A 4x4 'transformation' matrix (column major order) More...

#include <ecvGLMatrixTpl.h>

Inheritance diagram for ccGLMatrixTpl< T >:

[legend]

Collaboration diagram for ccGLMatrixTpl< T >:

Public Member Functions
	ccGLMatrixTpl (const Eigen::Matrix< float, 4, 4 > &mat)
	Copy Function. More...

	ccGLMatrixTpl (const Eigen::Matrix< double, 4, 4 > &mat)

	ccGLMatrixTpl (const Eigen::Matrix< float, 3, 3 > &mat)

	ccGLMatrixTpl (const Eigen::Matrix< double, 3, 3 > &mat)

ccGLMatrixTpl< T > &	operator= (const Eigen::Matrix< float, 4, 4 > &mat)
	Assignment Function. More...

ccGLMatrixTpl< T > &	operator= (const Eigen::Matrix< double, 4, 4 > &mat)

ccGLMatrixTpl< T > &	operator= (const Eigen::Matrix< float, 3, 3 > &mat)

ccGLMatrixTpl< T > &	operator= (const Eigen::Matrix< double, 3, 3 > &mat)

	ccGLMatrixTpl ()
	Default constructor. More...

	ccGLMatrixTpl (const ccGLMatrixTpl< T > &mat)
	Copy constructor. More...

ccGLMatrixTpl< T > &	operator= (const ccGLMatrixTpl< T > &mat)
	Copy assignment operator. More...

	ccGLMatrixTpl (const float *mat16f)
	Constructor from a float GL matrix array. More...

	ccGLMatrixTpl (const double *mat16d)
	Constructor from a double GL matrix array. More...

	ccGLMatrixTpl (const Vector3Tpl< T > &X, const Vector3Tpl< T > &Y, const Vector3Tpl< T > &Z, const Vector3Tpl< T > &Tr)
	Constructor from 4 columns (X,Y,Z,T) More...

void	toQuaternion (T q[]) const
	Converts to a quaternion from a rotation matrix. More...

void	toAngleAxis (T &alpha_rad, Vector3Tpl< T > &axis3D) const
	Returns equivalent parameters: a rotation axis and an angle. More...

void	toEulerAngle (T &rz, T &ry, T &rx) const
	Returns equivalent parameters: 3 rotation angles. More...

QString	toString (int precision=12, QChar separator=' ') const
	Returns matrix as a string. More...

virtual bool	toAsciiFile (QString filename, int precision=12) const
	Saves matrix to an ASCII file. More...

virtual bool	fromAsciiFile (QString filename)
	Loads matrix from an ASCII file. More...

ccGLMatrixTpl< T >	xRotation () const
	Returns the rotation component around X only. More...

ccGLMatrixTpl< T >	yRotation () const
	Returns the rotation component around Y only. More...

ccGLMatrixTpl< T >	zRotation () const
	Returns the rotation component around Z only. More...

virtual void	toZero ()
	Clears matrix. More...

virtual void	toIdentity ()
	Sets matrix to identity. More...

virtual bool	isIdentity () const
	Returns whether this matrix is equal to identity. More...

void	clearTranslation ()
	Clears translation. More...

void	initFromParameters (T alpha_rad, const Vector3Tpl< T > &axis3D, const Vector3Tpl< T > &t3D)
	Inits transformation from a rotation axis, an angle and a translation. More...

void	initFromParameters (T phi_rad, T theta_rad, T psi_rad, const Vector3Tpl< T > &t3D)
	Inits transformation from 3 rotation angles and a translation. More...

void	getParameters (T &alpha_rad, Vector3Tpl< T > &axis3D, Vector3Tpl< T > &t3D) const

void	getParameters (T &phi_rad, T &theta_rad, T &psi_rad, Vector3Tpl< T > &t3D) const
	Returns equivalent parameters: 3 rotation angles and a translation. More...

T *	data ()
	Returns a pointer to internal data. More...

const T *	data () const
	Returns a const pointer to internal data. More...

T *	getTranslation ()
	Retruns a pointer to internal translation. More...

const T *	getTranslation () const
	Retruns a const pointer to internal translation. More...

Vector3Tpl< T >	getTranslationAsVec3D () const
	Returns a copy of the translation as a CCVector3. More...

void	setTranslation (const Vector3Tpl< float > &Tr)
	Sets translation (float version) More...

void	setTranslation (const Vector3Tpl< double > &Tr)
	Sets translation (double version) More...

void	setTranslation (const float Tr[3])
	Sets translation from a float array. More...

void	setTranslation (const double Tr[3])
	Sets translation from a double array. More...

void	setRotation (const float Rt[9])
	Sets Rotation from a float array. More...

void	setRotation (const double Rt[9])
	Sets Rotation from a double array. More...

T *	getColumn (unsigned index)
	Returns a pointer to a given column. More...

const T *	getColumn (unsigned index) const
	Returns a const pointer to a given column. More...

Vector3Tpl< T >	getColumnAsVec3D (unsigned index) const
	Returns a copy of a given column as a CCVector3. More...

void	setColumn (unsigned index, const Vector3Tpl< T > &v)
	Sets the content of a given column. More...

void	setColumn (unsigned index, const Tuple4Tpl< T > &v)
	Sets the content of a given column. More...

ccGLMatrixTpl< T >	operator* (const ccGLMatrixTpl< T > &mat) const
	Multiplication by a matrix operator. More...

Vector3Tpl< float >	operator* (const Vector3Tpl< float > &vec) const
	Multiplication by a vector operator (float version) More...

Vector3Tpl< double >	operator* (const Vector3Tpl< double > &vec) const
	Multiplication by a vector operator (double version) More...

Tuple4Tpl< float >	operator* (const Tuple4Tpl< float > &vec) const
	Multiplication by a 4D vector operator (float version) More...

Tuple4Tpl< double >	operator* (const Tuple4Tpl< double > &vec) const
	Multiplication by a 4D vector operator (double version) More...

ccGLMatrixTpl< T > &	operator+= (const ccGLMatrixTpl< T > &mat)
	(in place) Addition operator More...

ccGLMatrixTpl< T > &	operator-= (const ccGLMatrixTpl< T > &mat)
	(in place) Difference operator More...

ccGLMatrixTpl< T > &	operator*= (const ccGLMatrixTpl< T > &mat)
	(in place) Multiplication operator More...

ccGLMatrixTpl< T > &	operator+= (const Vector3Tpl< float > &Tr)
	(in place) Forward translation operator (float version) More...

ccGLMatrixTpl< T > &	operator+= (const Vector3Tpl< double > &Tr)
	(in place) Forward translation operator (double version) More...

ccGLMatrixTpl< T > &	operator-= (const Vector3Tpl< float > &Tr)
	(in place) Backward translation operator (float version) More...

ccGLMatrixTpl< T > &	operator-= (const Vector3Tpl< double > &Tr)
	(in place) Backward translation operator (double version) More...

T	operator() (unsigned row, unsigned col) const
	Returns the value at a given position. More...

void	apply (float vec[3]) const
	Applies transformation to a 3D vector (in place) - float version. More...

void	apply (double vec[3]) const
	Applies transformation to a 3D vector (in place) - double version. More...

void	apply (Vector3Tpl< float > &vec) const
	Applies transformation to a 3D vector (in place) - float version. More...

void	apply (Vector3Tpl< double > &vec) const
	Applies transformation to a 3D vector (in place) - double version. More...

void	apply (Tuple4Tpl< float > &vec) const
	Applies transformation to a 4D vector (in place) - float version. More...

void	apply (Tuple4Tpl< double > &vec) const
	Applies transformation to a 3D vector (in place) - double version. More...

float	applyX (const Vector3Tpl< float > &vec) const
	Get the resulting transformation along X dimension (float version) More...

double	applyX (const Vector3Tpl< double > &vec) const
	Get the resulting transformation along X dimension (double version) More...

float	applyY (const Vector3Tpl< float > &vec) const
	Get the resulting transformation along Y dimension (float version) More...

double	applyY (const Vector3Tpl< double > &vec) const
	Get the resulting transformation along Y dimension (double version) More...

float	applyZ (const Vector3Tpl< float > &vec) const
	Get the resulting transformation along Z dimension (float version) More...

double	applyZ (const Vector3Tpl< double > &vec) const
	Get the resulting transformation along Z dimension (double version) More...

float	applyX (const Tuple4Tpl< float > &vec) const
	Get the resulting transformation along X dimension (float version) More...

double	applyX (const Tuple4Tpl< double > &vec) const
	Get the resulting transformation along X dimension (double version) More...

float	applyY (const Tuple4Tpl< float > &vec) const
	Get the resulting transformation along Y dimension (float version) More...

double	applyY (const Tuple4Tpl< double > &vec) const
	Get the resulting transformation along Y dimension (double version) More...

float	applyZ (const Tuple4Tpl< float > &vec) const
	Get the resulting transformation along Z dimension (float version) More...

double	applyZ (const Tuple4Tpl< double > &vec) const
	Get the resulting transformation along Z dimension (double version) More...

float	applyW (const Tuple4Tpl< float > &vec) const
	Get the resulting transformation along the 4th dimension (float version) More...

double	applyW (const Tuple4Tpl< double > &vec) const

void	applyRotation (Vector3Tpl< float > &vec) const
	Applies rotation only to a 3D vector (in place) - float version. More...

void	applyRotation (Vector3Tpl< double > &vec) const
	Applies rotation only to a 3D vector (in place) - double version. More...

void	applyRotation (float vec[3]) const
	Applies rotation only to a 3D vector (in place) - float version. More...

void	applyRotation (double vec[3]) const
	Applies rotation only to a 3D vector (in place) - float version. More...

void	shiftRotationCenter (const Vector3Tpl< T > &vec)
	Shifts rotation center. More...

void	transpose ()
	Transposes matrix (in place) More...

ccGLMatrixTpl< T >	transposed () const
	Returns transposed matrix. More...

void	invert ()
	Inverts transformation. More...

ccGLMatrixTpl< T >	inverse () const
	Returns inverse transformation. More...

void	scale (T coef)
	Scales the whole matrix. More...

void	scaleLine (unsigned lineIndex, T coef)
	Scales one line of the matrix. More...

void	scaleRotation (T coef)
	Scales the rotation part of the matrix. More...

void	scaleRow (unsigned rowIndex, T coef)
	Scales one row of the matrix. More...

void	scaleColumn (unsigned colIndex, T coef)
	Scales one column of the matrix. More...

bool	isSerializable () const override
	Returns whether object is serializable of not. More...

bool	toFile (QFile &out, short dataVersion) const override
	Saves data to binary stream. More...

short	minimumFileVersion () const override
	Returns the minimum file version required to save this instance. More...

bool	fromFile (QFile &in, short dataVersion, int flags, LoadedIDMap &oldToNewIDMap) override
	Loads data from binary stream. More...

