Basic Image AlgorithmS Library
2.8.0
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describes a projective 3D -> 2D mapping in homogenous coordinates More...
#include <Base/Geometry/PMatrixBase.hh>
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 | 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 > ¶metrization, const enum E_ParametrizationType param_type) |
Compose a projection matrix using a parametrization. More... | |
Subscript | dim (Subscript d) const |
void | GaussJordan () |
use the Gauss Jordan Algrithm to transform the matrix to reduced row echelon form. More... | |
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... | |
initialize (M, N) | |
bool | IsIdentity (double eps=0.0) const |
Checks if the matrix a an identity. More... | |
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 |
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 | 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... | |
PMatrixBase & | 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) |
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 |
PMatrixBase & | operator= (const PMatrixBase &mat) |
T * | operator[] (Subscript i) |
const T * | operator[] (Subscript i) const |
PMatrixBase () | |
default constructor More... | |
PMatrixBase (const MatrixInitType &i) | |
constructor setting identity or zero More... | |
PMatrixBase (const std::string &s) | |
PMatrixBase (const PMatrixBase &A) | |
PMatrixBase (const Matrix3x4< PMATRIX_TYPE > &Amat_) | |
PMatrixBase (const Matrix< PMATRIX_TYPE > &Amat) | |
PMatrixBase (const Matrix3x3< PMATRIX_TYPE > &K, const Matrix3x3< PMATRIX_TYPE > &R, const Vector3< PMATRIX_TYPE > &C) | |
Take R, K, C and compose PMatrixBase. More... | |
PMatrixBase (const Matrix3x3< PMATRIX_TYPE > &R, const Vector3< PMATRIX_TYPE > &C) | |
assume K=Identity and compose P 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... | |
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 | 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... | |
virtual | ~PMatrixBase () |
destructor 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... | |
PMATRIX_TYPE | Normalize () |
Normalizes the matrix by the entry with the biggest absolute value by dividing all elements with this 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 | Load (const std::string &filename) |
method to load directly from a given filename. More... | |
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 | copy (const T *v) |
void | destroy () |
void | initialize (Subscript M, Subscript N) |
RMatrixBase | Parametrization2R_ (const Vector< double > ¶metrization, const enum E_ParametrizationType param_type) const |
void | set (const T &val) |
Protected Attributes | |
Subscript | m_ |
Subscript | mn_ |
Subscript | n_ |
T ** | row_ |
T ** | rowm1_ |
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) |
describes a projective 3D -> 2D mapping in homogenous coordinates
Matrix P is a 3x4 matrix (3 rows {Zeilen}, 4 columns{Spalten}) describing a mapping between a 3D projective point in space and the corresponding projective 2D point (in an image plane).
With R' = transpose of R, K = Kamera calibration matrix and C = Kamera center is: P = (K R' | -K R' C) This means that R is the rotation from camera to world coo, and R' = R.Transpose() the rotation from world to camera coo.
Only implementation very specific to PMatrix (and not valid for general matrices, e.g. like decomposition) should be implemented here.
Definition at line 74 of file PMatrixBase.hh.
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description of supported parametrization types
Enumerator | |
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AXIS_TIMES_ANGLE | |
AXIS_AND_ANGLE | |
EULER | |
QUATERNION |
Definition at line 166 of file PMatrixBase.hh.
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default constructor
Definition at line 79 of file PMatrixBase.hh.
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Definition at line 88 of file PMatrixBase.hh.
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Definition at line 93 of file PMatrixBase.hh.
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Definition at line 97 of file PMatrixBase.hh.
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Definition at line 218 of file PMatrixBase.hh.
References BIAS::Matrix< PMATRIX_TYPE >::GetData(), BIAS::Matrix< T >::GetData(), TNT::Matrix< T >::num_cols(), and TNT::Matrix< T >::num_rows().
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Take R, K, C and compose PMatrixBase.
Definition at line 201 of file PMatrixBase.hh.
References Compose().
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assume K=Identity and compose P
Definition at line 208 of file PMatrixBase.hh.
References Compose().
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destructor
Definition at line 120 of file PMatrixBase.hh.
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absolute values of all elements of the matrix (in place)
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addition function, storing data destination matrix
implementation
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Adds arg to this.
