Basic Image AlgorithmS Library
2.8.0
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Slim class bundeling rotation matrix parametrization and associated covariance matrix. More...
#include <Base/Geometry/RParametrization.hh>
Public Member Functions | |
const Matrix< Q_TYPE > & | GetCovarianceMatrix () const |
returns the covariance matrix associated with the EQ vector More... | |
Quaternion< Q_TYPE > | GetQ () const |
returns the quaternion More... | |
RMatrixBase | GetRotationMatrix () const |
returns the rotation matrix computed from parametrization More... | |
const Vector< Q_TYPE > & | GetVec () const |
returns a vector of dimension 6 where first 2 entries are the epipole and the last 4 entries are the quaternion orientation More... | |
bool | Load (const std::string &file) |
RParametrization () | |
RParametrization (const Vector< Q_TYPE > &Q, const Matrix< Q_TYPE > &covariance) | |
bool | Save (const std::string &file) const |
void | Set (const Vector< Q_TYPE > &Qvec) |
Set this from R parametrization. More... | |
void | Set (const Vector< Q_TYPE > &Qvec, const Matrix< Q_TYPE > &Cov) |
Set this from orientation and covariance. More... | |
void | SetCovarianceMatrix (const Matrix< Q_TYPE > &Cov) |
Sets covariance matrix from Cov. More... | |
Protected Attributes | |
Matrix< Q_TYPE > | Cov_ |
Vector< Q_TYPE > | Q_ |
Slim class bundeling rotation matrix parametrization and associated covariance matrix.
The rotation is parametrized as a quaternion
Definition at line 52 of file RParametrization.hh.
RParametrization::RParametrization | ( | ) |
Definition at line 17 of file RParametrization.cpp.
References Q_.
RParametrization::RParametrization | ( | const Vector< Q_TYPE > & | Q, |
const Matrix< Q_TYPE > & | covariance | ||
) |
Definition at line 25 of file RParametrization.cpp.
References Set().
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inline |
returns the covariance matrix associated with the EQ vector
Definition at line 78 of file RParametrization.hh.
Referenced by BIAS::operator<<().
Quaternion< Q_TYPE > RParametrization::GetQ | ( | ) | const |
returns the quaternion
Definition at line 55 of file RParametrization.cpp.
References GetVec().
Referenced by GetRotationMatrix().
RMatrixBase RParametrization::GetRotationMatrix | ( | ) | const |
returns the rotation matrix computed from parametrization
Definition at line 64 of file RParametrization.cpp.
References GetQ(), and BIAS::RMatrixBase::SetFromQuaternion().
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inline |
returns a vector of dimension 6 where first 2 entries are the epipole and the last 4 entries are the quaternion orientation
Definition at line 74 of file RParametrization.hh.
Referenced by GetQ(), and BIAS::operator<<().
bool RParametrization::Load | ( | const std::string & | file | ) |
Definition at line 75 of file RParametrization.cpp.
bool RParametrization::Save | ( | const std::string & | file | ) | const |
Definition at line 91 of file RParametrization.cpp.
void RParametrization::Set | ( | const Vector< Q_TYPE > & | Qvec | ) |
Set this from R parametrization.
Zeros associated covarinace matrix
Definition at line 33 of file RParametrization.cpp.
References Cov_, Q_, BIAS::Matrix< T >::SetZero(), and TNT::Vector< T >::size().
Referenced by BIAS::operator>>(), and RParametrization().
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inline |
Set this from orientation and covariance.
Definition at line 65 of file RParametrization.hh.
void RParametrization::SetCovarianceMatrix | ( | const Matrix< Q_TYPE > & | Cov | ) |
Sets covariance matrix from Cov.
Cov must be a 4x4 symmetric positiv definit matrix (i.e. a covariance matrix)
Definition at line 44 of file RParametrization.cpp.
References Cov_, TNT::Matrix< T >::num_cols(), and TNT::Matrix< T >::num_rows().
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protected |
Definition at line 93 of file RParametrization.hh.
Referenced by Set(), and SetCovarianceMatrix().
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protected |
Definition at line 92 of file RParametrization.hh.
Referenced by RParametrization(), and Set().