matrix Archives - Robotics with ROS

List of OpenCv matrix types and mapping numbers

/*

            C1  C2   C3  C4
    CV_8U	0	8	16	24
    CV_8S	1	9	17	25
    CV_16U	2	10	18	26
    CV_16S	3	11	19	27
    CV_32S	4	12	20	28
    CV_32F	5	13	21	29
    CV_64F	6	14	22	30
    Unsigned 8bits uchar 0~255
    IplImage: IPL_DEPTH_8U
    Mat: CV_8UC1, CV_8UC2, CV_8UC3, CV_8UC4

    Signed 8bits char -128~127
    IplImage: IPL_DEPTH_8S
    Mat: CV_8SC1，CV_8SC2，CV_8SC3，CV_8SC4

    Unsigned 16bits ushort 0~65535
    IplImage: IPL_DEPTH_16U
    Mat: CV_16UC1，CV_16UC2，CV_16UC3，CV_16UC4

    Signed 16bits short -32768~32767
    IplImage: IPL_DEPTH_16S
    Mat: CV_16SC1，CV_16SC2，CV_16SC3，CV_16SC4

    Signed 32bits int -2147483648~2147483647
    IplImage: IPL_DEPTH_32S
    Mat: CV_32SC1，CV_32SC2，CV_32SC3，CV_32SC4

    Float 32bits float -1.18*10-38~3.40*10-38
    IplImage: IPL_DEPTH_32F
    Mat: CV_32FC1，CV_32FC2，CV_32FC3，CV_32FC4

    Double 64bits double
    Mat: CV_64FC1，CV_64FC2，CV_64FC3，CV_64FC4

    Unsigned 1bit bool
    IplImage: IPL_DEPTH_1U
*/
//example:

    int number_of_rows, number_of_columns;
    number_of_rows=3;
    number_of_columns=4;
    cv::Mat mat_CV_8U(number_of_rows, number_of_columns,CV_8UC1);
    std::cout<<"mat_CV_8U.type(): " <<mat_CV_8U.type() <<std::endl;


    cv::Mat mat_CV_64FC1(number_of_rows, number_of_columns,CV_64FC1);
    std::cout<<"mat_CV_64FC1.type(): " <<mat_CV_64FC1.type() <<std::endl;

C1 C2 C3 C4

CV_8U 0 8 16 24

CV_8S 1 9 17 25

CV_16U 2 10 18 26

CV_16S 3 11 19 27

CV_32S 4 12 20 28

CV_32F 5 13 21 29

CV_64F 6 14 22 30

Unsigned 8bits uchar 0~255

IplImage: IPL_DEPTH_8U

Mat: CV_8UC1, CV_8UC2, CV_8UC3, CV_8UC4

Signed 8bits char -128~127

IplImage: IPL_DEPTH_8S

Mat: CV_8SC1，CV_8SC2，CV_8SC3，CV_8SC4

Unsigned 16bits ushort 0~65535

IplImage: IPL_DEPTH_16U

Mat: CV_16UC1，CV_16UC2，CV_16UC3，CV_16UC4

Signed 16bits short -32768~32767

IplImage: IPL_DEPTH_16S

Mat: CV_16SC1，CV_16SC2，CV_16SC3，CV_16SC4

Signed 32bits int -2147483648~2147483647

IplImage: IPL_DEPTH_32S

Mat: CV_32SC1，CV_32SC2，CV_32SC3，CV_32SC4

Float 32bits float -1.18*10-38~3.40*10-38

IplImage: IPL_DEPTH_32F

Mat: CV_32FC1，CV_32FC2，CV_32FC3，CV_32FC4

Double 64bits double

Mat: CV_64FC1，CV_64FC2，CV_64FC3，CV_64FC4

Unsigned 1bit bool

IplImage: IPL_DEPTH_1U

//example:

int number_of_rows, number_of_columns;

number_of_rows=3;

number_of_columns=4;

cv::Mat mat_CV_8U(number_of_rows, number_of_columns,CV_8UC1);

std::cout<<"mat_CV_8U.type(): " <<mat_CV_8U.type() <<std::endl;

cv::Mat mat_CV_64FC1(number_of_rows, number_of_columns,CV_64FC1);

std::cout<<"mat_CV_64FC1.type(): " <<mat_CV_64FC1.type() <<std::endl;

ref: Special thanks to this post.