Public Member Functions inherited from ccSerializableObject
virtual	~ccSerializableObject ()=default
	Destructor. More...

Static Public Member Functions
static ccGLMatrixTpl< T >	FromEigenMatrix (const Eigen::Matrix< double, 4, 4 > &mat)

static ccGLMatrixTpl< T >	FromEigenMatrix3 (const Eigen::Matrix< T, 3, 3 > &mat)

static Eigen::Matrix< T, 4, 4 >	ToEigenMatrix4 (const ccGLMatrixTpl< float > &mat)

static Eigen::Matrix< T, 4, 4 >	ToEigenMatrix4 (const ccGLMatrixTpl< double > &mat)

static Eigen::Matrix< T, 3, 3 >	ToEigenMatrix3 (const ccGLMatrixTpl< float > &mat)

static Eigen::Matrix< T, 3, 3 >	ToEigenMatrix3 (const ccGLMatrixTpl< double > &mat)

static ccGLMatrixTpl	Interpolate (T coef, const ccGLMatrixTpl< T > &glMat1, const ccGLMatrixTpl< T > &glMat2)
	Interpolates two matrices at relative position 'coef'. More...

static ccGLMatrixTpl< T >	FromToRotation (const Vector3Tpl< T > &from, const Vector3Tpl< T > &to)
	Creates a transformation matrix that rotates a vector to another. More...

template<class Tq >
static ccGLMatrixTpl< T >	FromQuaternion (const Tq q[])
	Converts a quaternion to a rotation matrix. More...

static Eigen::Matrix< T, 3, 3 >	QuaternionToRotationMatrix (const Eigen::Matrix< T, 4, 1 > &qvec)
	Converts a quaternion to a rotation matrix. More...

static ccGLMatrixTpl< T >	QuaternionToRotationMatrix (const Tuple4Tpl< T > &qvec)
	Converts a quaternion to a rotation matrix. More...

static Eigen::Matrix< T, 4, 1 >	NormalizeQuaternion (const Eigen::Matrix< T, 4, 1 > &qvec)
	Converts a quaternion to a rotation matrix. More...

static ccGLMatrixTpl< T >	FromViewDirAndUpDir (const Vector3Tpl< T > &forward, const Vector3Tpl< T > &up)
	Generates a 'viewing' matrix from a looking vector and a 'up' direction. More...

static ccGLMatrixTpl< T >	FromString (const QString &matText, bool &success)
	Converts a 'text' matrix to a ccGLMatrix. More...

Static Public Member Functions inherited from ccSerializableObject
static bool	WriteError ()
	Sends a custom error message (write error) and returns 'false'. More...

static bool	ReadError ()
	Sends a custom error message (read error) and returns 'false'. More...

static bool	MemoryError ()
	Sends a custom error message (not enough memory) and returns 'false'. More...

static bool	CorruptError ()
	Sends a custom error message (corrupted file) and returns 'false'. More...

Protected Attributes
T	m_mat [OPENGL_MATRIX_SIZE]
	Internal 4x4 GL-style matrix data. More...

Additional Inherited Members
Public Types inherited from ccSerializableObject
enum	DeserializationFlags { DF_POINT_COORDS_64_BITS , DF_SCALAR_VAL_32_BITS = 2 }
	Deserialization flags (bit-field) More...

typedef QMultiMap< unsigned, unsigned >	LoadedIDMap
	Map of loaded unique IDs (old ID --> new ID) More...

Detailed Description

template<typename T>
class ccGLMatrixTpl< T >

A 4x4 'transformation' matrix (column major order)

Transformation (M) is composed by a rotation (R) and a translation (T): M*X = R*X + T

Definition at line 52 of file ecvGLMatrixTpl.h.

Constructor & Destructor Documentation

◆ ccGLMatrixTpl() [1/9]

template<typename T >

ccGLMatrixTpl< T >::ccGLMatrixTpl ( const Eigen::Matrix< float, 4, 4 > & mat )

inline

Copy Function.

Definition at line 98 of file ecvGLMatrixTpl.h.

◆ ccGLMatrixTpl() [2/9]

template<typename T >

ccGLMatrixTpl< T >::ccGLMatrixTpl ( const Eigen::Matrix< double, 4, 4 > & mat )

inline

Definition at line 99 of file ecvGLMatrixTpl.h.

◆ ccGLMatrixTpl() [3/9]

template<typename T >

ccGLMatrixTpl< T >::ccGLMatrixTpl ( const Eigen::Matrix< float, 3, 3 > & mat )

inline

Definition at line 103 of file ecvGLMatrixTpl.h.

◆ ccGLMatrixTpl() [4/9]

template<typename T >

ccGLMatrixTpl< T >::ccGLMatrixTpl ( const Eigen::Matrix< double, 3, 3 > & mat )

inline

Definition at line 104 of file ecvGLMatrixTpl.h.

◆ ccGLMatrixTpl() [5/9]

template<typename T >

ccGLMatrixTpl< T >::ccGLMatrixTpl ( )

inline

Default constructor.

Matrix is set to identity (see toIdentity) by default.

Definition at line 134 of file ecvGLMatrixTpl.h.

References ccGLMatrixTpl< T >::toIdentity().

◆ ccGLMatrixTpl() [6/9]

template<typename T >

ccGLMatrixTpl< T >::ccGLMatrixTpl ( const ccGLMatrixTpl< T > & mat )

inline

Copy constructor.

Definition at line 137 of file ecvGLMatrixTpl.h.

References ccGLMatrixTpl< T >::m_mat, and OPENGL_MATRIX_SIZE.

◆ ccGLMatrixTpl() [7/9]

template<typename T >

ccGLMatrixTpl< T >::ccGLMatrixTpl ( const float * mat16f )

inlineexplicit

Constructor from a float GL matrix array.

Parameters

mat16f a 16 elements array (column major order)

Definition at line 154 of file ecvGLMatrixTpl.h.

References ccGLMatrixTpl< T >::m_mat, and OPENGL_MATRIX_SIZE.

◆ ccGLMatrixTpl() [8/9]

template<typename T >

ccGLMatrixTpl< T >::ccGLMatrixTpl ( const double * mat16d )

inlineexplicit

Constructor from a double GL matrix array.

Warning: Will implicitly cast the elements to float!

Parameters

mat16d a 16 elements array (column major order)

Definition at line 163 of file ecvGLMatrixTpl.h.

References ccGLMatrixTpl< T >::m_mat, and OPENGL_MATRIX_SIZE.

◆ ccGLMatrixTpl() [9/9]

template<typename T >

ccGLMatrixTpl< T >::ccGLMatrixTpl	(	const Vector3Tpl< T > &	X,
		const Vector3Tpl< T > &	Y,
		const Vector3Tpl< T > &	Z,
		const Vector3Tpl< T > &	Tr
	)

inline

Constructor from 4 columns (X,Y,Z,T)

Parameters

X	3 first elements of the 1st column (last one is 0)
Y	3 first elements of the 2nd column (last one is 0)
Z	3 first elements of the 3rd column (last one is 0)
Tr	3 first elements of the last column (last one is 1)

Definition at line 174 of file ecvGLMatrixTpl.h.

References CC_MAT_R11, CC_MAT_R12, CC_MAT_R13, CC_MAT_R14, CC_MAT_R21, CC_MAT_R22, CC_MAT_R23, CC_MAT_R24, CC_MAT_R31, CC_MAT_R32, CC_MAT_R33, CC_MAT_R34, CC_MAT_R41, CC_MAT_R42, CC_MAT_R43, CC_MAT_R44, Tuple3Tpl< Type >::x, X, Tuple3Tpl< Type >::y, and Tuple3Tpl< Type >::z.

Member Function Documentation

◆ apply() [1/6]

template<typename T >

void ccGLMatrixTpl< T >::apply ( double vec[3] ) const

inline

Applies transformation to a 3D vector (in place) - double version.

Input array is directly modified after calling this method

Definition at line 1049 of file ecvGLMatrixTpl.h.

References ccGLMatrixTpl< T >::apply().

◆ apply() [2/6]

template<typename T >

void ccGLMatrixTpl< T >::apply ( float vec[3] ) const

inline

Applies transformation to a 3D vector (in place) - float version.

Input array is directly modified after calling this method

Definition at line 1039 of file ecvGLMatrixTpl.h.

Referenced by ccGLMatrixTpl< T >::apply(), DistanceMapGenerationTool::ConvertProfileToMesh(), and MainWindow::onItemPicked().

◆ apply() [3/6]

template<typename T >

void ccGLMatrixTpl< T >::apply ( Tuple4Tpl< double > & vec ) const

inline

Applies transformation to a 3D vector (in place) - double version.

Input vector is directly modified after calling this method

Definition at line 1073 of file ecvGLMatrixTpl.h.

◆ apply() [4/6]

template<typename T >

void ccGLMatrixTpl< T >::apply ( Tuple4Tpl< float > & vec ) const

inline

Applies transformation to a 4D vector (in place) - float version.

Input vector is directly modified after calling this method

Definition at line 1069 of file ecvGLMatrixTpl.h.

