本文整理汇总了C++中vpMatrix类的典型用法代码示例。如果您正苦于以下问题:C++ vpMatrix类的具体用法?C++ vpMatrix怎么用?C++ vpMatrix使用的例子?那么恭喜您, 这里精选的类代码示例或许可以为您提供帮助。
在下文中一共展示了vpMatrix类的20个代码示例,这些例子默认根据受欢迎程度排序。您可以为喜欢或者感觉有用的代码点赞,您的评价将有助于我们的系统推荐出更棒的C++代码示例。
示例1: vpERROR_TRACE
/*!
\brief Initialisation of a sub matrix
\param m : parent matrix
\param row : row offset
\param col : col offset
\param nrows : number of rows of the sub matrix
\param ncols : number of columns of the sub matrix
*/
void vpSubMatrix::init(vpMatrix &m, const unsigned int & row, const unsigned int &col , const unsigned int & nrows , const unsigned int & ncols){
if(! m.data){
vpERROR_TRACE("\n\t\t SubMatrix parent matrix is not allocated") ;
throw(vpMatrixException(vpMatrixException::subMatrixError,
"\n\t\t SubMatrix parent matrix is not allocated")) ;
}
if(row+nrows <= m.getRows() && col+ncols <= m.getCols()){
data=m.data;
parent =&m;
rowNum = nrows;
colNum = ncols;
pRowNum=m.getRows();
pColNum=m.getCols();
if(rowPtrs)
free(rowPtrs);
rowPtrs=(double**) malloc(nrows * sizeof(double*));
for(unsigned int r=0;r<nrows;r++)
rowPtrs[r]= m.data+col+(r+row)*pColNum;
dsize = pRowNum*pColNum ;
trsize =0 ;
}else{
vpERROR_TRACE("Submatrix cannot be contain in parent matrix") ;
throw(vpMatrixException(vpMatrixException::incorrectMatrixSizeError,"Submatrix cannot be contain in parent matrix")) ;
}
}
开发者ID:ILoveFree2,项目名称:visp-deb,代码行数:38,代码来源:vpSubMatrix.cpp
示例2:
/*!
Compute and return the interaction matrix \f$ L_I \f$. The computation is made
thanks to the values of the luminance features \f$ I \f$
*/
void
vpFeatureLuminance::interaction(vpMatrix &L)
{
double x,y,Ix,Iy,Zinv;
L.resize(dim_s,6) ;
for(int m = 0; m< L.getRows(); m++)
{
Ix = pixInfo[m].Ix;
Iy = pixInfo[m].Iy;
x = pixInfo[m].x ;
y = pixInfo[m].y ;
Zinv = 1 / pixInfo[m].Z;
{
L[m][0] = Ix * Zinv;
L[m][1] = Iy * Zinv;
L[m][2] = -(x*Ix+y*Iy)*Zinv;
L[m][3] = -Ix*x*y-(1+y*y)*Iy;
L[m][4] = (1+x*x)*Ix + Iy*x*y;
L[m][5] = Iy*x-Ix*y;
}
}
}
开发者ID:nttputus,项目名称:visp,代码行数:31,代码来源:vpFeatureLuminance.cpp
示例3: vpException
/*!
initialise the camera from a calibration matrix.
Using a calibration matrix leads to a camera without distorsion
The K matrix in parameters must be like:
\f$ K = \left(\begin{array}{ccc}
p_x & 0 & u_0 \\
0 & p_y & v_0 \\
0 & 0 & 1
\end{array} \right) \f$
\param _K : the 3by3 calibration matrix
*/
void
vpCameraParameters::initFromCalibrationMatrix(const vpMatrix& _K)
{
if(_K.getRows() != 3 || _K.getCols() != 3 ){
throw vpException(vpException::dimensionError, "bad size for calibration matrix");
}
if( std::fabs(_K[2][2] - 1.0) > std::numeric_limits<double>::epsilon()){
throw vpException(vpException::badValue, "bad value: K[2][2] must be equal to 1");
}
initPersProjWithoutDistortion (_K[0][0], _K[1][1], _K[0][2], _K[1][2]);
}
开发者ID:nttputus,项目名称:visp,代码行数:25,代码来源:vpCameraParameters.cpp
示例4: throw
/*!
