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java.lang.Objectsugr.Element
sugr.Transformation
sugr.Homography_3D
This class contains constructors to build a Homography_3D. Its matrix has 16 entries, but 15 needs to be set due to homogenity A Homography_3D consists of:
Field Summary | |
protected static int |
DIM
dimension must be set. |
private static long |
serialVersionUID
Class version number for serialization |
Fields inherited from class sugr.Element |
cov, MAXITER, v |
Constructor Summary | |
Homography_3D()
standard constructor. |
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Homography_3D(Affinity_3D aff,
Vector projective)
Creates a homography by an affinity and the projective part |
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Homography_3D(Affinity_3D aff,
Vector projective,
Matrix cov)
Creates a homography by an affinity and the projective part with covariance. |
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Homography_3D(double[] hom)
sets Homography_3D by hand. positions are: |hom[00] hom[01] hom[02] hom[03]| |hom[04] hom[05] hom[06] hom[07]| |hom[08] hom[09] hom[10] hom[11]| |hom[12] hom[13] hom[14] hom[15]| |
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Homography_3D(double[] hom,
Matrix cov)
sets Homography_3D by hand with covariance. positions are: |hom[00] hom[01] hom[02] hom[03]| |hom[04] hom[05] hom[06] hom[07]| |hom[08] hom[09] hom[10] hom[11]| |hom[12] hom[13] hom[14] hom[15]| |
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Homography_3D(Homography_3D h1,
Homography_3D h2)
Creates a homography out of two given homographies: H=h1*h2 |
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Homography_3D(Matrix hom,
Matrix cov)
Constructs a homography out of a given homography matrix and a covariance matrix for the given homography. |
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Homography_3D(Motion_3D mot,
Vector scale,
Vector shear,
Vector projective)
Creates a Homography_3D by 15 parameters: Motion (6) scale (3) shear (3) projective part of homography (3) Error propagation is done automatically. |
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Homography_3D(Motion_3D mot,
Vector scale,
Vector shear,
Vector projective,
Matrix cov)
Creates a Homography_3D by 15 parameters PLUS covariance Matrix: Motion (6) scale (3) shear (3) projective part of homography (3) No error propagation will be performed |
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Homography_3D(Translation_3D trans,
Rotation_3D rot,
Vector scale,
Vector shear,
Vector projective)
Creates a Homography_3D by 15 parameters: Translation (3) Rotation (3) scale (3) shear (3) projective part of homography (3) error propagation is done automatically. |
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Homography_3D(Translation_3D trans,
Rotation_3D rot,
Vector scale,
Vector shear,
Vector projective,
Matrix cov)
Creates a Homography_3D by 15 parameters PLUS covariance Matrix: Translation (3) Rotation (3) scale (3) shear (3) projective part of homography (3) No error propagation will be performed |
Method Summary | |
void |
doCondition(double[] f)
Condition that element with a set of conditioning factors. |
int |
getDegreesOfFreedom()
Returns the number of elements to specify this transformation |
int |
getDimCol()
Get the number of columns of the transformation matrix. |
int |
getDimRow()
Get the number of rows of the transformation matrix. |
Matrix |
getJacobianAfterFirst(Entity e)
The the Jacobian after the first entity of a trilinear relation. |
Matrix |
getJacobianAfterSecond(Entity e)
The the Jacobian after the second entity of a trilinear relation. |
Matrix |
getLineMatrix()
Creates out of this transformation a transformation-matrix for Line_3D See Stephans Diss, pg 52 |
Matrix |
getPlaneMatrix()
Creates out of this transformation a transformation-matrix for Plane_3D H_plane = H^{-T} |
Matrix |
getPointMatrix()
Creates a transformation-matrix for points. |
Entity |
transform(Entity e)
Transforms an entity with this transformation. |
Methods inherited from class sugr.Transformation |
errorProp, getDimension, getJacobianOfRelation, getReducedAB, getTransformationMatrix, getTransposeTransMatrix, transform |
