Transforms 3d points between two different coodinate systems, e.g. More...

#include <Geometry/CoordinateTransform3D.hh>

Inheritance diagram for BIAS::CoordinateTransform3D:

Collaboration diagram for BIAS::CoordinateTransform3D:

Public Member Functions
void	BecomeRelativeTransform (const CoordinateTransform3D &newLocal, const CoordinateTransform3D &newGlobal)
	Changes this coordinate transformation so that parameter newLocal becomes the local coordinate frame and parameter newGlobal becomes the global coordinate system. More...

void	ConcatenateLocalTransform (const CoordinateTransform3D &localT, CoordinateTransform3D &res) const
	Calculates transformation from global system of this instance to the local coordinate system of the given instance. More...

	CoordinateTransform3D ()
	Set identity transformation. More...

	CoordinateTransform3D (const CoordinateTransform3D &c)
	Copy constructor. More...

const Vector3< double > &	GetC () const
	Set origin of local coordinate system in global coordinates. More...

const Vector< double >	GetCQ () const
	Get orientation and origin of local coordinate system as a single vector containing first a 3d vector [c_x, c_y, c_z], then a unit quaternion [q_x, q_y, q_z, q_w]. More...

Matrix4x4< double >	GetGlobalToLocalTransform () const
	Get 4x4 matrix which transforms points in global coordinate system to homogeneous points in local coordinate system. More...

Matrix4x4< double >	GetLocalToGlobalTransform () const
	Get 4x4 matrix which transforms points in local coordinate system to homogeneous points in global coordinate system. More...

Matrix3x4< double >	GetMatrix3x4 () const
	Set rotation and translation from pose object. More...

Matrix4x4< double >	GetMatrix4x4 () const
	Get 4x4 matrix which transforms points in global coordinate system to homogeneous points in local coordinate system. More...

const Quaternion< double > &	GetQ () const
	Get orientation of local coordinate system as unit quaternion mapping from local coordinates to global coordinates. More...

BIAS::RMatrixBase	GetR () const
	Get orientation of local coordinate system as rotation matrix mapping from local coordinates to global coordinates. More...

const double &	GetScale () const
	Get the length of the local coordinate axes in the world coordinate frame. More...

HomgPoint3D	GlobalToLocal (const HomgPoint3D &X_G) const
	Transform point from world frame to local coordinate frame. More...

void	GlobalToLocal (HomgPoint3D &X_G, HomgPoint3DCov &Cov_G) const
	Transform point and its covariance matrix from world frame to local coordinate frame. More...

void	InvertIP ()
	Swaps the global and local coordinate frame. More...

bool	Load (const std::string &inputFile)
	Load 3d coordinate transformation from a text file. More...

HomgPoint3D	LocalToGlobal (const HomgPoint3D &X_L) const
	Transform point from local frame to world coordinate frame. More...

void	LocalToGlobal (HomgPoint3D &X_L, HomgPoint3DCov &Cov_L) const
	Transform point and its covariance matrix from local frame to world coordinate frame. More...

const CoordinateTransform3D &	operator= (const CoordinateTransform3D &c)
	Copy all elements of another instance. More...

void	RotateLocalFrame (const Quaternion< double > &Q)
	Applies the passed rotation to the orientation of the local frame. More...

bool	Save (const std::string &outputFile)
	Write 3d coordinate transformation to a text file. More...

virtual void	Set (const Quaternion< double > &Q, const Vector3< double > &C, const double &scale=1.0)
	Define local coordinate frame from within the world frame. More...

void	SetC (const Vector3< double > &C)
	Set origin of local coordinate system in global coordinates. More...

void	SetFromMatrix3x4 (const Matrix3x4< double > &M)
	Set 3x4 matrix which transforms points in global coordinate system to Euclidean points in local coordinate system. More...

void	SetQ (const Quaternion< double > &Q)
	Set orientation of local coordinate system from unit quaternion. More...

void	SetR (const BIAS::RMatrixBase &R)
	Set orientation of local coordinate system from rotation matrix. More...

virtual void	SetScale (const double &scale)
	Set the length of the local coordinate axes in the world coordinate frame. More...

void	Talk () const
	Prints this transformation with more intuitive rotation representation. More...

Protected Types
typedef const T *	const_iterator

typedef const T &	const_reference

typedef T	element_type

typedef T *	iterator

typedef T *	pointer

typedef T &	reference

typedef Subscript	size_type

typedef T	value_type

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

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

void	clear ()
	stl conform interface More...

void	copy (const T *v)

void	destroy ()

double	det () const
	calculate the determinant recursively using sub matrices of size 3x3 More...

Subscript	dim (Subscript d) const

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

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

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

void	initialize (Subscript M, Subscript N)

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

Subscript	lbound () const

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

void	Mult (const Matrix4x4< double > &argmat, Matrix4x4< double > &destmat) const
	matrix-matrix multiplication with other Matrix4x4, storing the result in destmat using 'manual inlining' More...

