A photo projection is a kind of transformation that project point/vector to a flat photo. More...

#include "Transformations.h"

Inheritance diagram for meow::PhotoProjection< Scalar >:

Public Member Functions
	PhotoProjection (size_t dimension)

	PhotoProjection (size_t dimension, Scalar const &f)

	PhotoProjection (PhotoProjection const &p)

PhotoProjection &	copyFrom (PhotoProjection const &b)

PhotoProjection &	referenceFrom (PhotoProjection const &b)

Scalar	parameter (size_t i) const
	Same as `focal()` More...

Scalar	parameter (size_t i, Scalar const &s)
	Same as `focal(s)` More...

Scalar	focal () const
	Get the focal length. More...

Scalar	focal (Scalar const &f)
	Set the focal length. More...

size_t	dimension () const
	Get the dimension of this projection. More...

Matrix< Scalar >	transformate (Matrix< Scalar > const &x) const
	Project the input vector(s) onto the plane. More...

Matrix< Scalar >	jacobian (Matrix< Scalar > const &x) const
	Return the jacobian matrix (derivate by the input vector) of this projection. More...

Matrix< Scalar >	jacobian (Matrix< Scalar > const &x, size_t i) const
	Return the jacobian matrix (derivate by the focus length) of this projection. More...

PhotoProjection &	operator= (PhotoProjection const &b)
	Same as `copyFrom(b)` More...

Matrix< Scalar >	operator() (Matrix< Scalar > const &v) const
	Same as `transformate(v)` More...

Public Member Functions inherited from meow::Transformation< Scalar >
virtual	~Transformation ()

size_t	inputRows () const
	Return the number of rows of the input matrix. More...

size_t	inputCols () const
	Return the number of columns of the input matrix. More...

size_t	outputRows () const
	Return the number of rows of the output matrix. More...

size_t	outputCols () const
	Return the number of columns of the output matrix. More...

size_t	parameterSize () const
	Return the number of parameters. More...

virtual bool	inversable () const
	Return whether this transformation is inversable or not. More...

virtual Matrix< Scalar >	transformateInv (Matrix< Scalar > const &x) const
	Do the inverse transformation. More...

virtual Matrix< Scalar >	jacobianInv (Matrix< Scalar > const &x) const
	Return the jacobian matrix of the inverse transformation. More...

virtual Matrix< Scalar >	jacobianInv (Matrix< Scalar > const &x, size_t i) const
	Return the jacobian matrix of the inverse transformation. More...

Additional Inherited Members
Protected Member Functions inherited from meow::Transformation< Scalar >
	Transformation (size_t inputRows, size_t inputCols, size_t outputRows, size_t outputCols, size_t psize)

	Transformation (Transformation const &b)

Transformation &	copyFrom (Transformation const &b)
	Copy from the specified one. More...

Transformation &	referenceFrom (Transformation const &b)
	Ceference from the specified one. More...

Detailed Description

template<class Scalar>
class meow::PhotoProjection< Scalar >

A photo projection is a kind of transformation that project point/vector to a flat photo.

Assume:

The dimension of a photo projection is
The length of the input vector is
The focal length is

Then transformation is like below:

$\left[ \begin{array}{c} x_1 \\ x_2 \\ x_3 \\ . \\ . \\ . \\ x_N \\ \end{array} \right] \stackrel{transformate}{\rightarrow} \left[ \begin{array}{c} \frac{-x_1 \times f}{x_N} \\ \frac{-x_2 \times f}{x_N} \\ \frac{-x_3 \times f}{x_N} \\ . \\ . \\ . \\ -f \\ \end{array} \right] \\$

i.e. projecte the vector onto the plane $ x_N = -f $ .

Author: cat_leopard

Constructor & Destructor Documentation

template<class Scalar>

meow::PhotoProjection< Scalar >::PhotoProjection ( size_t dimension )

inline

Constructor, focal = 1

template<class Scalar>

meow::PhotoProjection< Scalar >::PhotoProjection	(	size_t	dimension,
		Scalar const &	f
	)

inline

Constructor

template<class Scalar>

meow::PhotoProjection< Scalar >::PhotoProjection ( PhotoProjection< Scalar > const & p )

inline

Constructor, copy settings from another PhotoProjection.

Member Function Documentation

template<class Scalar>

PhotoProjection& meow::PhotoProjection< Scalar >::copyFrom ( PhotoProjection< Scalar > const & b )

inline

Copy settings from another one

Parameters

[in] b another one

Returns: *this

template<class Scalar>

size_t meow::PhotoProjection< Scalar >::dimension ( ) const

inline

Get the dimension of this projection.

template<class Scalar>

Scalar meow::PhotoProjection< Scalar >::focal ( ) const

inline

Get the focal length.

