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Visual Servoing Platform
version 3.6.1 under development (2025-02-18)
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#include <visp3/core/vpHomogeneousMatrix.h>
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) |
static vpArray2D< double > | view (const vpArray2D< double > &A) |
static vpArray2D< double > | view (double *data, unsigned int numRows, unsigned int numCols) |
static void | view (vpArray2D< double > &v, double *data, unsigned int numRows, unsigned int numCols) |
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 |
bool | isMemoryOwner |
bool | isRowPtrsOwner |
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) |
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
that defines the position of frame b in frame a
is a rotation matrix and
is a translation vector.
There are different ways to initialize an homogeneous matrix. You can set each element of the matrix like:
It produces the following printings:
You can also use vpRotationMatrix::operator<< and vpTranslationVector::operator<< like:
If ViSP is build with c++11 enabled, you can do the same using:
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.
If you build and execute the sample code, it will produce the following output:
The content of the homo-mat.json
file is the following:
Definition at line 220 of file vpHomogeneousMatrix.h.
vpHomogeneousMatrix::vpHomogeneousMatrix | ( | ) |
Default constructor that initialize an homogeneous matrix as identity.
Definition at line 63 of file vpHomogeneousMatrix.cpp.
References eye().
Referenced by compute3d3dTransformation(), and operator*().
vpHomogeneousMatrix::vpHomogeneousMatrix | ( | const vpHomogeneousMatrix & | M | ) |
Copy constructor that initialize an homogeneous matrix from another homogeneous matrix.
Definition at line 69 of file vpHomogeneousMatrix.cpp.
vpHomogeneousMatrix::vpHomogeneousMatrix | ( | const vpTranslationVector & | t, |
const vpRotationMatrix & | R | ||
) |
Construct an homogeneous matrix from a translation vector and a rotation matrix.
Definition at line 90 of file vpHomogeneousMatrix.cpp.
References insert(), and vpArray2D< double >::t().
vpHomogeneousMatrix::vpHomogeneousMatrix | ( | const vpTranslationVector & | t, |
const vpThetaUVector & | tu | ||
) |
Construct an homogeneous matrix from a translation vector and rotation vector.
Definition at line 78 of file vpHomogeneousMatrix.cpp.
References buildFrom(), and vpArray2D< double >::t().
vpHomogeneousMatrix::vpHomogeneousMatrix | ( | const vpTranslationVector & | t, |
const vpQuaternionVector & | q | ||
) |
Construct an homogeneous matrix from a translation vector and quaternion rotation vector.
Definition at line 52 of file vpHomogeneousMatrix.cpp.
References buildFrom(), and vpArray2D< double >::t().
vpHomogeneousMatrix::vpHomogeneousMatrix | ( | const vpPoseVector & | p | ) |
Construct an homogeneous matrix from a pose vector.
Definition at line 102 of file vpHomogeneousMatrix.cpp.
References buildFrom().
vpHomogeneousMatrix::vpHomogeneousMatrix | ( | const std::vector< float > & | v | ) |
Construct an homogeneous matrix from a vector of float.
v | : Vector of 12 or 16 values corresponding to the values of the homogeneous matrix. |
The following example shows how to use this function:
It produces the following printings:
Definition at line 157 of file vpHomogeneousMatrix.cpp.
References buildFrom().
vpHomogeneousMatrix::vpHomogeneousMatrix | ( | const std::vector< double > & | v | ) |
Construct an homogeneous matrix from a vector of double.
v | : Vector of 12 or 16 values corresponding to the values of the homogeneous matrix. |
The following example shows how to use this function:
It produces the following printings:
Definition at line 315 of file vpHomogeneousMatrix.cpp.
References buildFrom().
vpHomogeneousMatrix::vpHomogeneousMatrix | ( | double | tx, |
double | ty, | ||
double | tz, | ||
double | tux, | ||
double | tuy, | ||
double | tuz | ||
) |
Construct an homogeneous matrix from a translation vector and a
rotation vector.
Definition at line 327 of file vpHomogeneousMatrix.cpp.
References buildFrom().
vpHomogeneousMatrix::vpHomogeneousMatrix | ( | const std::initializer_list< double > & | list | ) |
Construct an homogeneous matrix from a list of 12 or 16 double values.