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

Matrix4x4 &	newsize (int rows, int cols)
	just neccessary to avoid resizing of this 'fixed size' matrix because it is derived from the resizable Matrix Should be removed if Matrix4x4 becomes a base class. More...

Subscript	num_cols () const

Subscript	num_rows () const

reference	operator() (Subscript i)

const_reference	operator() (Subscript i) const

reference	operator() (Subscript i, Subscript j)

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

T *	operator[] (Subscript i)

const T *	operator[] (Subscript i) const

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...

void	set (const T &val)

	set (value)

void	SetIdentity ()
	set the elements of this matrix to the identity matrix (posisbly overriding the inherited method) More...

Subscript	size () const

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

Matrix4x4	Transpose () const

void	TransposeIP ()
	tranpose this matrix "in place" example: 0 1 2 3 –> 0 4 8 12 4 5 6 7 –> 1 5 9 13 8 9 10 11 –> 2 6 10 14 12 13 14 15 –> 3 7 11 15 More...

virtual void	UpdateMatrix_ ()
	Computes the 4x4 transformation matrix from the currently set unit quaternion Q_ and translation vector C_. More...

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

const double *	GetData () const

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

double **	GetDataArray ()

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

unsigned int	GetRows () const

unsigned int	GetCols () const

const double *	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...

double *	GetDataLast ()

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

Vector< double >	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< double > &submatrix) const
	return a submatrix from this. More...

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

Matrix< double >	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< double > &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< double > &submatrix)
	sets a 3x3 submatrix in this. More...

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

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

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

void	Set (const int row, const int col, const Matrix< double > &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< double > &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< double > &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 (double &max, double &min) const
	return biggest and smallest entry More...

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

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

double	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...

double	Trace () const

double	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 double &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...

double	Normalize ()
	Normalizes the matrix by the entry with the biggest absolute value by dividing all elements with this one. More...

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

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

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

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

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

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

Protected Attributes
Vector3< double >	C_
	Specifies the translation from local to global coordinate frame. More...

Matrix4x4< double >	invTransform_
	Specifies the homogeneous matrix representation of the transformation from local to global coordinate frame. More...

Subscript	m_

Subscript	mn_

Subscript	n_

Quaternion< double >	Q_
	Specifies the rotation from local to global coordinate frame. More...

T **	row_

T **	rowm1_

double	scale_
	Specifies isometric scaling from local to global coordinate frame. More...

T *	v_

T *	vm1_

Friends
std::ostream &	operator<< (std::ostream &os, const CoordinateTransform3D &p)
	Write 3d coordinate transformation to stream. More...

std::istream &	operator>> (std::istream &is, CoordinateTransform3D &p)
	Read 3d coordinate transformation from stream. More...

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

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

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

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

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

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

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

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

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

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

Detailed Description

Transforms 3d points between two different coodinate systems, e.g.

   from camera to world coordinates using the camera pose.

We define a local coordinate system LCS (i.e. camera coordinate system) and a global coordinate system GCS (i.e. world coordinate system). The transformation from local to global coordinates is defined by matrix

         [                C_[0] ]                  <br>
         [   scale_*R     C_[1] ]                  <br>
   T  =  [                C_[2] ] = invTransform_  <br>
         [  0    0    0     1   ]                  <br>

This matrix converts a point X_L in LCS to its representation in GCS like

            X_G = T * X_L

R is the matrix equivalent to unit quaternion Q.

Obviously, X_L = T.Invert() * X_G

   T.invert() =  [   R^T/scale_      -R^T*C_/scale_ ] = (*this) <br>
                 [  0      0      0        1        ]           <br>

C is the origin of the local coordinate system in global coordinates, Q (or R) tranforms a direction in local coordinates into a direction in global coordinates. The terms global and local are only used here to distinguish between two arbitrary coordinate systems, neither of them has to be local/global.

Attention: do not confuse T with the matrix stored in (*this) (see above)!

Apply this for e.g. hand-eye transformation, global-local coordinates, camera to world coordinates.

Author: koeser/bartczak

Date: 03/2006

Examples:: ExampleXB3Rectification.cpp.

Definition at line 84 of file CoordinateTransform3D.hh.

Member Typedef Documentation

template<class T>

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

inherited

Definition at line 78 of file cmat.h.

template<class T>

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

inherited

Definition at line 79 of file cmat.h.

template<class T>

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

inherited

Definition at line 74 of file cmat.h.

template<class T>

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

inherited

Definition at line 76 of file cmat.h.

template<class T>

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

inherited

Definition at line 75 of file cmat.h.

template<class T>

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

inherited

Definition at line 77 of file cmat.h.

template<class T>

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

inherited

Definition at line 72 of file cmat.h.

template<class T>

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

inherited

Definition at line 73 of file cmat.h.

