Visual Servoing Platform  version 3.6.1 under development (2024-03-18)
vpHomogeneousMatrix Class Reference

#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)
 
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 load (const std::string &filename)
 
void save (std::ofstream &f) const
 
void save (const std::string &filename) const
 
vpHomogeneousMatrixoperator= (const vpHomogeneousMatrix &M)
 
vpHomogeneousMatrix operator* (const vpHomogeneousMatrix &M) const
 
vpHomogeneousMatrixoperator*= (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
 
vpHomogeneousMatrixoperator<< (double val)
 
vpHomogeneousMatrixoperator, (double val)
 
void orthogonalizeRotation ()
 
void print () const
 
void resize (unsigned int nrows, unsigned int ncols, bool flagNullify=true)
 
Inherited functionalities from vpArray2D
unsigned int getCols () const
 
double getMaxValue () const
 
double getMinValue () const
 
unsigned int getRows () const
 
unsigned int size () const
 
void resize (unsigned int nrows, unsigned int ncols, bool flagNullify=true, bool recopy_=true)
 
void reshape (unsigned int nrows, unsigned int ncols)
 
void insert (const vpArray2D< double > &A, unsigned int r, unsigned int c)
 
bool operator== (const vpArray2D< double > &A) const
 
bool operator!= (const vpArray2D< double > &A) const
 
double * operator[] (unsigned int i)
 
double * operator[] (unsigned int i) const
 
vpArray2D< double > hadamard (const vpArray2D< double > &m) const
 
vpArray2D< double > t () const
 

Static Public Member Functions

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

Public Attributes

double * data
 

Static Public Attributes

static const std::string jsonTypeName = "vpHomogeneousMatrix"
 

Protected Attributes

unsigned int rowNum
 
unsigned int colNum
 
double ** rowPtrs
 
unsigned int dsize
 

Friends

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

Deprecated functions

unsigned int m_index
 
vp_deprecated void init ()
 
vp_deprecated void setIdentity ()
 

Inherited I/O from vpArray2D with Static Public Member Functions

vpArray2D< double > insert (const vpArray2D< double > &A, const vpArray2D< double > &B, unsigned int r, unsigned int c)
 
static bool load (const std::string &filename, vpArray2D< double > &A, bool binary=false, char *header=nullptr)
 
static bool loadYAML (const std::string &filename, vpArray2D< double > &A, char *header=nullptr)
 
static bool save (const std::string &filename, const vpArray2D< double > &A, bool binary=false, const char *header="")
 
static bool saveYAML (const std::string &filename, const vpArray2D< double > &A, const char *header="")
 
static vpArray2D< double > conv2 (const vpArray2D< double > &M, const vpArray2D< double > &kernel, const std::string &mode)
 
static void conv2 (const vpArray2D< double > &M, const vpArray2D< double > &kernel, vpArray2D< double > &res, const std::string &mode)
 
static void insert (const vpArray2D< double > &A, const vpArray2D< double > &B, vpArray2D< double > &C, unsigned int r, unsigned int c)
 

Detailed Description

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

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

The vpHomogeneousMatrix class is derived from vpArray2D<double>.

An homogeneous matrix is 4x4 matrix defines as

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

that defines the position of frame b in frame a

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

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

#include <visp3/core/vpHomogeneousMatrix.h>
int main()
{
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;
}
}
unsigned int getCols() const
Definition: vpArray2D.h:274
unsigned int getRows() const
Definition: vpArray2D.h:284
Implementation of an homogeneous matrix and operations on such kind of matrices.

It produces the following printings:

M:
0 0 -1 0.1
0 -1 0 0.2
-1 0 0 0.3
0 0 0 1

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

#include <visp3/core/vpHomogeneousMatrix.h>
int main()
{
R << 0, 0, -1,
0, -1, 0,
-1, 0, 0;
t << 0.1, 0.2, 0.3;
std::cout << "M:\n" << M << std::endl;
}
vpArray2D< double > t() const
Compute the transpose of the array.
Definition: vpArray2D.h:1079
Implementation of a rotation matrix and operations on such kind of matrices.
Class that consider the case of a translation vector.

