69 lines
1.9 KiB
C++
69 lines
1.9 KiB
C++
#pragma once
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#ifndef __CVTT_COVARIANCEMATRIX_H__
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#define __CVTT_COVARIANCEMATRIX_H__
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namespace cvtt
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{
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namespace Internal
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{
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template<int TMatrixSize>
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class PackedCovarianceMatrix
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{
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public:
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// 0: xx,
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// 1: xy, yy
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// 3: xz, yz, zz
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// 6: xw, yw, zw, ww
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// ... etc.
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static const int PyramidSize = (TMatrixSize * (TMatrixSize + 1)) / 2;
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typedef ParallelMath::Float MFloat;
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PackedCovarianceMatrix()
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{
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for (int i = 0; i < PyramidSize; i++)
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m_values[i] = ParallelMath::MakeFloatZero();
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}
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void Add(const ParallelMath::Float *vec, const ParallelMath::Float &weight)
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{
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int index = 0;
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for (int row = 0; row < TMatrixSize; row++)
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{
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for (int col = 0; col <= row; col++)
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{
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m_values[index] = m_values[index] + vec[row] * vec[col] * weight;
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index++;
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}
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}
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}
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void Product(MFloat *outVec, const MFloat *inVec)
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{
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for (int row = 0; row < TMatrixSize; row++)
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{
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MFloat sum = ParallelMath::MakeFloatZero();
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int index = (row * (row + 1)) >> 1;
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for (int col = 0; col < TMatrixSize; col++)
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{
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sum = sum + inVec[col] * m_values[index];
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if (col >= row)
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index += col + 1;
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else
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index++;
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}
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outVec[row] = sum;
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}
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}
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private:
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ParallelMath::Float m_values[PyramidSize];
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};
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}
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}
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#endif
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