#include <umatrix.h>

Inheritance diagram for UMatrix:

Public Member Functions
void	add (UMatrix A, UMatrix B)

void	add (UMatrix *A)

void	add (const double val)

void	clear ()

unsigned int	cols ()

void	copy (UMatrix *source)

CvArr *	cvArr ()

CvMat *	cvMat ()

double	det (int *error)

void	eig (UMatrix W, UMatrix U, UMatrix *V, int flag=CV_SVD_V_T)

int	elements ()

void	error (const int ierr, const char *message)

bool	expand (const unsigned int iRows, const unsigned int iCols)

bool	expand (const unsigned int iRows, const unsigned int iCols, const double iVal)

double	get (const unsigned int at)

double	get (int row, int col)

double *	getData ()

virtual const char *	getDataType ()

double *	getRow (int row)

bool	init (const unsigned int rows, const unsigned int cols)

bool	init (const unsigned int rows, const unsigned int cols, const double i)

bool	init (const unsigned int iRows, const unsigned int iCols, double *data, unsigned int bufferSizeInDoubles)

void	inverse (UMatrix *B, int method=CV_SVD)

virtual bool	isAlsoA (const char *typeString)

bool	isCol ()

bool	isRow ()

int	maxSize ()

int	mult (UMatrix A, UMatrix B)

void	mult (const double scale)

bool	normalize ()

void	print (const char *prestring)

unsigned int	rows ()

int	save (char *filename, char delim= ' ')

bool	save (FILE f, const char name)

void	set (const double value0, const double value1, const double value2=0.0, const double value3=0.0)

bool	setAt (const unsigned int at, const double value)

int	setCol (unsigned int col, const double value0, const double value1=0.0, const double value2=0.0, const double value3=0.0)

int	setDiag (double value0, double value1, double value2=0.0, double value3=0.0)

bool	setMat (const int rCnt, const int cCnt, double *values)

int	setMinor (UMatrix *mA, const unsigned int ar, const unsigned int ac)

int	setRC (const unsigned int row, const unsigned int col, const double value)

int	setRow (unsigned int row, const double value0, const double value1=0.0, const double value2=0.0, const double value3=0.0)

int	setRow (unsigned int row, unsigned int valCnt, const double val[])

bool	setSize (const unsigned int iRows, const unsigned int iCols)

unsigned int	size ()

virtual void	snprint (const char prestring, char buff, const int buffCnt)

virtual void	snprintMaple (const char prestring, char s, const int length)

bool	solve (UMatrix iB, UMatrix X)

double	sqSum ()

void	sub (UMatrix A, UMatrix B)

void	sub (UMatrix *A)

double	trace ()

void	transpose (UMatrix *B=NULL)

bool	valid ()

Public Member Functions inherited from UDataBase
bool	isA (const char *typeString)

	UDataBase ()

virtual	~UDataBase ()

Public Attributes
int	err

Protected Attributes
CvMat	mat

unsigned int	matrixSize

Detailed Description

Virtual class for matrix operations. This class do not include any elements. decendent classes must define a data area and point m to this area. All initialisation and constructors must be handled by decendent classes.
The matrix index is (row, col), and are 0-based. i.e. for a matrix of size 4x3 the row number range is 0..3 and the column munber range is 0..2.
This class offers most of the useual matrix operations - the rest is supported by openCV

Member Function Documentation

void UMatrix::add	(	UMatrix *	A,
		UMatrix *	B
	)

Make this matrix the sum of matrix A and B. this = A + B.

References cols(), error(), getData(), rows(), setSize(), and size().

Referenced by UFuzzyPixel::addCovariance(), UResLocater::doLocatorUpdates(), UImageAna::findRoadCroma(), UImAna::getAvgVar(), UImageAna::getAvgVar(), UImagePoly::getAvgVar(), UImagePoly::getAvgVar2(), UFuzzySplit::getCovariance(), isCol(), UMatrix4::operator+(), UMatrix4::operator-(), and testLinearAlgebra().

void UMatrix::add ( UMatrix * A )

Add the matrix A to this matrix

References cols(), error(), getData(), rows(), and size().

void UMatrix::add ( const double val )

Add val to all elements in this matrix.

