#include <vgl_algo_fwd.h>
Public Member Functions | |
| vgl_p_matrix () | |
| Constructor. Set up a canonical P matrix. More... | |
| vgl_p_matrix (std::istream &) | |
| Construct by loading from std::istream. More... | |
| vgl_p_matrix (const T *c_matrix) | |
| Construct from row-stored C-array of 12 elements. More... | |
| vgl_p_matrix (vnl_matrix_fixed< T, 3, 4 > const &P) | |
| Construct from 3x4 matrix. More... | |
| vgl_p_matrix (const vnl_matrix_fixed< T, 3, 3 > &A, const vnl_vector_fixed< T, 3 > &a) | |
| Construct from 3x3 matrix A and vector a. P = [A a]. More... | |
| vgl_p_matrix (const vnl_matrix< T > &A, const vnl_vector< T > &a) | |
| Deprecated; use the vnl_matrix_fixed variant instead. More... | |
| vgl_p_matrix (const vgl_p_matrix &P) | |
| ~vgl_p_matrix () | |
| vgl_homg_point_2d< T > | operator() (vgl_homg_point_3d< T > const &X) const |
| Return the image point which is the projection of the specified 3D point X. More... | |
| vgl_homg_point_2d< T > | operator * (vgl_homg_point_3d< T > const &X) const |
| Return the image point which is the projection of the specified 3D point X. More... | |
| vgl_homg_line_2d< T > | operator() (vgl_homg_line_3d_2_points< T > const &L) const |
| Return the image line which is the projection of the specified 3D line L. More... | |
| vgl_homg_line_2d< T > | operator * (vgl_homg_line_3d_2_points< T > const &L) const |
| Return the image line which is the projection of the specified 3D line L. More... | |
| vgl_line_segment_2d< T > | operator() (vgl_line_segment_3d< T > const &L) const |
| Return the image linesegment which is the projection of the specified 3D linesegment L. More... | |
| vgl_line_segment_2d< T > | operator * (vgl_line_segment_3d< T > const &L) const |
| Return the image linesegment which is the projection of the specified 3D linesegment L. More... | |
| vgl_homg_point_3d< T > | backproject_pseudoinverse (vgl_homg_point_2d< T > const &x) const |
| Return the 3D point $\vec X$ which is $\vec X = P^+ \vec x$. More... | |
| vgl_homg_line_3d_2_points< T > | backproject (vgl_homg_point_2d< T > const &x) const |
| Return the 3D line which is the backprojection of the specified image point, x. More... | |
| vgl_homg_plane_3d< T > | backproject (vgl_homg_line_2d< T > const &l) const |
| Return the 3D plane which is the backprojection of the specified line l in the image. More... | |
| vgl_p_matrix< T > | postmultiply (vnl_matrix_fixed< T, 4, 4 > const &H) const |
| post-multiply this projection matrix with a 3-d projective transform. More... | |
| vgl_p_matrix< T > | premultiply (vnl_matrix_fixed< T, 3, 3 > const &H) const |
| pre-multiply this projection matrix with a 2-d projective transform. More... | |
| vgl_p_matrix< T > | operator * (vnl_matrix_fixed< T, 3, 3 > const &C) const |
| pre-multiply this projection matrix with a 2-d projective transform. More... | |
| vnl_svd< T > * | svd () const |
| Compute the svd of this P and cache it, so that future operations that require it need not recompute it. More... | |
| void | clear_svd () const |
| Discredit the cached svd. More... | |
| vgl_homg_point_3d< T > | get_focal () const |
| Return the 3D point representing the focal point of the camera. More... | |
| vgl_h_matrix_3d< T > | get_canonical_H () const |
| Return the 3D H-matrix s.t. P * H = [I 0]. More... | |
| bool | is_canonical (T tol=0) const |
| Return true iff P is [I 0]. More... | |
| bool | is_behind_camera (vgl_homg_point_3d< T > const &) |
| Return true if the 3D point X is behind the camera represented by this P. More... | |
