Basic Image AlgorithmS Library
2.8.0
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class representing a Fundamental matrix More...
#include <Geometry/FMatrix.hh>
Public Member Functions | |
void | AddDebugLevel (const long int lv) |
void | AddDebugLevel (const std::string &name) |
void | Compose (const KMatrix &K1, const RMatrixBase &R1, const Vector3< double > &C1, const KMatrix &K2, const RMatrixBase &R2, const Vector3< double > &C2) |
constructs the FMatrix from image 1 to image 2 as K1 [e]_x R K2 More... | |
void | Compose (const RMatrixBase &R1, const Vector3< double > &C1, const RMatrixBase &R2, const Vector3< double > &C2) |
constructs the FMatrix from image 1 to image 2 as [e]_x R, assumes K1=K2=Identity() More... | |
void | ComputeFromPMatrices (BIAS::PMatrix &P1, BIAS::PMatrix &P2) |
computes an F matrix from two cameras (defined by arbitrary P matrices, not only metric ones) More... | |
bool | DebugLevelIsSet (const long int lv) const |
bool | DebugLevelIsSet (const std::string &name) const |
void | DecomposetoSR (BIAS::Matrix3x3< double > &skew_matrix, BIAS::Matrix3x3< double > &rank3_matrix) |
Decomposes f matrix to product (skew)(rank3) More... | |
FMatrix () | |
FMatrix (const MatrixInitType &i) | |
FMatrix (const FMatrix &f) | |
FMatrix (const FMatrixBase &f) | |
FMatrix (const Matrix3x3< FMATRIX_TYPE > &f) | |
FMatrix (BIAS::PMatrix &P1, BIAS::PMatrix &P2) | |
computes an F matrix from two cameras (defined by arbitrary P matrices, not only metric ones) More... | |
void | GetAbsMaxMin (FMATRIX_TYPE &max, FMATRIX_TYPE &min) const |
void | GetColumn (const unsigned int col, Vector3< FMATRIX_TYPE > &r) const |
extract one column ('Spalte') from this matrix (for convenience) More... | |
BIAS::Vector3< FMATRIX_TYPE > | GetColumn (const unsigned int col) const |
double | GetCosAngleErrorHomogenized (const BIAS::HomgPoint2D &p1, const BIAS::HomgPoint2D &p2) |
returns the cosine of the angle bewteen epipolar line and match line More... | |
FMATRIX_TYPE * | GetData () |
const FMATRIX_TYPE * | GetData () const |
int | GetDebugLevel () const |
std::ostream & | GetDebugStream () const |
void | GetDebugStream (std::ostream &os) const |
FMATRIX_TYPE | GetDeterminant () const |
returns the Determinant |A| of this More... | |
double | GetEpipolarError (BIAS::HomgPoint2D &P1, BIAS::HomgPoint2D &P2) |
computes error in epipolar geometry for the given correspondence P1,P2 using above function after homogenizing the points More... | |
double | GetEpipolarErrorHomogenized (const BIAS::HomgPoint2D &P1, const BIAS::HomgPoint2D &P2) const |
computes error in epipolar geometry for the given correspondence P1;P2 More... | |
HomgLine2D | GetEpipolarLineImage1 (const HomgPoint2D &point) const |
Returns epipolar line in image 1 for point in image 2. More... | |
void | GetEpipolarLineImage1 (const HomgPoint2D &point, HomgLine2D &homline) const |
Returns epipolar line in image 1 for point in image 2. More... | |
HomgLine2D | GetEpipolarLineImage2 (const HomgPoint2D &point) const |
Returns epipolar line in image 2 for point in image 1. More... | |
void | GetEpipolarLineImage2 (const HomgPoint2D &point, HomgLine2D &homline) const |
Returns epipolar line in image 2 for point in image 1. More... | |
int | GetEpipoles (HomgPoint2D &Epipole1, HomgPoint2D &Epipole2) const |
Computes the epipoles from this F Matrix. More... | |
void | GetEpipolesHomogenized (HomgPoint2D &E1, HomgPoint2D &E2) const |
same as above, additionally homogenizes epipoles More... | |
int | GetInverse (Matrix3x3< FMATRIX_TYPE > &inv) const |
