1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
53
54
55
56
57
58
59
60
61
62
63
64
65
66
67
68
69
70
71
72
73
74
75
76
77
78
79
80
81
82
83
84
85
86
87
88
89
90
91
92
93
94
95
96
|
#ifndef LINALG_H_
#define LINALG_H_
#include <Eigen/Core>
#include <Eigen/Geometry>
#include <Eigen/Dense>
using Eigen::Vector2d;
using Eigen::Vector3d;
using Eigen::Vector3f;
typedef Eigen::AlignedBox<double, 3> BoundingBox;
using Eigen::Matrix3f;
using Eigen::Matrix3d;
using Eigen::Matrix4d;
#if EIGEN_WORLD_VERSION >= 3
#define Transform3d Eigen::Affine3d
#else
using Eigen::Transform3d;
#endif
bool matrix_contains_infinity( const Transform3d &m );
bool matrix_contains_nan( const Transform3d &m );
BoundingBox operator*(const Transform3d &m, const BoundingBox &box);
Vector3d getBoundingCenter(BoundingBox bbox);
double getBoundingRadius(BoundingBox bbox);
class Color4f : public Eigen::Vector4f
{
public:
Color4f() { }
Color4f(int r, int g, int b, int a = 255) { setRgb(r,g,b,a); }
Color4f(float r, float g, float b, float a = 1.0f) : Eigen::Vector4f(r, g, b, a) { }
void setRgb(int r, int g, int b, int a = 255) {
*this << r/255.0f, g/255.0f, b/255.0f, a/255.0f;
}
bool isValid() const { return this->minCoeff() >= 0.0f; }
};
// FIXME - for camera, use boost::variant like in value.cc
#include <vector>
class Camera
{
public:
enum camera_type_e { GIMBAL_CAMERA, VECTOR_CAMERA, NULL_CAMERA } camtype;
Camera() { camtype = NULL_CAMERA; }
virtual ~Camera() {} // only prevent 'not polymorphic' compile error
};
class GimbalCamera : public Camera
{
public:
GimbalCamera()
{
camtype = GIMBAL_CAMERA;
object_trans << 0,0,0;
object_rot << 35,0,25;
viewer_distance = 500;
}
void setup( std::vector<double> d )
{
assert( d.size() == 7 );
object_trans << d[0], d[1], d[2];
object_rot << d[3], d[4], d[5];
viewer_distance = d[6];
}
Eigen::Vector3d object_trans;
Eigen::Vector3d object_rot;
double viewer_distance;
};
class VectorCamera : public Camera
{
public:
VectorCamera()
{
camtype = VECTOR_CAMERA;
center << 0,0,0;
Eigen::Vector3d cameradir(1, 1, -0.5);
eye = center - 500 * cameradir;
// "up" not currently used
}
Eigen::Vector3d eye;
Eigen::Vector3d center; // (aka 'target')
Eigen::Vector3d up;
};
#endif
|
