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Image Component Library (ICL)
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Image Component Library (ICL)
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00001 /******************************************************************** 00002 ** Image Component Library (ICL) ** 00003 ** ** 00004 ** Copyright (C) 2006-2013 CITEC, University of Bielefeld ** 00005 ** Neuroinformatics Group ** 00006 ** Website: www.iclcv.org and ** 00007 ** http://opensource.cit-ec.de/projects/icl ** 00008 ** ** 00009 ** File : ICLGeom/src/ICLGeom/GeomDefs.h ** 00010 ** Module : ICLGeom ** 00011 ** Authors: Christof Elbrechter ** 00012 ** ** 00013 ** ** 00014 ** GNU LESSER GENERAL PUBLIC LICENSE ** 00015 ** This file may be used under the terms of the GNU Lesser General ** 00016 ** Public License version 3.0 as published by the ** 00017 ** ** 00018 ** Free Software Foundation and appearing in the file LICENSE.GPL ** 00019 ** included in the packaging of this file. Please review the ** 00020 ** following information to ensure the license requirements will ** 00021 ** be met: http://www.gnu.org/licenses/lgpl-3.0.txt ** 00022 ** ** 00023 ** The development of this software was supported by the ** 00024 ** Excellence Cluster EXC 277 Cognitive Interaction Technology. ** 00025 ** The Excellence Cluster EXC 277 is a grant of the Deutsche ** 00026 ** Forschungsgemeinschaft (DFG) in the context of the German ** 00027 ** Excellence Initiative. ** 00028 ** ** 00029 ********************************************************************/ 00030 00031 #pragma once 00032 00033 #include <ICLCore/Types.h> 00034 #include <ICLMath/FixedMatrix.h> 00035 #include <ICLMath/FixedVector.h> 00036 #include <vector> 00037 #include <ICLCore/Color.h> 00038 #include <ICLUtils/Point32f.h> 00039 00040 namespace icl{ 00041 namespace geom{ 00043 typedef core::Color4D32f GeomColor; 00044 00046 inline GeomColor geom_white(float alpha=255) { return GeomColor(255,255,255,alpha); } 00047 00049 inline GeomColor geom_red(float alpha=255) { return GeomColor(255,0,0,alpha); } 00050 00052 inline GeomColor geom_blue(float alpha=255) { return GeomColor(0,100,255,alpha); } 00053 00055 inline GeomColor geom_green(float alpha=255) { return GeomColor(0,255,0,alpha); } 00056 00058 inline GeomColor geom_yellow(float alpha=255) { return GeomColor(255,255,0,alpha); } 00059 00061 inline GeomColor geom_magenta(float alpha=255) { return GeomColor(255,0,255,alpha); } 00062 00064 inline GeomColor geom_cyan(float alpha=255) { return GeomColor(0,255,255,alpha); } 00065 00067 inline GeomColor geom_black(float alpha=255) { return GeomColor(0,0,0,alpha); } 00068 00070 inline GeomColor geom_invisible() { return GeomColor(0,0,0,0); } 00071 00073 typedef math::FixedMatrix<icl32f,4,4> Mat4D32f; 00074 00076 typedef math::FixedMatrix<icl64f,4,4> Mat4D64f; 00077 00079 typedef math::FixedColVector<icl32f,4> Vec4D32f; 00080 00082 typedef math::FixedColVector<icl64f,4> Vec4D64f; 00083 00085 typedef Vec4D32f Vec; 00086 00088 typedef