\brief set the value of the interaction matrix.
\param L_ : The matrix corresponding to the interaction matrix you computed.
\exception an exception is thrown if the number of row of the interaction
matrix is different from the dimension of the visual feature as specified
in the constructor
*/
void
vpGenericFeature::setInteractionMatrix(const vpMatrix &L_)
{
if (L_.getRows() != dim_s)
{
std::cout << L_.getRows() <<" " << dim_s << std::endl ;;
vpERROR_TRACE("size mismatch between interaction matrix size "
"and feature dimension");
throw(vpFeatureException(vpFeatureException::sizeMismatchError,
"size mismatch between interaction matrix size "
"and feature dimension"));
}
this->L = L_ ;
}
开发者ID:tswang,项目名称:visp,代码行数:24,代码来源:vpGenericFeature.cpp
示例5:
/*!
Apply a filter to an image.
\param I : Image to filter
\param If : Filtered image.
\param M : Filter coefficients.
*/
void
vpImageFilter::filter(const vpImage<unsigned char> &I,
vpImage<double>& If,
const vpMatrix& M)
{
unsigned int size = M.getRows() ;
unsigned int half_size = size/2 ;
If.resize(I.getHeight(),I.getWidth()) ;
If = 0 ;
for (unsigned int i=half_size ; i < I.getHeight()-half_size ; i++)
{
for (unsigned int j=half_size ; j < I.getWidth()-half_size ; j++)
{
double conv_x = 0 ;
for(unsigned int a = 0 ; a < size ; a++ )
for(unsigned int b = 0 ; b < size ; b++ )
{
double val = I[i-half_size+a][j-half_size+b] ;
conv_x += M[a][b] * val ;
}
If[i][j] = conv_x ;
}
}
}
开发者ID:nttputus,项目名称:visp,代码行数:38,代码来源:vpImageFilter.cpp
示例6: axis
/*!
Get the robot jacobian expressed in the end-effector frame.
\warning Re is not the embedded camera frame. It corresponds to the frame
associated to the tilt axis (see also get_cMe).
\param q : Articular position for pan and tilt axis.
\param eJe : Jacobian between end effector frame and end effector frame (on
tilt axis).
*/
void
vpBiclops::get_eJe(const vpColVector &q, vpMatrix &eJe)
{
eJe.resize(6,2) ;
if (q.getRows() != 2) {
vpERROR_TRACE("Bad dimension for biclops articular vector");
throw(vpException(vpException::dimensionError, "Bad dimension for biclops articular vector"));
}
double s2 = sin(q[1]) ;
double c2 = cos(q[1]) ;
eJe = 0;
if (dh_model_ == DH1)
{
eJe[3][0] = -c2;
eJe[4][1] = 1;
eJe[5][0] = -s2;
}
else
{
eJe[3][0] = -c2;
eJe[4][1] = -1;
eJe[5][0] = s2;
}
}
开发者ID:GVallicrosa,项目名称:Armed-turtlebot,代码行数:44,代码来源:vpBiclops.cpp
示例7: throw
void
vpBiclops::get_fJe(const vpColVector &q, vpMatrix &fJe)
{
if (q.getRows() != 2) {
vpERROR_TRACE("Bad dimension for biclops articular vector");
throw(vpException(vpException::dimensionError, "Bad dimension for biclops articular vector"));
}
fJe.resize(6,2) ;
double s1 = sin(q[0]) ;
double c1 = cos(q[0]) ;
fJe = 0;
if (dh_model_ == DH1)
{
fJe[3][1] = -s1;
fJe[4][1] = c1;
fJe[5][0] = 1;
}
else
{
fJe[3][1] = s1;
fJe[4][1] = -c1;
fJe[5][0] = 1;
}
}
开发者ID:GVallicrosa,项目名称:Armed-turtlebot,代码行数:29,代码来源:vpBiclops.cpp
示例8: axis
/*!
