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Diffstat (limited to 'src/3rdparty/eigen/Eigen/src/Geometry/Homogeneous.h')
| -rw-r--r-- | src/3rdparty/eigen/Eigen/src/Geometry/Homogeneous.h | 501 |
1 files changed, 501 insertions, 0 deletions
diff --git a/src/3rdparty/eigen/Eigen/src/Geometry/Homogeneous.h b/src/3rdparty/eigen/Eigen/src/Geometry/Homogeneous.h new file mode 100644 index 000000000..94083ac54 --- /dev/null +++ b/src/3rdparty/eigen/Eigen/src/Geometry/Homogeneous.h @@ -0,0 +1,501 @@ +// This file is part of Eigen, a lightweight C++ template library +// for linear algebra. +// +// Copyright (C) 2009-2010 Gael Guennebaud <gael.guennebaud@inria.fr> +// +// This Source Code Form is subject to the terms of the Mozilla +// Public License v. 2.0. If a copy of the MPL was not distributed +// with this file, You can obtain one at http://mozilla.org/MPL/2.0/. + +#ifndef EIGEN_HOMOGENEOUS_H +#define EIGEN_HOMOGENEOUS_H + +namespace Eigen { + +/** \geometry_module \ingroup Geometry_Module + * + * \class Homogeneous + * + * \brief Expression of one (or a set of) homogeneous vector(s) + * + * \param MatrixType the type of the object in which we are making homogeneous + * + * This class represents an expression of one (or a set of) homogeneous vector(s). + * It is the return type of MatrixBase::homogeneous() and most of the time + * this is the only way it is used. + * + * \sa MatrixBase::homogeneous() + */ + +namespace internal { + +template<typename MatrixType,int Direction> +struct traits<Homogeneous<MatrixType,Direction> > + : traits<MatrixType> +{ + typedef typename traits<MatrixType>::StorageKind StorageKind; + typedef typename ref_selector<MatrixType>::type MatrixTypeNested; + typedef typename remove_reference<MatrixTypeNested>::type _MatrixTypeNested; + enum { + RowsPlusOne = (MatrixType::RowsAtCompileTime != Dynamic) ? + int(MatrixType::RowsAtCompileTime) + 1 : Dynamic, + ColsPlusOne = (MatrixType::ColsAtCompileTime != Dynamic) ? + int(MatrixType::ColsAtCompileTime) + 1 : Dynamic, + RowsAtCompileTime = Direction==Vertical ? RowsPlusOne : MatrixType::RowsAtCompileTime, + ColsAtCompileTime = Direction==Horizontal ? ColsPlusOne : MatrixType::ColsAtCompileTime, + MaxRowsAtCompileTime = RowsAtCompileTime, + MaxColsAtCompileTime = ColsAtCompileTime, + TmpFlags = _MatrixTypeNested::Flags & HereditaryBits, + Flags = ColsAtCompileTime==1 ? (TmpFlags & ~RowMajorBit) + : RowsAtCompileTime==1 ? (TmpFlags | RowMajorBit) + : TmpFlags + }; +}; + +template<typename MatrixType,typename Lhs> struct homogeneous_left_product_impl; +template<typename MatrixType,typename Rhs> struct homogeneous_right_product_impl; + +} // end namespace internal + +template<typename MatrixType,int _Direction> class Homogeneous + : public MatrixBase<Homogeneous<MatrixType,_Direction> >, internal::no_assignment_operator +{ + public: + + typedef MatrixType NestedExpression; + enum { Direction = _Direction }; + + typedef MatrixBase<Homogeneous> Base; + EIGEN_DENSE_PUBLIC_INTERFACE(Homogeneous) + + EIGEN_DEVICE_FUNC explicit inline Homogeneous(const MatrixType& matrix) + : m_matrix(matrix) + {} + + EIGEN_DEVICE_FUNC EIGEN_CONSTEXPR + inline Index rows() const EIGEN_NOEXCEPT { return m_matrix.rows() + (int(Direction)==Vertical ? 1 : 0); } + EIGEN_DEVICE_FUNC EIGEN_CONSTEXPR + inline Index cols() const EIGEN_NOEXCEPT { return m_matrix.cols() + (int(Direction)==Horizontal ? 