multiplication for multiplication with the transpose of the given matrix, result=this*arg^T.

Author: Arne Petersen

void BIAS::Matrix< PMATRIX_TYPE >::MultLeft ( const Matrix< PMATRIX_TYPE > & arg )

inlineinherited

in Place matrix multiplication this is equal to M = arg*M, but faster

Author: Daniel Grest

void BIAS::Matrix< PMATRIX_TYPE >::MultLeft	(	const Vector< PMATRIX_TYPE > &	arg,
		Vector< PMATRIX_TYPE > &	result
	)		const

inlineinherited

vector matrix multiplication result=arg*this.

Author: Marcel Lilienthal

PMatrix & BIAS::PMatrix::newsize	(	int	rows,
		int	cols
	)

setting a new size different from 3x4 is not allowed for the fixed size P-Matrix overloads the general newsize from basec class

Author: Jan Woetzel

Definition at line 61 of file PMatrix.cpp.

template<class T>

Matrix<T>& TNT::Matrix< T >::newsize	(	Subscript	M,
		Subscript	N
	)

inlineinherited

Examples:: EvaluateAlignment.cpp, ExampleAlignment.cpp, ExampleIEKF.cpp, ExampleLeastSquares.cpp, ExampleRegressionPlane.cpp, and ExampleUncertaintyTransform.cpp.

Definition at line 269 of file cmat.h.

void BIAS::PMatrix::Normalize ( )

inline

scale P such that optical axis (first three entries of last row) has unit length

Author: koeser 03/2004

Examples:: ExamplePMatrix.cpp, and PMatrixTest.cpp.

Definition at line 509 of file PMatrix.hh.

References CheckDecomposition_(), CheckSVD_(), BIAS::Matrix3x3< T >::GetDeterminant(), IsDecomposed_, BIAS::Matrix< PMATRIX_TYPE >::MultiplyIP(), PConsistencyBackup_, PConsistencyBackupSVD_, TNT::Matrix< T >::row_, and Svd_.

Referenced by BIAS::ProjectionParametersProjective::NormalizePMatrix().

void BIAS::Matrix< PMATRIX_TYPE >::NormalizeCols ( )

inherited

Normalizes each coloumn to L_2 norm one.

Attention each column is normaized by its own scale!

void BIAS::Matrix< PMATRIX_TYPE >::NormalizeColsToOne ( const int norm_row_index )

inherited

divides each column of the matrix through the element norm_row_index.

index runs [0..num_rows-1] for example: 2 3 4 5 normalized with row '1' will be 2/4 3/5 1 1

void BIAS::Matrix< PMATRIX_TYPE >::NormalizeRows ( )

inherited

Normalizes each row to L2 norm one.

Attention each row is normaized by its own scale!

void BIAS::Matrix< PMATRIX_TYPE >::NormalizeRowsToOne ( const int norm_col_index )

inherited

divides each row of the matrix through the element norm_col_index.

index runs [0..num_cols-1] for example: 2 3 4 5 normalized with row '1' will be 2/3 1 4/5 1

double BIAS::Matrix< PMATRIX_TYPE >::NormFrobenius ( ) const

inlineinherited

Return Frobenius norm = sqrt(trace(A^t * A)).

this method is deprecated because it is equivalent to NormL2

This function is deprecated, because it is equivalent to NormL2.

Author: koeser 02/2004

PMATRIX_TYPE BIAS::Matrix< PMATRIX_TYPE >::NormL1 ( ) const

inlineinherited

Return the L1 norm: |a| + |b| + |c| + ...

Author: Ingo Thomsen

Date: 04/11/2002 untested

double BIAS::Matrix< PMATRIX_TYPE >::NormL2 ( ) const

inlineinherited

Return the L2 norm: a^2 + b^2 + c^2 + ...

Author: woelk 07/2004

template<class T>

Subscript TNT::Matrix< T >::num_cols ( ) const

inlineinherited

Examples:: ExampleGenerateGauss.cpp.

