Hugin trunk 0.1
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Matrix3.cpp
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1// -*- c-basic-offset: 4 -*-
24#include "Matrix3.h"
25
26inline Matrix3 getIdentity()
27{
28 Matrix3 tmp;
29 tmp.SetIdentity();
30 return tmp;
31}
32Matrix3 Matrix3::Identity = getIdentity();
33
34
36Matrix3::Matrix3() {
37 for (int i=0; i<3; i++)
38 for (int j=0; j<3; j++)
39 m[i][j] = 0.0;
40}
41
43Matrix3::Matrix3(const Matrix3& ot)
44{
45 (*this) = ot; // call copy operator
46}
47
49void Matrix3::SetIdentity()
50{
51 m[0][0] = 1; m[0][1] = 0; m[0][2] = 0;
52 m[1][0] = 0; m[1][1] = 1; m[1][2] = 0;
53 m[2][0] = 0; m[2][1] = 0; m[2][2] = 1;
54}
55
57void Matrix3::SetRotation( double Yaw, double Pitch, double Roll )
58{
59 double SR = sin(Roll),
60 SP = sin(Pitch),
61 SY = sin(Yaw),
62 CR = cos(Roll),
63 CP = cos(Pitch),
64 CY = cos(Yaw);
65
66 m[0][0] = CP * CY;
67 m[0][1] = CP * SY;
68 m[0][2] = SP;
69
70 m[1][0] = SR * SP * CY - CR * SY;
71 m[1][1] = SR * SP * SY + CR * CY;
72 m[1][2] = - SR * CP;
73
74 m[2][0] = -( CR * SP * CY + SR * SY );
75 m[2][1] = CY * SR - CR * SP * SY;
76 m[2][2] = CR * CP;
77}
78
79#if 0
83Matrix3::void SetRotationPT( double Yaw, double Pitch, double Roll )
84{
85 double SR = sin(Roll),
86 SP = sin(Pitch),
87 SY = sin(Yaw),
88 CR = cos(Roll),
89 CP = cos(Pitch),
90 CY = cos(Yaw);
91
92 m[0][0] = CP * CY;
93 m[0][1] = CP * SY;
94 m[0][2] = -SP;
95
96 m[1][0] = SR * SP * CY - CR * SY;
97 m[1][1] = SR * SP * SY + CR * CY;
98 m[1][2] = SR * CP;
99
100 m[2][0] = CR * SP * CY + SR * SY;
101 m[2][1] = CR * SP * SY - CY * SR;
102 m[2][2] = CR * CP;
103}
104#endif
105
106
110void Matrix3::SetRotationPT( double yaw, double pitch, double roll )
111{
112 double cosr = cos (roll);
113 double sinr = sin (roll);
114 double cosp = cos (pitch);
115 double sinp = sin (0 - pitch);
116 double cosy = cos (yaw);
117 double siny = sin (0 - yaw);
118
119 Matrix3 rollm;
120
121 /*
122 rollm[0][0] = new Math::Matrix ([ 1, 0, 0 ],
123 [ 0, cosr,-1*sinr ],
124 [ 0, sinr, cosr ]);
125 */
126
127 rollm.m[0][0] = 1.0; rollm.m[0][1] = 0.0; rollm.m[0][2] = 0.0;
128 rollm.m[1][0] = 0.0; rollm.m[1][1] = cosr; rollm.m[1][2] = -sinr;
129 rollm.m[2][0] = 0.0; rollm.m[2][1] = sinr; rollm.m[2][2] = cosr;
130
131 /*
132my pitchm = new Math::Matrix ([ cosp, 0, sinp ],
133 [ 0, 1, 0 ],
134 [ -1*sinp, 0, cosp ]);
135 */
136
137 Matrix3 pitchm;
138 pitchm.m[0][0] = cosp; pitchm.m[0][1] = 0.0; pitchm.m[0][2] = sinp;
139 pitchm.m[1][0] = 0.0; pitchm.m[1][1] = 1; pitchm.m[1][2] = 0.0;
140 pitchm.m[2][0] = -sinp; pitchm.m[2][1] = 0.0; pitchm.m[2][2] = cosp;
141
142 /*