1 : 0); } + + EIGEN_DEVICE_FUNC const NestedExpression& nestedExpression() const { return m_matrix; } + + template<typename Rhs> + EIGEN_DEVICE_FUNC inline const Product<Homogeneous,Rhs> + operator* (const MatrixBase<Rhs>& rhs) const + { + eigen_assert(int(Direction)==Horizontal); + return Product<Homogeneous,Rhs>(*this,rhs.derived()); + } + + template<typename Lhs> friend + EIGEN_DEVICE_FUNC inline const Product<Lhs,Homogeneous> + operator* (const MatrixBase<Lhs>& lhs, const Homogeneous& rhs) + { + eigen_assert(int(Direction)==Vertical); + return Product<Lhs,Homogeneous>(lhs.derived(),rhs); + } + + template<typename Scalar, int Dim, int Mode, int Options> friend + EIGEN_DEVICE_FUNC inline const Product<Transform<Scalar,Dim,Mode,Options>, Homogeneous > + operator* (const Transform<Scalar,Dim,Mode,Options>& lhs, const Homogeneous& rhs) + { + eigen_assert(int(Direction)==Vertical); + return Product<Transform<Scalar,Dim,Mode,Options>, Homogeneous>(lhs,rhs); + } + + template<typename Func> + EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE typename internal::result_of<Func(Scalar,Scalar)>::type + redux(const Func& func) const + { + return func(m_matrix.redux(func), Scalar(1)); + } + + protected: + typename MatrixType::Nested m_matrix; +}; + +/** \geometry_module \ingroup Geometry_Module + * + * \returns a vector expression that is one longer than the vector argument, with the value 1 symbolically appended as the last coefficient. + * + * This can be used to convert affine coordinates to homogeneous coordinates. + * + * \only_for_vectors + * + * Example: \include MatrixBase_homogeneous.cpp + * Output: \verbinclude MatrixBase_homogeneous.out + * + * \sa VectorwiseOp::homogeneous(), class Homogeneous + */ +template<typename Derived> +EIGEN_DEVICE_FUNC inline typename MatrixBase<Derived>::HomogeneousReturnType +MatrixBase<Derived>::homogeneous() const +{ + EIGEN_STATIC_ASSERT_VECTOR_ONLY(Derived); + return HomogeneousReturnType(derived()); +} + +/** \geometry_module \ingroup Geometry_Module + * + * \returns an expression where the value 1 is symbolically appended as the final coefficient to each column (or row) of the matrix. + * + * This can be used to convert affine coordinates to homogeneous coordinates. + * + * Example: \include VectorwiseOp_homogeneous.cpp + * Output: \verbinclude VectorwiseOp_homogeneous.out + * + * \sa MatrixBase::homogeneous(), class Homogeneous */ +template<typename ExpressionType, int Direction> +EIGEN_DEVICE_FUNC inline Homogeneous<ExpressionType,Direction> +VectorwiseOp<ExpressionType,Direction>::homogeneous() const +{ + return HomogeneousReturnType(_expression()); +} + +/** \geometry_module \ingroup Geometry_Module + * + * \brief homogeneous normalization + * + * \returns a vector expression of the N-1 first coefficients of \c *this divided by that last coefficient. + * + * This can be used to convert homogeneous coordinates to affine coordinates. + * + * It is essentially a shortcut for: + * \code + this->head(this->size()-1)/this->coeff(this->size()-1); + \endcode + * + * Example: \include MatrixBase_hnormalized.cpp + * Output: \verbinclude MatrixBase_hnormalized.out + * + * \sa VectorwiseOp::hnormalized() */ +template<typename Derived> +EIGEN_DEVICE_FUNC inline const typename MatrixBase<Derived>::HNormalizedReturnType +MatrixBase<Derived>::hnormalized() const +{ + EIGEN_STATIC_ASSERT_VECTOR_ONLY(Derived); + return