A class to hold a plane-to-plane projective transformation matrix and to perform common operations using it e.g. More...
#include <vgl_algo_fwd.h>
Public Member Functions | |
| vgl_h_matrix_2d ()=default | |
| ~vgl_h_matrix_2d ()=default | |
| vgl_h_matrix_2d (vgl_h_matrix_2d< T > const &M) | |
| Copy constructor. More... | |
| vgl_h_matrix_2d (vnl_matrix_fixed< T, 3, 3 > const &M) | |
| Constructor from a 3x3 matrix, and implicit cast from vnl_matrix_fixed<T,3,3>. More... | |
| vgl_h_matrix_2d (vnl_matrix_fixed< T, 2, 2 > const &M, vnl_vector_fixed< T, 2 > const &m) | |
| Construct an affine vgl_h_matrix_2d from 2x2 M and 2x1 m. More... | |
| vgl_h_matrix_2d (T const *M) | |
| Constructor from 3x3 C-array. More... | |
| vgl_h_matrix_2d (std::istream &s) | |
| Constructor from istream. More... | |
| vgl_h_matrix_2d (char const *filename) | |
| Constructor from file. More... | |
| vgl_h_matrix_2d (std::vector< vgl_homg_point_2d< T > > const &points1, std::vector< vgl_homg_point_2d< T > > const &points2) | |
| Constructor - calculate homography between two sets of 2D points (minimum 4). More... | |
| vgl_homg_point_2d< T > | operator() (vgl_homg_point_2d< T > const &p) const |
| Return the transformed point given by $q = {\tt H} p$. More... | |
| vgl_homg_point_2d< T > | operator * (vgl_homg_point_2d< T > const &p) const |
| Return the transformed point given by $q = {\tt H} p$. More... | |
| bool | operator== (vgl_h_matrix_2d< T > const &M) const |
| vgl_homg_line_2d< T > | preimage (vgl_homg_line_2d< T > const &l) const |
| Return the transformed line given by $m = {\tt H} l$. More... | |
| vgl_homg_line_2d< T > | correlation (vgl_homg_point_2d< T > const &p) const |
| vgl_homg_point_2d< T > | correlation (vgl_homg_line_2d< T > const &l) const |
| vgl_conic< T > | operator() (vgl_conic< T > const &C) const |
| assumed to be a point conic. More... | |
| vgl_homg_point_2d< T > | preimage (vgl_homg_point_2d< T > const &q) const |
| Return the transformed point given by $p = {\tt H}^{-1} q$. More... | |
| vgl_homg_line_2d< T > | operator() (vgl_homg_line_2d< T > const &l) const |
| Return the transformed line given by $m = {\tt H}^{-1} l$. More... | |
| vgl_homg_line_2d< T > | operator * (vgl_homg_line_2d< T > const &l) const |
| Return the transformed line given by $m = {\tt H}^{-1} l$. More... | |
| vgl_conic< T > | preimage (vgl_conic< T > const &C) const |
| assumed to be a point conic. More... | |
| vgl_h_matrix_2d< T > | operator * (vgl_h_matrix_2d< T > const &H) const |
| composition (*this) * H. More... | |
| vnl_matrix_fixed< T, 3, 3 > const & | get_matrix () const |
| Return the 3x3 homography matrix. More... | |
| void | get (vnl_matrix_fixed< T, 3, 3 > *M) const |
| Fill M with contents of the 3x3 homography matrix. More... | |
| void | get (vnl_matrix< T > *M) const |
| void | get (T *M) const |
| Fill M with contents of the 3x3 homography matrix. More... | |
| T | get (unsigned int row_index, unsigned int col_index) const |
| Return an element from the 3x3 homography matrix. More... | |
| vgl_h_matrix_2d | get_inverse () const |
| Return the inverse homography. More... | |
| vgl_h_matrix_2d & | set (unsigned int row_index, unsigned int col_index, T value) |
| Set an element of the 3x3 homography matrix. More... | |
| vgl_h_matrix_2d & | set (T const *M) |
| Set to 3x3 row-stored matrix. More... | |
| vgl_h_matrix_2d & | set (vnl_matrix_fixed< T, 3, 3 > const &M) |
| Set to given 3x3 matrix. More... | |
| vgl_h_matrix_2d & | set_identity () |
