#include <PMatrixDec.h>
Public Member Functions | |
| PMatrixDec (const vnl_matrix< double > &p_matrix) | |
| Constructor. | |
| ~PMatrixDec () | |
| Destructor. | |
| const vnl_matrix< double > & | IntrinsicParameters () |
| const vnl_matrix< double > & | ExtrinsicParameters () |
| double | GetAlphaU () const |
| double | GetAlphaV () const |
| double | GetU0 () const |
| double | GetV0 () const |
| void | Test () |
| Test --. | |
| HomgPoint2D | project (const HomgPoint3D &X) const |
| Return the image point which is the projection of the specified 3D point X. | |
| HomgLine2D | project (const HomgLine3D &L) const |
| HomgLineSeg2D | project (const HomgLineSeg3D &L) const |
| vgl_homg_point_2d< double > | project (vgl_homg_point_3d< double > const &X) const |
| Return the image point which is the projection of the specified 3D point X. | |
| vgl_homg_line_2d< double > | project (vgl_homg_line_3d_2_points< double > const &L) const |
| Return the image line which is the projection of the specified 3D line L. | |
| vgl_line_segment_2d< double > | project (vgl_line_segment_3d< double > const &L) const |
| Return the image linesegment which is the projection of the specified 3D linesegment L. | |
| HomgPoint3D | backproject_pseudoinverse (const HomgPoint2D &x) const |
| vgl_homg_point_3d< double > | backproject_pseudoinverse (vgl_homg_point_2d< double > const &x) const |
| Return the 3D point $ X$ which is $ X = P^+ x$. | |
| HomgLine3D | backproject (const HomgPoint2D &x) const |
| HomgPlane3D | backproject (const HomgLine2D &l) const |
| vgl_homg_line_3d_2_points< double > | backproject (vgl_homg_point_2d< double > const &x) const |
| Return the 3D line which is the backprojection of the specified image point, x. | |
| vgl_homg_plane_3d< double > | backproject (vgl_homg_line_2d< double > const &l) const |
| Return the 3D plane which is the backprojection of the specified line l in the image. | |
| PMatrix | postmultiply (vnl_double_4x4 const &H) const |
| post-multiply this projection matrix with a HMatrix3D. | |
| PMatrix | premultiply (vnl_double_3x3 const &H) const |
| pre-multiply this projection matrix with a HMatrix2D. | |
| vnl_svd< double > * | svd () const |
| Compute the svd of this P and cache it, so that future operations that require it need not recompute it. | |
| void | clear_svd () const |
| Discredit the cached svd. | |
| HomgPoint3D | get_focal_point () const |
| vgl_homg_point_3d< double > | get_focal () const |
| Return the 3D point representing the focal point of the camera. | |
| HMatrix3D | get_canonical_H () const |
| Return the HMatrix3D s.t. P * H = [I 0]. | |
| bool | is_canonical (double tol=0) const |
| Return true iff P is [I 0]. | |
| bool | is_behind_camera (const HomgPoint3D &) |
| bool | is_behind_camera (vgl_homg_point_3d< double > const &) |
| Return true if the 3D point X is behind the camera represented by this P. | |
| void | flip_sign () |
| Change the overall sign of the P matrix. | |
| bool | looks_conditioned () |
| Splendid hack that tries to detect if the P is an image-coords P or a normalized P. | |
| void | fix_cheirality () |
| Scale P so determinant of first 3x3 is 1. | |
| bool | operator== (PMatrix const &p) const |
| void | get (vnl_matrix< double > *A, vnl_vector< double > *a) const |
| Return the 3x3 matrix and 3x1 column vector of P = [A a]. | |
| void | get (vnl_double_3x3 *A, vnl_double_3 *a) const |
| Return the 3x3 matrix and 3x1 column vector of P = [A a]. | |
| double | get (unsigned int row_index, unsigned int col_index) const |
| Return the element of the matrix at the specified indices. | |
| void | get (double *c_matrix) const |
| Return the 3x4 projection matrix in the array, p_matrix. | |
| void | get (vnl_matrix< double > *p_matrix) const |
| void | get (vnl_double_3x4 *p_matrix) const |
| Return the 3x4 projection matrix in the vnl_matrix<double>, p_matrix. | |
| void | set (vnl_double_3x3 const &A, vnl_double_3 const &a) |
| Set from 3x3 matrix and 3x1 column vector of P = [A a]. | |
| void | set (const double *p_matrix) |
| Set the 3x4 projective matrix with the matrix in the array, p_matrix. | |
| void | set (const double p_matrix[3][4]) |
| Set the 3x4 projective matrix with the matrix in the array, p_matrix. | |
| void | set (const vnl_matrix< double > &p_matrix) |
| Set the 3x4 projective matrix with the matrix in the array, p_matrix. | |
| void | set (vnl_double_3x4 const &p_matrix) |
| Set the fundamental matrix using the vnl_matrix<double> p_matrix. | |
| void | get_rows (vnl_vector< double > *, vnl_vector< double > *, vnl_vector< double > *) const |
| Return the rows of P = [a b c]'. | |
| void | get_rows (vnl_double_4 *, vnl_double_4 *, vnl_double_4 *) const |
| Return the rows of P = [a b c]'. | |
| void | set_rows (const vnl_vector< double > &, const vnl_vector< double > &, const vnl_vector< double > &) |
| const vnl_double_3x4 & | get_matrix () const |
| bool | read_ascii (vcl_istream &f) |
| Load from file. | |
| void | ref () |
| void | unref () |
| int | get_references () const |
| bool | is_referenced () const |
Static Public Member Functions | |
| static PMatrix | read (const char *filename) |
| Load from file. | |
| static PMatrix | read (vcl_istream &) |
| Load from vcl_istream. | |
Protected Attributes | |
| vnl_double_3x4 | p_matrix_ |
| vnl_svd< double > * | svd_ |
Private Member Functions | |
| void | Init () |
| Auxiliary Constructor. | |
Private Attributes | |
| vnl_matrix< double > | j_matrix_ |
| vnl_matrix< double > | d_matrix_ |
Friends | |
| vcl_ostream & | operator<< (vcl_ostream &s, const PMatrixDec &P) |
| Print to vcl_ostream. | |
Detailed Description
Definition at line 40 of file PMatrixDec.h.
Constructor & Destructor Documentation
| PMatrixDec::PMatrixDec | ( | const vnl_matrix< double > & | p_matrix | ) |
Constructor.
Definition at line 16 of file PMatrixDec.cxx.
| PMatrixDec::~PMatrixDec | ( | ) |
Destructor.
Definition at line 28 of file PMatrixDec.cxx.
Member Function Documentation
| HomgLine3D PMatrix::backproject | ( | const HomgPoint2D & | x | ) | const [inherited] |
Definition at line 184 of file PMatrix.cxx.
| HomgPlane3D PMatrix::backproject | ( | const HomgLine2D & | l | ) | const [inherited] |
Definition at line 197 of file PMatrix.cxx.
| vgl_homg_line_3d_2_points< double > PMatrix::backproject | ( | vgl_homg_point_2d< double > const & | x | ) | const [inherited] |
Return the 3D line which is the backprojection of the specified image point, x.
Uses svd().
Definition at line 179 of file PMatrix.cxx.
| vgl_homg_plane_3d< double > PMatrix::backproject | ( | vgl_homg_line_2d< double > const & | l | ) | const [inherited] |
Return the 3D plane which is the backprojection of the specified line l in the image.
Definition at line 192 of file PMatrix.cxx.
| HomgPoint3D PMatrix::backproject_pseudoinverse | ( | const HomgPoint2D & | x | ) | const [inherited] |
Definition at line 170 of file PMatrix.cxx.
| vgl_homg_point_3d< double > PMatrix::backproject_pseudoinverse | ( | vgl_homg_point_2d< double > const & | x | ) | const [inherited] |
Return the 3D point $ X$ which is $ X = P^+ x$.
Equivalently, the 3D point of smallest norm such that 
. Uses svd().
Definition at line 164 of file PMatrix.cxx.
| void PMatrix::clear_svd | ( | ) | const [inherited] |
Discredit the cached svd.
This is necessary only in order to recover the space used by it if the PMatrix is not being deleted.
Definition at line 289 of file PMatrix.cxx.
| const vnl_matrix<double>& PMatrixDec::ExtrinsicParameters | ( | ) | [inline] |
Definition at line 55 of file PMatrixDec.h.
| void PMatrix::fix_cheirality | ( | ) | [inherited] |
Scale P so determinant of first 3x3 is 1.
Definition at line 563 of file PMatrix.cxx.
| void PMatrix::flip_sign | ( | ) | [inherited] |
Change the overall sign of the P matrix.
Definition at line 612 of file PMatrix.cxx.
| void PMatrix::get | ( | vnl_matrix< double > * | A, |
| vnl_vector< double > * | a | ||
| ) | const [inherited] |
Return the 3x3 matrix and 3x1 column vector of P = [A a].