ConstStartMinusOne(derived(),0,0, + ColsAtCompileTime==1?size()-1:1, + ColsAtCompileTime==1?1:size()-1) / coeff(size()-1); +} + +/** \geometry_module \ingroup Geometry_Module + * + * \brief column or row-wise homogeneous normalization + * + * \returns an expression of the first N-1 coefficients of each column (or row) of \c *this divided by the last coefficient of each column (or row). + * + * This can be used to convert homogeneous coordinates to affine coordinates. + * + * It is conceptually equivalent to calling MatrixBase::hnormalized() to each column (or row) of \c *this. + * + * Example: \include DirectionWise_hnormalized.cpp + * Output: \verbinclude DirectionWise_hnormalized.out + * + * \sa MatrixBase::hnormalized() */ +template<typename ExpressionType, int Direction> +EIGEN_DEVICE_FUNC inline const typename VectorwiseOp<ExpressionType,Direction>::HNormalizedReturnType +VectorwiseOp<ExpressionType,Direction>::hnormalized() const +{ + return HNormalized_Block(_expression(),0,0, + Direction==Vertical ? _expression().rows()-1 : _expression().rows(), + Direction==Horizontal ? _expression().cols()-1 : _expression().cols()).cwiseQuotient( + Replicate<HNormalized_Factors, + Direction==Vertical ? HNormalized_SizeMinusOne : 1, + Direction==Horizontal ? HNormalized_SizeMinusOne : 1> + (HNormalized_Factors(_expression(), + Direction==Vertical ? _expression().rows()-1:0, + Direction==Horizontal ? _expression().cols()-1:0, + Direction==Vertical ? 1 : _expression().rows(), + Direction==Horizontal ? 1 : _expression().cols()), + Direction==Vertical ? _expression().rows()-1 : 1, + Direction==Horizontal ? _expression().cols()-1 : 1)); +} + +namespace internal { + +template<typename MatrixOrTransformType> +struct take_matrix_for_product +{ + typedef MatrixOrTransformType type; + EIGEN_DEVICE_FUNC static const type& run(const type &x) { return x; } +}; + +template<typename Scalar, int Dim, int Mode,int Options> +struct take_matrix_for_product<Transform<Scalar, Dim, Mode, Options> > +{ + typedef Transform<Scalar, Dim, Mode, Options> TransformType; + typedef typename internal::add_const<typename TransformType::ConstAffinePart>::type type; + EIGEN_DEVICE_FUNC static type run (const TransformType& x) { return x.affine(); } +}; + +template<typename Scalar, int Dim, int Options> +struct take_matrix_for_product<Transform<Scalar, Dim, Projective, Options> > +{ + typedef Transform<Scalar, Dim, Projective, Options> TransformType; + typedef typename TransformType::MatrixType type; + EIGEN_DEVICE_FUNC static const type& run (const TransformType& x) { return x.matrix(); } +}; + +template<typename MatrixType,typename Lhs> +struct traits<homogeneous_left_product_impl<Homogeneous<MatrixType,Vertical>,Lhs> > +{ + typedef typename take_matrix_for_product<Lhs>::type LhsMatrixType; + typedef typename remove_all<MatrixType>::type MatrixTypeCleaned; + typedef typename remove_all<LhsMatrixType>::type LhsMatrixTypeCleaned; + typedef typename make_proper_matrix_type< + typename traits<MatrixTypeCleaned>::Scalar, + LhsMatrixTypeCleaned::RowsAtCompileTime, + MatrixTypeCleaned::ColsAtCompileTime, + MatrixTypeCleaned::PlainObject::Options, + LhsMatrixTypeCleaned::MaxRowsAtCompileTime, + MatrixTypeCleaned::MaxColsAtCompileTime>::type ReturnType; +}; + +template<typename MatrixType,typename Lhs> +struct homogeneous_left_product_impl<Homogeneous<MatrixType,Vertical>,Lhs> + : public ReturnByValue<homogeneous_left_product_impl<Homogeneous<MatrixType,Vertical>,Lhs> > +{ + typedef typename traits<homogeneous_left_product_impl>::LhsMatrixType LhsMatrixType; + typedef typename remove_all<LhsMatrixType>::type LhsMatrixTypeCleaned; + typedef typename remove_all<typename LhsMatrixTypeCleaned::Nested>::type LhsMatrixTypeNested; + EIGEN_DEVICE_FUNC homogeneous_left_product_impl(const Lhs& lhs, const MatrixType& rhs) + : m_lhs(take_matrix_for_product<Lhs>::run(lhs)), + m_rhs(rhs) + {} + + EIGEN_DEVICE_FUNC EIGEN_CONSTEXPR + inline Index rows() const EIGEN_NOEXCEPT { return m_lhs.rows(); } + EIGEN_DEVICE_FUNC EIGEN_CONSTEXPR + inline Index cols() const EIGEN_NOEXCEPT { return m_rhs.cols(); } + + template<typename Dest> EIGEN_DEVICE_FUNC void evalTo(Dest& dst) const + { + // FIXME investigate how to allow lazy evaluation of this product when possible + dst = Block<const LhsMatrixTypeNested, + LhsMatrixTypeNested::RowsAtCompileTime, + LhsMatrixTypeNested::ColsAtCompileTime==Dynamic?Dynamic:LhsMatrixTypeNested::ColsAtCompileTime-1> + (m_lhs,0,0,m_lhs.rows(),m_lhs.cols()-1) * m_rhs; + dst += m_lhs.col(m_lhs.cols()-1).rowwise() + .template replicate<MatrixType::ColsAtCompileTime>(m_rhs.cols()); + } + + typename LhsMatrixTypeCleaned::Nested m_lhs; + typename MatrixType::Nested m_rhs; +}; + +template<typename MatrixType,typename Rhs> +struct traits<homogeneous_right_product_impl<Homogeneous<MatrixType,Horizontal>,Rhs> > +{ + typedef typename make_proper_matrix_type<typename traits<MatrixType>::Scalar, + MatrixType::RowsAtCompileTime, + Rhs::ColsAtCompileTime, + MatrixType::PlainObject::Options, + MatrixType::MaxRowsAtCompileTime, + Rhs::MaxColsAtCompileTime>::type ReturnType; +}; + +template<typename MatrixType,typename Rhs> +struct homogeneous_right_product_impl<Homogeneous<MatrixType,Horizontal>,Rhs> + : public ReturnByValue<homogeneous_right_product_impl<Homogeneous<MatrixType,Horizontal>,Rhs> > +{ + typedef typename remove_all<typename Rhs::Nested>::type RhsNested; + EIGEN_DEVICE_FUNC homogeneous_right_product_impl(const MatrixType& lhs, const Rhs& rhs) + : m_lhs(lhs), m_rhs(rhs) + {} + + EIGEN_DEVICE_FUNC EIGEN_CONSTEXPR inline Index rows() const EIGEN_NOEXCEPT { return m_lhs.rows(); } + EIGEN_DEVICE_FUNC EIGEN_CONSTEXPR inline Index cols() const EIGEN_NOEXCEPT { return m_rhs.cols(); } + + template<typename Dest> EIGEN_DEVICE_FUNC void evalTo(Dest& dst) const + { + // FIXME investigate how to allow lazy evaluation of this product when possible + dst = m_lhs * Block<const RhsNested, + RhsNested::RowsAtCompileTime==Dynamic?Dynamic:RhsNested::RowsAtCompileTime-1, + RhsNested::ColsAtCompileTime> + (m_rhs,0,0,m_rhs.rows()-1,m_rhs.cols()); + dst += m_rhs.row(m_rhs.rows()-1).colwise() + .template replicate<MatrixType::RowsAtCompileTime>(m_lhs.rows()); + } + + typename MatrixType::Nested m_lhs; + typename Rhs::Nested m_rhs; +}; + +template<typename ArgType,int Direction> +struct evaluator_traits<Homogeneous<ArgType,Direction> > +{ + typedef typename storage_kind_to_evaluator_kind<typename ArgType::StorageKind>::Kind Kind; + typedef HomogeneousShape Shape; +}; + +template<> struct AssignmentKind<DenseShape,HomogeneousShape> { typedef Dense2Dense Kind; }; + + +template<typename ArgType,int Direction> +struct unary_evaluator<Homogeneous<ArgType,Direction>, IndexBased> + : evaluator<typename Homogeneous<ArgType,Direction>::PlainObject > +{ + typedef Homogeneous<ArgType,Direction> XprType; + typedef typename XprType::PlainObject PlainObject; + typedef