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computes the adjoint matrix
HomgPoint3D PMatrixBase::Backproject | ( | const HomgPoint2D & | x, |
double | mu = 1 |
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Back projects image point x to 3D space and returns ray on which the 3D space point lies.
Definition at line 164 of file PMatrixBase.cpp.
References BIAS::HomgPoint3D, and BIAS::Matrix3x3< T >::InvertIP().
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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.
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This method writes a matrix to a given file in binary format.
The file is not human read-/editable but provides full precision.
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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 | ||
) |
composes this from K, R and C using P = [ K R' | -K R' C ] with R' = transpose(R)
Definition at line 34 of file PMatrixBase.cpp.
References BIAS::Matrix3x3< T >::Mult(), BIAS::Vector3< T >::MultIP(), and BIAS::Matrix3x3< T >::TransposeIP().
Referenced by BIAS::PMatrix::Compose(), PMatrixBase(), BIAS::Covariance3Dto2D::Transform_(), and BIAS::Covariance3Dto2DHomg::Transform_().
void PMatrixBase::Compose | ( | const Matrix3x3< PMATRIX_TYPE > & | K, |
const Matrix3x3< PMATRIX_TYPE > & | R, | ||
const HomgPoint3D & | C | ||
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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 | ||
) |
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 | ||
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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 | ||
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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.
Definition at line 86 of file PMatrixBase.cpp.
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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=().
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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().
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division function, storing data destination matrix
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elementwise division function in place
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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
zero_others | Must be true, if all non-diagonal elements shall be set to zero |
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use the Gauss Jordan Algrithm to transform the matrix to reduced row echelon form.
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return biggest and smallest absolute values
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return a copy of column "col", zero based counting
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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) ...
Definition at line 185 of file Matrix.hh.
Referenced by BIAS::PMatrix::CheckDecomposition_(), BIAS::PMatrix::CheckSVD_(), PMatrixBase(), set_identity(), BIAS::PMatrix::XMLIn(), and BIAS::PMatrix::XMLOut().
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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.
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returns an matrix the same size as the matrix n and m with the largest elements taken from n or m
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Returns the maximum value of the matrix elements.
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return biggest and smallest entry
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Returns the mean value of the matrix elements.
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returns an matrix the same size as the matrix n and m with the smallest elements taken from n or m
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Returns the minimum value of the matrix elements.
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return a copy of row "row" of this matrix, zero based counting
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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.
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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!!!
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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)
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compute square system matrix dest = A^T * A
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.
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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=().
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Checks if the matrix a an identity.
I.e. all elements with index i==j are equal 1 and all others are zero.
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Checks if the matrix is a null matrix.
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Kronecker-product with matrix, result in dest.
Kronecker-product with matrix B, result in dest.
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method to load directly from a given filename.
internally using stream operator
Referenced by BIAS::PMatrix::Load().
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Loads a PMatrix from .ban file given by AddCameraKey and Time index.
int PMatrixBase::LoadBOG | ( | const std::string & | filename | ) |
Load a Daimler .bog fiel and compose a P matrix from it.
Definition at line 193 of file PMatrixBase.cpp.
References BIAS::LoadBogK(), BIAS::LoadBogRC(), and BIAS::Vector3< T >::LoadBogTC().
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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.
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. |
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matrix - vector multiplicate this matrix with Vector4, storing the result in destvec calculates: destvec = (this Matrix) * argvec
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matrix-matrix multiplication with Matrix4x4 storing the result in destmat
Definition at line 155 of file Matrix3x4.hh.
References BIAS::Matrix< T >::GetData().
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matrix multiplication, result is not allocated
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in Place matrix multiplication this is equal to M = M * arg, but faster
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matrix vector multiplication, result is not allocated
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multiplication function, storing data destination matrix
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in place multiplication function
Definition at line 448 of file Matrix.hh.
Referenced by BIAS::PMatrix::Normalize().
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matrix matrix multiplication for multiplication with the transpose of the given matrix, result=this*arg^T.
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in Place matrix multiplication this is equal to M = arg*M, but faster
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vector matrix multiplication result=arg*this.
PMatrixBase & PMatrixBase::newsize | ( | int | rows, |
int | cols | ||
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setting a new size different from 3x4 is not allowed for the fixed size P-Matrix overloads the general newsize from basec class
Definition at line 146 of file PMatrixBase.cpp.
