#include <visp3/core/vpHomogeneousMatrix.h>

Inheritance diagram for vpHomogeneousMatrix:

Public Member Functions
	vpHomogeneousMatrix ()

	vpHomogeneousMatrix (const vpHomogeneousMatrix &M)

	vpHomogeneousMatrix (const vpTranslationVector &t, const vpRotationMatrix &R)

	vpHomogeneousMatrix (const vpTranslationVector &t, const vpThetaUVector &tu)

	vpHomogeneousMatrix (const vpTranslationVector &t, const vpQuaternionVector &q)

VP_EXPLICIT	vpHomogeneousMatrix (const vpPoseVector &p)

VP_EXPLICIT	vpHomogeneousMatrix (const std::vector< float > &v)

VP_EXPLICIT	vpHomogeneousMatrix (const std::vector< double > &v)

	vpHomogeneousMatrix (double tx, double ty, double tz, double tux, double tuy, double tuz)

VP_EXPLICIT	vpHomogeneousMatrix (const std::initializer_list< double > &list)

vpHomogeneousMatrix &	buildFrom (const vpTranslationVector &t, const vpRotationMatrix &R)

vpHomogeneousMatrix &	buildFrom (const vpTranslationVector &t, const vpThetaUVector &tu)

vpHomogeneousMatrix &	buildFrom (const vpTranslationVector &t, const vpQuaternionVector &q)

vpHomogeneousMatrix &	buildFrom (const vpPoseVector &p)

vpHomogeneousMatrix &	buildFrom (const std::vector< float > &v)

vpHomogeneousMatrix &	buildFrom (const std::vector< double > &v)

vpHomogeneousMatrix &	buildFrom (const double &tx, const double &ty, const double &tz, const double &tux, const double &tuy, const double &tuz)

void	convert (std::vector< float > &M)

void	convert (std::vector< double > &M)

void	eye ()

vpColVector	getCol (unsigned int j) const

vpRotationMatrix	getRotationMatrix () const

vpThetaUVector	getThetaUVector () const

vpTranslationVector	getTranslationVector () const

vpHomogeneousMatrix	inverse () const

void	inverse (vpHomogeneousMatrix &Mi) const

bool	isAnHomogeneousMatrix (double threshold=1e-6) const

bool	isValid () const

void	insert (const vpRotationMatrix &R)

void	insert (const vpThetaUVector &tu)

void	insert (const vpTranslationVector &t)

void	insert (const vpQuaternionVector &t)

void	extract (vpRotationMatrix &R) const

void	extract (vpThetaUVector &tu) const

void	extract (vpTranslationVector &t) const

void	extract (vpQuaternionVector &q) const

void	load (std::ifstream &f)

void	load (const std::string &filename)

void	save (std::ofstream &f) const

void	save (const std::string &filename) const

vpHomogeneousMatrix &	operator= (const vpHomogeneousMatrix &M)

vpHomogeneousMatrix	operator* (const vpHomogeneousMatrix &M) const

vpHomogeneousMatrix &	operator*= (const vpHomogeneousMatrix &M)

vpColVector	operator* (const vpColVector &v) const

vpTranslationVector	operator* (const vpTranslationVector &t) const

vpHomogeneousMatrix	operator* (const vpRotationMatrix &R) const

vpPoint	operator* (const vpPoint &bP) const

vpHomogeneousMatrix &	operator<< (double val)

vpHomogeneousMatrix &	operator, (double val)

void	orthogonalizeRotation ()

void	print () const

void	resize (unsigned int nrows, unsigned int ncols, bool flagNullify=true)

Inherited functionalities from vpArray2D
unsigned int	getCols () const

double	getMaxValue () const

double	getMinValue () const

unsigned int	getRows () const

unsigned int	size () const

void	resize (unsigned int nrows, unsigned int ncols, bool flagNullify=true, bool recopy_=true)

void	reshape (unsigned int nrows, unsigned int ncols)

void	insert (const vpArray2D< double > &A, unsigned int r, unsigned int c)

bool	operator== (const vpArray2D< double > &A) const

bool	operator!= (const vpArray2D< double > &A) const

double *	operator[] (unsigned int i)

double *	operator[] (unsigned int i) const

vpArray2D< double >	hadamard (const vpArray2D< double > &m) const

vpArray2D< double >	t () const

Static Public Member Functions
static vpHomogeneousMatrix	compute3d3dTransformation (const std::vector< vpPoint > &p, const std::vector< vpPoint > &q)

static vpHomogeneousMatrix	mean (const std::vector< vpHomogeneousMatrix > &vec_M)

Public Attributes
double *	data

Static Public Attributes
static const std::string	jsonTypeName = "vpHomogeneousMatrix"

Protected Attributes
unsigned int	m_index

Friends
void	to_json (nlohmann::json &j, const vpHomogeneousMatrix &T)

void	from_json (const nlohmann::json &j, vpHomogeneousMatrix &T)

Related Functions
(Note that these are not member functions.)
enum	vpGEMMmethod

bool	operator== (const vpArray2D< double > &A) const

bool	operator== (const vpArray2D< float > &A) const

bool	operator!= (const vpArray2D< double > &A) const

void	vpGEMM (const vpArray2D< double > &A, const vpArray2D< double > &B, const double &alpha, const vpArray2D< double > &C, const double &beta, vpArray2D< double > &D, const unsigned int &ops=0)

Inherited I/O from vpArray2D with Static Public Member Functions
unsigned int	rowNum

unsigned int	colNum

double **	rowPtrs

unsigned int	dsize

vpArray2D< double >	insert (const vpArray2D< double > &A, const vpArray2D< double > &B, unsigned int r, unsigned int c)

static bool	load (const std::string &filename, vpArray2D< double > &A, bool binary=false, char *header=nullptr)

static bool	loadYAML (const std::string &filename, vpArray2D< double > &A, char *header=nullptr)

static bool	save (const std::string &filename, const vpArray2D< double > &A, bool binary=false, const char *header="")

static bool	saveYAML (const std::string &filename, const vpArray2D< double > &A, const char *header="")

static vpArray2D< double >	conv2 (const vpArray2D< double > &M, const vpArray2D< double > &kernel, const std::string &mode)

static void	conv2 (const vpArray2D< double > &M, const vpArray2D< double > &kernel, vpArray2D< double > &res, const std::string &mode)

static void	insert (const vpArray2D< double > &A, const vpArray2D< double > &B, vpArray2D< double > &C, unsigned int r, unsigned int c)

Detailed Description

Implementation of an homogeneous matrix and operations on such kind of matrices.

The class provides a data structure for the homogeneous matrices as well as a set of operations on these matrices.

The vpHomogeneousMatrix class is derived from vpArray2D<double>.

An homogeneous matrix is 4x4 matrix defines as

$^a{\bf M}_b = \left(\begin{array}{cc} ^a{\bf R}_b & ^a{\bf t}_b \\ {\bf 0}_{1\times 3} & 1 \end{array} \right)$

that defines the position of frame b in frame a

$^a{\bf R}_b$ is a rotation matrix and $^a{\bf t}_b$ is a translation vector.

There are different ways to initialize an homogeneous matrix. You can set each element of the matrix like:

#include <visp3/core/vpHomogeneousMatrix.h>
 
#ifdef ENABLE_VISP_NAMESPACE
using namespace VISP_NAMESPACE_NAME;
#endif
 
int main()
{
  vpHomogeneousMatrix M;
  M[0][0] =  0; M[0][1] =  0; M[0][2] = -1; M[0][3] = 0.1;
  M[1][0] =  0; M[1][1] = -1; M[1][2] =  0; M[1][3] = 0.2;
  M[2][0] = -1; M[2][1] =  0; M[2][2] =  0; M[2][3] = 0.3;
 
  std::cout << "M:" << std::endl;
  for (unsigned int i = 0; i < M.getRows(); ++i) {
    for (unsigned int j = 0; j < M.getCols(); ++j) {
      std::cout << M[i][j] << " ";
    }
    std::cout << std::endl;
  }
}

It produces the following printings:

You can also use vpRotationMatrix::operator<< and vpTranslationVector::operator<< like:

#include <visp3/core/vpHomogeneousMatrix.h>
 
#ifdef ENABLE_VISP_NAMESPACE
using namespace VISP_NAMESPACE_NAME;
#endif
 
int main()
{
  vpTranslationVector t;
  vpRotationMatrix R;
  R << 0, 0, -1,
      0, -1, 0,
      -1, 0, 0;
  t << 0.1, 0.2, 0.3;
  vpHomogeneousMatrix M(t, R);
  std::cout << "M:\n" << M << std::endl;
}

If ViSP is build with c++11 enabled, you can do the same using:

#include <visp3/core/vpHomogeneousMatrix.h>
 
#ifdef ENABLE_VISP_NAMESPACE
using namespace VISP_NAMESPACE_NAME;
#endif
 
int main()
{
  {
    vpHomogeneousMatrix M( vpTranslationVector(0.1, 0.2, 0.3), vpRotationMatrix( {0, 0, -1, 0, -1, 0, -1, 0, 0} ) );
    std::cout << "M:\n" << M << std::endl;
  }
  {
    vpHomogeneousMatrix M { 0,  0, -1, 0.1,
                            0, -1,  0, 0.2,
                          -1,  0,  0, 0.3 };
    std::cout << "M:\n" << M << std::endl;
  }
}

JSON serialization

Since ViSP 3.6.0, if ViSP is build with JSON for modern C++ 3rd-party we introduce JSON serialization capabilities for vpHomogeneousMatrix. The following sample code shows how to save a homogeneous matrix in a file named homo-mat.json and reload the values from this JSON file.

