Basic Image AlgorithmS Library  2.8.0
 All Classes Namespaces Functions Variables Typedefs Enumerations Enumerator Friends Groups Pages
Public Member Functions | Static Public Member Functions | Protected Attributes | List of all members
BIAS::HMatrix Class Reference
Geometry and Transformations

a 3x3 Matrix describing projective transformations between planes More...

#include <Geometry/HMatrix.hh>

+ Inheritance diagram for BIAS::HMatrix:
+ Collaboration diagram for BIAS::HMatrix:

Public Member Functions

double ComputeLinearizationError (const HomgPoint2D &x0, const HomgPoint2D &y) const
 compute distance between y mapped with homography or first order taylor approximation at development point x0 in pixel More...
 
void GetAbsMaxMin (HMATRIX_TYPE &max, HMATRIX_TYPE &min) const
 
void GetColumn (const unsigned int col, Vector3< HMATRIX_TYPE > &r) const
 extract one column ('Spalte') from this matrix (for convenience) More...
 
BIAS::Vector3< HMATRIX_TYPE > GetColumn (const unsigned int col) const
 
HMATRIX_TYPE * GetData ()
 
const HMATRIX_TYPE * GetData () const
 
HMATRIX_TYPE GetDeterminant () const
 returns the Determinant |A| of this More...
 
int GetInverse (Matrix3x3< HMATRIX_TYPE > &inv) const
 Matrix inversion: inverts this and stores resulty in argument inv. More...
 
void GetJacobian (const HomgPoint2D &x, Matrix< double > &Jac) const
 returns jacobian of H: R^2 –> R^2 More...
 
HMatrix GetLinearized (const HomgPoint2D &x) const
 returns 1st order Taylor expansion of homography at x More...
 
double GetMappedError (const BIAS::HomgPoint2D &PointPicOne, const BIAS::HomgPoint2D &PointPicTwo) const
 
void GetMappedRange (const unsigned int OrigWidth, const unsigned int OrigHeight, BIAS::Vector2< double > &corner, double &sizeWidth, double &sizeHeight) const
 maps the rectangle (0,0),(OrigWidth,OrigHeight) with this H and computes mapped range as corner + size. More...
 
HMATRIX_TYPE GetMax () const
 
void GetMaxMin (HMATRIX_TYPE &max, HMATRIX_TYPE &min) const
 return biggest and smallest entry More...
 
HMATRIX_TYPE GetMin () const
 
unsigned GetNumElements () const
 
double GetReprojectionError (std::vector< BIAS::HomgPoint2D > &p1, std::vector< BIAS::HomgPoint2D > &p2)
 compute reprojection error for both vectors of HomgPoint2D More...
 
void GetRow (const unsigned int row, Vector3< HMATRIX_TYPE > &r) const
 extract one row ('Zeile') from ths matrix (for convenience) More...
 
Vector3< HMATRIX_TYPE > GetRow (const unsigned int row) const
 
 HMatrix ()
 
 HMatrix (const MatrixInitType &i)
 
 HMatrix (Matrix3x3< double > Mat)
 
 HMatrix (const PMatrix &P1, const PMatrix &P2, const HomgPlane3D &scenePlane=HomgPlane3D(0, 0, 0, 1))
 homography induced by a plane (e.g. More...
 
int InvertIP ()
 In place matrix conversion. More...
 
bool IsIdentity (const HMATRIX_TYPEeps=std::numeric_limits< HMATRIX_TYPE >::epsilon()) const
 
bool IsZero (const HMATRIX_TYPEeps=std::numeric_limits< HMATRIX_TYPE >::epsilon()) const
 
bool Load (const std::string &fname)
 
void MakeSymmetric ()
 
void MapAcrossPlane (const PMatrix &P1, const PMatrix &P2, const HomgPlane3D &scenePlane=HomgPlane3D(0, 0, 0, 1))
 Set (*this) to map coordinates from camera p1 to p2 using the given scene plane. More...
 
void Mult (const Vector3< HMATRIX_TYPE > &argvec, Vector3< HMATRIX_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< HMATRIX_TYPE > &argmat, Matrix3x3< HMATRIX_TYPE > &destmat) const
 matrix-matrix multiplication with other Matrix3x3, storing the result in destmat calculates: destmat = (this mat) * argmat More...
 