◆ apply() [5/6]

template<typename T >

void ccGLMatrixTpl< T >::apply ( Vector3Tpl< double > & vec ) const

inline

Applies transformation to a 3D vector (in place) - double version.

Input vector is directly modified after calling this method

Definition at line 1064 of file ecvGLMatrixTpl.h.

◆ apply() [6/6]

template<typename T >

void ccGLMatrixTpl< T >::apply ( Vector3Tpl< float > & vec ) const

inline

Applies transformation to a 3D vector (in place) - float version.

Input vector is directly modified after calling this method

Definition at line 1060 of file ecvGLMatrixTpl.h.

◆ applyRotation() [1/4]

template<typename T >

void ccGLMatrixTpl< T >::applyRotation ( double vec[3] ) const

inline

Applies rotation only to a 3D vector (in place) - float version.

Input array is directly modified after calling this method

Definition at line 1245 of file ecvGLMatrixTpl.h.

References CC_MAT_R11, CC_MAT_R12, CC_MAT_R13, CC_MAT_R21, CC_MAT_R22, CC_MAT_R23, CC_MAT_R31, CC_MAT_R32, and CC_MAT_R33.

◆ applyRotation() [2/4]

template<typename T >

void ccGLMatrixTpl< T >::applyRotation ( float vec[3] ) const

inline

Applies rotation only to a 3D vector (in place) - float version.

Input array is directly modified after calling this method

Definition at line 1225 of file ecvGLMatrixTpl.h.

References CC_MAT_R11, CC_MAT_R12, CC_MAT_R13, CC_MAT_R21, CC_MAT_R22, CC_MAT_R23, CC_MAT_R31, CC_MAT_R32, and CC_MAT_R33.

◆ applyRotation() [3/4]

template<typename T >

void ccGLMatrixTpl< T >::applyRotation ( Vector3Tpl< double > & vec ) const

inline

Applies rotation only to a 3D vector (in place) - double version.

Input vector is directly modified after calling this method

Definition at line 1204 of file ecvGLMatrixTpl.h.

References CC_MAT_R11, CC_MAT_R12, CC_MAT_R13, CC_MAT_R21, CC_MAT_R22, CC_MAT_R23, CC_MAT_R31, CC_MAT_R32, CC_MAT_R33, Tuple3Tpl< Type >::x, Tuple3Tpl< Type >::y, and Tuple3Tpl< Type >::z.

◆ applyRotation() [4/4]

template<typename T >

void ccGLMatrixTpl< T >::applyRotation ( Vector3Tpl< float > & vec ) const

inline

Applies rotation only to a 3D vector (in place) - float version.

Input vector is directly modified after calling this method

Definition at line 1184 of file ecvGLMatrixTpl.h.

References CC_MAT_R11, CC_MAT_R12, CC_MAT_R13, CC_MAT_R21, CC_MAT_R22, CC_MAT_R23, CC_MAT_R31, CC_MAT_R32, CC_MAT_R33, Tuple3Tpl< Type >::x, Tuple3Tpl< Type >::y, and Tuple3Tpl< Type >::z.

Referenced by ccGLMatrixTpl< T >::invert(), CommandMatchBestFitPlane::process(), and ccGLMatrixTpl< T >::shiftRotationCenter().

◆ applyW() [1/2]

template<typename T >

double ccGLMatrixTpl< T >::applyW ( const Tuple4Tpl< double > & vec ) const

inline

Get the resulting transformation along the 4th dimension (double version)

Definition at line 1174 of file ecvGLMatrixTpl.h.

References CC_MAT_R41, CC_MAT_R42, CC_MAT_R43, CC_MAT_R44, Tuple4Tpl< Type >::w, Tuple4Tpl< Type >::x, Tuple4Tpl< Type >::y, and Tuple4Tpl< Type >::z.

◆ applyW() [2/2]

template<typename T >

float ccGLMatrixTpl< T >::applyW ( const Tuple4Tpl< float > & vec ) const

inline

Get the resulting transformation along the 4th dimension (float version)

Definition at line 1166 of file ecvGLMatrixTpl.h.

References CC_MAT_R41, CC_MAT_R42, CC_MAT_R43, CC_MAT_R44, Tuple4Tpl< Type >::w, Tuple4Tpl< Type >::x, Tuple4Tpl< Type >::y, and Tuple4Tpl< Type >::z.

Referenced by ccGLMatrixTpl< T >::operator*().

◆ applyX() [1/4]

template<typename T >

double ccGLMatrixTpl< T >::applyX ( const Tuple4Tpl< double > & vec ) const

inline

Get the resulting transformation along X dimension (double version)

Definition at line 1128 of file ecvGLMatrixTpl.h.

References CC_MAT_R11, CC_MAT_R12, CC_MAT_R13, CC_MAT_R14, Tuple4Tpl< Type >::w, Tuple4Tpl< Type >::x, Tuple4Tpl< Type >::y, and Tuple4Tpl< Type >::z.

◆ applyX() [2/4]

template<typename T >

float ccGLMatrixTpl< T >::applyX ( const Tuple4Tpl< float > & vec ) const

inline

Get the resulting transformation along X dimension (float version)

Definition at line 1121 of file ecvGLMatrixTpl.h.

References CC_MAT_R11, CC_MAT_R12, CC_MAT_R13, CC_MAT_R14, Tuple4Tpl< Type >::w, Tuple4Tpl< Type >::x, Tuple4Tpl< Type >::y, and Tuple4Tpl< Type >::z.

◆ applyX() [3/4]

template<typename T >

double ccGLMatrixTpl< T >::applyX ( const Vector3Tpl< double > & vec ) const

inline

Get the resulting transformation along X dimension (double version)

Definition at line 1083 of file ecvGLMatrixTpl.h.

References CC_MAT_R11, CC_MAT_R12, CC_MAT_R13, CC_MAT_R14, Tuple3Tpl< Type >::x, Tuple3Tpl< Type >::y, and Tuple3Tpl< Type >::z.

◆ applyX() [4/4]

template<typename T >

float ccGLMatrixTpl< T >::applyX ( const Vector3Tpl< float > & vec ) const

inline

Get the resulting transformation along X dimension (float version)

Definition at line 1076 of file ecvGLMatrixTpl.h.

References CC_MAT_R11, CC_MAT_R12, CC_MAT_R13, CC_MAT_R14, Tuple3Tpl< Type >::x, Tuple3Tpl< Type >::y, and Tuple3Tpl< Type >::z.

Referenced by ccGLMatrixTpl< T >::operator*().

◆ applyY() [1/4]

template<typename T >

double ccGLMatrixTpl< T >::applyY ( const Tuple4Tpl< double > & vec ) const

inline

Get the resulting transformation along Y dimension (double version)

Definition at line 1143 of file ecvGLMatrixTpl.h.

References CC_MAT_R21, CC_MAT_R22, CC_MAT_R23, CC_MAT_R24, Tuple4Tpl< Type >::w, Tuple4Tpl< Type >::x, Tuple4Tpl< Type >::y, and Tuple4Tpl< Type >::z.

◆ applyY() [2/4]

template<typename T >

float ccGLMatrixTpl< T >::applyY ( const Tuple4Tpl< float > & vec ) const

inline

Get the resulting transformation along Y dimension (float version)

Definition at line 1136 of file ecvGLMatrixTpl.h.

References CC_MAT_R21, CC_MAT_R22, CC_MAT_R23, CC_MAT_R24, Tuple4Tpl< Type >::w, Tuple4Tpl< Type >::x, Tuple4Tpl< Type >::y, and Tuple4Tpl< Type >::z.

◆ applyY() [3/4]

template<typename T >

double ccGLMatrixTpl< T >::applyY ( const Vector3Tpl< double > & vec ) const

inline

Get the resulting transformation along Y dimension (double version)

Definition at line 1098 of file ecvGLMatrixTpl.h.

References CC_MAT_R21, CC_MAT_R22, CC_MAT_R23, CC_MAT_R24, Tuple3Tpl< Type >::x, Tuple3Tpl< Type >::y, and Tuple3Tpl< Type >::z.

◆ applyY() [4/4]

template<typename T >

float ccGLMatrixTpl< T >::applyY ( const Vector3Tpl< float > & vec ) const

inline

Get the resulting transformation along Y dimension (float version)

Definition at line 1091 of file ecvGLMatrixTpl.h.

References CC_MAT_R21, CC_MAT_R22, CC_MAT_R23, CC_MAT_R24, Tuple3Tpl< Type >::x, Tuple3Tpl< Type >::y, and Tuple3Tpl< Type >::z.

Referenced by ccGLMatrixTpl< T >::operator*().

◆ applyZ() [1/4]

template<typename T >

double ccGLMatrixTpl< T >::applyZ ( const Tuple4Tpl< double > & vec ) const

inline

Get the resulting transformation along Z dimension (double version)

Definition at line 1158 of file ecvGLMatrixTpl.h.

References CC_MAT_R31, CC_MAT_R32, CC_MAT_R33, CC_MAT_R34, Tuple4Tpl< Type >::w, Tuple4Tpl< Type >::x, Tuple4Tpl< Type >::y, and Tuple4Tpl< Type >::z.

◆ applyZ() [2/4]

template<typename T >

float ccGLMatrixTpl< T >::applyZ ( const Tuple4Tpl< float > & vec ) const

inline

Get the resulting transformation along Z dimension (float version)

Definition at line 1151 of file ecvGLMatrixTpl.h.

References CC_MAT_R31, CC_MAT_R32, CC_MAT_R33, CC_MAT_R34, Tuple4Tpl< Type >::w, Tuple4Tpl< Type >::x, Tuple4Tpl< Type >::y, and Tuple4Tpl< Type >::z.

◆ applyZ() [3/4]

template<typename T >

double ccGLMatrixTpl< T >::applyZ ( const Vector3Tpl< double > & vec ) const

inline

Get the resulting transformation along Z dimension (double version)

Definition at line 1113 of file ecvGLMatrixTpl.h.

