Visual Servoing Platform  version 3.2.0
vpHomogeneousMatrix Class Reference

#include <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 (const double tx, const double ty, const double tz, const double tux, const double tuy, const double tuz)
 
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 (const double tx, const double ty, const double tz, const double tux, const double tuy, const double tuz)
 
void convert (std::vector< float > &M)
 
void convert (std::vector< double > &M)
 
void eye ()
 
vpColVector getCol (const unsigned int j) const
 
vpRotationMatrix getRotationMatrix () const
 
vpThetaUVector getThetaUVector () const
 
vpTranslationVector getTranslationVector () const
 
vpHomogeneousMatrix inverse () const
 
void inverse (vpHomogeneousMatrix &Mi) const
 
bool isAnHomogeneousMatrix () 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 save (std::ofstream &f) 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
 
vpPoint operator* (const vpPoint &bP) const
 
void print () const
 
void resize (const unsigned int nrows, const unsigned int ncols, const bool flagNullify=true)
 
Deprecated functions
vp_deprecated void init ()
 
vp_deprecated void setIdentity ()
 
Inherited functionalities from vpArray2D
unsigned int getCols () const
 
double getMaxValue () const
 
double getMinValue () const
 
unsigned int getRows () const
 
unsigned int size () const
 
void resize (const unsigned int nrows, const unsigned int ncols, const bool flagNullify=true, const bool recopy_=true)
 
double * operator[] (unsigned int i)
 
double * operator[] (unsigned int i) const
 
vpArray2D< double > hadamard (const vpArray2D< double > &m) const
 

Static Public Member Functions

static vpHomogeneousMatrix mean (const std::vector< vpHomogeneousMatrix > &vec_M)
 
Inherited I/O from vpArray2D with Static Public Member Functions
static bool load (const std::string &filename, vpArray2D< double > &A, const bool binary=false, char *header=NULL)
 
static bool loadYAML (const std::string &filename, vpArray2D< double > &A, char *header=NULL)
 
static bool save (const std::string &filename, const vpArray2D< double > &A, const bool binary=false, const char *header="")
 
static bool saveYAML (const std::string &filename, const vpArray2D< double > &A, const char *header="")
 

Public Attributes

double * data
 

Protected Attributes

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

Related Functions

(Note that these are not member functions.)

enum  vpGEMMmethod
 
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)
 

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.