References cols(), getRow(), and rows().

void UMatrix::clear ( void )

Set all values to zero. err must be 0 before call.

References err, getData(), and size().

Referenced by UFuzzySplit::classifyOld(), UImAna::getAvgVar(), UImageAna::getAvgVar(), UImagePoly::getAvgVar(), UImagePoly::getAvgVar2(), UFuzzySplit::getCenter(), UFuzzySplit::getCovariance(), getDataType(), and testLinearAlgebra().

unsigned int UMatrix::cols ( )

inline

void UMatrix::copy ( UMatrix * source )

Copy a matrix.

References cols(), err, error(), get(), matrixSize, rows(), setRC(), and setSize().

Referenced by isCol(), UImAna::paintRoadImage(), UImageAna::paintRoadImage(), UImagePoly::paintRoadImage(), and transpose().

CvArr* UMatrix::cvArr ( )

inline

Get handle to opencv array structure. This can be used for all CvArr type arguments.

References mat.

Referenced by UImageAna::findRoad(), UImageAna::findRoadCroma(), UImagePoly::makeSimilarImage2(), UImagePoly::makeSimilarImage3(), and solve().

CvMat* UMatrix::cvMat ( )

inline

Get handle to opencv array structure. This can be used for all CvMat type arguments.

Referenced by UFuncStereo::initializeStereo(), UFuncStereo::processImages(), testMatrixVecBig(), testOpticalFlow(), testOpticalFlowHarris(), and UCamRad::updateLensParams().

double UMatrix::det ( int * error )

Find determinant if matrix is size 1x1, 2x2, 3x3

Parameters

err	set to == 0 if sucessfull or
err	set to = -1 if matrix is too big

Returns: determinant

References mat.

Referenced by UMatrix4::density(), UMatrix4::det(), UMatrixBig::det(), and valid().

void UMatrix::eig	(	UMatrix *	W,
		UMatrix *	U,
		UMatrix *	V,
		int	flag = `CV_SVD_V_T`
	)

Calculates singular value decomposition (SVD) of this matrix (MxN with M >= N). So that: source = U * W * V'; The result is placed in W (diagonal if W is (NxN) or as vector if W is (Nx1). Also U and V can be calculated, columns in U (MxN) and rows in V (NxN) (or may be NULL if not needed). The matrix size of W, U and V must be set before call. The flag may be either 0 or sum of:
CV_SVD_MODIFY_A enables modification of matrix src1 during the operation. It speeds up the processing.
CV_SVD_U_T means that the tranposed matrix U is returned. Specifying the flag speeds up the processing.
CV_SVD_V_T means that the tranposed matrix V is returned. Specifying the flag speeds up the processing.
Preferred value is CV_SVD_MODIFY_A + CV_SVD_V_T. but default is just CV_SVD_V_T (a bit slower, but 'this' matrix is left as is).
Eigenvalue note:
If source matrix is symmetric the eigenvalues in W agree with matlab, otherwise it seems just to be some vector (diagonal) that can be used in back-transformation using the found U and V matrices. U and V are equal if source matrix is symmetric.

References cols(), error(), mat, and rows().

Referenced by testEigenvector(), and valid().

int UMatrix::elements ( )

inline

Return maximum number of elements available in array data area (rows * columns). Type is always double.

References matrixSize.

Referenced by UMatrixBig::UMatrixBig().

void UMatrix::error	(	const int	ierr = `-1`,
		const char *	message = `""`
	)

Set err value and show error message to console.

References err.

Referenced by add(), copy(), eig(), expand(), get(), init(), normalize(), setRC(), sub(), transpose(), UMatrix4::UMatrix4(), and valid().

bool UMatrix::expand	(	const unsigned int	iRows,
		const unsigned int	iCols
	)

Expand matrix maintaining old values. The 'err' value in matrix will be set to -1 if there is no more space to increase the matrix.

References cols(), err, error(), getData(), getRow(), matrixSize, mini(), rows(), and setSize().