| initialize the transformation to identity. More... | |
| vgl_h_matrix_2d & | set_translation (T tx, T ty) |
| set H[0][2] = tx and H[1][2] = ty, other elements unaltered. More... | |
| vgl_h_matrix_2d & | set_rotation (T theta) |
| the upper 2x2 part of the matrix is replaced by a rotation matrix. More... | |
| vgl_h_matrix_2d & | set_scale (T scale) |
| compose the current transform with a uniform scaling transformation, S. More... | |
| vgl_h_matrix_2d & | set_similarity (T s, T theta, T tx, T ty) |
| set the transform to a similarity mapping. More... | |
| vgl_h_matrix_2d & | set_aspect_ratio (T aspect_ratio) |
| compose the transform with diagonal aspect ratio transform. More... | |
| vgl_h_matrix_2d & | set_affine (vnl_matrix_fixed< T, 2, 3 > const &M23) |
| set the transform to a general affine transform matrix. More... | |
| vgl_h_matrix_2d & | set_affine (vnl_matrix< T > const &M23) |
| bool | is_rotation () const |
| bool | is_euclidean () const |
| bool | is_identity () const |
| bool | projective_basis (std::vector< vgl_homg_point_2d< T > > const &four_points) |
| transformation to projective basis (canonical frame). More... | |
| bool | projective_basis (std::vector< vgl_homg_line_2d< T > > const &four_lines) |
| transformation to projective basis (canonical frame). More... | |
| vgl_h_matrix_2d< T > | get_upper_2x2 () const |
| corresponds to rotation for Euclidean transformations. More... | |
| vnl_matrix_fixed< T, 2, 2 > | get_upper_2x2_matrix () const |
| corresponds to rotation for Euclidean transformations. More... | |
| vgl_homg_point_2d< T > | get_translation () const |
| corresponds to translation for affine transformations. More... | |
| vnl_vector_fixed< T, 2 > | get_translation_vector () const |
| corresponds to translation for affine transformations. More... | |
| bool | read (std::istream &s) |
| Read H from std::istream. More... | |
| bool | read (char const *filename) |
| Read H from file. More... | |
Protected Attributes | |
| vnl_matrix_fixed< T, 3, 3 > | t12_matrix_ |
Detailed Description
template<class T>
class vgl_h_matrix_2d< T >
A class to hold a plane-to-plane projective transformation matrix and to perform common operations using it e.g.
transfer point.
Definition at line 11 of file vgl_algo_fwd.h.
Constructor & Destructor Documentation
◆ vgl_h_matrix_2d() [1/8]
|
default |
◆ ~vgl_h_matrix_2d()
|
default |
◆ vgl_h_matrix_2d() [2/8]
|
inline |
Copy constructor.
Definition at line 51 of file vgl_h_matrix_2d.h.
◆ vgl_h_matrix_2d() [3/8]
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inline |
Constructor from a 3x3 matrix, and implicit cast from vnl_matrix_fixed<T,3,3>.
Definition at line 53 of file vgl_h_matrix_2d.h.
◆ vgl_h_matrix_2d() [4/8]
| vgl_h_matrix_2d< T >::vgl_h_matrix_2d | ( | vnl_matrix_fixed< T, 2, 2 > const & | M, |
| vnl_vector_fixed< T, 2 > const & | m | ||
| ) |
Construct an affine vgl_h_matrix_2d from 2x2 M and 2x1 m.
Definition at line 70 of file vgl_h_matrix_2d.hxx.
◆ vgl_h_matrix_2d() [5/8]
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inlineexplicit |
Constructor from 3x3 C-array.
Definition at line 58 of file vgl_h_matrix_2d.h.
◆ vgl_h_matrix_2d() [6/8]
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explicit |
Constructor from istream.
Definition at line 21 of file vgl_h_matrix_2d.hxx.
◆ vgl_h_matrix_2d() [7/8]
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explicit |
Constructor from file.
Definition at line 27 of file vgl_h_matrix_2d.hxx.