Returns: Focal length

template<class Scalar>

Scalar meow::PhotoProjection< Scalar >::focal ( Scalar const & f )

inline

Set the focal length.

Parameters

[in] f New focal length

Returns: New focal length

template<class Scalar>

Matrix<Scalar> meow::PhotoProjection< Scalar >::jacobian ( Matrix< Scalar > const & x ) const

inlinevirtual

Return the jacobian matrix (derivate by the input vector) of this projection.

This method only allow a vector-like matrix be input. Assume:

The dimension of this projection is
The length of the input vector is $L=\sqrt{x_1^2+x_2^2+...+x_N^2}$
The focal length of this projection is

Then the jacobian matrix is like below:

$f \times \left[ \begin{array}{ccccc} \frac{-1}{x_N} & 0 & 0 & ... & \frac{1}{x_N^2} \\ 0 & \frac{-1}{x_N} & 0 & ... & \frac{1}{x_N^2} \\ 0 & 0 & \frac{-1}{x_N} & ... & \frac{1}{x_N^2} \\ . & . & . & & . \\ . & . & . & & . \\ . & . & . & & . \\ 0 & 0 & 0 & ... & 0 \\ \end{array} \right]$

Parameters

[in] x The input matrix.

Returns: The output matrix.

Reimplemented from meow::Transformation< Scalar >.

template<class Scalar>

Matrix<Scalar> meow::PhotoProjection< Scalar >::jacobian	(	Matrix< Scalar > const &	x,
		size_t	i
	)		const

inlinevirtual

Return the jacobian matrix (derivate by the focus length) of this projection.

This method only allow a vector-like matrix be input. Assume:

The dimension of this projection is
The length of the input vector is $L=\sqrt{x_1^2+x_2^2+...+x_N^2}$
The focal length of this projection is

Then the jacobian matrix is like below:

$f \times \left[ \begin{array}{c} \frac{-x_1}{x_N} \\ \frac{-x_2}{x_N} \\ \frac{-x_3}{x_N} \\ . \\ . \\ . \\ -1 \\ \end{array} \right]$

Parameters

[in]	x	The input matrix.
[in]	i	Useless parameter

Returns: The output matrix.

Reimplemented from meow::Transformation< Scalar >.

template<class Scalar>

Matrix<Scalar> meow::PhotoProjection< Scalar >::operator() ( Matrix< Scalar > const & v ) const

inline

Same as transformate(v)

template<class Scalar>

PhotoProjection& meow::PhotoProjection< Scalar >::operator= ( PhotoProjection< Scalar > const & b )

inline

Same as copyFrom(b)

template<class Scalar>

Scalar meow::PhotoProjection< Scalar >::parameter ( size_t i ) const

inlinevirtual

Same as focal()

Implements meow::Transformation< Scalar >.

template<class Scalar>

Scalar meow::PhotoProjection< Scalar >::parameter	(	size_t	i,
		Scalar const &	s
	)

inlinevirtual

Same as focal(s)

Implements meow::Transformation< Scalar >.

template<class Scalar>

PhotoProjection& meow::PhotoProjection< Scalar >::referenceFrom ( PhotoProjection< Scalar > const & b )

inline

Reference settings from another one

Parameters

[in] b another one

Returns: *this

template<class Scalar>

Matrix<Scalar> meow::PhotoProjection< Scalar >::transformate ( Matrix< Scalar > const & x ) const

inlinevirtual

Project the input vector(s) onto the plane.

The equation of the plane is $ x_N = -f $ , where the $ N $ is the dimension of this projection and f is the focal length.
If the number of columns of the input matrix is larger than 1, this method will think that you want to transform multiple vector once and the number of columns of the output matrix will be the same of the number of columns of the input one.

Parameters

[in] x The input matrix.

Returns: The output matrix.

Note: Take into account that too much safty checking will lead to inefficient, this method will not checking whether the dimension of the input vector/matrix is right. So be sure the data is valid before you call this method.

Implements meow::Transformation< Scalar >.

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

meowpp/math/Transformations.h

Public Member Functions

Additional Inherited Members

Detailed Description

template<class Scalar> class meow::PhotoProjection< Scalar >

Constructor & Destructor Documentation

Member Function Documentation

template<class Scalar>
class meow::PhotoProjection< Scalar >