#include <visp3/core/vpHomogeneousMatrix.h>
 
#ifdef ENABLE_VISP_NAMESPACE
using namespace VISP_NAMESPACE_NAME;
#endif
 
int main()
{
#if defined(VISP_HAVE_NLOHMANN_JSON)
  std::string filename = "homo-mat.json";
  {
    vpHomogeneousMatrix M(vpTranslationVector(0.1, 0.2, 0.3), vpRotationMatrix({ 0, 0, -1, 0, -1, 0, -1, 0, 0 }));
    std::ofstream file(filename);
    const nlohmann::json j = M;
    file << j;
    file.close();
  }
  {
    std::ifstream file(filename);
    const nlohmann::json j = nlohmann::json::parse(file);
    vpHomogeneousMatrix M;
    M = j;
    file.close();
    std::cout << "Read homogeneous matrix from " << filename << ":\n" << M << std::endl;
  }
#endif
}

If you build and execute the sample code, it will produce the following output:

Read homogeneous matrix from homo-mat.json:
0  0  -1  0.1
0  -1  0  0.2
-1  0  0  0.3
0  0  0  1

The content of the homo-mat.json file is the following:

$ cat homo-mat.json

{"cols":4,"data":[0.0,0.0,-1.0,0.1,0.0,-1.0,0.0,0.2,-1.0,0.0,0.0,0.3,0.0,0.0,0.0,1.0],"rows":4,"type":"vpHomogeneousMatrix"}

Examples: AROgre.cpp, AROgreBasic.cpp, ClassUsingPclViewer.h, HelloWorldOgre.cpp, HelloWorldOgreAdvanced.cpp, calibrate-hand-eye.cpp, catchAprilTag.cpp, catchEigenConversion.cpp, catchGenericTrackerDeterminist.cpp, catchHomogeneousMatrix.cpp, catchMathUtils.cpp, catchNPZ.cpp, catchPoseRansac2.cpp, catchPoseVector.cpp, catchRotation.cpp, exponentialMap.cpp, grabRealSense2_T265.cpp, homographyHLM2DObject.cpp, homographyHLM3DObject.cpp, homographyHartleyDLT2DObject.cpp, homographyRansac2DObject.cpp, manGeometricFeatures.cpp, manServo4PointsDisplay.cpp, manServoMomentsSimple.cpp, manSimu4Dots.cpp, manSimu4Points.cpp, mbot-apriltag-2D-half-vs.cpp, mbot-apriltag-ibvs.cpp, mbot-apriltag-pbvs.cpp, mbtEdgeKltTracking.cpp, mbtEdgeTracking.cpp, mbtGenericTracking.cpp, mbtGenericTracking2.cpp, mbtGenericTrackingDepth.cpp, mbtGenericTrackingDepthOnly.cpp, mbtKltTracking.cpp, perfGenericTracker.cpp, perfMatrixMultiplication.cpp, photometricMappingVisualServoing.cpp, photometricVisualServoing.cpp, photometricVisualServoingWithoutVpServo.cpp, poseVirtualVS.cpp, saveRealSenseData.cpp, sendMocapToPixhawk.cpp, servoAfma4Point2DArtVelocity.cpp, servoAfma62DhalfCamVelocity.cpp, servoAfma6AprilTagIBVS.cpp, servoAfma6AprilTagPBVS.cpp, servoAfma6Cylinder2DCamVelocity.cpp, servoAfma6Cylinder2DCamVelocitySecondaryTask.cpp, servoAfma6FourPoints2DCamVelocityLs_cur.cpp, servoAfma6FourPoints2DCamVelocityLs_cur_integrator.cpp, servoAfma6FourPoints2DCamVelocityLs_des.cpp, servoAfma6Line2DCamVelocity.cpp, servoAfma6MegaposePBVS.cpp, servoAfma6Points2DCamVelocityEyeToHand.cpp, servoAfma6SquareLines2DCamVelocity.cpp, servoAfma6TwoLines2DCamVelocity.cpp, servoBebop2.cpp, servoBiclopsPoint2DArtVelocity.cpp, servoFlirPtuIBVS.cpp, servoFrankaIBVS.cpp, servoFrankaPBVS.cpp, servoMomentImage.cpp, servoMomentPoints.cpp, servoMomentPolygon.cpp, servoPioneerPanSegment3D.cpp, servoPololuPtuPoint2DJointVelocity.cpp, servoPtu46Point2DArtVelocity.cpp, servoSimu3D_cMcd_CamVelocity.cpp, servoSimu3D_cMcd_CamVelocityWithoutVpServo.cpp, servoSimu3D_cdMc_CamVelocity.cpp, servoSimu3D_cdMc_CamVelocityWithoutVpServo.cpp, servoSimu4Points.cpp, servoSimuAfma6FourPoints2DCamVelocity.cpp, servoSimuCircle2DCamVelocity.cpp, servoSimuCircle2DCamVelocityDisplay.cpp, servoSimuCylinder.cpp, servoSimuCylinder2DCamVelocityDisplay.cpp, servoSimuCylinder2DCamVelocityDisplaySecondaryTask.cpp, servoSimuFourPoints2DCamVelocity.cpp, servoSimuFourPoints2DCamVelocityDisplay.cpp, servoSimuFourPoints2DPolarCamVelocityDisplay.cpp, servoSimuLine2DCamVelocityDisplay.cpp, servoSimuPoint2DCamVelocity1.cpp, servoSimuPoint2DCamVelocity2.cpp, servoSimuPoint2DCamVelocity3.cpp, servoSimuPoint2DhalfCamVelocity1.cpp, servoSimuPoint2DhalfCamVelocity2.cpp, servoSimuPoint2DhalfCamVelocity3.cpp, servoSimuPoint3DCamVelocity.cpp, servoSimuSphere.cpp, servoSimuSphere2DCamVelocity.cpp, servoSimuSphere2DCamVelocityDisplay.cpp, servoSimuSphere2DCamVelocityDisplaySecondaryTask.cpp, servoSimuSquareLine2DCamVelocityDisplay.cpp, servoSimuThetaUCamVelocity.cpp, servoSimuViper850FourPoints2DCamVelocity.cpp, servoUniversalRobotsIBVS.cpp, servoUniversalRobotsPBVS.cpp, servoViper650FourPoints2DArtVelocityLs_cur.cpp, servoViper650FourPoints2DCamVelocityLs_cur-SR300.cpp, servoViper650FourPoints2DCamVelocityLs_cur.cpp, servoViper850FourPoints2DArtVelocityLs_cur.cpp, servoViper850FourPoints2DCamVelocityLs_cur.cpp, servoViper850FourPointsKinect.cpp, servoViper850Point2DArtVelocity.cpp, simulateCircle2DCamVelocity.cpp, simulateFourPoints2DCartesianCamVelocity.cpp, simulateFourPoints2DPolarCamVelocity.cpp, testCameraParametersConversion.cpp, testDisplacement.cpp, testDisplays.cpp, testFeatureMoment.cpp, testFeatureSegment.cpp, testFindMatch.cpp, testFrankaCartVelocity-3.cpp, testFrankaGetPose.cpp, testGenericTracker.cpp, testGenericTrackerDepth.cpp, testImageDraw.cpp, testKeyPoint-2.cpp, testKeyPoint-4.cpp, testMocapQualisys.cpp, testMocapVicon.cpp, testPixhawkDronePositionAbsoluteControl.cpp, testPixhawkDronePositionRelativeControl.cpp, testPixhawkDroneTakeoff.cpp, testPoint.cpp, testPose.cpp, testPoseFeatures.cpp, testPoseRansac.cpp, testRealSense2_T265_images_odometry.cpp, testRealSense2_T265_images_odometry_async.cpp, testRealSense2_T265_odometry.cpp, testRobotAfma6Pose.cpp, testRobotViper650-frames.cpp, testRobotViper850-frames.cpp, testRobotViper850.cpp, testRobotViper850Pose.cpp, testUniversalRobotsCartPosition.cpp, testUniversalRobotsGetData.cpp, testViper650.cpp, testViper850.cpp, testVirtuoseAfma6.cpp, testVirtuoseHapticBox.cpp, testVirtuoseWithGlove.cpp, testXmlParserHomogeneousMatrix.cpp, tutorial-apriltag-detector-live-rgbd-realsense.cpp, tutorial-apriltag-detector-live-rgbd-structure-core.cpp, tutorial-detection-object-mbt-deprecated.cpp, tutorial-detection-object-mbt.cpp, tutorial-detection-object-mbt2-deprecated.cpp, tutorial-detection-object-mbt2.cpp, tutorial-draw-frame.cpp, tutorial-flir-ptu-ibvs.cpp, tutorial-homography-from-points.cpp, tutorial-ibvs-4pts-display.cpp, tutorial-ibvs-4pts-image-tracking.cpp, tutorial-ibvs-4pts-json.cpp, tutorial-ibvs-4pts-ogre-tracking.cpp, tutorial-ibvs-4pts-ogre.cpp, tutorial-ibvs-4pts-plotter-continuous-gain-adaptive.cpp, tutorial-ibvs-4pts-plotter-gain-adaptive.cpp, tutorial-ibvs-4pts-plotter.cpp, tutorial-ibvs-4pts-wireframe-camera.cpp, tutorial-ibvs-4pts-wireframe-robot-afma6.cpp, tutorial-ibvs-4pts-wireframe-robot-viper.cpp, tutorial-ibvs-4pts.cpp, tutorial-image-simulator.cpp, tutorial-mb-edge-tracker.cpp, tutorial-mb-generic-tracker-apriltag-rs2.cpp, tutorial-mb-generic-tracker-apriltag-webcam.cpp, tutorial-mb-generic-tracker-full.cpp, tutorial-mb-generic-tracker-live.cpp, tutorial-mb-generic-tracker-read.cpp, tutorial-mb-generic-tracker-rgbd-blender.cpp, tutorial-mb-generic-tracker-rgbd-realsense-json.cpp, tutorial-mb-generic-tracker-rgbd-realsense.cpp, tutorial-mb-generic-tracker-rgbd-structure-core.cpp, tutorial-mb-generic-tracker-rgbd.cpp, tutorial-mb-generic-tracker-save.cpp, tutorial-mb-generic-tracker-stereo-mono.cpp, tutorial-mb-generic-tracker-stereo.cpp, tutorial-mb-generic-tracker.cpp, tutorial-mb-hybrid-tracker.cpp, tutorial-mb-klt-tracker.cpp, tutorial-mb-tracker-full.cpp, tutorial-mb-tracker.cpp, tutorial-panda3d-renderer.cpp, tutorial-pf.cpp, tutorial-pose-from-planar-object.cpp, tutorial-pose-from-points-image.cpp, tutorial-pose-from-points-live.cpp, tutorial-pose-from-points-realsense-T265.cpp, tutorial-pose-from-qrcode-image.cpp, tutorial-simu-pioneer-continuous-gain-adaptive.cpp, tutorial-simu-pioneer-continuous-gain-constant.cpp, tutorial-simu-pioneer-pan.cpp, tutorial-simu-pioneer.cpp, tutorial-ukf.cpp, and wireframeSimulator.cpp.