Apply a filter to an image.
\param I : Image to filter
\param Iu : Filtered image along the horizontal axis (u = columns).
\param Iv : Filtered image along the vertical axis (v = rows).
\param M : Separate filter coefficients
*/
void
vpImageFilter::filter(const vpImage<double> &I,
vpImage<double>& Iu,
vpImage<double>& Iv,
const vpMatrix& M)
{
unsigned int size = M.getRows() ;
unsigned int half_size = size/2 ;
Iu.resize(I.getHeight(),I.getWidth()) ;
Iv.resize(I.getHeight(),I.getWidth()) ;
Iu = 0 ;
Iv = 0 ;
for (unsigned int v=half_size ; v < I.getHeight()-half_size ; v++)
{
for (unsigned int u=half_size ; u < I.getWidth()-half_size ; u++)
{
double conv_u = 0 ;
double conv_v = 0 ;
for(unsigned int a = 0 ; a < size ; a++ )
for(unsigned int b = 0 ; b < size ; b++ )
{
double val = I[v-half_size+a][u-half_size+b] ;
conv_u += M[a][b] * val ;
conv_v += M[b][a] * val ;
}
Iu[v][u] = conv_u ;
Iv[v][u] = conv_v ;
}
}
}
开发者ID:nttputus,项目名称:visp,代码行数:44,代码来源:vpImageFilter.cpp
示例9:
void KalmanFilter<DataTypes, DepthTypes>::predict(vpMatrix& stiffnessMatrix)
{
predictedForces = estimatedForces;
predictedPositions = estimatedPositions + stiffnessMatrix.pseudoInverse()*estimatedForces;
for (int k = 0; k < 2*predictedForces.getCols(); k++)
for (int l = 0; l < 2*predictedForces.getCols(); l++)
std::cout <<k<<" "<<l<<" "<< stiffnessMatrix[k][l] << std::endl;
estimatedState = estimatedPositions;
estimatedState.stack(estimatedForces);
predictedState = predictedPositions;
predictedState.stack(predictedForces);
for (int k = predictedForces.getCols(); k < 2*predictedForces.getCols(); k++)
for (int l = predictedForces.getCols(); l < 2*predictedForces.getCols(); l++)
J[k][l] = stiffnessMatrix[k-predictedForces.getCols()][l-predictedForces.getCols()];
PPred = J*PEst*J.transpose() + Q;
//PfPred = PsEst + Qf;
}
开发者ID:agpetit,项目名称:RoDyMan_Vision,代码行数:25,代码来源:KalmanFilter1.cpp
示例10: rotation
/*!
Get the inverse jacobian.
\f[
{^f}J_e^+ = \left[\begin{array}{cccccc}
-(a_1s_1+d_3c_1)/(a_1^2+d_3^2) & (a_1c_1-d_3s_1)/(a_1^2+d_3^2) & 0&0&0&0 \\
0 & 0 & 1 & 0 & 0 & 0 \\
(a_1s_1+d_3c_1)/(a_1^2+d_3^2) & -(a_1c_1-d_3s_1)/(a_1^2+d_3^2) & 0&0&0&1 \\
0 & 0 & 0 & c_{14} & s_{14} & 0 \\
\end{array}
\right]
\f]
\param q : Articular position of the four joints: q[0] corresponds to
the first rotation (joint 1 with value \f$q_1\f$) of the turret
around the vertical axis, while q[1] corresponds to the vertical
translation (joint 2 with value \f$q_2\f$), while q[2] and q[3]
correspond to the pan and tilt of the camera (respectively joint 4
and 5 with values \f$q_4\f$ and \f$q_5\f$). Rotations q[0], q[2] and
q[3] are expressed in radians. The translation q[1] is expressed in
meters.
\param fJe_inverse : Inverse robot jacobian expressed in the robot
reference frame.