References CC_MAT_R31, CC_MAT_R32, CC_MAT_R33, CC_MAT_R34, Tuple3Tpl< Type >::x, Tuple3Tpl< Type >::y, and Tuple3Tpl< Type >::z.

◆ applyZ() [4/4]

template<typename T >

float ccGLMatrixTpl< T >::applyZ ( const Vector3Tpl< float > & vec ) const

inline

Get the resulting transformation along Z dimension (float version)

Definition at line 1106 of file ecvGLMatrixTpl.h.

References CC_MAT_R31, CC_MAT_R32, CC_MAT_R33, CC_MAT_R34, Tuple3Tpl< Type >::x, Tuple3Tpl< Type >::y, and Tuple3Tpl< Type >::z.

Referenced by ccGLMatrixTpl< T >::operator*().

◆ clearTranslation()

template<typename T >

void ccGLMatrixTpl< T >::clearTranslation ( )

inline

Clears translation.

Translation is set to (0,0,0).

Definition at line 642 of file ecvGLMatrixTpl.h.

References CC_MAT_R14, CC_MAT_R24, and CC_MAT_R34.

Referenced by ccGLMatrixTpl< T >::FromEigenMatrix3().

◆ data() [1/2]

template<typename T >

T* ccGLMatrixTpl< T >::data ( )

inline

Returns a pointer to internal data.

Definition at line 810 of file ecvGLMatrixTpl.h.

References ccGLMatrixTpl< T >::m_mat.

Referenced by MainWindow::addToDB(), ccGraphicalTransformationTool::apply(), CorrespondenceMatching::applyTransformation(), TemplateAlignment::applyTransformation(), NurbsCurveFitting::compute(), FastGlobalRegistrationFilter::compute(), ccEntityAction::computeNormals(), DecodeRotation(), DecodeTransformation(), ccPointPair::drawMeOnly(), ccTrace::drawMeOnly(), MatrixDisplayDlg::fillDialogWith(), FromCCLibMatrix(), ccGLMatrixTpl< T >::FromQuaternion(), ccGLMatrixTpl< T >::FromString(), ccGLMatrixTpl< T >::FromViewDirAndUpDir(), ecvGenericDisplayTools::Frustum(), BundlerImportDlg::getOptionalTransfoMatrix(), GetPoseInformation(), Frustum::initfromMPMatrix(), ccCamSensorProjectionDlg::initWithCamSensor(), ccGBLSensorProjectionDlg::initWithGBLSensor(), PovFilter::loadFile(), FBXFilter::loadFile(), LoadImage(), qSRA::loadProfile(), LoadScan(), cloudViewer::ModelViewerWidget::ModelViewMatrix(), MainWindow::onItemPicked(), ccGLMatrixTpl< T >::operator=(), ecvGenericDisplayTools::Ortho(), ecvGenericDisplayTools::Perspective(), ccCloudLayersHelper::projectCloud(), SaveImage(), SavePoseInformation(), SaveScan(), PovFilter::saveToFile(), TransformInfo::setTransformation(), ccGLMatrixTpl< T >::ToEigenMatrix3(), ccGLMatrixTpl< T >::ToEigenMatrix4(), ecvGenericDisplayTools::Unproject(), ccCamSensorProjectionDlg::updateCamSensor(), and ccGBLSensorProjectionDlg::updateGBLSensor().

◆ data() [2/2]

template<typename T >

const T* ccGLMatrixTpl< T >::data ( ) const

inline

Returns a const pointer to internal data.

Definition at line 813 of file ecvGLMatrixTpl.h.

References ccGLMatrixTpl< T >::m_mat.

◆ fromAsciiFile()

template<typename T >

virtual bool ccGLMatrixTpl< T >::fromAsciiFile ( QString filename )

inlinevirtual

Loads matrix from an ASCII file.

Parameters

filename input file name

Reimplemented in ccIndexedTransformation.

Definition at line 538 of file ecvGLMatrixTpl.h.

References filename, and ccGLMatrixTpl< T >::m_mat.

Referenced by ccApplyTransformationDlg::loadFromASCIIFile(), and CommandApplyTransformation::process().

◆ FromEigenMatrix()

template<typename T >

static ccGLMatrixTpl<T> ccGLMatrixTpl< T >::FromEigenMatrix ( const Eigen::Matrix< double, 4, 4 > & mat )

inlinestatic

Definition at line 54 of file ecvGLMatrixTpl.h.

◆ FromEigenMatrix3()

template<typename T >

static ccGLMatrixTpl<T> ccGLMatrixTpl< T >::FromEigenMatrix3 ( const Eigen::Matrix< T, 3, 3 > & mat )

inlinestatic

Definition at line 59 of file ecvGLMatrixTpl.h.

References ccGLMatrixTpl< T >::clearTranslation(), and ccGLMatrixTpl< T >::setRotation().

Referenced by ccGLMatrixTpl< T >::QuaternionToRotationMatrix().

◆ fromFile()

template<typename T >

bool ccGLMatrixTpl< T >::fromFile	(	QFile &	in,
		short	dataVersion,
		int	flags,
		LoadedIDMap &	oldToNewIDMap
	)

inlineoverridevirtual

Loads data from binary stream.

Parameters

in	input file (already opened)
dataVersion	file version (for version-specific deserialization)
flags	deserialization flags (see ccSerializableObject::DeserializationFlags)
oldToNewIDMap	map to link old IDs with new IDs

Returns

success

Note: When implementing, use dataVersion checks to handle different

versions:

if (dataVersion >= X) { read new field } else { use default value } This ensures forward compatibility with older file formats.

Reimplemented from ccSerializableObject.

Definition at line 1427 of file ecvGLMatrixTpl.h.

◆ FromQuaternion()

template<typename T >

template<class Tq >

static ccGLMatrixTpl<T> ccGLMatrixTpl< T >::FromQuaternion ( const Tq q[] )

inlinestatic

Converts a quaternion to a rotation matrix.

Parameters

q	quaternion (4 values: w,x,y,z)

Returns: corresponding rotation matrix

Definition at line 303 of file ecvGLMatrixTpl.h.

References ccGLMatrixTpl< T >::data().

◆ FromString()

template<typename T >

static ccGLMatrixTpl<T> ccGLMatrixTpl< T >::FromString	(	const QString &	matText,
		bool &	success
	)

inlinestatic

Converts a 'text' matrix to a ccGLMatrix.

Parameters

[in]	matText	matrix text
[out]	success	whether input matrix text is valid or not

Definition at line 477 of file ecvGLMatrixTpl.h.

References ccGLMatrixTpl< T >::data(), OPENGL_MATRIX_SIZE, qtCompatSplitRegex(), and QtCompat::SkipEmptyParts.

◆ FromToRotation()

template<typename T >

static ccGLMatrixTpl<T> ccGLMatrixTpl< T >::FromToRotation	(	const Vector3Tpl< T > &	from,
		const Vector3Tpl< T > &	to
	)

inlinestatic

Creates a transformation matrix that rotates a vector to another.

Adapted from "Efficiently Building a Matrix to Rotate One Vector to Another" By Tomas Möller, John Hughes, Journal of Graphics Tools, 4(4):1-4, 1999

Parameters

from	normalized non-zero source vector
to	normalized non-zero destination vector

Definition at line 230 of file ecvGLMatrixTpl.h.

References Vector3Tpl< Type >::cross(), Vector3Tpl< Type >::dot(), fabs(), cloudViewer::LessThanEpsilon(), result, Tuple3Tpl< Type >::u, Tuple3Tpl< Type >::x, Tuple3Tpl< Type >::y, and Tuple3Tpl< Type >::z.

◆ FromViewDirAndUpDir()

template<typename T >

static ccGLMatrixTpl<T> ccGLMatrixTpl< T >::FromViewDirAndUpDir	(	const Vector3Tpl< T > &	forward,
		const Vector3Tpl< T > &	up
	)

inlinestatic

Generates a 'viewing' matrix from a looking vector and a 'up' direction.

Warning: No translation is applied (pure rotation matrix)

Parameters

forward	forward 'view' vector
up	up vector

Returns: corresponding rotation matrix

Definition at line 436 of file ecvGLMatrixTpl.h.

References Vector3Tpl< Type >::cross(), ccGLMatrixTpl< T >::data(), Vector3Tpl< Type >::normalize(), Tuple3Tpl< Type >::x, Tuple3Tpl< Type >::y, and Tuple3Tpl< Type >::z.

◆ getColumn() [1/2]

template<typename T >

T* ccGLMatrixTpl< T >::getColumn ( unsigned index )

inline

Returns a pointer to a given column.

Parameters

index column index (between 0 and 3)

Returns: pointer to the first element of the corresponding column

Definition at line 904 of file ecvGLMatrixTpl.h.

References ccGLMatrixTpl< T >::m_mat.

Referenced by qFacets::exportFacets(), ccGLMatrixTpl< T >::getColumnAsVec3D(), PcdFilter::loadFile(), PDMSFilter::loadFile(), PcdFilter::saveToFile(), and ccGLMatrixTpl< T >::scaleColumn().

◆ getColumn() [2/2]

template<typename T >

const T* ccGLMatrixTpl< T >::getColumn ( unsigned index ) const

inline

Returns a const pointer to a given column.

Parameters

index column index (between 0 and 3)

Returns: pointer to the first element of the corresponding column

Definition at line 910 of file ecvGLMatrixTpl.h.

References ccGLMatrixTpl< T >::m_mat.

◆ getColumnAsVec3D()

template<typename T >

Vector3Tpl<T> ccGLMatrixTpl< T >::getColumnAsVec3D ( unsigned index ) const

inline

Returns a copy of a given column as a CCVector3.

4th value is ignored.

Parameters

index column index (between 0 and 3)

Returns: copy of the three first elements of the corresponding column

Definition at line 919 of file ecvGLMatrixTpl.h.

References Vector3Tpl< Type >::fromArray(), and ccGLMatrixTpl< T >::getColumn().

Referenced by ccDBRoot::alignCameraWithEntity(), ccBoundingBoxEditorDlg::fromClipboardClicked(), GetConeProfile(), ccGLMatrixTpl< T >::getTranslationAsVec3D(), and ccGLMatrixTpl< T >::invert().