Referenced by URotation::asMatrix4x4CtoW(), URotation::asMatrix4x4MtoR(), URotation::asMatrix4x4RtoM(), URotation::asMatrix4x4WtoC(), expand(), UCalibrationMarkSet::getErrorInPixels(), UCalibrationMarkSet::geterrorInPixels(), UCalibrationComponents::PaintChartInImage(), setSize(), testLinearAlgebra(), testMatrixResize(), testMatrixVecBig(), testOpticalFlow(), and testOpticalFlowHarris().

bool UMatrix::expand	(	const unsigned int	iRows,
		const unsigned int	iCols,
		const double	iVal
	)

Expand matrix maintaining old values. Fills the new elements with 0.0 except in the main diagonal, where the provided value will be inserted. The 'err' value in matrix will be set to -1 if there is no more space to increase the matrix.

References cols(), err, expand(), getRow(), and rows().

double UMatrix::get ( const unsigned int at )

inline

Gets one value in a vector. Position is zero based, i.e. get(0) reads first element.

References mat.

double UMatrix::get	(	int	row,
		int	col
	)

inline

Get a matrix element.

References cols(), error(), mat, and rows().

double* UMatrix::getData ( )

inline

Get pointer to data area (first element)

References mat.

Referenced by add(), UFuzzyPixel::addCovariance(), UFuzzyPixel::addPosition(), UPosition::asVector3(), UPosition::asVector4(), clear(), UPosition::copy(), expand(), UResLocater::locate(), mult(), normalize(), UFuzzyPixel::setDistance(), setMat(), UVariable::setValueM(), sqSum(), sub(), UPaintPcp::update(), UFuncLoca2::updateCovStatus(), and UFuncLocalize::updateCovStatus().

virtual const char* UMatrix::getDataType ( )

inlinevirtual

Get (end) type of this structure

Reimplemented from UDataBase.

References clear(), and isAlsoA().

Referenced by isAlsoA().

double* UMatrix::getRow ( int row )

inline

Get forst element in a row, for dynamic access to column elements

References mat.

Referenced by add(), expand(), UImagePoly::makeSimilarImage2(), setMinor(), and setRow().

bool UMatrix::init	(	const unsigned int	rows,
		const unsigned int	cols
	)

Initializes of a matrix to required size, with all elements left as is, that is: if column number is cahanged all data vontent (with exception of elements if first row) are reshuffeld.

References err, error(), mat, and matrixSize.

Referenced by URotation::asUnitZVector4CtoW(), UResLocater::doLocatorUpdates(), UImAna::findContourPolyCroma(), UImageAna::findContourPolyCroma(), UImagePoly::findContourPolyCroma(), UFuncStereo::initializeStereo(), UCamParEst::initParEst(), UCamParEst::initParEst35(), UCamPar::setMatrices(), UPoseQ::setQ(), setSize(), testLinearAlgebra(), UMatrix4::UMatrix4(), and UMatrixBig::UMatrixBig().

bool UMatrix::init	(	const unsigned int	rows,
		const unsigned int	cols,
		const double	i
	)

Initializes of a matrix to required size, and with elements along the main diagonal set to i. Other elements are set to 0.0.

References err, error(), mat, and matrixSize.

bool UMatrix::init	(	const unsigned int	iRows,
		const unsigned int	iCols,
		double *	data,
		unsigned int	bufferSizeInDoubles
	)

inline

Initialize matrix with user provided data buffer

Parameters

iRows	is (initial) matrix number of rows
iCols	is (initial) matrix number of columns
data	is array of doubles to hold at least the initial matrix,
bufferSizeInDoubles	is the size of the double buffer (may have extra space for reorganisation of matrix.

References cols(), err, mat, and matrixSize.

void UMatrix::inverse	(	UMatrix *	B,
		int	method = `CV_SVD`
	)

Transpose this matrix. Inverse. Make this matrix an inversed copy of B. The method ishould be CV_SVD for normal matrix and CV_SYM_SVD for symmetric matrices. These methods do not use temporary dynmically allocated matricec. The method CV_LU use gaussian elimination is also supported

References mat.