void Mult (const Matrix3x4< HMATRIX_TYPE > &argmat, Matrix3x4< HMATRIX_TYPE > &destmat) const
 
HMATRIX_TYPE Normalize ()
 divide this by biggest absolute entry, returns biggest entry More...
 
double NormFrobenius () const
 
HMATRIX_TYPE NormL1 () const
 
double NormL2 () const
 
bool operator!= (const Matrix3x3< HMATRIX_TYPE > &arg) const
 
Matrix3x3< HMATRIX_TYPE > & operator*= (const Matrix3x3< HMATRIX_TYPE > &arg)
 woelk 11/2007 (c) www.vision-n.de More...
 
Matrix3x3< HMATRIX_TYPE > & operator*= (const HMATRIX_TYPE &arg)
 woelk 11/2007 (c) www.vision-n.de More...
 
Matrix3x3< HMATRIX_TYPE > & operator+= (const Matrix3x3< HMATRIX_TYPE > &arg)
 
Matrix3x3< HMATRIX_TYPE > & operator-= (const Matrix3x3< HMATRIX_TYPE > &arg)
 
Matrix3x3< HMATRIX_TYPE > & operator/= (const HMATRIX_TYPE &arg)
 
HMatrix & operator= (const HMatrix &mat)
 
bool operator== (const Matrix3x3< HMATRIX_TYPE > &arg) const
 
HMATRIX_TYPE * operator[] (const unsigned row)
 
const HMATRIX_TYPE * operator[] (const unsigned row) const
 
bool Save (const std::string &fname) const
 
void Scale (const HMATRIX_TYPE &scalar, Matrix3x3< HMATRIX_TYPE > &destmat) const
 scalar-matrix multiplication More...
 
void SetAsCrossProductMatrix (const Vector3< HMATRIX_TYPE > &vec)
 Sets matrix from vector as cross product matrix of this vector. More...
 
void SetAsCrossProductMatrix (const HMATRIX_TYPE &x, const HMATRIX_TYPE &y, const HMATRIX_TYPE &z)
 Sets matrix from vector as cross product matrix of a vector. More...
 
void SetColumn (const unsigned int col, const Vector3< HMATRIX_TYPE > &c)
 
void SetFromColumnVectors (const BIAS::Vector3< HMATRIX_TYPE > &v0, const BIAS::Vector3< HMATRIX_TYPE > &v1, const BIAS::Vector3< HMATRIX_TYPE > &v2)
 set this matrix from 3 vectors each representating a column More...
 
void SetFromRowVectors (const BIAS::Vector3< HMATRIX_TYPE > &v0, const BIAS::Vector3< HMATRIX_TYPE > &v1, const BIAS::Vector3< HMATRIX_TYPE > &v2)
 set this matrix from 3 vectors, each representating a row More...
 
void SetFromVector (const TNT::Vector< HMATRIX_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< HMATRIX_TYPE > &r)
 
void SetZero ()
 
HMATRIX_TYPE Trace () const
 return the trace of the matrix More...
 
Matrix3x3< HMATRIX_TYPE > Transpose () const
 returns transposed matrix tested 12.06.2002 More...
 
void Transpose (const Matrix3x3< HMATRIX_TYPE > &arg)
 sets this as transposed arg, fw More...
 
void TransposedMult (const Vector3< HMATRIX_TYPE > &argvec, Vector3< HMATRIX_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...
 
 ~HMatrix ()
 

Static Public Member Functions

static int ComposeAffineMatrixRLeft (Matrix2x2< double > &A, const Matrix2x2< double > &phi, const Matrix2x2< double > &theta, const double &d1, const double &d2)
 compose affine matrix from rotations and nonisotropic scalings More...
 
static int ComposeAffineMatrixRRight (Matrix2x2< double > &A, const Matrix2x2< double > &phi, const Matrix2x2< double > &theta, const double &d1, const double &d2)
 compose affine matrix from rotations and nonisotropic scalings More...
 
static int FactorizeAffineMatrixRLeft (const Matrix2x2< double > &A, Matrix2x2< double > &phi, Matrix2x2< double > &theta, double &d1, double &d2)
 decompose affine matrix into rotations and nonisotropic scalings More...
 
static int FactorizeAffineMatrixRRight (const Matrix2x2< double > &A, Matrix2x2< double > &phi, Matrix2x2< double > &theta, double &d1, double &d2)
 decompose affine matrix into rotations and nonisotropic scalings More...
 

