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Improve the documentation for cv::Affine3.

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This commit is contained in:
Fangjun Kuang 2018-01-05 19:35:38 +01:00
parent f5862dacb6
commit a2869109f0
3 changed files with 171 additions and 21 deletions
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12
modules/core/include/opencv2/core.hpp
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@ -2629,7 +2629,7 @@ public:
/** @overload
initializes an empty SVD structure and then calls SVD::operator()
@param src decomposed matrix.
@param src decomposed matrix. The depth has to be CV_32F or CV_64F.
@param flags operation flags (SVD::Flags)
*/
SVD( InputArray src, int flags = 0 );
@ -2642,7 +2642,7 @@ public:
different matrices. Each time, if needed, the previous u,`vt` , and w
are reclaimed and the new matrices are created, which is all handled by
Mat::create.
@param src decomposed matrix.
@param src decomposed matrix. The depth has to be CV_32F or CV_64F.
@param flags operation flags (SVD::Flags)
*/
SVD& operator ()( InputArray src, int flags = 0 );
@ -2658,18 +2658,18 @@ public:
SVD::compute(A, w, u, vt);
@endcode
@param src decomposed matrix
@param src decomposed matrix. The depth has to be CV_32F or CV_64F.
@param w calculated singular values
@param u calculated left singular vectors
@param vt transposed matrix of right singular values
@param flags operation flags - see SVD::SVD.
@param vt transposed matrix of right singular vectors
@param flags operation flags - see SVD::Flags.
*/
static void compute( InputArray src, OutputArray w,
OutputArray u, OutputArray vt, int flags = 0 );
/** @overload
computes singular values of a matrix
@param src decomposed matrix
@param src decomposed matrix. The depth has to be CV_32F or CV_64F.
@param w calculated singular values
@param flags operation flags - see SVD::Flags.
*/

