#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)

	vpHomogeneousMatrix (const vpPoseVector &p)

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

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

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

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

virtual	~vpHomogeneousMatrix ()

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

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

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

void	buildFrom (const vpPoseVector &p)

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

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

void	buildFrom (double tx, double ty, double tz, double tux, double tuy, 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	save (std::ofstream &f) 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

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)

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

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)

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

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)

Inherited I/O from vpArray2D with Static Public Member Functions
static bool	load (const std::string &filename, vpArray2D< double > &A, bool binary=false, char *header=NULL)

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

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="")

Public Attributes
double *	data

Protected Attributes
unsigned int	rowNum

unsigned int	colNum

double **	rowPtrs

unsigned int	dsize

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

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)

Deprecated functions
unsigned int	m_index

vp_deprecated void	init ()

vp_deprecated void	setIdentity ()

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>
 
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>
 
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>
 
int main()
{
#if (VISP_CXX_STANDARD >= VISP_CXX_STANDARD_11)
  {
    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;
  }
#endif
}

Examples: AROgre.cpp, AROgreBasic.cpp, HelloWorldOgre.cpp, HelloWorldOgreAdvanced.cpp, calibrate-hand-eye.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, photometricVisualServoing.cpp, photometricVisualServoingWithoutVpServo.cpp, poseVirtualVS.cpp, sendMocapToPixhawk.cpp, servoAfma4Point2DArtVelocity.cpp, servoAfma62DhalfCamVelocity.cpp, servoAfma6AprilTagIBVS.cpp, servoAfma6AprilTagPBVS.cpp, servoAfma6Cylinder2DCamVelocity.cpp, servoAfma6Cylinder2DCamVelocitySecondaryTask.cpp, servoAfma6FourPoints2DCamVelocityLs_cur.cpp, servoAfma6FourPoints2DCamVelocityLs_des.cpp, servoAfma6Line2DCamVelocity.cpp, servoAfma6Point2DArtVelocity.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, servoPixhawkDroneIBVS.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, testAprilTag.cpp, testDisplacement.cpp, testDisplays.cpp, testEigenConversion.cpp, testFeatureSegment.cpp, testFindMatch.cpp, testFrankaCartVelocity-3.cpp, testFrankaGetPose.cpp, testGenericTracker.cpp, testGenericTrackerDepth.cpp, testImageDraw.cpp, testKeyPoint-2.cpp, testKeyPoint-4.cpp, testMathUtils.cpp, testMocapQualisys.cpp, testMocapVicon.cpp, testPose.cpp, testPoseFeatures.cpp, testPoseRansac.cpp, testPoseVector.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, tutorial-apriltag-detector-live-rgbd-realsense.cpp, tutorial-apriltag-detector-live-rgbd-structure-core.cpp, tutorial-chessboard-pose.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-hand-eye-calibration.cpp, tutorial-homography-from-points.cpp, tutorial-ibvs-4pts-display.cpp, tutorial-ibvs-4pts-image-tracking.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-rgbd-blender.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-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-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, and wireframeSimulator.cpp.

Definition at line 157 of file vpHomogeneousMatrix.h.

Constructor & Destructor Documentation

◆ vpHomogeneousMatrix() [1/10]

vpHomogeneousMatrix::vpHomogeneousMatrix ( )

Default constructor that initialize an homogeneous matrix as identity.

Definition at line 66 of file vpHomogeneousMatrix.cpp.

References eye().

Referenced by compute3d3dTransformation().

◆ vpHomogeneousMatrix() [2/10]

vpHomogeneousMatrix::vpHomogeneousMatrix ( const vpHomogeneousMatrix & M )

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

Definition at line 72 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 92 of file vpHomogeneousMatrix.cpp.

References insert().

◆ 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 81 of file vpHomogeneousMatrix.cpp.

References buildFrom().

◆ vpHomogeneousMatrix() [5/10]

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

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

Definition at line 56 of file vpHomogeneousMatrix.cpp.

References buildFrom().

◆ vpHomogeneousMatrix() [6/10]

vpHomogeneousMatrix::vpHomogeneousMatrix ( const vpPoseVector & p )

explicit

Construct an homogeneous matrix from a pose vector.