Protected Attributes

HMATRIX_TYPE Data_ [9]
 

Detailed Description

a 3x3 Matrix describing projective transformations between planes

Examples:
EvaluateAlignment.cpp, ExampleFMT2D.cpp, ExampleHMatrixEstimation.cpp, ExampleHomographyMapping.cpp, ExampleMeshFromImage.cpp, and HMatrixTest.cpp.

Definition at line 39 of file HMatrix.hh.

Constructor & Destructor Documentation

HMatrix::HMatrix ( )

Definition at line 36 of file HMatrix.cpp.

BIAS::HMatrix::HMatrix ( const MatrixInitType &  i)
inlineexplicit

Definition at line 44 of file HMatrix.hh.

HMatrix::HMatrix ( Matrix3x3< double >  Mat)

Definition at line 40 of file HMatrix.cpp.

BIAS::HMatrix::HMatrix ( const PMatrix &  P1,
const PMatrix &  P2,
const HomgPlane3D &  scenePlane = HomgPlane3D(0,0,0,1) 
)
inline

homography induced by a plane (e.g.

infinite homography)

Author
koeser 06/2008

Definition at line 51 of file HMatrix.hh.

HMatrix::~HMatrix ( )

Definition at line 51 of file HMatrix.cpp.

Member Function Documentation

int HMatrix::ComposeAffineMatrixRLeft ( Matrix2x2< double > &  A,
const Matrix2x2< double > &  phi,
const Matrix2x2< double > &  theta,
const double &  d1,
const double &  d2 
)
static

compose affine matrix from rotations and nonisotropic scalings

if result=0 then A = theta * phi^-1 * d * phi where theta and phi must be rotation matrices

Author
koeser 10/2007

Definition at line 280 of file HMatrix.cpp.

References BIAS::Matrix2x2< T >::Invert(), and BIAS::MatrixZero.

int HMatrix::ComposeAffineMatrixRRight ( Matrix2x2< double > &  A,
const Matrix2x2< double > &  phi,
const Matrix2x2< double > &  theta,
const double &  d1,
const double &  d2 
)
static

compose affine matrix from rotations and nonisotropic scalings

if result=0 then A = phi^-1 * d * phi * theta where theta and phi must be rotation matrices

Author
koeser 10/2007

Definition at line 292 of file HMatrix.cpp.

References BIAS::Matrix2x2< T >::Invert(), and BIAS::MatrixZero.

double HMatrix::ComputeLinearizationError ( const HomgPoint2D &  x0,
const HomgPoint2D &  y 
) const

compute distance between y mapped with homography or first order taylor approximation at development point x0 in pixel

Examples:
EvaluateAlignment.cpp.

Definition at line 332 of file HMatrix.cpp.

References GetLinearized(), BIAS::HomgPoint2D::Homogenize(), and BIAS::Vector3< T >::NormL2().

int HMatrix::FactorizeAffineMatrixRLeft ( const Matrix2x2< double > &  A,
Matrix2x2< double > &  phi,
Matrix2x2< double > &  theta,
double &  d1,
double &  d2 
)
static

decompose affine matrix into rotations and nonisotropic scalings

if result=0 then A = theta * phi^-1 * d * phi where theta and phi are rotation matrices

Author
koeser 05/2007

Definition at line 248 of file HMatrix.cpp.

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

int HMatrix::FactorizeAffineMatrixRRight ( const Matrix2x2< double > &  A,
Matrix2x2< double > &  phi,
Matrix2x2< double > &  theta,
double &  d1,
double &  d2 
)
static

decompose affine matrix into rotations and nonisotropic scalings

if result=0 then A = phi^-1 * d * phi * theta where theta and phi are rotation matrices

Author
koeser 05/2007

Definition at line 262 of file HMatrix.cpp.

References BIAS::SVD::Compute(), BIAS::SVD::GetS(), BIAS::SVD::GetU(), BIAS::SVD::GetVT(), and BIAS::Matrix< T >::Transpose().

Referenced by BIAS::LocalAffineFrame::Draw().

void BIAS::Matrix3x3< HMATRIX_TYPE >::GetAbsMaxMin ( HMATRIX_TYPE &  max,
HMATRIX_TYPE &  min 
) const
inherited
Author
woelk 11/2007 (c) www.vision-n.de
void BIAS::Matrix3x3< HMATRIX_TYPE >::GetColumn ( const unsigned int  col,
Vector3< HMATRIX_TYPE > &  r 
) const
inherited

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

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

Definition at line 202 of file Matrix3x3.hh.

HMATRIX_TYPE * BIAS::Matrix3x3< HMATRIX_TYPE >::GetData ( )
inlineinherited
Author
woelk 11/2007 (c) www.vision-n.de

Definition at line 99 of file Matrix3x3.hh.

const HMATRIX_TYPE * BIAS::Matrix3x3< HMATRIX_TYPE >::GetData ( ) const
inlineinherited
Author
woelk 11/2007 (c) www.vision-n.de

Definition at line 103 of file Matrix3x3.hh.

HMATRIX_TYPE BIAS::Matrix3x3< HMATRIX_TYPE >::GetDeterminant ( ) const
inherited

returns the Determinant |A| of this

Author
grest
int BIAS::Matrix3x3< HMATRIX_TYPE >::GetInverse ( Matrix3x3< HMATRIX_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
Examples:
EvaluateAlignment.cpp, and ExampleHomographyMapping.cpp.
void HMatrix::GetJacobian ( const HomgPoint2D &  x,
Matrix< double > &  Jac 
) const

returns jacobian of H: R^2 –> R^2

H as a mapping of 2D to 2D is not a linear mapping, because of the nonlinear homogenization. This function returns the 2x2 Jacobian matrix at the point x. You have to pass homogenized points and a correctly sized jacobian

Parameters
xhomogenized point (real point in R^2) for the jacobian
Jac(output) 2x2 jacobian at x
Author
koeser 04/2005

Definition at line 190 of file HMatrix.cpp.

References BIAS::Matrix< T >::GetCols(), BIAS::Matrix< T >::GetRows(), BIAS::HomgPoint2D::IsHomogenized(), and BIAS::Matrix< T >::SetZero().

Referenced by BIAS::LocalAffineFrame::GetHomographyTransformed(), GetLinearized(), and BIAS::TrackerBaseAffine< StorageType >::TrackAffine_().

HMatrix HMatrix::GetLinearized ( const HomgPoint2D &  x) const

returns 1st order Taylor expansion of homography at x

Author
koeser 06/2008
Examples:
EvaluateAlignment.cpp.

Definition at line 55 of file HMatrix.cpp.

References GetJacobian(), BIAS::HomgPoint2D::Homogenize(), and BIAS::MatrixZero.

Referenced by ComputeLinearizationError().

double HMatrix::GetMappedError ( const BIAS::HomgPoint2D &  PointPicOne,
const BIAS::HomgPoint2D &  PointPicTwo 
) const
Returns
the squared distance between the mapped point from the first picture and the measured point in the second picture
Author
mdunad 02 2004

Definition at line 179 of file HMatrix.cpp.

References BIAS::HomgPoint2D::Homogenize().

void HMatrix::GetMappedRange ( const unsigned int  OrigWidth,
const unsigned int  OrigHeight,
BIAS::Vector2< double > &  corner,
double &  sizeWidth,
double &  sizeHeight 
) const

maps the rectangle (0,0),(OrigWidth,OrigHeight) with this H and computes mapped range as corner + size.

JW 07/2003

Definition at line 135 of file HMatrix.cpp.

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

HMATRIX_TYPE BIAS::Matrix3x3< HMATRIX_TYPE >::GetMax ( ) const
inherited
Author
woelk 11/2007 (c) www.vision-n.de
void BIAS::Matrix3x3< HMATRIX_TYPE >::GetMaxMin ( HMATRIX_TYPE &  max,
HMATRIX_TYPE &  min 
) const
inherited

return biggest and smallest entry

Author
woelk 08/2004
HMATRIX_TYPE BIAS::Matrix3x3< HMATRIX_TYPE >::GetMin ( ) const
inherited
Author
woelk 11/2007 (c) www.vision-n.de
unsigned BIAS::Matrix3x3< HMATRIX_TYPE >::GetNumElements ( ) const
inlineinherited
Author
woelk 11/2007 (c) www.vision-n.de

Definition at line 107 of file Matrix3x3.hh.

double HMatrix::GetReprojectionError ( std::vector< BIAS::HomgPoint2D > &  p1,
std::vector< BIAS::HomgPoint2D > &  p2 
)

compute reprojection error for both vectors of HomgPoint2D

Computes sum of squared distances of projected points to real ones in both directions

Author
sedlazeck 05/2008

Definition at line 303 of file HMatrix.cpp.

