00001 // This is oxl/mvl/PMatrixDec.h 00002 #ifndef PMatrixDec_h_ 00003 #define PMatrixDec_h_ 00004 #ifdef VCL_NEEDS_PRAGMA_INTERFACE 00005 #pragma interface 00006 #endif 00007 //: 00008 // \file 00009 // 00010 // The PMatrixDec class is a subclass of PMatrix. 00011 // It just adds decomposition of the projection matrix, P, into 00012 // 2 matrices: J (3x3) and D (4x4), with intrinsic and extrinsic 00013 // parameters, respectively, where P=[J O_3]D. 00014 // 00015 // References: 00016 // \verbatim 00017 // pp 50 and 52-54, or more widely, CHAPTER 3 in (Faugeras, 1993): 00018 // @Book{ faugeras:93, 00019 // author = {Faugeras, Olivier}, 00020 // title = {Three-Dimensional Computer Vision: a Geometric Viewpoint}, 00021 // year = {1993}, 00022 // publisher = mit-press 00023 // } 00024 // \endverbatim 00025 // 00026 // \author 00027 // Angeles Lopez (28-Apr-97) 00028 // 00029 // \verbatim 00030 // Modifications: 00031 // 15-May-97, A.Lopez -> Provide access methods for intrinsic 00032 // parameters, denoted by AlphaU, AlphaV, U0 & V0. 00033 // \endverbatim 00034 // 00035 //---------------------------------------------------------------------------- 00036 00037 #include <vnl/vnl_matrix.h> 00038 #include <mvl/PMatrix.h> 00039 #include <vcl_iosfwd.h> 00040 00041 class PMatrixDec : public PMatrix 00042 { 00043 // Data Members------------------------------------------------------------ 00044 00045 // J and D matrices 00046 vnl_matrix<double> j_matrix_; // 3x3 00047 vnl_matrix<double> d_matrix_; // 4x4 00048 00049 public: 00050 // Constructors/Initializers/Destructors---------------------------------- 00051 PMatrixDec(const vnl_matrix<double>& p_matrix); 00052 ~PMatrixDec(); 00053 00054 // Data Access------------------------------------------------------------ 00055 const vnl_matrix<double>& IntrinsicParameters () { return j_matrix_; } 00056 const vnl_matrix<double>& ExtrinsicParameters () { return d_matrix_; } 00057 00058 double GetAlphaU() const { return j_matrix_(0,0); } 00059 double GetAlphaV() const { return j_matrix_(1,1); } 00060 double GetU0() const { return j_matrix_(0,2); } 00061 double GetV0() const { return j_matrix_(1,2); } 00062 00063 // make tests for this class 00064 void Test(); 00065 00066 friend vcl_ostream& operator<<(vcl_ostream& s, const PMatrixDec& P); 00067 00068 // INTERNALS--------------------------------------------------------------- 00069 private: 00070 void Init(); 00071 }; 00072 00073 #endif // PMatrixDec_h_
1.7.5.1