CameraMatrix< T > Class Template Reference

The PerspectiveTransform2D is a perspective transform in 2D. The homographic transform can be used to map one arbitrary 2D quadrilateral into another. More...

#include <CameraMatrix.hpp>

Public Types
typedef Eigen::Matrix< T, 4, 4 >	Base
	The type of the underlying Eigen data type.
typedef std::pair< rw::math::Vector3D< T >, rw::math::Vector3D< T > >	Vector3DPair
	A pair of Vector3D.

Public Member Functions
	CameraMatrix (T r11, T r12, T r13, T r21, T r22, T r23, T r31, T r32, T r33)
	constructor
virtual	~CameraMatrix ()
	destructor
T &	operator() (std::size_t row, std::size_t col)
	Returns matrix element reference. More...
const T &	operator() (std::size_t row, std::size_t col) const
	Returns const matrix element reference. More...
Vector3D< T >	operator* (const Vector3D< T > &v2d) const
	transform a point using this perspective transform
Base &	e ()
	Returns reference to the internal camera matrix. More...

Related Functions
(Note that these are not member functions.)
template<>
void	write (const rw::math::CameraMatrix< double > &sobject, rw::common::OutputArchive &oarchive, const std::string &id)
template<>
void	write (const rw::math::CameraMatrix< float > &sobject, rw::common::OutputArchive &oarchive, const std::string &id)
template<>
void	read (rw::math::CameraMatrix< double > &sobject, rw::common::InputArchive &iarchive, const std::string &id)
template<>
void	read (rw::math::CameraMatrix< float > &sobject, rw::common::InputArchive &iarchive, const std::string &id)

Detailed Description

template<class T = double>
class rw::math::CameraMatrix< T >

The PerspectiveTransform2D is a perspective transform in 2D. The homographic transform can be used to map one arbitrary 2D quadrilateral into another.

Member Function Documentation

e()

Base& e ( )

inline

Returns reference to the internal camera matrix.

Returns

\( \mathbf{M}\in SO(3) \)

operator()() [1/2]

T& operator() ( std::size_t  row, std::size_t  col  )

inline

Returns matrix element reference.

Parameters

row	[in] row, row must be \( < 3 \)
col	[in] col, col must be \( < 3 \)

Returns

reference to matrix element

operator()() [2/2]

const T& operator() ( std::size_t  row, std::size_t  col  ) const

inline

Returns const matrix element reference.

Parameters

row	[in] row, row must be \( < 3 \)
col	[in] col, col must be \( < 3 \)

Returns

const reference to matrix element

Friends And Related Function Documentation

read() [1/2]

void read ( rw::math::CameraMatrix< double > &  sobject, rw::common::InputArchive &  iarchive, const std::string &  id  )

related

Enable read-serialization of class T by overloading this method. Data is read from iarchive and filled into sobject.

Parameters

sobject	[out] the object in which the data should be streamed into
iarchive	[in] the InputArchive from which to read data.
id	[in] The id of the serialized sobject.

Note

the id can be empty in which case the overloaded method should provide a default identifier. E.g. the Vector3D class defined "Vector3D" as its default id.

read() [2/2]

void read ( rw::math::CameraMatrix< float > &  sobject, rw::common::InputArchive &  iarchive, const std::string &  id  )

related

Enable read-serialization of class T by overloading this method. Data is read from iarchive and filled into sobject.

Parameters

sobject	[out] the object in which the data should be streamed into
iarchive	[in] the InputArchive from which to read data.
id	[in] The id of the serialized sobject.

Note

the id can be empty in which case the overloaded method should provide a default identifier. E.g. the Vector3D class defined "Vector3D" as its default id.

write() [1/2]

void write ( const rw::math::CameraMatrix< double > &  sobject, rw::common::OutputArchive &  oarchive, const std::string &  id  )

related

Enable write-serialization of class T by overloading this method. Data is written to oarchive from the sobject.

Parameters

sobject	[in] the object from which the data should be streamed.
oarchive	[out] the OutputArchive in which data should be written.
id	[in] The id of the serialized sobject.

Note

the id can be empty in which case the overloaded method should provide a default identifier. E.g. the Vector3D class defined "Vector3D" as its default id.

write() [2/2]

void write ( const rw::math::CameraMatrix< float > &  sobject, rw::common::OutputArchive &  oarchive, const std::string &  id  )

related

Enable write-serialization of class T by overloading this method. Data is written to oarchive from the sobject.

Parameters

sobject	[in] the object from which the data should be streamed.
oarchive	[out] the OutputArchive in which data should be written.
id	[in] The id of the serialized sobject.

Note

the id can be empty in which case the overloaded method should provide a default identifier. E.g. the Vector3D class defined "Vector3D" as its default id.

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

• core/math_fwd.hpp
• CameraMatrix.hpp