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big replacement .Zero => .SetZero, and start of Eigen's compatibilities (currently disabled by default)
2008-10-27 15:48:14 +01:00
/****************************************************************************
* VCGLib o o *
* Visual and Computer Graphics Library o o *
* _ O _ *
* Copyright(C) 2004 \/)\/ *
* Visual Computing Lab /\/| *
* ISTI - Italian National Research Council | *
* \ *
* All rights reserved. *
* *
* This program is free software; you can redistribute it and/or modify *
* it under the terms of the GNU General Public License as published by *
* the Free Software Foundation; either version 2 of the License, or *
* (at your option) any later version. *
* *
* This program is distributed in the hope that it will be useful, *
* but WITHOUT ANY WARRANTY; without even the implied warranty of *
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the *
* GNU General Public License (http://www.gnu.org/licenses/gpl.txt) *
* for more details. *
* *
****************************************************************************/
#ifndef EIGEN_VCGLIB
#define EIGEN_VCGLIB
make point2 derived Eigen's Matrix, and a set of minimal fixes to make meshlab compile with both old and new version. The fixes include: - dot product: vec0 * vec1 => vec0.dot(vec1) (I added .dot() to the old Point classes too) - Transpose: Transpose is an Eigen type, so we cannot keep it if Eigen is used. Therefore I added a .tranpose() to old matrix classes, and modified most of the Transpose() to transpose() both in vcg and meshlab. In fact, transpose() are free with Eigen, it simply returns a transpose expression without copies. On the other be carefull: m = m.transpose() won't work as expected, here me must evaluate to a temporary: m = m.transpose().eval(); However, this operation in very rarely needed: you transpose at the same sime you set m, or you use m.transpose() directly. - the last issue is Normalize which both modifies *this and return a ref to it. This behavior don't make sense anymore when using expression template, e.g., in (a+b).Normalize(), the type of a+b if not a Point (or whatever Vector types), it an expression of the addition of 2 points, so we cannot modify the value of *this, since there is no value. Therefore I've already changed all those .Normalize() of expressions to the Eigen's version .normalized(). - Finally I've changed the Zero to SetZero in the old Point classes too.
2008-10-28 01:59:46 +01:00
// TODO enable the vectorization
compilation fixes with Eigen
2009-07-21 09:29:13 +02:00
// #define EIGEN_DONT_VECTORIZE
big cleaning in Point* and Matrix*, now they are very closed to be simple typedef of Eigen's Matrix. Now the dilema is how to mimic those typedefs, using inheritence ? or using the classic workaround: typename Point3<float>::Type; with Point3<T>::Type defined to Eigen::Matrix<T,3,1>. Anyway currently I support both (and the inheritence scheme has to be preserved for compatibility). The advantage of the second approach is that when eigen has to evaluate an expression it uses an Eigen::Matrix<>, so it is probably better to only use Eigen::Matrix but I'm not 100% sure that makes a big difference especially if we add some automatic reinterpret_cast between Eigen::Matrix and vcg::Point*....
