#include <vgl_algo_fwd.h>
Public Member Functions | |
| vgl_norm_trans_2d () | |
| vgl_norm_trans_2d (const vgl_norm_trans_2d< T > &M) | |
| vgl_norm_trans_2d (vnl_matrix_fixed< T, 3, 3 > const &M) | |
| vgl_norm_trans_2d (const T *t_matrix) | |
| vgl_norm_trans_2d (std::istream &s) | |
| vgl_norm_trans_2d (char const *filename) | |
| ~vgl_norm_trans_2d () | |
| bool | compute_from_points (std::vector< vgl_homg_point_2d< T > > const &points, bool isotropic=true) |
| compute the normalizing transform. More... | |
| bool | compute_from_lines (std::vector< vgl_homg_line_2d< T > > const &lines, bool isotropic=true) |
| The normalizing transform for lines is computed from the set of points defined by the intersection of the perpendicular from the origin with the line. More... | |
| bool | compute_from_points_and_lines (std::vector< vgl_homg_point_2d< T > > const &pts, std::vector< vgl_homg_line_2d< T > > const &lines, bool isotropic=true) |
| The normalizing transform for points and lines is computed from the set of points used by compute_from_points() & the one used by compute_from_lines(). 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_conic< T > | operator() (vgl_conic< T > const &C) const |
| assumed to be a point conic. 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_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_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_h_matrix_2d< T > | operator * (vgl_h_matrix_2d< T > const &H) const |
| composition (*this) * H. 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_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_conic< T > | preimage (vgl_conic< T > const &C) const |
| assumed to be a point conic. 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 |
| 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... | |
Static Protected Member Functions | |
| static bool | scale_xyroot2 (std::vector< vgl_homg_point_2d< T > > const &in, T &radius) |
| static void | center_of_mass (std::vector< vgl_homg_point_2d< T > > const &points, T &cx, T &cy) |
| static bool | scale_aniostropic (std::vector< vgl_homg_point_2d< T > > const &in, T &sdx, T &sdy, T &c, T &s) |
Protected Attributes | |
| vnl_matrix_fixed< T, 3, 3 > | t12_matrix_ |
Detailed Description
template<class T>
class vgl_norm_trans_2d< T >
Definition at line 14 of file vgl_algo_fwd.h.
Constructor & Destructor Documentation
◆ vgl_norm_trans_2d() [1/6]
| vgl_norm_trans_2d< T >::vgl_norm_trans_2d | ( | ) |
Definition at line 20 of file vgl_norm_trans_2d.hxx.
◆ vgl_norm_trans_2d() [2/6]
| vgl_norm_trans_2d< T >::vgl_norm_trans_2d | ( | const vgl_norm_trans_2d< T > & | M | ) |
Definition at line 26 of file vgl_norm_trans_2d.hxx.
◆ vgl_norm_trans_2d() [3/6]
| vgl_norm_trans_2d< T >::vgl_norm_trans_2d | ( | vnl_matrix_fixed< T, 3, 3 > const & | M | ) |
Definition at line 49 of file vgl_norm_trans_2d.hxx.
◆ vgl_norm_trans_2d() [4/6]
| vgl_norm_trans_2d< T >::vgl_norm_trans_2d | ( | const T * | t_matrix | ) |
Definition at line 57 of file vgl_norm_trans_2d.hxx.
◆ vgl_norm_trans_2d() [5/6]
| vgl_norm_trans_2d< T >::vgl_norm_trans_2d | ( | std::istream & | s | ) |
Definition at line 34 of file vgl_norm_trans_2d.hxx.
◆ vgl_norm_trans_2d() [6/6]
| vgl_norm_trans_2d< T >::vgl_norm_trans_2d | ( | char const * | filename | ) |
Definition at line 41 of file vgl_norm_trans_2d.hxx.
◆ ~vgl_norm_trans_2d()
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default |
Member Function Documentation
◆ center_of_mass()
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staticprotected |
Definition at line 159 of file vgl_norm_trans_2d.hxx.
◆ compute_from_lines()
| bool vgl_norm_trans_2d< T >::compute_from_lines | ( | std::vector< vgl_homg_line_2d< T > > const & | lines, |
| bool | isotropic = true |
||
| ) |
The normalizing transform for lines is computed from the set of points defined by the intersection of the perpendicular from the origin with the line.
Each such point is given by: ![$p = [-a*c, -b*c, \sqrt(a^2+b^2)]^T$](form_30.png)
If we assume the line is normalized then: ![$p = [-a*c, -b*c, 1]^T$](form_31.png)
Definition at line 118 of file vgl_norm_trans_2d.hxx.
◆ compute_from_points()
| bool vgl_norm_trans_2d< T >::compute_from_points | ( | std::vector< vgl_homg_point_2d< T > > const & | points, |
| bool | isotropic = true |
||
| ) |
compute the normalizing transform.
Get the normalizing transform for a set of points.
- Compute the center of gravity & form the normalizing transformation matrix
- Transform the point set to a temporary collection
- Compute the average point radius
- Complete the normalizing transform
Definition at line 75 of file vgl_norm_trans_2d.hxx.
