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BIAS::PoseParametrizationCovariance Class Reference

class encapsulating the transfromations between different pose parametrizations More...

#include <Base/Geometry/PoseParametrizationCovariance.hh>

+ Inheritance diagram for BIAS::PoseParametrizationCovariance:
+ Collaboration diagram for BIAS::PoseParametrizationCovariance:

Public Types

typedef const T * const_iterator
 
typedef const T & const_reference
 
typedef T element_type
 
typedef T * iterator
 
typedef T * pointer
 
typedef T & reference
 
typedef Subscript size_type
 
typedef T value_type
 

Public Member Functions

void AbsIP ()
 absolute values of all elements of the matrix (in place) More...
 
Matrix< POSECOVARIANCE_TYPE > Adjoint () const
 computes the adjoint matrix More...
 
void Clear ()
 
Subscript dim (Subscript d) const
 
void GaussJordan ()
 use the Gauss Jordan Algrithm to transform the matrix to reduced row echelon form. More...
 
Matrix3x3< POSECOVARIANCE_TYPE > GetCovC () const
 
Matrix4x4< POSECOVARIANCE_TYPE > GetCovQ () const
 
Matrix< POSECOVARIANCE_TYPE > GetMax (Matrix< POSECOVARIANCE_TYPE > &m)
 returns an matrix the same size as the matrix n and m with the largest elements taken from n or m More...
 
Matrix< POSECOVARIANCE_TYPE > GetMin (Matrix< POSECOVARIANCE_TYPE > &m)
 returns an matrix the same size as the matrix n and m with the smallest elements taken from n or m More...
 
 initialize (M, N)
 
bool IsIdentity (double eps=0.0) const
 Checks if the matrix a an identity. More...
 
bool IsZero (double eps=0.0) const
 Checks if the matrix is a null matrix. More...
 
void Kronecker (Matrix< POSECOVARIANCE_TYPE > const B, Matrix< POSECOVARIANCE_TYPE > &dest) const
 Kronecker-product with matrix, result in dest. More...
 
Subscript lbound () const
 
Matrix< T > & newsize (Subscript M, Subscript N)
 
Subscript num_cols () const
 
Subscript num_rows () const
 
reference operator() (Subscript i)
 
const_reference operator() (Subscript i) const
 
reference operator() (Subscript i, Subscript j)
 
const_reference operator() (Subscript i, Subscript j) const
 
T * operator[] (Subscript i)
 
const T * operator[] (Subscript i) const
 
 PoseParametrizationCovariance (MatrixInitType T)
 
 PoseParametrizationCovariance ()
 
 PoseParametrizationCovariance (const Matrix< POSECOVARIANCE_TYPE > &T)
 
 PoseParametrizationCovariance (const TNT::Matrix< POSECOVARIANCE_TYPE > &T)
 
std::ostream & Print (std::ostream &s, const int width, const int precision, bool scientific=true) const
 
std::ostream & Print (std::ostream &s, const bool intCastOutput=false, const bool binaryOutput=false, const bool forceFullPrecision=false) const
 
std::ostream & PrintPretty (std::ostream &s, const std::string &name="", const int width=8, const bool alignLeft=true) const
 
std::istream & Read (std::istream &s, const bool intCastInput=false, const bool binaryInput=false)
 JW. More...
 
 set (value)
 
Subscript size () const
 
void SwapRows (const int i, const int r)
 swaps two rows More...
 
void Transform (const Matrix4x4< double > &transf)
 Given a 6D pose (position and euler angles) and its associated covariance, the function transforms the covaruiance into pose and quaternion parametrization. More...
 
Matrix< POSECOVARIANCE_TYPE > Transpose () const
 transpose function, storing data destination matrix More...
 
void Vec (Vector< POSECOVARIANCE_TYPE > &dest) const
 vec-operator returns the elements of the matrix columwise as vector More...
 
 ~PoseParametrizationCovariance ()
 
Get Functions
POSECOVARIANCE_TYPE GetMax () const
 Returns the maximum value of the matrix elements. More...
 
POSECOVARIANCE_TYPE GetMin () const
 Returns the minimum value of the matrix elements. More...
 
POSECOVARIANCE_TYPE * GetData ()
 get the pointer to the data array of the matrix (for faster direct memeory access) More...
 
const POSECOVARIANCE_TYPE * GetData () const
 
const POSECOVARIANCE_TYPE ** GetDataArray () const
 returns zero based arry for data access More...
 
POSECOVARIANCE_TYPE ** GetDataArray ()
 
POSECOVARIANCE_TYPE ** GetDataArray1 () const
 returns 1 based array to data access More...
 
unsigned int GetRows () const
 
unsigned int GetCols () const
 
const POSECOVARIANCE_TYPE * GetDataLast () const
 Get a pointer to the last data element Do not use this on unitilized matrices with <= on pointers because on an unitilized matrix GetData() will be NULL and last Element < (typically FFFFF8) We don't want an if here for performance reasons of the innerst loop. More...
 
POSECOVARIANCE_TYPE * GetDataLast ()
 
Vector< POSECOVARIANCE_TYPE > GetRow (const int &row) const
 return a copy of row "row" of this matrix, zero based counting More...
 
Vector< POSECOVARIANCE_TYPE > GetCol (const int &col) const
 return a copy of column "col", zero based counting More...
 
void GetSubMatrix (const size_t startRow, const size_t startCol, const size_t numRows, const size_t numCols, Matrix< POSECOVARIANCE_TYPE > &submatrix) const
 return a submatrix from this. More...
 
void GetSubMatrix (const Vector< int > &rows, const Vector< int > &cols, Matrix< POSECOVARIANCE_TYPE > &submatrix) const
 return a submatrix from this. More...
 
Matrix< POSECOVARIANCE_TYPE > GetSubMatrix (const Vector< int > &rows, const Vector< int > &cols) const
 return a submatrix from this. More...
 
void SetSubMatrix (const size_t startRowInThis, const size_t startColInThis, const Matrix< POSECOVARIANCE_TYPE > &submatrix, const size_t startRowInSub, const size_t startColInSub, const size_t numRows, const size_t numCols)
 sets a submatrix in this. More...
 
void SetSubMatrix (const size_t startRowInThis, const size_t startColInThis, const Matrix3x3< POSECOVARIANCE_TYPE > &submatrix)
 sets a 3x3 submatrix in this. More...
 
void SetSubMatrix (const size_t startRowInThis, const size_t startColInThis, const Vector3< POSECOVARIANCE_TYPE > &subvector)
 sets a 3x1 submatrix in this. More...
 
void SetRow (const int row, const Vector< POSECOVARIANCE_TYPE > &data)
 set a row of matrix from vector More...
 
void SetCol (const int row, const Vector< POSECOVARIANCE_TYPE > &data)
 set a col of matrix from vector More...
 
void Set (const int row, const int col, const Matrix< POSECOVARIANCE_TYPE > &data)
 Copies the contents of data into this at the position indicated by row and col. More...
 
void Set (const int row, const int col, const Vector< POSECOVARIANCE_TYPE > &data)
 Copies the contents of data into this at the position indicated by row and col. More...
 
void SetTranspose (const int row, const int col, const Vector< POSECOVARIANCE_TYPE > &data)
 Copies the contents of data into this at the position indicated by row and col. More...
 
int GetNumElements () const
 Returns the total number of elements. More...
 
void GetMaxMin (POSECOVARIANCE_TYPE &max, POSECOVARIANCE_TYPE &min) const
 return biggest and smallest entry More...
 
void GetAbsMaxMin (POSECOVARIANCE_TYPE &max, POSECOVARIANCE_TYPE &min) const
 return biggest and smallest absolute values More...
 
POSECOVARIANCE_TYPE GetMean () const
 Returns the mean value of the matrix elements. More...
 
POSECOVARIANCE_TYPE NormL1 () const
 Return the L1 norm: |a| + |b| + |c| + ... More...
 
double NormL2 () const
 Return the L2 norm: a^2 + b^2 + c^2 + ... More...
 
double NormFrobenius () const
 Return Frobenius norm = sqrt(trace(A^t * A)). More...
 