Matrix inversion: inverts this and stores resulty in argument inv. More... | |
FMATRIX_TYPE | GetMax () const |
void | GetMaxMin (FMATRIX_TYPE &max, FMATRIX_TYPE &min) const |
return biggest and smallest entry More... | |
FMATRIX_TYPE | GetMin () const |
unsigned | GetNumElements () const |
double | GetResidualError (const std::vector< BIAS::HomgPoint2D > &p1, const std::vector< BIAS::HomgPoint2D > &p2) |
returns residual error as in Zisserman p. More... | |
void | GetRow (const unsigned int row, Vector3< FMATRIX_TYPE > &r) const |
extract one row ('Zeile') from ths matrix (for convenience) More... | |
Vector3< FMATRIX_TYPE > | GetRow (const unsigned int row) const |
int | InvertIP () |
In place matrix conversion. More... | |
bool | IsIdentity (const FMATRIX_TYPEeps=std::numeric_limits< FMATRIX_TYPE >::epsilon()) const |
bool | IsValid () |
Returns true if all properties of the F-Matrix are correct, at the moment only rank 2 is checked. More... | |
bool | IsZero (const FMATRIX_TYPEeps=std::numeric_limits< FMATRIX_TYPE >::epsilon()) const |
bool | Load (const std::string &fname) |
void | MakeSymmetric () |
void | Mult (const Vector3< FMATRIX_TYPE > &argvec, Vector3< FMATRIX_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< FMATRIX_TYPE > &argmat, Matrix3x3< FMATRIX_TYPE > &destmat) const |
matrix-matrix multiplication with other Matrix3x3, storing the result in destmat calculates: destmat = (this mat) * argmat More... | |
void | Mult (const Matrix3x4< FMATRIX_TYPE > &argmat, Matrix3x4< FMATRIX_TYPE > &destmat) const |
long int | Name2DebugLevel (const std::string &name) const |
looks up a debuglevel in the internal map, returns 0 if not found More... | |
long int | NewDebugLevel (const std::string &name) |
creates a new debuglevel More... | |
FMATRIX_TYPE | Normalize () |
divide this by biggest absolute entry, returns biggest entry More... | |
double | NormFrobenius () const |
FMATRIX_TYPE | NormL1 () const |
double | NormL2 () const |
bool | operator!= (const Matrix3x3< FMATRIX_TYPE > &arg) const |
Matrix3x3< FMATRIX_TYPE > & | operator*= (const Matrix3x3< FMATRIX_TYPE > &arg) |
woelk 11/2007 (c) www.vision-n.de More... | |
Matrix3x3< FMATRIX_TYPE > & | operator*= (const FMATRIX_TYPE &arg) |
woelk 11/2007 (c) www.vision-n.de More... | |
Matrix3x3< FMATRIX_TYPE > & | operator+= (const Matrix3x3< FMATRIX_TYPE > &arg) |
Matrix3x3< FMATRIX_TYPE > & | operator-= (const Matrix3x3< FMATRIX_TYPE > &arg) |
Matrix3x3< FMATRIX_TYPE > & | operator/= (const FMATRIX_TYPE &arg) |
FMatrix & | operator= (const FMatrix &f) |
FMatrix & | operator= (const Matrix3x3< FMATRIX_TYPE > &f) |
bool | operator== (const Matrix3x3< FMATRIX_TYPE > &arg) const |
FMATRIX_TYPE * | operator[] (const unsigned row) |
const FMATRIX_TYPE * | operator[] (const unsigned row) const |
void | PrintDebugLevel (std::ostream &os=std::cout) const |
void | RemoveDebugLevel (const long int lv) |
void | RemoveDebugLevel (const std::string &name) |
bool | Save (const std::string &fname) const |
void | Scale (const FMATRIX_TYPE &scalar, Matrix3x3< FMATRIX_TYPE > &destmat) const |
scalar-matrix multiplication More... | |
void | Set (const Vector3< FMATRIX_TYPE > &epipole, const RMatrixBase &R) |
set it from epipole and rotation matrix in order to generate essential matrix from image 1 to image 2 (i.e. More... | |
void | Set (const Vector3< FMATRIX_TYPE > &epipole, const Vector3< FMATRIX_TYPE > &EulerAngXYZ) |
see constructor from epipole and rotation matrix builds rotation matrix in x, y, z order with moving axis see RMatrixBase More... | |
void | Set (RMatrixBase &R, Vector3< FMATRIX_TYPE > &C) |