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

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

JSON serialization

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

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

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

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

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

$ cat homo-mat.json
{"cols":4,"data":[0.0,0.0,-1.0,0.1,0.0,-1.0,0.0,0.2,-1.0,0.0,0.0,0.3,0.0,0.0,0.0,1.0],"rows":4,"type":"vpHomogeneousMatrix"}
Examples
AROgre.cpp, AROgreBasic.cpp, ClassUsingPclViewer.h, HelloWorldOgre.cpp, HelloWorldOgreAdvanced.cpp, calibrate-hand-eye.cpp, 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, saveRealSenseData.cpp, sendMocapToPixhawk.cpp, servoAfma4Point2DArtVelocity.cpp, servoAfma62DhalfCamVelocity.cpp, servoAfma6AprilTagIBVS.cpp, servoAfma6AprilTagPBVS.cpp, servoAfma6Cylinder2DCamVelocity.cpp, servoAfma6Cylinder2DCamVelocitySecondaryTask.cpp, servoAfma6FourPoints2DCamVelocityLs_cur.cpp, servoAfma6FourPoints2DCamVelocityLs_des.cpp, servoAfma6Line2DCamVelocity.cpp, servoAfma6MegaposePBVS.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, servoPololuPtuPoint2DJointVelocity.cpp, servoPtu46Point2DArtVelocity.cpp, servoSimu3D_cMcd_CamVelocity.cpp, servoSimu3D_cMcd_CamVelocityWithoutVpServo.cpp, servoSimu3D_cdMc_CamVelocity.cpp, servoSimu3D_cdMc_CamVelocityWithoutVpServo.cpp, servoSimu4Points.cpp, servoSimuAfma6FourPoints2DCamVelocity.cpp, servoSimuCircle2DCamVelocity.cpp, servoSimuCircle2DCamVelocityDisplay.cpp, servoSimuCylinder.cpp, servoSimuCylinder2DCamVelocityDisplay.cpp, servoSimuCylinder2DCamVelocityDisplaySecondaryTask.cpp, servoSimuFourPoints2DCamVelocity.cpp, servoSimuFourPoints2DCamVelocityDisplay.cpp, servoSimuFourPoints2DPolarCamVelocityDisplay.cpp, servoSimuLine2DCamVelocityDisplay.cpp, servoSimuPoint2DCamVelocity1.cpp, servoSimuPoint2DCamVelocity2.cpp, servoSimuPoint2DCamVelocity3.cpp, servoSimuPoint2DhalfCamVelocity1.cpp, servoSimuPoint2DhalfCamVelocity2.cpp, servoSimuPoint2DhalfCamVelocity3.cpp, servoSimuPoint3DCamVelocity.cpp, servoSimuSphere.cpp, servoSimuSphere2DCamVelocity.cpp, servoSimuSphere2DCamVelocityDisplay.cpp, servoSimuSphere2DCamVelocityDisplaySecondaryTask.cpp, servoSimuSquareLine2DCamVelocityDisplay.cpp, servoSimuThetaUCamVelocity.cpp, servoSimuViper850FourPoints2DCamVelocity.cpp, servoUniversalRobotsIBVS.cpp, servoUniversalRobotsPBVS.cpp, servoViper650FourPoints2DArtVelocityLs_cur.cpp, servoViper650FourPoints2DCamVelocityLs_cur-SR300.cpp, servoViper650FourPoints2DCamVelocityLs_cur.cpp, servoViper850FourPoints2DArtVelocityLs_cur.cpp, servoViper850FourPoints2DCamVelocityLs_cur.cpp, servoViper850FourPointsKinect.cpp, servoViper850Point2DArtVelocity.cpp, simulateCircle2DCamVelocity.cpp, simulateFourPoints2DCartesianCamVelocity.cpp, simulateFourPoints2DPolarCamVelocity.cpp, 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, testPixhawkDronePositionAbsoluteControl.cpp, testPixhawkDronePositionRelativeControl.cpp, testPixhawkDroneTakeoff.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-detection-object-mbt-deprecated.cpp, tutorial-detection-object-mbt.cpp, tutorial-detection-object-mbt2-deprecated.cpp, tutorial-detection-object-mbt2.cpp, tutorial-draw-frame.cpp, tutorial-flir-ptu-ibvs.cpp, tutorial-homography-from-points.cpp, tutorial-ibvs-4pts-display.cpp, tutorial-ibvs-4pts-image-tracking.cpp, tutorial-ibvs-4pts-json.cpp, tutorial-ibvs-4pts-ogre-tracking.cpp, tutorial-ibvs-4pts-ogre.cpp, tutorial-ibvs-4pts-plotter-continuous-gain-adaptive.cpp, tutorial-ibvs-4pts-plotter-gain-adaptive.cpp, tutorial-ibvs-4pts-plotter.cpp, tutorial-ibvs-4pts-wireframe-camera.cpp, tutorial-ibvs-4pts-wireframe-robot-afma6.cpp, tutorial-ibvs-4pts-wireframe-robot-viper.cpp, tutorial-ibvs-4pts.cpp, tutorial-image-simulator.cpp, tutorial-mb-edge-tracker.cpp, tutorial-mb-generic-tracker-apriltag-rs2.cpp, tutorial-mb-generic-tracker-apriltag-webcam.cpp, tutorial-mb-generic-tracker-full.cpp, tutorial-mb-generic-tracker-live.cpp, tutorial-mb-generic-tracker-rgbd-blender.cpp, tutorial-mb-generic-tracker-rgbd-realsense-json.cpp, tutorial-mb-generic-tracker-rgbd-realsense.cpp, tutorial-mb-generic-tracker-rgbd-structure-core.cpp, tutorial-mb-generic-tracker-rgbd.cpp, tutorial-mb-generic-tracker-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 198 of file vpHomogeneousMatrix.h.