Constructor & Destructor Documentation

BIAS::CoordinateTransform3D::CoordinateTransform3D ( )

inline

Set identity transformation.

Definition at line 89 of file CoordinateTransform3D.hh.

BIAS::CoordinateTransform3D::CoordinateTransform3D ( const CoordinateTransform3D & c )

inline

Copy constructor.

Definition at line 95 of file CoordinateTransform3D.hh.

Member Function Documentation

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

inherited

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

Author: bangerer 01/2009

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

inlineinherited

addition function, storing data destination matrix

implementation

Author: Ingo Thomsen tested

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

inlineinherited

in place addition function

Author: Ingo Thomsen tested

Definition at line 415 of file Matrix.hh.

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

inlineinherited

Adds arg to this.

Author: grest,2004

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

inlineinherited

computes the adjoint matrix

Author: Christian Beder

void CoordinateTransform3D::BecomeRelativeTransform	(	const CoordinateTransform3D &	newLocal,
		const CoordinateTransform3D &	newGlobal
	)

Changes this coordinate transformation so that parameter newLocal becomes the local coordinate frame and parameter newGlobal becomes the global coordinate system.

It is assumed that newLocal and newGlobal are related through the same global frame i.e.: A world point p_world is described by the coordinates p_newGlobal and p_newLocal so that:

p_world = T_newLocal * p_newLocal = T_newGlobal * p_newGLobal

It follows that p_newGlobal (which is will become the new global coordinate frame point) is computed by:

p_newGlobal = T_newGlobal^-1 * T_newLocal * p_newLocal

If newLocal defines [global <-> local] and newGlobal defines [global <-> local'] then this instance becomes [local' -> local].

Parameters

[in]	newLocal	Specifies transformation [global <-> local]
[in]	newGlobal	Specifies transformation [global <-> local']

Examples:: ExampleCalcRelativeTransform.cpp.

Definition at line 135 of file CoordinateTransform3D.cpp.

References ConcatenateLocalTransform(), and InvertIP().

Referenced by BIAS::Projection::AddAbsoluteCamera(), BIAS::CylindricalRectification< InputStorageType, OutputStorageType >::DetermineCylindricCameraBoundriesCylindric_(), BIAS::CylindricalRectification< InputStorageType, OutputStorageType >::DetermineCylindricCameraBoundriesPerspective_(), BIAS::CylindricalRectification< InputStorageType, OutputStorageType >::DetermineCylindricCameraBoundriesSpherical_(), BIAS::ProjectionParametersBase::GetSphericalViewingRange(), and BIAS::PMDWarp::UseProjectiveTexturing().

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

inherited

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

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

Returns: true on success

Author: mdunda 04 2004

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

inherited

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

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

Returns: true on success

Author: mdunda 04 2004

void BIAS::Matrix4x4< double >::clear ( )

inlinevirtualinherited

stl conform interface

Reimplemented from BIAS::Matrix< double >.

Definition at line 281 of file Matrix4x4.hh.

void CoordinateTransform3D::ConcatenateLocalTransform	(	const CoordinateTransform3D &	localT,
		CoordinateTransform3D &	res
	)		const

Calculates transformation from global system of this instance to the local coordinate system of the given instance.

   If this instance defines [global <-> local] and parameter
   localT defines [local <-> local'] then the result defines
   [global <-> local'].

Parameters

[in]	localT	Specifies transformation [local <-> local']
[out]	res	Returns concatenated transformation [global <-> local']

Definition at line 144 of file CoordinateTransform3D.cpp.

References C_, BIAS::Quaternion< T >::MultVec(), Q_, scale_, and Set().

Referenced by BIAS::ThreeDOut::AddProjection(), BecomeRelativeTransform(), BIAS::Projection::GetParameterCloneWithAbsolutePose(), and BIAS::Pose::TransformToNewGlobalBy().

template<class T>

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

inlineprotectedinherited

Definition at line 122 of file cmat.h.

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

template<class T>

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

inlineprotectedinherited

Definition at line 181 of file cmat.h.

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

double BIAS::Matrix4x4< double >::det ( ) const

inlineinherited

calculate the determinant recursively using sub matrices of size 3x3

Author: koeser 10/2003 experimental, slow implementation, not yet heavily tested

Definition at line 164 of file Matrix4x4.hh.

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

inlineinherited

Author: koeser

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

Definition at line 369 of file Matrix.hh.

template<class T>

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

inlineinherited

Definition at line 310 of file cmat.h.

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

inlineinherited

division function, storing data destination matrix

Author: Ingo Thomsen tested

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

inlineinherited

elementwise division function in place

Author: Ingo Schiller tested

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

inlineinherited

in place division function

Author: Ingo Thomsen tested

Definition at line 486 of file Matrix.hh.

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

inherited

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

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

Author: Ingo Thomsen

Parameters

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

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

inherited

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

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

Examples:: ExampleGaussJordan.cpp.