set function, it is undocumented if this really works with the camer center C, I doubt it, woelk 12/2004 More... | |
void | SetAsCrossProductMatrix (const Vector3< FMATRIX_TYPE > &vec) |
Sets matrix from vector as cross product matrix of this vector. More... | |
void | SetAsCrossProductMatrix (const FMATRIX_TYPE &x, const FMATRIX_TYPE &y, const FMATRIX_TYPE &z) |
Sets matrix from vector as cross product matrix of a vector. More... | |
void | SetColumn (const unsigned int col, const Vector3< FMATRIX_TYPE > &c) |
void | SetDebugLevel (const long int lv) |
void | SetDebugLevel (const std::string &name) |
void | SetDebugStream (const std::ostream &os) |
void | SetFromColumnVectors (const BIAS::Vector3< FMATRIX_TYPE > &v0, const BIAS::Vector3< FMATRIX_TYPE > &v1, const BIAS::Vector3< FMATRIX_TYPE > &v2) |
set this matrix from 3 vectors each representating a column More... | |
void | SetFromRowVectors (const BIAS::Vector3< FMATRIX_TYPE > &v0, const BIAS::Vector3< FMATRIX_TYPE > &v1, const BIAS::Vector3< FMATRIX_TYPE > &v2) |
set this matrix from 3 vectors, each representating a row More... | |
void | SetFromVector (const TNT::Vector< FMATRIX_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< FMATRIX_TYPE > &r) |
void | SetZero () |
void | ShowDebugLevel (std::ostream &os=std::cout) const |
prints all internally known debuglevels More... | |
FMATRIX_TYPE | Trace () const |
return the trace of the matrix More... | |
Matrix3x3< FMATRIX_TYPE > | Transpose () const |
returns transposed matrix tested 12.06.2002 More... | |
void | Transpose (const Matrix3x3< FMATRIX_TYPE > &arg) |
sets this as transposed arg, fw More... | |
void | TransposedMult (const Vector3< FMATRIX_TYPE > &argvec, Vector3< FMATRIX_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... | |
~FMatrix () | |
Static Public Member Functions | |
static long int | GetGlobalDebugLevel () |
static void | SetGlobalDebugLevel (long int lev) |
Protected Member Functions | |
long | ConsumeNextFreeDebuglevel_ () |
returns the next available debuglevel More... | |
Protected Attributes | |
HomgPoint2D | _epipole |
bool | _isDecomposed |
long int | _liDebugLevel |
long int | _liNextDebugLevel |
new concept, debuglevel are managed here in the debug class More... | |
RMatrixBase | _R |
std::map< std::string, long int > | _String2Debuglevel |
FMATRIX_TYPE | Data_ [9] |
Static Protected Attributes | |
static std::ostream | _zDebugStream |
static long int | GlobalDebugLevel = 0 |
class representing a Fundamental matrix
A fundemantal matrix describes the orientation and position of two image planes. It can be used to estimate the epipolarline and to distinguish between mismatches and good matches
Definition at line 46 of file FMatrix.hh.
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Definition at line 49 of file FMatrix.hh.
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Definition at line 52 of file FMatrix.hh.
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Definition at line 55 of file FMatrix.hh.
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Definition at line 58 of file FMatrix.hh.
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Definition at line 60 of file FMatrix.hh.
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computes an F matrix from two cameras (defined by arbitrary P matrices, not only metric ones)
Definition at line 65 of file FMatrix.hh.
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Definition at line 68 of file FMatrix.hh.
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Definition at line 355 of file Debug.hh.
Referenced by BIAS::GLProjectionParametersBase::AddDebugLevel(), BIAS::Triangulation::CorrectCorrespondences(), BIAS::FilterBase< InputStorageType, OutputStorageType >::FilterBase(), BIAS::ShowCamWxVideoSourceFactory::OpenDevice(), and BIAS::SceneOpenSceneGraph::SceneOpenSceneGraph().
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constructs the FMatrix from image 1 to image 2 as K1 [e]_x R K2
Definition at line 92 of file FMatrixBase.cpp.
References BIAS::Matrix3x3< T >::GetInverse(), BIAS::Matrix3x3< T >::Mult(), and BIAS::Matrix3x3< T >::Transpose().
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constructs the FMatrix from image 1 to image 2 as [e]_x R, assumes K1=K2=Identity()
Definition at line 76 of file FMatrixBase.cpp.
References BIAS::HomgPoint2D::Homogenize(), BIAS::Matrix3x3< T >::Mult(), BIAS::Matrix3x3< T >::SetAsCrossProductMatrix(), and BIAS::Matrix3x3< T >::Transpose().
void FMatrix::ComputeFromPMatrices | ( | BIAS::PMatrix & | P1, |
BIAS::PMatrix & | P2 | ||
) |
computes an F matrix from two cameras (defined by arbitrary P matrices, not only metric ones)
Definition at line 38 of file FMatrix.cpp.
References BIAS::PMatrix::GetNullVector(), BIAS::PMatrix::GetPseudoInverse(), and BIAS::Vector3< T >::GetSkewSymmetricMatrix().
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Definition at line 341 of file Debug.hh.
Referenced by BIAS::GenSynthMatches::_AddUniformDistributedOutliers(), BIAS::GenSynthMatches::_CreateCamMovement(), BIAS::GenSynthMatches::_CreateStatic2DPoints(), BIAS::UnscentedTransform::ComputeSigmaPoints_(), BIAS::Triangulation::CorrectCorrespondences(), BIAS::GenSynthMatches::GetGTNormalizedF(), BIAS::MonteCarloTransform::GetSamples_(), and BIAS::MonteCarloTransform::Transform().
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void FMatrix::DecomposetoSR | ( | BIAS::Matrix3x3< double > & | skew_matrix, |
BIAS::Matrix3x3< double > & | rank3_matrix | ||
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Decomposes f matrix to product (skew)(rank3)
Definition at line 106 of file FMatrix.cpp.
References BIAS::Matrix3x3< T >::SetAsCrossProductMatrix().
Referenced by BIAS::PMatrixEstimation::FindClosestP2().
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extract one column ('Spalte') from this matrix (for convenience)
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Definition at line 202 of file Matrix3x3.hh.
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returns the cosine of the angle bewteen epipolar line and match line
Definition at line 302 of file FMatrixBase.hh.
References BIAS::FMatrixBase::_epipole, BIAS::FMatrixBase::_isDecomposed, BIAS::FMatrixBase::_R, BIAS::HomgLine2D::Homogenize(), BIAS::Matrix3x3< T >::Mult(), and BIAS::HomgLine2D::Set().
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Definition at line 99 of file Matrix3x3.hh.
Referenced by BIAS::FMatrixBase::GetEpipolarErrorHomogenized().
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Definition at line 103 of file Matrix3x3.hh.
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Definition at line 332 of file Debug.hh.
Referenced by BIAS::listenthread(), BIAS::Image< StorageType >::operator=(), and BIAS::ImageBase::operator=().
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returns the Determinant |A| of this
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computes error in epipolar geometry for the given correspondence P1,P2 using above function after homogenizing the points
Definition at line 167 of file FMatrixBase.hh.
References BIAS::HomgPoint2D::Homogenize().
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computes error in epipolar geometry for the given correspondence P1;P2
this error is the sum of squared distances to epipolar lines in both images, for inliers it should typically be of one or two pixels (if not-normalized pixel coordinates are used)
P1 | homogenized first point of correspondence to check |
P2 | homogenized second point of correspondence to check tested, optimized |
Definition at line 250 of file FMatrixBase.hh.
References BIAS::Matrix3x3< FMATRIX_TYPE >::GetData().
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Returns epipolar line in image 1 for point in image 2.
Definition at line 41 of file FMatrixBase.cpp.
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Returns epipolar line in image 1 for point in image 2.
Definition at line 48 of file FMatrixBase.cpp.
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Returns epipolar line in image 2 for point in image 1.
Definition at line 64 of file FMatrixBase.cpp.
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Returns epipolar line in image 2 for point in image 1.
Definition at line 70 of file FMatrixBase.cpp.
int FMatrix::GetEpipoles | ( | HomgPoint2D & | Epipole1, |
HomgPoint2D & | Epipole2 | ||
) | const |
Computes the epipoles from this F Matrix.
Definition at line 69 of file FMatrix.cpp.
References BIAS::SVD::GetLeftNullvector(), BIAS::SVD::GetNullvector(), BIAS::SVD::GetS(), BIAS::SVD::GetU(), BIAS::SVD::GetVT(), BIAS::Vector3< T >::Normalize(), BIAS::SVD::NullspaceDim(), BIAS::HomgPoint2D::Set(), and BIAS::Matrix< T >::SetIdentity().
Referenced by BIAS::PMatrixEstimation::ComputeFromFDirect(), BIAS::PMatrixEstimation::ComputeFromFQuasiEuklid(), BIAS::FMatrixEstimation::ComputeNormFParam(), BIAS::PMatrixEstimation::ComputeRotationCenter(), BIAS::Triangulation::CorrectCorrespondences(), and BIAS::FMatrixEstimation::GoldStandard().
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same as above, additionally homogenizes epipoles
Definition at line 83 of file FMatrix.hh.
References BIAS::HomgPoint2D::Homogenize().
Referenced by BIAS::FMatrixEstimation::Optimize().
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Matrix inversion: inverts this and stores resulty in argument inv.
Returns -1 if determinant is zero, 0 on success.
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return biggest and smallest entry
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Definition at line 107 of file Matrix3x3.hh.
double FMatrix::GetResidualError | ( | const std::vector< BIAS::HomgPoint2D > & | p1, |
const std::vector< BIAS::HomgPoint2D > & | p2 | ||
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returns residual error as in Zisserman p.
288
Definition at line 148 of file FMatrix.cpp.
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extract one row ('Zeile') from ths matrix (for convenience)
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Definition at line 196 of file Matrix3x3.hh.
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In place matrix conversion.
Returns -1 if determinant is zero, 0 on success.
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bool FMatrix::IsValid | ( | ) |
Returns true if all properties of the F-Matrix are correct, at the moment only rank 2 is checked.
Definition at line 127 of file FMatrix.cpp.
References BIAS::SVD::NullspaceDim().
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matrix - vector multiplicate this matrix with Vector3, storing the result in destvec calculates: destvec = (this Matrix) * argvec
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matrix-matrix multiplication with other Matrix3x3, storing the result in destmat calculates: destmat = (this mat) * argmat
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creates a new debuglevel
Definition at line 474 of file Debug.hh.
Referenced by BIAS::COSAC< SolutionType >::COSAC(), BIAS::ProjectionParametersPerspectiveDepth::Init(), BIAS::MonteCarloTransform::MonteCarloTransform(), BIAS::PMatrixEstimation::PMatrixEstimation(), BIAS::PreemptiveRANSAC< SolutionType >::PreemptiveRANSAC(), BIAS::RANSACPreKnowledge< SolutionType >::RANSACPreKnowledge(), BIAS::ROI::ROI(), BIAS::RotationAveraging::RotationAveraging(), BIAS::SceneOpenSceneGraph::SceneOpenSceneGraph(), BIAS::ThreeDOutOpenSceneGraph::ThreeDOutOpenSceneGraph(), BIAS::Triangulation::Triangulation(), and BIAS::UnscentedTransform::UnscentedTransform().
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divide this by biggest absolute entry, returns biggest entry
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Definition at line 255 of file Matrix3x3.hh.
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Definition at line 274 of file Matrix3x3.hh.
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woelk 11/2007 (c) www.vision-n.de
Definition at line 143 of file Matrix3x3.hh.