Definition at line 320 of file cmat.h.

template<class T>

Subscript TNT::Matrix< T >::num_rows ( ) const

inlineinherited

Examples:: ExampleGenerateGauss.cpp.

Definition at line 319 of file cmat.h.

template<class T>

reference TNT::Matrix< T >::operator() ( Subscript i )

inlineinherited

Definition at line 343 of file cmat.h.

template<class T>

const_reference TNT::Matrix< T >::operator() ( Subscript i ) const

inlineinherited

Definition at line 352 of file cmat.h.

template<class T>

reference TNT::Matrix< T >::operator()	(	Subscript	i,
		Subscript	j
	)

inlineinherited

Definition at line 363 of file cmat.h.

template<class T>

const_reference TNT::Matrix< T >::operator()	(	Subscript	i,
		Subscript	j
	)		const

inlineinherited

Definition at line 376 of file cmat.h.

PMatrix & BIAS::PMatrix::operator= ( const PMatrix & mat )

assignment operator

Author: Jan Woetzel alpha (02/28/2002)

Definition at line 84 of file PMatrix.cpp.

References A_, C_, Covariance_, H0_, Hinf_, IsDecomposed_, IsMetric_, K_, BIAS::PMatrixBase::operator=(), PConsistencyBackup_, PConsistencyBackupSVD_, R_, Svd_, and V0_.

template<class T>

T* TNT::Matrix< T >::operator[] ( Subscript i )

inlineinherited

Definition at line 325 of file cmat.h.

template<class T>

const T* TNT::Matrix< T >::operator[] ( Subscript i ) const

inlineinherited

Definition at line 334 of file cmat.h.

RMatrixBase PMatrixBase::Parametrization2R_	(	const Vector< double > &	parametrization,
		const enum E_ParametrizationType	param_type
	)		const

protectedinherited

Author: woelk 03/2006

Definition at line 97 of file PMatrixBase.cpp.

References BIAS::Vector3< T >::Set(), BIAS::RMatrixBase::Set(), BIAS::RMatrixBase::SetFromAxisAngle(), BIAS::RMatrixBase::SetFromQuaternion(), BIAS::RMatrixBase::SetXYZ(), and BIAS::Vector< T >::Size().

Referenced by Compose().

template<class T>

std::ostream& TNT::Matrix< T >::Print	(	std::ostream &	s,
		const int	width,
		const int	precision,
		bool	scientific = `true`
	)		const

inlineinherited

Author: Ingo Schiller

Examples:: ExampleSparseMatrix.cpp.

template<class T>

std::ostream& TNT::Matrix< T >::Print	(	std::ostream &	s,
		const bool	intCastOutput = `false`,
		const bool	binaryOutput = `false`,
		const bool	forceFullPrecision = `false`
	)		const

inlineinherited

Author: Jan Woetzel

template<class T>

std::ostream& TNT::Matrix< T >::PrintPretty	(	std::ostream &	s,
		const std::string &	name = `""`,
		const int	width = `8`,
		const bool	alignLeft = `true`
	)		const

inlineinherited

Author: Sandro Esquivel

Examples:: ExampleSVD.cpp, and ExampleSVD3x3.cpp.

template<class T >

std::istream & TNT::Matrix< T >::Read	(	std::istream &	s,
		const bool	intCastInput = `false`,
		const bool	binaryInput = `false`
	)

inlineinherited

JW.

Author: Jan Woetzel

Definition at line 605 of file cmat.h.

Referenced by TNT::Matrix< T >::operator>>().

bool BIAS::PMatrix::Save ( const std::string & filename )

Examples:: ExampleLoadBOG_P.cpp.

Definition at line 1146 of file PMatrix.cpp.

References C_, Covariance_, IsMetric_, K_, and R_.

bool BIAS::Matrix< PMATRIX_TYPE >::Save ( const std::string & filename ) const

inherited

method to save directly to a given filename.

internally using stream operator

Author: Jan Woetzel 05/2003

Returns: false in case of error, true in case of success

void BIAS::Matrix< PMATRIX_TYPE >::ScaleCol	(	int	NoCol,
		PMATRIX_TYPE	scale
	)

inherited

Scales column NoCol with scale.

void BIAS::Matrix< PMATRIX_TYPE >::ScaleRow	(	int	NoRow,
		PMATRIX_TYPE	scale
	)

inherited

Scales row NoRow with scale.

template<class T>

void TNT::Matrix< T >::set ( const T & val )

inlineprotectedinherited

Definition at line 152 of file cmat.h.

