DUtilsCV::Transformations Class Reference

Spatial transformations. More...

#include <Transformations.h>

List of all members.

Static Public Member Functions
static cv::Mat	rotvec (const cv::Mat &axis, double theta)
static cv::Mat	transl (double X, double Y, double Z)
static cv::Mat	rotx (double theta, double X=0, double Y=0, double Z=0)
static cv::Mat	roty (double theta, double X=0, double Y=0, double Z=0)
static cv::Mat	rotz (double theta, double X=0, double Y=0, double Z=0)
static cv::Mat	inv (const cv::Mat &aTb)
static cv::Mat	composeRt (const cv::Mat &R, const cv::Mat &t)
static void	decomposeRt (const cv::Mat &T, cv::Mat &R, cv::Mat &t)

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Detailed Description

Spatial transformations.

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Member Function Documentation

cv::Mat Transformations::composeRt	(	const cv::Mat &	R,
		const cv::Mat &	t
	)			[static]

Returns a 4x4 transformation matrix composed of the given rotation and translation

Parameters:

	R	3x3 rotation matrix or 1x3 or 3x1 rotation vector (Rodrigues format)
	t	3x1 or 1x3 or 4x1 or 1x4 translation vector

Returns:

4x4 matrix

void Transformations::decomposeRt	(	const cv::Mat &	T,
		cv::Mat &	R,
		cv::Mat &	t
	)			[static]

Decomposes a 4x4 transformation matrix into a rotation and a translation

Parameters:

	T	4x4 transformation matrix
	R	3x3 rotation matrix
	t	4x1 or 3x1 translation vector. If the given size of t is 4x1 or 3x1, then it is kept. If not, a 4x1 vector is returned

cv::Mat Transformations::inv

(

const cv::Mat &

aTb

)

[static]

Returns the inverse of a transformation

Parameters:

aTb

Returns:

bTa

cv::Mat Transformations::rotvec	(	const cv::Mat &	axis,
		double	theta
	)			[static]

Returns the transformation matrix of a generic rotation

Parameters:

	axis	axis of the rotation
	theta	angle of rotation in radians

cv::Mat Transformations::rotx	(	double	theta,
		double	X = 0,
		double	Y = 0,
		double	Z = 0
	)			[static]

Returns the transformation matrix of a rotation around the x axis

Parameters:

	theta	rotation angle
	X	optional translation in x axis
	Y	optional translation in y axis
	Z	optional translation in z axis

cv::Mat Transformations::roty	(	double	theta,
		double	X = 0,
		double	Y = 0,
		double	Z = 0
	)			[static]

Returns the transformation matrix of a rotation around the y axis

Parameters:

	theta	rotation angle
	X	optional translation in x axis
	Y	optional translation in y axis
	Z	optional translation in z axis

cv::Mat Transformations::rotz	(	double	theta,
		double	X = 0,
		double	Y = 0,
		double	Z = 0
	)			[static]

Returns the transformation matrix of a rotation around the z axis

Parameters:

	theta	rotation angle
	X	optional translation in x axis
	Y	optional translation in y axis
	Z	optional translation in z axis

cv::Mat Transformations::transl	(	double	X,
		double	Y,
		double	Z
	)			[static]

Returns the transformation matrix of a generic rotation given its Euler angles

Parameters:

	zphi	phi angle (z asis)
	ytheta	theta angle (y asis)
	zpsi	psi angle (z asis)
	tx	optional x translation
	ty	optional y translation
	tz	optional z translation Creates a translational transform
	X
	Y
	Z

Returns:

transformation with the given translation

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

• Transformations.h
• Transformations.cpp