◆ vgl_h_matrix_2d() [8/8]
| vgl_h_matrix_2d< T >::vgl_h_matrix_2d | ( | std::vector< vgl_homg_point_2d< T > > const & | points1, |
| std::vector< vgl_homg_point_2d< T > > const & | points2 | ||
| ) |
Constructor - calculate homography between two sets of 2D points (minimum 4).
Definition at line 37 of file vgl_h_matrix_2d.hxx.
Member Function Documentation
◆ correlation() [1/2]
| vgl_homg_line_2d< T > vgl_h_matrix_2d< T >::correlation | ( | vgl_homg_point_2d< T > const & | p | ) | const |
Definition at line 96 of file vgl_h_matrix_2d.hxx.
◆ correlation() [2/2]
| vgl_homg_point_2d< T > vgl_h_matrix_2d< T >::correlation | ( | vgl_homg_line_2d< T > const & | l | ) | const |
Definition at line 112 of file vgl_h_matrix_2d.hxx.
◆ get() [1/4]
| void vgl_h_matrix_2d< T >::get | ( | vnl_matrix_fixed< T, 3, 3 > * | M | ) | const |
Fill M with contents of the 3x3 homography matrix.
Definition at line 201 of file vgl_h_matrix_2d.hxx.
◆ get() [2/4]
| void vgl_h_matrix_2d< T >::get | ( | vnl_matrix< T > * | M | ) | const |
- Deprecated:
- use the vnl_matrix_fixed variant instead
Definition at line 207 of file vgl_h_matrix_2d.hxx.
◆ get() [3/4]
| void vgl_h_matrix_2d< T >::get | ( | T * | M | ) | const |
Fill M with contents of the 3x3 homography matrix.
Definition at line 194 of file vgl_h_matrix_2d.hxx.
◆ get() [4/4]
| T vgl_h_matrix_2d< T >::get | ( | unsigned int | row_index, |
| unsigned int | col_index | ||
| ) | const |
Return an element from the 3x3 homography matrix.
Definition at line 188 of file vgl_h_matrix_2d.hxx.
◆ get_inverse()
| vgl_h_matrix_2d< T > vgl_h_matrix_2d< T >::get_inverse | ( | ) | const |
Return the inverse homography.
Definition at line 377 of file vgl_h_matrix_2d.hxx.
◆ get_matrix()
|
inline |
Return the 3x3 homography matrix.
Definition at line 102 of file vgl_h_matrix_2d.h.
◆ get_translation()
| vgl_homg_point_2d< T > vgl_h_matrix_2d< T >::get_translation | ( | ) | const |
corresponds to translation for affine transformations.
Definition at line 488 of file vgl_h_matrix_2d.hxx.
◆ get_translation_vector()
| vnl_vector_fixed< T, 2 > vgl_h_matrix_2d< T >::get_translation_vector | ( | ) | const |
corresponds to translation for affine transformations.
Definition at line 500 of file vgl_h_matrix_2d.hxx.
◆ get_upper_2x2()
| vgl_h_matrix_2d< T > vgl_h_matrix_2d< T >::get_upper_2x2 | ( | ) | const |
corresponds to rotation for Euclidean transformations.
Definition at line 461 of file vgl_h_matrix_2d.hxx.
◆ get_upper_2x2_matrix()
| vnl_matrix_fixed< T, 2, 2 > vgl_h_matrix_2d< T >::get_upper_2x2_matrix | ( | ) | const |
corresponds to rotation for Euclidean transformations.
Definition at line 476 of file vgl_h_matrix_2d.hxx.
◆ is_euclidean()
| bool vgl_h_matrix_2d< T >::is_euclidean | ( | ) | const |
Definition at line 302 of file vgl_h_matrix_2d.hxx.
◆ is_identity()
| bool vgl_h_matrix_2d< T >::is_identity | ( | ) | const |
Definition at line 318 of file vgl_h_matrix_2d.hxx.
◆ is_rotation()
| bool vgl_h_matrix_2d< T >::is_rotation | ( | ) | const |
Definition at line 294 of file vgl_h_matrix_2d.hxx.