Referenced by UResLocater::doLocatorUpdates(), UImageAna::findRoadCroma(), UMatrix4::inversed(), isCol(), UImagePoly::makeSimilarImage2(), and testMatrixInv().

bool UMatrix::isAlsoA ( const char * typeString )

virtual

Function to test if the class or one of its ancestors is of a specific type

Reimplemented from UDataBase.

References getDataType(), and UDataBase::isAlsoA().

Referenced by getDataType().

bool UMatrix::isCol ( )

inline

is vector a row or a column

References add(), copy(), inverse(), mult(), rows(), setMinor(), solve(), sub(), transpose(), and X.

Referenced by normalize(), and transpose().

bool UMatrix::isRow ( )

inline

is vector a row or a column

References cols().

Referenced by normalize(), and transpose().

int UMatrix::maxSize ( )

inline

Return maximum number of elements available in array data area (rows x columns). Type is always double.

References matrixSize.

Referenced by UCalibrationMarkSet::setBarcodePosRowSet(), and UCalibrationMarkSet::setCameraPosRowSet().

int UMatrix::mult	(	UMatrix *	A,
		UMatrix *	B
	)

Resize this matrix as required, and if the size is increased the new elements are filled i along the main diagonal and other new elements are set to zero. Make this matrix the matrix product og A and B. this = A * B.

References cols(), err, mat, rows(), and setSize().

Referenced by UFuzzyPixel::addCovariance(), UFuzzySplit::classifyOld(), UImAna::findContourPolyCroma(), UImageAna::findContourPolyCroma(), UImagePoly::findContourPolyCroma(), UImAna::getAvgVar(), UImageAna::getAvgVar(), UImagePoly::getAvgVar(), UImagePoly::getAvgVar2(), UFuzzySplit::getCenter(), UFuzzySplit::getCovariance(), isCol(), UMatrix4::operator*(), testEigenvector(), and testMatrixVecBig().

void UMatrix::mult ( const double scale )

Scale all elements in this matrix with scale. this *= scale

References getData(), and size().

bool UMatrix::normalize ( )

Normalize homogeneous vector, so that last element is 1.

References absd(), err, error(), getData(), isCol(), isRow(), and size().

Referenced by UPosition::getPixelPos(), UCalibrationComponents::PaintChartInImage(), and setSize().

void UMatrix::print ( const char * prestring )

Print matrix values to console in float format

References cols(), err, and rows().

Referenced by UFuzzySplit::classifyOld(), UImAna::findContourPoly(), UImageAna::findContourPoly(), UImAna::findContourPolyCroma(), UImageAna::findContourPolyCroma(), UImagePoly::findContourPolyCroma(), UImageAna::findRoadCroma(), UCamPar::print(), testEigenvector(), testEigenvector2x2(), testLinearAlgebra(), testMatrix(), testMatrixDensity(), testMatrixInv(), testMatrixResize(), testMatrixVec(), testMatrixVecBig(), testOpticalFlow(), testOpticalFlowHarris(), testPoseMatrix(), testVar(), and valid().

unsigned int UMatrix::rows ( )

inline

int UMatrix::save	(	char *	filename,
		char	delim = `' '`
	)

save to file in textfile format for MATLAB etc. with numbers in '-1.988e-12' type format with delimitor between columns as sepcified in DELIM, with default as space.
Returns 0 if successfull, else -1.

References cols(), err, and rows().

Referenced by UCalibrationMarkSet::evaluateChartPosRot(), testMatrixVecBig(), and valid().

bool UMatrix::save	(	FILE *	f,
		const char *	name
	)

Save matrix in matlab format *.m with this variable name.

References cols(), err, and rows().

void UMatrix::set	(	const double	value0,
		const double	value1,
		const double	value2 = `0.0`,
		const double	value3 = `0.0`
	)

inline

Set up to 4 values in a vector.
Sets values within vector size only.
Returns 0.

References mat.

