[37] | 1 | /* file: irodr.mex.c |
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| 2 | ** author: Andrea Vedaldi |
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| 3 | ** description: Inverse rodrigues formula |
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| 4 | **/ |
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| 5 | |
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| 6 | #include<mexutils.c> |
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| 7 | #include"bits/rodrigues.c" |
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| 8 | |
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| 9 | enum { |
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| 10 | IN_R = 0 |
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| 11 | } ; |
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| 12 | |
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| 13 | enum { |
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| 14 | OUT_OM=0, |
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| 15 | OUT_DOM |
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| 16 | } ; |
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| 17 | |
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| 18 | /* ------------------------------------------------------------------- |
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| 19 | ** Driver |
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| 20 | ** ----------------------------------------------------------------- */ |
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| 21 | |
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| 22 | void |
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| 23 | mexFunction(int nout, mxArray *out[], |
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| 24 | int nin, const mxArray *in[]) |
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| 25 | { |
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| 26 | int k,K ; |
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| 27 | double* om_pt ; |
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| 28 | double* dom_pt ; |
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| 29 | double const * R_pt ; |
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| 30 | |
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| 31 | /* ----------------------------------------------------------------- |
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| 32 | ** Check the arguments |
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| 33 | ** -------------------------------------------------------------- */ |
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| 34 | if(nin != 1) { |
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| 35 | mexErrMsgTxt("Exactly one argument required.") ; |
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| 36 | } |
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| 37 | |
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| 38 | if(!uIsRealMatrix(in[IN_R],-1,-1)) { |
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| 39 | mexErrMsgTxt("R must be a DOUBLE array") ; |
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| 40 | } |
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| 41 | |
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| 42 | K = mxGetNumberOfElements(in[IN_R]) ; |
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| 43 | if(K % 9 || K < 9) { |
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| 44 | mexErrMsgTxt("The elements of R must be a multiple of 9.") ; |
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| 45 | } |
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| 46 | K /= 9 ; |
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| 47 | R_pt = mxGetPr(in[IN_R]) ; |
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| 48 | |
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| 49 | /* space for output (OM) */ |
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| 50 | out[OUT_OM] = mxCreateDoubleMatrix(3,1,mxREAL) ; |
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| 51 | om_pt = mxGetPr(out[OUT_OM]) ; |
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| 52 | |
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| 53 | /* space for optional output (dR) */ |
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| 54 | dom_pt = NULL ; |
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| 55 | if( nout > 1 ) { |
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| 56 | if( K == 1 ) { |
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| 57 | out[OUT_DOM] = mxCreateDoubleMatrix(3,9,mxREAL) ; |
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| 58 | } else { |
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| 59 | int dims [3] ; |
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| 60 | dims[0] = 3 ; dims[1] = 9 ; dims[2] = K ; |
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| 61 | out[OUT_DOM] = mxCreateNumericArray(3,dims,mxDOUBLE_CLASS,mxREAL) ; |
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| 62 | } |
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| 63 | dom_pt = mxGetPr(out[OUT_DOM]) ; |
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| 64 | } |
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| 65 | |
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| 66 | /* ----------------------------------------------------------------- |
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| 67 | ** Process |
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| 68 | ** -------------------------------------------------------------- */ |
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| 69 | for(k = 0 ; k < K ; ++k) { |
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| 70 | vl_irodrigues(om_pt, dom_pt, R_pt) ; |
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| 71 | om_pt += 3 ; |
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| 72 | dom_pt += 3*9 ; |
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| 73 | R_pt += 3*3 ; |
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| 74 | } |
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| 75 | |
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| 76 | } |
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