evaluator<PlainObject> Base; + + EIGEN_DEVICE_FUNC explicit unary_evaluator(const XprType& op) + : Base(), m_temp(op) + { + ::new (static_cast<Base*>(this)) Base(m_temp); + } + +protected: + PlainObject m_temp; +}; + +// dense = homogeneous +template< typename DstXprType, typename ArgType, typename Scalar> +struct Assignment<DstXprType, Homogeneous<ArgType,Vertical>, internal::assign_op<Scalar,typename ArgType::Scalar>, Dense2Dense> +{ + typedef Homogeneous<ArgType,Vertical> SrcXprType; + EIGEN_DEVICE_FUNC static void run(DstXprType &dst, const SrcXprType &src, const internal::assign_op<Scalar,typename ArgType::Scalar> &) + { + Index dstRows = src.rows(); + Index dstCols = src.cols(); + if((dst.rows()!=dstRows) || (dst.cols()!=dstCols)) + dst.resize(dstRows, dstCols); + + dst.template topRows<ArgType::RowsAtCompileTime>(src.nestedExpression().rows()) = src.nestedExpression(); + dst.row(dst.rows()-1).setOnes(); + } +}; + +// dense = homogeneous +template< typename DstXprType, typename ArgType, typename Scalar> +struct Assignment<DstXprType, Homogeneous<ArgType,Horizontal>, internal::assign_op<Scalar,typename ArgType::Scalar>, Dense2Dense> +{ + typedef Homogeneous<ArgType,Horizontal> SrcXprType; + EIGEN_DEVICE_FUNC static void run(DstXprType &dst, const SrcXprType &src, const internal::assign_op<Scalar,typename ArgType::Scalar> &) + { + Index dstRows = src.rows(); + Index dstCols = src.cols(); + if((dst.rows()!=dstRows) || (dst.cols()!=dstCols)) + dst.resize(dstRows, dstCols); + + dst.template leftCols<ArgType::ColsAtCompileTime>(src.nestedExpression().cols()) = src.nestedExpression(); + dst.col(dst.cols()-1).setOnes(); + } +}; + +template<typename LhsArg, typename Rhs, int ProductTag> +struct generic_product_impl<Homogeneous<LhsArg,Horizontal>, Rhs, HomogeneousShape, DenseShape, ProductTag> +{ + template<typename Dest> + EIGEN_DEVICE_FUNC static void evalTo(Dest& dst, const Homogeneous<LhsArg,Horizontal>& lhs, const Rhs& rhs) + { + homogeneous_right_product_impl<Homogeneous<LhsArg,Horizontal>, Rhs>(lhs.nestedExpression(), rhs).evalTo(dst); + } +}; + +template<typename Lhs,typename Rhs> +struct homogeneous_right_product_refactoring_helper +{ + enum { + Dim = Lhs::ColsAtCompileTime, + Rows = Lhs::RowsAtCompileTime + }; + typedef typename Rhs::template ConstNRowsBlockXpr<Dim>::Type LinearBlockConst; + typedef typename remove_const<LinearBlockConst>::type LinearBlock; + typedef typename Rhs::ConstRowXpr ConstantColumn; + typedef Replicate<const ConstantColumn,Rows,1> ConstantBlock; + typedef Product<Lhs,LinearBlock,LazyProduct> LinearProduct; + typedef CwiseBinaryOp<internal::scalar_sum_op<typename Lhs::Scalar,typename Rhs::Scalar>, const LinearProduct, const ConstantBlock> Xpr; +}; + +template<typename Lhs, typename Rhs, int ProductTag> +struct product_evaluator<Product<Lhs, Rhs, LazyProduct>, ProductTag, HomogeneousShape, DenseShape> + : public evaluator<typename homogeneous_right_product_refactoring_helper<typename Lhs::NestedExpression,Rhs>::Xpr> +{ + typedef Product<Lhs, Rhs, LazyProduct> XprType; + typedef homogeneous_right_product_refactoring_helper<typename Lhs::NestedExpression,Rhs> helper; + typedef typename helper::ConstantBlock ConstantBlock; + typedef typename helper::Xpr RefactoredXpr; + typedef evaluator<RefactoredXpr> Base; + + EIGEN_DEVICE_FUNC explicit product_evaluator(const XprType& xpr) + : Base( xpr.lhs().nestedExpression() .lazyProduct( xpr.rhs().template