affineTransformTools.h

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#ifndef TIL_AFFINETOOLS_H
#define TIL_AFFINETOOLS_H


// includes from STL
#include <cassert>
#include <iostream>


// Namespace 
namespace til
{
        //namespace linalg {

template < typename T >
void computeAffineTransformBetween(const Box<T,3> & from, const Box<T,3> & to, Affine<T> & a)
{
  assert(all_greater_equal(size(from), 128*std::numeric_limits<T>::epsilon()));

        numeric_array<T,3> diag = size(to) / size(from);
  // TODO: create a function that initializes a matrix to a diagonal from a vector
        a.reset();
        a.getMatrix()(0,0) = diag[0];
        a.getMatrix()(1,1) = diag[1];
        a.getMatrix()(2,2) = diag[2];

        apply(a.getMatrix(), from.min_bounds(), a.getTransl());
        
        //print(a.transl());

        a.getTransl() -= to.min_bounds();
        neg(a.getTransl());
}

// TODO: is it really different from out = a*in?
template < typename T1, typename T2 >
INLINE
void apply
(
  const Affine<T1> & a,
  const numeric_array<T2,3> & in,
  numeric_array<typename combine<T1,T2>::type,3> & out
)
{
        apply(a.getMatrix(), in, out);
        out += a.getTransl();
}


template < typename T >
void print(const Affine<T> & a)
{
        for (int i = 0; i < 3; ++i)
        {
                for (int j = 0; j < 3; ++j)
                {
                        std::cout << a.getMatrix()(i,j) << " ";
                }
                std::cout << a.getTransl()[i] << std::endl;
        }
}
        //} // namespace linalg
} // namespace til

#endif