| vgl_p_matrix & | flip_sign () |
| Change the overall sign of the P matrix. More... | |
| bool | looks_conditioned () |
| Splendid hack that tries to detect if the P is an image-coords P or a normalized P. More... | |
| vgl_p_matrix & | fix_cheirality () |
| Scale P so determinant of first 3x3 is 1. More... | |
| vgl_p_matrix & | operator= (const vgl_p_matrix &) |
| bool | operator== (vgl_p_matrix const &p) const |
| void | get (vnl_matrix_fixed< T, 3, 3 > *A, vnl_vector_fixed< T, 3 > *a) const |
| Return the 3x3 matrix and 3x1 column vector of P = [A a]. More... | |
| void | get (vnl_matrix< T > *A, vnl_vector< T > *a) const |
| Deprecated; use the vnl_matrix_fixed variant instead. More... | |
| void | get_rows (vnl_vector< T > *a, vnl_vector< T > *b, vnl_vector< T > *c) const |
| Return the rows of P = [a b c]'. More... | |
| void | get_rows (vnl_vector_fixed< T, 4 > *a, vnl_vector_fixed< T, 4 > *b, vnl_vector_fixed< T, 4 > *c) const |
| Return the rows of P = [a b c]'. More... | |
| vgl_p_matrix & | set_rows (const vnl_vector_fixed< T, 4 > &a, const vnl_vector_fixed< T, 4 > &b, const vnl_vector_fixed< T, 4 > &c) |
| Set P = [a b c]' from its rows a, b, c. More... | |
| T | get (unsigned int row_index, unsigned int col_index) const |
| Return the element of the matrix at the specified index pair. More... | |
| void | get (T *c_matrix) const |
| Return the 3x4 projection matrix in the C-array, c_matrix. More... | |
| void | get (vnl_matrix_fixed< T, 3, 4 > &p_matrix) const |
| Return the 3x4 projection matrix in p_matrix. More... | |
| void | get (vnl_matrix< T > &p_matrix) const |
| Deprecated; use the vnl_matrix_fixed variant instead. More... | |
| vgl_p_matrix & | set (vnl_matrix_fixed< T, 3, 4 > const &p_matrix) |
| Set the internal matrix using the 3x4 p_matrix. More... | |
| vgl_p_matrix & | set (const vnl_matrix< T > &p_matrix) |
| Deprecated; use the vnl_matrix_fixed variant instead. More... | |
| vgl_p_matrix & | set (vnl_matrix_fixed< T, 3, 3 > const &A, vnl_vector_fixed< T, 3 > const &a) |
| Set from 3x3 matrix and 3x1 column vector of P = [A a]. More... | |
| vgl_p_matrix & | set (vnl_matrix< T > const &A, vnl_vector< T > const &a) |
| Deprecated; use the vnl_matrix_fixed variant instead. More... | |
| vgl_p_matrix & | set (const T *p_matrix) |
| Set the projective matrix with the matrix in the 3x4 C-array, p_matrix. More... | |
| vgl_p_matrix & | set (const T p_matrix [3][4]) |
| Set the projective matrix with the matrix in the 3x4 C-array, p_matrix. More... | |
| const vnl_matrix_fixed< T, 3, 4 > & | get_matrix () const |
| vgl_p_matrix & | set_identity () |
| Set the camera to an identity projection. X->u, Y->v. More... | |
| bool | read_ascii (std::istream &f) |
| Load from file. More... | |
Static Public Member Functions | |
| static vgl_p_matrix | read (const char *filename) |
| Load from file. More... | |
| static vgl_p_matrix | read (std::istream &) |
| Load from std::istream. More... | |
Protected Attributes | |
| vnl_matrix_fixed< T, 3, 4 > | p_matrix_ |
| vnl_svd< T > * | svd_ |
Detailed Description
template<class T>
class vgl_p_matrix< T >
Definition at line 13 of file vgl_algo_fwd.h.
Constructor & Destructor Documentation
◆ vgl_p_matrix() [1/7]
| vgl_p_matrix< T >::vgl_p_matrix | ( | ) |
Constructor. Set up a canonical P matrix.
Definition at line 26 of file vgl_p_matrix.hxx.
◆ vgl_p_matrix() [2/7]
| vgl_p_matrix< T >::vgl_p_matrix | ( | std::istream & | i | ) |
Construct by loading from std::istream.
Definition at line 40 of file vgl_p_matrix.hxx.
