3 files changed, 83 insertions, 0 deletions
diff --git a/cv/affine.cpp b/cv/affine.cpp
new file mode 100644
index 00000000..9018e107
--- /dev/null
+++ b/cv/affine.cpp
@@ -0,0 +1,32 @@
+/* Copyright (c) 2012 Patrick Ruoff
+ *
+ * Permission to use, copy, modify, and/or distribute this software for any
+ * purpose with or without fee is hereby granted, provided that the above
+ * copyright notice and this permission notice appear in all copies.
+ */
+
+#include "affine.hpp"
+
+Affine::Affine() : R(mat33::eye()), t(0,0,0) {}
+
+Affine::Affine(const mat33& R, const vec3& t) : R(R),t(t) {}
+
+Affine operator*(const Affine& X, const Affine& Y)
+{
+    return Affine(X.R*Y.R, X.R*Y.t + X.t);
+}
+
+Affine operator*(const mat33& X, const Affine& Y)
+{
+    return Affine(X*Y.R, X*Y.t);
+}
+
+Affine operator*(const Affine& X, const mat33& Y)
+{
+    return Affine(X.R*Y, X.t);
+}
+
+vec3 operator*(const Affine& X, const vec3& v)
+{
+    return X.R*v + X.t;
+}
diff --git a/cv/affine.hpp b/cv/affine.hpp
new file mode 100644
index 00000000..aedb0bc8
--- /dev/null
+++ b/cv/affine.hpp
@@ -0,0 +1,29 @@
+/* Copyright (c) 2012 Patrick Ruoff
+ *
+ * Permission to use, copy, modify, and/or distribute this software for any
+ * purpose with or without fee is hereby granted, provided that the above
+ * copyright notice and this permission notice appear in all copies.
+ */
+
+#pragma once
+
+#include <opencv2/core.hpp>
+#include "numeric.hpp"
+using namespace types;
+
+
+
+class Affine final
+{
+public:
+    Affine();
+    Affine(const mat33& R, const vec3& t);
+
+    mat33 R;
+    vec3 t;
+};
+
+Affine operator*(const Affine& X, const Affine& Y);
+Affine operator*(const mat33& X, const Affine& Y);
+Affine operator*(const Affine& X, const mat33& Y);
+vec3 operator*(const Affine& X, const vec3& v);
diff --git a/cv/numeric.hpp b/cv/numeric.hpp
new file mode 100644
index 00000000..4761af1d
--- /dev/null
+++ b/cv/numeric.hpp
@@ -0,0 +1,22 @@
+#pragma once
+
+#include <opencv2/core.hpp>
+#include <limits>
+
+namespace types {
+    using f = double;
+
+    struct constants final
+    {
+        constants() = delete;
+        static constexpr f eps = f(1e-8);
+    };
+
+    template<int n> using vec = cv::Vec<f, n>;
+    using vec2 = vec<2>;
+    using vec3 = vec<3>;
+
+    template<int y, int x> using mat = cv::Matx<f, y, x>;
+    using mat33 = mat<3, 3>;
+    using mat22 = mat<2, 2>;
+}