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Diffstat (limited to 'jni/feature_mos/src/mosaic/trsMatrix.cpp')
-rw-r--r-- | jni/feature_mos/src/mosaic/trsMatrix.cpp | 94 |
1 files changed, 94 insertions, 0 deletions
diff --git a/jni/feature_mos/src/mosaic/trsMatrix.cpp b/jni/feature_mos/src/mosaic/trsMatrix.cpp new file mode 100644 index 000000000..5fc6a86b3 --- /dev/null +++ b/jni/feature_mos/src/mosaic/trsMatrix.cpp @@ -0,0 +1,94 @@ +/* + * Copyright (C) 2011 The Android Open Source Project + * + * Licensed under the Apache License, Version 2.0 (the "License"); + * you may not use this file except in compliance with the License. + * You may obtain a copy of the License at + * + * http://www.apache.org/licenses/LICENSE-2.0 + * + * Unless required by applicable law or agreed to in writing, software + * distributed under the License is distributed on an "AS IS" BASIS, + * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. + * See the License for the specific language governing permissions and + * limitations under the License. + */ + +// trsMatrix.cpp +// $Id: trsMatrix.cpp,v 1.9 2011/06/17 13:35:48 mbansal Exp $ + +#include "stdio.h" +#include <math.h> +#include "trsMatrix.h" + +void mult33d(double a[3][3], double b[3][3], double c[3][3]) +{ + a[0][0] = b[0][0]*c[0][0] + b[0][1]*c[1][0] + b[0][2]*c[2][0]; + a[0][1] = b[0][0]*c[0][1] + b[0][1]*c[1][1] + b[0][2]*c[2][1]; + a[0][2] = b[0][0]*c[0][2] + b[0][1]*c[1][2] + b[0][2]*c[2][2]; + a[1][0] = b[1][0]*c[0][0] + b[1][1]*c[1][0] + b[1][2]*c[2][0]; + a[1][1] = b[1][0]*c[0][1] + b[1][1]*c[1][1] + b[1][2]*c[2][1]; + a[1][2] = b[1][0]*c[0][2] + b[1][1]*c[1][2] + b[1][2]*c[2][2]; + a[2][0] = b[2][0]*c[0][0] + b[2][1]*c[1][0] + b[2][2]*c[2][0]; + a[2][1] = b[2][0]*c[0][1] + b[2][1]*c[1][1] + b[2][2]*c[2][1]; + a[2][2] = b[2][0]*c[0][2] + b[2][1]*c[1][2] + b[2][2]*c[2][2]; +} + + +// normProjMat33d +// m = input matrix +// return: result if successful +int normProjMat33d(double m[3][3]) +{ + double m22; + + if(m[2][2] == 0.0) + { + return 0; +} + + m[0][0] /= m[2][2]; + m[0][1] /= m[2][2]; + m[0][2] /= m[2][2]; + m[1][0] /= m[2][2]; + m[1][1] /= m[2][2]; + m[1][2] /= m[2][2]; + m[2][0] /= m[2][2]; + m[2][1] /= m[2][2]; + m[2][2] = 1.0; + + return 1; +} + +// det33d +// m = input matrix +// returns: determinant +double det33d(const double m[3][3]) +{ + double result; + + result = m[0][0] * (m[1][1] * m[2][2] - m[1][2] * m[2][1]); + result += m[0][1] * (m[1][2] * m[2][0] - m[1][0] * m[2][2]); + result += m[0][2] * (m[1][0] * m[2][1] - m[1][1] * m[2][0]); + + return result; +} + +// inv33d +// +void inv33d(const double m[3][3], double out[3][3]) +{ + double det = det33d(m); + + out[0][0] = (m[1][1]*m[2][2] - m[1][2]*m[2][1]) / det; + out[1][0] = (m[1][2]*m[2][0] - m[1][0]*m[2][2]) / det; + out[2][0] = (m[1][0]*m[2][1] - m[1][1]*m[2][0]) / det; + + out[0][1] = (m[0][2]*m[2][1] - m[0][1]*m[2][2]) / det; + out[1][1] = (m[0][0]*m[2][2] - m[0][2]*m[2][0]) / det; + out[2][1] = (m[0][1]*m[2][0] - m[0][0]*m[2][1]) / det; + + out[0][2] = (m[0][1]*m[1][2] - m[0][2]*m[1][1]) / det; + out[1][2] = (m[0][2]*m[1][0] - m[0][0]*m[1][2]) / det; + out[2][2] = (m[0][0]*m[1][1] - m[0][1]*m[1][0]) / det; +} |