1e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen/* 2e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen * Copyright (C) 2011 The Android Open Source Project 3e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen * 4e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen * Licensed under the Apache License, Version 2.0 (the "License"); 5e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen * you may not use this file except in compliance with the License. 6e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen * You may obtain a copy of the License at 7e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen * 8e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen * http://www.apache.org/licenses/LICENSE-2.0 9e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen * 10e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen * Unless required by applicable law or agreed to in writing, software 11e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen * distributed under the License is distributed on an "AS IS" BASIS, 12e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. 13e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen * See the License for the specific language governing permissions and 14e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen * limitations under the License. 15e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen */ 16e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen 17e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen/////////////////////////////////////////////////// 18e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen// trsMatrix.h 19e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen// $Id: trsMatrix.h,v 1.8 2011/06/17 13:35:48 mbansal Exp $ 20e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen 21e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen#ifndef TRSMATRIX_H_ 22e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen#define TRSMATRIX_H_ 23e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen 24e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen 25e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen// Calculate the determinant of a matrix 26e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chendouble det33d(const double m[3][3]); 27e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen 28e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen// Invert a matrix 29e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chenvoid inv33d(const double m[3][3], double out[3][3]); 30e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen 31e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen// Multiply a = b * c 32e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chenvoid mult33d(double a[3][3], double b[3][3], double c[3][3]); 33e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen 34e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen// Normalize matrix so matrix[2][2] is '1' 35e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chenint normProjMat33d(double m[3][3]); 36e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen 37e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Cheninline double ProjZ(double trs[3][3], double x, double y, double f) 38e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen{ 39e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen return ((trs)[2][0]*(x) + (trs)[2][1]*(y) + (trs)[2][2]*(f)); 40e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen} 41e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen 42e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Cheninline double ProjX(double trs[3][3], double x, double y, double z, double f) 43e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen{ 44e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen return (((trs)[0][0]*(x) + (trs)[0][1]*(y) + (trs)[0][2]*(f)) / (z)); 45e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen} 46e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen 47e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Cheninline double ProjY(double trs[3][3], double x, double y, double z, double f) 48e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen{ 49e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen return (((trs)[1][0]*(x) + (trs)[1][1]*(y) + (trs)[1][2]*(f)) / (z)); 50e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen} 51e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen 52e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen 53e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen#endif 54