Constructor & Destructor Documentation

◆ vpHomogeneousMatrix() [1/10]

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() [2/10]

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() [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 89 of file vpHomogeneousMatrix.cpp.

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

◆ vpHomogeneousMatrix() [4/10]

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

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

Definition at line 78 of file vpHomogeneousMatrix.cpp.

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

◆ 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 53 of file vpHomogeneousMatrix.cpp.

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

◆ vpHomogeneousMatrix() [6/10]

vpHomogeneousMatrix::vpHomogeneousMatrix ( const vpPoseVector p)
explicit

Construct an homogeneous matrix from a pose vector.

Definition at line 100 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;
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 145 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;
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 285 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 296 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()
{
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;
}
It produces the following output:
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

Definition at line 188 of file vpHomogeneousMatrix.cpp.

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

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;
M.buildFrom(v);
std::cout << "M:\n" << M << std::endl;
}
void buildFrom(const vpTranslationVector &t, const vpRotationMatrix &R)

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 449 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;
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 399 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 326 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 339 of file vpHomogeneousMatrix.cpp.

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

◆ 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, servoAfma6MegaposePBVS.cpp, servoFrankaPBVS.cpp, servoSimu3D_cMcd_CamVelocity.cpp, servoSimu3D_cdMc_CamVelocity.cpp, servoSimuPoint2DhalfCamVelocity1.cpp, servoSimuPoint2DhalfCamVelocity2.cpp, servoSimuPoint2DhalfCamVelocity3.cpp, servoSimuThetaUCamVelocity.cpp, servoUniversalRobotsPBVS.cpp, servoViper850FourPoints2DArtVelocityLs_cur.cpp, servoViper850FourPoints2DCamVelocityLs_cur.cpp, servoViper850FourPointsKinect.cpp, testKeyPoint-2.cpp, testRealSense2_T265_images_odometry_async.cpp, testRobotAfma6Pose.cpp, testRobotViper650-frames.cpp, testRobotViper850-frames.cpp, testRobotViper850Pose.cpp, tutorial-draw-frame.cpp, and tutorial-flir-ptu-ibvs.cpp.

Definition at line 317 of file vpHomogeneousMatrix.cpp.

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

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 307 of file vpHomogeneousMatrix.cpp.

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

◆ 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 350 of file vpHomogeneousMatrix.cpp.

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

◆ compute3d3dTransformation()

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

Compute the transformation between two point clouds.

Parameters
[in]p: First point cloud.
[in]q: Second point cloud.
Returns
The homogeneous transformation ${^p}{\bf M}_q$.

Definition at line 1091 of file vpHomogeneousMatrix.cpp.

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

Referenced by vpPose::computePlanarObjectPoseFromRGBD().

◆ conv2() [1/2]

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

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

Parameters
M: First matrix.
kernel: Second matrix.
mode: Convolution mode: "full" (default), "same", "valid".
Convolution mode: full, same, valid (image credit: Theano doc).
Note
This is a very basic implementation that does not use FFT.
Examples
testMatrixConvolution.cpp.

Definition at line 976 of file vpArray2D.h.

◆ conv2() [2/2]

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

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

Parameters
M: First array.
kernel: Second array.
res: Result.
mode: Convolution mode: "full" (default), "same", "valid".
Convolution mode: full, same, valid (image credit: Theano doc).
Note
This is a very basic implementation that does not use FFT.

