diff options
Diffstat (limited to 'Eigen/src/Geometry/Homogeneous.h')
| -rw-r--r-- | Eigen/src/Geometry/Homogeneous.h | 290 |
1 files changed, 240 insertions, 50 deletions
diff --git a/Eigen/src/Geometry/Homogeneous.h b/Eigen/src/Geometry/Homogeneous.h index 372e422b9..5f0da1a9e 100644 --- a/Eigen/src/Geometry/Homogeneous.h +++ b/Eigen/src/Geometry/Homogeneous.h @@ -34,7 +34,7 @@ struct traits<Homogeneous<MatrixType,Direction> > : traits<MatrixType> { typedef typename traits<MatrixType>::StorageKind StorageKind; - typedef typename nested<MatrixType>::type MatrixTypeNested; + typedef typename ref_selector<MatrixType>::type MatrixTypeNested; typedef typename remove_reference<MatrixTypeNested>::type _MatrixTypeNested; enum { RowsPlusOne = (MatrixType::RowsAtCompileTime != Dynamic) ? @@ -48,8 +48,7 @@ struct traits<Homogeneous<MatrixType,Direction> > TmpFlags = _MatrixTypeNested::Flags & HereditaryBits, Flags = ColsAtCompileTime==1 ? (TmpFlags & ~RowMajorBit) : RowsAtCompileTime==1 ? (TmpFlags | RowMajorBit) - : TmpFlags, - CoeffReadCost = _MatrixTypeNested::CoeffReadCost + : TmpFlags }; }; @@ -59,102 +58,117 @@ template<typename MatrixType,typename Rhs> struct homogeneous_right_product_impl } // end namespace internal template<typename MatrixType,int _Direction> class Homogeneous - : internal::no_assignment_operator, public MatrixBase<Homogeneous<MatrixType,_Direction> > + : 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) - inline Homogeneous(const MatrixType& matrix) + EIGEN_DEVICE_FUNC explicit inline Homogeneous(const MatrixType& matrix) : m_matrix(matrix) {} - inline Index rows() const { return m_matrix.rows() + (int(Direction)==Vertical ? 1 : 0); } - inline Index cols() const { return m_matrix.cols() + (int(Direction)==Horizontal ? 1 : 0); } - - inline Scalar coeff(Index row, Index col) const - { - if( (int(Direction)==Vertical && row==m_matrix.rows()) - || (int(Direction)==Horizontal && col==m_matrix.cols())) - return Scalar(1); - return m_matrix.coeff(row, col); - } + EIGEN_DEVICE_FUNC inline Index rows() const { return m_matrix.rows() + (int(Direction)==Vertical ? 1 : 0); } + EIGEN_DEVICE_FUNC inline Index cols() const { return m_matrix.cols() + (int(Direction)==Horizontal ? 1 : 0); } + + EIGEN_DEVICE_FUNC const NestedExpression& nestedExpression() const { return m_matrix; } template<typename Rhs> - inline const internal::homogeneous_right_product_impl<Homogeneous,Rhs> + EIGEN_DEVICE_FUNC inline const Product<Homogeneous,Rhs> operator* (const MatrixBase<Rhs>& rhs) const { eigen_assert(int(Direction)==Horizontal); - return internal::homogeneous_right_product_impl<Homogeneous,Rhs>(m_matrix,rhs.derived()); + return Product<Homogeneous,Rhs>(*this,rhs.derived()); } template<typename Lhs> friend - inline const internal::homogeneous_left_product_impl<Homogeneous,Lhs> + EIGEN_DEVICE_FUNC inline const Product<Lhs,Homogeneous> operator* (const MatrixBase<Lhs>& lhs, const Homogeneous& rhs) { eigen_assert(int(Direction)==Vertical); - return internal::homogeneous_left_product_impl<Homogeneous,Lhs>(lhs.derived(),rhs.m_matrix); + return Product<Lhs,Homogeneous>(lhs.derived(),rhs); } template<typename Scalar, int Dim, int Mode, int Options> friend - inline const internal::homogeneous_left_product_impl<Homogeneous,Transform<Scalar,Dim,Mode,Options> > + 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 internal::homogeneous_left_product_impl<Homogeneous,Transform<Scalar,Dim,Mode,Options> >(lhs,rhs.m_matrix); + 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 +/** \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. * - * \return an expression of the equivalent homogeneous vector + * 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 class Homogeneous + * \sa VectorwiseOp::homogeneous(), class Homogeneous */ template<typename Derived> -inline typename MatrixBase<Derived>::HomogeneousReturnType +EIGEN_DEVICE_FUNC inline typename MatrixBase<Derived>::HomogeneousReturnType MatrixBase<Derived>::homogeneous() const { EIGEN_STATIC_ASSERT_VECTOR_ONLY(Derived); - return derived(); + return HomogeneousReturnType(derived()); } -/** \geometry_module +/** \geometry_module \ingroup Geometry_Module * - * \returns a matrix expression of homogeneous column (or row) vectors + * \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() */ + * \sa MatrixBase::homogeneous(), class Homogeneous */ template<typename ExpressionType, int Direction> -inline Homogeneous<ExpressionType,Direction> +EIGEN_DEVICE_FUNC inline Homogeneous<ExpressionType,Direction> VectorwiseOp<ExpressionType,Direction>::homogeneous() const { - return _expression(); + return HomogeneousReturnType(_expression()); } -/** \geometry_module +/** \geometry_module \ingroup Geometry_Module * - * \returns an expression of the homogeneous normalized vector of \c *this + * \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> -inline const typename MatrixBase<Derived>::HNormalizedReturnType +EIGEN_DEVICE_FUNC inline const typename MatrixBase<Derived>::HNormalizedReturnType MatrixBase<Derived>::hnormalized() const { EIGEN_STATIC_ASSERT_VECTOR_ONLY(Derived); @@ -163,16 +177,22 @@ MatrixBase<Derived>::hnormalized() const ColsAtCompileTime==1?1:size()-1) / coeff(size()-1); } -/** \geometry_module +/** \geometry_module \ingroup Geometry_Module + * + * \brief column or row-wise homogeneous normalization * - * \returns an expression of the homogeneous normalized vector of \c *this + * \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> -inline const typename VectorwiseOp<ExpressionType,Direction>::HNormalizedReturnType +EIGEN_DEVICE_FUNC inline const typename VectorwiseOp<ExpressionType,Direction>::HNormalizedReturnType VectorwiseOp<ExpressionType,Direction>::hnormalized() const { return HNormalized_Block(_expression(),0,0, @@ -196,7 +216,7 @@ template<typename MatrixOrTransformType> struct take_matrix_for_product { typedef MatrixOrTransformType type; - static const type& run(const type &x) { return x; } + EIGEN_DEVICE_FUNC static const type& run(const type &x) { return x; } }; template<typename Scalar, int Dim, int Mode,int Options> @@ -204,7 +224,7 @@ 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; - static type run (const TransformType& x) { return x.affine(); } + EIGEN_DEVICE_FUNC static type run (const TransformType& x) { return x.affine(); } }; template<typename Scalar, int Dim, int Options> @@ -212,7 +232,7 @@ struct take_matrix_for_product<Transform<Scalar, Dim, Projective, Options> > { typedef Transform<Scalar, Dim, Projective, Options> TransformType; typedef typename TransformType::MatrixType type; - static const type& run (const TransformType& x) { return x.matrix(); } + EIGEN_DEVICE_FUNC static const type& run (const TransformType& x) { return x.matrix(); } }; template<typename MatrixType,typename Lhs> @@ -237,16 +257,15 @@ struct 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; - typedef typename MatrixType::Index Index; - homogeneous_left_product_impl(const Lhs& lhs, const MatrixType& rhs) + 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) {} - inline Index rows() const { return m_lhs.rows(); } - inline Index cols() const { return m_rhs.cols(); } + EIGEN_DEVICE_FUNC inline Index rows() const { return m_lhs.rows(); } + EIGEN_DEVICE_FUNC inline Index cols() const { return m_rhs.cols(); } - template<typename Dest> void evalTo(Dest& dst) const + 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, @@ -277,15 +296,14 @@ 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; - typedef typename MatrixType::Index Index; - homogeneous_right_product_impl(const MatrixType& lhs, const Rhs& rhs) + EIGEN_DEVICE_FUNC homogeneous_right_product_impl(const MatrixType& lhs, const Rhs& rhs) : m_lhs(lhs), m_rhs(rhs) {} - inline Index rows() const { return m_lhs.rows(); } - inline Index cols() const { return m_rhs.cols(); } + EIGEN_DEVICE_FUNC inline Index rows() const { return m_lhs.rows(); } + EIGEN_DEVICE_FUNC inline Index cols() const { return m_rhs.cols(); } - template<typename Dest> void evalTo(Dest& dst) const + 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, @@ -300,6 +318,178 @@ struct homogeneous_right_product_impl<Homogeneous<MatrixType,Horizontal>,Rhs> 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 |