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added inverse by SVD

This commit is contained in:
ganovelli 2005-09-29 09:53:58 +00:00
parent add80bd224
commit 44e86f5a9b
1 changed files with 58 additions and 0 deletions
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58
vcg/math/matrix33.h
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@ -24,6 +24,9 @@
History
$Log: not supported by cvs2svn $
Revision 1.8 2005/06/10 14:51:54 cignoni
Changed a Zero in SetZero in WeightedCrossCovariance()
Revision 1.7 2005/06/10 11:46:49 pietroni
Added Norm Function
@ -56,6 +59,7 @@ created
#define __VCGLIB_MATRIX33_H
#include <stdio.h>
#include <vcg/math/lin_algebra.h>
#include <vcg/space/point3.h>
#include <vector>
@ -70,6 +74,7 @@ public:
@param S (Templete Parameter) Specifies the ScalarType field.
*/
Matrix33Diag(const S & p0,const S & p1,const S & p2):Point3<S>(p0,p1,p2){};
Matrix33Diag(const Point3<S>&p ):Point3<S>(p){};
};
template<class S>
@ -180,6 +185,38 @@ public:
return r;
}
/// Modificatore prodotto per matrice
void operator *=( const Matrix33< S> & t )
{
int i,j;
for(i=0;i<3;++i)
for(j=0;j<3;++j)
(*this)[i][j] = (*this)[i][0]*t[0][j] + (*this)[i][1]*t[1][j] + (*this)[i][2]*t[2][j];
}
/// Dot product with a diagonal matrix
Matrix33 operator * ( const Matrix33Diag< S> & t ) const
{
Matrix33<S> r;
int i,j;
for(i=0;i<3;++i)
for(j=0;j<3;++j)
r[i][j] = (*this)[i][j]*t[j];
return r;
}
/// Dot product modifier with a diagonal matrix
void operator *=( const Matrix33Diag< S> & t )
{
int i,j;
for(i=0;i<3;++i)
for(j=0;j<3;++j)
(*this)[i][j] = (*this)[i][j]*t[j];
}
/// Modificatore prodotto per costante
Matrix33 & operator *= ( const S t )
{
@ -459,6 +496,27 @@ private:
S a[9];
};
template <class S>
void Invert(Matrix33<S> &m)
{
Matrix33<S> v;
Point3<typename Matrix33<S>::ScalarType> e;
SingularValueDecomposition(m,&e[0],v);
e[0]=1/e[0];e[1]=1/e[1];e[2]=1/e[2];
m.Transpose();
m = v * Matrix33Diag<S>(e) * m;
}
template <class S>
Matrix33<S> Inverse(const Matrix33<S>&m)
{
Matrix33<S> v,m_copy=m;
Point3<S> e;
SingularValueDecomposition(m_copy,&e[0],v);
m_copy.Transpose();
e[0]=1/e[0];e[1]=1/e[1];e[2]=1/e[2];
return v * MatrixDiag<S>(e) * m_copy;
}
///
typedef Matrix33<short> Matrix33s;