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()
{
0, 0, 1, 0.1,
0, 1, 0, 0.2,
1, 0, 0, 0.3 };
std::cout << "M:\n" << M << std::endl;
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;
}
M:
0 0 1 0.1
0 1 0 0.2
1 0 0 0.3
0 0 0 1
N:
0 0 1 0.1
0 1 0 0.2
1 0 0 0.3
0 0 0 1
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Definition at line 205 of file vpHomogeneousMatrix.cpp.
References vpArray2D< double >::data, vpException::fatalError, isAnHomogeneousMatrix(), and vpRotationMatrix::orthogonalize().
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 and a
rotation vector.
Definition at line 392 of file vpHomogeneousMatrix.cpp.
References insert(), and vpArray2D< double >::t().
vpHomogeneousMatrix & vpHomogeneousMatrix::buildFrom | ( | const std::vector< double > & | v | ) |
Build an homogeneous matrix from a vector of double.
v | : Vector of 12 or 16 values corresponding to the values of the homogeneous matrix. |
The following example shows how to use this function:
It produces the following printings:
Definition at line 505 of file vpHomogeneousMatrix.cpp.
References vpArray2D< double >::data, and vpException::dimensionError.
vpHomogeneousMatrix & vpHomogeneousMatrix::buildFrom | ( | const std::vector< float > & | v | ) |
Build an homogeneous matrix from a vector of float.
v | : Vector of 12 or 16 values corresponding to the values of the homogeneous matrix. |
The following example shows how to use this function:
It produces the following printings:
Definition at line 446 of file vpHomogeneousMatrix.cpp.
References vpArray2D< double >::data, and vpException::dimensionError.
vpHomogeneousMatrix & vpHomogeneousMatrix::buildFrom | ( | const vpPoseVector & | p | ) |
Build an homogeneous matrix from a pose vector.
Definition at line 360 of file vpHomogeneousMatrix.cpp.
References insert().
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 380 of file vpHomogeneousMatrix.cpp.
References insert(), and vpArray2D< double >::t().
vpHomogeneousMatrix & vpHomogeneousMatrix::buildFrom | ( | const vpTranslationVector & | t, |
const vpRotationMatrix & | R | ||
) |
Build an homogeneous matrix from a translation vector and a rotation matrix.
Definition at line 350 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().
vpHomogeneousMatrix & vpHomogeneousMatrix::buildFrom | ( | const vpTranslationVector & | t, |
const vpThetaUVector & | tu | ||
) |
Build an homogeneous matrix from a translation vector and a rotation vector.
Definition at line 339 of file vpHomogeneousMatrix.cpp.
References insert(), and vpArray2D< double >::t().
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static |
Compute the transformation between two point clouds.
[in] | p | : First point cloud. |
[in] | q | : Second point cloud. |
Definition at line 1234 of file vpHomogeneousMatrix.cpp.
References vpMatrix::det(), vpMatrix::svd(), vpArray2D< double >::t(), vpMatrix::t(), and vpHomogeneousMatrix().
Referenced by vpPose::computePlanarObjectPoseFromRGBD().
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staticinherited |
Perform a 2D convolution similar to Matlab conv2 function: .
M | : First matrix. |
kernel | : Second matrix. |
mode | : Convolution mode: "full" (default), "same", "valid". |
Definition at line 1138 of file vpArray2D.h.
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staticinherited |
Perform a 2D convolution similar to Matlab conv2 function: .
M | : First array. |
kernel | : Second array. |
res | : Result. |
mode | : Convolution mode: "full" (default), "same", "valid". |
Definition at line 1152 of file vpArray2D.h.
void vpHomogeneousMatrix::convert | ( | std::vector< double > & | M | ) |
Converts an homogeneous matrix to a vector of 12 doubles.
M | : Converted matrix. |
Definition at line 1142 of file vpHomogeneousMatrix.cpp.
References vpArray2D< double >::data.
void vpHomogeneousMatrix::convert | ( | std::vector< float > & | M | ) |
Converts an homogeneous matrix to a vector of 12 floats.
M | : Converted matrix. |
Definition at line 1128 of file vpHomogeneousMatrix.cpp.
References vpArray2D< double >::data.
void vpHomogeneousMatrix::extract | ( | vpQuaternionVector & | q | ) | const |
Extract the rotation as a quaternion.
Definition at line 917 of file vpHomogeneousMatrix.cpp.
References vpQuaternionVector::buildFrom().
void vpHomogeneousMatrix::extract | ( | vpRotationMatrix & | R | ) | const |
Extract the rotational matrix from the homogeneous matrix.