◆ operator *() [1/3]
|
inline |
Return the transformed point given by $q = {\tt H} p$.
Definition at line 72 of file vgl_h_matrix_2d.h.
◆ operator *() [2/3]
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inline |
Return the transformed line given by $m = {\tt H}^{-1} l$.
Definition at line 91 of file vgl_h_matrix_2d.h.
◆ operator *() [3/3]
|
inline |
composition (*this) * H.
Definition at line 96 of file vgl_h_matrix_2d.h.
◆ operator()() [1/3]
| vgl_homg_point_2d< T > vgl_h_matrix_2d< T >::operator() | ( | vgl_homg_point_2d< T > const & | p | ) | const |
Return the transformed point given by $q = {\tt H} p$.
Definition at line 88 of file vgl_h_matrix_2d.hxx.
◆ operator()() [2/3]
| vgl_conic< T > vgl_h_matrix_2d< T >::operator() | ( | vgl_conic< T > const & | C | ) | const |
assumed to be a point conic.
Definition at line 120 of file vgl_h_matrix_2d.hxx.
◆ operator()() [3/3]
| vgl_homg_line_2d< T > vgl_h_matrix_2d< T >::operator() | ( | vgl_homg_line_2d< T > const & | l | ) | const |
Return the transformed line given by $m = {\tt H}^{-1} l$.
Definition at line 157 of file vgl_h_matrix_2d.hxx.
◆ operator==()
|
inline |
Definition at line 74 of file vgl_h_matrix_2d.h.
◆ preimage() [1/3]
| vgl_homg_line_2d< T > vgl_h_matrix_2d< T >::preimage | ( | vgl_homg_line_2d< T > const & | l | ) | const |
Return the transformed line given by $m = {\tt H} l$.
Definition at line 104 of file vgl_h_matrix_2d.hxx.
◆ preimage() [2/3]
| vgl_homg_point_2d< T > vgl_h_matrix_2d< T >::preimage | ( | vgl_homg_point_2d< T > const & | q | ) | const |
Return the transformed point given by $p = {\tt H}^{-1} q$.
Definition at line 149 of file vgl_h_matrix_2d.hxx.
◆ preimage() [3/3]
| vgl_conic< T > vgl_h_matrix_2d< T >::preimage | ( | vgl_conic< T > const & | C | ) | const |
assumed to be a point conic.
Definition at line 134 of file vgl_h_matrix_2d.hxx.
◆ projective_basis() [1/2]
| bool vgl_h_matrix_2d< T >::projective_basis | ( | std::vector< vgl_homg_point_2d< T > > const & | four_points | ) |
transformation to projective basis (canonical frame).
Compute the homography that takes the input set of points to the canonical frame. The points act as the projective basis for the canonical coordinate system. In the canonical frame the points have coordinates: $\begin{array}{cccc} p[0] & p[1] & p[2] & p[3] \% 1 & 0 & 0 & 1 \% 0 & 1 & 0 & 1 \% 0 & 0 & 1 & 1 \end{array}$
Definition at line 241 of file vgl_h_matrix_2d.hxx.
◆ projective_basis() [2/2]
| bool vgl_h_matrix_2d< T >::projective_basis | ( | std::vector< vgl_homg_line_2d< T > > const & | four_lines | ) |
transformation to projective basis (canonical frame).
Compute the homography that takes the input set of lines to the canonical frame. The lines act as the dual projective basis for the canonical coordinate system. In the canonical frame the lines have equations: x=0; y=0; w=0; x+y+w=0. (The third line is the line at infinity.)
Definition at line 325 of file vgl_h_matrix_2d.hxx.
◆ read() [1/2]
| bool vgl_h_matrix_2d< T >::read | ( | std::istream & | s | ) |
Read H from std::istream.
Definition at line 170 of file vgl_h_matrix_2d.hxx.
◆ read() [2/2]
| bool vgl_h_matrix_2d< T >::read | ( | char const * | filename | ) |
Read H from file.
Definition at line 177 of file vgl_h_matrix_2d.hxx.
◆ set() [1/3]
|
inline |
Set an element of the 3x3 homography matrix.
Definition at line 116 of file vgl_h_matrix_2d.h.