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

inherited

return biggest and smallest absolute values

const Vector3<double>& BIAS::CoordinateTransform3D::GetC ( ) const

inline

Set origin of local coordinate system in global coordinates.

See Also: CoordinateTransform3D::Set()

Examples:: ExampleXB3Rectification.cpp.

Definition at line 226 of file CoordinateTransform3D.hh.

Referenced by BIAS::ThreeDOut::AddProjection(), BIAS::RectificationBase< InputStorageType, OutputStorageType >::CalculateMeanOrientation(), BIAS::RectificationBase< InputStorageType, OutputStorageType >::CalculateRectifiedBases(), BIAS::ProjectionParametersBase::GetSphericalViewingRange(), BIAS::PMDImageProc::MetaFromPoseAndK(), BIAS::Pose::TransformToNewGlobalBy(), and BIAS::Triangulation::Triangulate().

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

inherited

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

Author: Jan Woetzel

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

inlineinherited

Examples:: ExampleMEX.cpp, and ExampleSparseMatrix.cpp.

Definition at line 204 of file Matrix.hh.

const Vector<double> BIAS::CoordinateTransform3D::GetCQ ( ) const

inline

Get orientation and origin of local coordinate system as a single vector containing first a 3d vector [c_x, c_y, c_z], then a unit quaternion [q_x, q_y, q_z, q_w].

See Also: CoordinateTransform3D::Set()

Definition at line 233 of file CoordinateTransform3D.hh.

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

inlineinherited

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

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

Author: Jan Woetzel

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

Examples:: ExampleLoadBan.cpp, and ExampleUncertaintyTransform.cpp.

Definition at line 185 of file Matrix.hh.

Referenced by BIAS::EuclideanTransf3D::Set().

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

inlineinherited

Definition at line 188 of file Matrix.hh.

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

inlineinherited

returns zero based arry for data access

Definition at line 192 of file Matrix.hh.

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

inlineinherited

Definition at line 195 of file Matrix.hh.

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

inlineinherited

returns 1 based array to data access

Definition at line 199 of file Matrix.hh.

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

inlineinherited

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

Author: Ingo Thomsen, Jan Woetzel

Date: 04/11/2002

Definition at line 213 of file Matrix.hh.

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

inlineinherited

Definition at line 219 of file Matrix.hh.

Matrix4x4<double> BIAS::CoordinateTransform3D::GetGlobalToLocalTransform ( ) const

inline

Get 4x4 matrix which transforms points in global coordinate system to homogeneous points in local coordinate system.

Definition at line 255 of file CoordinateTransform3D.hh.

Referenced by BIAS::glfMatrix::MakeTextureMatrix(), BIAS::glfMatrix::MakeTextureMatrixNew(), and BIAS::glfMatrix::MakeViewMatrixNew().

Matrix4x4<double> BIAS::CoordinateTransform3D::GetLocalToGlobalTransform ( ) const

inline

Get 4x4 matrix which transforms points in local coordinate system to homogeneous points in global coordinate system.

Definition at line 261 of file CoordinateTransform3D.hh.

Referenced by BIAS::Pose::TransformToNewGlobalBy().

BIAS::Matrix3x4< double > CoordinateTransform3D::GetMatrix3x4 ( ) const

Set rotation and translation from pose object.

Get 3x4 matrix which transforms points in global coordinate system to Euclidean points in local coordinate system.

Definition at line 84 of file CoordinateTransform3D.cpp.

BIAS::Matrix4x4< double > CoordinateTransform3D::GetMatrix4x4 ( ) const

Get 4x4 matrix which transforms points in global coordinate system to homogeneous points in local coordinate system.

Definition at line 95 of file CoordinateTransform3D.cpp.

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

inherited

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

Author: bangerer 01/2009

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

inherited

Returns the maximum value of the matrix elements.

Author: Ingo Thomsen

Date: 04/11/2002 tested

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

inherited

return biggest and smallest entry

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

inherited

Returns the mean value of the matrix elements.

Author: Ingo Thomsen

Date: 04/11/2002 tested

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

inherited

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

Author: bangerer 01/2009

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

inherited

Returns the minimum value of the matrix elements.

Author: Ingo Thomsen

Date: 04/11/2002 tested

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

inlineinherited

Returns the total number of elements.

Author: Ingo Thomsen

Date: 04/11/2002 tested

Definition at line 321 of file Matrix.hh.

const Quaternion<double>& BIAS::CoordinateTransform3D::GetQ ( ) const

inline

Get orientation of local coordinate system as unit quaternion mapping from local coordinates to global coordinates.

See Also: CoordinateTransform3D::Set()

Definition at line 221 of file CoordinateTransform3D.hh.

Referenced by BIAS::ThreeDOut::AddProjection(), BIAS::PMDImageProc::MetaFromPoseAndK(), and BIAS::Pose::TransformToNewGlobalBy().