R | : rotational component as a rotation matrix. |
Definition at line 881 of file vpHomogeneousMatrix.cpp.
Referenced by vpPoseVector::buildFrom(), vpThetaUVector::buildFrom(), vpTranslationVector::buildFrom(), vpFeatureThetaU::buildFrom(), vpRBSilhouetteControlPoint::buildPoint(), vpRBSilhouetteControlPoint::buildSilhouettePoint(), 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().
void vpHomogeneousMatrix::extract | ( | vpThetaUVector & | tu | ) | const |
Extract the rotation as a vector.
Definition at line 907 of file vpHomogeneousMatrix.cpp.
References vpThetaUVector::buildFrom().
void vpHomogeneousMatrix::extract | ( | vpTranslationVector & | t | ) | const |
Extract the translation vector from the homogeneous matrix.
Definition at line 894 of file vpHomogeneousMatrix.cpp.
References vpArray2D< double >::t().
void vpHomogeneousMatrix::eye | ( | ) |
Set transformation to identity.
Definition at line 1006 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().
vpColVector vpHomogeneousMatrix::getCol | ( | unsigned int | j | ) | const |
Extract a column vector from an homogeneous matrix.
j | : Index of the column to extract. If j=0, the first column is extracted. |
The following example shows how to use this function:
It produces the following output:
Definition at line 1215 of file vpHomogeneousMatrix.cpp.
References vpException::dimensionError, vpArray2D< double >::getCols(), and vpArray2D< double >::getRows().
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inlineinherited |
Return the number of columns of the 2D array.
Definition at line 417 of file vpArray2D.h.
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inherited |
Return the array max value.
Definition at line 419 of file vpArray2D.h.
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inherited |
Return the array min value.
Definition at line 421 of file vpArray2D.h.
vpRotationMatrix vpHomogeneousMatrix::getRotationMatrix | ( | ) | const |
Return the rotation matrix from the homogeneous transformation matrix.
Definition at line 1165 of file vpHomogeneousMatrix.cpp.
References extract().
Referenced by vpForceTwistMatrix::buildFrom(), vpVelocityTwistMatrix::buildFrom(), vpRBDenseDepthTracker::computeVVSIter(), vpRBDenseDepthTracker::extractFeatures(), vpRBSilhouetteMeTracker::extractFeatures(), vpRotationMatrix::operator*(), vpPanda3DBaseRenderer::setNodePose(), vpRobotBebop2::setPosition(), vpPanda3DBaseRenderer::vispVectorToPanda(), vpForceTwistMatrix::vpForceTwistMatrix(), and vpVelocityTwistMatrix::vpVelocityTwistMatrix().
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inlineinherited |
Return the number of rows of the 2D array.
Definition at line 427 of file vpArray2D.h.
vpThetaUVector vpHomogeneousMatrix::getThetaUVector | ( | ) | const |
Return the vector that corresponds to the rotation part of the homogeneous transformation.
Definition at line 1176 of file vpHomogeneousMatrix.cpp.
References extract().
vpTranslationVector vpHomogeneousMatrix::getTranslationVector | ( | ) | const |
Return the translation vector from the homogeneous transformation matrix.
Definition at line 1155 of file vpHomogeneousMatrix.cpp.
References extract().
Referenced by vpForceTwistMatrix::buildFrom(), vpVelocityTwistMatrix::buildFrom(), vpRotationMatrix::operator*(), vpMbtFaceDepthNormal::planeIsInvalid(), vpAfma6::set_eMc(), vpPanda3DBaseRenderer::setNodePose(), vpRobotBebop2::setPosition(), and vpRBProbabilistic3DDriftDetector::update().
Compute the Hadamard product (element wise matrix multiplication).
m | : Second matrix; |
Definition at line 726 of file vpArray2D.h.
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inherited |
Insert array B in array A at the given position.
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. |
Definition at line 1166 of file vpArray2D.h.
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inlineinherited |
Insert array A at the given position in the current array.
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 580 of file vpArray2D.h.
void vpHomogeneousMatrix::insert | ( | const vpQuaternionVector & | q | ) |
Insert the rotational component of the homogeneous matrix from a quaternion rotation vector.
Definition at line 969 of file vpHomogeneousMatrix.cpp.
References insert().
void vpHomogeneousMatrix::insert | ( | const vpRotationMatrix & | R | ) |
Insert the rotational component of the homogeneous matrix.