◆ set() [2/3]
| vgl_h_matrix_2d< T > & vgl_h_matrix_2d< T >::set | ( | T const * | M | ) |
Set to 3x3 row-stored matrix.
Definition at line 223 of file vgl_h_matrix_2d.hxx.
◆ set() [3/3]
| vgl_h_matrix_2d< T > & vgl_h_matrix_2d< T >::set | ( | vnl_matrix_fixed< T, 3, 3 > const & | M | ) |
Set to given 3x3 matrix.
Definition at line 232 of file vgl_h_matrix_2d.hxx.
◆ set_affine() [1/2]
| vgl_h_matrix_2d< T > & vgl_h_matrix_2d< T >::set_affine | ( | vnl_matrix_fixed< T, 2, 3 > const & | M23 | ) |
set the transform to a general affine transform matrix.
$A = \left[ \begin{array}{ccc} a00 & a01 & a02 \% a10 & a11 & a12 \% 0 & 0 & 1 \end{array}\right]$
Definition at line 437 of file vgl_h_matrix_2d.hxx.
◆ set_affine() [2/2]
| vgl_h_matrix_2d< T > & vgl_h_matrix_2d< T >::set_affine | ( | vnl_matrix< T > const & | M23 | ) |
- Deprecated:
- use the vnl_matrix_fixed variant instead
Definition at line 448 of file vgl_h_matrix_2d.hxx.
◆ set_aspect_ratio()
| vgl_h_matrix_2d< T > & vgl_h_matrix_2d< T >::set_aspect_ratio | ( | T | aspect_ratio | ) |
compose the transform with diagonal aspect ratio transform.
$A = \left[ \begin{array}{ccc} 1 & 0 & 0 \% 0 & a & 0 \% 0 & 0 & 1 \end{array}\right]$ , Ta = A*T.
Definition at line 427 of file vgl_h_matrix_2d.hxx.
◆ set_identity()
| vgl_h_matrix_2d< T > & vgl_h_matrix_2d< T >::set_identity | ( | ) |
initialize the transformation to identity.
Definition at line 215 of file vgl_h_matrix_2d.hxx.
◆ set_rotation()
| vgl_h_matrix_2d< T > & vgl_h_matrix_2d< T >::set_rotation | ( | T | theta | ) |
the upper 2x2 part of the matrix is replaced by a rotation matrix.
rotation angle theta is in radians
Definition at line 393 of file vgl_h_matrix_2d.hxx.
◆ set_scale()
| vgl_h_matrix_2d< T > & vgl_h_matrix_2d< T >::set_scale | ( | T | scale | ) |
compose the current transform with a uniform scaling transformation, S.
$S = \left[ \begin{array}{ccc} s & 0 & 0 \% 0 & s & 0 \% 0 & 0 & 1 \end{array}\right]$ , Ts = S*T.
Definition at line 404 of file vgl_h_matrix_2d.hxx.
◆ set_similarity()
| vgl_h_matrix_2d< T > & vgl_h_matrix_2d< T >::set_similarity | ( | T | s, |
| T | theta, | ||
| T | tx, | ||
| T | ty | ||
| ) |
set the transform to a similarity mapping.
Sim $ = \left[\begin{array}{ccc} \cos(\theta) & -\sin(\theta) & tx \% \sin(\theta) & \cos(\theta) & ty \% 0 & 0 & 1 \end{array}\right]$
Definition at line 414 of file vgl_h_matrix_2d.hxx.
◆ set_translation()
| vgl_h_matrix_2d< T > & vgl_h_matrix_2d< T >::set_translation | ( | T | tx, |
| T | ty | ||
| ) |
set H[0][2] = tx and H[1][2] = ty, other elements unaltered.
Definition at line 385 of file vgl_h_matrix_2d.hxx.
Member Data Documentation
◆ t12_matrix_
|
protected |
Definition at line 42 of file vgl_h_matrix_2d.h.
The documentation for this class was generated from the following files:
- core/vgl/algo/vgl_algo_fwd.h
- core/vgl/algo/vgl_h_matrix_2d.h
- core/vgl/algo/vgl_h_matrix_2d.hxx