◆ getParameters() [1/2]

template<typename T >

void ccGLMatrixTpl< T >::getParameters	(	T &	alpha_rad,
		Vector3Tpl< T > &	axis3D,
		Vector3Tpl< T > &	t3D
	)		const

inline

Returns equivalent parameters: a rotation axis, an angle and a translation

Parameters

[out]	alpha_rad	rotation angle in radians (in [0;pi])
[out]	axis3D	unit rotation axis
[out]	t3D	translation

Definition at line 741 of file ecvGLMatrixTpl.h.

References CC_MAT_R11, CC_MAT_R12, CC_MAT_R13, CC_MAT_R14, CC_MAT_R21, CC_MAT_R22, CC_MAT_R23, CC_MAT_R24, CC_MAT_R31, CC_MAT_R32, CC_MAT_R33, CC_MAT_R34, fabs(), cloudViewer::GreaterThanEpsilon(), Vector3Tpl< Type >::norm2(), Tuple3Tpl< Type >::x, Tuple3Tpl< Type >::y, and Tuple3Tpl< Type >::z.

Referenced by ccGraphicalTransformationTool::apply(), MatrixDisplayDlg::fillDialogWith(), ccGLMatrixTpl< T >::Interpolate(), TransformInfo::setTransformation(), ccApplyTransformationDlg::updateAll(), and ccGLMatrixTpl< T >::zRotation().

◆ getParameters() [2/2]

template<typename T >

void ccGLMatrixTpl< T >::getParameters	(	T &	phi_rad,
		T &	theta_rad,
		T &	psi_rad,
		Vector3Tpl< T > &	t3D
	)		const

inline

Returns equivalent parameters: 3 rotation angles and a translation.

See http://en.wikipedia.org/wiki/Euler_angles (Tait-Bryan Z1Y2X3)

Parameters

[out]	phi_rad	Phi angle (in radians)
[out]	theta_rad	Theta angle (in radians)
[out]	psi_rad	Psi angle (in radians)
[out]	t3D	translation

Definition at line 777 of file ecvGLMatrixTpl.h.

References CC_MAT_R11, CC_MAT_R12, CC_MAT_R13, CC_MAT_R14, CC_MAT_R21, CC_MAT_R24, CC_MAT_R31, CC_MAT_R32, CC_MAT_R33, CC_MAT_R34, fabs(), M_PI_2, Tuple3Tpl< Type >::x, Tuple3Tpl< Type >::y, and Tuple3Tpl< Type >::z.

◆ getTranslation() [1/2]

template<typename T >

T* ccGLMatrixTpl< T >::getTranslation ( )

inline

Retruns a pointer to internal translation.

Translation corresponds to the beginning of the third column of the matrix.

Definition at line 819 of file ecvGLMatrixTpl.h.

References ccGLMatrixTpl< T >::m_mat.

Referenced by DistanceMapGenerationTool::ProfileMetaData::computeCloudToProfileOriginTrans(), GetPoseInformation(), ccCamSensorProjectionDlg::initWithCamSensor(), ccGBLSensorProjectionDlg::initWithGBLSensor(), SavePoseInformation(), PovFilter::saveToFile(), ccGLMatrixTpl< T >::xRotation(), and ccGLMatrixTpl< T >::yRotation().

◆ getTranslation() [2/2]

template<typename T >

const T* ccGLMatrixTpl< T >::getTranslation ( ) const

inline

Retruns a const pointer to internal translation.

Translation corresponds to the beginning of the third column of the matrix.

Definition at line 825 of file ecvGLMatrixTpl.h.

References ccGLMatrixTpl< T >::m_mat.

◆ getTranslationAsVec3D()

template<typename T >

Vector3Tpl<T> ccGLMatrixTpl< T >::getTranslationAsVec3D ( ) const

inline

Returns a copy of the translation as a CCVector3.

Returns: translation vector

Definition at line 830 of file ecvGLMatrixTpl.h.

References ccGLMatrixTpl< T >::getColumnAsVec3D().

Referenced by qFacets::exportFacets(), ccPropertiesTreeDelegate::fillWithHObject(), ccBoundingBoxEditorDlg::fromClipboardClicked(), GetConeProfile(), ccCompass::importFoliations(), ccCompassImport::importFoliations(), qAnimationDlg::init(), LoadScan(), SaveScan(), PcdFilter::saveToFile(), TransformInfo::setTransformation(), and ccPlaneEditDlg::updatePlane().

◆ initFromParameters() [1/2]

template<typename T >

void ccGLMatrixTpl< T >::initFromParameters	(	T	alpha_rad,
		const Vector3Tpl< T > &	axis3D,
		const Vector3Tpl< T > &	t3D
	)

inline

Inits transformation from a rotation axis, an angle and a translation.

Parameters

[in]	alpha_rad	rotation angle (in radians)
[in]	axis3D	rotation axis
[in]	t3D	translation

Definition at line 648 of file ecvGLMatrixTpl.h.

References CC_MAT_R11, CC_MAT_R12, CC_MAT_R13, CC_MAT_R14, CC_MAT_R21, CC_MAT_R22, CC_MAT_R23, CC_MAT_R24, CC_MAT_R31, CC_MAT_R32, CC_MAT_R33, CC_MAT_R34, CC_MAT_R41, CC_MAT_R42, CC_MAT_R43, CC_MAT_R44, Vector3Tpl< Type >::normalize(), Tuple3Tpl< Type >::x, Tuple3Tpl< Type >::y, and Tuple3Tpl< Type >::z.

Referenced by ccGraphicalTransformationTool::apply(), ccCompass::importFoliations(), ccCompassImport::importFoliations(), ccGLMatrixTpl< T >::Interpolate(), IcmFilter::LoadCalibratedImages(), ccApplyTransformationDlg::onEulerValueChanged(), ccApplyTransformationDlg::onRotAngleValueChanged(), ccPlaneEditDlg::updatePlane(), and ccGLMatrixTpl< T >::zRotation().

◆ initFromParameters() [2/2]

template<typename T >

void ccGLMatrixTpl< T >::initFromParameters	(	T	phi_rad,
		T	theta_rad,
		T	psi_rad,
		const Vector3Tpl< T > &	t3D
	)

inline

Inits transformation from 3 rotation angles and a translation.

See http://en.wikipedia.org/wiki/Euler_angles (Tait-Bryan Z1Y2X3)

Parameters

[in]	phi_rad	Phi angle (in radians)
[in]	theta_rad	Theta angle (in radians)
[in]	psi_rad	Psi angle (in radians)
[in]	t3D	translation

Definition at line 698 of file ecvGLMatrixTpl.h.

References CC_MAT_R11, CC_MAT_R12, CC_MAT_R13, CC_MAT_R14, CC_MAT_R21, CC_MAT_R22, CC_MAT_R23, CC_MAT_R24, CC_MAT_R31, CC_MAT_R32, CC_MAT_R33, CC_MAT_R34, CC_MAT_R41, CC_MAT_R42, CC_MAT_R43, CC_MAT_R44, Tuple3Tpl< Type >::x, Tuple3Tpl< Type >::y, and Tuple3Tpl< Type >::z.

◆ Interpolate()

template<typename T >

static ccGLMatrixTpl ccGLMatrixTpl< T >::Interpolate	(	T	coef,
		const ccGLMatrixTpl< T > &	glMat1,
		const ccGLMatrixTpl< T > &	glMat2
	)

inlinestatic

Interpolates two matrices at relative position 'coef'.

Parameters

coef	interpolation position (should be between 0 and 1).
glMat1	'left' matrix
glMat2	'right' matrix

Definition at line 201 of file ecvGLMatrixTpl.h.

References ccGLMatrixTpl< T >::getParameters(), ccGLMatrixTpl< T >::initFromParameters(), and ccGLMatrixTpl< T >::inverse().

◆ inverse()

template<typename T >

ccGLMatrixTpl<T> ccGLMatrixTpl< T >::inverse ( ) const

inline

Returns inverse transformation.

Definition at line 1325 of file ecvGLMatrixTpl.h.

References ccGLMatrixTpl< T >::invert().

Referenced by ccPointPairRegistrationDlg::apply(), ccPointPairRegistrationDlg::cancel(), NurbsCurveFitting::compute(), ccEntityAction::computeNormals(), DistanceMapGenerationTool::ConvertProfileToMesh(), ccCropTool::Crop(), qAnimationDlg::init(), ccGLMatrixTpl< T >::Interpolate(), PovFilter::loadFile(), ccPointPairRegistrationDlg::reset(), and SaveScan().

◆ invert()

template<typename T >

void ccGLMatrixTpl< T >::invert ( )

inline

Inverts transformation.

Definition at line 1294 of file ecvGLMatrixTpl.h.

References ccGLMatrixTpl< T >::applyRotation(), CC_MAT_R11, CC_MAT_R12, CC_MAT_R13, CC_MAT_R14, CC_MAT_R21, CC_MAT_R22, CC_MAT_R23, CC_MAT_R24, CC_MAT_R31, CC_MAT_R32, CC_MAT_R33, CC_MAT_R34, ccGLMatrixTpl< T >::getColumnAsVec3D(), ccGLMatrixTpl< T >::m_mat, Vector3Tpl< Type >::norm2(), and std::swap().

Referenced by qFacets::exportFacets(), ccApplyTransformationDlg::getTransformation(), and ccGLMatrixTpl< T >::inverse().

◆ isIdentity()

template<typename T >

virtual bool ccGLMatrixTpl< T >::isIdentity ( ) const

inlinevirtual

Returns whether this matrix is equal to identity.

Definition at line 628 of file ecvGLMatrixTpl.h.

References ccGLMatrixTpl< T >::m_mat.

◆ isSerializable()

template<typename T >

bool ccGLMatrixTpl< T >::isSerializable ( ) const

inlineoverridevirtual

Returns whether object is serializable of not.

Reimplemented from ccSerializableObject.