POSECOVARIANCE_TYPE Trace () const
 
POSECOVARIANCE_TYPE DetSquare () const
 
Arithmetic
void AddIP (const POSECOVARIANCE_TYPE &scalar)
 in place addition function More...
 
void AddIP (const Matrix< POSECOVARIANCE_TYPE > &arg)
 Adds arg to this. More...
 
void SubIP (const Matrix< POSECOVARIANCE_TYPE > &arg)
 Subtracts arg from this
this -= arg. More...
 
void SubIP (const POSECOVARIANCE_TYPE &scalar)
 in place subtraction function More...
 
void Add (const POSECOVARIANCE_TYPE &scalar, Matrix< POSECOVARIANCE_TYPE > &dest) const
 addition function, storing data destination matrix More...
 
void Sub (const POSECOVARIANCE_TYPE &scalar, Matrix< POSECOVARIANCE_TYPE > &dest) const
 substraction function, storing data destination matrix More...
 
void MultiplyIP (const POSECOVARIANCE_TYPE &scalar)
 in place multiplication function More...
 
void Multiply (const POSECOVARIANCE_TYPE &scalar, Matrix< POSECOVARIANCE_TYPE > &dest) const
 multiplication function, storing data destination matrix More...
 
void Mult (const Matrix< POSECOVARIANCE_TYPE > &arg, Matrix< POSECOVARIANCE_TYPE > &result) const
 matrix multiplication, result is not allocated More...
 
void Mult (const Matrix< POSECOVARIANCE_TYPE > &arg)
 in Place matrix multiplication this is equal to M = M * arg, but faster More...
 
void Mult (const Vector< POSECOVARIANCE_TYPE > &arg, Vector< POSECOVARIANCE_TYPE > &result) const
 matrix vector multiplication, result is not allocated More...
 
void MultLeft (const Matrix< POSECOVARIANCE_TYPE > &arg)
 in Place matrix multiplication this is equal to M = arg*M, but faster More...
 
void MultLeft (const Vector< POSECOVARIANCE_TYPE > &arg, Vector< POSECOVARIANCE_TYPE > &result) const
 vector matrix multiplication result=arg*this. More...
 
void MultiplyWithTransposeOf (const Matrix< POSECOVARIANCE_TYPE > &arg, Matrix< POSECOVARIANCE_TYPE > &result) const
 matrix matrix multiplication for multiplication with the transpose of the given matrix, result=this*arg^T. More...
 
void DivideIP (const POSECOVARIANCE_TYPE &scalar)
 in place division function More...
 
void Divide (const POSECOVARIANCE_TYPE &scalar, Matrix< POSECOVARIANCE_TYPE > &dest) const
 division function, storing data destination matrix More...
 
void DivideElementwise (const Matrix< POSECOVARIANCE_TYPE > &arg)
 elementwise division function in place More...
 
void GetSystemMatrix (Matrix< POSECOVARIANCE_TYPE > &dest) const
 compute square system matrix dest = A^T * A More...
 
Set Functions
void SetZero ()
 Sets all values to zero. More...
 
void MakeSymmetric ()
 componentwise: this = 0.5(this + this^T) yields symmetric matrix only allowed for square shaped matrices More...
 
virtual void clear ()
 stl conform interface destroys Matrix JW More...
 
void SetIdentity ()
 Converts matrix to identity matrix. More...
 
void Fill (const POSECOVARIANCE_TYPE &scalar)
 Takes the elements of a Vector and put them as diagonal elements into a matrix. More...
 
Scaling and Normalization
void NormalizeColsToOne (const int norm_row_index)
 divides each column of the matrix through the element norm_row_index. More...
 
void NormalizeRowsToOne (const int norm_col_index)
 divides each row of the matrix through the element norm_col_index. More...
 
void NormalizeRows ()
 Normalizes each row to L2 norm one. More...
 
void NormalizeCols ()
 Normalizes each coloumn to L_2 norm one. More...
 
POSECOVARIANCE_TYPE Normalize ()
 Normalizes the matrix by the entry with the biggest absolute value by dividing all elements with this one. More...
 
void ScaleRow (int NoRow, POSECOVARIANCE_TYPEscale)
 Scales row NoRow with scale. More...
 
void ScaleCol (int NoCol, POSECOVARIANCE_TYPEscale)
 Scales column NoCol with scale. More...
 
Input / Output
bool Load (const std::string &filename)
 method to load directly from a given filename. More...
 
bool Save (const std::string &filename) const
 method to save directly to a given filename. More...
 
int WriteMatlab (std::ostream &ostr, const std::string &name) const
 Write the matrix in Matlab format to the given stream. More...
 
bool BinRead (const char *filename) const
 This method reads a matrix from a given file in binary format. More...
 
bool BinWrite (const char *filename) const
 This method writes a matrix to a given file in binary format. More...
 

Protected Member Functions

void copy (const T *v)
 
void destroy ()
 
void initialize (Subscript M, Subscript N)
 
void set (const T &val)
 

Protected Attributes

Subscript m_
 
Subscript mn_
 
Subscript n_
 
T ** row_
 
T ** rowm1_
 
T * v_
 
T * vm1_
 

Related Functions

(Note that these are not member functions.)

template<class T >
Matrix< T > operator* (const Matrix< T > &A, const Matrix< T > &B)
 
template<class T >
Vector< T > operator* (const Matrix< T > &A, const Vector< T > &x)
 
template<class T >
Matrix< T > operator+ (const Matrix< T > &A, const Matrix< T > &B)
 
template<class T >
Matrix< T > operator- (const Matrix< T > &A, const Matrix< T > &B)
 
std::ostream & operator<< (std::ostream &s, const Matrix< char > &A)
 
std::ostream & operator<< (std::ostream &s, const Matrix< unsigned char > &A)
 
template<class T >
std::ostream & operator<< (std::ostream &s, const Matrix< T > &A)
 
std::istream & operator>> (std::istream &s, Matrix< unsigned char > &A)
 
std::istream & operator>> (std::istream &s, Matrix< char > &A)
 
template<class T >
std::istream & operator>> (std::istream &s, Matrix< T > &A)
 

Detailed Description

class encapsulating the transfromations between different pose parametrizations

This class represents the covariance of a camerpose with translation and rotation. The pose is assumed to be tx,ty,tz,q1,q2,q3,q4 with translation t and rotation q as quaternion. The covariance therefore must be 7x7.

Author
woelk 03/2006

Definition at line 49 of file PoseParametrizationCovariance.hh.

Member Typedef Documentation

template<class T>
typedef const T* TNT::Matrix< T >::const_iterator
inherited

Definition at line 78 of file cmat.h.

template<class T>
typedef const T& TNT::Matrix< T >::const_reference
inherited

Definition at line 79 of file cmat.h.

template<class T>
typedef T TNT::Matrix< T >::element_type
inherited

Definition at line 74 of file cmat.h.

template<class T>
typedef T* TNT::Matrix< T >::iterator
inherited

Definition at line 76 of file cmat.h.

template<class T>
typedef T* TNT::Matrix< T >::pointer
inherited

Definition at line 75 of file cmat.h.

template<class T>
typedef T& TNT::Matrix< T >::reference
inherited

Definition at line 77 of file cmat.h.

template<class T>
typedef Subscript TNT::Matrix< T >::size_type
inherited

Definition at line 72 of file cmat.h.

template<class T>
typedef T TNT::Matrix< T >::value_type
inherited

Definition at line 73 of file cmat.h.

Constructor & Destructor Documentation

BIAS::PoseParametrizationCovariance::PoseParametrizationCovariance ( MatrixInitType  T)
inline

Definition at line 53 of file PoseParametrizationCovariance.hh.

PoseParametrizationCovariance::PoseParametrizationCovariance ( )

Definition at line 12 of file PoseParametrizationCovariance.cpp.

BIAS::PoseParametrizationCovariance::PoseParametrizationCovariance ( const Matrix< POSECOVARIANCE_TYPE > &  T)
inlineexplicit

Definition at line 58 of file PoseParametrizationCovariance.hh.

BIAS::PoseParametrizationCovariance::PoseParametrizationCovariance ( const TNT::Matrix< POSECOVARIANCE_TYPE > &  T)
inline

Definition at line 61 of file PoseParametrizationCovariance.hh.

PoseParametrizationCovariance::~PoseParametrizationCovariance ( )

Definition at line 17 of file PoseParametrizationCovariance.cpp.

Member Function Documentation

void BIAS::Matrix< POSECOVARIANCE_TYPE >::AbsIP ( )
inherited

absolute values of all elements of the matrix (in place)

Author
bangerer 01/2009
void BIAS::Matrix< POSECOVARIANCE_TYPE >::Add ( const POSECOVARIANCE_TYPE &  scalar,
Matrix< POSECOVARIANCE_TYPE > &  dest 
) const
inlineinherited

addition function, storing data destination matrix

implementation

Author
Ingo Thomsen tested
void BIAS::Matrix< POSECOVARIANCE_TYPE >::AddIP ( const POSECOVARIANCE_TYPE &  scalar)
inlineinherited

in place addition function

Author
Ingo Thomsen tested

Definition at line 415 of file Matrix.hh.

void BIAS::Matrix< POSECOVARIANCE_TYPE >::AddIP ( const Matrix< POSECOVARIANCE_TYPE > &  arg)
inlineinherited

Adds arg to this.

Author
grest,2004
Matrix<POSECOVARIANCE_TYPE > BIAS::Matrix< POSECOVARIANCE_TYPE >::Adjoint ( ) const
inlineinherited

computes the adjoint matrix

Author
Christian Beder
bool BIAS::Matrix< POSECOVARIANCE_TYPE >::BinRead ( const char *  filename) const
inherited

This method reads a matrix from a given file in binary format.

The file is not human read-/editable but provides full precision. A dimension check is performed.

Returns
true on success
Author
mdunda 04 2004
bool BIAS::Matrix< POSECOVARIANCE_TYPE >::BinWrite ( const char *  filename) const
inherited

This method writes a matrix to a given file in binary format.

The file is not human read-/editable but provides full precision.

Returns
true on success
Author
mdunda 04 2004
void BIAS::PoseParametrizationCovariance::Clear ( )
inline

Definition at line 70 of file PoseParametrizationCovariance.hh.

virtual void BIAS::Matrix< POSECOVARIANCE_TYPE >::clear ( )
inlinevirtualinherited

stl conform interface destroys Matrix JW

Definition at line 534 of file Matrix.hh.

template<class T>
void TNT::Matrix< T >::copy ( const T *  v)
inlineprotectedinherited
template<class T>
void TNT::Matrix< T >::destroy ( )
inlineprotectedinherited
POSECOVARIANCE_TYPE BIAS::Matrix< POSECOVARIANCE_TYPE >::DetSquare ( ) const
inlineinherited
Author
koeser
Warning
very slow, generic implementation (order "n!"), better to use matrix decomposition (see BIAS/MathAlgo/Lapack.hh)

Definition at line 369 of file Matrix.hh.

template<class T>
Subscript TNT::Matrix< T >::dim ( Subscript  d) const
inlineinherited

Definition at line 310 of file cmat.h.

void BIAS::Matrix< POSECOVARIANCE_TYPE >::Divide ( const POSECOVARIANCE_TYPE &  scalar,
Matrix< POSECOVARIANCE_TYPE > &  dest 
) const
inlineinherited

division function, storing data destination matrix

Author
Ingo Thomsen tested
void BIAS::Matrix< POSECOVARIANCE_TYPE >::DivideElementwise ( const Matrix< POSECOVARIANCE_TYPE > &  arg)
inlineinherited

elementwise division function in place

Author
Ingo Schiller tested
void BIAS::Matrix< POSECOVARIANCE_TYPE >::DivideIP ( const POSECOVARIANCE_TYPE &  scalar)
inlineinherited

in place division function

Author
Ingo Thomsen tested

Definition at line 486 of file Matrix.hh.

void BIAS::Matrix< POSECOVARIANCE_TYPE >::Fill ( const POSECOVARIANCE_TYPE &  scalar)
inherited

Takes the elements of a Vector and put them as diagonal elements into a matrix.

The size of this Vector must be exactly min( matrix.width, matrix.height). Optionally all other elements may be set to zero

Author
Ingo Thomsen
Parameters
zero_othersMust be true, if all non-diagonal elements shall be set to zero
void BIAS::Matrix< POSECOVARIANCE_TYPE >::GaussJordan ( )
inherited

use the Gauss Jordan Algrithm to transform the matrix to reduced row echelon form.

Author
woelk 05/2008 www.vision-n.de
void BIAS::Matrix< POSECOVARIANCE_TYPE >::GetAbsMaxMin ( POSECOVARIANCE_TYPE &  max,
POSECOVARIANCE_TYPE &  min 
) const
inherited

return biggest and smallest absolute values

Vector<POSECOVARIANCE_TYPE > BIAS::Matrix< POSECOVARIANCE_TYPE >::GetCol ( const int &  col) const
inherited

return a copy of column "col", zero based counting

Author
Jan Woetzel
unsigned int BIAS::Matrix< POSECOVARIANCE_TYPE >::GetCols ( ) const
inlineinherited

Definition at line 204 of file Matrix.hh.

Matrix3x3< POSECOVARIANCE_TYPE > PoseParametrizationCovariance::GetCovC ( ) const

Definition at line 22 of file PoseParametrizationCovariance.cpp.

Matrix4x4< POSECOVARIANCE_TYPE > PoseParametrizationCovariance::GetCovQ ( ) const

Definition at line 34 of file PoseParametrizationCovariance.cpp.

POSECOVARIANCE_TYPE * BIAS::Matrix< POSECOVARIANCE_TYPE >::GetData ( )
inlineinherited

get the pointer to the data array of the matrix (for faster direct memeory access)

the order of the data is linewise, which means an elemnt sequence of e.g. [0] = M(0,0) [1] = M(0,1) [2] = M(0,2) [3] = M(1,0) // next line [4] = M(1,1) ...

Author
Jan Woetzel
Returns
a pointer to the data array (beginning with GetData[0]) alpha (02/27/2002) -added const (jw) 03/12/2002

Definition at line 185 of file Matrix.hh.

const POSECOVARIANCE_TYPE * BIAS::Matrix< POSECOVARIANCE_TYPE >::GetData ( ) const
inlineinherited

Definition at line 188 of file Matrix.hh.

const POSECOVARIANCE_TYPE ** BIAS::Matrix< POSECOVARIANCE_TYPE >::GetDataArray ( ) const
inlineinherited

returns zero based arry for data access

Definition at line 192 of file Matrix.hh.

POSECOVARIANCE_TYPE ** BIAS::Matrix< POSECOVARIANCE_TYPE >::GetDataArray ( )
inlineinherited

Definition at line 195 of file Matrix.hh.

POSECOVARIANCE_TYPE ** BIAS::Matrix< POSECOVARIANCE_TYPE >::GetDataArray1 ( ) const
inlineinherited

returns 1 based array to data access

Definition at line 199 of file Matrix.hh.

const POSECOVARIANCE_TYPE * BIAS::Matrix< POSECOVARIANCE_TYPE >::GetDataLast ( ) const
inlineinherited

Get a pointer to the last data element Do not use this on unitilized matrices with <= on pointers because on an unitilized matrix GetData() will be NULL and last Element < (typically FFFFF8) We don't want an if here for performance reasons of the innerst loop.

Author
Ingo Thomsen, Jan Woetzel
Date
04/11/2002

Definition at line 213 of file Matrix.hh.

POSECOVARIANCE_TYPE * BIAS::Matrix< POSECOVARIANCE_TYPE >::GetDataLast ( )
inlineinherited

Definition at line 219 of file Matrix.hh.

Matrix<POSECOVARIANCE_TYPE > BIAS::Matrix< POSECOVARIANCE_TYPE >::GetMax ( Matrix< POSECOVARIANCE_TYPE > &  m)
inherited

returns an matrix the same size as the matrix n and m with the largest elements taken from n or m

Author
bangerer 01/2009
POSECOVARIANCE_TYPE BIAS::Matrix< POSECOVARIANCE_TYPE >::GetMax ( ) const
inherited

Returns the maximum value of the matrix elements.

Author
Ingo Thomsen
Date
04/11/2002 tested
void BIAS::Matrix< POSECOVARIANCE_TYPE >::GetMaxMin ( POSECOVARIANCE_TYPE &  max,
POSECOVARIANCE_TYPE &  min 
) const
inherited

return biggest and smallest entry

POSECOVARIANCE_TYPE BIAS::Matrix< POSECOVARIANCE_TYPE >::GetMean ( void  ) const
inherited

Returns the mean value of the matrix elements.

Author
Ingo Thomsen
Date
04/11/2002 tested
Matrix<POSECOVARIANCE_TYPE > BIAS::Matrix< POSECOVARIANCE_TYPE >::GetMin ( Matrix< POSECOVARIANCE_TYPE > &  m)
inherited

returns an matrix the same size as the matrix n and m with the smallest elements taken from n or m

Author
bangerer 01/2009
POSECOVARIANCE_TYPE BIAS::Matrix< POSECOVARIANCE_TYPE >::GetMin ( ) const
inherited

Returns the minimum value of the matrix elements.

Author
Ingo Thomsen
Date
04/11/2002 tested
int BIAS::Matrix< POSECOVARIANCE_TYPE >::GetNumElements ( ) const
inlineinherited

Returns the total number of elements.

Author
Ingo Thomsen
Date
04/11/2002 tested

Definition at line 321 of file Matrix.hh.

Vector<POSECOVARIANCE_TYPE > BIAS::Matrix< POSECOVARIANCE_TYPE >::GetRow ( const int &  row) const
inherited

return a copy of row "row" of this matrix, zero based counting

Author
Jan Woetzel
unsigned int BIAS::Matrix< POSECOVARIANCE_TYPE >::GetRows ( ) const
inlineinherited

Definition at line 202 of file Matrix.hh.

void BIAS::Matrix< POSECOVARIANCE_TYPE >::GetSubMatrix ( const size_t  startRow,
const size_t  startCol,
const size_t  numRows,
const size_t  numCols,
Matrix< POSECOVARIANCE_TYPE > &  submatrix 
) const
inherited

return a submatrix from this.

Start index is [startRow][startCol] end index is [startRow+numRows-1][startCol+numCols-1]. submatrix is resized to numRows/numCols if necessary.

Author
apetersen 12/2010
void BIAS::Matrix< POSECOVARIANCE_TYPE >::GetSubMatrix ( const Vector< int > &  rows,
const Vector< int > &  cols,
Matrix< POSECOVARIANCE_TYPE > &  submatrix 
) const
inherited

return a submatrix from this.

Similar to matlab notation (except indexing, starts with 0 of course!). Vectors rows = '1 3' and cols = '1 2' for matrix: / 1 2 3 \ | 4 5 6 | \ 7 8 9 / results in: / 1 2 \ \ 7 8 / Matrix has to be initialized!!!

Author
apetersen 7/2011
Matrix<POSECOVARIANCE_TYPE > BIAS::Matrix< POSECOVARIANCE_TYPE >::GetSubMatrix ( const Vector< int > &  rows,
const Vector< int > &  cols 
) const
inherited

return a submatrix from this.

Similar to matlab notation (except indexing, starts with 0 of course!), see GetSubMatrix(const Vector<int> &rows, const Vector<int> &cols, Matrix<T> &submatrix)

Author
apetersen 7/2011
void BIAS::Matrix< POSECOVARIANCE_TYPE >::GetSystemMatrix ( Matrix< POSECOVARIANCE_TYPE > &  dest) const
inlineinherited

compute square system matrix dest = A^T * A

Parameters
destholds result of this->Transpose * this

If you want to solve A * x = b, where A has more rows than columns, a common technique is to solve x = (A^T * A)^-1 * A^T * b. This function provides a fast way to compute A^T*A from A.

Author
grest/koeser
template<class T>
void TNT::Matrix< T >::initialize ( Subscript  M,
Subscript  N 
)
inlineprotectedinherited
template<class T>
TNT::Matrix< T >::initialize ( ,
 
)
inherited
bool BIAS::Matrix< POSECOVARIANCE_TYPE >::IsIdentity ( double  eps = 0.0) const
inherited

Checks if the matrix a an identity.

I.e. all elements with index i==j are equal 1 and all others are zero.

Author
mdunda 12 2003
Returns
true if matrix is identity
bool BIAS::Matrix< POSECOVARIANCE_TYPE >::IsZero ( double  eps = 0.0) const
inherited

Checks if the matrix is a null matrix.

Author
mdunda 12 2003
Returns
true if all elements are zero
void BIAS::Matrix< POSECOVARIANCE_TYPE >::Kronecker ( Matrix< POSECOVARIANCE_TYPE > const  B,
Matrix< POSECOVARIANCE_TYPE > &  dest 
) const
inherited

Kronecker-product with matrix, result in dest.

Kronecker-product with matrix B, result in dest.

template<class T>
Subscript TNT::Matrix< T >::lbound ( ) const
inlineinherited

Definition at line 81 of file cmat.h.

bool BIAS::Matrix< POSECOVARIANCE_TYPE >::Load ( const std::string &  filename)
inherited

method to load directly from a given filename.

internally using stream operator

Author
Jan Woetzel 05/2003
Returns
false in case of error, true in case of success
void BIAS::Matrix< POSECOVARIANCE_TYPE >::MakeSymmetric ( )
inlineinherited

componentwise: this = 0.5(this + this^T) yields symmetric matrix only allowed for square shaped matrices

Author
koeser 01/2007

Definition at line 522 of file Matrix.hh.

void BIAS::Matrix< POSECOVARIANCE_TYPE >::Mult ( const Matrix< POSECOVARIANCE_TYPE > &  arg,
Matrix< POSECOVARIANCE_TYPE > &  result 
) const
inlineinherited

matrix multiplication, result is not allocated

Author
Felix Woelk
void BIAS::Matrix< POSECOVARIANCE_TYPE >::Mult ( const Matrix< POSECOVARIANCE_TYPE > &  arg)
inlineinherited

in Place matrix multiplication this is equal to M = M * arg, but faster

Author
Daniel Grest
void BIAS::Matrix< POSECOVARIANCE_TYPE >::Mult ( const Vector< POSECOVARIANCE_TYPE > &  arg,
Vector< POSECOVARIANCE_TYPE > &  result 
) const
inlineinherited

matrix vector multiplication, result is not allocated

Author
Felix Woelk
void BIAS::Matrix< POSECOVARIANCE_TYPE >::Multiply ( const POSECOVARIANCE_TYPE &  scalar,
Matrix< POSECOVARIANCE_TYPE > &  dest 
) const
inlineinherited

multiplication function, storing data destination matrix

Author
Ingo Thomsen tested
void BIAS::Matrix< POSECOVARIANCE_TYPE >::MultiplyIP ( const POSECOVARIANCE_TYPE &  scalar)
inlineinherited

in place multiplication function

Author
Ingo Thomsen tested

Definition at line 448 of file Matrix.hh.

void BIAS::Matrix< POSECOVARIANCE_TYPE >::MultiplyWithTransposeOf ( const Matrix< POSECOVARIANCE_TYPE > &  arg,
Matrix< POSECOVARIANCE_TYPE > &  result 
) const
inlineinherited

matrix matrix multiplication for multiplication with the transpose of the given matrix, result=this*arg^T.

Author
Arne Petersen
void BIAS::Matrix< POSECOVARIANCE_TYPE >::MultLeft ( const Matrix< POSECOVARIANCE_TYPE > &  arg)
inlineinherited

in Place matrix multiplication this is equal to M = arg*M, but faster

Author
Daniel Grest
void BIAS::Matrix< POSECOVARIANCE_TYPE >::MultLeft ( const Vector< POSECOVARIANCE_TYPE > &  arg,
Vector< POSECOVARIANCE_TYPE > &  result 
) const
inlineinherited

vector matrix multiplication result=arg*this.

