1 /* 2 * Copyright (C) 2011 The Android Open Source Project 3 * 4 * Licensed under the Apache License, Version 2.0 (the "License"); 5 * you may not use this file except in compliance with the License. 6 * You may obtain a copy of the License at 7 * 8 * http://www.apache.org/licenses/LICENSE-2.0 9 * 10 * Unless required by applicable law or agreed to in writing, software 11 * distributed under the License is distributed on an "AS IS" BASIS, 12 * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. 13 * See the License for the specific language governing permissions and 14 * limitations under the License. 15 */ 16 17 /////////////////////////////////////////////////// 18 // trsMatrix.h 19 // $Id: trsMatrix.h,v 1.8 2011/06/17 13:35:48 mbansal Exp $ 20 21 #ifndef TRSMATRIX_H_ 22 #define TRSMATRIX_H_ 23 24 25 // Calculate the determinant of a matrix 26 double det33d(const double m[3][3]); 27 28 // Invert a matrix 29 void inv33d(const double m[3][3], double out[3][3]); 30 31 // Multiply a = b * c 32 void mult33d(double a[3][3], double b[3][3], double c[3][3]); 33 34 // Normalize matrix so matrix[2][2] is '1' 35 int normProjMat33d(double m[3][3]); 36 37 inline double ProjZ(double trs[3][3], double x, double y, double f) 38 { 39 return ((trs)[2][0]*(x) + (trs)[2][1]*(y) + (trs)[2][2]*(f)); 40 } 41 42 inline double ProjX(double trs[3][3], double x, double y, double z, double f) 43 { 44 return (((trs)[0][0]*(x) + (trs)[0][1]*(y) + (trs)[0][2]*(f)) / (z)); 45 } 46 47 inline double ProjY(double trs[3][3], double x, double y, double z, double f) 48 { 49 return (((trs)[1][0]*(x) + (trs)[1][1]*(y) + (trs)[1][2]*(f)) / (z)); 50 } 51 52 53 #endif 54
