1 | /* file: rodr.mex.c |
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2 | ** author: Andrea Vedaldi |
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3 | ** description: 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_OM = 0 |
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11 | } ; |
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12 | |
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13 | enum { |
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14 | OUT_R=0, |
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15 | OUT_DR |
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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 const * om_pt ; |
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28 | double* R_pt ; |
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29 | double* dR_pt ; |
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30 | |
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31 | if(nin != 1) { |
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32 | mexErrMsgTxt("Exactly one argument required.") ; |
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33 | } |
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34 | |
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35 | if(!uIsRealMatrix(in[IN_OM],-1,-1)) { |
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36 | mexErrMsgTxt("OM must be a DOUBLE array") ; |
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37 | } |
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38 | |
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39 | K = mxGetNumberOfElements(in[IN_OM]) ; |
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40 | if(K % 3 || K < 3) { |
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41 | mexErrMsgTxt("The number of elements of OM must be a multiple of 3") ; |
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42 | } |
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43 | K /= 3 ; |
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44 | om_pt = mxGetPr(in[IN_OM]) ; |
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45 | |
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46 | /* space for output (R) */ |
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47 | if( K == 1 ) { |
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48 | out[OUT_R] = mxCreateDoubleMatrix(3,3,mxREAL) ; |
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49 | } else { |
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50 | int dims [3] ; |
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51 | dims[0] = 3 ; dims[1] = 3 ; dims[2] = K ; |
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52 | out[OUT_R] = mxCreateNumericArray(3,dims,mxDOUBLE_CLASS,mxREAL) ; |
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53 | } |
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54 | R_pt = mxGetPr(out[OUT_R]) ; |
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55 | |
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56 | /* space for optional output (dR) */ |
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57 | dR_pt = NULL ; |
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58 | if( nout > 1 ) { |
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59 | if( K == 1 ) { |
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60 | out[OUT_DR] = mxCreateDoubleMatrix(9,3,mxREAL) ; |
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61 | } else { |
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62 | int dims [3] ; |
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63 | dims[0] = 9 ; dims[1] = 3 ; dims[2] = K ; |
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64 | out[OUT_DR] = mxCreateNumericArray(3,dims,mxDOUBLE_CLASS,mxREAL) ; |
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65 | } |
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66 | dR_pt = mxGetPr(out[OUT_DR]) ; |
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67 | } |
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68 | |
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69 | /* ----------------------------------------------------------------- |
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70 | ** Process |
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71 | ** -------------------------------------------------------------- */ |
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72 | for(k = 0 ; k < K ; ++k) { |
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73 | vl_rodrigues(R_pt, dR_pt, om_pt) ; |
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74 | om_pt += 3 ; |
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75 | R_pt += 3*3 ; |
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76 | dR_pt += 9*3 ; |
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77 | } |
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78 | } |
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