Definition at line 990 of file vpArray2D.h.

◆ convert() [1/2]

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

Converts an homogeneous matrix to a vector of 12 doubles.

Parameters
M: Converted matrix.

Definition at line 1008 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 997 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 816 of file vpHomogeneousMatrix.cpp.

References vpQuaternionVector::buildFrom().

◆ extract() [2/4]

void vpHomogeneousMatrix::extract ( vpRotationMatrix R) const

Extract the rotational matrix from the homogeneous matrix.

Parameters
R: rotational component as a rotation matrix.
Examples
calibrate-hand-eye.cpp, exponentialMap.cpp, servoSimu3D_cMcd_CamVelocityWithoutVpServo.cpp, servoSimu3D_cdMc_CamVelocityWithoutVpServo.cpp, testRobotAfma6Pose.cpp, testRobotViper650-frames.cpp, testRobotViper850-frames.cpp, testRobotViper850.cpp, testRobotViper850Pose.cpp, testViper650.cpp, and testViper850.cpp.

Definition at line 787 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 806 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 797 of file vpHomogeneousMatrix.cpp.

References vpArray2D< double >::t().

◆ 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()
{
std::cout << "Last column: \n" << t << std::endl;
}
Implementation of column vector and the associated operations.
Definition: vpColVector.h:163
vpColVector getCol(unsigned int j) const

It produces the following output:

Last column:
0
0
1
0

Definition at line 1074 of file vpHomogeneousMatrix.cpp.

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

◆ getCols()

◆ getMaxValue()

double vpArray2D< double >::getMaxValue
inherited

Return the array max value.

Examples
servoMomentImage.cpp.

Definition at line 276 of file vpArray2D.h.

◆ getMinValue()

double vpArray2D< double >::getMinValue
inherited

Return the array min value.

Examples
servoMomentImage.cpp.

Definition at line 278 of file vpArray2D.h.

◆ getRotationMatrix()

◆ getRows()

◆ getThetaUVector()

vpThetaUVector vpHomogeneousMatrix::getThetaUVector ( ) const

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

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

Definition at line 1039 of file vpHomogeneousMatrix.cpp.

References extract().

◆ getTranslationVector()

◆ 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 572 of file vpArray2D.h.

◆ init()

vp_deprecated void vpHomogeneousMatrix::init ( )
inline
Deprecated:
Provided only for compat with previous releases. This function does nothing.
Examples
servoAfma6MegaposePBVS.cpp.

Definition at line 391 of file vpHomogeneousMatrix.h.

Referenced by vpMbGenericTracker::init().

◆ insert() [1/6]

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

Insert array B in array A at the given position.

Parameters
A: Main array.
B: Array to insert.
r: Index of the row where to add the array.
c: Index of the column where to add the array.
Returns
Array with B insert in A.
Warning
Throw exception if the sizes of the arrays do not allow the insertion.

Definition at line 1004 of file vpArray2D.h.

◆ insert() [2/6]

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

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

Warning
Throw vpException::dimensionError if the dimensions of the matrices do not allow the operation.
Parameters
A: The array to insert.
r: The index of the row to begin to insert data.
c: The index of the column to begin to insert data.

Definition at line 431 of file vpArray2D.h.

◆ insert() [3/6]

void vpHomogeneousMatrix::insert ( const vpQuaternionVector q)

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

Definition at line 861 of file vpHomogeneousMatrix.cpp.

References insert().

◆ insert() [4/6]

◆ insert() [5/6]

void vpHomogeneousMatrix::insert ( const vpThetaUVector tu)

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

Definition at line 839 of file vpHomogeneousMatrix.cpp.

References insert().

◆ insert() [6/6]

void vpHomogeneousMatrix::insert ( const vpTranslationVector t)

Insert the translational component in a homogeneous matrix.

Definition at line 848 of file vpHomogeneousMatrix.cpp.

References vpArray2D< double >::t().