178
modules/core/include/opencv2/core/affine.hpp
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@ -55,7 +55,72 @@ namespace cv
//! @{
/** @brief Affine transform
@todo document
*
* It represents a 4x4 homogeneous transformation matrix \f$T\f$
*
* \f[T =
* \begin{bmatrix}
* R & t\\
* 0 & 1\\
* \end{bmatrix}
* \f]
*
* where \f$R\f$ is a 3x3 rotation matrix and \f$t\f$ is a 3x1 translation vector.
*
* You can specify \f$R\f$ either by a 3x3 rotation matrix or by a 3x1 rotation vector,
* which is converted to a 3x3 rotation matrix by the Rodrigues formula.
*
* To construct a matrix \f$T\f$ representing first rotation around the axis \f$r\f$ with rotation
* angle \f$|r|\f$ in radian (right hand rule) and then translation by the vector \f$t\f$, you can use
*
* @code
* cv::Vec3f r, t;
* cv::Affine3f T(r, t);
* @endcode
*
* If you already have the rotation matrix \f$R\f$, then you can use
*
* @code
* cv::Matx33f R;
* cv::Affine3f T(R, t);
* @endcode
*
* To extract the rotation matrix \f$R\f$ from \f$T\f$, use
*
* @code
* cv::Matx33f R = T.rotation();
* @endcode
*
* To extract the translation vector \f$t\f$ from \f$T\f$, use
*
* @code
* cv::Vec3f t = T.translation();
* @endcode
*
* To extract the rotation vector \f$r\f$ from \f$T\f$, use
*
* @code
* cv::Vec3f r = T.rvec();
* @endcode
*
* Note that since the mapping from rotation vectors to rotation matrices
* is many to one. The returned rotation vector is not necessarily the one
* you used before to set the matrix.
*
* If you have two transformations \f$T = T_1 * T_2\f$, use
*
* @code
* cv::Affine3f T, T1, T2;
* T = T2.concatenate(T1);
* @endcode
*
* To get the inverse transform of \f$T\f$, use
*
* @code
* cv::Affine3f T, T_inv;
* T_inv = T.inv();
* @endcode
*
*/
template<typename T>
class Affine3
@ -66,45 +131,127 @@ namespace cv
typedef Matx<float_type, 4, 4> Mat4;
typedef Vec<float_type, 3> Vec3;
//! Default constructor. It represents a 4x4 identity matrix.
Affine3();
//! Augmented affine matrix
Affine3(const Mat4& affine);
//! Rotation matrix
/**
* The resulting 4x4 matrix is
*
* \f[
* \begin{bmatrix}
* R & t\\
* 0 & 1\\
* \end{bmatrix}
* \f]
*
* @param R 3x3 rotation matrix.
* @param t 3x1 translation vector.
*/
Affine3(const Mat3& R, const Vec3& t = Vec3::all(0));
//! Rodrigues vector
/**
* Rodrigues vector.
*
* The last row of the current matrix is set to [0,0,0,1].
*
* @param rvec 3x1 rotation vector. Its direction indicates the rotation axis and its length
* indicates the rotation angle in radian (using right hand rule).
* @param t 3x1 translation vector.
*/
Affine3(const Vec3& rvec, const Vec3& t = Vec3::all(0));
//! Combines all contructors above. Supports 4x4, 4x3, 3x3, 1x3, 3x1 sizes of data matrix
/**
* Combines all constructors above. Supports 4x4, 3x4, 3x3, 1x3, 3x1 sizes of data matrix.
*
* The last row of the current matrix is set to [0,0,0,1] when data is not 4x4.
*
* @param data 1-channel matrix.
* when it is 4x4, it is copied to the current matrix and t is not used.
* When it is 3x4, it is copied to the upper part 3x4 of the current matrix and t is not used.
* When it is 3x3, it is copied to the upper left 3x3 part of the current matrix.
* When it is 3x1 or 1x3, it is treated as a rotation vector and the Rodrigues formula is used
* to compute a 3x3 rotation matrix.
* @param t 3x1 translation vector. It is used only when data is neither 4x4 nor 3x4.
*/
explicit Affine3(const Mat& data, const Vec3& t = Vec3::all(0));
//! From 16th element array
//! From 16-element array
explicit Affine3(const float_type* vals);
//! Create identity transform
//! Create an 4x4 identity transform
static Affine3 Identity();
//! Rotation matrix
/**
* Rotation matrix.
*
* Copy the rotation matrix to the upper left 3x3 part of the current matrix.
* The remaining elements of the current matrix are not changed.
*
* @param R 3x3 rotation matrix.
*
*/
void rotation(const Mat3& R);
//! Rodrigues vector
/**
* Rodrigues vector.
*
* It sets the upper left 3x3 part of the matrix. The remaining part is unaffected.
*
* @param rvec 3x1 rotation vector. The direction indicates the rotation axis and
* its length indicates the rotation angle in radian (using the right thumb convention).
*/
void rotation(const Vec3& rvec);
//! Combines rotation methods above. Suports 3x3, 1x3, 3x1 sizes of data matrix;
/**
* Combines rotation methods above. Supports 3x3, 1x3, 3x1 sizes of data matrix.
*
* It sets the upper left 3x3 part of the matrix. The remaining part is unaffected.
*
* @param data 1-channel matrix.
* When it is a 3x3 matrix, it sets the upper left 3x3 part of the current matrix.
* When it is a 1x3 or 3x1 matrix, it is used as a rotation vector. The Rodrigues formula
* is used to compute the rotation matrix and sets the upper left 3x3 part of the current matrix.
*/
void rotation(const Mat& data);
/**
* Copy the 3x3 matrix L to the upper left part of the current matrix
*
* It sets the upper left 3x3 part of the matrix. The remaining part is unaffected.
*
* @param L 3x3 matrix.
*/
void linear(const Mat3& L);
/**
* Copy t to the first three elements of the last column of the current matrix
*
* It sets the upper right 3x1 part of the matrix. The remaining part is unaffected.
*
* @param t 3x1 translation vector.
*/
void translation(const Vec3& t);
//! @return the upper left 3x3 part
Mat3 rotation() const;
//! @return the upper left 3x3 part
Mat3 linear() const;
//! @return the upper right 3x1 part
Vec3 translation() const;
//! Rodrigues vector
//! Rodrigues vector.
//! @return a vector representing the upper left 3x3 rotation matrix of the current matrix.
//! @warning Since the mapping between rotation vectors and rotation matrices is many to one,
//! this function returns only one rotation vector that represents the current rotation matrix,
//! which is not necessarily the same one set by `rotation(const Vec3& rvec)`.
Vec3 rvec() const;
//! @return the inverse of the current matrix.
Affine3 inv(int method = cv::DECOMP_SVD) const;
//! a.rotate(R) is equivalent to Affine(R, 0) * a;
@ -113,7 +260,7 @@ namespace cv
//! a.rotate(rvec) is equivalent to Affine(rvec, 0) * a;
Affine3 rotate(const Vec3& rvec) const;
//! a.translate(t) is equivalent to Affine(E, t) * a;
//! a.translate(t) is equivalent to Affine(E, t) * a, where E is an identity matrix
Affine3 translate(const Vec3& t) const;
//! a.concatenate(affine) is equivalent to affine * a;
@ -136,6 +283,7 @@ namespace cv
template<typename T> static
Affine3<T> operator*(const Affine3<T>& affine1, const Affine3<T>& affine2);
//! V is a 3-element vector with member fields x, y and z
template<typename T, typename V> static
V operator*(const Affine3<T>& affine, const V& vector);
@ -178,7 +326,7 @@ namespace cv
//! @cond IGNORED
///////////////////////////////////////////////////////////////////////////////////
// Implementaiton
// Implementation
template<typename T> inline
cv::Affine3<T>::Affine3()
@ -212,6 +360,7 @@ template<typename T> inline
cv::Affine3<T>::Affine3(const cv::Mat& data, const Vec3& t)
{
CV_Assert(data.type() == cv::traits::Type<T>::value);
CV_Assert(data.channels() == 1);
if (data.cols == 4 && data.rows == 4)
{
@ -276,11 +425,12 @@ void cv::Affine3<T>::rotation(const Vec3& _rvec)
}
}
//Combines rotation methods above. Suports 3x3, 1x3, 3x1 sizes of data matrix;
//Combines rotation methods above. Supports 3x3, 1x3, 3x1 sizes of data matrix;
template<typename T> inline
void cv::Affine3<T>::rotation(const cv::Mat& data)
{
CV_Assert(data.type() == cv::traits::Type<T>::value);
CV_Assert(data.channels() == 1);
if (data.cols == 3 && data.rows == 3)
{
@ -295,7 +445,7 @@ void cv::Affine3<T>::rotation(const cv::Mat& data)
rotation(_rvec);
}
else
CV_Assert(!"Input marix can be 3x3, 1x3 or 3x1");
CV_Assert(!"Input matrix can only be 3x3, 1x3 or 3x1");
}
template<typename T> inline

2
modules/core/include/opencv2/core/matx.hpp
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@ -92,7 +92,7 @@ Except of the plain constructor which takes a list of elements, Matx can be init
float values[] = { 1, 2, 3};
Matx31f m(values);
@endcode
In case if C++11 features are avaliable, std::initializer_list can be also used to initizlize Matx:
In case if C++11 features are avaliable, std::initializer_list can be also used to initialize Matx:
@code{.cpp}
Matx31f m = { 1, 2, 3};
@endcode