hmg.h

一个用MATLAB语言编写的摄像机标定工具箱,内容丰富

//
// hmg.h
//
// $Id: hmg.h,v 1.1.1.1 2001/02/28 00:28:35 cstolte Exp $
//

#ifndef SGL_HMG_H
#define SGL_HMG_H

#include <sgl/defs.h>
#include <iostream>
#include <math.h>

class Point2;
class Vector2;
class Point3;
class Vector3;

class Homogeneous2 {
 public:
    double u, v, d;

    Homogeneous2() { }
    Homogeneous2(double, double, double = 1);
    Homogeneous2(const Point2 &);
    Homogeneous2(const Vector2 &);
    operator Point2() const;
    operator Vector2() const;

    Homogeneous2 operator-() const;
    Homogeneous2 operator+(const Homogeneous2 &) const;
    Homogeneous2 &operator+=(const Homogeneous2 &);
    Homogeneous2 operator-(const Homogeneous2 &) const;
    Homogeneous2 &operator-=(const Homogeneous2 &);
    Homogeneous2 operator*(double) const;
    Homogeneous2 &operator*=(double);
    Homogeneous2 operator/(double) const;
    Homogeneous2 &operator/=(double);
    bool operator==(const Homogeneous2 &) const;
    bool operator!=(const Homogeneous2 &) const;

    Homogeneous2 normalize() const;
    Homogeneous2 hat() const { return normalize(); }
    double length() const { return sqrt(length_squared()); }
    double length_squared() const;

    void print(std::ostream& os) const { os << u << ", " << v << ", " << d; }
};

class Homogeneous3 {
 public:
    double	x, y, z, d;

    Homogeneous3() { }
    Homogeneous3(double, double, double, double = 1);
    Homogeneous3(const Point3 &);
    Homogeneous3(const Vector3 &);
    operator Point3() const;
    operator Vector3() const;

    Homogeneous3 operator-() const;
    Homogeneous3 operator+(const Homogeneous3 &) const;
    Homogeneous3 &operator+=(const Homogeneous3 &);
    Homogeneous3 operator-(const Homogeneous3 &) const;
    Homogeneous3 &operator-=(const Homogeneous3 &);
    Homogeneous3 operator*(double) const;
    Homogeneous3 &operator*=(double);
    Homogeneous3 operator/(double) const;
    Homogeneous3 &operator/=(double);
    bool operator==(const Homogeneous3 &) const;
    bool operator!=(const Homogeneous3 &) const;

    Homogeneous3 normalize() const;
    Homogeneous3 hat() const { return normalize(); }
    double length() const { return sqrt(length_squared()); }
    double length_squared() const;

    void print(std::ostream& os) const { os << x << ", " << y << 
					", " << z << ", " << d; }
};

#endif /* SGL_HMG_H */