◆ vgl_p_matrix() [3/7]
| vgl_p_matrix< T >::vgl_p_matrix | ( | const T * | c_matrix | ) |
Construct from row-stored C-array of 12 elements.
Definition at line 57 of file vgl_p_matrix.hxx.
◆ vgl_p_matrix() [4/7]
|
explicit |
Construct from 3x4 matrix.
Definition at line 49 of file vgl_p_matrix.hxx.
◆ vgl_p_matrix() [5/7]
|
inline |
Construct from 3x3 matrix A and vector a. P = [A a].
Definition at line 65 of file vgl_p_matrix.h.
◆ vgl_p_matrix() [6/7]
|
inline |
Deprecated; use the vnl_matrix_fixed variant instead.
Definition at line 68 of file vgl_p_matrix.h.
◆ vgl_p_matrix() [7/7]
| vgl_p_matrix< T >::vgl_p_matrix | ( | const vgl_p_matrix< T > & | P | ) |
Definition at line 66 of file vgl_p_matrix.hxx.
◆ ~vgl_p_matrix()
| vgl_p_matrix< T >::~vgl_p_matrix | ( | ) |
Definition at line 84 of file vgl_p_matrix.hxx.
Member Function Documentation
◆ backproject() [1/2]
| vgl_homg_line_3d_2_points< T > vgl_p_matrix< T >::backproject | ( | vgl_homg_point_2d< T > const & | x | ) | const |
Return the 3D line which is the backprojection of the specified image point, x.
Uses svd().
Definition at line 122 of file vgl_p_matrix.hxx.
◆ backproject() [2/2]
| vgl_homg_plane_3d< T > vgl_p_matrix< T >::backproject | ( | vgl_homg_line_2d< T > const & | l | ) | const |
Return the 3D plane which is the backprojection of the specified line l in the image.
Definition at line 130 of file vgl_p_matrix.hxx.
◆ backproject_pseudoinverse()
| vgl_homg_point_3d< T > vgl_p_matrix< T >::backproject_pseudoinverse | ( | vgl_homg_point_2d< T > const & | x | ) | const |
Return the 3D point $\vec X$ which is $\vec X = P^+ \vec x$.
Equivalently, the 3D point of smallest norm such that 
. Uses svd().
Definition at line 113 of file vgl_p_matrix.hxx.
◆ clear_svd()
| void vgl_p_matrix< T >::clear_svd | ( | ) | const |
Discredit the cached svd.
This is necessary only in order to recover the space used by it if the vgl_p_matrix is not being deleted.
Definition at line 205 of file vgl_p_matrix.hxx.
◆ fix_cheirality()
| vgl_p_matrix< T > & vgl_p_matrix< T >::fix_cheirality | ( | ) |
Scale P so determinant of first 3x3 is 1.
Definition at line 482 of file vgl_p_matrix.hxx.
◆ flip_sign()
| vgl_p_matrix< T > & vgl_p_matrix< T >::flip_sign | ( | ) |
Change the overall sign of the P matrix.
Definition at line 519 of file vgl_p_matrix.hxx.
◆ get() [1/6]
| void vgl_p_matrix< T >::get | ( | vnl_matrix_fixed< T, 3, 3 > * | A, |
| vnl_vector_fixed< T, 3 > * | a | ||
| ) | const |
Return the 3x3 matrix and 3x1 column vector of P = [A a].
Definition at line 302 of file vgl_p_matrix.hxx.
◆ get() [2/6]
| void vgl_p_matrix< T >::get | ( | vnl_matrix< T > * | A, |
| vnl_vector< T > * | a | ||
| ) | const |
Deprecated; use the vnl_matrix_fixed variant instead.
Definition at line 279 of file vgl_p_matrix.hxx.
◆ get() [3/6]
| T vgl_p_matrix< T >::get | ( | unsigned int | row_index, |
| unsigned int | col_index | ||
| ) | const |
Return the element of the matrix at the specified index pair.
Definition at line 260 of file vgl_p_matrix.hxx.
◆ get() [4/6]
| void vgl_p_matrix< T >::get | ( | T * | c_matrix | ) | const |
Return the 3x4 projection matrix in the C-array, c_matrix.