Author
Marcel Lilienthal
template<class T>
Matrix<T>& TNT::Matrix< T >::newsize ( Subscript  M,
Subscript  N 
)
inlineinherited
Examples:
EvaluateAlignment.cpp, ExampleAlignment.cpp, ExampleIEKF.cpp, ExampleLeastSquares.cpp, ExampleRegressionPlane.cpp, ExampleSVD.cpp, and ExampleUncertaintyTransform.cpp.

Definition at line 269 of file cmat.h.

Referenced by BIAS::Matrix< T >::Add(), BIAS::RegionMatcher::BilinearRegion(), BIAS::RegionMatcher::BilinearRegionColor3(), BIAS::ComputeCovariance(), BIAS::LDA::ComputeReductionMatrix(), BIAS::PCA::ComputeReductionMatrix(), BIAS::ContourBSplineShapeMatrix::ComputeRegularisationMatrix(), BIAS::ContourBSplineData::ComputeSplineMetricMatrix_(), BIAS::Matrix< T >::Conv(), BIAS::CamPoseCalib::CreateSecDMatrix_(), BIAS::Matrix< T >::Divide(), Eigenproblem_quadratic_matrix(), BIAS::CamPoseCalib::Estimate(), BIAS::TrackerBaseAffine< StorageType >::EvaluateResult_(), BIAS::TrackerBaseAffine2< StorageType >::EvaluateResult_(), BIAS::TrackerBaseInterface< StorageType >::EvaluateResult_(), BIAS::TrackerBaseInterface< StorageType >::Filter_ByMask(), BIAS::TrackerBaseInterface< StorageType >::Filter_BySeparableMask(), BIAS::TrackerBaseInterface< StorageType >::Filter_GradXSobel3x3(), BIAS::TrackerBaseInterface< StorageType >::Filter_GradYSobel3x3(), BIAS::TrackerBaseInterface< StorageType >::FilterLowpass_Binomial3x3(), BIAS::TrackerBaseInterface< StorageType >::FilterLowpass_ByMask(), BIAS::TrackerBaseInterface< StorageType >::FilterLowpass_BySeparableMask(), Fortran_Matrix_to_Matrix(), generalised_eigenvalue_matrix_solve(), BIAS::LDA::GenerateRandomTestData(), BIAS::SparseMatrix::GetAsDense(), BIAS::Random::GetMeanAndCovariance(), BIAS::PMatrixLinear::GetPEstSystemHom(), BIAS::PMatrixLinear::GetPEstSystemInHom(), BIAS::Matrix< T >::GetSystemMatrix(), BIAS::Kalman::Init(), BIAS::IteratedExtendedKalman::Init(), BIAS::SparseMatrix::Invert(), BIAS::SparseMatrix::InvertAndSolve(), BIAS::Matrix< T >::Kronecker(), Lapack_Cholesky_SymmetricPositiveDefinit(), BIAS::RegionMatcher::LinearRegionX(), BIAS::LevenbergMarquardtBase::LM_Compute(), BIAS::LevenbergMarquardtBase::LM_ComputeWithoutJacobian(), TNT::matmult(), BIAS::Matrix< T >::Mult(), BIAS::Matrix< T >::Multiply(), BIAS::Matrix< T >::MultiplyWithTransposeOf(), BIAS::MxArrToBIASMatrix(), BIAS::Matrix3x4< T >::newsize(), BIAS::Matrix4x4< T >::newsize(), BIAS::TextureTransformHomography::ParameterInversionJacobian(), BIAS::TextureTransformAffine::ParameterInversionJacobian(), BIAS::TextureTransformDisparity::ParameterInversionJacobian(), BIAS::TextureTransformDisplacement::ParameterInversionJacobian(), BIAS::TextureTransformRotation::ParameterInversionJacobian(), BIAS::TextureTransformEuclidian::ParameterInversionJacobian(), BIAS::TextureTransformAffine::ParameterJacobianBackward(), BIAS::TextureTransformHomography::ParameterJacobianBackward(), BIAS::TextureTransformDisparity::ParameterJacobianBackward(), BIAS::TextureTransformDisplacement::ParameterJacobianBackward(), BIAS::TextureTransformRotation::ParameterJacobianBackward(), BIAS::TextureTransformEuclidian::ParameterJacobianBackward(), BIAS::TextureTransformSimilar::ParameterJacobianBackward(), BIAS::TextureTransform::ParameterJacobianBackward(), BIAS::TextureTransformAffine::ParameterJacobianForward(), BIAS::TextureTransformHomography::ParameterJacobianForward(), BIAS::TextureTransformDisparity::ParameterJacobianForward(), BIAS::TextureTransformDisplacement::ParameterJacobianForward(), BIAS::TextureTransformRotation::ParameterJacobianForward(), BIAS::TextureTransformEuclidian::ParameterJacobianForward(), BIAS::TextureTransformSimilar::ParameterJacobianForward(), BIAS::TextureTransform::ParameterJacobianForward(), BIAS::IteratedExtendedKalman::Predict(), BIAS::Covariance3Dto2D::Project(), BIAS::Covariance3Dto2DHomg::Project(), BIAS::QRFrac(), BIAS::RegionMatcher::RegionMatcher(), BIAS::ContourBSplineShapeMatrix::SetShapeSpaceEuclidian(), BIAS::ContourBSplineShapeMatrix::SetShapeSpaceIdentity(), BIAS::ContourBSplineShapeMatrix::SetShapeSpaceMatrix(), BIAS::ContourBSplineShapeMatrix::SetShapeSpacePlanarAffin(), BIAS::ContourBSplineShapeMatrix::SetSubShapeSpaceZero(), BIAS::Matrix< T >::Sub(), BIAS::TrackerBaseAffine< StorageType >::TrackAffine_(), BIAS::MonteCarloTransform::Transform(), BIAS::UnscentedTransform::Transform(), BIAS::IteratedExtendedKalman::Update(), and BIAS::Tracker< StorageType, CalculationType >::Vector2FilterMask_().

POSECOVARIANCE_TYPE BIAS::Matrix< POSECOVARIANCE_TYPE >::Normalize ( )
inherited

Normalizes the matrix by the entry with the biggest absolute value by dividing all elements with this one.

Returns
value of the element the matrix is normalized with
Author
mdunda 09 2003
void BIAS::Matrix< POSECOVARIANCE_TYPE >::NormalizeCols ( )
inherited

Normalizes each coloumn to L_2 norm one.

Attention each column is normaized by its own scale!

void BIAS::Matrix< POSECOVARIANCE_TYPE >::NormalizeColsToOne ( const int  norm_row_index)
inherited

divides each column of the matrix through the element norm_row_index.

index runs [0..num_rows-1] for example: 2 3 4 5 normalized with row '1' will be 2/4 3/5 1 1

void BIAS::Matrix< POSECOVARIANCE_TYPE >::NormalizeRows ( )
inherited

Normalizes each row to L2 norm one.

Attention each row is normaized by its own scale!

void BIAS::Matrix< POSECOVARIANCE_TYPE >::NormalizeRowsToOne ( const int  norm_col_index)
inherited

divides each row of the matrix through the element norm_col_index.

index runs [0..num_cols-1] for example: 2 3 4 5 normalized with row '1' will be 2/3 1 4/5 1

double BIAS::Matrix< POSECOVARIANCE_TYPE >::NormFrobenius ( ) const
inlineinherited

Return Frobenius norm = sqrt(trace(A^t * A)).

this method is deprecated because it is equivalent to NormL2

This function is deprecated, because it is equivalent to NormL2.

Author
koeser 02/2004
POSECOVARIANCE_TYPE BIAS::Matrix< POSECOVARIANCE_TYPE >::NormL1 ( ) const
inlineinherited

Return the L1 norm: |a| + |b| + |c| + ...

Author
Ingo Thomsen
Date
04/11/2002 untested
double BIAS::Matrix< POSECOVARIANCE_TYPE >::NormL2 ( ) const
inlineinherited

Return the L2 norm: a^2 + b^2 + c^2 + ...

Author
woelk 07/2004
template<class T>
Subscript TNT::Matrix< T >::num_cols ( ) const
inlineinherited
Examples:
ExampleGenerateGauss.cpp.

Definition at line 320 of file cmat.h.