Referenced by U2Dpos::asCol2(), U2Dpos::asCol3(), UPose::asCol3(), UPose::asCol4(), U2Dpos::asRow2(), U2Dpos::asRow3(), UPose::asRow3(), UPose::asRow4(), UMatrix4::col(), DoFindPeak(), UMatrix4::eig2x2(), UImageAna::findRoad(), UImageAna::findRoadCroma(), UImAna::getAvgVar(), UImageAna::getAvgVar(), UImagePoly::getAvgVar(), UImagePoly::getAvgVar2(), UCalibrationMarkSet::getErrorInPixels(), UCalibrationMarkSet::geterrorInPixels(), UPlane::getPlaneCrossing(), UImagePoly::makeSimilarImage2(), UImagePoly::makeSimilarImage3(), UCalibrationComponents::PaintChartInImage(), UMatrix4::row(), testMatrixDensity(), testMatrixVec(), testMatrixVecBig(), testOpticalFlow(), testOpticalFlowHarris(), UFuncLoca2::updateCovStatus(), and UFuncLocalize::updateCovStatus().

bool UMatrix::setAt	(	const unsigned int	at,
		const double	value
	)

inline

Set one value in a vector. Position is zero based, i.e. set(0, 1.0) sets first element to 1.0.
returns 0 if within range

References mat, and size().

Referenced by URotation::asUnitZVector3CtoW(), URotation::asUnitZVector4CtoW(), and testMatrixVecBig().

int UMatrix::setCol	(	unsigned int	col,
		const double	value0,
		const double	value1 = `0.0`,
		const double	value2 = `0.0`,
		const double	value3 = `0.0`
	)

Set up to first 4 elements in a column.

References cols(), err, rows(), and setRC().

Referenced by UResLocater::doLocatorUpdates(), and valid().

int UMatrix::setDiag	(	double	value0,
		double	value1,
		double	value2 = `0.0`,
		double	value3 = `0.0`
	)

Set matrix diagnal to these values. Other elements in matrix are untouched

References cols(), rows(), and setRC().

Referenced by UResLocater::doLocatorUpdates(), and valid().

bool UMatrix::setMat	(	const int	rCnt,
		const int	cCnt,
		double *	values
	)

Set matrix values from an array of double values.

Parameters

rCnt	is the number of rows in matrix
cCnt	is number of columns.
values	is an array of size (rCnt,cCnt) with matrix values. first row first.

Returns: true if space for array values.

References err, getData(), and setSize().

Referenced by UVariable::getM(), UFuncLoca2::updateCovStatus(), UFuncLocalize::updateCovStatus(), UCamRad::updateLensParams(), and valid().

int UMatrix::setMinor	(	UMatrix *	mA,
		const unsigned int	ar,
		const unsigned int	ac
	)

Make a mionor matrix as copy of 'mA' by removing row 'ar' and column 'ac'. Returns -1 if error in source or calculation.

References cols(), err, getRow(), rows(), and setSize().

Referenced by UMatrix4::det(), UMatrixBig::det(), and isCol().

int UMatrix::setRC	(	const unsigned int	row,
		const unsigned int	col,
		const double	value
	)

inline

Set a matrix element.

References cols(), err, error(), mat, and rows().

int UMatrix::setRow	(	unsigned int	row,
		const double	value0,
		const double	value1 = `0.0`,
		const double	value2 = `0.0`,
		const double	value3 = `0.0`
	)

Make matrix as product of two vectors. Make outher product of these vectors Set up to first 4 elements in a row.

References cols(), err, getRow(), and rows().

