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// Copyright (c) 2007, 2008 libmv authors.
//
// Permission is hereby granted, free of charge, to any person obtaining a copy
// of this software and associated documentation files (the "Software"), to
// deal in the Software without restriction, including without limitation the
// rights to use, copy, modify, merge, publish, distribute, sublicense, and/or
// sell copies of the Software, and to permit persons to whom the Software is
// furnished to do so, subject to the following conditions:
//
// The above copyright notice and this permission notice shall be included in
// all copies or substantial portions of the Software.
//
// THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
// IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
// FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
// AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
// LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING
// FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS
// IN THE SOFTWARE.
#include "libmv/numeric/numeric.h"
namespace libmv {
Mat3 RotationAroundX(double angle) {
double c, s;
sincos(angle, &s, &c);
Mat3 R;
R << 1, 0, 0,
0, c, -s,
0, s, c;
return R;
}
Mat3 RotationAroundY(double angle) {
double c, s;
sincos(angle, &s, &c);
Mat3 R;
R << c, 0, s,
0, 1, 0,
-s, 0, c;
return R;
}
Mat3 RotationAroundZ(double angle) {
double c, s;
sincos(angle, &s, &c);
Mat3 R;
R << c, -s, 0,
s, c, 0,
0, 0, 1;
return R;
}
Mat3 RotationRodrigues(const Vec3 &axis) {
double theta = axis.norm();
Vec3 w = axis / theta;
Mat3 W = CrossProductMatrix(w);
return Mat3::Identity() + sin(theta) * W + (1 - cos(theta)) * W * W;
}
Mat3 LookAt(Vec3 center) {
Vec3 zc = center.normalized();
Vec3 xc = Vec3::UnitY().cross(zc).normalized();
Vec3 yc = zc.cross(xc);
Mat3 R;
R.row(0) = xc;
R.row(1) = yc;
R.row(2) = zc;
return R;
}
Mat3 CrossProductMatrix(const Vec3 &x) {
Mat3 X;
X << 0, -x(2), x(1),
x(2), 0, -x(0),
-x(1), x(0), 0;
return X;
}
void MeanAndVarianceAlongRows(const Mat &A,
Vec *mean_pointer,
Vec *variance_pointer) {
Vec &mean = *mean_pointer;
Vec &variance = *variance_pointer;
int n = A.rows();
int m = A.cols();
mean.resize(n);
variance.resize(n);
for (int i = 0; i < n; ++i) {
mean(i) = 0;
variance(i) = 0;
for (int j = 0; j < m; ++j) {
double x = A(i, j);
mean(i) += x;
variance(i) += x * x;
}
}
mean /= m;
for (int i = 0; i < n; ++i) {
variance(i) = variance(i) / m - Square(mean(i));
}
}
void HorizontalStack(const Mat &left, const Mat &right, Mat *stacked) {
assert(left.rows() == left.rows());
int n = left.rows();
int m1 = left.cols();
int m2 = right.cols();
stacked->resize(n, m1 + m2);
stacked->block(0, 0, n, m1) = left;
stacked->block(0, m1, n, m2) = right;
}
void MatrixColumn(const Mat &A, int i, Vec2 *v) {
assert(A.rows() == 2);
*v << A(0, i), A(1, i);
}
void MatrixColumn(const Mat &A, int i, Vec3 *v) {
assert(A.rows() == 3);
*v << A(0, i), A(1, i), A(2, i);
}
void MatrixColumn(const Mat &A, int i, Vec4 *v) {
assert(A.rows() == 4);
*v << A(0, i), A(1, i), A(2, i), A(3, i);
}
} // namespace libmv
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