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Definition at line 269 of file cmat.h.
Referenced by BIAS::Matrix< T >::Add(), BIAS::RegionMatcher::BilinearRegion(), BIAS::RegionMatcher::BilinearRegionColor3(), BIAS::ComputeCovariance(), BIAS::LDA::ComputeReductionMatrix(), BIAS::PCA::ComputeReductionMatrix(), BIAS::ContourBSplineShapeMatrix::ComputeRegularisationMatrix(), BIAS::ContourBSplineData::ComputeSplineMetricMatrix_(), BIAS::Matrix< T >::Conv(), BIAS::CamPoseCalib::CreateSecDMatrix_(), BIAS::Matrix< T >::Divide(), Eigenproblem_quadratic_matrix(), BIAS::CamPoseCalib::Estimate(), BIAS::TrackerBaseAffine< StorageType >::EvaluateResult_(), BIAS::TrackerBaseAffine2< StorageType >::EvaluateResult_(), BIAS::TrackerBaseInterface< StorageType >::EvaluateResult_(), BIAS::TrackerBaseInterface< StorageType >::Filter_ByMask(), BIAS::TrackerBaseInterface< StorageType >::Filter_BySeparableMask(), BIAS::TrackerBaseInterface< StorageType >::Filter_GradXSobel3x3(), BIAS::TrackerBaseInterface< StorageType >::Filter_GradYSobel3x3(), BIAS::TrackerBaseInterface< StorageType >::FilterLowpass_Binomial3x3(), BIAS::TrackerBaseInterface< StorageType >::FilterLowpass_ByMask(), BIAS::TrackerBaseInterface< StorageType >::FilterLowpass_BySeparableMask(), Fortran_Matrix_to_Matrix(), generalised_eigenvalue_matrix_solve(), BIAS::LDA::GenerateRandomTestData(), BIAS::SparseMatrix::GetAsDense(), BIAS::Random::GetMeanAndCovariance(), BIAS::PMatrixLinear::GetPEstSystemHom(), BIAS::PMatrixLinear::GetPEstSystemInHom(), BIAS::Matrix< T >::GetSystemMatrix(), BIAS::Kalman::Init(), BIAS::IteratedExtendedKalman::Init(), BIAS::SparseMatrix::Invert(), BIAS::SparseMatrix::InvertAndSolve(), BIAS::Matrix< T >::Kronecker(), Lapack_Cholesky_SymmetricPositiveDefinit(), BIAS::RegionMatcher::LinearRegionX(), BIAS::LevenbergMarquardtBase::LM_Compute(), BIAS::LevenbergMarquardtBase::LM_ComputeWithoutJacobian(), TNT::matmult(), BIAS::Matrix< T >::Mult(), BIAS::Matrix< T >::Multiply(), BIAS::Matrix< T >::MultiplyWithTransposeOf(), BIAS::MxArrToBIASMatrix(), BIAS::Matrix3x4< T >::newsize(), BIAS::Matrix4x4< T >::newsize(), BIAS::TextureTransformHomography::ParameterInversionJacobian(), BIAS::TextureTransformAffine::ParameterInversionJacobian(), BIAS::TextureTransformDisparity::ParameterInversionJacobian(), BIAS::TextureTransformDisplacement::ParameterInversionJacobian(), BIAS::TextureTransformRotation::ParameterInversionJacobian(), BIAS::TextureTransformEuclidian::ParameterInversionJacobian(), BIAS::TextureTransformAffine::ParameterJacobianBackward(), BIAS::TextureTransformHomography::ParameterJacobianBackward(), BIAS::TextureTransformDisparity::ParameterJacobianBackward(), BIAS::TextureTransformDisplacement::ParameterJacobianBackward(), BIAS::TextureTransformRotation::ParameterJacobianBackward(), BIAS::TextureTransformEuclidian::ParameterJacobianBackward(), BIAS::TextureTransformSimilar::ParameterJacobianBackward(), BIAS::TextureTransform::ParameterJacobianBackward(), BIAS::TextureTransformAffine::ParameterJacobianForward(), BIAS::TextureTransformHomography::ParameterJacobianForward(), BIAS::TextureTransformDisparity::ParameterJacobianForward(), BIAS::TextureTransformDisplacement::ParameterJacobianForward(), BIAS::TextureTransformRotation::ParameterJacobianForward(), BIAS::TextureTransformEuclidian::ParameterJacobianForward(), BIAS::TextureTransformSimilar::ParameterJacobianForward(), BIAS::TextureTransform::ParameterJacobianForward(), BIAS::IteratedExtendedKalman::Predict(), BIAS::Covariance3Dto2D::Project(), BIAS::Covariance3Dto2DHomg::Project(), BIAS::QRFrac(), BIAS::RegionMatcher::RegionMatcher(), BIAS::ContourBSplineShapeMatrix::SetShapeSpaceEuclidian(), BIAS::ContourBSplineShapeMatrix::SetShapeSpaceIdentity(), BIAS::ContourBSplineShapeMatrix::SetShapeSpaceMatrix(), BIAS::ContourBSplineShapeMatrix::SetShapeSpacePlanarAffin(), BIAS::ContourBSplineShapeMatrix::SetSubShapeSpaceZero(), BIAS::Matrix< T >::Sub(), BIAS::TrackerBaseAffine< StorageType >::TrackAffine_(), BIAS::MonteCarloTransform::Transform(), BIAS::UnscentedTransform::Transform(), BIAS::IteratedExtendedKalman::Update(), and BIAS::Tracker< StorageType, CalculationType >::Vector2FilterMask_().