Definition at line 220 of file vpHomogeneousMatrix.h.

Constructor & Destructor Documentation

◆ vpHomogeneousMatrix() [1/10]

vpHomogeneousMatrix::vpHomogeneousMatrix ( )

Default constructor that initialize an homogeneous matrix as identity.

Definition at line 61 of file vpHomogeneousMatrix.cpp.

References eye().

Referenced by compute3d3dTransformation(), and operator*().

◆ vpHomogeneousMatrix() [2/10]

vpHomogeneousMatrix::vpHomogeneousMatrix ( const vpHomogeneousMatrix & M )

Copy constructor that initialize an homogeneous matrix from another homogeneous matrix.

Definition at line 67 of file vpHomogeneousMatrix.cpp.

◆ vpHomogeneousMatrix() [3/10]

vpHomogeneousMatrix::vpHomogeneousMatrix	(	const vpTranslationVector &	t,
		const vpRotationMatrix &	R
	)

Construct an homogeneous matrix from a translation vector and a rotation matrix.

Definition at line 87 of file vpHomogeneousMatrix.cpp.

References insert(), and vpArray2D< double >::t().

◆ vpHomogeneousMatrix() [4/10]

vpHomogeneousMatrix::vpHomogeneousMatrix	(	const vpTranslationVector &	t,
		const vpThetaUVector &	tu
	)

Construct an homogeneous matrix from a translation vector and $\theta {\bf u}$ rotation vector.

Definition at line 76 of file vpHomogeneousMatrix.cpp.

References buildFrom(), and vpArray2D< double >::t().

◆ vpHomogeneousMatrix() [5/10]

BEGIN_VISP_NAMESPACE vpHomogeneousMatrix::vpHomogeneousMatrix	(	const vpTranslationVector &	t,
		const vpQuaternionVector &	q
	)

Construct an homogeneous matrix from a translation vector and quaternion rotation vector.

Definition at line 51 of file vpHomogeneousMatrix.cpp.

References buildFrom(), and vpArray2D< double >::t().

◆ vpHomogeneousMatrix() [6/10]

vpHomogeneousMatrix::vpHomogeneousMatrix ( const vpPoseVector & p )

Construct an homogeneous matrix from a pose vector.

Definition at line 99 of file vpHomogeneousMatrix.cpp.

References buildFrom().

◆ vpHomogeneousMatrix() [7/10]

vpHomogeneousMatrix::vpHomogeneousMatrix ( const std::vector< float > & v )

Construct an homogeneous matrix from a vector of float.

Parameters

v	: Vector of 12 or 16 values corresponding to the values of the homogeneous matrix.

The following example shows how to use this function:

#include <visp3/core/vpHomogeneousMatrix.h>
 
#ifdef ENABLE_VISP_NAMESPACE
using namespace VISP_NAMESPACE_NAME;
#endif
 
int main()
{
  std::vector<float> v(12, 0);
  v[1]  = -1.; // ry=-90
  v[4]  =  1.; // rx=90
  v[10] = -1.; // rz=-90
  v[3]  = 0.3; // tx
  v[7]  = 0.4; // ty
  v[11] = 0.5; // tz
 
  std::cout << "v: ";
  for(unsigned int i=0; i<v.size(); ++i)
    std::cout << v[i] << " ";
  std::cout << std::endl;
 
  vpHomogeneousMatrix M(v);
  std::cout << "M:\n" << M << std::endl;
}

It produces the following printings:

v: 0 -1 0 0.3 1 0 0 0.4 0 0 -1 0.5
M:
0  -1  0  0.3000000119
1  0  0  0.400000006
0  0  -1  0.5
0  0  0  1

Definition at line 154 of file vpHomogeneousMatrix.cpp.

References buildFrom().

◆ vpHomogeneousMatrix() [8/10]

vpHomogeneousMatrix::vpHomogeneousMatrix ( const std::vector< double > & v )

Construct an homogeneous matrix from a vector of double.

Parameters

v	: Vector of 12 or 16 values corresponding to the values of the homogeneous matrix.

The following example shows how to use this function:

#include <visp3/core/vpHomogeneousMatrix.h>
 
#ifdef ENABLE_VISP_NAMESPACE
using namespace VISP_NAMESPACE_NAME;
#endif
 
int main()
{
  std::vector<double> v(12, 0);
  v[1]  = -1.; // ry=-90
  v[4]  =  1.; // rx=90
  v[10] = -1.; // rz=-90
  v[3]  = 0.3; // tx
  v[7]  = 0.4; // ty
  v[11] = 0.5; // tz
 
  std::cout << "v: ";
  for(unsigned int i=0; i<v.size(); ++i)
    std::cout << v[i] << " ";
  std::cout << std::endl;
 
  vpHomogeneousMatrix M(v);
  std::cout << "M:\n" << M << std::endl;
}

It produces the following printings:

v: 0 -1 0 0.3 1 0 0 0.4 0 0 -1 0.5
M:
0  -1  0  0.3
1  0  0  0.4
0  0  -1  0.5
0  0  0  1

Definition at line 311 of file vpHomogeneousMatrix.cpp.

References buildFrom().

◆ vpHomogeneousMatrix() [9/10]

vpHomogeneousMatrix::vpHomogeneousMatrix	(	double	tx,
		double	ty,
		double	tz,
		double	tux,
		double	tuy,
		double	tuz
	)

Construct an homogeneous matrix from a translation vector ${\bf t}=(t_x, t_y, t_z)^T$ and a $\theta {\bf u}=(\theta u_x, \theta u_y, \theta u_z)^T$ rotation vector.

Definition at line 322 of file vpHomogeneousMatrix.cpp.

References buildFrom().

◆ vpHomogeneousMatrix() [10/10]

vpHomogeneousMatrix::vpHomogeneousMatrix ( const std::initializer_list< double > & list )

Construct an homogeneous matrix from a list of 12 or 16 double values.

Parameters

list

: List of double. The following code shows how to use this constructor to initialize an homogeneous matrix:

#include <visp3/core/vpHomogeneousMatrix.h>
 
#ifdef ENABLE_VISP_NAMESPACE
using namespace VISP_NAMESPACE_NAME;
#endif
 
int main()
{
  vpHomogeneousMatrix M {
    0, 0, 1, 0.1,
    0, 1, 0, 0.2,
    1, 0, 0, 0.3 };
  std::cout << "M:\n" << M << std::endl;
  vpHomogeneousMatrix N {
    0, 0, 1, 0.1,
    0, 1, 0, 0.2,
    1, 0, 0, 0.3,
    0, 0, 0, 1 };
  std::cout << "N:\n" << N << std::endl;
}

It produces the following output:

Definition at line 201 of file vpHomogeneousMatrix.cpp.

References vpArray2D< double >::data, vpException::fatalError, isAnHomogeneousMatrix(), and vpRotationMatrix::orthogonalize().

Member Function Documentation

◆ buildFrom() [1/7]

vpHomogeneousMatrix & vpHomogeneousMatrix::buildFrom	(	const double &	tx,
		const double &	ty,
		const double &	tz,
		const double &	tux,
		const double &	tuy,
		const double &	tuz
	)

Build an homogeneous matrix from a translation vector ${\bf t}=(t_x, t_y, t_z)^T$ and a $\theta {\bf u}=(\theta u_x, \theta u_y, \theta u_z)^T$ rotation vector.

Definition at line 386 of file vpHomogeneousMatrix.cpp.

References insert(), and vpArray2D< double >::t().

◆ buildFrom() [2/7]

vpHomogeneousMatrix & vpHomogeneousMatrix::buildFrom ( const std::vector< double > & v )

Build an homogeneous matrix from a vector of double.

Parameters

v	: Vector of 12 or 16 values corresponding to the values of the homogeneous matrix.

The following example shows how to use this function:

#include <visp3/core/vpHomogeneousMatrix.h>
 
#ifdef ENABLE_VISP_NAMESPACE
using namespace VISP_NAMESPACE_NAME;
#endif
 
int main()
{
  std::vector<double> v(12, 0);
  v[1]  = -1.; // ry=-90
  v[4]  =  1.; // rx=90
  v[10] = -1.; // rz=-90
  v[3]  = 0.3; // tx
  v[7]  = 0.4; // ty
  v[11] = 0.5; // tz
 
  std::cout << "v: ";
  for(unsigned int i=0; i<v.size(); ++i)
    std::cout << v[i] << " ";
  std::cout << std::endl;
 
  vpHomogeneousMatrix M;
  M.buildFrom(v);
  std::cout << "M:\n" << M << std::endl;
}

It produces the following printings:

v: 0 -1 0 0.3 1 0 0 0.4 0 0 -1 0.5
M:
0  -1  0  0.3
1  0  0  0.4
0  0  -1  0.5
0  0  0  1

Definition at line 496 of file vpHomogeneousMatrix.cpp.

References vpArray2D< double >::data, and vpException::dimensionError.

◆ buildFrom() [3/7]

vpHomogeneousMatrix & vpHomogeneousMatrix::buildFrom ( const std::vector< float > & v )

Build an homogeneous matrix from a vector of float.

Parameters

v	: Vector of 12 or 16 values corresponding to the values of the homogeneous matrix.

The following example shows how to use this function:

#include <visp3/core/vpHomogeneousMatrix.h>
 
#ifdef ENABLE_VISP_NAMESPACE
using namespace VISP_NAMESPACE_NAME;
#endif
 
int main()
{
  std::vector<float> v(12, 0);
  v[1]  = -1.; // ry=-90
  v[4]  =  1.; // rx=90
  v[10] = -1.; // rz=-90
  v[3]  = 0.3; // tx
  v[7]  = 0.4; // ty
  v[11] = 0.5; // tz
 
  std::cout << "v: ";
  for(unsigned int i=0; i<v.size(); ++i)
    std::cout << v[i] << " ";
  std::cout << std::endl;
 
  vpHomogeneousMatrix M;
  M.buildFrom(v);
  std::cout << "M:\n" << M << std::endl;
}

It produces the following printings:

v: 0 -1 0 0.3 1 0 0 0.4 0 0 -1 0.5
M:
0  -1  0  0.3000000119
1  0  0  0.400000006
0  0  -1  0.5
0  0  0  1

Definition at line 440 of file vpHomogeneousMatrix.cpp.

