| /* |
| * 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.h |
| // $Id: trsMatrix.h,v 1.8 2011/06/17 13:35:48 mbansal Exp $ |
| |
| #ifndef TRSMATRIX_H_ |
| #define TRSMATRIX_H_ |
| |
| |
| // Calculate the determinant of a matrix |
| double det33d(const double m[3][3]); |
| |
| // Invert a matrix |
| void inv33d(const double m[3][3], double out[3][3]); |
| |
| // Multiply a = b * c |
| void mult33d(double a[3][3], double b[3][3], double c[3][3]); |
| |
| // Normalize matrix so matrix[2][2] is '1' |
| int normProjMat33d(double m[3][3]); |
| |
| inline double ProjZ(double trs[3][3], double x, double y, double f) |
| { |
| return ((trs)[2][0]*(x) + (trs)[2][1]*(y) + (trs)[2][2]*(f)); |
| } |
| |
| inline double ProjX(double trs[3][3], double x, double y, double z, double f) |
| { |
| return (((trs)[0][0]*(x) + (trs)[0][1]*(y) + (trs)[0][2]*(f)) / (z)); |
| } |
| |
| inline double ProjY(double trs[3][3], double x, double y, double z, double f) |
| { |
| return (((trs)[1][0]*(x) + (trs)[1][1]*(y) + (trs)[1][2]*(f)) / (z)); |
| } |
| |
| |
| #endif |