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Normalizes the matrix by the entry with the biggest absolute value by dividing all elements with this one.
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Normalizes each coloumn to L_2 norm one.
Attention each column is normaized by its own scale!
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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
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Normalizes each row to L2 norm one.
Attention each row is normaized by its own scale!
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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
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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.
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Return the L1 norm: |a| + |b| + |c| + ...
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Return the L2 norm: a^2 + b^2 + c^2 + ...
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Definition at line 320 of file cmat.h.
Referenced by BIAS::Matrix< T >::Add(), BIAS::Matrix< T >::AddIP(), BIAS::ImageAlignment::Align(), BIAS::CamPoseCalib::ApplyCoVariances_(), BIAS::ImageAlignment::AutoAlign(), BIAS::TFTensorEstimation::Compute(), BIAS::SVD3x3::Compute(), BIAS::GaussHelmert::ComputeNormalSystem_(), BIAS::LDA::ComputeReductionMatrix(), BIAS::PCA::ComputeReductionMatrix(), BIAS::ContourBSplineShapeMatrix::ComputeRegularisationMatrix(), BIAS::PCA::ComputeScatter(), BIAS::UnscentedTransform::ComputeSigmaPoints_(), BIAS::LDA::ComputeWithinAndInterClassCovs(), BIAS::Matrix< T >::Conv(), BIAS::Matrix< T >::Divide(), BIAS::Matrix< T >::DivideElementwise(), Eigenproblem_quadratic_matrix(), Eigenvalue_solve(), BIAS::CamPoseCalib::Estimate(), Fortran_Matrix_to_Matrix(), General_singular_value_decomposition(), generalised_eigenvalue_matrix_solve(), BIAS::CamPoseCalib::GetCov(), BIAS::CamPoseCalib::GetCoVarMatrix(), BIAS::SVD::GetNullvector(), BIAS::Matrix< T >::Kronecker(), Lapack_Cholesky_SymmetricPositiveDefinit(), Lapack_LLS_QR_linear_solve(), Lapack_LU_linear_solve(), Lapack_WLLS_solve(), TNT::matmult(), BIAS::Matrix2x2< T >::Matrix2x2(), BIAS::Matrix3x3< T >::Matrix3x3(), BIAS::Matrix4x4< T >::Matrix4x4(), BIAS::Matrix< T >::Mult(), TNT::mult_element(), BIAS::Matrix< T >::Multiply(), BIAS::Matrix< T >::MultiplyWithTransposeOf(), TNT::Matrix< BIAS::BIAS::Vector< int > >::newsize(), BIAS::TrackerBaseInterface< StorageType >::NormalizeRegion_(), BIAS::Vector< T >::operator*(), BIAS::Vector3< T >::operator*(), BIAS::Vector4< T >::operator*(), TNT::Matrix< T >::operator+(), TNT::Matrix< T >::operator-(), BIAS::Matrix3x4< T >::operator=(), BIAS::Matrix4x4< T >::operator=(), BIAS::PMatrix::PMatrix(), PMatrixBase(), BIAS::CovTransformPose::PoseEulerZYXToQuat(), BIAS::CovTransformPose::PoseQuatToEulerZYX(), BIAS::IteratedExtendedKalman::Predict(), BIAS::Covariance3Dto2DHomg::Project(), BIAS::RMatrix::RMatrix(), BIAS::RMatrixBase::RMatrixBase(), BIAS::Matrix< T >::Set(), BIAS::RParametrization::SetCovarianceMatrix(), BIAS::PoseParametrization::SetCovarianceMatrix(), BIAS::EParametrization::SetCovarianceMatrix(), BIAS::LocalAffineFrame::SetFromMatrix(), BIAS::IteratedExtendedKalman::SetProcessCov(), BIAS::ContourBSplineShapeMatrix::SetShapeSpaceMatrix(), BIAS::IteratedExtendedKalman::SetState(), BIAS::ContourBSplineShapeMatrix::SetSubShapeSpaceZero(), BIAS::GaussHelmert::Solve(), BIAS::LeastSquaresSVD::Solve(), BIAS::SVD::Solve(), BIAS::CamPoseCalib::SolveLM_(), BIAS::ImageAlignment::StrictPyramidAlign(), BIAS::Matrix< T >::Sub(), BIAS::Matrix< T >::SubIP(), BIAS::SymmetricMatrix3x3< T >::SymmetricMatrix3x3(), BIAS::TrackerBaseAffine< StorageType >::TrackAffine_(), BIAS::MonteCarloTransform::Transform(), BIAS::UnscentedTransform::Transform(), BIAS::CovTransformPose::TransformPoint3D(), BIAS::CovTransformPose::TransformPose(), TNT::transpose(), BIAS::Kalman::Update(), BIAS::IteratedExtendedKalman::Update(), and Upper_symmetric_eigenvalue_solve().
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Definition at line 319 of file cmat.h.
Referenced by BIAS::Matrix< T >::Add(), BIAS::Matrix< T >::AddIP(), BIAS::ImageAlignment::Align(), BIAS::ImageAlignment::AutoAlign(), BIAS::SVD3x3::Compute(), BIAS::ImageBlender::ComputeCylCamGeometry(), BIAS::ImageBlenderIncremental::ComputeCylCamGeometry_(), BIAS::LDA::ComputeReductionMatrix(), BIAS::PCA::ComputeReductionMatrix(), BIAS::ContourBSplineShapeMatrix::ComputeRegularisationMatrix(), BIAS::PCA::ComputeScatter(), BIAS::UnscentedTransform::ComputeSigmaPoints_(), BIAS::LDA::ComputeWithinAndInterClassCovs(), BIAS::Matrix< T >::Conv(), BIAS::Matrix< T >::Divide(), BIAS::Matrix< T >::DivideElementwise(), Eigenproblem_quadratic_matrix(), Eigenvalue_solve(), BIAS::CamPoseCalib::Estimate(), Fortran_Matrix_to_Matrix(), General_singular_value_decomposition(), generalised_eigenvalue_matrix_solve(), BIAS::CamPoseCalib::GetCov(), BIAS::CamPoseCalib::GetCoVarMatrix(), BIAS::SVD::GetLeftNullvector(), BIAS::Kalman::Init(), BIAS::IteratedExtendedKalman::Init(), BIAS::Matrix< T >::Kronecker(), Lapack_Cholesky_SymmetricPositiveDefinit(), Lapack_LLS_QR_linear_solve(), Lapack_LU_linear_solve(), Lapack_WLLS_solve(), TNT::matmult(), BIAS::Matrix2x2< T >::Matrix2x2(), BIAS::Matrix3x3< T >::Matrix3x3(), BIAS::Matrix4x4< T >::Matrix4x4(), BIAS::Matrix< T >::Mult(), TNT::mult_element(), BIAS::Matrix< T >::Multiply(), BIAS::Matrix< T >::MultiplyWithTransposeOf(), BIAS::Matrix< T >::MultLeft(), TNT::Matrix< BIAS::BIAS::Vector< int > >::newsize(), BIAS::TrackerBaseInterface< StorageType >::NormalizeRegion_(), BIAS::Vector< T >::operator*(), BIAS::Vector3< T >::operator*(), BIAS::Vector4< T >::operator*(), TNT::Matrix< T >::operator+(), TNT::Matrix< T >::operator-(), BIAS::Matrix3x4< T >::operator=(), BIAS::Matrix4x4< T >::operator=(), BIAS::PMatrix::PMatrix(), PMatrixBase(), BIAS::CovTransformPose::PoseEulerZYXToQuat(), BIAS::CovTransformPose::PoseQuatToEulerZYX(), BIAS::IteratedExtendedKalman::Predict(), BIAS::RMatrix::RMatrix(), BIAS::RMatrixBase::RMatrixBase(), BIAS::Matrix< T >::Set(), BIAS::RParametrization::SetCovarianceMatrix(), BIAS::PoseParametrization::SetCovarianceMatrix(), BIAS::EParametrization::SetCovarianceMatrix(), BIAS::LocalAffineFrame::SetFromMatrix(), BIAS::IteratedExtendedKalman::SetProcessCov(), BIAS::ContourBSplineShapeMatrix::SetShapeSpaceMatrix(), BIAS::IteratedExtendedKalman::SetState(), BIAS::ContourBSplineShapeMatrix::SetSubShapeSpaceZero(), BIAS::GaussHelmert::Solve(), BIAS::LeastSquaresSVD::Solve(), BIAS::SVD::Solve(), BIAS::CamPoseCalib::SolveLM_(), SquaredMahalanobisDistance(), BIAS::ImageAlignment::StrictPyramidAlign(), BIAS::Matrix< T >::Sub(), BIAS::Matrix< T >::SubIP(), BIAS::SymmetricMatrix3x3< T >::SymmetricMatrix3x3(), BIAS::TrackerBaseAffine2< StorageType >::TrackAffine_(), BIAS::MonteCarloTransform::Transform(), BIAS::UnscentedTransform::Transform(), BIAS::CovTransformPose::TransformPoint3D(), BIAS::CovTransformPose::TransformPose(), TNT::transpose(), BIAS::Kalman::Update(), BIAS::IteratedExtendedKalman::Update(), Upper_symmetric_eigenvalue_solve(), and BIAS::LeastSquaresLapack::WeightedSolve().
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Definition at line 233 of file PMatrixBase.hh.
References BIAS::Matrix< T >::operator=().
Referenced by BIAS::PMatrix::operator=().
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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 BIAS::PMatrix::Compose().
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method to save directly to a given filename.
internally using stream operator
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Scales column NoCol with scale.
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Scales row NoRow with scale.
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Definition at line 152 of file cmat.h.
Referenced by TNT::Matrix< BIAS::BIAS::Vector< int > >::operator=().
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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
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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
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Convert the PMatrixBase to 'identity' matrix, overriding the Matrix3x4 method: 1 0 0 0 0 1 0 0 0 0 1 0.
Definition at line 212 of file PMatrixBase.hh.
References BIAS::Matrix< PMATRIX_TYPE >::GetData().
Referenced by BIAS::PMatrixEstimation::InitP1P2Trans().
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set a col of matrix from vector
void PMatrixBase::SetFromVector | ( | const Vector< PMATRIX_TYPE > & | vals | ) |
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().
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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 (!)
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set a row of matrix from vector
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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]
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sets a 3x3 submatrix in this.
Start index in this is [startRowInThis][startColInThis] end index is [startRowInThis+2][startColInThis+2].
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sets a 3x1 submatrix in this.
Start index in this is [startRowInThis][startColInThis] end index is [startRowInThis+2][startColInThis].
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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.
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Definition at line 212 of file cmat.h.
Referenced by Eigenproblem_quadratic_matrix(), BIAS::Random::GetMeanAndCovariance(), BIAS::Matrix< T >::operator==(), and BIAS::IteratedExtendedKalman::SetState().
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substraction function, storing data destination matrix
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Subtracts arg from this
this -= arg.
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swaps two rows
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transpose function, storing data destination matrix
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vec-operator returns the elements of the matrix columwise as vector
vec-operator returns the elements of the matrix columnwise as vector
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Write the matrix in Matlab format to the given stream.
name | Is the name of the Matlab variable |
Definition at line 842 of file cmat.h.
References TNT::matmult().
