cvr::euclideanTransformation2D Class Reference
[Geometric Image Transformations]

Class euclideanTransformation2D. More...

#include <cvrEuclideanTransformation2D.h>

Inheritance diagram for cvr::euclideanTransformation2D:

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Collaboration diagram for cvr::euclideanTransformation2D:

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List of all members.

Classes
class	parameters
	The parameters for the class euclideanTransformation2D. More...
Public Member Functions
	euclideanTransformation2D ()
	euclideanTransformation2D (const parameters &par)
	euclideanTransformation2D (const euclideanTransformation2D &other)
virtual	~euclideanTransformation2D ()
template<class P >
bool	apply (P &srcdest) const
template<class P >
bool	apply (const P &src, P &dest) const
template<class P >
bool	estimate (const std::vector< P > &setA, const std::vector< P > &setB)
template<class P >
bool	estimateLLS (const std::vector< P > &setA, const std::vector< P > &setB)
template<class P >
bool	estimateLLS (const ivector &selection, const std::vector< P > &setA, const std::vector< P > &setB)
int	dof () const
void	generateMatrix (fmatrix &mat) const
fmatrix	generateMatrix () const
euclideanTransformation2D &	copy (const euclideanTransformation2D &other)
euclideanTransformation2D &	operator= (const euclideanTransformation2D &other)
virtual const std::string &	name () const
virtual euclideanTransformation2D *	clone () const
virtual euclideanTransformation2D *	newInstance () const
const parameters &	getParameters () const
bool	updateParameters ()
Protected Member Functions
parameters &	getRWParameters ()
Protected Attributes
float	cosa_
float	sina_
fpoint	trans_
linearLeastSquares	lls_

---

Detailed Description

Class euclideanTransformation2D.

The euclidean transformation (also called isometric transformation) for 2D spaces performs a planar modification of points in which only rotation and translation are applied.

This class transforms points only, and therefore is not intended for images, in which case you should use cvr::matrixTransform. You can however obtain from this class the matrix used by cvr::matrixTransform::parameters to generate the same results.

Most apply methods are templates of a point type P, i.e. the type P is usually a container that can be accessed with the operator[], like the types cvr::point<T>, cvr::vector<T>.

See also:

euclideanTransformation2D::parameters.

euclideanTransformation3D

similarityTransformation2D

affineTransformation2D

projectiveTransformation2D

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Constructor & Destructor Documentation

cvr::euclideanTransformation2D::euclideanTransformation2D

(

)

Default constructor.

cvr::euclideanTransformation2D::euclideanTransformation2D

(

const parameters &

par

)

Construct a functor using the given parameters.

cvr::euclideanTransformation2D::euclideanTransformation2D

(

const euclideanTransformation2D &

other

)

Copy constructor.

Parameters:

other

the object to be copied

virtual cvr::euclideanTransformation2D::~euclideanTransformation2D

(

)

[virtual]

Destructor.

---

Member Function Documentation

template<class P >

bool cvr::euclideanTransformation2D::apply	(	const P &	src,
		P &	dest
	)			const [inline]

Transform the point src and write the transformation on the dest point.

Parameters:

	src	point<T> with the source data.
	dest	point<T> where the result will be left.

Returns:

true if apply successful or false otherwise.

template<class P >

bool cvr::euclideanTransformation2D::apply

(

P &

srcdest

)

const [inline]

Transform the given point.

Parameters:

srcdest

point<T> with the source data. The result will be left here too.

Returns:

true if apply successful or false otherwise.

virtual euclideanTransformation2D* cvr::euclideanTransformation2D::clone

(

)

const [virtual]

Returns a pointer to a clone of this functor.

Implements cvr::functor.

euclideanTransformation2D& cvr::euclideanTransformation2D::copy

(

const euclideanTransformation2D &

other

)

Copy data of "other" functor.

Parameters:

other

the functor to be copied

Returns:

a reference to this functor object

int cvr::euclideanTransformation2D::dof

(

)

const

Degrees of freedom of the transformation.

Usually this means the minimal number of parameters with which the transforamtion matrix can be generated.

template<class P >

bool cvr::euclideanTransformation2D::estimate	(	const std::vector< P > &	setA,
		const std::vector< P > &	setB
	)			[inline]

Estimate a transformation that maps the first set of points into the second set of points.

The resulting estimation is left in the parameters.

This method assumes that the corresponding point to setA[idx] is stored in setB[idx].

Only the first dof()/2 correspondences will be used for the estimation, and you need at least dof()/2 elements for the transformation to be computed.

template<class P >

bool cvr::euclideanTransformation2D::estimateLLS	(	const ivector &	selection,
		const std::vector< P > &	setA,
		const std::vector< P > &	setB
	)			[inline]

Do a linear least squares error minimization for a transformation that maps the first set of points into the second set of points.

The resulting estimation is left in the parameters.

This method assumes that the corresponding point to setA[idx] is stored in setB[idx].

For the LLS to be computed, more than dof()/2 correspondences are necessary for the estimation.

For the estimation, just the points with the indices specified in selection are given.

Returns:

true if successful, false otherwise

template<class P >

bool cvr::euclideanTransformation2D::estimateLLS	(	const std::vector< P > &	setA,
		const std::vector< P > &	setB
	)			[inline]

Do a linear least squares error minimization for a transformation that maps the first set of points into the second set of points.

The resulting estimation is left in the parameters.

This method assumes that the corresponding point to setA[idx] is stored in setB[idx].

For the LLS to be computed, more than dof()/2 correspondences are necessary for the estimation.

fmatrix cvr::euclideanTransformation2D::generateMatrix

(

)

const

Generate the transformation matrix that would be required by cvr::matrixTransform to generate the same coordinate transformation.

The result is, so to speak, the matrix representation of the parameters.

void cvr::euclideanTransformation2D::generateMatrix

(

fmatrix &

mat

)

const

Generate the transformation matrix that would be required by cvr::matrixTransform to generate the same coordinate transformation.

The result is, so to speak, the matrix representation of the parameters.

Parameters:

mat

matrix container of the result.

const parameters& cvr::euclideanTransformation2D::getParameters

(

)

const

Returns used parameters.

Reimplemented from cvr::parametersManager.

parameters& cvr::euclideanTransformation2D::getRWParameters

(

)

[protected]

Returns used parameters.

virtual const std::string& cvr::euclideanTransformation2D::name

(

)

const [virtual]

Returns the complete name of the functor class.

Implements cvr::functor.

virtual euclideanTransformation2D* cvr::euclideanTransformation2D::newInstance

(

)

const [virtual]

Returns a pointer to a new instance of this functor.

Implements cvr::functor.

euclideanTransformation2D& cvr::euclideanTransformation2D::operator=

(

const euclideanTransformation2D &

other

)

Alias for copy member.

Parameters:

other

the functor to be copied

Returns:

a reference to this functor object

bool cvr::euclideanTransformation2D::updateParameters

(

)

[virtual]

Update parameters.

Reimplemented from cvr::parametersManager.

---

Member Data Documentation

float cvr::euclideanTransformation2D::cosa_ [protected]

Cosine of the rotation angle.

linearLeastSquares cvr::euclideanTransformation2D::lls_ [protected]

Singular value decomposition.

Convenience method to avoid the SVD to be present in the template implementation

float cvr::euclideanTransformation2D::sina_ [protected]

Sine of the rotation angle.

fpoint cvr::euclideanTransformation2D::trans_ [protected]

Shadow of the translation point.

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

• cvrEuclideanTransformation2D.h