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woelk 11/2007 (c) www.vision-n.de
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Definition at line 120 of file FMatrix.cpp.
References BIAS::FMatrixBase::operator=().
Definition at line 98 of file FMatrix.hh.
References BIAS::Matrix3x3< T >::operator=().
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Definition at line 91 of file Matrix3x3.hh.
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Definition at line 95 of file Matrix3x3.hh.
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scalar-matrix multiplication
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set it from epipole and rotation matrix in order to generate essential matrix from image 1 to image 2 (i.e.
implementation
generating the epipolar line in image 2, gfiven a point in image 1), use epipole in second image and rotation matrix from image 1 to image 2
Definition at line 215 of file FMatrixBase.hh.
References BIAS::FMatrixBase::_epipole, BIAS::FMatrixBase::_isDecomposed, BIAS::FMatrixBase::_R, BIAS::HomgPoint2D::Homogenize(), BIAS::Matrix3x3< T >::Mult(), and BIAS::Matrix3x3< T >::SetAsCrossProductMatrix().
Referenced by BIAS::Parametrization::ParamsToEMatrix(), and BIAS::FMatrixBase::Set().
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see constructor from epipole and rotation matrix builds rotation matrix in x, y, z order with moving axis see RMatrixBase
Definition at line 227 of file FMatrixBase.hh.
References BIAS::FMatrixBase::Set(), and BIAS::RMatrixBase::SetXYZ().
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set function, it is undocumented if this really works with the camer center C, I doubt it, woelk 12/2004
Definition at line 235 of file FMatrixBase.hh.
References BIAS::Matrix3x3< T >::Transpose().
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Sets matrix from vector as cross product matrix of this vector.
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Sets matrix from vector as cross product matrix of a vector.
with components (x, y, z)
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Definition at line 318 of file Debug.hh.
Referenced by BIAS::ShowCamWxVideoSourceFactory::CreateBumbleBee(), BIAS::ShowCamWxVideoSourceFactory::CreateDCAM(), BIAS::VideoSource_MDcam::ScanBus(), BIAS::GLProjectionParametersBase::SetDebugLevel(), BIAS::VideoSource_Disk::VideoSource_Disk(), BIAS::VideoSource_DV2::VideoSource_DV2(), BIAS::VideoSource_DV::VideoSource_DV_Internal_Init_(), and BIAS::VideoSource_V4L::VideoSource_V4L().
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set this matrix from 3 vectors each representating a column
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set this matrix from 3 vectors, each representating a row
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sets the diagonalelements of this 3x3 Matrix rowwise with the values of the 9 (x1) vector
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set the elements of this matrix to the identity matrix (possibly overriding the inherited method)
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return the trace of the matrix
Definition at line 230 of file Matrix3x3.hh.
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returns transposed matrix tested 12.06.2002
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sets this as transposed arg, fw
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multiplies matrix from left with transposed argvec, resulting in transposed destvec
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tranpose this matrix "in place" example: 0 1 2 –> 0 3 6 3 4 5 –> 1 4 7 6 7 8 –> 2 5 8
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Definition at line 205 of file FMatrixBase.hh.
Referenced by BIAS::FMatrixBase::GetCosAngleErrorHomogenized(), and BIAS::FMatrixBase::Set().
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Definition at line 204 of file FMatrixBase.hh.
Referenced by BIAS::FMatrixBase::GetCosAngleErrorHomogenized(), and BIAS::FMatrixBase::Set().
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Definition at line 510 of file Debug.hh.
Referenced by BIAS::Debug::operator=(), and BIAS::ImageBase::operator=().
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new concept, debuglevel are managed here in the debug class
Definition at line 516 of file Debug.hh.
Referenced by BIAS::Debug::operator=().
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Definition at line 206 of file FMatrixBase.hh.
Referenced by BIAS::FMatrixBase::GetCosAngleErrorHomogenized(), and BIAS::FMatrixBase::Set().
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Definition at line 517 of file Debug.hh.
Referenced by BIAS::Debug::operator=().
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Definition at line 511 of file Debug.hh.
Referenced by BIAS::Debug::operator=().
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Definition at line 282 of file Matrix3x3.hh.
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