Definition at line 268 of file vgl_p_matrix.hxx.
◆ get() [5/6]
|
inline |
Return the 3x4 projection matrix in p_matrix.
Definition at line 167 of file vgl_p_matrix.h.
◆ get() [6/6]
|
inline |
Deprecated; use the vnl_matrix_fixed variant instead.
Definition at line 169 of file vgl_p_matrix.h.
◆ get_canonical_H()
| vgl_h_matrix_3d< T > vgl_p_matrix< T >::get_canonical_H | ( | ) | const |
Return the 3D H-matrix s.t. P * H = [I 0].
If P = [A a], then H = [inv(A) -inv(A)*a; 0 0 0 1];
Definition at line 228 of file vgl_p_matrix.hxx.
◆ get_focal()
| vgl_homg_point_3d< T > vgl_p_matrix< T >::get_focal | ( | ) | const |
Return the 3D point representing the focal point of the camera.
Uses svd().
Definition at line 213 of file vgl_p_matrix.hxx.
◆ get_matrix()
|
inline |
Definition at line 184 of file vgl_p_matrix.h.
◆ get_rows() [1/2]
| void vgl_p_matrix< T >::get_rows | ( | vnl_vector< T > * | a, |
| vnl_vector< T > * | b, | ||
| vnl_vector< T > * | c | ||
| ) | const |
Return the rows of P = [a b c]'.
Definition at line 325 of file vgl_p_matrix.hxx.
◆ get_rows() [2/2]
| void vgl_p_matrix< T >::get_rows | ( | vnl_vector_fixed< T, 4 > * | a, |
| vnl_vector_fixed< T, 4 > * | b, | ||
| vnl_vector_fixed< T, 4 > * | c | ||
| ) | const |
Return the rows of P = [a b c]'.
Definition at line 350 of file vgl_p_matrix.hxx.
◆ is_behind_camera()
| bool vgl_p_matrix< T >::is_behind_camera | ( | vgl_homg_point_3d< T > const & | hX | ) |
Return true if the 3D point X is behind the camera represented by this P.
This depends on the overall sign of the P matrix having been set correctly, a la Hartley cheirality paper.
Definition at line 508 of file vgl_p_matrix.hxx.
◆ is_canonical()
| bool vgl_p_matrix< T >::is_canonical | ( | T | tol = 0 | ) | const |
Return true iff P is [I 0].
Equality is assumed if the max abs diff is less than tol.
Definition at line 237 of file vgl_p_matrix.hxx.
◆ looks_conditioned()
| bool vgl_p_matrix< T >::looks_conditioned | ( | ) |
Splendid hack that tries to detect if the P is an image-coords P or a normalized P.
Definition at line 528 of file vgl_p_matrix.hxx.
◆ operator *() [1/4]
|
inline |
Return the image point which is the projection of the specified 3D point X.
Definition at line 88 of file vgl_p_matrix.h.
◆ operator *() [2/4]
|
inline |
Return the image line which is the projection of the specified 3D line L.
Definition at line 92 of file vgl_p_matrix.h.
◆ operator *() [3/4]
|
inline |
Return the image linesegment which is the projection of the specified 3D linesegment L.
Definition at line 96 of file vgl_p_matrix.h.
◆ operator *() [4/4]
|
inline |
pre-multiply this projection matrix with a 2-d projective transform.
Definition at line 114 of file vgl_p_matrix.h.
◆ operator()() [1/3]
|
inline |
Return the image point which is the projection of the specified 3D point X.
Definition at line 86 of file vgl_p_matrix.h.
◆ operator()() [2/3]
| vgl_homg_line_2d< T > vgl_p_matrix< T >::operator() | ( | vgl_homg_line_3d_2_points< T > const & | L | ) | const |
Return the image line which is the projection of the specified 3D line L.
Definition at line 95 of file vgl_p_matrix.hxx.
◆ operator()() [3/3]
| vgl_line_segment_2d< T > vgl_p_matrix< T >::operator() | ( | vgl_line_segment_3d< T > const & | L | ) | const |
Return the image linesegment which is the projection of the specified 3D linesegment L.
Definition at line 103 of file vgl_p_matrix.hxx.
◆ operator=()
| vgl_p_matrix< T > & vgl_p_matrix< T >::operator= | ( | const vgl_p_matrix< T > & | that | ) |
Definition at line 73 of file vgl_p_matrix.hxx.
◆ operator==()
|
inline |
Definition at line 148 of file vgl_p_matrix.h.
◆ postmultiply()
| vgl_p_matrix< T > vgl_p_matrix< T >::postmultiply | ( | vnl_matrix_fixed< T, 4, 4 > const & | H | ) | const |
post-multiply this projection matrix with a 3-d projective transform.
Definition at line 538 of file vgl_p_matrix.hxx.
◆ premultiply()
| vgl_p_matrix< T > vgl_p_matrix< T >::premultiply | ( | vnl_matrix_fixed< T, 3, 3 > const & | H | ) | const |
pre-multiply this projection matrix with a 2-d projective transform.
Definition at line 544 of file vgl_p_matrix.hxx.
◆ read() [1/2]
|
static |
◆ read() [2/2]
|
static |
Load from std::istream.
Definition at line 184 of file vgl_p_matrix.hxx.
◆ read_ascii()
| bool vgl_p_matrix< T >::read_ascii | ( | std::istream & | f | ) |
◆ set() [1/6]
|
inline |
Set the internal matrix using the 3x4 p_matrix.
Definition at line 172 of file vgl_p_matrix.h.
◆ set() [2/6]
|
inline |
Deprecated; use the vnl_matrix_fixed variant instead.
Definition at line 174 of file vgl_p_matrix.h.
◆ set() [3/6]
| vgl_p_matrix< T > & vgl_p_matrix< T >::set | ( | vnl_matrix_fixed< T, 3, 3 > const & | A, |
| vnl_vector_fixed< T, 3 > const & | a | ||
| ) |
Set from 3x3 matrix and 3x1 column vector of P = [A a].
Definition at line 425 of file vgl_p_matrix.hxx.
◆ set() [4/6]
| vgl_p_matrix< T > & vgl_p_matrix< T >::set | ( | vnl_matrix< T > const & | A, |
| vnl_vector< T > const & | a | ||
| ) |
Deprecated; use the vnl_matrix_fixed variant instead.
Definition at line 450 of file vgl_p_matrix.hxx.
◆ set() [5/6]
| vgl_p_matrix< T > & vgl_p_matrix< T >::set | ( | const T * | p_matrix | ) |
Set the projective matrix with the matrix in the 3x4 C-array, p_matrix.
Definition at line 411 of file vgl_p_matrix.hxx.
◆ set() [6/6]
| vgl_p_matrix< T > & vgl_p_matrix< T >::set | ( | const T | p_matrix[3][4] | ) |
Set the projective matrix with the matrix in the 3x4 C-array, p_matrix.
Definition at line 398 of file vgl_p_matrix.hxx.
◆ set_identity()
| vgl_p_matrix< T > & vgl_p_matrix< T >::set_identity | ( | ) |
Set the camera to an identity projection. X->u, Y->v.
Definition at line 474 of file vgl_p_matrix.hxx.
◆ set_rows()
| vgl_p_matrix< T > & vgl_p_matrix< T >::set_rows | ( | const vnl_vector_fixed< T, 4 > & | a, |
| const vnl_vector_fixed< T, 4 > & | b, | ||
| const vnl_vector_fixed< T, 4 > & | c | ||
| ) |
Set P = [a b c]' from its rows a, b, c.
Definition at line 374 of file vgl_p_matrix.hxx.
◆ svd()
| vnl_svd< T > * vgl_p_matrix< T >::svd | ( | ) | const |
Compute the svd of this P and cache it, so that future operations that require it need not recompute it.
Definition at line 196 of file vgl_p_matrix.hxx.
Member Data Documentation
◆ p_matrix_
|
protected |
Definition at line 199 of file vgl_p_matrix.h.
◆ svd_
|
mutableprotected |
Definition at line 200 of file vgl_p_matrix.h.
The documentation for this class was generated from the following files:
- core/vgl/algo/vgl_algo_fwd.h
- core/vgl/algo/vgl_p_matrix.h
- core/vgl/algo/vgl_p_matrix.hxx