Definition at line 103 of file vpHomogeneousMatrix.cpp.

References buildFrom().

◆ vpHomogeneousMatrix() [7/10]

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

explicit

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>
 
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 148 of file vpHomogeneousMatrix.cpp.

References buildFrom().

◆ vpHomogeneousMatrix() [8/10]

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

explicit

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>
 
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 287 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 298 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>
 
int main()
{
#if (VISP_CXX_STANDARD >= VISP_CXX_STANDARD_11)
  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;
#endif
}

It produces the following output:

Definition at line 193 of file vpHomogeneousMatrix.cpp.

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

◆ ~vpHomogeneousMatrix()

virtual vpHomogeneousMatrix::~vpHomogeneousMatrix ( )

inlinevirtual

Destructor.

Definition at line 175 of file vpHomogeneousMatrix.h.

Member Function Documentation

◆ buildFrom() [1/7]

void 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>
 
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 451 of file vpHomogeneousMatrix.cpp.

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

◆ buildFrom() [2/7]

void 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>
 
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 401 of file vpHomogeneousMatrix.cpp.

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

◆ buildFrom() [3/7]

void vpHomogeneousMatrix::buildFrom ( const vpPoseVector & p )

Build an homogeneous matrix from a pose vector.

Definition at line 328 of file vpHomogeneousMatrix.cpp.

References insert().

◆ buildFrom() [4/7]

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

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

Definition at line 341 of file vpHomogeneousMatrix.cpp.

References insert().

◆ buildFrom() [5/7]

void 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, photometricVisualServoing.cpp, photometricVisualServoingWithoutVpServo.cpp, servoAfma6AprilTagPBVS.cpp, servoAfma6FourPoints2DCamVelocityLs_cur.cpp, servoAfma6FourPoints2DCamVelocityLs_des.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, and tutorial-flir-ptu-ibvs.cpp.

Definition at line 319 of file vpHomogeneousMatrix.cpp.

References insert().

Referenced by vpHomography::buildFrom(), vpAfma6::init(), vpSimulatorAfma6::init(), vpViper650::init(), vpSimulatorViper850::init(), vpViper850::init(), vpMbTracker::initClick(), vpMbTracker::initFromPose(), vpMbTracker::loadCAOModel(), vpWireFrameSimulator::navigation(), vpAfma6::parseConfigFile(), vpPioneerPan::set_cMe(), vpViper::set_eMc(), vpWireFrameSimulator::setExternalCameraPosition(), vpSimulatorPioneer::setVelocity(), vpSimulatorPioneerPan::setVelocity(), vpAfma4::vpAfma4(), vpHomogeneousMatrix(), vpKinect::vpKinect(), and vpWireFrameSimulator::vpWireFrameSimulator().

◆ buildFrom() [6/7]

void 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 309 of file vpHomogeneousMatrix.cpp.

References insert().

◆ buildFrom() [7/7]

void vpHomogeneousMatrix::buildFrom	(	double	tx,
		double	ty,
		double	tz,
		double	tux,
		double	tuy,
		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 352 of file vpHomogeneousMatrix.cpp.

References insert().

◆ 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 1096 of file vpHomogeneousMatrix.cpp.

References vpMatrix::det(), vpMatrix::svd(), vpMatrix::t(), and vpHomogeneousMatrix().

Referenced by vpPose::computePlanarObjectPoseFromRGBD(), and vpPose::computePlanarObjectPoseWithAtLeast3Points().

◆ 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 1013 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 1002 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 799 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, servoAfma6FourPoints2DCamVelocityLs_cur.cpp, servoSimu3D_cMcd_CamVelocityWithoutVpServo.cpp, servoSimu3D_cdMc_CamVelocityWithoutVpServo.cpp, servoViper850FourPoints2DArtVelocityLs_cur.cpp, servoViper850FourPoints2DCamVelocityLs_cur.cpp, servoViper850FourPointsKinect.cpp, testRobotAfma6Pose.cpp, testRobotViper650-frames.cpp, testRobotViper850-frames.cpp, testRobotViper850.cpp, testRobotViper850Pose.cpp, testViper650.cpp, and testViper850.cpp.

