#include <ecvIndexedTransformation.h>

Inheritance diagram for ccIndexedTransformation:

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Collaboration diagram for ccIndexedTransformation:

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Public Member Functions
	ccIndexedTransformation ()
	Default constructor. More...

	ccIndexedTransformation (const ccGLMatrix &matrix)
	Constructor from a transformation matrix. More...

	ccIndexedTransformation (const ccGLMatrix &matrix, double index)
	Constructor from a transformation matrix and an index. More...

	ccIndexedTransformation (const ccIndexedTransformation &trans)
	Copy constructor. More...

double	getIndex () const
	Returns associated index (e.g. timestamp) More...

void	setIndex (double index)
	Sets associated index (e.g. timestamp) More...

ccIndexedTransformation	operator* (const ccGLMatrix &mat) const
	Multiplication by a ccGLMatrix operator. More...

ccIndexedTransformation &	operator*= (const ccGLMatrix &mat)
	(in place) Multiplication by a ccGLMatrix operator More...

ccIndexedTransformation &	operator+= (const CCVector3 &T)
	(in place) Translation operator More...

ccIndexedTransformation &	operator-= (const CCVector3 &T)
	(in place) Translation operator More...

ccIndexedTransformation	transposed () const
	Returns transposed transformation. More...

ccIndexedTransformation	inverse () const
	Returns inverse transformation. 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...

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 ccGLMatrix
	ccGLMatrix ()
	Default constructor. More...

	ccGLMatrix (const ccGLMatrixTpl< float > &mat)
	Copy constructor from a ccGLMatrixTpl. More...

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

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

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

Public Member Functions inherited from ccGLMatrixTpl< float >
	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 ()
	Default constructor. More...

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

Vector3Tpl< float >	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...

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

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

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

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

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

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

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

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

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

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

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

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

float	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	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 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	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 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	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< float > &vec)
	Shifts rotation center. More...

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

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

void	invert ()
	Inverts transformation. More...

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

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

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

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

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

void	scaleColumn (unsigned colIndex, float 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 ccIndexedTransformation	Interpolate (double interpIndex, const ccIndexedTransformation &trans1, const ccIndexedTransformation &trans2)
	Interpolates two transformations at an absolute position (index) More...

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

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

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

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

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

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

static ccGLMatrixTpl	Interpolate (float coef, const ccGLMatrixTpl< float > &glMat1, const ccGLMatrixTpl< float > &glMat2)
	Interpolates two matrices at relative position 'coef'. More...

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

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

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

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

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

static ccGLMatrixTpl< float >	FromViewDirAndUpDir (const Vector3Tpl< float > &forward, const Vector3Tpl< float > &up)
	Generates a 'viewing' matrix from a looking vector and a 'up' direction. More...

static ccGLMatrixTpl< float >	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
double	m_index
	Associated index (e.g. timestamp) More...

Protected Attributes inherited from ccGLMatrixTpl< float >
float	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

A 4x4 'transformation' matrix (column major order) associated to an index (typically a timestamp)

Definition at line 15 of file ecvIndexedTransformation.h.

Constructor & Destructor Documentation

◆ ccIndexedTransformation() [1/4]

ccIndexedTransformation::ccIndexedTransformation ( )

Default constructor.

Matrix is set to identity (see ccGLMatrix::toIdentity) by default. Index is set to zero by default.

◆ ccIndexedTransformation() [2/4]

ccIndexedTransformation::ccIndexedTransformation ( const ccGLMatrix & matrix )

Constructor from a transformation matrix.

Index is set to zero by default.

Parameters

matrix transformation matrix

◆ ccIndexedTransformation() [3/4]

ccIndexedTransformation::ccIndexedTransformation	(	const ccGLMatrix &	matrix,
		double	index
	)

Constructor from a transformation matrix and an index.

Parameters

matrix	transformation matrix
index	associated index (e.g. timestamp)

◆ ccIndexedTransformation() [4/4]

ccIndexedTransformation::ccIndexedTransformation ( const ccIndexedTransformation & trans )

Copy constructor.

Member Function Documentation

◆ fromAsciiFile()

virtual bool ccIndexedTransformation::fromAsciiFile ( QString filename )

virtual

Loads matrix from an ASCII file.

Parameters

filename input file name

Reimplemented from ccGLMatrixTpl< float >.