Methods inherited from class sugr.Element |
approximate, calcCov, changeNullspace, changeNullspace, checkCovDim, checkElement, clone, ensureConstraints, estimate, estimate, gaussHelmertIterations, gaussHelmertIterationsOld, getConstraintValue, getCov, getJacobianOfConstraint, getV, normalizeSphere, normalizeSphereComparable, print, print, reduceFirstMatrix, reduceMatrix, reduceMatrix, setCov, setV, toString |
Methods inherited from class java.lang.Object |
equals, finalize, getClass, hashCode, notify, notifyAll, wait, wait, wait |
Field Detail |
private static final long serialVersionUID
protected static final int DIM
Constructor Detail |
public Homography_3D()
public Homography_3D(Affinity_3D aff, Vector projective)
aff
- contains the affinity partprojective
- a vector with dimension 3. Contains the
projective part of Homography_3Dpublic Homography_3D(Affinity_3D aff, Vector projective, Matrix cov)
aff
- contains the affinity partprojective
- a vector with dimension 3. Contains the
projective part of Homography_3Dcov
- 16x16 matrixpublic Homography_3D(double[] hom)
|hom[00] hom[01] hom[02] hom[03]| |hom[04] hom[05] hom[06] hom[07]| |hom[08] hom[09] hom[10] hom[11]| |hom[12] hom[13] hom[14] hom[15]|
hom
- a double array containing the values. Must be
dimension 16public Homography_3D(double[] hom, Matrix cov)
|hom[00] hom[01] hom[02] hom[03]| |hom[04] hom[05] hom[06] hom[07]| |hom[08] hom[09] hom[10] hom[11]| |hom[12] hom[13] hom[14] hom[15]|
hom
- a double array containing the values. Must be
dimension 16cov
- 16x16 matrixpublic Homography_3D(Matrix hom, Matrix cov)
hom
- a 4x4 homography matrixcov
- 16x16 covariance matrixpublic Homography_3D(Homography_3D h1, Homography_3D h2)
h1
- the first homographyh2
- the second homographypublic Homography_3D(Translation_3D trans, Rotation_3D rot, Vector scale, Vector shear, Vector projective)
trans
- a given Translation_3Drot
- a given Rotation_3Dscale
- a Vector with dimension 3 containing the scaleshear
- Vector containing 6 entries with order:
xy, xz, yz, yx, zx, zye.g. xy, xz means: x-axis is sheared, with proportional amount of y and z: x' = x + xy*y + xz*z
projective
- a Vector with dimension 3public Homography_3D(Translation_3D trans, Rotation_3D rot, Vector scale, Vector shear, Vector projective, Matrix cov)
trans
- a given Translation_3Drot
- a given Rotation_3Dscale
- a Vector with dimension 3 containing the scaleshear
- Vector containing 6 entries with order:
xy, xz, yz, yx, zx, zye.g. xy, xz means: x-axis is sheared, with proportional amount of y and z: x' = x + xy*y + xz*z
projective
- a Vector with dimension 3cov
- 16x16 matrixpublic Homography_3D(Motion_3D mot, Vector scale, Vector shear, Vector projective)
mot
- a given Motion_3Dscale
- a Vector with dimension 3 containing the scaleshear
- Vector containing 6 entries with order:
xy, xz, yz, yx, zx, zye.g. xy, xz means: x-axis is sheared, with proportional amount of y and z: x' = x + xy*y + xz*z
projective
- a Vector with dimension 3public Homography_3D(Motion_3D mot, Vector scale, Vector shear, Vector projective, Matrix cov)
mot
- a given Motion_3Dscale
- a Vector with dimension 3 containing the scaleshear
- Vector containing 6 entries with order:
xy, xz, yz, yx, zx, zye.g. xy, xz means: x-axis is sheared, with proportional amount of y and z: x' = x + xy*y + xz*z
projective
- a Vector with dimension 3cov
- 16x16 matrixMethod Detail |
public int getDimRow()
getDimRow
in class Transformation
public int getDimCol()
getDimCol
in class Transformation
public void doCondition(double[] f)
doCondition
in class Element
f
- conditioning factors ( two factors for transformations!)public Matrix getPointMatrix()
public Matrix getLineMatrix()
public Matrix getPlaneMatrix()
public int getDegreesOfFreedom()
getDegreesOfFreedom
in class Transformation
public Entity transform(Entity e)
transform
in class Transformation
e
- Entity to transform
public Matrix getJacobianAfterFirst(Entity e)
getJacobianAfterFirst
in class Transformation
e
- the second Entity of the relation.public Matrix getJacobianAfterSecond(Entity e)
getJacobianAfterSecond
in class Transformation
e
- the first Entity of the relation.
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