Definition at line 770 of file vpHomogeneousMatrix.cpp.

Referenced by vpPoseVector::buildFrom(), vpThetaUVector::buildFrom(), vpTranslationVector::buildFrom(), vpFeatureThetaU::buildFrom(), vpPose::calculArbreDementhon(), vpMbtDistanceKltPoints::computeHomography(), vpViper::get_eJe(), vpViper::get_fJe(), vpRobotAfma6::getDisplacement(), vpRobotAfma4::getPosition(), vpRobotAfma6::getPosition(), vpRobotViper650::getPosition(), vpRobotViper850::getPosition(), vpRobotCamera::getPosition(), vpSimulatorAfma6::getPosition(), vpSimulatorCamera::getPosition(), vpSimulatorPioneer::getPosition(), vpSimulatorPioneerPan::getPosition(), vpSimulatorViper850::getPosition(), getRotationMatrix(), getThetaUVector(), getTranslationVector(), vpRobotAfma6::getVelocity(), vpRobotViper650::getVelocity(), vpRobotViper850::getVelocity(), inverse(), vpExponentialMap::inverse(), isAnHomogeneousMatrix(), operator*(), vpPose::poseDementhonNonPlan(), vpPose::poseDementhonPlan(), vpPose::poseLowe(), vpViper::set_eMc(), vpImageSimulator::setCameraPosition(), vpWireFrameSimulator::setExternalCameraPosition(), vpMbKltTracker::setPose(), vpAROgre::setPosition(), vpSimulatorAfma6::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 789 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 780 of file vpHomogeneousMatrix.cpp.

◆ eye()

void vpHomogeneousMatrix::eye ( )

◆ 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>
 
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 1079 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()

Examples: servoViper850Point2DArtVelocity-jointAvoidance-basic.cpp, testAprilTag.cpp, testColVector.cpp, testDisplacement.cpp, testMatrix.cpp, testMatrixConditionNumber.cpp, testMatrixConvolution.cpp, testMatrixDeterminant.cpp, testMatrixInitialization.cpp, testMatrixInverse.cpp, testMatrixPseudoInverse.cpp, testPoseVector.cpp, testRowVector.cpp, testSvd.cpp, testTranslationVector.cpp, and tutorial-matlab.cpp.

Definition at line 278 of file vpArray2D.h.

◆ getMaxValue()

double vpArray2D< double >::getMaxValue

inherited

Return the array max value.

Examples: servoMomentImage.cpp.

Definition at line 280 of file vpArray2D.h.

◆ getMinValue()

double vpArray2D< double >::getMinValue

inherited

Return the array min value.

Examples: servoMomentImage.cpp.

Definition at line 282 of file vpArray2D.h.

◆ getRotationMatrix()

vpRotationMatrix vpHomogeneousMatrix::getRotationMatrix ( ) const

Return the rotation matrix from the homogeneous transformation matrix.

Examples: calibrate-hand-eye.cpp, testMathUtils.cpp, testRobotViper650-frames.cpp, testRobotViper850-frames.cpp, testVirtuoseAfma6.cpp, tutorial-hand-eye-calibration.cpp, and tutorial-pose-from-qrcode-image.cpp.

Definition at line 1033 of file vpHomogeneousMatrix.cpp.

References extract().

Referenced by vpForceTwistMatrix::buildFrom(), vpVelocityTwistMatrix::buildFrom(), vpRobotBebop2::setPosition(), vpForceTwistMatrix::vpForceTwistMatrix(), and vpVelocityTwistMatrix::vpVelocityTwistMatrix().

◆ getRows()

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

inlineinherited

Return the number of rows of the 2D array.