References vpArray2D< double >::data, and vpException::dimensionError.

◆ buildFrom() [4/7]

vpHomogeneousMatrix & vpHomogeneousMatrix::buildFrom ( const vpPoseVector & p )

Build an homogeneous matrix from a pose vector.

Definition at line 354 of file vpHomogeneousMatrix.cpp.

References insert().

◆ buildFrom() [5/7]

vpHomogeneousMatrix & vpHomogeneousMatrix::buildFrom	(	const vpTranslationVector &	t,
		const vpQuaternionVector &	q
	)

Build an homogeneous matrix from a translation vector and a quaternion rotation vector.

Definition at line 374 of file vpHomogeneousMatrix.cpp.

References insert(), and vpArray2D< double >::t().

◆ buildFrom() [6/7]

vpHomogeneousMatrix & vpHomogeneousMatrix::buildFrom	(	const vpTranslationVector &	t,
		const vpRotationMatrix &	R
	)

Build an homogeneous matrix from a translation vector and a rotation matrix.

Examples: calibrate-hand-eye.cpp, mbtEdgeKltTracking.cpp, mbtEdgeTracking.cpp, mbtGenericTracking.cpp, mbtGenericTracking2.cpp, mbtGenericTrackingDepth.cpp, mbtGenericTrackingDepthOnly.cpp, mbtKltTracking.cpp, photometricMappingVisualServoing.cpp, photometricVisualServoing.cpp, photometricVisualServoingWithoutVpServo.cpp, servoAfma6AprilTagPBVS.cpp, servoAfma6FourPoints2DCamVelocityLs_cur.cpp, servoAfma6FourPoints2DCamVelocityLs_cur_integrator.cpp, servoAfma6FourPoints2DCamVelocityLs_des.cpp, servoAfma6MegaposePBVS.cpp, servoFrankaPBVS.cpp, servoSimu3D_cMcd_CamVelocity.cpp, servoSimu3D_cdMc_CamVelocity.cpp, servoSimuPoint2DhalfCamVelocity1.cpp, servoSimuPoint2DhalfCamVelocity2.cpp, servoSimuPoint2DhalfCamVelocity3.cpp, servoSimuThetaUCamVelocity.cpp, servoUniversalRobotsPBVS.cpp, servoViper850FourPoints2DArtVelocityLs_cur.cpp, servoViper850FourPoints2DCamVelocityLs_cur.cpp, servoViper850FourPointsKinect.cpp, testKeyPoint-2.cpp, testRealSense2_T265_images_odometry_async.cpp, testRobotAfma6Pose.cpp, testRobotViper650-frames.cpp, testRobotViper850-frames.cpp, testRobotViper850Pose.cpp, tutorial-draw-frame.cpp, tutorial-flir-ptu-ibvs.cpp, tutorial-pf.cpp, and tutorial-ukf.cpp.

Definition at line 344 of file vpHomogeneousMatrix.cpp.

References insert(), and vpArray2D< double >::t().

Referenced by vpHomography::buildFrom(), vpAfma6::init(), vpViper650::init(), vpViper850::init(), vpMbTracker::initFromPose(), vpMarkersMeasurements::likelihood(), vpMbTracker::loadCAOModel(), vpMarkersMeasurements::measureGT(), vpWireFrameSimulator::navigation(), vpAfma6::parseConfigFile(), vpPioneerPan::set_cMe(), vpViper::set_eMc(), vpWireFrameSimulator::setExternalCameraPosition(), vpSimulatorPioneer::setVelocity(), vpSimulatorPioneerPan::setVelocity(), vpMarkersMeasurements::state_to_measurement(), vpAfma4::vpAfma4(), vpHomogeneousMatrix(), vpKinect::vpKinect(), and vpWireFrameSimulator::vpWireFrameSimulator().

◆ buildFrom() [7/7]

vpHomogeneousMatrix & vpHomogeneousMatrix::buildFrom	(	const vpTranslationVector &	t,
		const vpThetaUVector &	tu
	)

Build an homogeneous matrix from a translation vector and a $\theta {\bf u}$ rotation vector.

Definition at line 333 of file vpHomogeneousMatrix.cpp.

References insert(), and vpArray2D< double >::t().

◆ compute3d3dTransformation()

vpHomogeneousMatrix vpHomogeneousMatrix::compute3d3dTransformation	(	const std::vector< vpPoint > &	p,
		const std::vector< vpPoint > &	q
	)

static

Compute the transformation between two point clouds.

Parameters

[in]	p	: First point cloud.
[in]	q	: Second point cloud.

Returns: The homogeneous transformation ${^p}{\bf M}_q$ .

Definition at line 1217 of file vpHomogeneousMatrix.cpp.

References vpMatrix::det(), vpMatrix::svd(), vpArray2D< double >::t(), vpMatrix::t(), and vpHomogeneousMatrix().

Referenced by vpPose::computePlanarObjectPoseFromRGBD().

◆ conv2() [1/2]

vpArray2D< double > vpArray2D< double >::conv2	(	const vpArray2D< Type > &	M,
		const vpArray2D< Type > &	kernel,
		const std::string &	mode
	)

staticinherited

Perform a 2D convolution similar to Matlab conv2 function: $M \star kernel$ .

Parameters

M	: First matrix.
kernel	: Second matrix.
mode	: Convolution mode: "full" (default), "same", "valid".

Convolution mode: full, same, valid (image credit: Theano doc).

Note: This is a very basic implementation that does not use FFT.

Definition at line 1053 of file vpArray2D.h.

◆ conv2() [2/2]

void vpArray2D< double >::conv2	(	const vpArray2D< Type > &	M,
		const vpArray2D< Type > &	kernel,
		vpArray2D< Type > &	res,
		const std::string &	mode
	)

staticinherited

Perform a 2D convolution similar to Matlab conv2 function: $M \star kernel$ .

Parameters

M	: First array.
kernel	: Second array.
res	: Result.
mode	: Convolution mode: "full" (default), "same", "valid".

Convolution mode: full, same, valid (image credit: Theano doc).

Note: This is a very basic implementation that does not use FFT.

Definition at line 1067 of file vpArray2D.h.

◆ convert() [1/2]

void vpHomogeneousMatrix::convert ( std::vector< double > & M )

Converts an homogeneous matrix to a vector of 12 doubles.

Parameters

M	: Converted matrix.

Definition at line 1127 of file vpHomogeneousMatrix.cpp.

References vpArray2D< double >::data.

◆ convert() [2/2]

void vpHomogeneousMatrix::convert ( std::vector< float > & M )

Converts an homogeneous matrix to a vector of 12 floats.

Parameters

M	: Converted matrix.

Definition at line 1115 of file vpHomogeneousMatrix.cpp.

References vpArray2D< double >::data.

◆ extract() [1/4]

void vpHomogeneousMatrix::extract ( vpQuaternionVector & q ) const

Extract the rotation as a quaternion.

Definition at line 904 of file vpHomogeneousMatrix.cpp.

References vpQuaternionVector::buildFrom().

◆ extract() [2/4]

void vpHomogeneousMatrix::extract ( vpRotationMatrix & R ) const

Extract the rotational matrix from the homogeneous matrix.

Parameters

R	: rotational component as a rotation matrix.

Examples: calibrate-hand-eye.cpp, exponentialMap.cpp, servoSimu3D_cMcd_CamVelocityWithoutVpServo.cpp, servoSimu3D_cdMc_CamVelocityWithoutVpServo.cpp, testFeatureMoment.cpp, testRobotAfma6Pose.cpp, testRobotViper650-frames.cpp, testRobotViper850-frames.cpp, testRobotViper850.cpp, testRobotViper850Pose.cpp, testViper650.cpp, testViper850.cpp, tutorial-pf.cpp, and tutorial-ukf.cpp.

Definition at line 868 of file vpHomogeneousMatrix.cpp.

Referenced by vpPoseVector::buildFrom(), vpThetaUVector::buildFrom(), vpTranslationVector::buildFrom(), vpFeatureThetaU::buildFrom(), vpViper::get_eJe(), vpViper::get_fJe(), vpRobotAfma6::getDisplacement(), vpRobotAfma4::getPosition(), vpRobotAfma6::getPosition(), vpRobotViper650::getPosition(), vpRobotViper850::getPosition(), vpSimulatorCamera::getPosition(), vpSimulatorPioneer::getPosition(), vpSimulatorPioneerPan::getPosition(), getRotationMatrix(), getThetaUVector(), getTranslationVector(), vpRobotAfma6::getVelocity(), vpRobotViper650::getVelocity(), vpRobotViper850::getVelocity(), inverse(), vpExponentialMap::inverse(), isAnHomogeneousMatrix(), operator*(), vpPose::poseLowe(), vpViper::set_eMc(), vpImageSimulator::setCameraPosition(), vpWireFrameSimulator::setExternalCameraPosition(), vpAROgre::setPosition(), vpRobotAfma4::setVelocity(), vpFeatureThetaU::vpFeatureThetaU(), and vpTranslationVector::vpTranslationVector().

◆ extract() [3/4]

void vpHomogeneousMatrix::extract ( vpThetaUVector & tu ) const

Extract the rotation as a $\theta \bf u$ vector.

Definition at line 894 of file vpHomogeneousMatrix.cpp.

References vpThetaUVector::buildFrom().

◆ extract() [4/4]

void vpHomogeneousMatrix::extract ( vpTranslationVector & t ) const

Extract the translation vector from the homogeneous matrix.

Definition at line 881 of file vpHomogeneousMatrix.cpp.

References vpArray2D< double >::t().

◆ eye()

void vpHomogeneousMatrix::eye ( )

Set transformation to identity.

Examples: calibrate-hand-eye.cpp.

Definition at line 993 of file vpHomogeneousMatrix.cpp.

Referenced by vpHandEyeCalibration::calibrate(), vpViper::get_eMs(), vpViper::get_wMe(), vpMbDepthDenseTracker::reInitModel(), vpMbDepthNormalTracker::reInitModel(), vpMbEdgeTracker::reInitModel(), vpMbDepthDenseTracker::resetTracker(), vpMbDepthNormalTracker::resetTracker(), vpMbEdgeTracker::resetTracker(), vpMbGenericTracker::resetTracker(), vpAfma6::vpAfma6(), vpHomogeneousMatrix(), and vpViper::vpViper().

◆ getCol()

vpColVector vpHomogeneousMatrix::getCol ( unsigned int j ) const

Extract a column vector from an homogeneous matrix.

Warning: All the indexes start from 0 in this function.

Parameters

j	: Index of the column to extract. If j=0, the first column is extracted.

Returns: The extracted column vector.

The following example shows how to use this function:

#include <visp3/core/vpColVector.h>
#include <visp3/core/vpHomogeneousMatrix.h>
 
#ifdef ENABLE_VISP_NAMESPACE
using namespace VISP_NAMESPACE_NAME;
#endif
 
int main()
{
  vpHomogeneousMatrix M;
 
  vpColVector t = M.getCol(3);
  std::cout << "Last column: \n" << t << std::endl;
}

It produces the following output:

Last column:
0
0
1
0

Definition at line 1198 of file vpHomogeneousMatrix.cpp.

References vpException::dimensionError, vpArray2D< double >::getCols(), and vpArray2D< double >::getRows().

◆ getCols()

unsigned int vpArray2D< double >::getCols ( ) const

inlineinherited

Return the number of columns of the 2D array.

See also: getRows(), size()

Definition at line 337 of file vpArray2D.h.

◆ getMaxValue()

double vpArray2D< double >::getMaxValue

inherited

Return the array max value.

Examples: servoMomentImage.cpp.

Definition at line 339 of file vpArray2D.h.

◆ getMinValue()

double vpArray2D< double >::getMinValue

inherited

Return the array min value.

Examples: servoMomentImage.cpp.

Definition at line 341 of file vpArray2D.h.

◆ getRotationMatrix()

vpRotationMatrix vpHomogeneousMatrix::getRotationMatrix ( ) const

Return the rotation matrix from the homogeneous transformation matrix.

Examples: calibrate-hand-eye.cpp, catchMathUtils.cpp, catchRotation.cpp, testPixhawkDronePositionAbsoluteControl.cpp, testPixhawkDronePositionRelativeControl.cpp, testPixhawkDroneTakeoff.cpp, testRobotViper650-frames.cpp, testRobotViper850-frames.cpp, testVirtuoseAfma6.cpp, tutorial-mb-generic-tracker-full.cpp, and tutorial-pose-from-qrcode-image.cpp.

Definition at line 1148 of file vpHomogeneousMatrix.cpp.

References extract().

Referenced by vpForceTwistMatrix::buildFrom(), vpVelocityTwistMatrix::buildFrom(), vpRotationMatrix::operator*(), vpPanda3DBaseRenderer::setNodePose(), vpRobotBebop2::setPosition(), vpPanda3DBaseRenderer::vispVectorToPanda(), vpForceTwistMatrix::vpForceTwistMatrix(), and vpVelocityTwistMatrix::vpVelocityTwistMatrix().

◆ getRows()

unsigned int vpArray2D< double >::getRows ( ) const

inlineinherited

◆ getThetaUVector()

vpThetaUVector vpHomogeneousMatrix::getThetaUVector ( ) const

Return the $\theta {\bf u}$ vector that corresponds to the rotation part of the homogeneous transformation.

Examples: servoAfma6AprilTagPBVS.cpp, servoAfma6MegaposePBVS.cpp, servoFrankaPBVS.cpp, servoUniversalRobotsPBVS.cpp, tutorial-mb-generic-tracker-full.cpp, and tutorial-mb-generic-tracker-save.cpp.

Definition at line 1159 of file vpHomogeneousMatrix.cpp.

References extract().

◆ getTranslationVector()

vpTranslationVector vpHomogeneousMatrix::getTranslationVector ( ) const

Return the translation vector from the homogeneous transformation matrix.

Examples: photometricMappingVisualServoing.cpp, servoAfma6AprilTagPBVS.cpp, servoAfma6MegaposePBVS.cpp, servoFrankaPBVS.cpp, servoUniversalRobotsPBVS.cpp, testPixhawkDronePositionAbsoluteControl.cpp, testPixhawkDronePositionRelativeControl.cpp, testPixhawkDroneTakeoff.cpp, testRobotViper650-frames.cpp, testRobotViper850-frames.cpp, tutorial-mb-generic-tracker-full.cpp, tutorial-mb-generic-tracker-save.cpp, tutorial-pf.cpp, and tutorial-pose-from-qrcode-image.cpp.

Definition at line 1138 of file vpHomogeneousMatrix.cpp.

References extract().

Referenced by vpForceTwistMatrix::buildFrom(), vpVelocityTwistMatrix::buildFrom(), mean(), vpRotationMatrix::operator*(), vpMbtFaceDepthNormal::planeIsInvalid(), vpAfma6::set_eMc(), vpPanda3DBaseRenderer::setNodePose(), and vpRobotBebop2::setPosition().

◆ hadamard()

vpArray2D< double > vpArray2D< double >::hadamard ( const vpArray2D< Type > & m ) const

inherited

Compute the Hadamard product (element wise matrix multiplication).

Parameters

m	: Second matrix;

Returns: m1.hadamard(m2) The Hadamard product : $m1 \circ m2 = (m1 \circ m2)_{i,j} = (m1)_{i,j} (m2)_{i,j}$

Definition at line 641 of file vpArray2D.h.

◆ insert() [1/6]

vpArray2D< double > vpArray2D< double >::insert	(	const vpArray2D< Type > &	A,
		const vpArray2D< Type > &	B,
		unsigned int	r,
		unsigned int	c
	)

inherited

Insert array B in array A at the given position.

Parameters

A	: Main array.
B	: Array to insert.
r	: Index of the row where to add the array.
c	: Index of the column where to add the array.

Returns: Array with B insert in A.

Warning: Throw exception if the sizes of the arrays do not allow the insertion.

Definition at line 1081 of file vpArray2D.h.

◆ insert() [2/6]

void vpArray2D< double >::insert	(	const vpArray2D< Type > &	A,
		unsigned int	r,
		unsigned int	c
	)

inlineinherited

Insert array A at the given position in the current array.

Warning: Throw vpException::dimensionError if the dimensions of the matrices do not allow the operation.

Parameters

A	: The array to insert.
r	: The index of the row to begin to insert data.
c	: The index of the column to begin to insert data.

Definition at line 497 of file vpArray2D.h.

◆ insert() [3/6]

void vpHomogeneousMatrix::insert ( const vpQuaternionVector & q )

Insert the rotational component of the homogeneous matrix from a quaternion rotation vector.

Definition at line 956 of file vpHomogeneousMatrix.cpp.

References insert().

◆ insert() [4/6]

void vpHomogeneousMatrix::insert ( const vpRotationMatrix & R )

Insert the rotational component of the homogeneous matrix.

Examples: testDisplacement.cpp, tutorial-simu-pioneer-continuous-gain-adaptive.cpp, tutorial-simu-pioneer-continuous-gain-constant.cpp, tutorial-simu-pioneer-pan.cpp, and tutorial-simu-pioneer.cpp.

Definition at line 914 of file vpHomogeneousMatrix.cpp.

Referenced by buildFrom(), vpHandEyeCalibration::calibrate(), vpExponentialMap::direct(), insert(), inverse(), operator*(), vpPose::poseLowe(), and vpHomogeneousMatrix().

◆ insert() [5/6]

void vpHomogeneousMatrix::insert ( const vpThetaUVector & tu )

Insert the rotational component of the homogeneous matrix from a $theta {\bf u}$ rotation vector.

Definition at line 930 of file vpHomogeneousMatrix.cpp.

References insert().

◆ insert() [6/6]

void vpHomogeneousMatrix::insert ( const vpTranslationVector & t )

Insert the translational component in a homogeneous matrix.

Definition at line 939 of file vpHomogeneousMatrix.cpp.

References vpArray2D< double >::t().

◆ inverse() [1/2]

vpHomogeneousMatrix vpHomogeneousMatrix::inverse ( ) const

Invert the homogeneous matrix

Returns: $\left[\begin{array}{cc} {\bf R} & {\bf t} \\ {\bf 0}_{1\times 3} & 1 \end{array} \right]^{-1} = \left[\begin{array}{cc} {\bf R}^T & -{\bf R}^T {\bf t} \\ {\bf 0}_{1\times 3} & 1 \end{array} \right]$

Examples: calibrate-hand-eye.cpp, catchHomogeneousMatrix.cpp, grabRealSense2_T265.cpp, manServo4PointsDisplay.cpp, manServoMomentsSimple.cpp, manSimu4Dots.cpp, manSimu4Points.cpp, mbtGenericTrackingDepthOnly.cpp, photometricMappingVisualServoing.cpp, photometricVisualServoing.cpp, photometricVisualServoingWithoutVpServo.cpp, servoAfma62DhalfCamVelocity.cpp, servoAfma6AprilTagIBVS.cpp, servoAfma6AprilTagPBVS.cpp, servoAfma6MegaposePBVS.cpp, servoBebop2.cpp, servoFrankaIBVS.cpp, servoFrankaPBVS.cpp, servoMomentImage.cpp, servoSimu3D_cMcd_CamVelocity.cpp, servoSimu3D_cMcd_CamVelocityWithoutVpServo.cpp, servoSimu3D_cdMc_CamVelocity.cpp, servoSimu3D_cdMc_CamVelocityWithoutVpServo.cpp, servoSimu4Points.cpp, servoSimuCircle2DCamVelocity.cpp, servoSimuCircle2DCamVelocityDisplay.cpp, servoSimuCylinder.cpp, servoSimuCylinder2DCamVelocityDisplay.cpp, servoSimuCylinder2DCamVelocityDisplaySecondaryTask.cpp, servoSimuFourPoints2DCamVelocity.cpp, servoSimuFourPoints2DCamVelocityDisplay.cpp, servoSimuFourPoints2DPolarCamVelocityDisplay.cpp, servoSimuLine2DCamVelocityDisplay.cpp, servoSimuPoint2DCamVelocity1.cpp, servoSimuPoint2DCamVelocity2.cpp, servoSimuPoint2DCamVelocity3.cpp, servoSimuPoint2DhalfCamVelocity1.cpp, servoSimuPoint2DhalfCamVelocity2.cpp, servoSimuPoint2DhalfCamVelocity3.cpp, servoSimuPoint3DCamVelocity.cpp, servoSimuSphere.cpp, servoSimuSphere2DCamVelocity.cpp, servoSimuSphere2DCamVelocityDisplay.cpp, servoSimuSphere2DCamVelocityDisplaySecondaryTask.cpp, servoSimuSquareLine2DCamVelocityDisplay.cpp, servoSimuThetaUCamVelocity.cpp, servoUniversalRobotsIBVS.cpp, servoUniversalRobotsPBVS.cpp, simulateCircle2DCamVelocity.cpp, simulateFourPoints2DCartesianCamVelocity.cpp, simulateFourPoints2DPolarCamVelocity.cpp, testFeatureSegment.cpp, testRealSense2_T265_images_odometry.cpp, testRealSense2_T265_images_odometry_async.cpp, testRealSense2_T265_odometry.cpp, testRobotViper650-frames.cpp, testRobotViper850-frames.cpp, testVirtuoseHapticBox.cpp, testVirtuoseWithGlove.cpp, tutorial-ibvs-4pts-display.cpp, tutorial-ibvs-4pts-image-tracking.cpp, tutorial-ibvs-4pts-json.cpp, tutorial-ibvs-4pts-ogre-tracking.cpp, tutorial-ibvs-4pts-ogre.cpp, tutorial-ibvs-4pts-plotter-continuous-gain-adaptive.cpp, tutorial-ibvs-4pts-plotter-gain-adaptive.cpp, tutorial-ibvs-4pts-plotter.cpp, tutorial-ibvs-4pts-wireframe-camera.cpp, tutorial-ibvs-4pts.cpp, tutorial-mb-generic-tracker-rgbd-structure-core.cpp, tutorial-pf.cpp, tutorial-simu-pioneer-continuous-gain-adaptive.cpp, tutorial-simu-pioneer-continuous-gain-constant.cpp, tutorial-simu-pioneer-pan.cpp, tutorial-simu-pioneer.cpp, and tutorial-ukf.cpp.

Definition at line 972 of file vpHomogeneousMatrix.cpp.

References extract(), insert(), and vpRotationMatrix::t().

Referenced by vpKeyPoint::compute3D(), vpKeyPoint::compute3DForPointsOnCylinders(), vpMbtFaceDepthNormal::computeDesiredNormalAndCentroid(), vpBiclops::computeMGD(), vpPtu46::computeMGD(), vpPanda3DBaseRenderer::computeNearAndFarPlanesFromNode(), vpMbDepthDenseTracker::computeVVS(), vpMbDepthNormalTracker::computeVVS(), vpMbEdgeTracker::computeVVS(), vpMbGenericTracker::computeVVS(), vpMbEdgeTracker::computeVVSFirstPhasePoseEstimation(), vpMbGenericTracker::computeVVSInteractionMatrixAndResidu(), vpProjectionDisplay::displayCamera(), vpPtu46::get_cMe(), vpAfma4::get_cMe(), vpAfma6::get_cMe(), vpViper::get_cMe(), vpRobotFlirPtu::get_cVe(), vpAfma4::get_cVf(), vpViper::get_eJe(), vpViper::get_fJe(), vpBiclops::get_fMc(), vpRobotBiclops::getDisplacement(), vpRobotAfma6::getDisplacement(), vpSimulator::getExternalCameraPosition(), vpWireFrameSimulator::getExternalImage(), vpRobotFranka::getForceTorque(), vpRobotUniversalRobots::getForceTorque(), vpWireFrameSimulator::getInternalImage(), vpAfma6::getInverseKinematics(), vpViper::getInverseKinematics(), vpRobotAfma4::getVelocity(), vpRobotAfma6::getVelocity(), vpRobotViper650::getVelocity(), vpRobotViper850::getVelocity(), inverse(), vpSimulator::moveInternalCamera(), vpPose::poseVirtualVS(), vpPose::poseVirtualVSrobust(), vpWireFrameSimulator::projectCameraTrajectory(), vpPioneerPan::set_cMe(), vpWireFrameSimulator::setCameraPositionRelObj(), vpWireFrameSimulator::setCameraPositionRelWorld(), vpWireFrameSimulator::setExternalCameraPosition(), vpRobotUniversalRobots::setPosition(), vpSimulatorPioneer::setVelocity(), vpSimulatorPioneerPan::setVelocity(), and vpKinect::vpKinect().

◆ inverse() [2/2]

void vpHomogeneousMatrix::inverse ( vpHomogeneousMatrix & M ) const

Invert the homogeneous matrix.

Parameters

M	: The inverted homogeneous matrix: $\left[\begin{array}{cc} {\bf R} & {\bf t} \\ {\bf 0}_{1\times 3} & 1 \end{array} \right]^{-1} = \left[\begin{array}{cc} {\bf R}^T & -{\bf R}^T {\bf t} \\ {\bf 0}_{1\times 3} & 1 \end{array} \right]$

Definition at line 1032 of file vpHomogeneousMatrix.cpp.

References inverse().

◆ isAnHomogeneousMatrix()

bool vpHomogeneousMatrix::isAnHomogeneousMatrix ( double threshold = 1e-6 ) const

Test if the 3x3 rotational part of the homogeneous matrix is a valid rotation matrix and the last row is equal to [0, 0, 0, 1].

Returns: true if the matrix is a homogeneous matrix, false otherwise.

Definition at line 834 of file vpHomogeneousMatrix.cpp.

References vpMath::equal(), extract(), vpRotationMatrix::isARotationMatrix(), and vpMath::nul().

Referenced by vpHomogeneousMatrix().

◆ isValid()

bool vpHomogeneousMatrix::isValid ( ) const

Check if the homogeneous transformation matrix doesn't have a value NaN.

Returns: true when no NaN found, false otherwise.

Definition at line 853 of file vpHomogeneousMatrix.cpp.

References vpArray2D< double >::data, vpMath::isNaN(), and vpArray2D< double >::size().

Referenced by vpPose::computePlanarObjectPoseFromRGBD().

◆ load() [1/3]

void vpHomogeneousMatrix::load ( const std::string & filename )

Read an homogeneous matrix from an input file. The homogeneous matrix is considered as a 4 by 4 matrix.

Parameters

filename : Input file name.

The code below shows how to get an homogeneous matrix from a file.

vpHomogeneousMatrix M;
 
M.load("homogeneous.dat");

See also: load(std::ifstream &), save(const std::string &)

Definition at line 1067 of file vpHomogeneousMatrix.cpp.

References load().

◆ load() [2/3]

static bool vpArray2D< double >::load	(	const std::string &	filename,
		vpArray2D< Type > &	A,
		bool	binary = `false`,
		char *	header = `nullptr`
	)

inlinestaticinherited

Load a matrix from a file.

Parameters

filename	: Absolute file name.
A	: Array to be loaded
binary	: If true the matrix is loaded from a binary file, else from a text file.
header	: Header of the file is loaded in this parameter.

Returns: Returns true if success.

See also: save()

Definition at line 669 of file vpArray2D.h.

◆ load() [3/3]

void vpHomogeneousMatrix::load ( std::ifstream & f )

Read an homogeneous matrix from an input file stream. The homogeneous matrix is considered as a 4 by 4 matrix.

Parameters

f	: Input file stream.

The code below shows how to get an homogeneous matrix from a file.

vpHomogeneousMatrix M;
 
std::ifstream f("homogeneous.dat");
M.load(f);

See also: load(const std::string &), save(std::ifstream &)

Examples: mbtGenericTrackingDepth.cpp, mbtGenericTrackingDepthOnly.cpp, servoAfma6Points2DCamVelocityEyeToHand.cpp, tutorial-mb-generic-tracker-rgbd-blender.cpp, tutorial-mb-generic-tracker-rgbd.cpp, tutorial-mb-generic-tracker-stereo.cpp, and tutorial-pose-from-planar-object.cpp.

Definition at line 1052 of file vpHomogeneousMatrix.cpp.

References vpException::ioError.

Referenced by load().

◆ loadYAML()

static bool vpArray2D< double >::loadYAML	(	const std::string &	filename,
		vpArray2D< Type > &	A,
		char *	header = `nullptr`
	)

inlinestaticinherited

Load an array from a YAML-formatted file.

Parameters

filename	: absolute file name.
A	: array to be loaded from the file.
header	: header of the file is loaded in this parameter.

Returns: Returns true on success.

See also: saveYAML()

Examples: servoFlirPtuIBVS.cpp, servoFrankaIBVS.cpp, servoFrankaPBVS.cpp, servoUniversalRobotsIBVS.cpp, servoUniversalRobotsPBVS.cpp, tutorial-flir-ptu-ibvs.cpp, tutorial-hsv-segmentation-pcl-viewer.cpp, tutorial-hsv-segmentation-pcl.cpp, and tutorial-hsv-segmentation.cpp.

Definition at line 783 of file vpArray2D.h.

◆ mean()

vpHomogeneousMatrix vpHomogeneousMatrix::mean ( const std::vector< vpHomogeneousMatrix > & vec_M )

static

Compute the Euclidean mean of the homogeneous matrices. The Euclidean mean of the rotation matrices is computed following Moakher's method (SIAM 2002).

Parameters

[in] vec_M : Set of homogeneous matrices.

Returns: The Euclidean mean of the homogeneous matrices.

See also: vpTranslationVector::mean(), vpRotationMatrix::mean()

Definition at line 1279 of file vpHomogeneousMatrix.cpp.

References getTranslationVector(), vpMatrix::pseudoInverse(), vpArray2D< Type >::size(), vpArray2D< double >::t(), and vpMatrix::t().

◆ operator!=()

bool operator!= ( const vpArray2D< Type > & A ) const

inherited

Not equal to comparison operator of a 2D array.

Definition at line 523 of file vpArray2D.h.

◆ operator*() [1/5]

vpColVector vpHomogeneousMatrix::operator* ( const vpColVector & v ) const

Operator that allow to multiply an homogeneous matrix by a 4-dimension column vector.

Exceptions

vpException::dimensionError : If the vector v is not a 4-dimension vector.

Definition at line 601 of file vpHomogeneousMatrix.cpp.

References vpException::dimensionError, vpArray2D< Type >::getRows(), vpArray2D< double >::rowNum, and vpArray2D< double >::rowPtrs.

◆ operator*() [2/5]

vpHomogeneousMatrix vpHomogeneousMatrix::operator* ( const vpHomogeneousMatrix & M ) const

Operator that allow to multiply an homogeneous matrix by an other one.

#include <visp3/core/vpHomogeneousMatrix.h>
 
#ifdef ENABLE_VISP_NAMESPACE
using namespace VISP_NAMESPACE_NAME;
#endif
 
int main()
{
  vpHomogeneousMatrix aMb, bMc;
  // Initialize aMb and bMc...
 
  // Compute aMc * bMc
  vpHomogeneousMatrix aMc = aMb * bMc;
}

Definition at line 544 of file vpHomogeneousMatrix.cpp.

References extract(), and insert().

◆ operator*() [3/5]

vpPoint vpHomogeneousMatrix::operator* ( const vpPoint & bP ) const

From the coordinates of the point in camera frame b and the transformation between camera frame a and camera frame b computes the coordinates of the point in camera frame a.

Parameters

bP	: 3D coordinates of the point in camera frame bP.

Returns: A point with 3D coordinates in the camera frame a. The coordinates in the world or object frame are set to the same coordinates than the one in the camera frame.

Definition at line 634 of file vpHomogeneousMatrix.cpp.

References vpPoint::get_W(), vpPoint::get_X(), vpPoint::get_Y(), vpPoint::get_Z(), vpPoint::set_oW(), vpPoint::set_oX(), vpPoint::set_oY(), vpPoint::set_oZ(), vpPoint::set_W(), vpPoint::set_X(), vpPoint::set_Y(), and vpPoint::set_Z().

◆ operator*() [4/5]

vpHomogeneousMatrix vpHomogeneousMatrix::operator* ( const vpRotationMatrix & R ) const

Operator that allows to multiply a rotation matrix by a rotation matrix.

Parameters

[in] R : Rotation matrix.

Returns: The product between the homogeneous matrix and the rotation matrix R.

The following snippet shows how to use this method:

vpHomogeneousMatrix c1_M_c2;
vpRotationMatrix c2_R_c3;
vpHomogeneousMatrix c1_M_c3 = c1_M_c2 * c2_R_c3;

Definition at line 709 of file vpHomogeneousMatrix.cpp.

References vpHomogeneousMatrix().

◆ operator*() [5/5]

vpTranslationVector vpHomogeneousMatrix::operator* ( const vpTranslationVector & t ) const

Since a translation vector could be seen as the origin point of a frame, this function computes the new coordinates of a translation vector after applying an homogeneous transformation.

Parameters

t	: Translation vector seen as the 3D coordinates of a point.

Returns: A translation vector that contains the new 3D coordinates after applying the homogeneous transformation.

Definition at line 681 of file vpHomogeneousMatrix.cpp.

References vpArray2D< double >::t().

◆ operator*=()

vpHomogeneousMatrix & vpHomogeneousMatrix::operator*= ( const vpHomogeneousMatrix & M )

Operator that allow to multiply an homogeneous matrix by an other one.

#include <visp3/core/vpHomogeneousMatrix.h>
 
#ifdef ENABLE_VISP_NAMESPACE
using namespace VISP_NAMESPACE_NAME;
#endif
 
int main()
{
  vpHomogeneousMatrix M1, M2;
  // Initialize M1 and M2...
 
  // Compute M1 = M1 * M2
  M1 *= M2;
}

Definition at line 588 of file vpHomogeneousMatrix.cpp.

◆ operator,()

vpHomogeneousMatrix & vpHomogeneousMatrix::operator, ( double val )

Set the second and next element of the homogenous matrix.

Parameters

val	: Value of the matrix second or next element.

Returns: An updated matrix.

The following example shows how to initialize an homogeneous matrix using this operator.

#include <visp3/core/vpHomogeneousMatrix.h>
 
#ifdef ENABLE_VISP_NAMESPACE
using namespace VISP_NAMESPACE_NAME;
#endif
 
int main()
{
  vpHomogeneousMatrix M;
  M << 0, 0, 1, 0.1,
      0, 1, 0, 0.2,
      1, 0, 0, 0.3;
  std::cout << "M:\n" << M << std::endl;
 
  vpHomogeneousMatrix N;
  N << 0, 0, 1, 0.1,
      0, 1, 0, 0.2,
      1, 0, 0, 0.3,
      0, 0, 0, 1;
  std::cout << "N:\n" << N << std::endl;
}

It produces the following printings:

See also: operator<<()

Definition at line 813 of file vpHomogeneousMatrix.cpp.

References vpArray2D< double >::data, vpException::dimensionError, m_index, and vpArray2D< double >::size().

◆ operator<<()

vpHomogeneousMatrix & vpHomogeneousMatrix::operator<< ( double val )

Set homogeneous matrix first element.

Parameters

val	: Value of the matrix first element.

Returns: An updated matrix.

The following example shows how to initialize a rotation matrix using this operator.

#include <visp3/core/vpHomogeneousMatrix.h>
 
#ifdef ENABLE_VISP_NAMESPACE
using namespace VISP_NAMESPACE_NAME;
#endif
 
int main()
{
  vpHomogeneousMatrix M;
  M << 0, 0, 1, 0.1,
      0, 1, 0, 0.2,
      1, 0, 0, 0.3;
  std::cout << "M:\n" << M << std::endl;
 
  vpHomogeneousMatrix N;
  N << 0, 0, 1, 0.1,
      0, 1, 0, 0.2,
      1, 0, 0, 0.3,
      0, 0, 0, 1;
  std::cout << "N:\n" << N << std::endl;
}

It produces the following printings:

See also: operator,()

Definition at line 760 of file vpHomogeneousMatrix.cpp.

References vpArray2D< double >::data, and m_index.

◆ operator=()

vpHomogeneousMatrix & vpHomogeneousMatrix::operator= ( const vpHomogeneousMatrix & M )

Copy operator that allows to set an homogeneous matrix from an other one.

Parameters

M	: Matrix to copy.

Definition at line 513 of file vpHomogeneousMatrix.cpp.

References vpArray2D< Type >::rowPtrs, and vpArray2D< double >::rowPtrs.

◆ operator==()

bool vpArray2D< double >::operator== ( const vpArray2D< Type > & A ) const

inherited

Equal to comparison operator of a 2D array.

Definition at line 519 of file vpArray2D.h.

◆ operator[]() [1/2]

double * vpArray2D< double >::operator[] ( unsigned int i )

inlineinherited

Set element $A_{ij} = x$ using A[i][j] = x.

Definition at line 605 of file vpArray2D.h.

◆ operator[]() [2/2]

double * vpArray2D< double >::operator[] ( unsigned int i ) const

inlineinherited

Get element $x = A_{ij}$ using x = A[i][j].

Definition at line 607 of file vpArray2D.h.

◆ orthogonalizeRotation()

void vpHomogeneousMatrix::orthogonalizeRotation ( )

Perform orthogonalization of the rotation part of the homogeneous transformation.

Examples: catchHomogeneousMatrix.cpp.

Definition at line 1078 of file vpHomogeneousMatrix.cpp.

References vpArray2D< double >::data, and vpRotationMatrix::orthogonalize().

◆ print()

void vpHomogeneousMatrix::print ( ) const

Print the matrix as a pose vector $({\bf t}^T \theta {\bf u}^T)$ .

Definition at line 1105 of file vpHomogeneousMatrix.cpp.

References vpPoseVector::t().

◆ reshape()

void vpArray2D< double >::reshape	(	unsigned int	nrows,
		unsigned int	ncols
	)

inlineinherited

Examples: testMatrixInitialization.cpp.

Definition at line 456 of file vpArray2D.h.

◆ resize() [1/2]

void vpHomogeneousMatrix::resize	(	unsigned int	nrows,
		unsigned int	ncols,
		bool	flagNullify = `true`
	)

inline

This function is not applicable to an homogeneous matrix that is always a 4-by-4 matrix.

Exceptions

vpException::fatalError When this function is called.

Examples: catchPoseRansac2.cpp.

Definition at line 379 of file vpHomogeneousMatrix.h.

References vpException::fatalError.

◆ resize() [2/2]

void vpArray2D< double >::resize	(	unsigned int	nrows,
		unsigned int	ncols,
		bool	flagNullify = `true`,
		bool	recopy_ = `true`
	)

inlineinherited

Set the size of the array and initialize all the values to zero.

Parameters

nrows	: number of rows.
ncols	: number of column.
flagNullify	: if true, then the array is re-initialized to 0 after resize. If false, the initial values from the common part of the array (common part between old and new version of the array) are kept. Default value is true.
recopy_	: if true, will perform an explicit recopy of the old data.

Examples: catchArray2D.cpp, catchJsonArrayConversion.cpp, catchParticleFilter.cpp, perfMatrixMultiplication.cpp, perfMatrixTranspose.cpp, testMatrix.cpp, testMatrixDeterminant.cpp, testMatrixInverse.cpp, testMatrixPseudoInverse.cpp, and testSvd.cpp.

Definition at line 362 of file vpArray2D.h.

◆ save() [1/3]

void vpHomogeneousMatrix::save ( const std::string & filename ) const

Save an homogeneous matrix in a file.

Parameters

filename : Output file name. The homogeneous matrix is saved as a 4 by 4 matrix.

The code below shows how to save an homogeneous matrix in a file.

// Construct an homogeneous matrix
vpTranslationVector t(1,2,3);
vpRxyzVector r(M_PI, 0, -M_PI/4.);
vpRotationMatrix R(r);
vpHomogeneousMatrix M(t, R);
 
// Save the content of the matrix in "homogeneous.dat"
M.save("homogeneous.dat");

See also: save(std::ofstream &), load(const std::string &)

Definition at line 1044 of file vpHomogeneousMatrix.cpp.

References save().