BIAS::RMatrixBase BIAS::CoordinateTransform3D::GetR ( ) const

inline

Get orientation of local coordinate system as rotation matrix mapping from local coordinates to global coordinates.

See Also: CoordinateTransform3D::Set()

Examples:: ExampleXB3Rectification.cpp.

Definition at line 246 of file CoordinateTransform3D.hh.

References BIAS::RMatrixBase::SetFromQuaternion().

Referenced by BIAS::RectificationBase< InputStorageType, OutputStorageType >::CalculateRectifiedBases(), BIAS::ProjectionParametersSphericalSimple::SetPose(), BIAS::ProjectionParametersSphericalSimple::SetPoseParametrization(), BIAS::ProjectionParametersSphericalSimple::SetQ(), BIAS::ProjectionParametersSphericalSimple::SetQC(), and BIAS::Triangulation::Triangulate().

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

inherited

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

Author: Jan Woetzel

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

inlineinherited

Examples:: ExampleMEX.cpp, and ExampleSparseMatrix.cpp.

Definition at line 202 of file Matrix.hh.

const double& BIAS::CoordinateTransform3D::GetScale ( ) const

inline

Get the length of the local coordinate axes in the world coordinate frame.

See Also: CoordinateTransform3D::Set()

Definition at line 215 of file CoordinateTransform3D.hh.

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

inherited

return a submatrix from this.

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

Author: apetersen 12/2010

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

inherited

return a submatrix from this.

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

Author: apetersen 7/2011

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

inherited

return a submatrix from this.

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

Author: apetersen 7/2011

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

inlineinherited

compute square system matrix dest = A^T * A

Parameters

dest	holds result of this->Transpose * this

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

Author: grest/koeser

HomgPoint3D BIAS::CoordinateTransform3D::GlobalToLocal ( const HomgPoint3D & X_G ) const

inline

Transform point from world frame to local coordinate frame.

Parameters

[in] X_G Homogeneous 3d point within world coordinate system

Returns: Returns homogeneous 3d point within local coordinate system

Definition at line 167 of file CoordinateTransform3D.hh.

Referenced by BIAS::CylindricalRectification< InputStorageType, OutputStorageType >::DetermineCylindricCameraBoundriesCylindric_(), BIAS::CylindricalRectification< InputStorageType, OutputStorageType >::DetermineCylindricCameraBoundriesPerspective_(), BIAS::CylindricalRectification< InputStorageType, OutputStorageType >::DetermineCylindricCameraBoundriesSpherical_(), and BIAS::Projection::UnProjectToPointLocal().

void BIAS::CoordinateTransform3D::GlobalToLocal	(	HomgPoint3D &	X_G,
		HomgPoint3DCov &	Cov_G
	)		const

inline

Transform point and its covariance matrix from world frame to local coordinate frame.

Parameters

[in,out]	X_G	Gets homogeneous 3d point within world coordinate system, returns 3d point within local coordinate system,
[in,out]	Cov_G	Gets homogeneous 3d covariance within world frame, returns covariance matrix in local coordinate system.

Definition at line 190 of file CoordinateTransform3D.hh.

template<class T>

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

inlineprotectedinherited

Definition at line 95 of file cmat.h.

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

template<class T>

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

inherited

void BIAS::CoordinateTransform3D::InvertIP ( )

inline

Swaps the global and local coordinate frame.

Definition at line 327 of file CoordinateTransform3D.hh.

Referenced by BecomeRelativeTransform().

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

inherited

Checks if the matrix a an identity.

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

Author: mdunda 12 2003

Returns: true if matrix is identity

Examples:: ExampleSparseMatrix2.cpp.

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

inherited

Checks if the matrix is a null matrix.

Author: mdunda 12 2003

Returns: true if all elements are zero

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

inherited

Kronecker-product with matrix, result in dest.

Kronecker-product with matrix B, result in dest.

template<class T>

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

inlineinherited

Definition at line 81 of file cmat.h.

bool CoordinateTransform3D::Load ( const std::string & inputFile )

Load 3d coordinate transformation from a text file.

   The file format is specified by:

   Q_= <q_x> <q_y> <q_z> <q_w> C_= <c_x> <c_y> <c_z> scale_= <s>

   where the 3d vector [c_x, c_y, c_z] specifies the origin and
   the unit quaternion [q_x, q_y, q_z, q_w] the orientation of
   the local coordinate frame within the global coordinate frame.

Parameters

[in] inputFile Name of file to read from

Returns: Returns false if reading from file failed, true otherwise.

Definition at line 102 of file CoordinateTransform3D.cpp.

HomgPoint3D BIAS::CoordinateTransform3D::LocalToGlobal ( const HomgPoint3D & X_L ) const

inline

Transform point from local frame to world coordinate frame.

Parameters

[in] X_L Homogeneous 3d point within local coordinate system

Returns: Returns homogeneous 3d point within world coordinate system

Definition at line 177 of file CoordinateTransform3D.hh.