◆ inverse() [1/2]

vpHomogeneousMatrix vpHomogeneousMatrix::inverse ( ) const

Invert the homogeneous matrix

Returns
$\left[\begin{array}{cc} {\bf R} & {\bf t} \\ {\bf 0}_{1\times 3} & 1 \end{array} \right]^{-1} = \left[\begin{array}{cc} {\bf R}^T & -{\bf R}^T {\bf t} \\ {\bf 0}_{1\times 3} & 1 \end{array} \right]$
Examples
calibrate-hand-eye.cpp, grabRealSense2_T265.cpp, manServo4PointsDisplay.cpp, manServoMomentsSimple.cpp, manSimu4Dots.cpp, manSimu4Points.cpp, mbtGenericTrackingDepthOnly.cpp, photometricVisualServoing.cpp, photometricVisualServoingWithoutVpServo.cpp, servoAfma62DhalfCamVelocity.cpp, servoAfma6AprilTagIBVS.cpp, servoAfma6AprilTagPBVS.cpp, servoAfma6MegaposePBVS.cpp, servoBebop2.cpp, servoFrankaIBVS.cpp, servoFrankaPBVS.cpp, servoMomentImage.cpp, servoSimu3D_cMcd_CamVelocity.cpp, servoSimu3D_cMcd_CamVelocityWithoutVpServo.cpp, servoSimu3D_cdMc_CamVelocity.cpp, servoSimu3D_cdMc_CamVelocityWithoutVpServo.cpp, servoSimu4Points.cpp, servoSimuCircle2DCamVelocity.cpp, servoSimuCircle2DCamVelocityDisplay.cpp, servoSimuCylinder.cpp, servoSimuCylinder2DCamVelocityDisplay.cpp, servoSimuCylinder2DCamVelocityDisplaySecondaryTask.cpp, servoSimuFourPoints2DCamVelocity.cpp, servoSimuFourPoints2DCamVelocityDisplay.cpp, servoSimuFourPoints2DPolarCamVelocityDisplay.cpp, servoSimuLine2DCamVelocityDisplay.cpp, servoSimuPoint2DCamVelocity1.cpp, servoSimuPoint2DCamVelocity2.cpp, servoSimuPoint2DCamVelocity3.cpp, servoSimuPoint2DhalfCamVelocity1.cpp, servoSimuPoint2DhalfCamVelocity2.cpp, servoSimuPoint2DhalfCamVelocity3.cpp, servoSimuPoint3DCamVelocity.cpp, servoSimuSphere.cpp, servoSimuSphere2DCamVelocity.cpp, servoSimuSphere2DCamVelocityDisplay.cpp, servoSimuSphere2DCamVelocityDisplaySecondaryTask.cpp, servoSimuSquareLine2DCamVelocityDisplay.cpp, servoSimuThetaUCamVelocity.cpp, servoUniversalRobotsIBVS.cpp, servoUniversalRobotsPBVS.cpp, simulateCircle2DCamVelocity.cpp, simulateFourPoints2DCartesianCamVelocity.cpp, simulateFourPoints2DPolarCamVelocity.cpp, testFeatureSegment.cpp, testRealSense2_T265_images_odometry.cpp, testRealSense2_T265_images_odometry_async.cpp, testRealSense2_T265_odometry.cpp, testRobotViper650-frames.cpp, testRobotViper850-frames.cpp, testVirtuoseHapticBox.cpp, testVirtuoseWithGlove.cpp, tutorial-ibvs-4pts-display.cpp, tutorial-ibvs-4pts-image-tracking.cpp, tutorial-ibvs-4pts-json.cpp, tutorial-ibvs-4pts-ogre-tracking.cpp, tutorial-ibvs-4pts-ogre.cpp, tutorial-ibvs-4pts-plotter-continuous-gain-adaptive.cpp, tutorial-ibvs-4pts-plotter-gain-adaptive.cpp, tutorial-ibvs-4pts-plotter.cpp, tutorial-ibvs-4pts-wireframe-camera.cpp, tutorial-ibvs-4pts.cpp, tutorial-mb-generic-tracker-rgbd-structure-core.cpp, tutorial-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 877 of file vpHomogeneousMatrix.cpp.

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

Referenced by vpKeyPoint::compute3D(), vpKeyPoint::compute3DForPointsOnCylinders(), 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(), vpWireFrameSimulator::projectCameraTrajectory(), 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 925 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 759 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 773 of file vpHomogeneousMatrix.cpp.

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

Referenced by vpPose::computePlanarObjectPoseFromRGBD().

◆ load() [1/3]

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

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

Parameters
filename: Input file name.

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

M.load("homogeneous.dat");
void load(std::ifstream &f)
See also
load(std::ifstream &), save(const std::string &)

Definition at line 959 of file vpHomogeneousMatrix.cpp.

