This class is used for parametrizing F- and H-matrices, generally for optimization purposes. More...

#include <Geometry/Parametrization.hh>

Collaboration diagram for BIAS::Parametrization:

Public Member Functions
bool	FMatrixToParams (const BIAS::FMatrix &Mat, std::vector< double > &Params)
	parametizes an F-matrix to seven parameters More...

double	GetFScaling ()

double	GetHScaling ()

bool	HMatrixToParams (const BIAS::HMatrix &Mat, std::vector< double > &Params)
	parametizes an H-matrix to eight parameters More...

	Parametrization ()

bool	ParamsToFMatrix (BIAS::FMatrix &Mat, const std::vector< double > &Params)
	composes an F-matrix from the seven given parameters The deparametrization only works with the previously parametized values of 'FMatrixToParams', because some internally stored parameters are important for the correct composition. More...

bool	ParamsToHMatrix (BIAS::HMatrix &Mat, const std::vector< double > &Params)
	composes an H-matrix from the seven given parameters More...

	~Parametrization ()

Static Public Member Functions
static bool	EMatrixToParams (BIAS::EMatrix &Mat, Vector< double > &Params, std::vector< BIAS::HomgPoint2D > &inlier1, std::vector< BIAS::HomgPoint2D > &inlier2, bool UseQuaternion=false)
	parametizes an essential-matrix to five parameters More...

static bool	ParamsToEMatrix (BIAS::EMatrix &Mat, const Vector< double > &Params, bool UseQuaternion=false)
	composes an essential-matrix from the five given parameters More...

Protected Member Functions
double	GetBiggestAbsEntry ()
	Find the biggest absolute entry of the upper left 2x2 submatrix of the internally stored F matrix member. More...

Protected Attributes
BIAS::FMatrix	F_

int	Fcol_

std::vector< double >	FParams_

int	Frow_

double	Fscale_

BIAS::HMatrix	H_

std::vector< double >	HParams_

double	Hscale_

Detailed Description

This class is used for parametrizing F- and H-matrices, generally for optimization purposes.

Be sure to use one and the same instance of this class for parametrization and deparametrization of your matrix!!! This parametrization is needed during the MotionModelSelection which is part of my diploma thesis.

Author: Matthias Dunda

Date: 09 2003

Definition at line 50 of file Parametrization.hh.

Constructor & Destructor Documentation

Parametrization::Parametrization ( )

Definition at line 36 of file Parametrization.cpp.

Parametrization::~Parametrization ( )

Definition at line 37 of file Parametrization.cpp.

Member Function Documentation

bool Parametrization::EMatrixToParams	(	BIAS::EMatrix &	Mat,
		Vector< double > &	Params,
		std::vector< BIAS::HomgPoint2D > &	inlier1,
		std::vector< BIAS::HomgPoint2D > &	inlier2,
		bool	UseQuaternion = `false`
	)

static

parametizes an essential-matrix to five parameters

Returns: true on success, false on error

Author: frahm 03 2004

Definition at line 252 of file Parametrization.cpp.

References BIAS::Vector3< T >::CoordEuclideanToSphere(), BIAS::RMatrixBase::GetQuaternion(), BIAS::RMatrixBase::GetRotationAxisAngle(), BIAS::EMatrix::GetRotationTranslation(), BIAS::Vector3< T >::NormL2(), BIAS::Vector3< T >::Set(), and TNT::Vector< T >::size().

bool Parametrization::FMatrixToParams	(	const BIAS::FMatrix &	Mat,
		std::vector< double > &	Params
	)

parametizes an F-matrix to seven parameters

Returns: true on success, false on error

Author: mdunda 09 2003

Definition at line 39 of file Parametrization.cpp.

References BIAS::HomgPoint2D::Homogenize(), BIAS::Matrix3x3< T >::IsZero(), and BIAS::Matrix3x3< T >::Scale().

Referenced by BIAS::FMatrixEstimation::Optimize().

double Parametrization::GetBiggestAbsEntry ( )

protected

Find the biggest absolute entry of the upper left 2x2 submatrix of the internally stored F matrix member.

The position of this element is stored internally and used for the composition of the F matrix in ParamsToFMatrix.

Returns: value of the entry with biggest absolute value

Author: mdunda 09 2003

Definition at line 236 of file Parametrization.cpp.

double BIAS::Parametrization::GetFScaling ( )

inline

Definition at line 99 of file Parametrization.hh.

double BIAS::Parametrization::GetHScaling ( )

inline

Definition at line 100 of file Parametrization.hh.

bool Parametrization::HMatrixToParams	(	const BIAS::HMatrix &	Mat,
		std::vector< double > &	Params
	)

parametizes an H-matrix to eight parameters

Returns: true on success, false on error

Author: mdunda 09 2003

Definition at line 164 of file Parametrization.cpp.

References BIAS::Matrix3x3< T >::IsZero().

Referenced by BIAS::HMatrixEstimation::Optimize().

bool Parametrization::ParamsToEMatrix	(	BIAS::EMatrix &	Mat,
		const Vector< double > &	Params,
		bool	UseQuaternion = `false`
	)

static

composes an essential-matrix from the five given parameters

Returns: true on success, false on error

Author: frahm 03 2004

Definition at line 301 of file Parametrization.cpp.

References BIAS::Vector3< T >::CoordSphereToEuclidean(), BIAS::Matrix3x3< T >::NormFrobenius(), BIAS::Vector3< T >::NormL2(), BIAS::FMatrixBase::Set(), BIAS::RMatrixBase::Set(), BIAS::RMatrixBase::SetFromQuaternion(), BIAS::Vector< T >::Size(), and TNT::Vector< T >::size().

bool Parametrization::ParamsToFMatrix	(	BIAS::FMatrix &	Mat,
		const std::vector< double > &	Params
	)

composes an F-matrix from the seven given parameters The deparametrization only works with the previously parametized values of 'FMatrixToParams', because some internally stored parameters are important for the correct composition.

Returns: true on success, false on error

Author: mdunda 09 2003

Definition at line 101 of file Parametrization.cpp.

bool Parametrization::ParamsToHMatrix	(	BIAS::HMatrix &	Mat,
		const std::vector< double > &	Params
	)

composes an H-matrix from the seven given parameters

Returns: true on success, false on error

Author: mdunda 09 2003

Definition at line 202 of file Parametrization.cpp.

Referenced by BIAS::HMatrixEstimation::HErrorFunction_(), and BIAS::HMatrixEstimation::Optimize().

Member Data Documentation

BIAS::FMatrix BIAS::Parametrization::F_

protected

Definition at line 104 of file Parametrization.hh.

int BIAS::Parametrization::Fcol_

protected

Definition at line 109 of file Parametrization.hh.

std::vector<double> BIAS::Parametrization::FParams_

protected

Definition at line 105 of file Parametrization.hh.

int BIAS::Parametrization::Frow_

protected

Definition at line 109 of file Parametrization.hh.

double BIAS::Parametrization::Fscale_

protected

Definition at line 123 of file Parametrization.hh.

BIAS::HMatrix BIAS::Parametrization::H_

protected

Definition at line 112 of file Parametrization.hh.

std::vector<double> BIAS::Parametrization::HParams_

protected

Definition at line 113 of file Parametrization.hh.

double BIAS::Parametrization::Hscale_

protected

Definition at line 124 of file Parametrization.hh.

The documentation for this class was generated from the following files:

Geometry/Parametrization.hh
Geometry/Parametrization.cpp

Public Member Functions

Static Public Member Functions

Protected Member Functions

Protected Attributes

Detailed Description

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation