0dd9a4a576
Is based on Google style which was used in the Libmv project before, but is now consistently applied for the sources of the library itself and to C-API. With some time C-API will likely be removed, and it makes it easier to make it follow Libmv style, hence the diversion from Blender's style. There are quite some exceptions (clang-format off) in the code around Eigen matrix initialization. It is rather annoying, and there could be some neat way to make initialization readable without such exception. Could be some places where loss of readability in matrix initialization got lost as the change is quite big. If this has happened it is easier to address readability once actually working on the code. This change allowed to spot some missing header guards, so that's nice. Doing it in bundled version, as the upstream library needs to have some of the recent development ported over from bundle to upstream. There should be no functional changes.
141 lines
3.5 KiB
C++
141 lines
3.5 KiB
C++
// Copyright (c) 2007, 2008 libmv authors.
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//
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// Permission is hereby granted, free of charge, to any person obtaining a copy
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// of this software and associated documentation files (the "Software"), to
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// deal in the Software without restriction, including without limitation the
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// rights to use, copy, modify, merge, publish, distribute, sublicense, and/or
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// sell copies of the Software, and to permit persons to whom the Software is
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// furnished to do so, subject to the following conditions:
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//
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// The above copyright notice and this permission notice shall be included in
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// all copies or substantial portions of the Software.
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//
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// THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
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// IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
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// FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
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// AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
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// LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING
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// FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS
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// IN THE SOFTWARE.
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#include "libmv/numeric/numeric.h"
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namespace libmv {
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Mat3 RotationAroundX(double angle) {
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double c, s;
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sincos(angle, &s, &c);
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Mat3 R;
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// clang-format off
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R << 1, 0, 0,
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0, c, -s,
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0, s, c;
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// clang-format on
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return R;
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}
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Mat3 RotationAroundY(double angle) {
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double c, s;
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sincos(angle, &s, &c);
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Mat3 R;
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// clang-format off
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R << c, 0, s,
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0, 1, 0,
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-s, 0, c;
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// clang-format on
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return R;
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}
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Mat3 RotationAroundZ(double angle) {
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double c, s;
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sincos(angle, &s, &c);
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Mat3 R;
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// clang-format off
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R << c, -s, 0,
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s, c, 0,
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0, 0, 1;
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// clang-format on
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return R;
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}
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Mat3 RotationRodrigues(const Vec3& axis) {
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double theta = axis.norm();
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Vec3 w = axis / theta;
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Mat3 W = CrossProductMatrix(w);
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return Mat3::Identity() + sin(theta) * W + (1 - cos(theta)) * W * W;
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}
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Mat3 LookAt(Vec3 center) {
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Vec3 zc = center.normalized();
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Vec3 xc = Vec3::UnitY().cross(zc).normalized();
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Vec3 yc = zc.cross(xc);
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Mat3 R;
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R.row(0) = xc;
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R.row(1) = yc;
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R.row(2) = zc;
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return R;
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}
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Mat3 CrossProductMatrix(const Vec3& x) {
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Mat3 X;
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// clang-format off
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X << 0, -x(2), x(1),
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x(2), 0, -x(0),
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-x(1), x(0), 0;
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// clang-format on
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return X;
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}
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void MeanAndVarianceAlongRows(const Mat& A,
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Vec* mean_pointer,
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Vec* variance_pointer) {
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Vec& mean = *mean_pointer;
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Vec& variance = *variance_pointer;
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int n = A.rows();
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int m = A.cols();
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mean.resize(n);
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variance.resize(n);
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for (int i = 0; i < n; ++i) {
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mean(i) = 0;
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variance(i) = 0;
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for (int j = 0; j < m; ++j) {
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double x = A(i, j);
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mean(i) += x;
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variance(i) += x * x;
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}
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}
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mean /= m;
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for (int i = 0; i < n; ++i) {
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variance(i) = variance(i) / m - Square(mean(i));
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}
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}
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void HorizontalStack(const Mat& left, const Mat& right, Mat* stacked) {
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assert(left.rows() == right.rows());
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int n = left.rows();
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int m1 = left.cols();
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int m2 = right.cols();
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stacked->resize(n, m1 + m2);
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stacked->block(0, 0, n, m1) = left;
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stacked->block(0, m1, n, m2) = right;
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}
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void MatrixColumn(const Mat& A, int i, Vec2* v) {
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assert(A.rows() == 2);
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*v << A(0, i), A(1, i);
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}
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void MatrixColumn(const Mat& A, int i, Vec3* v) {
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assert(A.rows() == 3);
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*v << A(0, i), A(1, i), A(2, i);
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}
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void MatrixColumn(const Mat& A, int i, Vec4* v) {
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assert(A.rows() == 4);
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*v << A(0, i), A(1, i), A(2, i), A(3, i);
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}
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} // namespace libmv
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