RMatrix.hh

/* 
This file is part of the BIAS library (Basic ImageAlgorithmS).

Copyright (C) 2003-2009    (see file CONTACT for details)
  Multimediale Systeme der Informationsverarbeitung
  Institut fuer Informatik
  Christian-Albrechts-Universitaet Kiel


BIAS is free software; you can redistribute it and/or modify
it under the terms of the GNU Lesser General Public License as published by
the Free Software Foundation; either version 2.1 of the License, or
(at your option) any later version.

BIAS is distributed in the hope that it will be useful,
but WITHOUT ANY WARRANTY; without even the implied warranty of
MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
GNU Lesser General Public License for more details.

You should have received a copy of the GNU Lesser General Public License
along with BIAS; if not, write to the Free Software
Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA  02111-1307  USA
*/


#ifndef _BIAS_RMatrix_hh_
#define _BIAS_RMatrix_hh_

#include "bias_config.h" 

#include <Base/Math/Vector3.hh>
#include <Base/Math/Vector4.hh>
#include <Base/Math/Matrix3x3.hh>
#include <Base/Debug/Debug.hh>
#include <Base/Geometry/RMatrixBase.hh>
#include <Base/Geometry/Quaternion.hh>

namespace BIAS {

/** @class RMatrix 
 *  @test tested with TestRMatrix.cpp
    @ingroup g_geometry
    @brief 3D rotation matrix 
    
    @author JMF
    @status finished (07/05/2002)
**/

  class BIASGeometry_EXPORT RMatrix : public RMatrixBase {

  public:

    RMatrix()
      : RMatrixBase(MatrixIdentity) {};

    explicit RMatrix(const MatrixInitType& i)
      : RMatrixBase(i) {};

    /// initialization from rotation axis w and angle phi (Rodriguez)
    RMatrix(Vector3<ROTATION_MATRIX_TYPE> w, ROTATION_MATRIX_TYPE phi)
      : RMatrixBase(w,phi) {};

    virtual ~RMatrix();

    inline RMatrix(const Matrix3x3<ROTATION_MATRIX_TYPE>& mat)
      : RMatrixBase(mat) {};

    RMatrix(const TNT::Matrix<ROTATION_MATRIX_TYPE>& mat);

    /** Enforce orthonormality constraints and right-handed rotation with SVD
        @author koeser */
    virtual void EnforceConstraints();

    /** Compute average rotation by pairwise weighted averaging of matrices
        @param vecR vector containt rotation matrices
        @return average rotation matrix with minimal distance to all in vecR
        @attention unfinished code
        @author koeser */
    RMatrix GetAverageRMatrix(std::vector<RMatrix>& vecR,
                              bool RefineRotation = true) ;
    
    std::vector<RMatrix> *pvecR_;

    double bestErrorSoFar_;

    Quaternion<double> bestQuaternionSoFar_;

  };

} // namespace BIAS

#endif