143my yawm = new Math::Matrix ([ cosy,-1*siny, 0 ],
144 [ siny, cosy, 0 ],
145 [ 0, 0, 1 ]);
146 */
147 Matrix3 yawm;
148 yawm.m[0][0] = cosy; yawm.m[0][1] = -siny; yawm.m[0][2] = 0.0;
149 yawm.m[1][0] = siny; yawm.m[1][1] = cosy; yawm.m[1][2] = 0.0;
150 yawm.m[2][0] = 0.0; yawm.m[2][1] = 0.0; yawm.m[2][2] = 1.0;
151
152
153 *this = yawm * pitchm * rollm;
154}
155
157void Matrix3::GetRotationPT( double & Yaw, double & Pitch, double & Roll )
158{
159 /*
160 my $matrix = shift;
161 my $roll = atan2 ($matrix->[2]->[1], $matrix->[2]->[2]);
162 my $pitch = -1 * asin (-1 * $matrix->[2]->[0]);
163 my $yaw = atan2 (-1 * $matrix->[1]->[0], $matrix->[0]->[0]);
164 return ($roll, $pitch, $yaw);
165
166 */
167 Roll = atan2 (m[2][1], m[2][2]);
168 Pitch = - asin (- m[2][0]);
169 Yaw = atan2 (- m[1][0], m[0][0]);
170}
171
173void Matrix3::SetRotationX( double a )
174{
175 m[0][0] = 1.0; m[0][1] = 0.0; m[0][2] = 0.0;
176 m[1][0] = 0.0; m[1][1] = cos(a); m[1][2] = sin(a);
177 m[2][0] = 0.0; m[2][1] =-m[1][2]; m[2][2] = m[1][1];
178}
179
180void Matrix3::SetRotationY( double a )
181{
182 m[0][0] = cos(a); m[0][1] = 0.0; m[0][2] =-sin(a);
183 m[1][0] = 0.0; m[1][1] = 1.0; m[1][2] = 0.0;
184 m[2][0] =-m[0][2]; m[2][1] = 0.0; m[2][2] = m[0][0];
185}
186
187void Matrix3::SetRotationZ( double a )
188{
189 m[0][0] = cos(a); m[0][1] = sin(a); m[0][2] = 0.0;
190 m[1][0] =-m[0][1]; m[1][1] = m[0][0]; m[1][2] = 0.0;
191 m[2][0] = 0.0; m[2][1] = 0.0; m[2][2] = 1.0;
192}
193
195Matrix3& Matrix3::operator= (const Matrix3& ot)
196{
197 for (int i=0; i<3; i++)
198 for (int j=0; j<3; j++)
199 m[i][j] = ot.m[i][j];
200 return *this;
201}
202
204Matrix3 Matrix3::operator*(const Matrix3& ot) const
205{
206 Matrix3 Result;
207 Result.m[0][0] = m[0][0] * ot.m[0][0] + m[0][1] * ot.m[1][0] + m[0][2] * ot.m[2][0];
208 Result.m[0][1] = m[0][0] * ot.m[0][1] + m[0][1] * ot.m[1][1] + m[0][2] * ot.m[2][1];
209 Result.m[0][2] = m[0][0] * ot.m[0][2] + m[0][1] * ot.m[1][2] + m[0][2] * ot.m[2][2];
210
211 Result.m[1][0] = m[1][0] * ot.m[0][0] + m[1][1] * ot.m[1][0] + m[1][2] * ot.m[2][0];
212 Result.m[1][1] = m[1][0] * ot.m[0][1] + m[1][1] * ot.m[1][1] + m[1][2] * ot.m[2][1];
213 Result.m[1][2] = m[1][0] * ot.m[0][2] + m[1][1] * ot.m[1][2] + m[1][2] * ot.m[2][2];
214
215 Result.m[2][0] = m[2][0] * ot.m[0][0] + m[2][1] * ot.m[1][0] + m[2][2] * ot.m[2][0];
216 Result.m[2][1] = m[2][0] * ot.m[0][1] + m[2][1] * ot.m[1][1] + m[2][2] * ot.m[2][1];
217 Result.m[2][2] = m[2][0] * ot.m[0][2] + m[2][1] * ot.m[1][2] + m[2][2] * ot.m[2][2];
218 return Result;
219}
220
222void Matrix3::operator/=(double s)
223{
224 for (int i=0; i<3; i++)
225 for (int j=0; j<3; j++)