Referenced by BIAS::Matrix< T >::Add(), BIAS::Matrix< T >::AddIP(), BIAS::ImageAlignment::Align(), BIAS::CamPoseCalib::ApplyCoVariances_(), BIAS::ImageAlignment::AutoAlign(), BIAS::TFTensorEstimation::Compute(), BIAS::SVD3x3::Compute(), BIAS::GaussHelmert::ComputeNormalSystem_(), BIAS::LDA::ComputeReductionMatrix(), BIAS::PCA::ComputeReductionMatrix(), BIAS::ContourBSplineShapeMatrix::ComputeRegularisationMatrix(), BIAS::PCA::ComputeScatter(), BIAS::UnscentedTransform::ComputeSigmaPoints_(), BIAS::LDA::ComputeWithinAndInterClassCovs(), BIAS::Matrix< T >::Conv(), BIAS::Matrix< T >::Divide(), BIAS::Matrix< T >::DivideElementwise(), Eigenproblem_quadratic_matrix(), Eigenvalue_solve(), BIAS::CamPoseCalib::Estimate(), Fortran_Matrix_to_Matrix(), General_singular_value_decomposition(), generalised_eigenvalue_matrix_solve(), BIAS::CamPoseCalib::GetCov(), BIAS::CamPoseCalib::GetCoVarMatrix(), BIAS::SVD::GetNullvector(), BIAS::Matrix< T >::Kronecker(), Lapack_Cholesky_SymmetricPositiveDefinit(), Lapack_LLS_QR_linear_solve(), Lapack_LU_linear_solve(), Lapack_WLLS_solve(), TNT::matmult(), BIAS::Matrix2x2< T >::Matrix2x2(), BIAS::Matrix3x3< T >::Matrix3x3(), BIAS::Matrix4x4< T >::Matrix4x4(), BIAS::Matrix< T >::Mult(), TNT::mult_element(), BIAS::Matrix< T >::Multiply(), BIAS::Matrix< T >::MultiplyWithTransposeOf(), TNT::Matrix< BIAS::BIAS::Vector< int > >::newsize(), BIAS::TrackerBaseInterface< StorageType >::NormalizeRegion_(), BIAS::Vector< T >::operator*(), BIAS::Vector3< T >::operator*(), BIAS::Vector4< T >::operator*(), TNT::Matrix< T >::operator+(), TNT::Matrix< T >::operator-(), BIAS::Matrix3x4< T >::operator=(), BIAS::Matrix4x4< T >::operator=(), BIAS::PMatrix::PMatrix(), BIAS::PMatrixBase::PMatrixBase(), BIAS::CovTransformPose::PoseEulerZYXToQuat(), BIAS::CovTransformPose::PoseQuatToEulerZYX(), BIAS::IteratedExtendedKalman::Predict(), BIAS::Covariance3Dto2DHomg::Project(), BIAS::RMatrix::RMatrix(), BIAS::RMatrixBase::RMatrixBase(), BIAS::Matrix< T >::Set(), BIAS::RParametrization::SetCovarianceMatrix(), BIAS::PoseParametrization::SetCovarianceMatrix(), BIAS::EParametrization::SetCovarianceMatrix(), BIAS::LocalAffineFrame::SetFromMatrix(), BIAS::IteratedExtendedKalman::SetProcessCov(), BIAS::ContourBSplineShapeMatrix::SetShapeSpaceMatrix(), BIAS::IteratedExtendedKalman::SetState(), BIAS::ContourBSplineShapeMatrix::SetSubShapeSpaceZero(), BIAS::GaussHelmert::Solve(), BIAS::LeastSquaresSVD::Solve(), BIAS::SVD::Solve(), BIAS::CamPoseCalib::SolveLM_(), BIAS::ImageAlignment::StrictPyramidAlign(), BIAS::Matrix< T >::Sub(), BIAS::Matrix< T >::SubIP(), BIAS::SymmetricMatrix3x3< T >::SymmetricMatrix3x3(), BIAS::TrackerBaseAffine< StorageType >::TrackAffine_(), BIAS::MonteCarloTransform::Transform(), BIAS::UnscentedTransform::Transform(), BIAS::CovTransformPose::TransformPoint3D(), BIAS::CovTransformPose::TransformPose(), TNT::transpose(), BIAS::Kalman::Update(), BIAS::IteratedExtendedKalman::Update(), and Upper_symmetric_eigenvalue_solve().

template<class T>
Subscript TNT::Matrix< T >::num_rows ( ) const
inlineinherited
Examples:
ExampleGenerateGauss.cpp.

Definition at line 319 of file cmat.h.

Referenced by BIAS::Matrix< T >::Add(), BIAS::Matrix< T >::AddIP(), BIAS::ImageAlignment::Align(), BIAS::ImageAlignment::AutoAlign(), BIAS::SVD3x3::Compute(), BIAS::ImageBlender::ComputeCylCamGeometry(), BIAS::LDA::ComputeReductionMatrix(), BIAS::PCA::ComputeReductionMatrix(), BIAS::ContourBSplineShapeMatrix::ComputeRegularisationMatrix(), BIAS::PCA::ComputeScatter(), BIAS::UnscentedTransform::ComputeSigmaPoints_(), BIAS::LDA::ComputeWithinAndInterClassCovs(), BIAS::Matrix< T >::Conv(), BIAS::Matrix< T >::Divide(), BIAS::Matrix< T >::DivideElementwise(), Eigenproblem_quadratic_matrix(), Eigenvalue_solve(), BIAS::CamPoseCalib::Estimate(), Fortran_Matrix_to_Matrix(), General_singular_value_decomposition(), generalised_eigenvalue_matrix_solve(), BIAS::CamPoseCalib::GetCov(), BIAS::CamPoseCalib::GetCoVarMatrix(), BIAS::SVD::GetLeftNullvector(), BIAS::Kalman::Init(), BIAS::IteratedExtendedKalman::Init(), BIAS::Matrix< T >::Kronecker(), Lapack_Cholesky_SymmetricPositiveDefinit(), Lapack_LLS_QR_linear_solve(), Lapack_LU_linear_solve(), Lapack_WLLS_solve(), TNT::matmult(), BIAS::Matrix2x2< T >::Matrix2x2(), BIAS::Matrix3x3< T >::Matrix3x3(), BIAS::Matrix4x4< T >::Matrix4x4(), BIAS::Matrix< T >::Mult(), TNT::mult_element(), BIAS::Matrix< T >::Multiply(), BIAS::Matrix< T >::MultiplyWithTransposeOf(), BIAS::Matrix< T >::MultLeft(), TNT::Matrix< BIAS::BIAS::Vector< int > >::newsize(), BIAS::TrackerBaseInterface< StorageType >::NormalizeRegion_(), BIAS::Vector< T >::operator*(), BIAS::Vector3< T >::operator*(), BIAS::Vector4< T >::operator*(), TNT::Matrix< T >::operator+(), TNT::Matrix< T >::operator-(), BIAS::Matrix3x4< T >::operator=(), BIAS::Matrix4x4< T >::operator=(), BIAS::PMatrix::PMatrix(), BIAS::PMatrixBase::PMatrixBase(), BIAS::CovTransformPose::PoseEulerZYXToQuat(), BIAS::CovTransformPose::PoseQuatToEulerZYX(), BIAS::IteratedExtendedKalman::Predict(), BIAS::RMatrix::RMatrix(), BIAS::RMatrixBase::RMatrixBase(), BIAS::Matrix< T >::Set(), BIAS::RParametrization::SetCovarianceMatrix(), BIAS::PoseParametrization::SetCovarianceMatrix(), BIAS::EParametrization::SetCovarianceMatrix(), BIAS::LocalAffineFrame::SetFromMatrix(), BIAS::IteratedExtendedKalman::SetProcessCov(), BIAS::ContourBSplineShapeMatrix::SetShapeSpaceMatrix(), BIAS::IteratedExtendedKalman::SetState(), BIAS::ContourBSplineShapeMatrix::SetSubShapeSpaceZero(), BIAS::GaussHelmert::Solve(), BIAS::LeastSquaresSVD::Solve(), BIAS::SVD::Solve(), BIAS::CamPoseCalib::SolveLM_(), SquaredMahalanobisDistance(), BIAS::ImageAlignment::StrictPyramidAlign(), BIAS::Matrix< T >::Sub(), BIAS::Matrix< T >::SubIP(), BIAS::SymmetricMatrix3x3< T >::SymmetricMatrix3x3(), BIAS::TrackerBaseAffine2< StorageType >::TrackAffine_(), BIAS::MonteCarloTransform::Transform(), BIAS::UnscentedTransform::Transform(), BIAS::CovTransformPose::TransformPoint3D(), BIAS::CovTransformPose::TransformPose(), TNT::transpose(), BIAS::Kalman::Update(), BIAS::IteratedExtendedKalman::Update(), Upper_symmetric_eigenvalue_solve(), and BIAS::LeastSquaresLapack::WeightedSolve().