References BIAS::HomgPoint2D::DistanceSquared(), BIAS::HomgPoint2D::Homogenize(), and BIAS::Matrix3x3< T >::InvertIP().

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

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

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

Definition at line 196 of file Matrix3x3.hh.

int BIAS::Matrix3x3< HMATRIX_TYPE >::InvertIP ( )
inherited

In place matrix conversion.

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

Author
woelk 07/2005
bool BIAS::Matrix3x3< HMATRIX_TYPE >::IsIdentity ( const HMATRIX_TYPE  eps = std::numeric_limits<T>::epsilon()) const
inherited
Author
woelk 12/2007 (c) www.vision-n.de
bool BIAS::Matrix3x3< HMATRIX_TYPE >::IsZero ( const HMATRIX_TYPE  eps = std::numeric_limits<T>::epsilon()) const
inherited
Author
woelk 11/2007 (c) www.vision-n.de
bool BIAS::Matrix3x3< HMATRIX_TYPE >::Load ( const std::string &  fname)
inherited
Examples:
ExampleHomographyMapping.cpp.
void BIAS::Matrix3x3< HMATRIX_TYPE >::MakeSymmetric ( )
inherited
Author
woelk 11/2007 (c) www.vision-n.de
void HMatrix::MapAcrossPlane ( const PMatrix &  P1,
const PMatrix &  P2,
const HomgPlane3D &  scenePlane = HomgPlane3D(0,0,0,1) 
)

Set (*this) to map coordinates from camera p1 to p2 using the given scene plane.

Infinite homography by default.

Author
koeser 06/2008
Examples:
EvaluateAlignment.cpp.

Definition at line 81 of file HMatrix.cpp.

References BIAS::PMatrix::GetC(), BIAS::PMatrix::GetK(), BIAS::PMatrix::GetR(), BIAS::HomgPoint3D, BIAS::KMatrix::Invert(), BIAS::Vector3< T >::NormL2(), BIAS::Vector4< T >::NormL2(), BIAS::Vector3< T >::OuterProduct(), BIAS::Vector3< T >::ScalarProduct(), and BIAS::Matrix3x3< T >::Transpose().

void BIAS::Matrix3x3< HMATRIX_TYPE >::Mult ( const Vector3< HMATRIX_TYPE > &  argvec,
Vector3< HMATRIX_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)
void BIAS::Matrix3x3< HMATRIX_TYPE >::Mult ( const Matrix3x3< HMATRIX_TYPE > &  argmat,
Matrix3x3< HMATRIX_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< HMATRIX_TYPE >::Mult ( const Matrix3x4< HMATRIX_TYPE > &  argmat,
Matrix3x4< HMATRIX_TYPE > &  destmat 
) const
inherited
Author
woelk 06 2003
HMATRIX_TYPE BIAS::Matrix3x3< HMATRIX_TYPE >::Normalize ( )
inherited

divide this by biggest absolute entry, returns biggest entry

Author
woelk 11/2007 (c) www.vision-n.de
double BIAS::Matrix3x3< HMATRIX_TYPE >::NormFrobenius ( ) const
inlineinherited
Author
woelk 11/2007 (c) www.vision-n.de
HMATRIX_TYPE BIAS::Matrix3x3< HMATRIX_TYPE >::NormL1 ( ) const
inlineinherited
double BIAS::Matrix3x3< HMATRIX_TYPE >::NormL2 ( ) const
inlineinherited

Definition at line 255 of file Matrix3x3.hh.

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

Definition at line 274 of file Matrix3x3.hh.

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

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

Definition at line 143 of file Matrix3x3.hh.