Examples
AROgre.cpp, AROgreBasic.cpp, calibrate-hand-eye.cpp, exponentialMap.cpp, HelloWorldOgre.cpp, HelloWorldOgreAdvanced.cpp, homographyHartleyDLT2DObject.cpp, homographyHLM2DObject.cpp, homographyHLM3DObject.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, mbtEdgeKltMultiTracking.cpp, mbtEdgeKltTracking.cpp, mbtEdgeMultiTracking.cpp, mbtEdgeTracking.cpp, mbtGenericTracking.cpp, mbtGenericTracking2.cpp, mbtGenericTrackingDepth.cpp, mbtGenericTrackingDepthOnly.cpp, mbtKltMultiTracking.cpp, mbtKltTracking.cpp, photometricVisualServoing.cpp, poseVirtualVS.cpp, servoAfma4Point2DArtVelocity.cpp, servoAfma62DhalfCamVelocity.cpp, servoAfma6Cylinder2DCamVelocity.cpp, servoAfma6Cylinder2DCamVelocitySecondaryTask.cpp, servoAfma6FourPoints2DCamVelocityInteractionCurrent.cpp, servoAfma6FourPoints2DCamVelocityInteractionDesired.cpp, servoAfma6Line2DCamVelocity.cpp, servoAfma6Point2DArtVelocity.cpp, servoAfma6Points2DCamVelocityEyeToHand.cpp, servoAfma6SquareLines2DCamVelocity.cpp, servoAfma6TwoLines2DCamVelocity.cpp, servoBiclopsPoint2DArtVelocity.cpp, servoFrankaPBVS.cpp, servoMomentImage.cpp, servoMomentPoints.cpp, servoMomentPolygon.cpp, servoPioneerPanSegment3D.cpp, servoPtu46Point2DArtVelocity.cpp, servoSimu3D_cdMc_CamVelocity.cpp, servoSimu3D_cdMc_CamVelocityWithoutVpServo.cpp, servoSimu3D_cMcd_CamVelocity.cpp, servoSimu3D_cMcd_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, servoViper650FourPoints2DArtVelocityInteractionCurrent.cpp, servoViper650FourPoints2DCamVelocityInteractionCurrent-SR300.cpp, servoViper650FourPoints2DCamVelocityInteractionCurrent.cpp, servoViper850FourPoints2DArtVelocityInteractionCurrent.cpp, servoViper850FourPoints2DCamVelocityInteractionCurrent.cpp, servoViper850FourPointsKinect.cpp, servoViper850Point2DArtVelocity.cpp, simulateCircle2DCamVelocity.cpp, simulateFourPoints2DCartesianCamVelocity.cpp, simulateFourPoints2DPolarCamVelocity.cpp, testDisplacement.cpp, testFeatureSegment.cpp, testFindMatch.cpp, testFrankaCartVelocity-3.cpp, testFrankaGetPose.cpp, testGenericTracker.cpp, testGenericTrackerDepth.cpp, testKeyPoint-2.cpp, testKeyPoint-4.cpp, testPose.cpp, testPoseFeatures.cpp, testPoseRansac.cpp, testPoseRansac2.cpp, testPoseVector.cpp, testRobotAfma6Pose.cpp, testRobotViper650-frames.cpp, testRobotViper850-frames.cpp, testRobotViper850.cpp, testRobotViper850Pose.cpp, testViper650.cpp, testViper850.cpp, testVirtuoseAfma6.cpp, testVirtuoseHapticBox.cpp, testVirtuoseWithGlove.cpp, tutorial-chessboard-pose.cpp, tutorial-detection-object-mbt-deprecated.cpp, tutorial-detection-object-mbt.cpp, tutorial-detection-object-mbt2-deprecated.cpp, tutorial-detection-object-mbt2.cpp, tutorial-hand-eye-calibration.cpp, tutorial-homography-from-points.cpp, tutorial-ibvs-4pts-display.cpp, tutorial-ibvs-4pts-image-tracking.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-live-realsense2.cpp, tutorial-mb-generic-tracker-apriltag-live-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.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-stereo-mono.cpp, tutorial-mb-tracker-stereo.cpp, tutorial-mb-tracker.cpp, tutorial-pose-from-points-image.cpp, tutorial-pose-from-points-live.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 91 of file vpHomogeneousMatrix.h.

Constructor & Destructor Documentation

◆ vpHomogeneousMatrix() [1/9]

vpHomogeneousMatrix::vpHomogeneousMatrix ( )

Default constructor that initialize an homogeneous matrix as identity.

Definition at line 65 of file vpHomogeneousMatrix.cpp.

◆ vpHomogeneousMatrix() [2/9]

vpHomogeneousMatrix::vpHomogeneousMatrix ( const vpHomogeneousMatrix M)

Copy constructor that initialize an homogeneous matrix from another homogeneous matrix.

Definition at line 71 of file vpHomogeneousMatrix.cpp.

◆ vpHomogeneousMatrix() [3/9]

vpHomogeneousMatrix::vpHomogeneousMatrix ( const vpTranslationVector t,
const vpRotationMatrix R 
)

Construct an homogeneous matrix from a translation vector and a rotation matrix.

Definition at line 88 of file vpHomogeneousMatrix.cpp.

◆ vpHomogeneousMatrix() [4/9]

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 77 of file vpHomogeneousMatrix.cpp.

◆ vpHomogeneousMatrix() [5/9]

vpHomogeneousMatrix::vpHomogeneousMatrix ( const vpTranslationVector t,
const vpQuaternionVector q 
)

Construct an homogeneous matrix from a translation vector and quaternion rotation vector.

Definition at line 55 of file vpHomogeneousMatrix.cpp.

◆ vpHomogeneousMatrix() [6/9]

vpHomogeneousMatrix::vpHomogeneousMatrix ( const vpPoseVector p)
explicit

Construct an homogeneous matrix from a pose vector.

Definition at line 99 of file vpHomogeneousMatrix.cpp.

◆ vpHomogeneousMatrix() [7/9]

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 144 of file vpHomogeneousMatrix.cpp.

◆ vpHomogeneousMatrix() [8/9]

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 189 of file vpHomogeneousMatrix.cpp.

◆ vpHomogeneousMatrix() [9/9]

vpHomogeneousMatrix::vpHomogeneousMatrix ( const double  tx,
const double  ty,
const double  tz,
const double  tux,
const double  tuy,
const 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 200 of file vpHomogeneousMatrix.cpp.