Definition at line 1403 of file ecvGLMatrixTpl.h.

◆ minimumFileVersion()

template<typename T >

short ccGLMatrixTpl< T >::minimumFileVersion ( ) const

inlineoverridevirtual

Returns the minimum file version required to save this instance.

To be overridden by subclasses to indicate their minimum required version. This enables the system to determine:

Forward compatibility: newer software can read older files (dataVersion check in fromFile)
Backward compatibility: determine minimum version needed to save current data
Returns
minimum file version required for this object

Implements ccSerializableObject.

Definition at line 1422 of file ecvGLMatrixTpl.h.

◆ NormalizeQuaternion()

template<typename T >

static Eigen::Matrix<T, 4, 1> ccGLMatrixTpl< T >::NormalizeQuaternion ( const Eigen::Matrix< T, 4, 1 > & qvec )

inlinestatic

Converts a quaternion to a rotation matrix.

Parameters

q	quaternion (4 values: w,x,y,z)

Returns: corresponding normalized quaternion

Definition at line 377 of file ecvGLMatrixTpl.h.

Referenced by ccGLMatrixTpl< T >::QuaternionToRotationMatrix().

◆ operator()()

template<typename T >

T ccGLMatrixTpl< T >::operator()	(	unsigned	row,
		unsigned	col
	)		const

inline

Returns the value at a given position.

Definition at line 1032 of file ecvGLMatrixTpl.h.

References ccGLMatrixTpl< T >::m_mat.

◆ operator*() [1/5]

template<typename T >

ccGLMatrixTpl<T> ccGLMatrixTpl< T >::operator* ( const ccGLMatrixTpl< T > & mat ) const

inline

Multiplication by a matrix operator.

Definition at line 947 of file ecvGLMatrixTpl.h.

References ccGLMatrixTpl< T >::m_mat, and result.

◆ operator*() [2/5]

template<typename T >

Tuple4Tpl<double> ccGLMatrixTpl< T >::operator* ( const Tuple4Tpl< double > & vec ) const

inline

Multiplication by a 4D vector operator (double version)

Definition at line 977 of file ecvGLMatrixTpl.h.

References ccGLMatrixTpl< T >::applyW(), ccGLMatrixTpl< T >::applyX(), ccGLMatrixTpl< T >::applyY(), and ccGLMatrixTpl< T >::applyZ().

◆ operator*() [3/5]

template<typename T >

Tuple4Tpl<float> ccGLMatrixTpl< T >::operator* ( const Tuple4Tpl< float > & vec ) const

inline

Multiplication by a 4D vector operator (float version)

Definition at line 972 of file ecvGLMatrixTpl.h.

References ccGLMatrixTpl< T >::applyW(), ccGLMatrixTpl< T >::applyX(), ccGLMatrixTpl< T >::applyY(), and ccGLMatrixTpl< T >::applyZ().

◆ operator*() [4/5]

template<typename T >

Vector3Tpl<double> ccGLMatrixTpl< T >::operator* ( const Vector3Tpl< double > & vec ) const

inline

Multiplication by a vector operator (double version)

Definition at line 967 of file ecvGLMatrixTpl.h.

References ccGLMatrixTpl< T >::applyX(), ccGLMatrixTpl< T >::applyY(), and ccGLMatrixTpl< T >::applyZ().

◆ operator*() [5/5]

template<typename T >

Vector3Tpl<float> ccGLMatrixTpl< T >::operator* ( const Vector3Tpl< float > & vec ) const

inline

Multiplication by a vector operator (float version)

Definition at line 963 of file ecvGLMatrixTpl.h.

References ccGLMatrixTpl< T >::applyX(), ccGLMatrixTpl< T >::applyY(), and ccGLMatrixTpl< T >::applyZ().

◆ operator*=()

template<typename T >

ccGLMatrixTpl<T>& ccGLMatrixTpl< T >::operator*= ( const ccGLMatrixTpl< T > & mat )

inline

(in place) Multiplication operator

Definition at line 997 of file ecvGLMatrixTpl.h.

◆ operator+=() [1/3]

template<typename T >

ccGLMatrixTpl<T>& ccGLMatrixTpl< T >::operator+= ( const ccGLMatrixTpl< T > & mat )

inline

(in place) Addition operator

Definition at line 983 of file ecvGLMatrixTpl.h.

References ccGLMatrixTpl< T >::m_mat, and OPENGL_MATRIX_SIZE.

◆ operator+=() [2/3]

template<typename T >

ccGLMatrixTpl<T>& ccGLMatrixTpl< T >::operator+= ( const Vector3Tpl< double > & Tr )

inline

(in place) Forward translation operator (double version)

Definition at line 1010 of file ecvGLMatrixTpl.h.

References CC_MAT_R14, CC_MAT_R24, CC_MAT_R34, Tuple3Tpl< Type >::x, Tuple3Tpl< Type >::y, and Tuple3Tpl< Type >::z.

◆ operator+=() [3/3]

template<typename T >

ccGLMatrixTpl<T>& ccGLMatrixTpl< T >::operator+= ( const Vector3Tpl< float > & Tr )

inline

(in place) Forward translation operator (float version)

Definition at line 1003 of file ecvGLMatrixTpl.h.

References CC_MAT_R14, CC_MAT_R24, CC_MAT_R34, Tuple3Tpl< Type >::x, Tuple3Tpl< Type >::y, and Tuple3Tpl< Type >::z.

◆ operator-=() [1/3]

template<typename T >

ccGLMatrixTpl<T>& ccGLMatrixTpl< T >::operator-= ( const ccGLMatrixTpl< T > & mat )

inline

(in place) Difference operator

Definition at line 990 of file ecvGLMatrixTpl.h.

References ccGLMatrixTpl< T >::m_mat, and OPENGL_MATRIX_SIZE.

◆ operator-=() [2/3]

template<typename T >

ccGLMatrixTpl<T>& ccGLMatrixTpl< T >::operator-= ( const Vector3Tpl< double > & Tr )

inline

(in place) Backward translation operator (double version)

Definition at line 1024 of file ecvGLMatrixTpl.h.

References CC_MAT_R14, CC_MAT_R24, CC_MAT_R34, Tuple3Tpl< Type >::x, Tuple3Tpl< Type >::y, and Tuple3Tpl< Type >::z.

◆ operator-=() [3/3]

template<typename T >

ccGLMatrixTpl<T>& ccGLMatrixTpl< T >::operator-= ( const Vector3Tpl< float > & Tr )

inline

(in place) Backward translation operator (float version)

Definition at line 1017 of file ecvGLMatrixTpl.h.

References CC_MAT_R14, CC_MAT_R24, CC_MAT_R34, Tuple3Tpl< Type >::x, Tuple3Tpl< Type >::y, and Tuple3Tpl< Type >::z.

◆ operator=() [1/5]

template<typename T >

ccGLMatrixTpl<T>& ccGLMatrixTpl< T >::operator= ( const ccGLMatrixTpl< T > & mat )

inline

Copy assignment operator.

Definition at line 143 of file ecvGLMatrixTpl.h.

References ccGLMatrixTpl< T >::m_mat, and OPENGL_MATRIX_SIZE.

◆ operator=() [2/5]

template<typename T >

ccGLMatrixTpl<T>& ccGLMatrixTpl< T >::operator= ( const Eigen::Matrix< double, 3, 3 > & mat )

inline

Definition at line 126 of file ecvGLMatrixTpl.h.

References ccGLMatrixTpl< T >::setRotation().

◆ operator=() [3/5]

template<typename T >

ccGLMatrixTpl<T>& ccGLMatrixTpl< T >::operator= ( const Eigen::Matrix< double, 4, 4 > & mat )

inline

Definition at line 115 of file ecvGLMatrixTpl.h.

References ccGLMatrixTpl< T >::data(), ccGLMatrixTpl< T >::m_mat, and OPENGL_MATRIX_SIZE.

◆ operator=() [4/5]

template<typename T >

ccGLMatrixTpl<T>& ccGLMatrixTpl< T >::operator= ( const Eigen::Matrix< float, 3, 3 > & mat )

inline

Definition at line 122 of file ecvGLMatrixTpl.h.

References ccGLMatrixTpl< T >::setRotation().

◆ operator=() [5/5]

template<typename T >

ccGLMatrixTpl<T>& ccGLMatrixTpl< T >::operator= ( const Eigen::Matrix< float, 4, 4 > & mat )

inline

Assignment Function.

Definition at line 109 of file ecvGLMatrixTpl.h.

References ccGLMatrixTpl< T >::data(), ccGLMatrixTpl< T >::m_mat, and OPENGL_MATRIX_SIZE.

◆ QuaternionToRotationMatrix() [1/2]

template<typename T >

static Eigen::Matrix<T, 3, 3> ccGLMatrixTpl< T >::QuaternionToRotationMatrix ( const Eigen::Matrix< T, 4, 1 > & qvec )

inlinestatic

Converts a quaternion to a rotation matrix.

Parameters

q	quaternion (4 values: w,x,y,z)

Returns: corresponding rotation matrix

Definition at line 346 of file ecvGLMatrixTpl.h.

References ccGLMatrixTpl< T >::NormalizeQuaternion().

◆ QuaternionToRotationMatrix() [2/2]

template<typename T >

static ccGLMatrixTpl<T> ccGLMatrixTpl< T >::QuaternionToRotationMatrix ( const Tuple4Tpl< T > & qvec )

inlinestatic

Converts a quaternion to a rotation matrix.

Parameters

q	quaternion (4 values: w,x,y,z)

Returns: corresponding rotation matrix

Definition at line 359 of file ecvGLMatrixTpl.h.

References ccGLMatrixTpl< T >::FromEigenMatrix3(), ccGLMatrixTpl< T >::NormalizeQuaternion(), Tuple4Tpl< Type >::w, Tuple4Tpl< Type >::x, Tuple4Tpl< Type >::y, and Tuple4Tpl< Type >::z.