References load().

◆ load() [2/3]

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

Load a matrix from a file.

Parameters
filename: Absolute file name.
A: Array to be loaded
binary: If true the matrix is loaded from a binary file, else from a text file.
header: Header of the file is loaded in this parameter.
Returns
Returns true if success.
See also
save()

Definition at line 600 of file vpArray2D.h.

◆ load() [3/3]

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

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

Parameters
f: Input file stream.

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

std::ifstream f("homogeneous.dat");
M.load(f);
See also
load(const std::string &), save(std::ifstream &)
Examples
mbtGenericTrackingDepth.cpp, mbtGenericTrackingDepthOnly.cpp, servoAfma6Points2DCamVelocityEyeToHand.cpp, tutorial-mb-generic-tracker-rgbd-blender.cpp, tutorial-mb-generic-tracker-rgbd.cpp, tutorial-mb-generic-tracker-stereo.cpp, and tutorial-pose-from-planar-object.cpp.

Definition at line 945 of file vpHomogeneousMatrix.cpp.

References vpException::ioError.

Referenced by load().

◆ loadYAML()

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

Load an array from a YAML-formatted file.

Parameters
filename: absolute file name.
A: array to be loaded from the file.
header: header of the file is loaded in this parameter.
Returns
Returns true on success.
See also
saveYAML()
Examples
servoFlirPtuIBVS.cpp, servoFrankaIBVS.cpp, servoFrankaPBVS.cpp, servoUniversalRobotsIBVS.cpp, servoUniversalRobotsPBVS.cpp, and tutorial-flir-ptu-ibvs.cpp.

Definition at line 714 of file vpArray2D.h.

◆ mean()

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

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

Parameters
[in]vec_M: Set of homogeneous matrices.
Returns
The Euclidean mean of the homogeneous matrices.
See also
vpTranslationVector::mean(), vpRotationMatrix::mean()

Definition at line 1148 of file vpHomogeneousMatrix.cpp.

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

◆ operator!=()

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

Not equal to comparison operator of a 2D array.

Definition at line 456 of file vpArray2D.h.

◆ operator*() [1/5]

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

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

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

Definition at line 544 of file vpHomogeneousMatrix.cpp.

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

◆ operator*() [2/5]

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

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

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

Definition at line 491 of file vpHomogeneousMatrix.cpp.

References extract(), and insert().

◆ operator*() [3/5]

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

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

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

Definition at line 576 of file vpHomogeneousMatrix.cpp.

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

◆ operator*() [4/5]

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

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

Parameters
[in]R: Rotation matrix.
Returns
The product between the homogeneous matrix and the rotation matrix R.

The following snippet shows how to use this method:

vpHomogeneousMatrix c1_M_c3 = c1_M_c2 * c2_R_c3;

Definition at line 642 of file vpHomogeneousMatrix.cpp.

References vpHomogeneousMatrix().

◆ operator*() [5/5]

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

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

Parameters
t: Translation vector seen as the 3D coordinates of a point.
Returns
A translation vector that contains the new 3D coordinates after applying the homogeneous transformation.

Definition at line 618 of file vpHomogeneousMatrix.cpp.

References vpArray2D< double >::t().

◆ operator*=()

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

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

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

Definition at line 531 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()
{
M << 0, 0, 1, 0.1,
0, 1, 0, 0.2,
1, 0, 0, 0.3;
std::cout << "M:\n" << M << std::endl;
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:

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
See also
operator<<()

Definition at line 738 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()
{
M << 0, 0, 1, 0.1,
0, 1, 0, 0.2,
1, 0, 0, 0.3;
std::cout << "M:\n" << M << std::endl;
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:

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
See also
operator,()

Definition at line 689 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 464 of file vpHomogeneousMatrix.cpp.

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

◆ operator==()

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

Equal to comparison operator of a 2D array.

Definition at line 452 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 538 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 540 of file vpArray2D.h.

◆ orthogonalizeRotation()

void vpHomogeneousMatrix::orthogonalizeRotation ( )

Perform orthogonalization of the rotation part of the homogeneous transformation.

Definition at line 970 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 987 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 390 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::fatalErrorWhen this function is called.

Definition at line 357 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 299 of file vpArray2D.h.

◆ save() [1/3]

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

Save an homogeneous matrix in a file.