◆ ~vpHomogeneousMatrix()

virtual vpHomogeneousMatrix::~vpHomogeneousMatrix ( )
inlinevirtual

Destructor.

Definition at line 107 of file vpHomogeneousMatrix.h.

Member Function Documentation

◆ buildFrom() [1/7]

void vpHomogeneousMatrix::buildFrom ( const double  tx,
const double  ty,
const double  tz,
const double  tux,
const double  tuy,
const 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 255 of file vpHomogeneousMatrix.cpp.

◆ buildFrom() [2/7]

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;
}

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 355 of file vpHomogeneousMatrix.cpp.

◆ buildFrom() [3/7]

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 305 of file vpHomogeneousMatrix.cpp.

◆ buildFrom() [4/7]

void vpHomogeneousMatrix::buildFrom ( const vpPoseVector p)

Build an homogeneous matrix from a pose vector.

Definition at line 231 of file vpHomogeneousMatrix.cpp.

◆ buildFrom() [5/7]

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 244 of file vpHomogeneousMatrix.cpp.

◆ buildFrom() [6/7]

◆ buildFrom() [7/7]

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 212 of file vpHomogeneousMatrix.cpp.

◆ 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 776 of file vpHomogeneousMatrix.cpp.

◆ 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 765 of file vpHomogeneousMatrix.cpp.

◆ extract() [1/4]

void vpHomogeneousMatrix::extract ( vpQuaternionVector q) const

Extract the rotation as a quaternion.

Definition at line 581 of file vpHomogeneousMatrix.cpp.

◆ extract() [2/4]

◆ extract() [3/4]

void vpHomogeneousMatrix::extract ( vpThetaUVector tu) const

Extract the rotation as a $\theta \bf u$ vector.

Definition at line 571 of file vpHomogeneousMatrix.cpp.

◆ extract() [4/4]

void vpHomogeneousMatrix::extract ( vpTranslationVector t) const

Extract the translation vector from the homogeneous matrix.

Definition at line 562 of file vpHomogeneousMatrix.cpp.

◆ eye()

◆ getCol()

vpColVector vpHomogeneousMatrix::getCol ( const 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()
{
vpColVector t = M.getCol(3);
std::cout << "Last column: \n" << t << std::endl;
}

It produces the following output:

Last column:
0
0
1
0

Definition at line 842 of file vpHomogeneousMatrix.cpp.

◆ getCols()

◆ getMaxValue()

double vpArray2D< double >::getMaxValue ( ) const
inherited

Return the array max value.

Examples
servoMomentImage.cpp, and testMatrix.cpp.

Definition at line 693 of file vpArray2D.h.

◆ getMinValue()

double vpArray2D< double >::getMinValue ( ) const
inherited

Return the array min value.

Examples
servoMomentImage.cpp, and testMatrix.cpp.

Definition at line 676 of file vpArray2D.h.

◆ getRotationMatrix()

vpRotationMatrix vpHomogeneousMatrix::getRotationMatrix ( ) const

Return the rotation matrix from the homogeneous transformation matrix.

Examples
testRobotViper650-frames.cpp, testRobotViper850-frames.cpp, testVirtuoseAfma6.cpp, and tutorial-pose-from-qrcode-image.cpp.

Definition at line 796 of file vpHomogeneousMatrix.cpp.

◆ getRows()

◆ getThetaUVector()

vpThetaUVector vpHomogeneousMatrix::getThetaUVector ( ) const

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

Examples
servoFrankaPBVS.cpp.

Definition at line 807 of file vpHomogeneousMatrix.cpp.

◆ getTranslationVector()

vpTranslationVector vpHomogeneousMatrix::getTranslationVector ( ) const

Return the translation vector from the homogeneous transformation matrix.

Examples
servoFrankaPBVS.cpp, testRobotViper650-frames.cpp, testRobotViper850-frames.cpp, and tutorial-pose-from-qrcode-image.cpp.

Definition at line 786 of file vpHomogeneousMatrix.cpp.

◆ hadamard()

vpArray2D< double > vpArray2D< double >::hadamard ( const vpArray2D< double > &  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 713 of file vpArray2D.h.

◆ init()

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

Definition at line 188 of file vpHomogeneousMatrix.h.

Referenced by vpMbGenericTracker::init().

◆ insert() [1/4]

void vpHomogeneousMatrix::insert ( const vpQuaternionVector q)

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

Definition at line 626 of file vpHomogeneousMatrix.cpp.

◆ insert() [2/4]

void vpHomogeneousMatrix::insert ( const vpRotationMatrix R)

◆ insert() [3/4]

void vpHomogeneousMatrix::insert ( const vpThetaUVector tu)

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

Definition at line 604 of file vpHomogeneousMatrix.cpp.

◆ insert() [4/4]

void vpHomogeneousMatrix::insert ( const vpTranslationVector t)

Insert the translational component in a homogeneous matrix.

Definition at line 613 of file vpHomogeneousMatrix.cpp.

◆ 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, manServo4PointsDisplay.cpp, manServoMomentsSimple.cpp, manSimu4Dots.cpp, manSimu4Points.cpp, mbtGenericTrackingDepthOnly.cpp, photometricVisualServoing.cpp, servoAfma62DhalfCamVelocity.cpp, servoFrankaPBVS.cpp, servoMomentImage.cpp, servoSimu3D_cdMc_CamVelocity.cpp, servoSimu3D_cdMc_CamVelocityWithoutVpServo.cpp, servoSimu3D_cMcd_CamVelocity.cpp, servoSimu3D_cMcd_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, simulateCircle2DCamVelocity.cpp, simulateFourPoints2DCartesianCamVelocity.cpp, simulateFourPoints2DPolarCamVelocity.cpp, testFeatureSegment.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-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-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 642 of file vpHomogeneousMatrix.cpp.

Referenced by vpMbtFaceDepthNormal::computeDesiredNormalAndCentroid(), vpMbDepthDenseTracker::computeVVS(), vpMbDepthNormalTracker::computeVVS(), vpMbKltMultiTracker::computeVVS(), vpMbEdgeMultiTracker::computeVVS(), vpMbEdgeKltMultiTracker::computeVVS(), vpMbGenericTracker::computeVVS(), vpMbEdgeMultiTracker::computeVVSFirstPhasePoseEstimation(), vpMbEdgeTracker::computeVVSFirstPhasePoseEstimation(), vpMbKltMultiTracker::computeVVSInteractionMatrixAndResidu(), vpMbEdgeKltMultiTracker::computeVVSInteractionMatrixAndResidu(), vpMbGenericTracker::computeVVSInteractionMatrixAndResidu(), vpProjectionDisplay::displayCamera(), vpRobotWireFrameSimulator::get_cMo(), vpSimulator::getExternalCameraPosition(), vpSimulatorAfma6::getExternalImage(), vpSimulatorViper850::getExternalImage(), vpWireFrameSimulator::getExternalImage(), vpWireFrameSimulator::getInternalImage(), vpRobotWireFrameSimulator::getInternalView(), vpSimulatorAfma6::initialiseCameraRelativeToObject(), vpWireFrameSimulator::projectCameraTrajectory(), and vpSimulatorAfma6::setPosition().

◆ 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 690 of file vpHomogeneousMatrix.cpp.

◆ isAnHomogeneousMatrix()

bool vpHomogeneousMatrix::isAnHomogeneousMatrix ( ) const

Test if the 3x3 rotational part of the homogeneous matrix is really a rotation matrix.

Definition at line 540 of file vpHomogeneousMatrix.cpp.

◆ load() [1/2]

static bool vpArray2D< double >::load ( const std::string &  filename,
vpArray2D< double > &  A,
const bool  binary = false,
char *  header = NULL 
)
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 321 of file vpArray2D.h.

◆ load() [2/2]

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
save()
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-mb-tracker-stereo.cpp.

Definition at line 741 of file vpHomogeneousMatrix.cpp.

◆ loadYAML()

static bool vpArray2D< double >::loadYAML ( const std::string &  filename,
vpArray2D< double > &  A,
char *  header = NULL 
)
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
servoFrankaPBVS.cpp, and tutorial-hand-eye-calibration.cpp.

Definition at line 433 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 Euclidian mean of the homogeneous matrices.
See also
vpTranslationVector::mean(), vpRotationMatrix::mean()

Definition at line 862 of file vpHomogeneousMatrix.cpp.

◆ operator*() [1/4]

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 450 of file vpHomogeneousMatrix.cpp.

◆ operator*() [2/4]

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 397 of file vpHomogeneousMatrix.cpp.

◆ operator*() [3/4]

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 482 of file vpHomogeneousMatrix.cpp.

◆ operator*() [4/4]

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 524 of file vpHomogeneousMatrix.cpp.

◆ 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 437 of file vpHomogeneousMatrix.cpp.

