288 lines
9.3 KiB
C++
288 lines
9.3 KiB
C++
// ____ ______ __
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// / __ \ / ____// /
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// / /_/ // / / /
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// / ____// /___ / /___ PixInsight Class Library
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// /_/ \____//_____/ PCL 2.4.23
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// ----------------------------------------------------------------------------
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// pcl/LinearTransformation.h - Released 2022-03-12T18:59:29Z
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// ----------------------------------------------------------------------------
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// This file is part of the PixInsight Class Library (PCL).
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// PCL is a multiplatform C++ framework for development of PixInsight modules.
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//
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// Copyright (c) 2003-2022 Pleiades Astrophoto S.L. All Rights Reserved.
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//
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// Redistribution and use in both source and binary forms, with or without
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// modification, is permitted provided that the following conditions are met:
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//
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// 1. All redistributions of source code must retain the above copyright
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// notice, this list of conditions and the following disclaimer.
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//
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// 2. All redistributions in binary form must reproduce the above copyright
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// notice, this list of conditions and the following disclaimer in the
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// documentation and/or other materials provided with the distribution.
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//
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// 3. Neither the names "PixInsight" and "Pleiades Astrophoto", nor the names
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// of their contributors, may be used to endorse or promote products derived
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// from this software without specific prior written permission. For written
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// permission, please contact info@pixinsight.com.
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//
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// 4. All products derived from this software, in any form whatsoever, must
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// reproduce the following acknowledgment in the end-user documentation
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// and/or other materials provided with the product:
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//
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// "This product is based on software from the PixInsight project, developed
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// by Pleiades Astrophoto and its contributors (https://pixinsight.com/)."
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//
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// Alternatively, if that is where third-party acknowledgments normally
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// appear, this acknowledgment must be reproduced in the product itself.
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//
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// THIS SOFTWARE IS PROVIDED BY PLEIADES ASTROPHOTO AND ITS CONTRIBUTORS
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// "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED
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// TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR
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// PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL PLEIADES ASTROPHOTO OR ITS
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// CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL,
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// EXEMPLARY OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, BUSINESS
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// INTERRUPTION; PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; AND LOSS OF USE,
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// DATA OR PROFITS) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
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// CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
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// ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
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// POSSIBILITY OF SUCH DAMAGE.
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// ----------------------------------------------------------------------------
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#ifndef __PCL_LinearTransformation_h
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#define __PCL_LinearTransformation_h
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/// \file pcl/LinearTransformation.h
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#include <pcl/Defs.h>
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#include <pcl/Matrix.h>
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#include <pcl/Point.h>
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#include <pcl/String.h>
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#include <pcl/Vector.h>
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/*
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* Based on original work contributed by Andrés del Pozo.
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*/
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namespace pcl
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{
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// ----------------------------------------------------------------------------
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/*!
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* \class LinearTransformation
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* \brief A linear geometric transformation on the plane defined as a 2x3
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* matrix of 64-bit floating point scalars.
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*
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* %LinearTransformation is a simple structure where the six transformation
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* coefficients are stored directly as \c double scalars. Since the third row
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* of the transformation matrix is (0, 0, 1) implicitly, this class can only
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* represent translations, rotations and scale changes. This class is primarily
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* intended to support WCS coordinate transformations.
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*
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* \ingroup astrometry_support
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*/
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class LinearTransformation
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{
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public:
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/*!
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* Default constructor. Constructs a unit linear transformation.
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*/
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LinearTransformation() = default;
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/*!
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* Copy constructor.
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*/
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LinearTransformation( const LinearTransformation& ) = default;
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/*!
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* Copy assignment operator. Returns a reference to this object.
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*/
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LinearTransformation& operator =( const LinearTransformation& ) = default;
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/*!
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* Constructs a linear transformation with the specified matrix elements.
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*/
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LinearTransformation( double a00, double a01, double a02, double a10, double a11, double a12 )
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: m_a00( a00 ), m_a01( a01 ), m_a02( a02 )
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, m_a10( a10 ), m_a11( a11 ), m_a12( a12 )
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, m_det( a00*a11 - a01*a10 )
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{
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}
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/*!
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* Returns true if this transformation has been defined by a singular
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* matrix. A singular matrix has zero or insignificant (with respect to the
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* machine epsilon for \c double) determinant and hence cannot be inverted.
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*/
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bool IsSingularMatrix() const
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{
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return 1 + m_det == 1;
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}
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/*!
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* Returns the transformation of the specified point \a p.