◆ save() [2/3]

static bool vpArray2D< double >::save	(	const std::string &	filename,
		const vpArray2D< Type > &	A,
		bool	binary = `false`,
		const char *	header = `""`
	)

inlinestaticinherited

Save a matrix to a file.

Parameters

filename	: Absolute file name.
A	: Array to be saved.
binary	: If true the matrix is saved in a binary file, else a text file.
header	: Optional line that will be saved at the beginning of the file.

Returns: Returns true if success.

Warning : If you save the matrix as in a text file the precision is less than if you save it in a binary file.

See also: load()

Definition at line 874 of file vpArray2D.h.

◆ save() [3/3]

void vpHomogeneousMatrix::save ( std::ofstream & f ) const

Save an homogeneous matrix in an output file stream.

Parameters

f	: Output file stream. The homogeneous matrix is saved as a 4 by 4 matrix.

The code below shows how to save an homogeneous matrix in a file.

// Construct an homogeneous matrix
vpTranslationVector t(1,2,3);
vpRxyzVector r(M_PI, 0, -M_PI/4.);
vpRotationMatrix R(r);
vpHomogeneousMatrix M(t, R);
 
// Save the content of the matrix in "homogeneous.dat"
std::ofstream f("homogeneous.dat");
M.save(f);

See also: save(const std::string &), load(std::ifstream &)

Examples: saveRealSenseData.cpp, and servoAfma6Points2DCamVelocityEyeToHand.cpp.

Definition at line 1034 of file vpHomogeneousMatrix.cpp.

References vpException::ioError.

Referenced by save().

◆ saveYAML()

static bool vpArray2D< double >::saveYAML	(	const std::string &	filename,
		const vpArray2D< Type > &	A,
		const char *	header = `""`
	)

inlinestaticinherited

Save an array in a YAML-formatted file.

Parameters

filename	: absolute file name.
A	: array to be saved in the file.
header	: optional lines that will be saved at the beginning of the file. Should be YAML-formatted and will adapt to the indentation if any.

Returns: Returns true if success.

Here is an example of outputs.

vpArray2D<double> M(3,4);
vpArray2D::saveYAML("matrix.yml", M, "example: a YAML-formatted header");
vpArray2D::saveYAML("matrixIndent.yml", M, "example:\n    - a YAML-formatted \
header\n    - with inner indentation");

Content of matrix.yml:

example: a YAML-formatted header
rows: 3
cols: 4
data:
  - [0, 0, 0, 0]
  - [0, 0, 0, 0]
  - [0, 0, 0, 0]

Content of matrixIndent.yml:

example:
    - a YAML-formatted header
    - with inner indentation
rows: 3
cols: 4
data:
    - [0, 0, 0, 0]
    - [0, 0, 0, 0]
    - [0, 0, 0, 0]

See also: loadYAML()

Definition at line 972 of file vpArray2D.h.

◆ size()

unsigned int vpArray2D< double >::size ( ) const

inlineinherited

Return the number of elements of the 2D array.

Definition at line 349 of file vpArray2D.h.

◆ t()

vpArray2D< double > vpArray2D< double >::t

inherited

Compute the transpose of the array.

Returns: vpArray2D<Type> C = A^T

Definition at line 648 of file vpArray2D.h.

Friends And Related Function Documentation

◆ from_json

void from_json	(	const nlohmann::json &	j,
		vpHomogeneousMatrix &	T
	)

friend

Definition at line 431 of file vpHomogeneousMatrix.h.

◆ insert()

void vpArray2D< double >::insert	(	const vpArray2D< Type > &	A,
		const vpArray2D< Type > &	B,
		vpArray2D< Type > &	C,
		unsigned int	r,
		unsigned int	c
	)

Parameters

A	: Main array.
B	: Array to insert.
C	: Result array.
r	: Index of the row where to insert array B.
c	: Index of the column where to insert array B.

Warning: Throw exception if the sizes of the arrays do not allow the insertion.

Definition at line 1096 of file vpArray2D.h.

◆ operator!=()

bool operator!= ( const vpArray2D< Type > & A ) const

◆ operator==() [1/2]

bool operator== ( const vpArray2D< double > & A ) const

◆ operator==() [2/2]

bool operator== ( const vpArray2D< float > & A ) const

◆ to_json

void to_json	(	nlohmann::json &	j,
		const vpHomogeneousMatrix &	T
	)

friend

Definition at line 426 of file vpHomogeneousMatrix.h.

◆ vpGEMM()

void vpGEMM	(	const vpArray2D< double > &	A,
		const vpArray2D< double > &	B,
		const double &	alpha,
		const vpArray2D< double > &	C,
		const double &	beta,
		vpArray2D< double > &	D,
		const unsigned int &	ops = `0`
	)

For example, to compute D = alpha*A^T*B^T+beta*C we need to call :

vpGEMM(A, B, alpha, C, beta, D, VP_GEMM_A_T + VP_GEMM_B_T);

vpArray2D< double >::vpGEMM

void vpGEMM(const vpArray2D< double > &A, const vpArray2D< double > &B, const double &alpha, const vpArray2D< double > &C, const double &beta, vpArray2D< double > &D, const unsigned int &ops=0)

Definition: vpGEMM.h:414

If C is not used, vpGEMM must be called using an empty array null. Thus to compute D = alpha*A^T*B, we have to call:

vpGEMM(A, B, alpha, null, 0, D, VP_GEMM_B_T);

Exceptions

vpException::incorrectMatrixSizeError if the sizes of the matrices do not allow the operations.

Parameters

A	: An array that could be a vpMatrix.
B	: An array that could be a vpMatrix.
alpha	: A scalar.
C	: An array that could be a vpMatrix.
beta	: A scalar.
D	: The resulting array that could be a vpMatrix.
ops	: A scalar describing operation applied on the matrices. Possible values are the one defined in vpGEMMmethod(): VP_GEMM_A_T, VP_GEMM_B_T, VP_GEMM_C_T.

Definition at line 414 of file vpGEMM.h.

◆ vpGEMMmethod

enum vpGEMMmethod

Operations are :

VP_GEMM_A_T to use the transpose matrix of A instead of the matrix A
VP_GEMM_B_T to use the transpose matrix of B instead of the matrix B
VP_GEMM_C_T to use the transpose matrix of C instead of the matrix C

Definition at line 53 of file vpGEMM.h.

Member Data Documentation

◆ colNum

unsigned int vpArray2D< double >::colNum

protectedinherited

Number of columns in the array.

Definition at line 1103 of file vpArray2D.h.

◆ data

double * vpArray2D< double >::data

inherited

Address of the first element of the data array.

Examples: catchArray2D.cpp, catchQuaternion.cpp, catchRotation.cpp, perfMatrixMultiplication.cpp, testDisplacement.cpp, testMatrix.cpp, testTranslationVector.cpp, testUniversalRobotsGetData.cpp, tutorial-bridge-opencv-matrix.cpp, and tutorial-matlab.cpp.

Definition at line 148 of file vpArray2D.h.

◆ dsize

unsigned int vpArray2D< double >::dsize

protectedinherited

Current array size (rowNum * colNum)

Definition at line 1107 of file vpArray2D.h.

◆ jsonTypeName

const std::string vpHomogeneousMatrix::jsonTypeName = "vpHomogeneousMatrix"

static

Definition at line 393 of file vpHomogeneousMatrix.h.

◆ m_index

unsigned int vpHomogeneousMatrix::m_index

protected

Definition at line 422 of file vpHomogeneousMatrix.h.

Referenced by operator,(), and operator<<().

◆ rowNum

unsigned int vpArray2D< double >::rowNum

protectedinherited

Number of rows in the array.

Definition at line 1101 of file vpArray2D.h.

◆ rowPtrs

double ** vpArray2D< double >::rowPtrs

protectedinherited

Address of the first element of each rows.

Definition at line 1105 of file vpArray2D.h.

Public Member Functions

Static Public Member Functions

Public Attributes

Static Public Attributes

Protected Attributes

Friends

Related Functions

Inherited I/O from vpArray2D with Static Public Member Functions

Detailed Description

Constructor & Destructor Documentation

◆ vpHomogeneousMatrix() [1/10]

◆ vpHomogeneousMatrix() [2/10]

◆ vpHomogeneousMatrix() [3/10]

◆ vpHomogeneousMatrix() [4/10]

◆ vpHomogeneousMatrix() [5/10]

◆ vpHomogeneousMatrix() [6/10]

◆ vpHomogeneousMatrix() [7/10]

◆ vpHomogeneousMatrix() [8/10]

◆ vpHomogeneousMatrix() [9/10]

◆ vpHomogeneousMatrix() [10/10]

Member Function Documentation

◆ buildFrom() [1/7]

◆ buildFrom() [2/7]

◆ buildFrom() [3/7]

◆ buildFrom() [4/7]

◆ buildFrom() [5/7]

◆ buildFrom() [6/7]

◆ buildFrom() [7/7]

◆ compute3d3dTransformation()

◆ conv2() [1/2]

◆ conv2() [2/2]

◆ convert() [1/2]

◆ convert() [2/2]

◆ extract() [1/4]

◆ extract() [2/4]

◆ extract() [3/4]

◆ extract() [4/4]

◆ eye()

◆ getCol()

◆ getCols()

◆ getMaxValue()

◆ getMinValue()

◆ getRotationMatrix()

◆ getRows()

◆ getThetaUVector()

◆ getTranslationVector()

◆ hadamard()

◆ insert() [1/6]

◆ insert() [2/6]

◆ insert() [3/6]

◆ insert() [4/6]

◆ insert() [5/6]

◆ insert() [6/6]

◆ inverse() [1/2]

◆ inverse() [2/2]

◆ isAnHomogeneousMatrix()

◆ isValid()

◆ load() [1/3]

◆ load() [2/3]

◆ load() [3/3]

◆ loadYAML()

◆ mean()

◆ operator!=()

◆ operator*() [1/5]

◆ operator*() [2/5]

◆ operator*() [3/5]

◆ operator*() [4/5]

◆ operator*() [5/5]

◆ operator*=()

◆ operator,()

◆ operator<<()

◆ operator=()

◆ operator==()

◆ operator[]() [1/2]

◆ operator[]() [2/2]

◆ orthogonalizeRotation()

◆ print()

◆ reshape()

◆ resize() [1/2]

◆ resize() [2/2]