Matrix33: make const the binary operators
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@ -8,7 +8,7 @@
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* \ *
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* All rights reserved. *
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* *
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* This program is free software; you can redistribute it and/or modify *
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* This program 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 2 of the License, or *
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* (at your option) any later version. *
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@ -103,10 +103,10 @@ namespace vcg {
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template <class S>
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class Matrix33Diag:public Point3<S>{
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public:
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/** @name Matrix33
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Class Matrix33Diag.
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This is the class for definition of a diagonal matrix 3x3.
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This is the class for definition of a diagonal matrix 3x3.
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@param S (Templete Parameter) Specifies the ScalarType field.
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*/
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Matrix33Diag(const S & p0,const S & p1,const S & p2):Point3<S>(p0,p1,p2){};
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@ -116,14 +116,14 @@ public:
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template<class S>
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/** @name Matrix33
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Class Matrix33.
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This is the class for definition of a matrix 3x3.
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This is the class for definition of a matrix 3x3.
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@param S (Templete Parameter) Specifies the ScalarType field.
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*/
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class Matrix33
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{
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public:
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typedef S ScalarType;
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/// Default constructor
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inline Matrix33() {}
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@ -172,7 +172,7 @@ public:
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}
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/// Operatore di indicizzazione
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inline S * operator [] ( const int i )
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{
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@ -183,7 +183,7 @@ public:
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{
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return a+i*3;
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}
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/// Modificatore somma per matrici 3x3
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Matrix33 & operator += ( const Matrix33 &m )
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@ -209,7 +209,7 @@ public:
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a[i] -= m.a[i];
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return *this;
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}
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/// Modificatore somma per matrici 3x3
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Matrix33 & operator -= ( const Matrix33Diag<S> &p )
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{
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@ -236,18 +236,18 @@ public:
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int i,j;
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for(i=0;i<3;++i)
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for(j=0;j<3;++j)
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r[i][j] = (*this)[i][0]*t[0][j] + (*this)[i][1]*t[1][j] + (*this)[i][2]*t[2][j];
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r[i][j] = (*this)[i][0]*t[0][j] + (*this)[i][1]*t[1][j] + (*this)[i][2]*t[2][j];
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return r;
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}
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/// Modificatore prodotto per matrice
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void operator *=( const Matrix33< S> & t )
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void operator *=( const Matrix33< S> & t )
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{
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int i,j;
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for(i=0;i<3;++i)
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for(j=0;j<3;++j)
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(*this)[i][j] = (*this)[i][0]*t[0][j] + (*this)[i][1]*t[1][j] + (*this)[i][2]*t[2][j];
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(*this)[i][j] = (*this)[i][0]*t[0][j] + (*this)[i][1]*t[1][j] + (*this)[i][2]*t[2][j];
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}
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@ -259,18 +259,18 @@ public:
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int i,j;
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for(i=0;i<3;++i)
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for(j=0;j<3;++j)
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r[i][j] = (*this)[i][j]*t[j];
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r[i][j] = (*this)[i][j]*t[j];
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return r;
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}
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/// Dot product modifier with a diagonal matrix
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void operator *=( const Matrix33Diag< S> & t )
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void operator *=( const Matrix33Diag< S> & t )
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{
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int i,j;
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for(i=0;i<3;++i)
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for(j=0;j<3;++j)
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(*this)[i][j] = (*this)[i][j]*t[j];
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(*this)[i][j] = (*this)[i][j]*t[j];
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}
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/// Modificatore prodotto per costante
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@ -282,7 +282,7 @@ public:
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}
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/// Operatore prodotto per costante
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Matrix33 operator * ( const S t )
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Matrix33 operator * ( const S t ) const
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{
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Matrix33<S> r;
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for(int i=0;i<9;++i)
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@ -292,7 +292,7 @@ public:
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}
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/// Operatore sottrazione per matrici 3x3
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Matrix33 operator - ( const Matrix33 &m )
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Matrix33 operator - ( const Matrix33 &m ) const
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{
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Matrix33<S> r;
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for(int i=0;i<9;++i)
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@ -300,9 +300,9 @@ public:
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return r;
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}
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/// Operatore sottrazione di matrici 3x3 con matrici diagonali
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Matrix33 operator - ( const Matrix33Diag<S> &p )
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Matrix33 operator - ( const Matrix33Diag<S> &p ) const
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{
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Matrix33<S> r=a;
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r[0][0] -= p[0];
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@ -312,7 +312,7 @@ public:
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}
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/// Operatore sottrazione per matrici 3x3
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Matrix33 operator + ( const Matrix33 &m )
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Matrix33 operator + ( const Matrix33 &m ) const
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{
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Matrix33<S> r;
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for(int i=0;i<9;++i)
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@ -320,9 +320,9 @@ public:
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return r;
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}
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/// Operatore addizione di matrici 3x3 con matrici diagonali
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Matrix33 operator + ( const Matrix33Diag<S> &p )
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Matrix33 operator + ( const Matrix33Diag<S> &p ) const
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{
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Matrix33<S> r=(*this);
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r[0][0] += p[0];
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@ -502,10 +502,10 @@ S Trace() const
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return a[0]+a[4]+a[8];
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}
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/*
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/*
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compute the matrix generated by the product of a * b^T
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*/
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void ExternalProduct(const Point3<S> &a, const Point3<S> &b)
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void ExternalProduct(const Point3<S> &a, const Point3<S> &b)
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{
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for(int i=0;i<3;++i)
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for(int j=0;j<3;++j)
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@ -524,8 +524,8 @@ ScalarType Norm()
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}
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/*
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It compute the covariance matrix of a set of 3d points. Returns the barycenter
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/*
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It compute the covariance matrix of a set of 3d points. Returns the barycenter
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*/
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template <class STLPOINTCONTAINER >
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void Covariance(const STLPOINTCONTAINER &points, Point3<S> &bp) {
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@ -547,19 +547,19 @@ void Covariance(const STLPOINTCONTAINER &points, Point3<S> &bp) {
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/*
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/*
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It compute the cross covariance matrix of two set of 3d points P and X;
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it returns also the barycenters of P and X.
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fonte:
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Besl, McKay
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A method for registration o f 3d Shapes
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A method for registration o f 3d Shapes
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IEEE TPAMI Vol 14, No 2 1992
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*/
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*/
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template <class STLPOINTCONTAINER >
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void CrossCovariance(const STLPOINTCONTAINER &P, const STLPOINTCONTAINER &X,
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Point3<S> &bp, Point3<S> &bx)
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void CrossCovariance(const STLPOINTCONTAINER &P, const STLPOINTCONTAINER &X,
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Point3<S> &bp, Point3<S> &bx)
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{
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SetZero();
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assert(P.size()==X.size());
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@ -582,10 +582,10 @@ void CrossCovariance(const STLPOINTCONTAINER &P, const STLPOINTCONTAINER &X,
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template <class STLPOINTCONTAINER, class STLREALCONTAINER>
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void WeightedCrossCovariance(const STLREALCONTAINER & weights,
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const STLPOINTCONTAINER &P,
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const STLPOINTCONTAINER &X,
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Point3<S> &bp,
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Point3<S> &bx)
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const STLPOINTCONTAINER &P,
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const STLPOINTCONTAINER &X,
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Point3<S> &bp,
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Point3<S> &bx)
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{
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SetZero();
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assert(P.size()==X.size());
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@ -603,7 +603,7 @@ void WeightedCrossCovariance(const STLREALCONTAINER & weights,
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bx/=X.size();
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for(pi=P.begin(),xi=X.begin(),pw = weights.begin();pi!=P.end();++pi,++xi,++pw){
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tmp.ExternalProduct(((*pi)-(bp)),((*xi)-(bp)));
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(*this)+=tmp*(*pw);
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@ -656,11 +656,11 @@ Matrix33<S> RotationMatrix(vcg::Point3<S> v0,vcg::Point3<S> v1,bool normalized=t
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return rotM;
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}
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///find the axis of rotation
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///find the axis of rotation
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CoordType axis;
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axis=v0^v1;
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axis.Normalize();
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///construct rotation matrix
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S u=axis.X();
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S v=axis.Y();
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@ -668,7 +668,7 @@ Matrix33<S> RotationMatrix(vcg::Point3<S> v0,vcg::Point3<S> v1,bool normalized=t
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S phi=acos(dot);
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S rcos = cos(phi);
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S rsin = sin(phi);
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rotM[0][0] = rcos + u*u*(1-rcos);
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rotM[1][0] = w * rsin + v*u*(1-rcos);
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rotM[2][0] = -v * rsin + w*u*(1-rcos);
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@ -725,7 +725,7 @@ template <class S>
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return M;
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}
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///
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///
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typedef Matrix33<short> Matrix33s;
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typedef Matrix33<int> Matrix33i;
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typedef Matrix33<float> Matrix33f;
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