◆ scale()

template<typename T >

void ccGLMatrixTpl< T >::scale ( T coef )

inline

Scales the whole matrix.

Parameters

coef	scaling coef.

Definition at line 1335 of file ecvGLMatrixTpl.h.

References CC_MAT_R11, CC_MAT_R12, CC_MAT_R13, CC_MAT_R14, CC_MAT_R21, CC_MAT_R22, CC_MAT_R23, CC_MAT_R24, CC_MAT_R31, CC_MAT_R32, CC_MAT_R33, and CC_MAT_R34.

◆ scaleColumn()

template<typename T >

void ccGLMatrixTpl< T >::scaleColumn	(	unsigned	colIndex,
		T	coef
	)

inline

Scales one column of the matrix.

Parameters

colIndex	(0-3)
coef	scaling coef.

Definition at line 1393 of file ecvGLMatrixTpl.h.

References ccGLMatrixTpl< T >::getColumn().

◆ scaleLine()

template<typename T >

void ccGLMatrixTpl< T >::scaleLine	(	unsigned	lineIndex,
		T	coef
	)

inline

Scales one line of the matrix.

Parameters

lineIndex	(0-3)
coef	scaling coef.

Definition at line 1354 of file ecvGLMatrixTpl.h.

References ccGLMatrixTpl< T >::m_mat.

◆ scaleRotation()

template<typename T >

void ccGLMatrixTpl< T >::scaleRotation ( T coef )

inline

Scales the rotation part of the matrix.

Parameters

coef	scaling coef.

Definition at line 1365 of file ecvGLMatrixTpl.h.

References CC_MAT_R11, CC_MAT_R12, CC_MAT_R13, CC_MAT_R21, CC_MAT_R22, CC_MAT_R23, CC_MAT_R31, CC_MAT_R32, and CC_MAT_R33.

◆ scaleRow()

template<typename T >

void ccGLMatrixTpl< T >::scaleRow	(	unsigned	rowIndex,
		T	coef
	)

inline

Scales one row of the matrix.

Parameters

rowIndex	tow index (0-3)
coef	scaling coef.

Definition at line 1381 of file ecvGLMatrixTpl.h.

References ccGLMatrixTpl< T >::m_mat.

◆ setColumn() [1/2]

template<typename T >

void ccGLMatrixTpl< T >::setColumn	(	unsigned	index,
		const Tuple4Tpl< T > &	v
	)

inline

Sets the content of a given column.

Parameters

index	column index (between 0 and 3)
v	new column values

Definition at line 938 of file ecvGLMatrixTpl.h.

References ccGLMatrixTpl< T >::m_mat, Tuple4Tpl< Type >::w, Tuple4Tpl< Type >::x, Tuple4Tpl< Type >::y, and Tuple4Tpl< Type >::z.

◆ setColumn() [2/2]

template<typename T >

void ccGLMatrixTpl< T >::setColumn	(	unsigned	index,
		const Vector3Tpl< T > &	v
	)

inline

Sets the content of a given column.

Parameters

index	column index (between 0 and 3)
v	new column values

Definition at line 927 of file ecvGLMatrixTpl.h.

References ccGLMatrixTpl< T >::m_mat, Tuple3Tpl< Type >::x, Tuple3Tpl< Type >::y, and Tuple3Tpl< Type >::z.

Referenced by ccBoundingBoxEditorDlg::toClipboardClicked().

◆ setRotation() [1/2]

template<typename T >

void ccGLMatrixTpl< T >::setRotation ( const double Rt[9] )

inline

Sets Rotation from a double array.

Parameters

Rt	Rotation matrix as a double array

Definition at line 886 of file ecvGLMatrixTpl.h.

References CC_MAT_R11, CC_MAT_R12, CC_MAT_R13, CC_MAT_R21, CC_MAT_R22, CC_MAT_R23, CC_MAT_R31, CC_MAT_R32, and CC_MAT_R33.

◆ setRotation() [2/2]

template<typename T >

void ccGLMatrixTpl< T >::setRotation ( const float Rt[9] )

inline

Sets Rotation from a float array.

Parameters

Rt	Rotation matrix as a float array

Definition at line 869 of file ecvGLMatrixTpl.h.

References CC_MAT_R11, CC_MAT_R12, CC_MAT_R13, CC_MAT_R21, CC_MAT_R22, CC_MAT_R23, CC_MAT_R31, CC_MAT_R32, and CC_MAT_R33.

Referenced by ccGLMatrixTpl< T >::FromEigenMatrix3(), and ccGLMatrixTpl< T >::operator=().

◆ setTranslation() [1/4]

template<typename T >

void ccGLMatrixTpl< T >::setTranslation ( const double Tr[3] )

inline

Sets translation from a double array.

Parameters

Tr	3D vector as a double array

Definition at line 860 of file ecvGLMatrixTpl.h.

References CC_MAT_R14, CC_MAT_R24, and CC_MAT_R34.

◆ setTranslation() [2/4]

template<typename T >

void ccGLMatrixTpl< T >::setTranslation ( const float Tr[3] )

inline

Sets translation from a float array.

Parameters

Tr	3D vector as a float array

Definition at line 852 of file ecvGLMatrixTpl.h.

References CC_MAT_R14, CC_MAT_R24, and CC_MAT_R34.

◆ setTranslation() [3/4]

template<typename T >

void ccGLMatrixTpl< T >::setTranslation ( const Vector3Tpl< double > & Tr )

inline

Sets translation (double version)

Parameters

Tr 3D vector

Definition at line 843 of file ecvGLMatrixTpl.h.

References CC_MAT_R14, CC_MAT_R24, CC_MAT_R34, Tuple3Tpl< Type >::x, Tuple3Tpl< Type >::y, and Tuple3Tpl< Type >::z.

◆ setTranslation() [4/4]

template<typename T >

void ccGLMatrixTpl< T >::setTranslation ( const Vector3Tpl< float > & Tr )

inline

Sets translation (float version)

Parameters

Tr 3D vector

Definition at line 836 of file ecvGLMatrixTpl.h.

References CC_MAT_R14, CC_MAT_R24, CC_MAT_R34, Tuple3Tpl< Type >::x, Tuple3Tpl< Type >::y, and Tuple3Tpl< Type >::z.

Referenced by ccPointPairRegistrationDlg::addAlignedPoint(), ccPointPairRegistrationDlg::addReferencePoint(), MainWindow::addToDB(), ccDBRoot::alignCameraWithEntity(), ccGraphicalTransformationTool::apply(), DistanceMapGenerationTool::ProfileMetaData::computeCloudToSurfaceOriginTrans(), ecvPrimitiveFactoryDlg::createPrimitive(), ccCompass::estimateStrain(), qFacets::exportFacets(), FromCCLibMatrix(), ccCompass::importFoliations(), ccCompassImport::importFoliations(), ccApplyTransformationDlg::initFromDipAndDipDir(), CSVMatrixFilter::loadFile(), PcdFilter::loadFile(), PovFilter::loadFile(), PDMSFilter::loadFile(), qSRA::loadProfile(), LoadScan(), MainWindow::onItemPicked(), CommandMatchBestFitPlane::process(), ccInnerRect2DFinder::process(), SaveScan(), ccBoundingBoxEditorDlg::toClipboardClicked(), qCanupo2DViewDialog::trainClassifier(), DistanceMapGenerationDlg::update(), ccCamSensorProjectionDlg::updateCamSensor(), ccGBLSensorProjectionDlg::updateGBLSensor(), ccPlaneEditDlg::updatePlane(), ccGLMatrixTpl< T >::xRotation(), and ccGLMatrixTpl< T >::yRotation().

◆ shiftRotationCenter()

template<typename T >

void ccGLMatrixTpl< T >::shiftRotationCenter ( const Vector3Tpl< T > & vec )

inline

Shifts rotation center.

Warning, this method only applies a shift (i.e. relatively to the current rotation center). This is not a way to set an absolute rotation center 'directly'.

Definition at line 1268 of file ecvGLMatrixTpl.h.

References ccGLMatrixTpl< T >::applyRotation().

Referenced by FromCCLibMatrix().

◆ toAngleAxis()

template<typename T >

void ccGLMatrixTpl< T >::toAngleAxis	(	T &	alpha_rad,
		Vector3Tpl< T > &	axis3D
	)		const

inline

Returns equivalent parameters: a rotation axis and an angle.

Parameters

[out]	alpha_rad	rotation angle in radians (in [0;pi])
[out]	axis3D	unit rotation axis

Definition at line 408 of file ecvGLMatrixTpl.h.

References ccGLMatrixTpl< T >::ToEigenMatrix3(), Tuple3Tpl< Type >::x, Tuple3Tpl< Type >::y, and Tuple3Tpl< Type >::z.

◆ toAsciiFile()

template<typename T >

virtual bool ccGLMatrixTpl< T >::toAsciiFile	(	QString	filename,
		int	precision = `12`
	)		const

inlinevirtual

Saves matrix to an ASCII file.

Parameters

filename	output file name
precision	output digits precision

Reimplemented in ccIndexedTransformation.

Definition at line 520 of file ecvGLMatrixTpl.h.

References QtCompat::endl(), filename, and ccGLMatrixTpl< T >::m_mat.

Referenced by MatrixDisplayDlg::exportToASCII().

◆ ToEigenMatrix3() [1/2]

template<typename T >

static Eigen::Matrix<T, 3, 3> ccGLMatrixTpl< T >::ToEigenMatrix3 ( const ccGLMatrixTpl< double > & mat )

inlinestatic

Definition at line 87 of file ecvGLMatrixTpl.h.

References ccGLMatrixTpl< T >::data().

◆ ToEigenMatrix3() [2/2]

template<typename T >

static Eigen::Matrix<T, 3, 3> ccGLMatrixTpl< T >::ToEigenMatrix3 ( const ccGLMatrixTpl< float > & mat )

inlinestatic

Definition at line 78 of file ecvGLMatrixTpl.h.

References ccGLMatrixTpl< T >::data().