\sa get_eJe() and get_fJe()
*/
void vpAfma4::get_fJe_inverse(const vpColVector &q, vpMatrix &fJe_inverse) const
{
fJe_inverse.resize(4, 6) ;
fJe_inverse = 0;
double q1 = q[0]; // rot touret
double q4 = q[2]; // pan
double c1 = cos(q1);
double s1 = sin(q1);
double c14 = cos(q1 + q4);
double s14 = sin(q1 + q4);
double det = this->_a1 * this->_a1 + this->_d3 * this->_d3;
fJe_inverse[0][0] = (-s1*this->_a1 - c1*this->_d3)/det;
fJe_inverse[0][1] = (c1*this->_a1 - s1*this->_d3)/det;
fJe_inverse[1][2] = fJe_inverse[2][5] = 1.;
fJe_inverse[2][0] = - fJe_inverse[0][0];
fJe_inverse[2][1] = - fJe_inverse[0][1];
fJe_inverse[3][3] = c14;
fJe_inverse[3][4] = s14;
}
开发者ID:tswang,项目名称:visp,代码行数:55,代码来源:vpAfma4.cpp
示例11: cos
void
vpAfma4::get_fJe(const vpColVector &q, vpMatrix &fJe) const
{
fJe.resize(6,4) ;
double q1 = q[0]; // rot touret
double q4 = q[2]; // pan
double c1 = cos(q1);
double s1 = sin(q1);
double c14 = cos(q1 + q4);
double s14 = sin(q1 + q4);
fJe = 0;
fJe[0][0] = -s1*this->_a1 - c1*this->_d3;
fJe[1][0] = c1*this->_a1 - s1*this->_d3;
fJe[2][1] = 1.0;
fJe[3][3] = c14;
fJe[4][3] = s14;
fJe[5][0] = fJe[5][2] = 1.0;
}
开发者ID:tswang,项目名称:visp,代码行数:27,代码来源:vpAfma4.cpp
示例12: reshape
/*!
Reshape the column vector in a matrix.
\param M : the reshaped matrix.
\param nrows : number of rows of the matrix.
\param ncols : number of columns of the matrix.
*/
void vpColVector::reshape(vpMatrix & M,const unsigned int &nrows,const unsigned int &ncols){
if(dsize!=nrows*ncols) {
throw(vpException(vpException::dimensionError,
"Cannot reshape (%dx1) column vector in (%dx%d) matrix",
rowNum, M.getRows(), M.getCols())) ;
}
try {
if ((M.getRows() != nrows) || (M.getCols() != ncols)) M.resize(nrows,ncols);
}
catch(...) {
throw ;
}
for(unsigned int j =0; j< ncols; j++)
for(unsigned int i =0; i< nrows; i++)
M[i][j]=data[j*nrows+i];
}
开发者ID:Karamaz0V1,项目名称:visp,代码行数:23,代码来源:vpColVector.cpp
示例13:
/*!
\relates vpMatrix
Compute the skew symmetric matrix \f$M\f$ of translation vector \f$t\f$
(matrice de pre-produit vectoriel).
\f[ \mbox{if} \quad {\bf t} = \left( \begin{array}{c} t_x \\ t_y \\ t_z
\end{array}\right), \quad \mbox{then} \qquad
M = \left( \begin{array}{ccc}
0 & -t_z & t_y \\
t_z & 0 & -t_x \\
-t_y & t_x & 0
\end{array}\right)
\f]
\param t : Translation vector in input used to compute the skew symmetric
matrix M.
\param M : Skew symmetric matrix of translation vector \f$t\f$.