Referenced by TNT::Matrix< BIAS::BIAS::Vector< int > >::operator=().

template<class T>

TNT::Matrix< T >::set ( value )

inherited

void BIAS::Matrix< PMATRIX_TYPE >::Set	(	const int	row,
		const int	col,
		const Matrix< PMATRIX_TYPE > &	data
	)

inherited

Copies the contents of data into this at the position indicated by row and col.

The size of *this must be big enought to carry data

Author: woelk 05/2008 (c) www.vision-n.de

void BIAS::Matrix< PMATRIX_TYPE >::Set	(	const int	row,
		const int	col,
		const Vector< PMATRIX_TYPE > &	data
	)

inherited

Copies the contents of data into this at the position indicated by row and col.

The size of *this must be big enought to carry data. Data i interpreted as column vector

Author: woelk 05/2008 (c) www.vision-n.de

void BIAS::PMatrixBase::set_identity ( )

inlineinherited

Convert the PMatrixBase to 'identity' matrix, overriding the Matrix3x4 method: 1 0 0 0 0 1 0 0 0 0 1 0.

Author: Ingo Thomsen

Date: 04/11/2002 tested

Examples:: PMatrixTest.cpp.

Definition at line 212 of file PMatrixBase.hh.

References BIAS::Matrix< PMATRIX_TYPE >::GetData().

Referenced by BIAS::PMatrixEstimation::InitP1P2Trans().

void BIAS::PMatrix::SetC ( const Vector3< double > & newC )

modify C and re-compose P not fine to use, better use: Compose()

void BIAS::Matrix< PMATRIX_TYPE >::SetCol	(	const int	row,
		const Vector< PMATRIX_TYPE > &	data
	)

inherited

set a col of matrix from vector

Author: woelk 08/2004

int BIAS::PMatrix::SetCovariance ( const BIAS::Matrix< double > & cov )

inline

Definition at line 405 of file PMatrix.hh.

void PMatrixBase::SetFromVector ( const Vector< PMATRIX_TYPE > & vals )

inherited

Sets P-Matrix from a vector which contains the elements of P row wise.

Definition at line 156 of file PMatrixBase.cpp.

References BIAS::Vector< T >::GetData().

Referenced by BIAS::PMatrixLinear::Compute().

void BIAS::Matrix3x4< PMATRIX_TYPE >::SetIdentity ( )

inlineinherited

set the elements of this matrix to the matrix 1 0 0 0 0 1 0 0 0 0 1 0 which is no strict identity (!)

Author: Jan Woetzel

Date: 04/17/2002 untested

Examples:: ExampleConic.cpp, ExampleFMatrix.cpp, ExamplePMatrix.cpp, and ExampleThreeDOutVRML.cpp.

void BIAS::Matrix< PMATRIX_TYPE >::SetRow	(	const int	row,
		const Vector< PMATRIX_TYPE > &	data
	)

inherited

set a row of matrix from vector

Author: woelk 08/2004

void BIAS::Matrix< PMATRIX_TYPE >::SetSubMatrix	(	const size_t	startRowInThis,
		const size_t	startColInThis,
		const Matrix< PMATRIX_TYPE > &	submatrix,
		const size_t	startRowInSub,
		const size_t	startColInSub,
		const size_t	numRows,
		const size_t	numCols
	)

inherited

sets a submatrix in this.