◆ fromFile()

bool ccIndexedTransformation::fromFile	(	QFile &	in,
		short	dataVersion,
		int	flags,
		LoadedIDMap &	oldToNewIDMap
	)

overridevirtual

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.

◆ getIndex()

double ccIndexedTransformation::getIndex ( ) const

inline

Returns associated index (e.g. timestamp)

Definition at line 39 of file ecvIndexedTransformation.h.

Referenced by define_ccIndexedTransformation().

◆ Interpolate()

static ccIndexedTransformation ccIndexedTransformation::Interpolate	(	double	interpIndex,
		const ccIndexedTransformation &	trans1,
		const ccIndexedTransformation &	trans2
	)

static

Interpolates two transformations at an absolute position (index)

Warning: interpolation index must lie between the two input matrices indexes!

Parameters

interpIndex	interpolation position (should be between trans1 and trans2 indexes).
trans1	first transformation
trans2	second transformation

Referenced by define_ccIndexedTransformation().

◆ inverse()

ccIndexedTransformation ccIndexedTransformation::inverse ( ) const

Returns inverse transformation.

Warning: index is not modified by this operation.

Referenced by define_ccIndexedTransformation().

◆ isSerializable()

bool ccIndexedTransformation::isSerializable ( ) const

inlineoverridevirtual

Returns whether object is serializable of not.

Reimplemented from ccSerializableObject.

Definition at line 87 of file ecvIndexedTransformation.h.

◆ minimumFileVersion()

short ccIndexedTransformation::minimumFileVersion ( ) const

overridevirtual

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.

◆ operator*()

ccIndexedTransformation ccIndexedTransformation::operator* ( const ccGLMatrix & mat ) const

Multiplication by a ccGLMatrix operator.

◆ operator*=()

ccIndexedTransformation& ccIndexedTransformation::operator*= ( const ccGLMatrix & mat )

(in place) Multiplication by a ccGLMatrix operator

Warning: index is not modified by this operation.

◆ operator+=()

ccIndexedTransformation& ccIndexedTransformation::operator+= ( const CCVector3 & T )

(in place) Translation operator

Warning: index is not modified by this operation.

◆ operator-=()

ccIndexedTransformation& ccIndexedTransformation::operator-= ( const CCVector3 & T )

(in place) Translation operator

Warning: index is not modified by this operation.

◆ setIndex()

void ccIndexedTransformation::setIndex ( double index )

inline

Sets associated index (e.g. timestamp)

Definition at line 42 of file ecvIndexedTransformation.h.

Referenced by define_ccIndexedTransformation().

◆ toAsciiFile()

virtual bool ccIndexedTransformation::toAsciiFile	(	QString	filename,
		int	precision = `12`
	)		const

virtual

Saves matrix to an ASCII file.

Parameters

filename	output file name
precision	output digits precision

Reimplemented from ccGLMatrixTpl< float >.

◆ toFile()

bool ccIndexedTransformation::toFile	(	QFile &	out,
		short	dataVersion
	)		const

overridevirtual

Saves data to binary stream.

Parameters

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

Returns: success

Reimplemented from ccSerializableObject.

◆ transposed()

ccIndexedTransformation ccIndexedTransformation::transposed ( ) const

Returns transposed transformation.

Warning: index is not modified by this operation.

Referenced by define_ccIndexedTransformation().

Member Data Documentation

◆ m_index

double ccIndexedTransformation::m_index

protected

Associated index (e.g. timestamp)

Definition at line 97 of file ecvIndexedTransformation.h.

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

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

Public Member Functions

Static Public Member Functions

Protected Attributes

Additional Inherited Members

Detailed Description

Constructor & Destructor Documentation

◆ ccIndexedTransformation() [1/4]

◆ ccIndexedTransformation() [2/4]

◆ ccIndexedTransformation() [3/4]

◆ ccIndexedTransformation() [4/4]

Member Function Documentation

◆ fromAsciiFile()

◆ fromFile()

◆ getIndex()

◆ Interpolate()

◆ inverse()

◆ isSerializable()

◆ minimumFileVersion()

◆ operator*()

◆ operator*=()

◆ operator+=()

◆ operator-=()

◆ setIndex()

◆ toAsciiFile()

◆ toFile()

◆ transposed()

Member Data Documentation

◆ m_index