vpHomogeneousMatrix.h

/*
 * ViSP, open source Visual Servoing Platform software.
 * Copyright (C) 2005 - 2023 by Inria. All rights reserved.
 *
 * This software is free software; you can redistribute it and/or modify
 * it under the terms of the GNU General Public License as published by
 * the Free Software Foundation; either version 2 of the License, or
 * (at your option) any later version.
 * See the file LICENSE.txt at the root directory of this source
 * distribution for additional information about the GNU GPL.
 *
 * For using ViSP with software that can not be combined with the GNU
 * GPL, please contact Inria about acquiring a ViSP Professional
 * Edition License.
 *
 * See https://visp.inria.fr for more information.
 *
 * This software was developed at:
 * Inria Rennes - Bretagne Atlantique
 * Campus Universitaire de Beaulieu
 * 35042 Rennes Cedex
 * France
 *
 * If you have questions regarding the use of this file, please contact
 * Inria at visp@inria.fr
 *
 * This file is provided AS IS with NO WARRANTY OF ANY KIND, INCLUDING THE
 * WARRANTY OF DESIGN, MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE.
 *
 * Description:
 * Homogeneous matrix.
 */
 
#ifndef _vpHomogeneousMatrix_h_
#define _vpHomogeneousMatrix_h_
 
class vpTranslationVector;
class vpPoseVector;
class vpMatrix;
class vpRotationMatrix;
class vpPoseVector;
class vpThetaUVector;
class vpQuaternionVector;
class vpPoint;
 
#include <fstream>
#include <vector>
 
#include <visp3/core/vpArray2D.h>
#include <visp3/core/vpRotationMatrix.h>
#include <visp3/core/vpThetaUVector.h>
//#include <visp3/core/vpTranslationVector.h>
#include <visp3/core/vpPoseVector.h>
 
#ifdef VISP_HAVE_NLOHMANN_JSON
#include <nlohmann/json.hpp>
#endif
 
class VISP_EXPORT vpHomogeneousMatrix : public vpArray2D<double>
{
public:
  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);
  explicit vpHomogeneousMatrix(const vpPoseVector &p);
  explicit vpHomogeneousMatrix(const std::vector<float> &v);
  explicit vpHomogeneousMatrix(const std::vector<double> &v);
  vpHomogeneousMatrix(double tx, double ty, double tz, double tux, double tuy, double tuz);
#if (VISP_CXX_STANDARD >= VISP_CXX_STANDARD_11)
  vpHomogeneousMatrix(const std::initializer_list<double> &list);
#endif
  virtual ~vpHomogeneousMatrix() { }
 
  void buildFrom(const vpTranslationVector &t, const vpRotationMatrix &R);
  void buildFrom(const vpTranslationVector &t, const vpThetaUVector &tu);
  void buildFrom(const vpTranslationVector &t, const vpQuaternionVector &q);
  void buildFrom(const vpPoseVector &p);
  void buildFrom(const std::vector<float> &v);
  void buildFrom(const std::vector<double> &v);
  void buildFrom(double tx, double ty, double tz, double tux, double tuy, double tuz);
 
  void convert(std::vector<float> &M);
  void convert(std::vector<double> &M);
 
  // Set to identity
  void eye();
 
  vpColVector getCol(unsigned int j) const;
  vpRotationMatrix getRotationMatrix() const;
  vpThetaUVector getThetaUVector() const;
  vpTranslationVector getTranslationVector() const;
 
  // Invert the homogeneous matrix.
  vpHomogeneousMatrix inverse() const;
  // Invert the homogeneous matrix.
  void inverse(vpHomogeneousMatrix &Mi) const;
 
  // Test if the rotational part of the matrix is a rotation matrix.
  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;
 
  // Load an homogeneous matrix from a file
  void load(std::ifstream &f);
  // Save an homogeneous matrix in a file
  void save(std::ofstream &f) const;
 
  vpHomogeneousMatrix &operator=(const vpHomogeneousMatrix &M);
  vpHomogeneousMatrix operator*(const vpHomogeneousMatrix &M) const;
  vpHomogeneousMatrix &operator*=(const vpHomogeneousMatrix &M);
 
  vpColVector operator*(const vpColVector &v) const;
  vpTranslationVector operator*(const vpTranslationVector &t) const;
  vpHomogeneousMatrix operator*(const vpRotationMatrix &R) const;
 
  // Multiply by a point
  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)
  {
    (void)nrows;
    (void)ncols;
    (void)flagNullify;
    throw(vpException(vpException::fatalError, "Cannot resize an homogeneous matrix"));
  }
 
  static vpHomogeneousMatrix compute3d3dTransformation(const std::vector<vpPoint> &p, const std::vector<vpPoint> &q);
 
  static vpHomogeneousMatrix mean(const std::vector<vpHomogeneousMatrix> &vec_M);
 
#ifdef VISP_HAVE_NLOHMANN_JSON
public:
  static const std::string jsonTypeName;
private:
  friend void to_json(nlohmann::json &j, const vpHomogeneousMatrix &cam);
  friend void from_json(const nlohmann::json &j, vpHomogeneousMatrix &T);
  // Conversion helper function to avoid circular dependencies and MSVC errors that are not exported in the DLL
  void parse_json(const nlohmann::json &j);
  void convert_to_json(nlohmann::json &j) const;
public:
 
#endif
 
#if defined(VISP_BUILD_DEPRECATED_FUNCTIONS)
  vp_deprecated void init() { }
  vp_deprecated void setIdentity();
#endif
 
protected:
  unsigned int m_index;
};
 
#ifdef VISP_HAVE_NLOHMANN_JSON
inline void to_json(nlohmann::json &j, const vpHomogeneousMatrix &T)
{
  T.convert_to_json(j);
}
inline void from_json(const nlohmann::json &j, vpHomogeneousMatrix &T)
{
  T.parse_json(j);
}
#endif
 
#endif