◆ compute_from_points_and_lines()
| bool vgl_norm_trans_2d< T >::compute_from_points_and_lines | ( | std::vector< vgl_homg_point_2d< T > > const & | pts, |
| std::vector< vgl_homg_line_2d< T > > const & | lines, | ||
| bool | isotropic = true |
||
| ) |
The normalizing transform for points and lines is computed from the set of points used by compute_from_points() & the one used by compute_from_lines().
Definition at line 139 of file vgl_norm_trans_2d.hxx.
◆ correlation() [1/2]
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inherited |
Definition at line 96 of file vgl_h_matrix_2d.hxx.
◆ correlation() [2/2]
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inherited |
Definition at line 112 of file vgl_h_matrix_2d.hxx.
◆ get() [1/4]
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inherited |
Fill M with contents of the 3x3 homography matrix.
Definition at line 201 of file vgl_h_matrix_2d.hxx.
◆ get() [2/4]
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inherited |
- Deprecated:
- use the vnl_matrix_fixed variant instead
Definition at line 207 of file vgl_h_matrix_2d.hxx.
◆ get() [3/4]
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inherited |
Fill M with contents of the 3x3 homography matrix.
Definition at line 194 of file vgl_h_matrix_2d.hxx.
◆ get() [4/4]
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inherited |
Return an element from the 3x3 homography matrix.
Definition at line 188 of file vgl_h_matrix_2d.hxx.
◆ get_inverse()
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inherited |
Return the inverse homography.
Definition at line 377 of file vgl_h_matrix_2d.hxx.
◆ get_matrix()
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inlineinherited |
Return the 3x3 homography matrix.
Definition at line 102 of file vgl_h_matrix_2d.h.
◆ get_translation()
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inherited |
corresponds to translation for affine transformations.
Definition at line 488 of file vgl_h_matrix_2d.hxx.
◆ get_translation_vector()
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inherited |
corresponds to translation for affine transformations.
Definition at line 500 of file vgl_h_matrix_2d.hxx.
◆ get_upper_2x2()
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inherited |
corresponds to rotation for Euclidean transformations.
Definition at line 461 of file vgl_h_matrix_2d.hxx.
◆ get_upper_2x2_matrix()
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inherited |
corresponds to rotation for Euclidean transformations.
Definition at line 476 of file vgl_h_matrix_2d.hxx.
◆ is_euclidean()
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inherited |
Definition at line 302 of file vgl_h_matrix_2d.hxx.
◆ is_identity()
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inherited |
Definition at line 318 of file vgl_h_matrix_2d.hxx.
◆ is_rotation()
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inherited |
Definition at line 294 of file vgl_h_matrix_2d.hxx.
◆ operator *() [1/3]
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inlineinherited |
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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inlineinherited |
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]
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inlineinherited |
composition (*this) * H.
Definition at line 96 of file vgl_h_matrix_2d.h.
◆ operator()() [1/3]
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inherited |
Return the transformed point given by $q = {\tt H} p$.
Definition at line 88 of file vgl_h_matrix_2d.hxx.
◆ operator()() [2/3]
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inherited |
assumed to be a point conic.
Definition at line 120 of file vgl_h_matrix_2d.hxx.
◆ operator()() [3/3]
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inherited |
Return the transformed line given by $m = {\tt H}^{-1} l$.
Definition at line 157 of file vgl_h_matrix_2d.hxx.
◆ operator==()
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inlineinherited |
Definition at line 74 of file vgl_h_matrix_2d.h.
◆ preimage() [1/3]
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inherited |
Return the transformed line given by $m = {\tt H} l$.
Definition at line 104 of file vgl_h_matrix_2d.hxx.
◆ preimage() [2/3]
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inherited |
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]
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inherited |
assumed to be a point conic.
Definition at line 134 of file vgl_h_matrix_2d.hxx.
◆ projective_basis() [1/2]
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inherited |
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]
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inherited |
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]
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inherited |
Read H from std::istream.
Definition at line 170 of file vgl_h_matrix_2d.hxx.
◆ read() [2/2]
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inherited |
Read H from file.
Definition at line 177 of file vgl_h_matrix_2d.hxx.
◆ scale_aniostropic()
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staticprotected |
Definition at line 222 of file vgl_norm_trans_2d.hxx.
◆ scale_xyroot2()
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staticprotected |
Definition at line 192 of file vgl_norm_trans_2d.hxx.
◆ set() [1/3]
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inlineinherited |
Set an element of the 3x3 homography matrix.
Definition at line 116 of file vgl_h_matrix_2d.h.
◆ set() [2/3]
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inherited |
Set to 3x3 row-stored matrix.
Definition at line 223 of file vgl_h_matrix_2d.hxx.
◆ set() [3/3]
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inherited |
Set to given 3x3 matrix.
Definition at line 232 of file vgl_h_matrix_2d.hxx.
◆ set_affine() [1/2]
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inherited |
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]
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inherited |
- Deprecated:
- use the vnl_matrix_fixed variant instead
Definition at line 448 of file vgl_h_matrix_2d.hxx.
◆ set_aspect_ratio()
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inherited |
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()
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inherited |
initialize the transformation to identity.
Definition at line 215 of file vgl_h_matrix_2d.hxx.
◆ set_rotation()
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inherited |
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()
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inherited |
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()
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inherited |
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()
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inherited |
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_
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protectedinherited |
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_norm_trans_2d.h
- core/vgl/algo/vgl_norm_trans_2d.hxx