*/
void
vpTranslationVector::skew(const vpTranslationVector &t,vpMatrix &M)
{
M.resize(3,3) ;
M[0][0] = 0 ; M[0][1] = -t[2] ; M[0][2] = t[1] ;
M[1][0] = t[2] ; M[1][1] = 0 ; M[1][2] = -t[0] ;
M[2][0] = -t[1] ; M[2][1] = t[0] ; M[2][2] = 0 ;
}
开发者ID:ILoveFree2,项目名称:visp-deb,代码行数:28,代码来源:vpTranslationVector.cpp
示例14: computeSecondaryTaskManipulability
vpColVector computeSecondaryTaskManipulability(const vpMatrix &P, vpMatrix &J, std::vector <vpMatrix> &dJ,double & cond)
{
const unsigned int n = dJ.size();
vpColVector z(n);
double alpha = 10;
// vpMatrix v;
// vpColVector w;
// J.svd(w, v);
// //std::cout << "singular values:/n" << w << std::endl;
// cond = w[0]/w[5];
// double sqtr_detJJt = 1.0;
// for (unsigned int i = 0; i < n-1; i++)
// sqtr_detJJt *= w[i];
// std::cout << "sqtr_detJJt:/n" << sqtr_detJJt << std::endl;
// std::cout << "detJJt" << detJJt << std::endl;
double detJJt = (J * J.transpose()).det();
std::cout << "sqtr_detJJMulti" << sqrt(detJJt) << std::endl;
for (unsigned int i = 0; i < n; i++)
{
vpMatrix dJJinv = dJ[i] * J.pseudoInverse();
std::cout << dJ[i] << std::endl << dJ[i] << std::endl;
double trace = 0.0;
for (unsigned int k = 0; k < dJJinv.getCols(); k++)
trace += dJJinv[k][k];
std::cout << "trace" << i << " " << trace << std::endl;
z[i] = alpha * sqrt(detJJt) * trace;
}
return z;
}
开发者ID:benoitheintz,项目名称:visp_naoqi,代码行数:45,代码来源:test_manipulability.cpp
示例15: singleLineYAML
// writes a matrix into a single line YAML format
string okExperiment::singleLineYAML(const vpMatrix &M)
{
stringstream ss;
unsigned int i,j;
ss << "[";
for(i=0;i<M.getRows();++i)
{
ss << "[";
for(j=0;j<M.getCols()-1;++j)
ss << M[i][j] << ", ";
ss << M[i][j] << "]";
if(i != M.getRows()-1)
ss << ",";
}
ss << "]";
return ss.str();
}
开发者ID:oKermorgant,项目名称:ecn_windturb,代码行数:19,代码来源:okExperiment.cpp
示例16: test
bool test(const std::string &s, const vpMatrix &M, const std::vector<double> &bench)
{
static unsigned int cpt = 0;
std::cout << "** Test " << ++cpt << std::endl;
std::cout << s << "(" << M.getRows() << "," << M.getCols() << ") = \n" << M << std::endl;
if(bench.size() != M.size()) {
std::cout << "Test fails: bad size wrt bench" << std::endl;
return false;
}
for (unsigned int i=0; i<M.size(); i++) {
if (std::fabs(M.data[i]-bench[i]) > std::fabs(M.data[i])*std::numeric_limits<double>::epsilon()) {
std::cout << "Test fails: bad content" << std::endl;
return false;
}
}
return true;
}
开发者ID:976717326,项目名称:visp,代码行数:18,代码来源:testMatrix.cpp
示例17: main
/*!
Operator that allows to multiply a velocity twist transformation matrix by a matrix.
As shown in the example below, this operator can be used to compute the corresponding
camera velocity skew from the joint velocities knowing the robot jacobian.
\code
#include <visp3/core/vpConfig.h>
#include <visp3/robot/vpSimulatorCamera.h>
#include <visp3/core/vpColVector.h>
#include <visp3/core/vpVelocityTwistMatrix.h>
int main()
{
vpSimulatorCamera robot;
vpColVector q_vel(6); // Joint velocity on the 6 joints
// ... q_vel need here to be initialized
vpColVector c_v(6); // Velocity in the camera frame: vx,vy,vz,wx,wy,wz
vpVelocityTwistMatrix cVe; // Velocity skew transformation from camera frame to end-effector
robot.get_cVe(cVe);
vpMatrix eJe; // Robot jacobian
robot.get_eJe(eJe);
// Compute the velocity in the camera frame
c_v = cVe * eJe * q_vel;
return 0;
}
\endcode
\exception vpException::dimensionError If M is not a 6 rows dimension matrix.