226 m[i][j] /= s;
227}
228
230void Matrix3::operator*=(double s)
231{
232 for (int i=0; i<3; i++)
233 for (int j=0; j<3; j++)
234 m[i][j] *= s;
235}
236
238void Matrix3::operator*=(Matrix3 ot)
239{
240 Matrix3 Result;
241 Result.m[0][0] = m[0][0] * ot.m[0][0] + m[0][1] * ot.m[1][0] + m[0][2] * ot.m[2][0];
242 Result.m[0][1] = m[0][0] * ot.m[0][1] + m[0][1] * ot.m[1][1] + m[0][2] * ot.m[2][1];
243 Result.m[0][2] = m[0][0] * ot.m[0][2] + m[0][1] * ot.m[1][2] + m[0][2] * ot.m[2][2];
244
245 Result.m[1][0] = m[1][0] * ot.m[0][0] + m[1][1] * ot.m[1][0] + m[1][2] * ot.m[2][0];
246 Result.m[1][1] = m[1][0] * ot.m[0][1] + m[1][1] * ot.m[1][1] + m[1][2] * ot.m[2][1];
247 Result.m[1][2] = m[1][0] * ot.m[0][2] + m[1][1] * ot.m[1][2] + m[1][2] * ot.m[2][2];
248
249 Result.m[2][0] = m[2][0] * ot.m[0][0] + m[2][1] * ot.m[1][0] + m[2][2] * ot.m[2][0];
250 Result.m[2][1] = m[2][0] * ot.m[0][1] + m[2][1] * ot.m[1][1] + m[2][2] * ot.m[2][1];
251 Result.m[2][2] = m[2][0] * ot.m[0][2] + m[2][1] * ot.m[1][2] + m[2][2] * ot.m[2][2];
252 *this = Result;
253}
254
256Matrix3 Matrix3::Inverse() const
257{
258 Matrix3 Result;
259 double Det = Determinant();
260
261 if (Det == 0.0f)
262 return Matrix3::Identity;
263
264 double invDet = 1.0f / Det;
265
266 Result.m[0][0] = invDet * ( m[1][1] * m[2][2] - m[2][1] * m[1][2] );
267 Result.m[0][1] = -invDet * ( m[0][1] * m[2][2] - m[2][1] * m[0][2] );
268 Result.m[0][2] = invDet * ( m[0][1] * m[1][2] - m[1][1] * m[0][2] );
269
270 Result.m[1][0] = -invDet * ( m[1][0] * m[2][2] - m[2][0] * m[1][2] );
271 Result.m[1][1] = invDet * ( m[0][0] * m[2][2] - m[2][0] * m[0][2] );
272 Result.m[1][2] = -invDet * ( m[0][0] * m[1][2] - m[1][0] * m[0][2] );
273
274 Result.m[2][0] = invDet * ( m[1][0] * m[2][1] - m[2][0] * m[1][1] );
275 Result.m[2][1] = -invDet * ( m[0][0] * m[2][1] - m[2][0] * m[0][1] );
276 Result.m[2][2] = invDet * ( m[0][0] * m[1][1] - m[1][0] * m[0][1] );
277 return Result;
278}
279
280void Matrix3::Print(std::ostream & o) const
281{
282 o << "[ " << m[0][0] << "\t" << m[0][1] << "\t" << m[0][2] << std::endl
283 << " " << m[1][0] << "\t" << m[1][1] << "\t" << m[1][2] << std::endl
284 << " " << m[2][0] << "\t" << m[2][1] << "\t" << m[2][2] << std::endl;
285}
286
287
288/*// return the rotation matrix around X
289Matrix3 GetRotationX(double Ang)
290{
291 double a = cos(Ang);
292 double b = sin(Ang);
293 return Matrix3(
294 1.0, 0.0, 0.0,
295 0.0, a, b,
296 0.0, -b, a );
297}
298
299//return the rotation matrix around Y
300Matrix3 GetRotationY(double Ang)
301{
302 double a = cos(Ang);
303 double b = -sin(Ang);
304 return Matrix3(
305 a, 0.0, b,
306 0.0, 1.0, 0.0,