Referenced by BIAS::CylindricalRectification< InputStorageType, OutputStorageType >::DetermineCylindricCameraBoundriesCylindric_(), BIAS::CylindricalRectification< InputStorageType, OutputStorageType >::DetermineCylindricCameraBoundriesPerspective_(), BIAS::CylindricalRectification< InputStorageType, OutputStorageType >::DetermineCylindricCameraBoundriesSpherical_(), BIAS::SphericalRectification< InputStorageType, OutputStorageType >::DetermineRectificationParameters_(), BIAS::ProjectionParametersSphericalSimple::UnProjectToImagePlane(), and BIAS::Projection::UnProjectToPointLocal().

void BIAS::CoordinateTransform3D::LocalToGlobal	(	HomgPoint3D &	X_L,
		HomgPoint3DCov &	Cov_L
	)		const

inline

Transform point and its covariance matrix from local frame to world coordinate frame.

Parameters

[in,out]	X_L	Gets homogeneous 3d point within local coordinate system, returns 3d point within wordl coordinate system,
[in,out]	Cov_L	Gets homogeneous 3d covariance within local frame, returns covariance matrix in world coordinate system.

Definition at line 204 of file CoordinateTransform3D.hh.

References BIAS::Matrix4x4< T >::Transpose().

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

inlineinherited

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

Author: koeser 01/2007

Examples:: ExampleLapack.cpp.

Definition at line 522 of file Matrix.hh.

void BIAS::Matrix4x4< double >::Mult	(	const Vector4< double > &	argvec,
		Vector4< double > &	destvec
	)		const

inlineinherited

matrix - vector multiplicate this matrix with Vector4,

storing the result in destvec, calculates: destvec = (this Matrix) * argvec

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

Definition at line 121 of file Matrix4x4.hh.

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

inlineinherited

matrix-matrix multiplication with other Matrix4x4,

storing the result in destmat using 'manual inlining'

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

Definition at line 190 of file Matrix4x4.hh.

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

inlineinherited

matrix multiplication, result is not allocated

Author: Felix Woelk

Examples:: ExampleSparseMatrix2.cpp.

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

inlineinherited

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

Author: Daniel Grest

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

inlineinherited

matrix vector multiplication, result is not allocated

Author: Felix Woelk

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

inlineinherited

multiplication function, storing data destination matrix

Author: Ingo Thomsen tested

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

inlineinherited

in place multiplication function

Author: Ingo Thomsen tested

Definition at line 448 of file Matrix.hh.

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

inlineinherited

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

Author: Arne Petersen

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

inlineinherited

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

Author: Daniel Grest

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

inlineinherited

vector matrix multiplication result=arg*this.

Author: Marcel Lilienthal

template<class T>

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

inlineinherited

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

Definition at line 269 of file cmat.h.

Matrix4x4& BIAS::Matrix4x4< double >::newsize	(	int	rows,
		int	cols
	)

inherited

just neccessary to avoid resizing of this 'fixed size' matrix because it is derived from the resizable Matrix

Should be removed if Matrix4x4 becomes a base class.

(04/17/2002) Jan Woetzel

double BIAS::Matrix< double >::Normalize ( )

inherited

Normalizes the matrix by the entry with the biggest absolute value by dividing all elements with this one.

Returns: value of the element the matrix is normalized with

Author: mdunda 09 2003

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

inherited

Normalizes each coloumn to L_2 norm one.

Attention each column is normaized by its own scale!

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

inherited

divides each column of the matrix through the element norm_row_index.

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

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

inherited

Normalizes each row to L2 norm one.

Attention each row is normaized by its own scale!

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

inherited

divides each row of the matrix through the element norm_col_index.

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

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

inlineinherited

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

this method is deprecated because it is equivalent to NormL2

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

Author: koeser 02/2004

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

inlineinherited

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

Author: Ingo Thomsen

Date: 04/11/2002 untested

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

inlineinherited

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

Author: woelk 07/2004

Examples:: ExampleSVD.cpp.

template<class T>

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

inlineinherited

Examples:: ExampleGenerateGauss.cpp.

Definition at line 320 of file cmat.h.

template<class T>

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

inlineinherited

Examples:: ExampleGenerateGauss.cpp.

Definition at line 319 of file cmat.h.

template<class T>

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

inlineinherited

Definition at line 343 of file cmat.h.

template<class T>

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

inlineinherited

Definition at line 352 of file cmat.h.

template<class T>

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

inlineinherited

Definition at line 363 of file cmat.h.

template<class T>

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

inlineinherited

Definition at line 376 of file cmat.h.

const CoordinateTransform3D& BIAS::CoordinateTransform3D::operator= ( const CoordinateTransform3D & c )

inline

Copy all elements of another instance.

Definition at line 102 of file CoordinateTransform3D.hh.

References C_, invTransform_, BIAS::Matrix4x4< T >::operator=(), Q_, and scale_.

Referenced by BIAS::Pose::operator=().

template<class T>

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

inlineinherited

Definition at line 325 of file cmat.h.

template<class T>

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

inlineinherited

Definition at line 334 of file cmat.h.

template<class T>

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

inlineinherited

Author: Ingo Schiller

Examples:: ExampleSparseMatrix.cpp.

template<class T>

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

inlineinherited

Author: Jan Woetzel

template<class T>

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

inlineinherited

Author: Sandro Esquivel

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

template<class T >

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

inlineinherited

JW.

Author: Jan Woetzel

Definition at line 605 of file cmat.h.

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

void CoordinateTransform3D::RotateLocalFrame ( const Quaternion< double > & Q )

Applies the passed rotation to the orientation of the local frame.

   Convenience wrapper, which simulates

LocalCoordTrsf.Set(Q); 
LocalCoordTrsf.Set(Vector3<double>(0,0,0));
this->ConcatenateLocalTransform(Q, *this);

Examples:: ExampleXB3Rectification.cpp.

Definition at line 161 of file CoordinateTransform3D.cpp.

Referenced by BIAS::PlanarRectification< InputStorageType, OutputStorageType >::DetermineRectificationParameters_(), and BIAS::ProjectionParametersPerspective::SetIntrinsics().

bool CoordinateTransform3D::Save ( const std::string & outputFile )

Write 3d coordinate transformation to a text file.

See Also: CoordinateTransform3D::Load()

Parameters

[in] outputFile Name of file to write to

Returns: Returns false if writing to file failed, true otherwise.

Definition at line 119 of file CoordinateTransform3D.cpp.

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

inherited

method to save directly to a given filename.

internally using stream operator

Author: Jan Woetzel 05/2003

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

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

inherited

Scales column NoCol with scale.

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

inherited

Scales row NoRow with scale.

virtual void BIAS::CoordinateTransform3D::Set	(	const Quaternion< double > &	Q,
		const Vector3< double > &	C,
		const double &	scale = `1.0`
	)

inlinevirtual

Define local coordinate frame from within the world frame.

Parameters

[in]	Q	Specifies the orientation of the local frame in the world frame base: Q(global base vecor)Q_conj = local base vector
[in]	C	Specifies the position of the origin of the local frame in the world coordinate frame: global base origin + C_ = local base origin
[in]	scale	Specifies the isotropic scale of base vector length to get local base vector length: \|\|global base vector\|\|*scale = \|\|local base vector\|\|

Examples:: ExampleXB3Rectification.cpp.

Definition at line 152 of file CoordinateTransform3D.hh.

Referenced by ConcatenateLocalTransform(), and BIAS::Pose::Set().

template<class T>

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

inlineprotectedinherited

Definition at line 152 of file cmat.h.

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

template<class T>

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

inherited

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

inherited

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

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

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

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

inherited

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

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

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

void BIAS::CoordinateTransform3D::SetC ( const Vector3< double > & C )

inline

Set origin of local coordinate system in global coordinates.

See Also: CoordinateTransform3D::Set()

Definition at line 139 of file CoordinateTransform3D.hh.

Referenced by BIAS::Pose::SetC().

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

inherited

set a col of matrix from vector

Author: woelk 08/2004

void CoordinateTransform3D::SetFromMatrix3x4 ( const Matrix3x4< double > & M )

Set 3x4 matrix which transforms points in global coordinate system to Euclidean points in local coordinate system.

Attention: Use only for matrices that can not be decomposed properly, otherwise use Set method!

Definition at line 63 of file CoordinateTransform3D.cpp.

References BIAS::SVD::Invert(), and BIAS::Matrix< T >::Set().

void BIAS::Matrix4x4< double >::SetIdentity ( )

inlineinherited

set the elements of this matrix to the identity matrix

(posisbly overriding the inherited method)

Author: , Jan Woetzel

Date: 04/17/2002 untested

Examples:: ExampleOperators.cpp.

Definition at line 260 of file Matrix4x4.hh.

void BIAS::CoordinateTransform3D::SetQ ( const Quaternion< double > & Q )

inline

Set orientation of local coordinate system from unit quaternion.

See Also: CoordinateTransform3D::Set()

Definition at line 131 of file CoordinateTransform3D.hh.

Referenced by BIAS::Pose::SetQ().

void CoordinateTransform3D::SetR ( const BIAS::RMatrixBase & R )

Set orientation of local coordinate system from rotation matrix.

See Also: CoordinateTransform3D::Set()

Definition at line 197 of file CoordinateTransform3D.cpp.

References BIAS::RMatrixBase::GetQuaternion().

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

inherited

set a row of matrix from vector

Author: woelk 08/2004

virtual void BIAS::CoordinateTransform3D::SetScale ( const double & scale )

inlinevirtual

Set the length of the local coordinate axes in the world coordinate frame.