template<class T>
reference TNT::Matrix< T >::operator() ( Subscript  i)
inlineinherited

Definition at line 343 of file cmat.h.

template<class T>
const_reference TNT::Matrix< T >::operator() ( Subscript  i) const
inlineinherited

Definition at line 352 of file cmat.h.

template<class T>
reference TNT::Matrix< T >::operator() ( Subscript  i,
Subscript  j 
)
inlineinherited

Definition at line 363 of file cmat.h.

template<class T>
const_reference TNT::Matrix< T >::operator() ( Subscript  i,
Subscript  j 
) const
inlineinherited

Definition at line 376 of file cmat.h.

template<class T>
T* TNT::Matrix< T >::operator[] ( Subscript  i)
inlineinherited

Definition at line 325 of file cmat.h.

template<class T>
const T* TNT::Matrix< T >::operator[] ( Subscript  i) const
inlineinherited

Definition at line 334 of file cmat.h.

template<class T>
std::ostream& TNT::Matrix< T >::Print ( std::ostream &  s,
const int  width,
const int  precision,
bool  scientific = true 
) const
inlineinherited
Author
Ingo Schiller
Examples:
ExampleSparseMatrix.cpp.
template<class T>
std::ostream& TNT::Matrix< T >::Print ( std::ostream &  s,
const bool  intCastOutput = false,
const bool  binaryOutput = false,
const bool  forceFullPrecision = false 
) const
inlineinherited
Author
Jan Woetzel
template<class T>
std::ostream& TNT::Matrix< T >::PrintPretty ( std::ostream &  s,
const std::string &  name = "",
const int  width = 8,
const bool  alignLeft = true 
) const
inlineinherited
Author
Sandro Esquivel
template<class T >
std::istream & TNT::Matrix< T >::Read ( std::istream &  s,
const bool  intCastInput = false,
const bool  binaryInput = false 
)
inlineinherited

JW.

Author
Jan Woetzel

Definition at line 605 of file cmat.h.

Referenced by TNT::Matrix< T >::operator>>().

bool BIAS::Matrix< POSECOVARIANCE_TYPE >::Save ( const std::string &  filename) const
inherited

method to save directly to a given filename.

internally using stream operator

Author
Jan Woetzel 05/2003
Returns
false in case of error, true in case of success
void BIAS::Matrix< POSECOVARIANCE_TYPE >::ScaleCol ( int  NoCol,
POSECOVARIANCE_TYPE  scale 
)
inherited

Scales column NoCol with scale.

void BIAS::Matrix< POSECOVARIANCE_TYPE >::ScaleRow ( int  NoRow,
POSECOVARIANCE_TYPE  scale 
)
inherited

Scales row NoRow with scale.

template<class T>
void TNT::Matrix< T >::set ( const T &  val)
inlineprotectedinherited

Definition at line 152 of file cmat.h.

Referenced by TNT::Matrix< BIAS::BIAS::Vector< int > >::operator=().

template<class T>
TNT::Matrix< T >::set ( value  )
inherited
void BIAS::Matrix< POSECOVARIANCE_TYPE >::Set ( const int  row,
const int  col,
const Matrix< POSECOVARIANCE_TYPE > &  data 
)
inherited

Copies the contents of data into this at the position indicated by row and col.

The size of *this must be big enought to carry data

Author
woelk 05/2008 (c) www.vision-n.de
void BIAS::Matrix< POSECOVARIANCE_TYPE >::Set ( const int  row,
const int  col,
const Vector< POSECOVARIANCE_TYPE > &  data 
)
inherited

Copies the contents of data into this at the position indicated by row and col.

The size of *this must be big enought to carry data. Data i interpreted as column vector

Author
woelk 05/2008 (c) www.vision-n.de
void BIAS::Matrix< POSECOVARIANCE_TYPE >::SetCol ( const int  row,
const Vector< POSECOVARIANCE_TYPE > &  data 
)
inherited

set a col of matrix from vector

Author
woelk 08/2004
void BIAS::Matrix< POSECOVARIANCE_TYPE >::SetIdentity ( )
inherited

Converts matrix to identity matrix.

Even if the matrix is not quadratic, the diagonal values starting with the upper left element are set to 1. Example:

1 0 0 1 0 0 0 0 1 0 or 0 1 0 0 0 0 1 0 0 1 0 0 0 0

Author
Ingo Thomsen
void BIAS::Matrix< POSECOVARIANCE_TYPE >::SetRow ( const int  row,
const Vector< POSECOVARIANCE_TYPE > &  data 
)
inherited

set a row of matrix from vector

Author
woelk 08/2004
void BIAS::Matrix< POSECOVARIANCE_TYPE >::SetSubMatrix ( const size_t  startRowInThis,
const size_t  startColInThis,
const Matrix< POSECOVARIANCE_TYPE > &  submatrix,
const size_t  startRowInSub,
const size_t  startColInSub,
const size_t  numRows,
const size_t  numCols 
)
inherited

sets a submatrix in this.

Start index in this is [startRowInThis][startColInThis] end index is [startRowInThis+numRows-1][startColInThis+numCols-1]. Entries copyed from submatrix beginning at [startRowInSub][startColInSub] and stop at [startRowInSub+numRows-1][startColInSub+numCols-1]

Author
apetersen 12/2010
void BIAS::Matrix< POSECOVARIANCE_TYPE >::SetSubMatrix ( const size_t  startRowInThis,
const size_t  startColInThis,
const Matrix3x3< POSECOVARIANCE_TYPE > &  submatrix 
)
inherited

sets a 3x3 submatrix in this.

Start index in this is [startRowInThis][startColInThis] end index is [startRowInThis+2][startColInThis+2].

Author
apetersen 12/2010
void BIAS::Matrix< POSECOVARIANCE_TYPE >::SetSubMatrix ( const size_t  startRowInThis,
const size_t  startColInThis,
const Vector3< POSECOVARIANCE_TYPE > &  subvector 
)
inherited

sets a 3x1 submatrix in this.

Start index in this is [startRowInThis][startColInThis] end index is [startRowInThis+2][startColInThis].

Author
apetersen 12/2010
void BIAS::Matrix< POSECOVARIANCE_TYPE >::SetTranspose ( const int  row,
const int  col,
const Vector< POSECOVARIANCE_TYPE > &  data 
)
inherited

Copies the contents of data into this at the position indicated by row and col.

The size of *this must be big enought to carry data. Data is interpreted as row vector.

Author
woelk 05/2008 (c) www.vision-n.de
void BIAS::Matrix< POSECOVARIANCE_TYPE >::SetZero ( )
inlineinherited

Sets all values to zero.

Author
Ingo Thomsen, JW
Date
04/11/2002 tested
template<class T>
Subscript TNT::Matrix< T >::size ( ) const
inlineinherited
void BIAS::Matrix< POSECOVARIANCE_TYPE >::Sub ( const POSECOVARIANCE_TYPE &  scalar,
Matrix< POSECOVARIANCE_TYPE > &  dest 
) const
inlineinherited

substraction function, storing data destination matrix

Author
Ingo Thomsen tested
void BIAS::Matrix< POSECOVARIANCE_TYPE >::SubIP ( const Matrix< POSECOVARIANCE_TYPE > &  arg)
inlineinherited

Subtracts arg from this
this -= arg.