307 -b, 0.0, a );
308}
309
310//return the rotation matrix around Z
311Matrix3 GetRotationZ(double Ang)
312{
313 double a = cos(Ang);
314 double b = sin(Ang);
315 return Matrix3(
316 a, b, 0.0,
317 -b, a, 0.0,
318 0.0, 0.0, 1.0);
319}
320*/
getIdentity
Matrix3 getIdentity()
Definition Matrix3.cpp:26
Matrix3
general : Matrix3 is a class for handling 3x3 Matrix manipulation.
Definition Matrix3.h:38
Matrix3::operator=
Matrix3 & operator=(const Matrix3 &ot)
copy operator
Definition Matrix3.cpp:195
Matrix3::SetIdentity
void SetIdentity()
Set the identity matrix.
Definition Matrix3.cpp:49
Matrix3::operator/=
void operator/=(double s)
operator *=
Definition Matrix3.cpp:222
Matrix3::SetRotationPT
void SetRotationPT(double yaw, double pitch, double roll)
set rotation in panotools style, code adapted from Panotools-Script by Bruno Postle
Definition Matrix3.cpp:110
Matrix3::operator*
Matrix3 operator*(const Matrix3 &ot) const
multiplication with another matrix
Definition Matrix3.cpp:204
Matrix3::SetRotationZ
void SetRotationZ(double a)
Definition Matrix3.cpp:187
Matrix3::Matrix3
Matrix3()
default constructor : initialise to zero
Definition Matrix3.cpp:36
Matrix3::SetRotation
void SetRotation(double Yaw, double Pitch, double Roll)
Set the matrice to rotation using yaw, pitch, roll angle.
Definition Matrix3.cpp:57
Matrix3::operator*=
void operator*=(double s)
operator *=
Definition Matrix3.cpp:230
Matrix3::Inverse
Matrix3 Inverse() const
return inverse if it exists, otherwise identity
Definition Matrix3.cpp:256
Matrix3::Determinant
double Determinant() const
get the determinant
Definition Matrix3.h:134
Matrix3::m
double m[3][3]
we define the Matrix3 as 3 colums of 3 rows
Definition Matrix3.h:41
Matrix3::SetRotationY
void SetRotationY(double a)
Definition Matrix3.cpp:180
Matrix3::Identity
static Matrix3 Identity
Definition Matrix3.h:43
Matrix3::SetRotationX
void SetRotationX(double a)
set the matrice to rotation around X
Definition Matrix3.cpp:173
Matrix3::GetRotationPT
void GetRotationPT(double &Yaw, double &Pitch, double &Roll)
GetRotation in panotools style.
Definition Matrix3.cpp:157
Matrix3::Print
void Print(std::ostream &o) const
Definition Matrix3.cpp:280
Yaw
double Yaw
Definition image_variables.h:80
Roll
double Roll
Definition image_variables.h:78
Pitch
double Pitch
Definition image_variables.h:79
threshold
std::vector< deghosting::BImagePtr > threshold(const std::vector< deghosting::FImagePtr > &inputImages, const double threshold, const uint16_t flags)
Threshold function used for creating alpha masks for images.
Definition threshold.h:41
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