◆ 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 370 of file vpHomogeneousMatrix.cpp.

◆ operator[]() [1/2]

double * vpArray2D< double >::operator[] ( unsigned int  i)
inlineinherited

Set element $A_{ij} = x$ using A[i][j] = x.

Definition at line 265 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 267 of file vpArray2D.h.

◆ print()

◆ resize() [1/2]

void vpHomogeneousMatrix::resize ( const unsigned int  nrows,
const unsigned int  ncols,
const 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 169 of file vpHomogeneousMatrix.h.

◆ resize() [2/2]

void vpArray2D< double >::resize ( const unsigned int  nrows,
const unsigned int  ncols,
const bool  flagNullify = true,
const 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 if needed and if flagNullify is set to false.
Examples
testArray2D.cpp, testMatrix.cpp, testMatrixDeterminant.cpp, testMatrixInverse.cpp, testMatrixPseudoInverse.cpp, and testSvd.cpp.

Definition at line 170 of file vpArray2D.h.

◆ save() [1/2]

static bool vpArray2D< double >::save ( const std::string &  filename,
const vpArray2D< double > &  A,
const 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 518 of file vpArray2D.h.

◆ save() [2/2]

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

Write 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.

// Contruct 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
load()
Examples
servoAfma6Points2DCamVelocityEyeToHand.cpp, and tutorial-hand-eye-calibration.cpp.

Definition at line 714 of file vpHomogeneousMatrix.cpp.

◆ saveYAML()

static bool vpArray2D< double >::saveYAML ( const std::string &  filename,
const vpArray2D< double > &  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");

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]

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()
Examples
tutorial-franka-acquire-calib-data.cpp, and tutorial-hand-eye-calibration.cpp.

Definition at line 611 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 905 of file vpHomogeneousMatrix.cpp.

◆ size()

Friends And Related Function Documentation

◆ 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);

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 392 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 56 of file vpGEMM.h.

Member Data Documentation

◆ colNum

unsigned int vpArray2D< double >::colNum
protectedinherited

Number of columns in the array.

Definition at line 75 of file vpArray2D.h.

◆ data

double * vpArray2D< double >::data
inherited

Address of the first element of the data array.

Examples
testDisplacement.cpp, testMatrix.cpp, testPoseVector.cpp, testTranslationVector.cpp, and tutorial-matlab.cpp.

Definition at line 83 of file vpArray2D.h.

◆ dsize

unsigned int vpArray2D< double >::dsize
protectedinherited

Current array size (rowNum * colNum)

Definition at line 79 of file vpArray2D.h.

◆ rowNum

unsigned int vpArray2D< double >::rowNum
protectedinherited

Number of rows in the array.

Definition at line 73 of file vpArray2D.h.

◆ rowPtrs

double ** vpArray2D< double >::rowPtrs
protectedinherited

Address of the first element of each rows.

Definition at line 77 of file vpArray2D.h.

vpHomogeneousMatrix::load
void load(std::ifstream &f)
Definition: vpHomogeneousMatrix.cpp:741
vpHomogeneousMatrix::save
void save(std::ofstream &f) const
Definition: vpHomogeneousMatrix.cpp:714
vpArray2D< double >::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)
Definition: vpGEMM.h:392
vpTranslationVector
Class that consider the case of a translation vector.
Definition: vpTranslationVector.h:90
vpArray2D::saveYAML
static bool saveYAML(const std::string &filename, const vpArray2D< Type > &A, const char *header="")
Definition: vpArray2D.h:611
vpHomogeneousMatrix::getCol
vpColVector getCol(const unsigned int j) const
Definition: vpHomogeneousMatrix.cpp:842
vpArray2D< double >
vpColVector
Implementation of column vector and the associated operations.
Definition: vpColVector.h:71
vpRotationMatrix
Implementation of a rotation matrix and operations on such kind of matrices.
Definition: vpRotationMatrix.h:70
vpArray2D< double >::data
double * data
Address of the first element of the data array.
Definition: vpArray2D.h:83
vpHomogeneousMatrix::buildFrom
void buildFrom(const vpTranslationVector &t, const vpRotationMatrix &R)
Definition: vpHomogeneousMatrix.cpp:222
vpHomogeneousMatrix
Implementation of an homogeneous matrix and operations on such kind of matrices.
Definition: vpHomogeneousMatrix.h:91
vpRxyzVector
Implementation of a rotation vector as Euler angle minimal representation.
Definition: vpRxyzVector.h:155