Referenced by ccGLMatrixTpl< T >::toAngleAxis(), ccGLMatrixTpl< T >::toEulerAngle(), and ccGLMatrixTpl< T >::toQuaternion().

◆ ToEigenMatrix4() [1/2]

template<typename T >

static Eigen::Matrix<T, 4, 4> ccGLMatrixTpl< T >::ToEigenMatrix4 ( const ccGLMatrixTpl< double > & mat )

inlinestatic

Definition at line 72 of file ecvGLMatrixTpl.h.

References ccGLMatrixTpl< T >::data().

◆ ToEigenMatrix4() [2/2]

template<typename T >

static Eigen::Matrix<T, 4, 4> ccGLMatrixTpl< T >::ToEigenMatrix4 ( const ccGLMatrixTpl< float > & mat )

inlinestatic

Definition at line 67 of file ecvGLMatrixTpl.h.

References ccGLMatrixTpl< T >::data().

◆ toEulerAngle()

template<typename T >

void ccGLMatrixTpl< T >::toEulerAngle	(	T &	rz,
		T &	ry,
		T &	rx
	)		const

inline

Returns equivalent parameters: 3 rotation angles.

yaw(rz) pitch(ry) roll(rx)

Parameters

[out]	rz	angle (in radians)
[out]	ry	angle (in radians)
[out]	rx	angle (in radians)

Definition at line 422 of file ecvGLMatrixTpl.h.

References ccGLMatrixTpl< T >::ToEigenMatrix3().

Referenced by TransformInfo::setTransformation().

◆ toFile()

template<typename T >

bool ccGLMatrixTpl< T >::toFile	(	QFile &	out,
		short	dataVersion
	)		const

inlineoverridevirtual

Saves data to binary stream.

Parameters

out	output file (already opened)
dataVersion	target file version (for forward/backward compatibility)

Returns: success

Reimplemented from ccSerializableObject.

Definition at line 1405 of file ecvGLMatrixTpl.h.

◆ toIdentity()

template<typename T >

virtual void ccGLMatrixTpl< T >::toIdentity ( )

inlinevirtual

Sets matrix to identity.

Definition at line 622 of file ecvGLMatrixTpl.h.

References CC_MAT_R11, CC_MAT_R22, CC_MAT_R33, CC_MAT_R44, and ccGLMatrixTpl< T >::toZero().

Referenced by MainWindow::addToDB(), ccGLMatrixTpl< T >::ccGLMatrixTpl(), ecvPrimitiveFactoryDlg::createPrimitive(), qFacets::exportFacets(), PovFilter::loadFile(), BundlerFilter::loadFileExtended(), ecvGenericDisplayTools::Ortho(), ccPointPairRegistrationDlg::reset(), ccGLMatrixTpl< T >::xRotation(), and ccGLMatrixTpl< T >::yRotation().

◆ toQuaternion()

template<typename T >

void ccGLMatrixTpl< T >::toQuaternion ( T q[] ) const

inline

Converts to a quaternion from a rotation matrix.

Parameters

q	quaternion (4 values: w,x,y,z)

Returns: corresponding quaternion

Definition at line 395 of file ecvGLMatrixTpl.h.

References ccGLMatrixTpl< T >::ToEigenMatrix3().

◆ toString()

template<typename T >

QString ccGLMatrixTpl< T >::toString	(	int	precision = `12`,
		QChar	separator = `' '`
	)		const

inline

Returns matrix as a string.

Parameters

precision	numerical precision
separator	separator

Returns: string

Definition at line 502 of file ecvGLMatrixTpl.h.

References ccGLMatrixTpl< T >::m_mat.

Referenced by ccGraphicalTransformationTool::apply(), ccPointPairRegistrationDlg::apply(), TemplateAlignment::applyTransformation(), FastGlobalRegistrationFilter::compute(), JsonRPCPlugin::execute(), MatrixDisplayDlg::exportToClipboard(), MatrixDisplayDlg::fillDialogWith(), ccApplyTransformationDlg::loadFromASCIIFile(), LoadScan(), CommandApplyTransformation::process(), CommandMatchBestFitPlane::process(), CommandICP::process(), ccBoundingBoxEditorDlg::toClipboardClicked(), ccApplyTransformationDlg::updateAll(), and ccPlaneEditDlg::updatePlane().

◆ toZero()

template<typename T >

virtual void ccGLMatrixTpl< T >::toZero ( )

inlinevirtual

Clears matrix.

Matrix is set to 0.

Definition at line 617 of file ecvGLMatrixTpl.h.

References ccGLMatrixTpl< T >::m_mat, and OPENGL_MATRIX_SIZE.

Referenced by MatrixDisplayDlg::clear(), BundlerImportDlg::getOptionalTransfoMatrix(), and ccGLMatrixTpl< T >::toIdentity().

◆ transpose()

template<typename T >

void ccGLMatrixTpl< T >::transpose ( )

inline

Transposes matrix (in place)

Definition at line 1276 of file ecvGLMatrixTpl.h.

References CC_MAT_R12, CC_MAT_R13, CC_MAT_R14, CC_MAT_R21, CC_MAT_R23, CC_MAT_R24, CC_MAT_R31, CC_MAT_R32, CC_MAT_R34, CC_MAT_R41, CC_MAT_R42, CC_MAT_R43, and std::swap().

Referenced by DecodeRotation(), DecodeTransformation(), and ccGLMatrixTpl< T >::transposed().

◆ transposed()

template<typename T >

ccGLMatrixTpl<T> ccGLMatrixTpl< T >::transposed ( ) const

inline

Returns transposed matrix.

Definition at line 1286 of file ecvGLMatrixTpl.h.

References ccGLMatrixTpl< T >::transpose().

Referenced by ccGraphicalTransformationTool::apply().

◆ xRotation()

template<typename T >

ccGLMatrixTpl<T> ccGLMatrixTpl< T >::xRotation ( ) const

inline

Returns the rotation component around X only.

Definition at line 555 of file ecvGLMatrixTpl.h.

References CC_MAT_R13, CC_MAT_R23, CC_MAT_R33, ccGLMatrixTpl< T >::getTranslation(), ccGLMatrixTpl< T >::setTranslation(), and ccGLMatrixTpl< T >::toIdentity().

◆ yRotation()

template<typename T >

ccGLMatrixTpl<T> ccGLMatrixTpl< T >::yRotation ( ) const

inline

Returns the rotation component around Y only.

Definition at line 578 of file ecvGLMatrixTpl.h.

References CC_MAT_R31, CC_MAT_R32, CC_MAT_R33, ccGLMatrixTpl< T >::getTranslation(), ccGLMatrixTpl< T >::setTranslation(), and ccGLMatrixTpl< T >::toIdentity().

◆ zRotation()

template<typename T >

ccGLMatrixTpl<T> ccGLMatrixTpl< T >::zRotation ( ) const

inline

Returns the rotation component around Z only.

Definition at line 601 of file ecvGLMatrixTpl.h.

References ccGLMatrixTpl< T >::getParameters(), ccGLMatrixTpl< T >::initFromParameters(), and Vector3Tpl< Type >::norm2().

Member Data Documentation

◆ m_mat

template<typename T >

T ccGLMatrixTpl< T >::m_mat[OPENGL_MATRIX_SIZE]

protected

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

/root/ACloudViewer/libs/CV_db/include/ecvGLMatrixTpl.h

Public Member Functions

Static Public Member Functions

Protected Attributes

Additional Inherited Members

Detailed Description

template<typename T> class ccGLMatrixTpl< T >

Constructor & Destructor Documentation

◆ ccGLMatrixTpl() [1/9]

◆ ccGLMatrixTpl() [2/9]

◆ ccGLMatrixTpl() [3/9]

◆ ccGLMatrixTpl() [4/9]

◆ ccGLMatrixTpl() [5/9]

◆ ccGLMatrixTpl() [6/9]

◆ ccGLMatrixTpl() [7/9]

◆ ccGLMatrixTpl() [8/9]

◆ ccGLMatrixTpl() [9/9]

Member Function Documentation

◆ apply() [1/6]

◆ apply() [2/6]

◆ apply() [3/6]

◆ apply() [4/6]

◆ apply() [5/6]

◆ apply() [6/6]

◆ applyRotation() [1/4]

◆ applyRotation() [2/4]

◆ applyRotation() [3/4]

◆ applyRotation() [4/4]

◆ applyW() [1/2]

◆ applyW() [2/2]

◆ applyX() [1/4]

◆ applyX() [2/4]

◆ applyX() [3/4]

◆ applyX() [4/4]

◆ applyY() [1/4]

◆ applyY() [2/4]

◆ applyY() [3/4]

◆ applyY() [4/4]

◆ applyZ() [1/4]

◆ applyZ() [2/4]

◆ applyZ() [3/4]

◆ applyZ() [4/4]

◆ clearTranslation()

◆ data() [1/2]

◆ data() [2/2]

◆ fromAsciiFile()

◆ FromEigenMatrix()

◆ FromEigenMatrix3()

◆ fromFile()

◆ FromQuaternion()

◆ FromString()

◆ FromToRotation()

◆ FromViewDirAndUpDir()

◆ getColumn() [1/2]

◆ getColumn() [2/2]

◆ getColumnAsVec3D()

◆ getParameters() [1/2]

◆ getParameters() [2/2]

◆ getTranslation() [1/2]

◆ getTranslation() [2/2]

◆ getTranslationAsVec3D()

◆ initFromParameters() [1/2]

◆ initFromParameters() [2/2]

◆ Interpolate()

◆ inverse()

◆ invert()

◆ isIdentity()

◆ isSerializable()

◆ minimumFileVersion()

◆ NormalizeQuaternion()

◆ operator()()

◆ operator*() [1/5]

◆ operator*() [2/5]

◆ operator*() [3/5]

◆ operator*() [4/5]

◆ operator*() [5/5]

◆ operator*=()

◆ operator+=() [1/3]

◆ operator+=() [2/3]

◆ operator+=() [3/3]

◆ operator-=() [1/3]

template<typename T>
class ccGLMatrixTpl< T >