transform2.h

一个用MATLAB语言编写的摄像机标定工具箱,内容丰富

//
// transform2.h
//
// $Id: transform2.h,v 1.1.1.1 2001/02/28 00:28:39 cstolte Exp $
//

#ifndef SGL_TRANSFORM2_H
#define SGL_TRANSFORM2_H

#include <sgl/defs.h>
#include <sgl/vecmath2.h>
#include <sgl/hmg.h>

class Transform2;

///
/// Matrix2
///

class Matrix2 {
  public:
    Matrix2() { }
    Matrix2(double a00, double a01,
	    double a10, double a11);

    friend std::ostream &operator<<(std::ostream &, const Matrix2 &);

    Matrix2 operator*(const Matrix2 &) const;
    Matrix2 &operator*=(const Matrix2 &);
    Matrix2 operator+(const Matrix2 &) const;
    Matrix2 &operator+=(const Matrix2 &);
    Matrix2 operator-(const Matrix2 &) const;
    Matrix2 &operator-=(const Matrix2 &);

    Matrix2 &identity();
    Matrix2 &zero();
    Matrix2 &rotate(double theta);
    Matrix2 &scale(double su, double sv);
    Matrix2 &transpose();
    Matrix2 &invert();
    Matrix2 &shearu(double a);
    Matrix2 &shearv(double a);
    Matrix2 inverse() const { Matrix2 ret(*this); return ret.invert(); }

    double determinant() const;
    bool operator==(const Matrix2 &) const;
    bool operator!=(const Matrix2 &) const;

    Point2 apply(const Point2 &)const;
    Vector2 apply(const Vector2 &) const;
    Normal2 apply(const Normal2 &, const Matrix2 * = 0) const;

    static const Matrix2 unit;

//CO  protected:
    friend class Transform2;
    Normal2 row(int) const;
    Vector2 column(int) const;
    double T[2][2];
};

extern Matrix2 identityM2();
extern Matrix2 rotate(double);
extern Matrix2 scale(double, double);
extern Matrix2 shearu(double);
extern Matrix2 shearv(double);

//
// Transform2
//

class Transform2 : public Matrix2 {
  public:
    Transform2() { }
    Transform2(const Matrix2 &);
    Transform2(const Matrix2 &, const Vector2 &);

    friend std::ostream &operator<<(std::ostream &, const Transform2 &);

    friend Transform2 operator*(const Matrix2 &, const Transform2 &);
    Transform2 operator*(const Transform2 &) const;
    Transform2 operator*(const Matrix2 &) const;
    Transform2 &operator*=(const Transform2 &);
    Transform2 &operator*=(const Matrix2 &);

    Transform2 &identity();
    Transform2 &translate(double tu, double tv);
    Transform2 &rotate(double angle);
    Transform2 &scale(double su, double sv);
    Transform2 &invert();
    Transform2 inverse() const { Transform2 ret(*this); return ret.invert(); }

    Point2 apply(const Point2 &) const;
    Vector2 apply(const Vector2 &) const;
    Normal2 apply(const Normal2 &, const Transform2 * = 0) const;

    bool operator==(const Transform2 &) const;
    bool operator!=(const Transform2 &) const;

    static const Transform2 unit;

//CO  private:
    Vector2 translation;
};

extern Transform2 translate(double, double);

#endif // SGL_TRANSFORM2_H