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Add homogeneous coordinate functions

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Add functions for transformations in 3 dimensional homogeneous space.
These include functions that generate transformation matrices and
perform matrix multiplication.
This commit is contained in:
Lawrence 2019-12-24 15:18:15 -08:00
parent f4c37598ee
commit 1c6a635497
2 changed files with 249 additions and 0 deletions
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174
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/*
* This file is part of RawTherapee.
*
* Copyright (c) 2019 Lawrence Lee <billee@ucdavis.edu>
*
* RawTherapee is free software: you can redistribute it and/or modify
* it under the terms of the GNU General Public License as published by
* the Free Software Foundation, either version 3 of the License, or
* (at your option) any later version.
*
* RawTherapee is distributed in the hope that it will be useful,
* but WITHOUT ANY WARRANTY; without even the implied warranty of
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
* GNU General Public License for more details.
*
* You should have received a copy of the GNU General Public License
* along with RawTherapee. If not, see <https://www.gnu.org/licenses/>.
*/
#include <cmath>
#include "homogeneouscoordinates.h"
namespace rtengine
{
template <typename T>
homogeneous::Vector<T> operator*(const homogeneous::Matrix<T>& a, const homogeneous::Vector<T>& b)
{
homogeneous::Vector<T> prod;
prod.fill(0);
for (int i = 0; i < 4; i++) {
for (int j = 0; j < 4; j++) {
prod[i] += a[i][j] * b[j];
}
}
return prod;
}
template <typename T>
homogeneous::Matrix<T> operator*(const homogeneous::Matrix<T>& a, const homogeneous::Matrix<T>& b)
{
homogeneous::Matrix<T> prod;
for (int i = 0; i < 4; i++) {
prod[i].fill(0);
for (int j = 0; j < 4; j++) {
for (int k = 0; k < 4; k++) {
prod[i][j] += a[i][k] * b[k][j];
}
}
}
return prod;
}
namespace homogeneous
{
template <typename T>
Matrix<T> projectionMatrix(T location, Axis normal)
{
Matrix<T> matrix;
for (int i = 0; i < 4; i++) {
for (int j = 0; j < 4; j++) {
matrix[i][j] = 0;
}
}
matrix[0][0] = location;
matrix[1][1] = location;
matrix[2][2] = location;
matrix[3][3] = 0;
switch (normal) {
case X:
matrix[3][0] = 1;
break;
case Y:
matrix[3][1] = 1;
break;
case Z:
matrix[3][2] = 1;
break;
}
return matrix;
}
template <typename T>
Matrix<T> rotationMatrix(double radians, Axis axis)
{
Matrix<T> matrix;
switch (axis) {
case X:
matrix[0][0] = 1;
matrix[0][1] = 0;
matrix[0][2] = 0;
matrix[1][0] = 0;
matrix[1][1] = cos(radians);
matrix[1][2] = -sin(radians);
matrix[2][0] = 0;
matrix[2][1] = sin(radians);
matrix[2][2] = cos(radians);
break;
case Y:
matrix[0][0] = cos(radians);
matrix[0][1] = 0;
matrix[0][2] = sin(radians);
matrix[1][0] = 0;
matrix[1][1] = 1;
matrix[1][2] = 0;
matrix[2][0] = -sin(radians);
matrix[2][1] = 0;
matrix[2][2] = cos(radians);
break;
case Z:
matrix[0][0] = cos(radians);
matrix[0][1] = -sin(radians);
matrix[0][2] = 0;
matrix[1][0] = sin(radians);
matrix[1][1] = cos(radians);
matrix[1][2] = 0;
matrix[2][0] = 0;
matrix[2][1] = 0;
matrix[2][2] = 1;
break;
}
matrix[0][3] = 0;
matrix[1][3] = 0;
matrix[2][3] = 0;
matrix[3][0] = 0;
matrix[3][1] = 0;
matrix[3][2] = 0;
matrix[3][3] = 1;
return matrix;
}
template <typename T>
Matrix<T> translationMatrix(T x, T y, T z)
{
Matrix<T> matrix;
for (int i = 0; i < 4; i++) {
for (int j = 0; j < 3; j++) {
matrix[i][j] = 0;
}
}
matrix[0][0] = 1;
matrix[1][1] = 1;
matrix[2][2] = 1;
matrix[0][3] = x;
matrix[1][3] = y;
matrix[2][3] = z;
matrix[3][3] = 1;
return matrix;
}
}
}

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