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

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

// Construct an homogeneous matrix
vpRxyzVector r(M_PI, 0, -M_PI/4.);
// Save the content of the matrix in "homogeneous.dat"
M.save("homogeneous.dat");
Implementation of a rotation vector as Euler angle minimal representation.
Definition: vpRxyzVector.h:176
See also
save(std::ofstream &), load(const std::string &)

Definition at line 937 of file vpHomogeneousMatrix.cpp.

References save().

◆ save() [2/3]

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

Save a matrix to a file.

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

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

See also
load()

Definition at line 802 of file vpArray2D.h.

◆ save() [3/3]

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

Save an homogeneous matrix in an output file stream.

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

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

// Construct an homogeneous matrix
vpRxyzVector r(M_PI, 0, -M_PI/4.);
// Save the content of the matrix in "homogeneous.dat"
std::ofstream f("homogeneous.dat");
M.save(f);
See also
save(const std::string &), load(std::ifstream &)
Examples
saveRealSenseData.cpp, and servoAfma6Points2DCamVelocityEyeToHand.cpp.

Definition at line 927 of file vpHomogeneousMatrix.cpp.

References vpException::ioError.

Referenced by save().

◆ saveYAML()

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

Save an array in a YAML-formatted file.

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

Here is an example of outputs.

vpArray2D::saveYAML("matrix.yml", M, "example: a YAML-formatted header");
vpArray2D::saveYAML("matrixIndent.yml", M, "example:\n - a YAML-formatted \
header\n - with inner indentation");
static bool saveYAML(const std::string &filename, const vpArray2D< Type > &A, const char *header="")
Definition: vpArray2D.h:897

Content of matrix.yml:

example: a YAML-formatted header
rows: 3
cols: 4
- [0, 0, 0, 0]
- [0, 0, 0, 0]
- [0, 0, 0, 0]
double * data
Address of the first element of the data array.
Definition: vpArray2D.h:138

Content of matrixIndent.yml:

example:
- a YAML-formatted header
- with inner indentation
rows: 3
cols: 4
- [0, 0, 0, 0]
- [0, 0, 0, 0]
- [0, 0, 0, 0]
See also
loadYAML()

Definition at line 897 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 1192 of file vpHomogeneousMatrix.cpp.

References eye().

◆ size()

◆ t()

vpArray2D< double > vpArray2D< double >::t
inherited

Compute the transpose of the array.

Returns
vpArray2D<Type> C = A^T

Definition at line 579 of file vpArray2D.h.

Friends And Related Function Documentation

◆ from_json

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

Definition at line 408 of file vpHomogeneousMatrix.h.

◆ insert()

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

Insert array B in array A at the given position.

Parameters
A: Main array.
B: Array to insert.
C: Result array.
r: Index of the row where to insert array B.
c: Index of the column where to insert array B.
Warning
Throw exception if the sizes of the arrays do not allow the insertion.

Definition at line 1019 of file vpArray2D.h.

◆ operator!=()

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

Definition at line 1247 of file vpArray2D.h.

◆ operator==() [1/2]

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

Definition at line 1211 of file vpArray2D.h.

◆ operator==() [2/2]

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

Definition at line 1229 of file vpArray2D.h.

◆ to_json

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

Definition at line 404 of file vpHomogeneousMatrix.h.

◆ vpGEMM()

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

vpGEMM(A, B, alpha, C, beta, D, VP_GEMM_A_T + VP_GEMM_B_T);
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:388

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::incorrectMatrixSizeErrorif 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 388 of file vpGEMM.h.

◆ vpGEMMmethod

enum vpGEMMmethod
related

Enumeration of the operations applied on matrices in vpGEMM() function.

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 52 of file vpGEMM.h.

Member Data Documentation

◆ colNum

unsigned int vpArray2D< double >::colNum
protectedinherited

Number of columns in the array.

Definition at line 130 of file vpArray2D.h.

◆ data

double * vpArray2D< double >::data
inherited

◆ dsize

unsigned int vpArray2D< double >::dsize
protectedinherited

Current array size (rowNum * colNum)

Definition at line 134 of file vpArray2D.h.

◆ jsonTypeName

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

Definition at line 371 of file vpHomogeneousMatrix.h.

◆ m_index

unsigned int vpHomogeneousMatrix::m_index
protected

Definition at line 400 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 128 of file vpArray2D.h.

◆ rowPtrs

double ** vpArray2D< double >::rowPtrs
protectedinherited

Address of the first element of each rows.

Definition at line 132 of file vpArray2D.h.