00001 // This is oxl/mvl/HMatrix3D.h 00002 #ifndef HMatrix3D_h_ 00003 #define HMatrix3D_h_ 00004 #ifdef VCL_NEEDS_PRAGMA_INTERFACE 00005 #pragma interface 00006 #endif 00007 //: 00008 // \file 00009 // 00010 // A class to hold a 3D projective transformation matrix 00011 // and to perform common operations using it e.g. transfer point. 00012 // 00013 // \verbatim 00014 // Modifications 00015 // 22 Oct 2002 - Peter Vanroose - added vgl_homg_point_3d interface 00016 // 23 Oct 2002 - Peter Vanroose - using fixed 3x3 matrices throughout 00017 // \endverbatim 00018 00019 #include <vnl/vnl_double_4x4.h> 00020 #include <vnl/vnl_fwd.h> 00021 #include <vgl/vgl_homg_point_3d.h> 00022 #include <vgl/algo/vgl_homg_operators_3d.h> // matrix * vgl_homg_point_3d 00023 #include <mvl/HomgPoint3D.h> 00024 #include <mvl/HomgLine3D.h> 00025 #include <mvl/HomgLineSeg3D.h> 00026 #include <vcl_iosfwd.h> 00027 00028 class PMatrix; 00029 00030 class HMatrix3D : public vnl_double_4x4 00031 { 00032 typedef vnl_double_4x4 Base; 00033 public: 00034 HMatrix3D(); 00035 HMatrix3D(const HMatrix3D& M); 00036 HMatrix3D(vnl_double_4x4 const& M); 00037 HMatrix3D(vnl_double_3x3 const& M, vnl_double_3 const& m); 00038 HMatrix3D(const double* t_matrix); 00039 HMatrix3D(vcl_istream&); 00040 ~HMatrix3D(); 00041 00042 // Operations---------------------------------------------------------------- 00043 00044 HomgPoint3D transform(const HomgPoint3D& x1) const; 00045 vgl_homg_point_3d<double> transform(const vgl_homg_point_3d<double>& x1) const 00046 { return (*this) * x1; } 00047 HomgLine3D transform(const HomgLine3D& l1) const; 00048 00049 bool load(vcl_istream&); 00050 00051 // Data Access--------------------------------------------------------------- 00052 00053 double get (unsigned int row_index, unsigned int col_index) const; 00054 void get (double *t_matrix) const; 00055 void get (vnl_matrix<double>* t_matrix) const; 00056 00057 HMatrix3D get_inverse() const; 00058 }; 00059 00060 PMatrix operator* (const PMatrix&, const HMatrix3D& H); 00061 00062 // stream I/O 00063 vcl_ostream& operator<<(vcl_ostream &,HMatrix3D const &); 00064 vcl_istream& operator>>(vcl_istream &,HMatrix3D &); 00065 00066 #endif // HMatrix3D_h_
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