*/
vpMatrix
vpVelocityTwistMatrix::operator*(const vpMatrix &M) const
{
if (6 != M.getRows()) {
throw(vpException(vpException::dimensionError,
"Cannot multiply a (6x6) velocity twist matrix by a (%dx%d) matrix",
M.getRows(), M.getCols()));
}
vpMatrix p(6, M.getCols()) ;
for (unsigned int i=0;i<6;i++)
for (unsigned int j=0;j<M.getCols();j++)
{
double s =0 ;
for (unsigned int k=0;k<6;k++)
s += rowPtrs[i][k] * M[k][j];
p[i][j] = s ;
}
return p;
}
开发者ID:DaikiMaekawa,项目名称:visp,代码行数:56,代码来源:vpVelocityTwistMatrix.cpp
示例18: vpERROR_TRACE
/*!
Operator that allows to multiply a skew transformation matrix by a matrix.
\exception vpMatrixException::incorrectMatrixSizeError If M is not a 6 rows
dimension matrix.
*/
vpMatrix
vpForceTwistMatrix::operator*(const vpMatrix &M) const
{
if (6 != M.getRows())
{
vpERROR_TRACE("vpForceTwistMatrix mismatch in vpForceTwistMatrix/vpMatrix multiply") ;
throw(vpMatrixException::incorrectMatrixSizeError) ;
}
vpMatrix p(6, M.getCols()) ;
for (unsigned int i=0;i<6;i++) {
for (unsigned int j=0;j<M.getCols();j++) {
double s =0 ;
for (unsigned int k=0;k<6;k++)
s += rowPtrs[i][k] * M[k][j];
p[i][j] = s ;
}
}
return p;
}
开发者ID:GVallicrosa,项目名称:Armed-turtlebot,代码行数:27,代码来源:vpForceTwistMatrix.cpp
示例19: c
/*!
Multiply a row vector by a matrix.
\param M : Matrix.
\warning The number of elements of the row vector must be equal to the number
of rows of the matrix.
\exception vpException::dimensionError If the number of elements of the
row vector is not equal to the number of rows of the matrix.
\return The resulting row vector.
*/
vpRowVector vpRowVector::operator*(const vpMatrix &M) const
{
vpRowVector c(M.getCols());
if (colNum != M.getRows()) {
throw(vpException(vpException::dimensionError,
"Cannot multiply (1x%d) row vector by (%dx%d) matrix",
colNum, M.getRows(), M.getCols())) ;
}
c = 0.0;
for (unsigned int i=0;i<colNum;i++) {
double bi = data[i] ; // optimization em 5/12/2006
for (unsigned int j=0;j<M.getCols();j++) {
c[j]+=bi*M[i][j];
}
}
return c ;
}
开发者ID:s-trinh,项目名称:visp,代码行数:36,代码来源:vpRowVector.cpp
示例20: vpERROR_TRACE
/*!
\brief reshape the colvector in a matrix
\param m : the reshaped Matrix
\param nrows : number of rows of the matrix
\param ncols : number of columns of the matrix
*/
void vpColVector::reshape(vpMatrix & m,const unsigned int &nrows,const unsigned int &ncols){
if(dsize!=nrows*ncols)
{
vpERROR_TRACE("\n\t\t vpColVector mismatch size for reshape vpSubColVector in a vpMatrix") ;
throw(vpMatrixException(vpMatrixException::incorrectMatrixSizeError,
"\n\t\t \n\t\t vpColVector mismatch size for reshape vpSubColVector in a vpMatrix")) ;
}
try
{
if ((m.getRows() != nrows) || (m.getCols() != ncols)) m.resize(nrows,ncols);
}
catch(vpException me)
{
vpERROR_TRACE("Error caught") ;
std::cout << me << std::endl ;
throw ;
}
for(unsigned int j =0; j< ncols; j++)
for(unsigned int i =0; i< nrows; i++)
m[i][j]=data[j*ncols+i];
}
开发者ID:GVallicrosa,项目名称:Armed-turtlebot,代码行数:28,代码来源:vpColVector.cpp
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