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*/
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DPoint Transform( const DPoint& p ) const
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{
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return DPoint( m_a00*p.x + m_a01*p.y + m_a02,
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m_a10*p.x + m_a11*p.y + m_a12 );
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}
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/*!
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* Returns the transformation of the specified point \a p. This operator is
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* equivalent to the Transform() member function.
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*/
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DPoint operator ()( const DPoint& p ) const
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{
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return Transform( p );
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}
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/*!
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* Returns the inverse transformation of the specified point \a p.
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*
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* If the transformation matrix is singular, this member function throws an
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* Error exception.
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*/
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DPoint TransformInverse( const DPoint& p ) const
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{
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if ( IsSingularMatrix() )
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throw Error( "Invalid call to LinearTransformation::TransformInverse(): Singular matrix" );
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return DPoint( ( m_a11*p.x - m_a01*p.y + m_a01*m_a12 - m_a02*m_a11)/m_det,
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(-m_a10*p.x + m_a00*p.y + m_a02*m_a10 - m_a00*m_a12)/m_det );
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}
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/*!
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* Returns the product of this transformation by a transformation \a T.
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*/
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LinearTransformation Multiply( const LinearTransformation& T ) const
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{
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return LinearTransformation( m_a00*T.m_a00 + m_a01*T.m_a10,
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m_a00*T.m_a01 + m_a01*T.m_a11,
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m_a00*T.m_a02 + m_a01*T.m_a12 + m_a02,
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m_a10*T.m_a00 + m_a11*T.m_a10,
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m_a10*T.m_a01 + m_a11*T.m_a11,
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m_a10*T.m_a02 + m_a11*T.m_a12 + m_a12 );
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}
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/*!
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* Returns the inverse of this transformation.
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*
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* If the transformation matrix is singular, this member function throws an
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* Error exception.
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*/
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LinearTransformation Inverse() const
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{
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if ( IsSingularMatrix() )
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throw Error( "Invalid call to LinearTransformation::Inverse(): Singular matrix" );
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return LinearTransformation( m_a11/m_det,
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-m_a01/m_det,
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(m_a01*m_a12 - m_a02*m_a11)/m_det,
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-m_a10/m_det,
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m_a00/m_det,
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(m_a02*m_a10 - m_a00*m_a12)/m_det );
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}
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/*!
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* Returns the transformation coefficient at the first row, first column.
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*/
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double A00() const
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{
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return m_a00;
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}
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/*!
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* Returns the transformation coefficient at the first row, second column.
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*/
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double A01() const
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{
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return m_a01;
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}
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/*!
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* Returns the transformation coefficient at the first row, third column.
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*/
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double A02() const
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{
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return m_a02;
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}
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/*!
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* Returns the transformation coefficient at the second row, first column.
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*/
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double A10() const
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{
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return m_a10;
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}
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/*!
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* Returns the transformation coefficient at the second row, second column.
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*/
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double A11() const
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{
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return m_a11;
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}
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/*!
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* Returns the transformation coefficient at the third row, third column.
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*/
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double A12() const
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{
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return m_a12;
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}
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/*!
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* Returns a 3x3 matrix initialized with the transformation coefficients in
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* this object.
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*/
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Matrix ToMatrix() const
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{
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return Matrix( m_a00, m_a01, m_a02,
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m_a10, m_a11, m_a12,
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0.0, 0.0, 1.0 );
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}
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/*!
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* Returns a six-component vector initialized with the transformation
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* coefficients in this object.
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*/
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Vector ToVector() const
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{
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return Vector( { m_a00, m_a01, m_a02, m_a10, m_a11, m_a12 } );
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}
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/*!
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* Returns a string representation of the transformation matrix. The
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* representation consists of two text lines, each with \a indent leading
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* spaces, separated by a newline character.
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*/
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String ToString( int indent = 0 ) const
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{
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String text;
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if ( indent > 0 )
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text << String( ' ', indent );
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text.AppendFormat( "%+16.8e %+16.8e %+16.8e\n", m_a00, m_a01, m_a02 );
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if ( indent > 0 )
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text << String( ' ', indent );
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text.AppendFormat( "%+16.8e %+16.8e %+16.8e", m_a10, m_a11, m_a12 );
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return text;
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}
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private:
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double m_a00 = 1, m_a01 = 0, m_a02 = 0,
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m_a10 = 0, m_a11 = 1, m_a12 = 0;
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double m_det = 1;
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};
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// ----------------------------------------------------------------------------
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} // pcl
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#endif // __PCL_LinearTransformation_h
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// ----------------------------------------------------------------------------
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// EOF pcl/LinearTransformation.h - Released 2022-03-12T18:59:29Z
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