source: proiecte/pmake3d/make3d_original/Make3dSingleImageStanford_version0.1/third_party/qtfm/unadjoint.m @ 37

function C = unadjoint(A, F)
% UNADJOINT   Given an adjoint matrix, constructs the original
%             quaternion matrix.
%
% unadjoint(A) or
% unadjoint(A, 'complex') assumes A is a complex adjoint matrix.
% unadjoint(A, 'real')    assumes A is a real    adjoint matrix.
%
% This function reverses the result of the ADJOINT function, so
% that UNADJOINT(ADJOINT(A)) == A.

% Copyright © 2005 Stephen J. Sangwine and Nicolas Le Bihan.
% See the file : Copyright.m for further details.

% References: see the code for ADJOINT.

error(nargchk(1, 2, nargin)), error(nargoutchk(0, 1, nargout))

if nargin == 1
    F = 'complex'; % Supply the default parameter value.
end

if ~strcmp(F, 'real') & ~strcmp(F, 'complex')
    error('Second parameter value must be ''real'' or ''complex''.')
end

% We have to be sure that A is a adjoint matrix, and not just some
% arbitrary real or complex matrix.  To do this we reconstruct the
% original matrix, assuming A is an adjoint, then build the adjoint
% from the reconstruction and compare it with A. If these are not
% equal to within a tolerance, A was not an adjoint. We are also
% able to eliminate some matrices as non-adjoints simply because of
% their dimensions. When we build the adjoint C, we make an arbitrary
% choice about which redundant parts of A to use. However, the unused
% redundant parts are compared against the adjoint built from C and
% if they are not close enough to the values used to build C an error
% occurs.

[r, c] = size(A);

if strcmp(F, 'complex')

    r2 = r ./ 2;
    c2 = c ./ 2;
    
    if fix(r2) .* 2 ~= r | fix(c2) .* 2 ~= c
        error(['Matrix is incorrect size to be a ', F, ' adjoint']);
    end
    
    A1 = A(1 : r2,      1 : c2);
    A2 = A(1 : r2, c2 + 1 : c );
    
    C = quaternion(real(A1), imag(A1), real(A2), imag(A2));

else % F must be 'real', since we checked it above.
    
    r4 = r ./ 4;
    c4 = c ./ 4;
    
    if fix(r4) .* 4 ~= r | fix(c4) .* 4 ~= c
        error(['Matrix is incorrect size to be a ', F, ' adjoint']);
    end
   
    
    W = A(1 : r4,           1 :      c4);
    X = A(1 : r4,      c4 + 1 : 2 .* c4);
    Y = A(1 : r4, 2 .* c4 + 1 : 3 .* c4);
    Z = A(1 : r4, 3 .* c4 + 1 :      c );
    
    C = quaternion(W, X, Y, Z);
end

T = adjoint(C, F);
if any(size(T) ~= size(A))
    error(['Matrix is incorrect size to be a ', F, ' adjoint']);
end

% Now we verify that A was indeed an adjoint matrix to within a tolerance.
% We cannot test for exact equality, because A may be a product or the
% result of some algorithm that theoretically yields an adjoint matrix,
% but in practice yields an almost-adjoint because of rounding errors.

RT = real(T); RA = real(A); 
IT = imag(T); IA = imag(A); % In the case of real quaternions, these will be 0.

if any(any(abs(RT - RA) .* eps > abs(RA) | abs(IT - IA) .* eps > abs(IA)))
    error('Matrix is not (accurately) a valid adjoint matrix.');
end

% Notes: the above test is not ideal. It is difficult to devise a simple
% test that will work for complexified quaternions (because the modulus
% can vanish). We can define a non-vanishing quasi-modulus and use that,
% but it might not work correctly for all cases. For the moment the above
% test will do. It will correctly raise an error in simple cases of bad
% code.