Definition at line 915 of file cmat.h.
References TNT::matmult().
Definition at line 730 of file cmat.h.
References TNT::Matrix< T >::num_cols(), and TNT::Matrix< T >::num_rows().
Definition at line 752 of file cmat.h.
References TNT::Matrix< T >::num_cols(), and TNT::Matrix< T >::num_rows().
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Definition at line 703 of file cmat.h.
References TNT::Matrix< T >::Read().
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Definition at line 711 of file cmat.h.
References TNT::Matrix< T >::Read().
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Definition at line 719 of file cmat.h.
References TNT::Matrix< T >::Read().
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Definition at line 84 of file cmat.h.
Referenced by TNT::Matrix< BIAS::BIAS::Vector< int > >::copy(), TNT::Matrix< BIAS::BIAS::Vector< int > >::destroy(), TNT::Matrix< BIAS::BIAS::Vector< int > >::dim(), TNT::Matrix< BIAS::BIAS::Vector< int > >::initialize(), TNT::Matrix< BIAS::BIAS::Vector< int > >::Matrix(), TNT::Matrix< BIAS::BIAS::Vector< int > >::num_rows(), TNT::Matrix< BIAS::BIAS::Vector< int > >::operator()(), TNT::Matrix< BIAS::BIAS::Vector< int > >::operator=(), TNT::Matrix< BIAS::BIAS::Vector< int > >::operator[](), and TNT::Matrix< BIAS::BIAS::Vector< int > >::set().
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Definition at line 86 of file cmat.h.
Referenced by TNT::Matrix< BIAS::BIAS::Vector< int > >::destroy(), TNT::Matrix< BIAS::BIAS::Vector< int > >::initialize(), TNT::Matrix< BIAS::BIAS::Vector< int > >::operator()(), and TNT::Matrix< BIAS::BIAS::Vector< int > >::size().
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Definition at line 85 of file cmat.h.
Referenced by TNT::Matrix< BIAS::BIAS::Vector< int > >::copy(), TNT::Matrix< BIAS::BIAS::Vector< int > >::destroy(), TNT::Matrix< BIAS::BIAS::Vector< int > >::dim(), TNT::Matrix< BIAS::BIAS::Vector< int > >::initialize(), TNT::Matrix< BIAS::BIAS::Vector< int > >::Matrix(), TNT::Matrix< BIAS::BIAS::Vector< int > >::num_cols(), TNT::Matrix< BIAS::BIAS::Vector< int > >::operator()(), TNT::Matrix< BIAS::BIAS::Vector< int > >::operator=(), and TNT::Matrix< BIAS::BIAS::Vector< int > >::set().
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Definition at line 88 of file cmat.h.
Referenced by TNT::Matrix< BIAS::BIAS::Vector< int > >::destroy(), TNT::Matrix< BIAS::BIAS::Vector< int > >::initialize(), TNT::Matrix< BIAS::BIAS::Vector< int > >::Matrix(), BIAS::PMatrix::Normalize(), and TNT::Matrix< BIAS::BIAS::Vector< int > >::operator[]().
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Definition at line 90 of file cmat.h.
Referenced by TNT::Matrix< BIAS::BIAS::Vector< int > >::destroy(), TNT::Matrix< BIAS::BIAS::Vector< int > >::initialize(), and TNT::Matrix< BIAS::BIAS::Vector< int > >::operator()().
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Definition at line 87 of file cmat.h.
Referenced by TNT::Matrix< BIAS::BIAS::Vector< int > >::copy(), TNT::Matrix< BIAS::BIAS::Vector< int > >::destroy(), TNT::Matrix< BIAS::BIAS::Vector< int > >::initialize(), TNT::Matrix< BIAS::BIAS::Vector< int > >::Matrix(), BIAS::AffineTransf::Mult(), BIAS::AffineTransf::operator=(), TNT::Matrix< BIAS::BIAS::Vector< int > >::operator=(), TNT::Matrix< BIAS::BIAS::Vector< int > >::set(), and BIAS::AffineTransf::SetAsRotationMatrix().
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Definition at line 89 of file cmat.h.
Referenced by TNT::Matrix< BIAS::BIAS::Vector< int > >::initialize(), and TNT::Matrix< BIAS::BIAS::Vector< int > >::operator()().