Reimplemented in BIAS::Pose.

Definition at line 159 of file CoordinateTransform3D.hh.

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

inherited

sets a submatrix in this.

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

Author: apetersen 12/2010

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

inherited

sets a 3x3 submatrix in this.

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

Author: apetersen 12/2010

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

inherited

sets a 3x1 submatrix in this.

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

Author: apetersen 12/2010

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

inherited

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

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

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

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

inlineinherited

Sets all values to zero.

Author: Ingo Thomsen, JW

Date: 04/11/2002 tested

Referenced by BIAS::HomgPoint3DCov::SetEuclidean().

template<class T>

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

inlineinherited

Definition at line 212 of file cmat.h.

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

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

inlineinherited

substraction function, storing data destination matrix

Author: Ingo Thomsen tested

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

inlineinherited

Subtracts arg from this
this -= arg.

Author: grest, 2004

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

inlineinherited

in place subtraction function

Author: Ingo Thomsen tested

Definition at line 437 of file Matrix.hh.

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

inherited

swaps two rows

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

void CoordinateTransform3D::Talk ( ) const

Prints this transformation with more intuitive rotation representation.

Examples:: ExampleCalcRelativeTransform.cpp.

Definition at line 170 of file CoordinateTransform3D.cpp.

References BIAS::RMatrixBase::GetRotationAxisAngle(), and BIAS::RMatrixBase::SetFromQuaternion().

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

inlineinherited

Author: koeser

Matrix4x4 BIAS::Matrix4x4< double >::Transpose ( ) const

inlineinherited

Definition at line 315 of file Matrix4x4.hh.

void BIAS::Matrix4x4< double >::TransposeIP ( )

inlineinherited

tranpose this matrix "in place"

example: 0 1 2 3 –> 0 4 8 12 4 5 6 7 –> 1 5 9 13 8 9 10 11 –> 2 6 10 14 12 13 14 15 –> 3 7 11 15

Author: Jan-Friso Evers-Senne untested (07/08/2002)

Definition at line 302 of file Matrix4x4.hh.

void CoordinateTransform3D::UpdateMatrix_ ( )

protectedvirtual

Computes the 4x4 transformation matrix from the currently set unit quaternion Q_ and translation vector C_.

Definition at line 37 of file CoordinateTransform3D.cpp.

References BIAS::RMatrixBase::SetFromQuaternion(), and BIAS::Matrix3x3< T >::Transpose().

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

inherited

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

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

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

inherited

Write the matrix in Matlab format to the given stream.

Parameters

name	Is the name of the Matlab variable

Author: streckel 08/2006

Returns: negativev if error

Friends And Related Function Documentation

template<class T >

Matrix< T > operator*	(	const Matrix< T > &	A,
		const Matrix< T > &	B
	)

References TNT::matmult().

template<class T >

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

References TNT::matmult().

template<class T >

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

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

template<class T >

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

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

std::ostream& operator<<	(	std::ostream &	os,
		const CoordinateTransform3D &	p
	)

friend

Write 3d coordinate transformation to stream.

See Also: CoordinateTransform3D::Save()

Definition at line 372 of file CoordinateTransform3D.hh.

template<class T>

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

Author: Jan Woetzel

Definition at line 663 of file cmat.h.

template<class T>

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

Author: Jan Woetzel

Definition at line 670 of file cmat.h.

template<class T >

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

Author: Jan Woetzel

Definition at line 695 of file cmat.h.

std::istream& operator>>	(	std::istream &	is,
		CoordinateTransform3D &	p
	)

friend

Read 3d coordinate transformation from stream.

See Also: CoordinateTransform3D::Load()

Definition at line 381 of file CoordinateTransform3D.hh.

template<class T>

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

Author: Jan Woetzel

Definition at line 703 of file cmat.h.

References TNT::Matrix< T >::Read().

template<class T>

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

Author: Jan Woetzel

Definition at line 711 of file cmat.h.

References TNT::Matrix< T >::Read().

template<class T >

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

Author: Jan Woetzel

Definition at line 719 of file cmat.h.

References TNT::Matrix< T >::Read().

Member Data Documentation

Vector3<double> BIAS::CoordinateTransform3D::C_

protected

Specifies the translation from local to global coordinate frame.

Definition at line 355 of file CoordinateTransform3D.hh.

Referenced by ConcatenateLocalTransform(), BIAS::operator<<(), operator=(), and BIAS::operator>>().

Matrix4x4<double> BIAS::CoordinateTransform3D::invTransform_

protected

Specifies the homogeneous matrix representation of the transformation from local to global coordinate frame.

Attention: This transformation is considered as "inverse" since the transformation from global to local is considered as the reference transformation direction!

Definition at line 366 of file CoordinateTransform3D.hh.

Referenced by operator=().

template<class T>

Subscript TNT::Matrix< T >::m_

protectedinherited

Definition at line 84 of file cmat.h.