Author
grest, 2004
void BIAS::Matrix< POSECOVARIANCE_TYPE >::SubIP ( const POSECOVARIANCE_TYPE &  scalar)
inlineinherited

in place subtraction function

Author
Ingo Thomsen tested

Definition at line 437 of file Matrix.hh.

void BIAS::Matrix< POSECOVARIANCE_TYPE >::SwapRows ( const int  i,
const int  r 
)
inherited

swaps two rows

Author
woelk 05/2008 www.vision-n.de
POSECOVARIANCE_TYPE BIAS::Matrix< POSECOVARIANCE_TYPE >::Trace ( ) const
inlineinherited
Author
koeser
void PoseParametrizationCovariance::Transform ( const Matrix4x4< double > &  transf)

Given a 6D pose (position and euler angles) and its associated covariance, the function transforms the covaruiance into pose and quaternion parametrization.

     matlab code:

alpha = sym('alpha'); beta = sym('beta'); gamma = sym('gamma'); % compute rotation matrix from euler angles R_gamma = [ cos(gamma) -sin(gamma) 0 sin(gamma) cos(gamma) 0 0 0 1]; R_beta = [ cos(beta) 0 sin(beta) 0 1 0 -sin(beta) 0 cos(beta) ]; R_alpha = [ 1 0 0 0 cos(alpha) -sin(alpha) 0 sin(alpha) cos(alpha) ]; R = R_gamma * R_beta * R_alpha; % compute quaternion q from rotation matrix q = [ 1/2 * sqrt(R(1,1) + R(2,2) + R(3,3) + 1) (R(3,2)-R(2,3))/(2*sqrt(R(1,1) + R(2,2) + R(3,3) + 1)) (R(1,3)-R(3,1))/(2*sqrt(R(1,1) + R(2,2) + R(3,3) + 1)) (R(2,1)-R(1,2))/(2*sqrt(R(1,1) + R(2,2) + R(3,3) + 1)) ]; % compute jacobian j = jacobian(q, [alpha, beta, gamma]); disp('J[0][0] = '); disp(j(1,1)); disp('J[1][0] = '); disp(j(2,1)); disp('J[2][0] = '); disp(j(3,1)); disp('J[3][0] = '); disp(j(4,1)); disp('J[0][1] = '); disp(j(1,2)); disp('J[1][1] = '); disp(j(2,2)); disp('J[2][1] = '); disp(j(3,2)); disp('J[3][1] = '); disp(j(4,2)); disp('J[0][2] = '); disp(j(1,3)); disp('J[1][2] = '); disp(j(2,3)); disp('J[2][2] = '); disp(j(3,3)); disp('J[3][2] = '); disp(j(4,3));

The 1st 3 entries of the 6D pose must be the euclidean position coordinates and the last 3 entries must be the Euler angles [Ax, Ay, Az] such that the final rotation matrix is composed from Rz * Ry * Rx. Where Rx denotes the rotation matrix describing the rotation around the x axis, ....

Author
woelk 03/2006 Transfroms the covariance associated with pose according to the point transformation transf. Only affine transformations are supported. result is "covRes = transf*this"
     The seven dimensional pose p is transformed nonlinearily as follows

f_(0..2) (p) = T[0..2][0..2] * p[0..2] f_3 (p) = 0 f_(4..6) (p) = T[0..2][0..2] * 1/sin(acos(p[3])) * p[4..6] explanation: The pose is composed of the position (p[0..2]) and the orientation parametrized as a quaternion (p[3..6]). The transformation of the position is straight forward, i.e. by multiplying with T. The Jacobian of this transformation is aequivalent to the upper left 3x3 matrix of T. The union quaternion representing a rotation about the axis [x, y, z]' with angle a can be interpreted as q = [ cos(a/2), x* sin(*a/2), y*sin(a/2), z*sin(a/2)]' and the transformation of the quaternion is aequivalent to the transf. of the axis [x, y, z] = 1/(sin(acos(q[0])) * q[1..3]) hint: d/dx (1/(sin(acos(x))) = x/(1-x^2)^3/2

Definition at line 150 of file PoseParametrizationCovariance.cpp.

References BIAS::Equal(), BIAS::Matrix3x3< T >::GetColumn(), BIAS::RMatrixBase::GetQuaternion(), BIAS::Quaternion< T >::GetQuaternionMultMatrixLeft(), BIAS::MatrixZero, BIAS::Vector3< T >::Normalize(), BIAS::Matrix3x3< T >::SetColumn(), and BIAS::Matrix< T >::Transpose().

Referenced by BIAS::Pose::TransformToNewGlobalBy().

Matrix<POSECOVARIANCE_TYPE > BIAS::Matrix< POSECOVARIANCE_TYPE >::Transpose ( ) const
inlineinherited

transpose function, storing data destination matrix

Author
JMF
void BIAS::Matrix< POSECOVARIANCE_TYPE >::Vec ( Vector< POSECOVARIANCE_TYPE > &  dest) const
inherited

vec-operator returns the elements of the matrix columwise as vector

vec-operator returns the elements of the matrix columnwise as vector

int BIAS::Matrix< POSECOVARIANCE_TYPE >::WriteMatlab ( std::ostream &  ostr,
const std::string &  name 
) const
inherited

Write the matrix in Matlab format to the given stream.

Parameters
nameIs the name of the Matlab variable
Author
streckel 08/2006
Returns
negativev if error

Friends And Related Function Documentation

template<class T >
Matrix< T > operator* ( const Matrix< T > &  A,
const Matrix< T > &  B 
)
related

Definition at line 842 of file cmat.h.

References TNT::matmult().

template<class T >
Vector< T > operator* ( const Matrix< T > &  A,
const Vector< T > &  x 
)
related

Definition at line 915 of file cmat.h.

References TNT::matmult().

template<class T >
Matrix< T > operator+ ( const Matrix< T > &  A,
const Matrix< T > &  B 
)
related

Definition at line 730 of file cmat.h.

References TNT::Matrix< T >::num_cols(), and TNT::Matrix< T >::num_rows().

template<class T >
Matrix< T > operator- ( const Matrix< T > &  A,
const Matrix< T > &  B 
)
related

Definition at line 752 of file cmat.h.

References TNT::Matrix< T >::num_cols(), and TNT::Matrix< T >::num_rows().

template<class T>
std::ostream & operator<< ( std::ostream &  s,
const Matrix< char > &  A 
)
related
Author
Jan Woetzel

Definition at line 663 of file cmat.h.

template<class T>
std::ostream & operator<< ( std::ostream &  s,
const Matrix< unsigned char > &  A 
)
related
Author
Jan Woetzel

Definition at line 670 of file cmat.h.

template<class T >
std::ostream & operator<< ( std::ostream &  s,
const Matrix< T > &  A 
)
related
Author
Jan Woetzel

Definition at line 695 of file cmat.h.

template<class T>
std::istream & operator>> ( std::istream &  s,
Matrix< unsigned char > &  A 
)
related
Author
Jan Woetzel

Definition at line 703 of file cmat.h.

References TNT::Matrix< T >::Read().

template<class T>
std::istream & operator>> ( std::istream &  s,
Matrix< char > &  A 
)
related
Author
Jan Woetzel

Definition at line 711 of file cmat.h.

References TNT::Matrix< T >::Read().

template<class T >
std::istream & operator>> ( std::istream &  s,
Matrix< T > &  A 
)
related
Author
Jan Woetzel

Definition at line 719 of file cmat.h.

References TNT::Matrix< T >::Read().

Member Data Documentation

template<class T>
Subscript TNT::Matrix< T >::m_
protectedinherited
template<class T>
Subscript TNT::Matrix< T >::mn_
protectedinherited
template<class T>
Subscript TNT::Matrix< T >::n_
protectedinherited
template<class T>
T** TNT::Matrix< T >::row_
protectedinherited
template<class T>
T** TNT::Matrix< T >::rowm1_
protectedinherited
template<class T>
T* TNT::Matrix< T >::v_
protectedinherited
template<class T>
T* TNT::Matrix< T >::vm1_
protectedinherited

The documentation for this class was generated from the following files: