1/*
2 * Copyright (C) 2011 The Android Open Source Project
3 *
4 * Licensed under the Apache License, Version 2.0 (the "License");
5 * you may not use this file except in compliance with the License.
6 * You may obtain a copy of the License at
7 *
8 *      http://www.apache.org/licenses/LICENSE-2.0
9 *
10 * Unless required by applicable law or agreed to in writing, software
11 * distributed under the License is distributed on an "AS IS" BASIS,
12 * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
13 * See the License for the specific language governing permissions and
14 * limitations under the License.
15 */
16
17///////////////////////////////////////////////////
18// trsMatrix.h
19// $Id: trsMatrix.h,v 1.8 2011/06/17 13:35:48 mbansal Exp $
20
21#ifndef TRSMATRIX_H_
22#define TRSMATRIX_H_
23
24
25// Calculate the determinant of a matrix
26double det33d(const double m[3][3]);
27
28// Invert a matrix
29void inv33d(const double m[3][3], double out[3][3]);
30
31// Multiply a = b * c
32void mult33d(double a[3][3], double b[3][3], double c[3][3]);
33
34// Normalize matrix so matrix[2][2] is '1'
35int normProjMat33d(double m[3][3]);
36
37inline double ProjZ(double trs[3][3], double x, double y, double f)
38{
39    return ((trs)[2][0]*(x) + (trs)[2][1]*(y) + (trs)[2][2]*(f));
40}
41
42inline double ProjX(double trs[3][3], double x, double y, double z, double f)
43{
44    return (((trs)[0][0]*(x) + (trs)[0][1]*(y) + (trs)[0][2]*(f)) / (z));
45}
46
47inline double ProjY(double trs[3][3], double x, double y, double z, double f)
48{
49    return (((trs)[1][0]*(x) + (trs)[1][1]*(y) + (trs)[1][2]*(f)) / (z));
50}
51
52
53#endif
54