Definition at line 401 of file PMatrix.cxx.
| void PMatrix::get | ( | vnl_double_3x3 * | A, |
| vnl_double_3 * | a | ||
| ) | const [inherited] |
Return the 3x3 matrix and 3x1 column vector of P = [A a].
Definition at line 424 of file PMatrix.cxx.
| double PMatrix::get | ( | unsigned int | row_index, |
| unsigned int | col_index | ||
| ) | const [inherited] |
Return the element of the matrix at the specified indices.
Definition at line 372 of file PMatrix.cxx.
| void PMatrix::get | ( | double * | c_matrix | ) | const [inherited] |
Return the 3x4 projection matrix in the array, p_matrix.
Definition at line 381 of file PMatrix.cxx.
| void PMatrix::get | ( | vnl_matrix< double > * | p_matrix | ) | const [inherited] |
| void PMatrix::get | ( | vnl_double_3x4 * | p_matrix | ) | const [inherited] |
Return the 3x4 projection matrix in the vnl_matrix<double>, p_matrix.
Definition at line 392 of file PMatrix.cxx.
| HMatrix3D PMatrix::get_canonical_H | ( | ) | const [inherited] |
Return the HMatrix3D s.t. P * H = [I 0].
If P = [A a], then H = [inv(A) -inv(A)*a; 0 0 0 1];
Definition at line 335 of file PMatrix.cxx.
| vgl_homg_point_3d< double > PMatrix::get_focal | ( | ) | const [inherited] |
Return the 3D point representing the focal point of the camera.
Uses svd().
Definition at line 298 of file PMatrix.cxx.
| HomgPoint3D PMatrix::get_focal_point | ( | ) | const [inherited] |
Definition at line 312 of file PMatrix.cxx.
| const vnl_double_3x4& PMatrix::get_matrix | ( | ) | const [inline, inherited] |
| void PMatrix::get_rows | ( | vnl_vector< double > * | a, |
| vnl_vector< double > * | b, | ||
| vnl_vector< double > * | c | ||
| ) | const [inherited] |
Return the rows of P = [a b c]'.
Definition at line 447 of file PMatrix.cxx.
| void PMatrix::get_rows | ( | vnl_double_4 * | a, |
| vnl_double_4 * | b, | ||
| vnl_double_4 * | c | ||
| ) | const [inherited] |
Return the rows of P = [a b c]'.
Definition at line 469 of file PMatrix.cxx.
| double PMatrixDec::GetAlphaU | ( | ) | const [inline] |
Definition at line 57 of file PMatrixDec.h.
| double PMatrixDec::GetAlphaV | ( | ) | const [inline] |
Definition at line 58 of file PMatrixDec.h.
| double PMatrixDec::GetU0 | ( | ) | const [inline] |
Definition at line 59 of file PMatrixDec.h.
| double PMatrixDec::GetV0 | ( | ) | const [inline] |
Definition at line 60 of file PMatrixDec.h.
| void PMatrixDec::Init | ( | ) | [private] |
Auxiliary Constructor.
Definition at line 34 of file PMatrixDec.cxx.
| const vnl_matrix<double>& PMatrixDec::IntrinsicParameters | ( | ) | [inline] |
Definition at line 54 of file PMatrixDec.h.
| bool PMatrix::is_behind_camera | ( | const HomgPoint3D & | hX | ) | [inherited] |
Definition at line 597 of file PMatrix.cxx.
| bool PMatrix::is_behind_camera | ( | vgl_homg_point_3d< double > const & | hX | ) | [inherited] |
Return true if the 3D point X is behind the camera represented by this P.
This depends on the overall sign of the P matrix having been set correctly, a la Hartley cheirality paper.
Definition at line 587 of file PMatrix.cxx.
| bool PMatrix::is_canonical | ( | double | tol = 0 | ) | const [inherited] |
Return true iff P is [I 0].
Equality is assumed if the max abs diff is less than tol.
Definition at line 349 of file PMatrix.cxx.
| bool PMatrix::looks_conditioned | ( | ) | [inherited] |
Splendid hack that tries to detect if the P is an image-coords P or a normalized P.
Definition at line 621 of file PMatrix.cxx.
| bool PMatrix::operator== | ( | PMatrix const & | p | ) | const [inline, inherited] |
| PMatrix PMatrix::postmultiply | ( | vnl_double_4x4 const & | H | ) | const [inherited] |
post-multiply this projection matrix with a HMatrix3D.
Postmultiply by 4x4 matrix.
Definition at line 629 of file PMatrix.cxx.
| PMatrix PMatrix::premultiply | ( | vnl_double_3x3 const & | H | ) | const [inherited] |
pre-multiply this projection matrix with a HMatrix2D.
Premultiply by 3x3 matrix.
Definition at line 635 of file PMatrix.cxx.
| HomgPoint2D PMatrix::project | ( | const HomgPoint3D & | X | ) | const [inherited] |
Return the image point which is the projection of the specified 3D point X.
Definition at line 123 of file PMatrix.cxx.
| HomgLine2D PMatrix::project | ( | const HomgLine3D & | L | ) | const [inherited] |
Definition at line 138 of file PMatrix.cxx.
| HomgLineSeg2D PMatrix::project | ( | const HomgLineSeg3D & | L | ) | const [inherited] |
Definition at line 154 of file PMatrix.cxx.
| vgl_homg_point_2d<double> PMatrix::project | ( | vgl_homg_point_3d< double > const & | X | ) | const [inline, inherited] |
| vgl_homg_line_2d< double > PMatrix::project | ( | vgl_homg_line_3d_2_points< double > const & | L | ) | const [inherited] |
Return the image line which is the projection of the specified 3D line L.
Definition at line 133 of file PMatrix.cxx.
| vgl_line_segment_2d< double > PMatrix::project | ( | vgl_line_segment_3d< double > const & | L | ) | const [inherited] |
Return the image linesegment which is the projection of the specified 3D linesegment L.
Definition at line 147 of file PMatrix.cxx.
| PMatrix PMatrix::read | ( | const char * | filename | ) | [static, inherited] |
Load from file.
Static method, so you can say
PMatrix P = PMatrix::read("file.P");
Definition at line 250 of file PMatrix.cxx.
| PMatrix PMatrix::read | ( | vcl_istream & | s | ) | [static, inherited] |
Load from vcl_istream.
Definition at line 266 of file PMatrix.cxx.
| bool PMatrix::read_ascii | ( | vcl_istream & | f | ) | [inherited] |
| void PMatrix::set | ( | vnl_double_3x3 const & | A, |
| vnl_double_3 const & | a | ||
| ) | [inherited] |
Set from 3x3 matrix and 3x1 column vector of P = [A a].
Definition at line 542 of file PMatrix.cxx.
| void PMatrix::set | ( | const double * | p_matrix | ) | [inherited] |
Set the 3x4 projective matrix with the matrix in the array, p_matrix.
Definition at line 518 of file PMatrix.cxx.
| void PMatrix::set | ( | const double | p_matrix[3][4] | ) | [inherited] |
Set the 3x4 projective matrix with the matrix in the array, p_matrix.
Definition at line 493 of file PMatrix.cxx.
| void PMatrix::set | ( | const vnl_matrix< double > & | p_matrix | ) | [inherited] |
Set the 3x4 projective matrix with the matrix in the array, p_matrix.
Definition at line 504 of file PMatrix.cxx.
| void PMatrix::set | ( | vnl_double_3x4 const & | p_matrix | ) | [inherited] |
Set the fundamental matrix using the vnl_matrix<double> p_matrix.
Definition at line 531 of file PMatrix.cxx.
| void PMatrix::set_rows | ( | const vnl_vector< double > & | , |
| const vnl_vector< double > & | , | ||
| const vnl_vector< double > & | |||
| ) | [inherited] |
| vnl_svd< double > * PMatrix::svd | ( | ) | const [inherited] |
Compute the svd of this P and cache it, so that future operations that require it need not recompute it.
Definition at line 278 of file PMatrix.cxx.
| void PMatrixDec::Test | ( | ) |
Test --.
Definition at line 110 of file PMatrixDec.cxx.
Friends And Related Function Documentation
| vcl_ostream& operator<< | ( | vcl_ostream & | s, |
| const PMatrixDec & | P | ||
| ) | [friend] |
Print to vcl_ostream.
Definition at line 97 of file PMatrixDec.cxx.
Member Data Documentation
vnl_matrix<double> PMatrixDec::d_matrix_ [private] |
Definition at line 46 of file PMatrixDec.h.
vnl_matrix<double> PMatrixDec::j_matrix_ [private] |
Definition at line 45 of file PMatrixDec.h.
vnl_double_3x4 PMatrix::p_matrix_ [protected, inherited] |
vnl_svd<double>* PMatrix::svd_ [mutable, protected, inherited] |
The documentation for this class was generated from the following files:
- contrib/oxl/mvl/PMatrixDec.h
- contrib/oxl/mvl/PMatrixDec.cxx