Start index in this is [startRowInThis][startColInThis] end index is [startRowInThis+numRows-1][startColInThis+numCols-1]. Entries copyed from submatrix beginning at [startRowInSub][startColInSub] and stop at [startRowInSub+numRows-1][startColInSub+numCols-1]

Author: apetersen 12/2010

void BIAS::Matrix< PMATRIX_TYPE >::SetSubMatrix	(	const size_t	startRowInThis,
		const size_t	startColInThis,
		const Matrix3x3< PMATRIX_TYPE > &	submatrix
	)

inherited

sets a 3x3 submatrix in this.

Start index in this is [startRowInThis][startColInThis] end index is [startRowInThis+2][startColInThis+2].

Author: apetersen 12/2010

void BIAS::Matrix< PMATRIX_TYPE >::SetSubMatrix	(	const size_t	startRowInThis,
		const size_t	startColInThis,
		const Vector3< PMATRIX_TYPE > &	subvector
	)

inherited

sets a 3x1 submatrix in this.

Start index in this is [startRowInThis][startColInThis] end index is [startRowInThis+2][startColInThis].

Author: apetersen 12/2010

void BIAS::Matrix< PMATRIX_TYPE >::SetTranspose	(	const int	row,
		const int	col,
		const Vector< PMATRIX_TYPE > &	data
	)

inherited

Copies the contents of data into this at the position indicated by row and col.

The size of *this must be big enought to carry data. Data is interpreted as row vector.

Author: woelk 05/2008 (c) www.vision-n.de

void BIAS::Matrix< PMATRIX_TYPE >::SetZero ( )

inlineinherited

Sets all values to zero.

Author: Ingo Thomsen, JW

Date: 04/11/2002 tested

Examples:: ExamplePMatrix.cpp.

template<class T>

Subscript TNT::Matrix< T >::size ( ) const

inlineinherited

Definition at line 212 of file cmat.h.

Referenced by Eigenproblem_quadratic_matrix(), BIAS::Random::GetMeanAndCovariance(), BIAS::Matrix< T >::operator==(), and BIAS::IteratedExtendedKalman::SetState().

void BIAS::Matrix< PMATRIX_TYPE >::Sub	(	const PMATRIX_TYPE &	scalar,
		Matrix< PMATRIX_TYPE > &	dest
	)		const

inlineinherited

substraction function, storing data destination matrix

Author: Ingo Thomsen tested

void BIAS::Matrix< PMATRIX_TYPE >::SubIP ( const Matrix< PMATRIX_TYPE > & arg )

inlineinherited

Subtracts arg from this
this -= arg.

Author: grest, 2004

void BIAS::Matrix< PMATRIX_TYPE >::SubIP ( const PMATRIX_TYPE & scalar )

inlineinherited

in place subtraction function

Author: Ingo Thomsen tested

Definition at line 437 of file Matrix.hh.

void BIAS::Matrix< PMATRIX_TYPE >::SwapRows	(	const int	i,
		const int	r
	)

inherited

swaps two rows

Author: woelk 05/2008 www.vision-n.de

PMATRIX_TYPE BIAS::Matrix< PMATRIX_TYPE >::Trace ( ) const

inlineinherited

Author: koeser

Matrix<PMATRIX_TYPE > BIAS::Matrix< PMATRIX_TYPE >::Transpose ( ) const

inlineinherited

transpose function, storing data destination matrix

Author: JMF

void BIAS::Matrix< PMATRIX_TYPE >::Vec ( Vector< PMATRIX_TYPE > & dest ) const

inherited

vec-operator returns the elements of the matrix columwise as vector

vec-operator returns the elements of the matrix columnwise as vector

int BIAS::PMatrix::WriteCAHV_10	(	int	cols,
		int	rows,
		std::ostream &	os = `std::cout`
	)

write the CAHV decomposition of this P matrix in CAHV 1,0 format to stream os (see RK's/TNT CAHV1.0 fromat in SequenceReconstruction/ Sequenetracking/KochSI.C) cols, rows is the size of the image this P matrix corresponds to.

image size is neccessary because of shift of the axis origin cenetered/in left corner This is the 'Cunningham' format (see diss. Reinhard Koch, p.14)

Author: Jan Woetzel 11/2002 cols number of pixels rows number of pixels

Definition at line 694 of file PMatrix.cpp.

References GetC(), GetK(), and BIAS::Vector3< T >::ScalarProduct().

int BIAS::Matrix< PMATRIX_TYPE >::WriteMatlab	(	std::ostream &	ostr,
		const std::string &	name
	)		const

inherited

Write the matrix in Matlab format to the given stream.

Parameters

name	Is the name of the Matlab variable

Author: streckel 08/2006

Returns: negativev if error

xmlNodePtr XMLBase::XMLAdd	(	const xmlNodePtr	Node,
		XMLIO &	XMLObject
	)		const

inherited

call this to add the class to a node of a given xml tree

Attention: interface changed 3/2008: return value now nodeptr of added node!

Definition at line 26 of file XMLBase.cpp.

References BIAS::XMLIO::addAttribute(), and BIAS::XMLIO::addChildNode().

int BIAS::PMatrix::XMLGetClassName	(	std::string &	TopLevelTag,
		double &	Version
	)		const

virtual

specialization of XML block name function

Implements BIAS::XMLBase.

Definition at line 999 of file PMatrix.cpp.

int BIAS::PMatrix::XMLIn	(	const xmlNodePtr	Node,
		XMLIO &	XMLObject
	)

virtual

specialization of XML read function

Implements BIAS::XMLBase.

Definition at line 1056 of file PMatrix.cpp.

References C_, Compose(), BIAS::XMLIO::getAttributeValueDouble(), BIAS::XMLIO::getAttributeValueString(), BIAS::XMLIO::getChild(), BIAS::Matrix3x3< T >::GetData(), BIAS::Matrix< PMATRIX_TYPE >::GetData(), BIAS::XMLIO::getNodeContentString(), InvalidateDecomposition(), IsMetric_, K_, and R_.

int BIAS::PMatrix::XMLOut	(	const xmlNodePtr	Node,
		XMLIO &	XMLObject
	)		const

virtual

specialization of XML write function

Implements BIAS::XMLBase.

Definition at line 1006 of file PMatrix.cpp.

References BIAS::XMLIO::addAttribute(), BIAS::XMLIO::addChildNode(), BIAS::XMLIO::addContent(), C_, BIAS::Matrix3x3< T >::GetData(), BIAS::Matrix< PMATRIX_TYPE >::GetData(), IsDecomposed_, IsMetric_, K_, and R_.

int XMLBase::XMLRead ( const std::string & Filename )

inherited

derived classes must implement the function XMLIn which is called by this function XMLRead to read everything with name Filename into (*this).

Returns: 0 on success, <0 on error

Examples:: ExampleCamera.cpp, ExampleMultisampleBlit.cpp, ExampleProjection.cpp, ExampleProjectionMapping.cpp, ExampleProjectionParametersPerspective.cpp, ExampleProjectionParametersProjective.cpp, ExampleProjectionParametersSpherical.cpp, ExampleTransformToCartesian.cpp, and ExampleUndistort.cpp.

Definition at line 78 of file XMLBase.cpp.

References BIAS::XMLIO::clear(), BIAS::XMLIO::getAttributeValueDouble(), BIAS::XMLIO::getNodeName(), and BIAS::XMLIO::read().

Referenced by BIAS::biasGLviewerGLUT::Init(), BIAS::SceneOpenSceneGraph::Load(), and BIAS::GLProjectionParametersPerspective::XMLRead().

int XMLBase::XMLReadFromString ( const std::string & str )

inherited

reconstruct xml tree from string

Author: evers

Examples:: ExampleProjection.cpp.

Definition at line 111 of file XMLBase.cpp.

References BIAS::XMLIO::clear(), BIAS::XMLIO::getAttributeValueDouble(), BIAS::XMLIO::getNodeName(), and BIAS::XMLIO::ReadFromString().

Referenced by BIAS::IOUtils::GetProjection().

int XMLBase::XMLWrite	(	const std::string &	Filename,
		int	CompressionLevel = `0`,
		bool	AutoAddCompressionSuffix = `true`,
		std::string	encoding = `"UTF-8"`
	)		const