See also: getCols(), size()

Examples: mbtGenericTrackingDepth.cpp, mbtGenericTrackingDepthOnly.cpp, testAprilTag.cpp, testColVector.cpp, testDisplacement.cpp, testGenericTracker.cpp, testGenericTrackerDepth.cpp, testMatrix.cpp, testMatrixConditionNumber.cpp, testMatrixConvolution.cpp, testMatrixDeterminant.cpp, testMatrixInitialization.cpp, testMatrixInverse.cpp, testMatrixPseudoInverse.cpp, testPoseVector.cpp, testRowVector.cpp, testSvd.cpp, testTranslationVector.cpp, and tutorial-matlab.cpp.

Definition at line 288 of file vpArray2D.h.

◆ getThetaUVector()

vpThetaUVector vpHomogeneousMatrix::getThetaUVector ( ) const

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

Examples: servoAfma6AprilTagPBVS.cpp, servoFrankaPBVS.cpp, and servoUniversalRobotsPBVS.cpp.

Definition at line 1044 of file vpHomogeneousMatrix.cpp.

References extract().

◆ getTranslationVector()

vpTranslationVector vpHomogeneousMatrix::getTranslationVector ( ) const

Return the translation vector from the homogeneous transformation matrix.

Examples: servoAfma6AprilTagPBVS.cpp, servoFrankaPBVS.cpp, servoUniversalRobotsPBVS.cpp, testRobotViper650-frames.cpp, testRobotViper850-frames.cpp, and tutorial-pose-from-qrcode-image.cpp.

Definition at line 1023 of file vpHomogeneousMatrix.cpp.

References extract().

Referenced by vpForceTwistMatrix::buildFrom(), vpVelocityTwistMatrix::buildFrom(), mean(), vpAfma6::set_eMc(), 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 516 of file vpArray2D.h.

◆ init()

vp_deprecated void vpHomogeneousMatrix::init ( )

inline

Deprecated:: Provided only for compat with previous releases. This function does nothing.

Definition at line 263 of file vpHomogeneousMatrix.h.

Referenced by vpMbGenericTracker::init().

◆ insert() [1/4]

void vpHomogeneousMatrix::insert ( const vpQuaternionVector & q )

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

Definition at line 844 of file vpHomogeneousMatrix.cpp.

References insert().

◆ insert() [2/4]

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 809 of file vpHomogeneousMatrix.cpp.

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

◆ insert() [3/4]

void vpHomogeneousMatrix::insert ( const vpThetaUVector & tu )

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

Definition at line 822 of file vpHomogeneousMatrix.cpp.

References insert().

◆ insert() [4/4]

void vpHomogeneousMatrix::insert ( const vpTranslationVector & t )

Insert the translational component in a homogeneous matrix.

Definition at line 831 of file vpHomogeneousMatrix.cpp.

◆ 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, grabRealSense2_T265.cpp, manServo4PointsDisplay.cpp, manServoMomentsSimple.cpp, manSimu4Dots.cpp, manSimu4Points.cpp, mbtGenericTrackingDepthOnly.cpp, photometricVisualServoing.cpp, photometricVisualServoingWithoutVpServo.cpp, servoAfma62DhalfCamVelocity.cpp, servoAfma6AprilTagIBVS.cpp, servoAfma6AprilTagPBVS.cpp, servoBebop2.cpp, servoFrankaIBVS.cpp, servoFrankaPBVS.cpp, servoMomentImage.cpp, servoPixhawkDroneIBVS.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-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-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 860 of file vpHomogeneousMatrix.cpp.

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

Referenced by vpKeyPoint::compute3D(), vpKeyPoint::compute3DForPointsOnCylinders(), vpSimulatorViper850::compute_fMi(), vpMbtFaceDepthNormal::computeDesiredNormalAndCentroid(), vpBiclops::computeMGD(), vpPtu46::computeMGD(), vpMbDepthDenseTracker::computeVVS(), vpMbDepthNormalTracker::computeVVS(), vpMbKltTracker::computeVVS(), vpMbEdgeTracker::computeVVS(), vpMbEdgeKltTracker::computeVVS(), vpMbGenericTracker::computeVVS(), vpMbEdgeTracker::computeVVSFirstPhasePoseEstimation(), vpMbGenericTracker::computeVVSInteractionMatrixAndResidu(), vpProjectionDisplay::displayCamera(), vpPtu46::get_cMe(), vpAfma4::get_cMe(), vpAfma6::get_cMe(), vpViper::get_cMe(), vpRobotWireFrameSimulator::get_cMo(), vpRobotFlirPtu::get_cVe(), vpAfma4::get_cVf(), vpViper::get_eJe(), vpViper::get_fJe(), vpBiclops::get_fMc(), vpRobotBiclops::getDisplacement(), vpRobotAfma6::getDisplacement(), vpSimulator::getExternalCameraPosition(), vpSimulatorAfma6::getExternalImage(), vpSimulatorViper850::getExternalImage(), vpWireFrameSimulator::getExternalImage(), vpRobotFranka::getForceTorque(), vpRobotUniversalRobots::getForceTorque(), vpWireFrameSimulator::getInternalImage(), vpRobotWireFrameSimulator::getInternalView(), vpAfma6::getInverseKinematics(), vpViper::getInverseKinematics(), vpRobotAfma4::getVelocity(), vpRobotAfma6::getVelocity(), vpRobotViper650::getVelocity(), vpRobotViper850::getVelocity(), vpSimulatorAfma6::initialiseCameraRelativeToObject(), vpSimulatorViper850::initialiseCameraRelativeToObject(), inverse(), vpSimulator::moveInternalCamera(), vpPose::poseVirtualVS(), vpPose::poseVirtualVSrobust(), vpPose::poseVirtualVSWithDepth(), vpWireFrameSimulator::projectCameraTrajectory(), vpBiclops::set_cMe(), vpPioneerPan::set_cMe(), vpWireFrameSimulator::setCameraPositionRelObj(), vpWireFrameSimulator::setCameraPositionRelWorld(), vpWireFrameSimulator::setExternalCameraPosition(), vpMbKltTracker::setPose(), vpSimulatorAfma6::setPosition(), vpRobotUniversalRobots::setPosition(), vpRobotCamera::setVelocity(), 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 908 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 742 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 756 of file vpHomogeneousMatrix.cpp.

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

Referenced by vpPose::computePlanarObjectPoseFromRGBD(), and vpPose::computePlanarObjectPoseWithAtLeast3Points().

◆ load() [1/2]

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

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 538 of file vpArray2D.h.

◆ load() [2/2]

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: save()

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 959 of file vpHomogeneousMatrix.cpp.

References vpException::ioError.

◆ loadYAML()

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

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, and tutorial-hand-eye-calibration.cpp.

Definition at line 649 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 Euclidian mean of the homogeneous matrices.

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

Definition at line 1153 of file vpHomogeneousMatrix.cpp.

References getTranslationVector(), vpMatrix::pseudoInverse(), and vpMatrix::t().

◆ operator!=()

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

inherited

Not equal to comparison operator of a 2D array.

Definition at line 408 of file vpArray2D.h.

◆ operator*() [1/4]

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 546 of file vpHomogeneousMatrix.cpp.

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

◆ operator*() [2/4]

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

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

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

Definition at line 493 of file vpHomogeneousMatrix.cpp.

References extract(), and insert().

◆ operator*() [3/4]

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 578 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*() [4/4]

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 620 of file vpHomogeneousMatrix.cpp.

◆ operator*=()

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

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

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

Definition at line 533 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>
 
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 721 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>
 
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 672 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 466 of file vpHomogeneousMatrix.cpp.

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

◆ operator==() [1/2]

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

inherited

Equal to comparison operator of a 2D array.

Definition at line 404 of file vpArray2D.h.

◆ operator==() [2/2]

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

inlineinherited

Definition at line 973 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 482 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 484 of file vpArray2D.h.

◆ orthogonalizeRotation()

void vpHomogeneousMatrix::orthogonalizeRotation ( )

Perform orthogonalization of the rotation part of the homogeneous transformation.

Definition at line 975 of file vpHomogeneousMatrix.cpp.

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

◆ print()

void vpHomogeneousMatrix::print ( ) const

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

Examples: servoAfma6Points2DCamVelocityEyeToHand.cpp.

Definition at line 992 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 378 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.