Roll, pitch, yaw using Eigen and KDL Frame

Leave a Comment / C++, Linear Algebra, ROS, Tutorials / admin

/*
yaw:
    A yaw is a counterclockwise rotation of alpha about the  z-axis. The rotation matrix is given by

    R_z

    |cos(alpha) -sin(alpha) 0|
    |sin(apha)   cos(alpha) 0|
    |    0            0     1|

pitch:
    R_y
    A pitch is a counterclockwise rotation of  beta about the  y-axis. The rotation matrix is given by

    |cos(beta)  0   sin(beta)|
    |0          1       0    |
    |-sin(beta) 0   cos(beta)|

roll:
    A roll is a counterclockwise rotation of  gamma about the  x-axis. The rotation matrix is given by
    R_x
    |1          0           0|
    |0 cos(gamma) -sin(gamma)|
    |0 sin(gamma)  cos(gamma)|



    It is important to note that   R_z R_y R_x performs the roll first, then the pitch, and finally the yaw
    Roration matrix: R_z*R_y*R_x
*/

    double roll, pitch, yaw;
    roll=M_PI/3;
    pitch=M_PI/4;
    yaw=M_PI/6;
    Eigen::AngleAxisd rollAngle(roll, Eigen::Vector3d::UnitX());
    Eigen::AngleAxisd pitchAngle(pitch, Eigen::Vector3d::UnitY());
    Eigen::AngleAxisd yawAngle(yaw, Eigen::Vector3d::UnitZ());




    Eigen::Quaternion<double> q =  yawAngle*pitchAngle *rollAngle;

    Eigen::Matrix3d rotationMatrix = q.matrix();
    std::cout<<rotationMatrix <<std::endl;

yaw:

A yaw is a counterclockwise rotation of alpha about the z-axis. The rotation matrix is given by

R_z

|cos(alpha) -sin(alpha) 0|

|sin(apha) cos(alpha) 0|

| 0 0 1|

pitch:

R_y

A pitch is a counterclockwise rotation of beta about the y-axis. The rotation matrix is given by

|cos(beta) 0 sin(beta)|

|0 1 0 |

|-sin(beta) 0 cos(beta)|

roll:

A roll is a counterclockwise rotation of gamma about the x-axis. The rotation matrix is given by

R_x

|1 0 0|

|0 cos(gamma) -sin(gamma)|

|0 sin(gamma) cos(gamma)|

It is important to note that R_z R_y R_x performs the roll first, then the pitch, and finally the yaw

Roration matrix: R_z*R_y*R_x

double roll, pitch, yaw;

roll=M_PI/3;

pitch=M_PI/4;

yaw=M_PI/6;

Eigen::AngleAxisd rollAngle(roll, Eigen::Vector3d::UnitX());

Eigen::AngleAxisd pitchAngle(pitch, Eigen::Vector3d::UnitY());

Eigen::AngleAxisd yawAngle(yaw, Eigen::Vector3d::UnitZ());

Eigen::Quaternion<double> q = yawAngle*pitchAngle *rollAngle;

Eigen::Matrix3d rotationMatrix = q.matrix();

std::cout<<rotationMatrix <<std::endl;

From Eigen documentation: If you are working with OpenGL 4×4 matrices then Affine3f and Affine3d are what you want. Since Eigen defaults to column-major storage, you can directly use the Transform::data() method to pass your transformation matrix to OpenGL. construct a Transform:

Transform t(AngleAxis(angle,axis));

1	Transform t(AngleAxis(angle,axis));

or like this:

Transform t;
t = AngleAxis(angle,axis);

1 2	Transform t; t = AngleAxis(angle,axis);

But note that unfortunately, because of

Roll, pitch, yaw using Eigen and KDL Frame Read More »

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