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#include "Transformations.h"
#include "utility.h"
#include <cstdlib>
namespace meow{
template<class Scalar>
inline
BallProjection<Scalar>::BallProjection(size_t __dimension):
Transformation(__dimension, 1, __dimension, 1, 1),
_dimension(__dimension),
_radius(1){
}
template<class Scalar>
inline
BallProjection<Scalar>::BallProjection(size_t __dimension,
Scalar const& __radius):
Transformation(__dimension, 1, __dimension, 1, 1),
_dimension(__dimension),
_radius(1){
radius(__radius);
}
template<class Scalar>
inline Scalar
BallProjection<Scalar>::parameter(size_t __i) const{
return radius();
}
template<class Scalar>
inline Scalar
BallProjection<Scalar>::parameter(size_t __i, Scalar const& __s){
return radius(__s);
}
template<class Scalar>
inline Scalar
BallProjection<Scalar>::radius() const{
return _radius;
}
template<class Scalar>
inline Scalar
BallProjection<Scalar>::radius(Scalar const& __radius){
_radius = __radius;
return radius();
}
template<class Scalar>
inline Matrix<Scalar>
BallProjection<Scalar>::transformate(Matrix<Scalar> const& __x) const{
Matrix<Scalar> ret(__x);
for(size_t c = 0, C = ret.cols(); c < C; c++){
Scalar sum(0);
for(size_t i = 0; i < _dimension; i++){
sum = sum + squ(ret(i, c));
}
Scalar len(sqrt(double(sum)));
for(size_t i = 0; i < _dimension; i++){
ret(i, c) = ret(i, c) * radius() / len;
}
}
return ret;
}
template<class Scalar>
inline Matrix<Scalar>
BallProjection<Scalar>::jacobian(Matrix<Scalar> const& __x) const{
Scalar sum(0);
for(size_t i = 0; i < _dimension; i++)
sum = sum + squ(__x(i, 0));
Scalar len(sqrt(double(sum)));
Matrix<Scalar> ret(_dimension, _dimension, Scalar(0.0));
for(size_t i = 0; i < _dimension; i++)
for(size_t j = 0; j < _dimension; j++)
ret(i, j) = ((i == j)
? 1.0 / len - squ(__x(i, 0)) / cub(len) * radius()
: - __x(i, 0) * __x(j, 0) / cub(len) * radius()
);
return ret;
}
template<class Scalar>
inline Matrix<Scalar>
BallProjection<Scalar>::jacobian(Matrix<Scalar> const& __x,
size_t __i) const{
Matrix<Scalar> ret(_dimension, 1, Scalar(0.0));
Scalar sum(0);
for(size_t i = 0; i < _dimension; i++){
sum = sum + squ(__x(i, 0));
}
Scalar len(sqrt(double(sum)));
for(size_t i = 0; i < _dimension; i++){
ret(i, 0) = ret(i, 0) / len;
}
return ret;
}
template<class Scalar>
inline
PhotoProjection<Scalar>::PhotoProjection(size_t __dimension):
Transformation(__dimension, 1, __dimension, 1, 0),
_dimension(__dimension),
_focal(1){
}
template<class Scalar>
inline
PhotoProjection<Scalar>::PhotoProjection(size_t __dimension,
Scalar const& __focal):
Transformation(__dimension, 1, __dimension, 1, 0),
_dimension(__dimension),
_focal(1){
focal(__focal);
}
template<class Scalar>
inline Scalar
PhotoProjection<Scalar>::parameter(size_t __i) const{
return focal();
}
template<class Scalar>
inline Scalar
PhotoProjection<Scalar>::parameter(size_t __i, Scalar const& __s){
return focal(__s);
}
template<class Scalar>
inline Scalar
PhotoProjection<Scalar>::focal() const{
return _focal;
}
template<class Scalar>
inline Scalar
PhotoProjection<Scalar>::focal(Scalar const& __focal){
_focal = __focal;
return focal();
}
template<class Scalar>
inline Matrix<Scalar>
PhotoProjection<Scalar>::transformate(Matrix<Scalar> const& __x) const{
Matrix<Scalar> ret(__x);
for(size_t c = 0, C = ret.cols(); c < C; c++){
for(size_t i = 0; i < _dimension; i++){
ret(i, c) = ret(i, c) * _focal / ret(_dimension - 1, c);
}
}
return ret;
}
template<class Scalar>
inline Matrix<Scalar>
PhotoProjection<Scalar>::jacobian(Matrix<Scalar> const& __x) const{
Matrix<Scalar> ret(_dimension, _dimension, Scalar(0.0));
for(ssize_t i = 0, I = (ssize_t)_dimension - 1; i < I; i++){
ret(i, i) = _focal / __x(_dimension - 1, 0) ;
ret(i, _dimension - 1) = -_focal / squ(__x(_dimension - 1, 0));
}
return ret;
}
template<class Scalar>
inline Matrix<Scalar>
PhotoProjection<Scalar>::jacobian(Matrix<Scalar> const& __x,
size_t __i) const{
Matrix<Scalar> ret(__dimension, 1, Scalar(0.0));
for(size_t i = 0; i < _dimension; i++){
ret(i, 0) = ret(i, 0) / ret(_dimension - 1, 0);
}
return ret;
}
}
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