Definition at line 242 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: testArray2D.cpp, testMatrix.cpp, testMatrixDeterminant.cpp, testMatrixInverse.cpp, testMatrixPseudoInverse.cpp, and testSvd.cpp.

Definition at line 303 of file vpArray2D.h.

◆ save() [1/2]

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 733 of file vpArray2D.h.

◆ save() [2/2]

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

Write 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.

// Contruct 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: load()

Examples: servoAfma6Points2DCamVelocityEyeToHand.cpp, and tutorial-hand-eye-calibration.cpp.

Definition at line 932 of file vpHomogeneousMatrix.cpp.

References vpException::ioError.

◆ 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()

Examples: tutorial-franka-acquire-calib-data.cpp, and tutorial-universal-robots-acquire-calib-data.cpp.

Definition at line 824 of file vpArray2D.h.

◆ setIdentity()

void vpHomogeneousMatrix::setIdentity ( )

Deprecated:: You should rather use eye().

Deprecated:: You should rather use eye().

Set homogeneous matrix to identity.

See also: eye()

Definition at line 1196 of file vpHomogeneousMatrix.cpp.

References eye().

◆ size()

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

inlineinherited

Return the number of elements of the 2D array.

Examples: testColVector.cpp, testDisplacement.cpp, testMatrix.cpp, testMatrixInitialization.cpp, testPoseVector.cpp, testRobotViper650-frames.cpp, testRobotViper850-frames.cpp, testRowVector.cpp, testThread2.cpp, testTranslationVector.cpp, testTukeyEstimator.cpp, testUniversalRobotsGetData.cpp, tutorial-ibvs-4pts-wireframe-robot-afma6.cpp, tutorial-ibvs-4pts-wireframe-robot-viper.cpp, tutorial-matching-surf-homography-deprecated.cpp, tutorial-mb-generic-tracker-rgbd-realsense.cpp, and tutorial-mb-generic-tracker-rgbd-structure-core.cpp.

Definition at line 290 of file vpArray2D.h.

Friends And Related Function Documentation

◆ operator==()

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

◆ 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:393

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 393 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 57 of file vpGEMM.h.

Member Data Documentation

◆ colNum

unsigned int vpArray2D< double >::colNum

protectedinherited

Number of columns in the array.

Definition at line 134 of file vpArray2D.h.

◆ data

double * vpArray2D< double >::data

inherited

Address of the first element of the data array.

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

Definition at line 142 of file vpArray2D.h.

◆ dsize

unsigned int vpArray2D< double >::dsize

protectedinherited

Current array size (rowNum * colNum)

Definition at line 138 of file vpArray2D.h.

◆ m_index

unsigned int vpHomogeneousMatrix::m_index

protected

Definition at line 272 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 132 of file vpArray2D.h.

◆ rowPtrs

double ** vpArray2D< double >::rowPtrs

protectedinherited

Address of the first element of each rows.

Definition at line 136 of file vpArray2D.h.

Public Member Functions

Static Public Member Functions

Public Attributes

Protected Attributes

Related Functions

Deprecated 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]

◆ ~vpHomogeneousMatrix()

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()

◆ 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()

◆ init()

◆ insert() [1/4]

◆ insert() [2/4]

◆ insert() [3/4]

◆ insert() [4/4]

◆ inverse() [1/2]

◆ inverse() [2/2]

◆ isAnHomogeneousMatrix()

◆ isValid()

◆ load() [1/2]

◆ load() [2/2]

◆ loadYAML()

◆ mean()

◆ operator!=()

◆ operator*() [1/4]

◆ operator*() [2/4]

◆ operator*() [3/4]

◆ operator*() [4/4]

◆ operator*=()

◆ operator,()

◆ operator<<()

◆ operator=()

◆ operator==() [1/2]

◆ operator==() [2/2]

◆ operator[]() [1/2]

◆ operator[]() [2/2]

◆ orthogonalizeRotation()

◆ print()

◆ reshape()

◆ resize() [1/2]

◆ resize() [2/2]

◆ save() [1/2]

◆ save() [2/2]

◆ saveYAML()

◆ setIdentity()

◆ size()