Definition at line 927 of file vpHomogeneousMatrix.cpp.
Referenced by buildFrom(), vpHandEyeCalibration::calibrate(), vpExponentialMap::direct(), insert(), inverse(), operator*(), vpPose::poseLowe(), and vpHomogeneousMatrix().
void vpHomogeneousMatrix::insert | ( | const vpThetaUVector & | tu | ) |
Insert the rotational component of the homogeneous matrix from a rotation vector.
Definition at line 943 of file vpHomogeneousMatrix.cpp.
References insert().
void vpHomogeneousMatrix::insert | ( | const vpTranslationVector & | t | ) |
Insert the translational component in a homogeneous matrix.
Definition at line 952 of file vpHomogeneousMatrix.cpp.
References vpArray2D< double >::t().
vpHomogeneousMatrix vpHomogeneousMatrix::inverse | ( | ) | const |
Invert the homogeneous matrix
Definition at line 985 of file vpHomogeneousMatrix.cpp.
References extract(), insert(), and vpRotationMatrix::t().
Referenced by vpKeyPoint::compute3D(), vpKeyPoint::compute3DForPointsOnCylinders(), vpObjectCentricRenderer::computeBoundingBox(), vpObjectCentricRenderer::computeClipping(), vpMbtFaceDepthNormal::computeDesiredNormalAndCentroid(), vpBiclops::computeMGD(), vpPtu46::computeMGD(), vpPanda3DBaseRenderer::computeNearAndFarPlanesFromNode(), vpMbDepthDenseTracker::computeVVS(), vpMbDepthNormalTracker::computeVVS(), vpMbEdgeTracker::computeVVS(), vpMbGenericTracker::computeVVS(), vpMbEdgeTracker::computeVVSFirstPhasePoseEstimation(), vpMbGenericTracker::computeVVSInteractionMatrixAndResidu(), vpProjectionDisplay::displayCamera(), vpRBDenseDepthTracker::extractFeatures(), vpRBSilhouetteCCDTracker::extractFeatures(), vpRBSilhouetteMeTracker::extractFeatures(), 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(), vpRBTracker::setPose(), vpRobotUniversalRobots::setPosition(), vpSimulatorPioneer::setVelocity(), vpSimulatorPioneerPan::setVelocity(), vpRBTracker::track(), vpRBProbabilistic3DDriftDetector::update(), vpRBTracker::updateRender(), and vpKinect::vpKinect().
void vpHomogeneousMatrix::inverse | ( | vpHomogeneousMatrix & | M | ) | const |
Invert the homogeneous matrix.
M | : The inverted homogeneous matrix: ![]() |
Definition at line 1045 of file vpHomogeneousMatrix.cpp.
References inverse().
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].
Definition at line 847 of file vpHomogeneousMatrix.cpp.
References vpMath::equal(), extract(), vpRotationMatrix::isARotationMatrix(), and vpMath::nul().
Referenced by vpHomogeneousMatrix().
bool vpHomogeneousMatrix::isValid | ( | ) | const |
Check if the homogeneous transformation matrix doesn't have a value NaN.
Definition at line 866 of file vpHomogeneousMatrix.cpp.
References vpArray2D< double >::data, vpMath::isNaN(), and vpArray2D< double >::size().
Referenced by vpPose::computePlanarObjectPoseFromRGBD().
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.
filename | : Input file name. |
The code below shows how to get an homogeneous matrix from a file.
Definition at line 1080 of file vpHomogeneousMatrix.cpp.
References load().
|
inlinestaticinherited |
Load a matrix from a file.
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. |
Definition at line 754 of file vpArray2D.h.
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.
f | : Input file stream. |
The code below shows how to get an homogeneous matrix from a file.
Definition at line 1065 of file vpHomogeneousMatrix.cpp.
References vpException::ioError.
Referenced by load().
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inlinestaticinherited |
Load an array from a YAML-formatted file.
filename | : absolute file name. |
A | : array to be loaded from the file. |
header | : header of the file is loaded in this parameter. |
Definition at line 868 of file vpArray2D.h.
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static |
Compute the Euclidean mean of the homogeneous matrices. The Euclidean mean of the rotation matrices is computed following Moakher's method (SIAM 2002).
[in] | vec_M | : Set of homogeneous matrices. |
Definition at line 1296 of file vpHomogeneousMatrix.cpp.
References vpMatrix::pseudoInverse(), vpArray2D< Type >::size(), vpArray2D< double >::t(), and vpMatrix::t().
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inherited |
Not equal to comparison operator of a 2D array.
Definition at line 606 of file vpArray2D.h.
vpColVector vpHomogeneousMatrix::operator* | ( | const vpColVector & | v | ) | const |
Operator that allow to multiply an homogeneous matrix by a 4-dimension column vector.
vpException::dimensionError | : If the vector v is not a 4-dimension vector. |
Definition at line 614 of file vpHomogeneousMatrix.cpp.
References vpException::dimensionError, vpArray2D< Type >::getRows(), vpArray2D< double >::rowNum, and vpArray2D< double >::rowPtrs.
vpHomogeneousMatrix vpHomogeneousMatrix::operator* | ( | const vpHomogeneousMatrix & | M | ) | const |
Operator that allow to multiply an homogeneous matrix by an other one.
Definition at line 557 of file vpHomogeneousMatrix.cpp.
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.
bP | : 3D coordinates of the point in camera frame bP. |
Definition at line 647 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().
vpHomogeneousMatrix vpHomogeneousMatrix::operator* | ( | const vpRotationMatrix & | R | ) | const |
Operator that allows to multiply a rotation matrix by a rotation matrix.
[in] | R | : Rotation matrix. |
R
.The following snippet shows how to use this method:
Definition at line 722 of file vpHomogeneousMatrix.cpp.
References vpHomogeneousMatrix().
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.
t | : Translation vector seen as the 3D coordinates of a point. |
Definition at line 694 of file vpHomogeneousMatrix.cpp.
References vpArray2D< double >::t().
vpHomogeneousMatrix & vpHomogeneousMatrix::operator*= | ( | const vpHomogeneousMatrix & | M | ) |
Operator that allow to multiply an homogeneous matrix by an other one.
Definition at line 601 of file vpHomogeneousMatrix.cpp.
vpHomogeneousMatrix & vpHomogeneousMatrix::operator, | ( | double | val | ) |
Set the second and next element of the homogenous matrix.
val | : Value of the matrix second or next element. |
The following example shows how to initialize an homogeneous matrix using this operator.
It produces the following printings:
Definition at line 826 of file vpHomogeneousMatrix.cpp.
References vpArray2D< double >::data, vpException::dimensionError, m_index, and vpArray2D< double >::size().
vpHomogeneousMatrix & vpHomogeneousMatrix::operator<< | ( | double | val | ) |
Set homogeneous matrix first element.
val | : Value of the matrix first element. |
The following example shows how to initialize a rotation matrix using this operator.
It produces the following printings:
Definition at line 773 of file vpHomogeneousMatrix.cpp.
References vpArray2D< double >::data, and m_index.
vpHomogeneousMatrix & vpHomogeneousMatrix::operator= | ( | const vpHomogeneousMatrix & | M | ) |
Copy operator that allows to set an homogeneous matrix from an other one.
M | : Matrix to copy. |
Definition at line 525 of file vpHomogeneousMatrix.cpp.
References vpArray2D< Type >::rowPtrs, and vpArray2D< double >::rowPtrs.
Equal to comparison operator of a 2D array.
Definition at line 602 of file vpArray2D.h.
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inlineinherited |
Set element using A[i][j] = x.
Definition at line 690 of file vpArray2D.h.
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inlineinherited |
Get element using x = A[i][j].
Definition at line 692 of file vpArray2D.h.
void vpHomogeneousMatrix::orthogonalizeRotation | ( | ) |
Perform orthogonalization of the rotation part of the homogeneous transformation.
Definition at line 1091 of file vpHomogeneousMatrix.cpp.
References vpArray2D< double >::data, and vpRotationMatrix::orthogonalize().
void vpHomogeneousMatrix::print | ( | ) | const |
Print the matrix as a pose vector .
Definition at line 1118 of file vpHomogeneousMatrix.cpp.
References vpPoseVector::t().
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inlineinherited |
Definition at line 539 of file vpArray2D.h.
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inline |
This function is not applicable to an homogeneous matrix that is always a 4-by-4 matrix.
vpException::fatalError | When this function is called. |
Definition at line 393 of file vpHomogeneousMatrix.h.
References vpException::fatalError.
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inlineinherited |
Set the size of the array and initialize all the values to zero.
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. |
Definition at line 442 of file vpArray2D.h.
void vpHomogeneousMatrix::save | ( | const std::string & | filename | ) | const |
Save an homogeneous matrix in a file.