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

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

Matrix3x3<HMATRIX_TYPE >& BIAS::Matrix3x3< HMATRIX_TYPE >::operator+= ( const Matrix3x3< HMATRIX_TYPE > &  arg)
inherited
Author
woelk 11/2007 (c) www.vision-n.de
Matrix3x3<HMATRIX_TYPE >& BIAS::Matrix3x3< HMATRIX_TYPE >::operator-= ( const Matrix3x3< HMATRIX_TYPE > &  arg)
inherited
Author
woelk 11/2007 (c) www.vision-n.de
Matrix3x3<HMATRIX_TYPE >& BIAS::Matrix3x3< HMATRIX_TYPE >::operator/= ( const HMATRIX_TYPE &  arg)
inherited
Author
woelk 11/2007 (c) www.vision-n.de
HMatrix & HMatrix::operator= ( const HMatrix &  mat)

Definition at line 44 of file HMatrix.cpp.

References BIAS::HMatrixBase::operator=().

bool BIAS::Matrix3x3< HMATRIX_TYPE >::operator== ( const Matrix3x3< HMATRIX_TYPE > &  arg) const
inherited
HMATRIX_TYPE * BIAS::Matrix3x3< HMATRIX_TYPE >::operator[] ( const unsigned  row)
inlineinherited
Author
woelk 11/2007 (c) www.vision-n.de

Definition at line 91 of file Matrix3x3.hh.

const HMATRIX_TYPE * BIAS::Matrix3x3< HMATRIX_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< HMATRIX_TYPE >::Save ( const std::string &  fname) const
inherited
void BIAS::Matrix3x3< HMATRIX_TYPE >::Scale ( const HMATRIX_TYPE &  scalar,
Matrix3x3< HMATRIX_TYPE > &  destmat 
) const
inlineinherited

scalar-matrix multiplication

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

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

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

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

with components (x, y, z)

void BIAS::Matrix3x3< HMATRIX_TYPE >::SetColumn ( const unsigned int  col,
const Vector3< HMATRIX_TYPE > &  c 
)
inherited
Author
woelk 11/2007 (c) www.vision-n.de
void BIAS::Matrix3x3< HMATRIX_TYPE >::SetFromColumnVectors ( const BIAS::Vector3< HMATRIX_TYPE > &  v0,
const BIAS::Vector3< HMATRIX_TYPE > &  v1,
const BIAS::Vector3< HMATRIX_TYPE > &  v2 
)
inherited

set this matrix from 3 vectors each representating a column

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

set this matrix from 3 vectors, each representating a row

void BIAS::Matrix3x3< HMATRIX_TYPE >::SetFromVector ( const TNT::Vector< HMATRIX_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< HMATRIX_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:
EvaluateAlignment.cpp.
void BIAS::Matrix3x3< HMATRIX_TYPE >::SetRow ( const unsigned int  row,
const Vector3< HMATRIX_TYPE > &  r 
)
inherited
Author
woelk 11/2007 (c) www.vision-n.de
void BIAS::Matrix3x3< HMATRIX_TYPE >::SetZero ( )
inlineinherited
Author
woelk 11/2007 (c) www.vision-n.de
HMATRIX_TYPE BIAS::Matrix3x3< HMATRIX_TYPE >::Trace ( ) const
inlineinherited

return the trace of the matrix

Author
woelk 04/2006

Definition at line 230 of file Matrix3x3.hh.

Matrix3x3<HMATRIX_TYPE > BIAS::Matrix3x3< HMATRIX_TYPE >::Transpose ( ) const
inherited

returns transposed matrix tested 12.06.2002

Author
Felix Woelk
Examples:
ExampleHomographyMapping.cpp.
void BIAS::Matrix3x3< HMATRIX_TYPE >::Transpose ( const Matrix3x3< HMATRIX_TYPE > &  arg)
inlineinherited

sets this as transposed arg, fw

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

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

Author
woelk 05/2003
void BIAS::Matrix3x3< HMATRIX_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

HMATRIX_TYPE BIAS::Matrix3x3< HMATRIX_TYPE >::Data_[9]
protectedinherited

Definition at line 282 of file Matrix3x3.hh.

The documentation for this class was generated from the following files:
Generated on Tue Feb 6 2018 02:01:58 for Basic Image AlgorithmS Library by   doxygen 1.8.5