Add homogeneous coordinate functions
Add functions for transformations in 3 dimensional homogeneous space. These include functions that generate transformation matrices and perform matrix multiplication.
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Lawrence
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rtengine/homogeneouscoordinates.cc
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174
rtengine/homogeneouscoordinates.cc
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/*
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* This file is part of RawTherapee.
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*
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* Copyright (c) 2019 Lawrence Lee <billee@ucdavis.edu>
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*
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* RawTherapee is free software: you can redistribute it and/or modify
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* it under the terms of the GNU General Public License as published by
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* the Free Software Foundation, either version 3 of the License, or
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* (at your option) any later version.
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*
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* RawTherapee is distributed in the hope that it will be useful,
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* but WITHOUT ANY WARRANTY; without even the implied warranty of
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* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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* GNU General Public License for more details.
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*
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* You should have received a copy of the GNU General Public License
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* along with RawTherapee. If not, see <https://www.gnu.org/licenses/>.
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*/
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#include <cmath>
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#include "homogeneouscoordinates.h"
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namespace rtengine
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{
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template <typename T>
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homogeneous::Vector<T> operator*(const homogeneous::Matrix<T>& a, const homogeneous::Vector<T>& b)
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{
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homogeneous::Vector<T> prod;
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prod.fill(0);
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for (int i = 0; i < 4; i++) {
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for (int j = 0; j < 4; j++) {
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prod[i] += a[i][j] * b[j];
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}
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}
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return prod;
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}
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template <typename T>
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homogeneous::Matrix<T> operator*(const homogeneous::Matrix<T>& a, const homogeneous::Matrix<T>& b)
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{
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homogeneous::Matrix<T> prod;
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for (int i = 0; i < 4; i++) {
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prod[i].fill(0);
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for (int j = 0; j < 4; j++) {
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for (int k = 0; k < 4; k++) {
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prod[i][j] += a[i][k] * b[k][j];
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}
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}
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}
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return prod;
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}
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namespace homogeneous
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{
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template <typename T>
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Matrix<T> projectionMatrix(T location, Axis normal)
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{
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Matrix<T> matrix;
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for (int i = 0; i < 4; i++) {
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for (int j = 0; j < 4; j++) {
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matrix[i][j] = 0;
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}
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}
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matrix[0][0] = location;
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matrix[1][1] = location;
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matrix[2][2] = location;
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matrix[3][3] = 0;
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switch (normal) {
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case X:
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matrix[3][0] = 1;
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break;
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case Y:
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matrix[3][1] = 1;
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break;
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case Z:
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matrix[3][2] = 1;
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break;
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}
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return matrix;
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}
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template <typename T>
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Matrix<T> rotationMatrix(double radians, Axis axis)
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{
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Matrix<T> matrix;
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switch (axis) {
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case X:
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matrix[0][0] = 1;
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matrix[0][1] = 0;
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matrix[0][2] = 0;
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matrix[1][0] = 0;
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matrix[1][1] = cos(radians);
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matrix[1][2] = -sin(radians);
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matrix[2][0] = 0;
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matrix[2][1] = sin(radians);
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matrix[2][2] = cos(radians);
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break;
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case Y:
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matrix[0][0] = cos(radians);
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matrix[0][1] = 0;
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matrix[0][2] = sin(radians);
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matrix[1][0] = 0;
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matrix[1][1] = 1;
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matrix[1][2] = 0;
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matrix[2][0] = -sin(radians);
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matrix[2][1] = 0;
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matrix[2][2] = cos(radians);
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break;
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case Z:
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matrix[0][0] = cos(radians);
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matrix[0][1] = -sin(radians);
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matrix[0][2] = 0;
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matrix[1][0] = sin(radians);
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matrix[1][1] = cos(radians);
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matrix[1][2] = 0;
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matrix[2][0] = 0;
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matrix[2][1] = 0;
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matrix[2][2] = 1;
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break;
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}
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matrix[0][3] = 0;
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matrix[1][3] = 0;
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matrix[2][3] = 0;
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matrix[3][0] = 0;
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matrix[3][1] = 0;
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matrix[3][2] = 0;
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matrix[3][3] = 1;
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return matrix;
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}
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template <typename T>
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Matrix<T> translationMatrix(T x, T y, T z)
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{
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Matrix<T> matrix;
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for (int i = 0; i < 4; i++) {
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for (int j = 0; j < 3; j++) {
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matrix[i][j] = 0;
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}
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}
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matrix[0][0] = 1;
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matrix[1][1] = 1;
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matrix[2][2] = 1;
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matrix[0][3] = x;
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matrix[1][3] = y;
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matrix[2][3] = z;
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matrix[3][3] = 1;
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return matrix;
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}
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}
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}
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75
rtengine/homogeneouscoordinates.h
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75
rtengine/homogeneouscoordinates.h
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@ -0,0 +1,75 @@
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/*
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* This file is part of RawTherapee.
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*
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* Copyright (c) 2019 Lawrence Lee <billee@ucdavis.edu>
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*
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* RawTherapee is free software: you can redistribute it and/or modify
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* it under the terms of the GNU General Public License as published by
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* the Free Software Foundation, either version 3 of the License, or
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* (at your option) any later version.
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*
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* RawTherapee is distributed in the hope that it will be useful,
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* but WITHOUT ANY WARRANTY; without even the implied warranty of
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* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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* GNU General Public License for more details.
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*
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* You should have received a copy of the GNU General Public License
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* along with RawTherapee. If not, see <https://www.gnu.org/licenses/>.
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*/
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#pragma once
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#include <array>
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namespace rtengine
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{
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namespace homogeneous
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{
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enum Axis {X, Y, Z};
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template <typename T>
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using Matrix = std::array<std::array<T, 4>, 4>;
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/**
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* 3 dimensional homogeneous vector.
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*/
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template <typename T>
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using Vector = std::array<T, 4>;
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/**
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* Creates a 3 dimensional transformation matrix for projection onto a plane.
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* @param location Distance from the origin to the plane.
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* @param normal Direction of the plane's normal.
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*/
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template <typename T>
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Matrix<T> projectionMatrix(T location, Axis normal);
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/**
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* Creates a 3 dimensional transformation matrix for rotation.
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* @param radians Rotation angle.
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* @param axis Axis of rotation.
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*/
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template <typename T>
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Matrix<T> rotationMatrix(T radians, Axis axis);
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/**
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* Creates a 3 dimensional transformation matrix for translation.
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* @param x Translation in the the x-direction.
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* @param y Translation in the the y-direction.
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* @param z Translation in the the z-direction.
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*/
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template <typename T>
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Matrix<T> translationMatrix(T x, T y, T z);
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}
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template <typename T>
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homogeneous::Vector<T> operator*(const homogeneous::Matrix<T>& a, const homogeneous::Vector<T>& b);
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template <typename T>
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homogeneous::Matrix<T> operator*(const homogeneous::Matrix<T>& a, const homogeneous::Matrix<T>& b);
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}
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#include "homogeneouscoordinates.cc"
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