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.
The content of "homogeneous.dat" is the following:
* 0.7071067812 0.7071067812 0 1 * 0.7071067812 -0.7071067812 -1.224646799e-16 2 * -8.659560562e-17 8.659560562e-17 -1 3 * 0 0 0 1 *
Definition at line 1057 of file vpHomogeneousMatrix.cpp.
References save().
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inlinestaticinherited |
Save a matrix to a file.
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. |
Warning : If you save the matrix as in a text file the precision is less than if you save it in a binary file.
Definition at line 959 of file vpArray2D.h.
void vpHomogeneousMatrix::save | ( | std::ofstream & | f | ) | const |
Save an homogeneous matrix in an output file stream.
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.
The content of "homogeneous.dat" is the following:
* 0.7071067812 0.7071067812 0 1 * 0.7071067812 -0.7071067812 -1.224646799e-16 2 * -8.659560562e-17 8.659560562e-17 -1 3 * 0 0 0 1 *
Definition at line 1047 of file vpHomogeneousMatrix.cpp.
References vpException::ioError.
Referenced by save().
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inlinestaticinherited |
Save an array in a YAML-formatted file.
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. |
Here is an example of outputs.
Content of matrix.yml:
Content of matrixIndent.yml:
Definition at line 1057 of file vpArray2D.h.
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inlineinherited |
Return the number of elements of the 2D array.
Definition at line 429 of file vpArray2D.h.
Compute the transpose of the array.
Definition at line 733 of file vpArray2D.h.
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inlinestaticinherited |
Creates a view of the Matrix A. A view shares the same underlying memory as the original array. It can be written into, modifying the original data. However, the array cannot be resized.
When you use this method, it is your responsibility to ensure that the lifespan of the view does not exceed the lifespan of the original array.
A | the array to view |
Definition at line 323 of file vpArray2D.h.
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inlinestaticinherited |
Create an array view of a raw data pointer. This data is not owned by the resulting array and should be freed after the array is destroyed (not before)
data | Pointer to the raw data |
numRows | Number of rows |
numCols | Number of columns |
Definition at line 345 of file vpArray2D.h.
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inlinestaticinherited |
Create an array view of a raw data pointer. After this function has been called, the array data
can be modified through the view v
. This data is not owned by the resulting array and should be freed after the array is destroyed (not before).
v | The resulting view array |
data | Pointer to the raw data |
numRows | Number of rows |
numCols | Number of columns |
Definition at line 362 of file vpArray2D.h.
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friend |
Definition at line 447 of file vpHomogeneousMatrix.h.
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related |
Insert array B in array A at the given position.
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. |
Definition at line 1181 of file vpArray2D.h.
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related |
Definition at line 1441 of file vpArray2D.h.
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related |
Definition at line 1403 of file vpArray2D.h.
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related |
Definition at line 1422 of file vpArray2D.h.
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friend |
Definition at line 442 of file vpHomogeneousMatrix.h.
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related |
This function performs generalized matrix multiplication: D = alpha*op(A)*op(B) + beta*op(C), where op(X) is X or X^T. Operation on A, B and C matrices is described by enumeration vpGEMMmethod().
For example, to compute D = alpha*A^T*B^T+beta*C we need to call :
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:
vpException::incorrectMatrixSizeError | if the sizes of the matrices do not allow the operations. |
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. |
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related |
Enumeration of the operations applied on matrices in vpGEMM() function.
Operations are :
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protectedinherited |
Number of columns in the array.
Definition at line 1188 of file vpArray2D.h.
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inherited |
Address of the first element of the data array.
Definition at line 148 of file vpArray2D.h.
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protectedinherited |
Current array size (rowNum * colNum)
Definition at line 1192 of file vpArray2D.h.
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protectedinherited |
Whether this array owns the memory it points to.
Definition at line 1194 of file vpArray2D.h.
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protectedinherited |
Whether this array owns the row pointers.
Definition at line 1196 of file vpArray2D.h.
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static |
Definition at line 407 of file vpHomogeneousMatrix.h.
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protected |
Definition at line 436 of file vpHomogeneousMatrix.h.
Referenced by operator,(), and operator<<().
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protectedinherited |
Number of rows in the array.
Definition at line 1186 of file vpArray2D.h.
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protectedinherited |
Address of the first element of each rows.
Definition at line 1190 of file vpArray2D.h.