topRows<helper::Dim>(xpr.lhs().nestedExpression().cols()) ) + + ConstantBlock(xpr.rhs().row(xpr.rhs().rows()-1),xpr.lhs().rows(), 1) ) + {} +}; + +template<typename Lhs, typename RhsArg, int ProductTag> +struct generic_product_impl<Lhs, Homogeneous<RhsArg,Vertical>, DenseShape, HomogeneousShape, ProductTag> +{ + template<typename Dest> + EIGEN_DEVICE_FUNC static void evalTo(Dest& dst, const Lhs& lhs, const Homogeneous<RhsArg,Vertical>& rhs) + { + homogeneous_left_product_impl<Homogeneous<RhsArg,Vertical>, Lhs>(lhs, rhs.nestedExpression()).evalTo(dst); + } +}; + +// TODO: the following specialization is to address a regression from 3.2 to 3.3 +// In the future, this path should be optimized. +template<typename Lhs, typename RhsArg, int ProductTag> +struct generic_product_impl<Lhs, Homogeneous<RhsArg,Vertical>, TriangularShape, HomogeneousShape, ProductTag> +{ + template<typename Dest> + static void evalTo(Dest& dst, const Lhs& lhs, const Homogeneous<RhsArg,Vertical>& rhs) + { + dst.noalias() = lhs * rhs.eval(); + } +}; + +template<typename Lhs,typename Rhs> +struct homogeneous_left_product_refactoring_helper +{ + enum { + Dim = Rhs::RowsAtCompileTime, + Cols = Rhs::ColsAtCompileTime + }; + typedef typename Lhs::template ConstNColsBlockXpr<Dim>::Type LinearBlockConst; + typedef typename remove_const<LinearBlockConst>::type LinearBlock; + typedef typename Lhs::ConstColXpr ConstantColumn; + typedef Replicate<const ConstantColumn,1,Cols> ConstantBlock; + typedef Product<LinearBlock,Rhs,LazyProduct> LinearProduct; + typedef CwiseBinaryOp<internal::scalar_sum_op<typename Lhs::Scalar,typename Rhs::Scalar>, const LinearProduct, const ConstantBlock> Xpr; +}; + +template<typename Lhs, typename Rhs, int ProductTag> +struct product_evaluator<Product<Lhs, Rhs, LazyProduct>, ProductTag, DenseShape, HomogeneousShape> + : public evaluator<typename homogeneous_left_product_refactoring_helper<Lhs,typename Rhs::NestedExpression>::Xpr> +{ + typedef Product<Lhs, Rhs, LazyProduct> XprType; + typedef homogeneous_left_product_refactoring_helper<Lhs,typename Rhs::NestedExpression> helper; + typedef typename helper::ConstantBlock ConstantBlock; + typedef typename helper::Xpr RefactoredXpr; + typedef evaluator<RefactoredXpr> Base; + + EIGEN_DEVICE_FUNC explicit product_evaluator(const XprType& xpr) + : Base( xpr.lhs().template leftCols<helper::Dim>(xpr.rhs().nestedExpression().rows()) .lazyProduct( xpr.rhs().nestedExpression() ) + + ConstantBlock(xpr.lhs().col(xpr.lhs().cols()-1),1,xpr.rhs().cols()) ) + {} +}; + +template<typename Scalar, int Dim, int Mode,int Options, typename RhsArg, int ProductTag> +struct generic_product_impl<Transform<Scalar,Dim,Mode,Options>, Homogeneous<RhsArg,Vertical>, DenseShape, HomogeneousShape, ProductTag> +{ + typedef Transform<Scalar,Dim,Mode,Options> TransformType; + template<typename Dest> + EIGEN_DEVICE_FUNC static void evalTo(Dest& dst, const TransformType& lhs, const Homogeneous<RhsArg,Vertical>& rhs) + { + homogeneous_left_product_impl<Homogeneous<RhsArg,Vertical>, TransformType>(lhs, rhs.nestedExpression()).evalTo(dst); + } +}; + +template<typename ExpressionType, int Side, bool Transposed> +struct permutation_matrix_product<ExpressionType, Side, Transposed, HomogeneousShape> + : public permutation_matrix_product<ExpressionType, Side, Transposed, DenseShape> +{}; + +} // end namespace internal + +} // end namespace Eigen + +#endif // EIGEN_HOMOGENEOUS_H |