Referenced by UPose::asMatrix2x2MtoP(), UPose::asMatrix2x2PtoM(), UPose::asMatrix3x3MtoP(), UPose::asMatrix3x3PtoM(), UPose::asMatrix4x4MtoP(), UPose::asMatrix4x4PtoM(), UPose::asMatrix4x4PtoMPos(), DoFindPeak(), UClientFuncLaserGui::doImage(), UResLocater::doLocatorUpdates(), UImAna::findContourPoly(), UImageAna::findContourPoly(), UImAna::findContourPolyCroma(), UImageAna::findContourPolyCroma(), UImagePoly::findContourPolyCroma(), UPose2pose::get2arcQ4(), UCamPar::getCtoPRob(), UImAna::getMahalonobisDist(), UImageAna::getMahalonobisDist(), UImagePoly::getMahalonobisDist(), UImAna::getMahalonobisDistCroma(), UImageAna::getMahalonobisDistCroma(), UImagePoly::getMahalonobisDistCroma(), UVarHist::getTimeSeries(), harris(), testEigenvector(), testEigenvector2x2(), testLinearAlgebra(), testMatrixResize(), testMatrixVec(), testMatrixVecBig(), testOpticalFlow(), testOpticalFlowHarris(), and valid().

int UMatrix::setRow	(	unsigned int	row,
		unsigned int	valCnt,
		const double	val[]
	)

Set matrix row from array of doubles.

Parameters

row	is the row to be set (0 based)
valCnt	is the number of values to be set (no more than number of columns)
val	is the array of values.

Returns: err=0

References cols(), err, getRow(), and mini().

bool UMatrix::setSize	(	const unsigned int	iRows,
		const unsigned int	iCols
	)

inline

Resize this matrix, any new elements are un-initialized.

References expand(), init(), and normalize().

Referenced by add(), UFuzzyPixel::addCovariance(), UPosition::asVector3(), UPosition::asVector4(), UFuzzySplit::classify(), UFuzzySplit::classifyOld(), copy(), UClientFuncLaserGui::doImage(), UResLocater::doLocatorUpdates(), UCalibrationMarkSet::evaluateChartPosRot(), UCalibrationMarkSet::evaluatePosRot(), expand(), UImAna::findContourPoly(), UImageAna::findContourPoly(), UImAna::findContourPolyCroma(), UImageAna::findContourPolyCroma(), UImagePoly::findContourPolyCroma(), UImAna::getMahalonobisDist(), UImageAna::getMahalonobisDist(), UImagePoly::getMahalonobisDist(), UImAna::getMahalonobisDistCroma(), UImageAna::getMahalonobisDistCroma(), UImagePoly::getMahalonobisDistCroma(), UVarHist::getTimeSeries(), UResLocater::init_matrix(), UFuzzySplit::initFromValues(), mult(), UFuzzyPixel::setDistance(), setMat(), setMinor(), sub(), testEigenvector(), testLinearAlgebra(), testMatrixInv(), testMatrixVecBig(), transpose(), UFuncLoca2::updateCovStatus(), and UFuncLocalize::updateCovStatus().

unsigned int UMatrix::size ( )

inline

Get the size of the actual vector. More space may be allocated - see maxSize().

References mat.

Referenced by add(), UCamParEst::adjustParameters(), clear(), UPosition::copy(), mult(), normalize(), UPose::set(), setAt(), and sub().

void UMatrix::snprint	(	const char *	prestring,
		char *	buff,
		const int	buffCnt
	)

virtual

Copy elements to string in human readable format

Reimplemented from UDataBase.

References cols(), err, and rows().

Referenced by UCalibrationMarkSet::geterrorInPixels(), and valid().

void UMatrix::snprintMaple	(	const char *	prestring,
		char *	s,
		const int	length
	)

virtual

Copy elements to string s (Maple format).

References cols(), and rows().

Referenced by valid().

bool UMatrix::solve	(	UMatrix *	iB,
		UMatrix *	X
	)

Solve the set of equation in this matrix with the unknowns in result vector X beeing equal to the iB vector. this * X = iB. Returns true if result in X is valid (matrix not singular).

References cvArr().

Referenced by DoFindPeak(), UCalibrationMarkSet::evaluateChartPosRot(), UCalibrationMarkSet::evaluatePosRot(), UPlane::getPlaneCrossing(), isCol(), UCamParEst::solveLeastSquare(), testMatrixVec(), and testMatrixVecBig().

double UMatrix::sqSum ( )

Get squared sum of all elements. Especially usefull for vectors, there the result is the vector distance squared, or the dot product by itself

References cols(), getData(), rows(), and sqr().

Referenced by valid().