00001 #ifndef bugl_gaussian_point_3d_txx_ 00002 #define bugl_gaussian_point_3d_txx_ 00003 00004 #include "bugl_gaussian_point_3d.h" 00005 #include <vnl/vnl_inverse.h> 00006 #include <vnl/vnl_det.h> 00007 #include <vnl/vnl_math.h> 00008 #include <vnl/vnl_vector_fixed.h> 00009 00010 template<class T> 00011 void bugl_gaussian_point_3d<T>::set_covariant_matrix(vnl_matrix_fixed<T, 3, 3> const& s) 00012 { 00013 sigma_ = s; 00014 sigma_inv_ = vnl_inverse(s); 00015 det_ = vnl_det(s); 00016 } 00017 00018 template<class T> 00019 T bugl_gaussian_point_3d<T>::prob_at(vgl_point_3d<T> const& p) const 00020 { 00021 if (!this->exists_) 00022 return 0; 00023 vnl_vector_fixed<T, 3> d(p.x() - this->x(), p.y() - this->y(), p.z() - this->z()); 00024 00025 const double pi = vnl_math::pi; 00026 return vcl_exp(-0.5*(dot_product(d, sigma_inv_*d)))/vcl_sqrt(8*pi)/pi/det_; 00027 } 00028 00029 #if 0 00030 template<class T> 00031 bugl_gaussian_point_3d<T>& bugl_gaussian_point_3d<T>::operator=(bugl_gaussian_point_3d<T> const& p) 00032 { 00033 vnl_matrix_fixed<T, 3, 3> t = p.get_covariant_matrix(); 00034 set_covariant_matrix(t); 00035 set_point(p); 00036 return *this; 00037 } 00038 #endif // 0 00039 00040 //---------------------------------------------------------------------------- 00041 #undef BUGL_GAUSSIAN_POINT_3D_INSTANTIATE 00042 #define BUGL_GAUSSIAN_POINT_3D_INSTANTIATE(T) \ 00043 template class bugl_gaussian_point_3d<T > 00044 00045 #endif // bugl_gaussian_point_3d_txx_
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