Mat4D32f Mat; 00089 00091 typedef math::FixedColVector<icl32f,3> Vec3; 00092 00093 00095 00096 template<class T> 00097 T linear_interpolate(const T &a, const T &b, float x){ 00098 return a * (1-x) + b*x; 00099 } 00100 00102 00105 float dist_point_linesegment(const Vec &p, 00106 const Vec &lineStart, 00107 const Vec &lineEnd, 00108 Vec *nearestPoint=0); 00109 00110 00112 00115 float dist_point_triangle(const Vec &p, 00116 const Vec &a, 00117 const Vec &b, 00118 const Vec &c, 00119 Vec *nearestPoint=0); 00120 00121 00123 00130 inline Vec bilinear_interpolate(const Vec corners[4], float x, float y){ 00131 const Vec a = linear_interpolate(corners[0],corners[1],x); 00132 const Vec b = linear_interpolate(corners[2],corners[3],x); 00133 Vec c = linear_interpolate(a,b,y); 00134 c[3] = 1; 00135 return c; 00136 } 00137 00139 template<class T> 00140 inline math::FixedColVector<T,4> normalize(const math::FixedMatrix<T,1,4> &v) { 00141 double l = v.length(); 00142 ICLASSERT_RETURN_VAL(l,v); 00143 return v/l; 00144 } 00146 template<class T> 00147 inline math::FixedColVector<T,4> normalize3(const math::FixedMatrix<T,1,4> &v,const double& h=1) { 00148 double l = ::sqrt(v[0]*v[0]+v[1]*v[1]+v[2]*v[2]); 00149 ICLASSERT_RETURN_VAL(l,v); 00150 Vec n = v/l; 00151 // XXX 00152 n[3]=h; 00153 return n; 00154 } 00155 00157 inline float sprod3(const Vec &a, const Vec &b){ 00158 return a[0]*b[0] + a[1]*b[1]+ a[2]*b[2]; 00159 } 00160 00162 inline float sqrnorm3(const Vec &a){ 00163 return sprod3(a,a); 00164 } 00165 00167 inline float norm3(const Vec &a){ 00168 return ::sqrt(sqrnorm3(a)); 00169 } 00170 00171 00173 template<class T> 00174 inline math::FixedColVector<T,4> homogenize(const math::FixedMatrix<T,1,4> &v){ 00175 ICLASSERT_RETURN_VAL(v[3],v); return v/v[3]; 00176 } 00177 00179 template<class T> 00180 inline math::FixedColVector<T,4> project(math::FixedMatrix<T,1,4> v, T z){ 00181 T zz = z*v[2]; 00182 v[0]/=zz; 00183 v[1]/=zz; 00184 v[2]=0; 00185 v[3]=1; 00186 return v; 00187 } 00188 00190 template<class T> 00191 inline math::FixedColVector<T,4> cross(const math::FixedMatrix<T,1,4> &v1, const math::FixedMatrix<T,1,4> &v2){ 00192 return math::FixedColVector<T,4>(v1[1]*v2[2]-v1[2]*v2[1], 00193 v1[2]*v2[0]-v1[0]*v2[2], 00194 v1[0]*v2[1]-v1[1]*v2[0], 00195 1 ); 00196 } 00197 00199 typedef std::vector<Vec> VecArray; 00200 00201 00203 inline Vec rotate_vector(const Vec &axis, float angle, const Vec &vec){ 00204 return math::create_rot_4x4(axis[0],axis[1],axis[2],angle)*vec; 00205 /* 00206 angle /= 2; 00207 float a = cos(angle); 00208 float sa = sin(angle); 00209 float b = axis[0] * sa; 00210 float c = axis[1] * sa; 00211 float d = axis[2] * sa; 00212 00213 float a2=a*a, b2=b*b, c2=c*c, d2=d*d; 00214 float ab=a*b, ac=a*c, ad=a*d, bc=b*c, bd=b*d, cd=c*d; 00215 00216 Mat X(a2+b2-c2-d2, 2*bc-2*ad, 2*ac+2*bd, 0, 00217 2*ad+2*bd, a2-b2+c2-d2, 2*cd-2*ab, 0, 00218 2*bd-2*ac, 2*ab+2*cd, a2-b2-c2+d2, 0, 00219 0, 0, 0, 1); 00220 00221 return X * vec; 00222 */ 00223 } 00224 00225 } // namespace geom 00226 } 00227 00228
1.7.6.1