2008-10-28 21:06:17 +01:00
#define EIGEN_MATRIXBASE_PLUGIN <vcg/math/eigen_matrixbase_addons.h>
#define EIGEN_MATRIX_PLUGIN <vcg/math/eigen_matrix_addons.h>
big replacement .Zero => .SetZero, and start of Eigen's compatibilities (currently disabled by default)
2008-10-27 15:48:14 +01:00
make Point derive Eigen's Matrix and some cleanning
2008-10-28 12:47:37 +01:00
// forward declarations
namespace Eigen {
* change all remaining Transpose to transpose, * update the gl/math wrappers to make them more Eigen friendly (and remove the useless, and not used, and somehow dangerous *Direct and *E functions) * add automatic reinterpret_casting from Eigen::Matrix to vcg specialized types
2008-10-29 01:05:44 +01:00
of course fixing msvc breaked gcc... not anymore
2008-10-29 16:36:08 +01:00
template<typename T> struct ei_traits;
compilation fixes with eigen
2009-01-23 00:10:24 +01:00
template<typename A,typename B> struct ei_is_same_type;
* change all remaining Transpose to transpose, * update the gl/math wrappers to make them more Eigen friendly (and remove the useless, and not used, and somehow dangerous *Direct and *E functions) * add automatic reinterpret_casting from Eigen::Matrix to vcg specialized types
2008-10-29 01:05:44 +01:00
make Point derive Eigen's Matrix and some cleanning
2008-10-28 12:47:37 +01:00
template<typename Derived1, typename Derived2, int Size> struct ei_lexi_comparison;
* change all remaining Transpose to transpose, * update the gl/math wrappers to make them more Eigen friendly (and remove the useless, and not used, and somehow dangerous *Direct and *E functions) * add automatic reinterpret_casting from Eigen::Matrix to vcg specialized types
2008-10-29 01:05:44 +01:00
template<typename Derived1, typename Derived2,
bool SameType = ei_is_same_type<Derived1,Derived2>::ret,
bool SameSize = Derived1::SizeAtCompileTime==Derived2::SizeAtCompileTime>
struct ei_import_selector;
template<typename XprType,
fixed a couple of MSVC issues, meshlab compile, the plugins soon...
2008-10-29 15:01:44 +01:00
int Rows = ei_traits<XprType>::RowsAtCompileTime,
int Cols = ei_traits<XprType>::ColsAtCompileTime,
int StorageOrder = ei_traits<XprType>::Flags&1,
int MRows = ei_traits<XprType>::MaxRowsAtCompileTime,
int MCols = ei_traits<XprType>::MaxColsAtCompileTime>
* change all remaining Transpose to transpose, * update the gl/math wrappers to make them more Eigen friendly (and remove the useless, and not used, and somehow dangerous *Direct and *E functions) * add automatic reinterpret_casting from Eigen::Matrix to vcg specialized types
2008-10-29 01:05:44 +01:00
struct ei_to_vcgtype;
make Point derive Eigen's Matrix and some cleanning
2008-10-28 12:47:37 +01:00
}
big cleaning in Point* and Matrix*, now they are very closed to be simple typedef of Eigen's Matrix. Now the dilema is how to mimic those typedefs, using inheritence ? or using the classic workaround: typename Point3<float>::Type; with Point3<T>::Type defined to Eigen::Matrix<T,3,1>. Anyway currently I support both (and the inheritence scheme has to be preserved for compatibility). The advantage of the second approach is that when eigen has to evaluate an expression it uses an Eigen::Matrix<>, so it is probably better to only use Eigen::Matrix but I'm not 100% sure that makes a big difference especially if we add some automatic reinterpret_cast between Eigen::Matrix and vcg::Point*....
2008-10-28 21:06:17 +01:00
#include "base.h"
Rolled back
2011-10-05 17:04:40 +02:00
#include "../../eigenlib/Eigen/LU"
#include "../../eigenlib/Eigen/Geometry"
#include "../../eigenlib/Eigen/Array"
#include "../../eigenlib/Eigen/Core"
Port to eigen2: state of the mess: * curently nothing change if you don't define VCG_USE_EIGEN * make Matrix*, Point3 and Point4 derive Eigen::Matrix (still ugly) * now catching all the dot products to replace them by .dot() note that most of meshlab already compile
2008-10-27 20:35:17 +01:00
make Point derive Eigen's Matrix and some cleanning
2008-10-28 12:47:37 +01:00
// add support for unsigned char and short int
Port to eigen2: state of the mess: * curently nothing change if you don't define VCG_USE_EIGEN * make Matrix*, Point3 and Point4 derive Eigen::Matrix (still ugly) * now catching all the dot products to replace them by .dot() note that most of meshlab already compile
2008-10-27 20:35:17 +01:00
namespace Eigen {
template<> struct NumTraits<unsigned char>
{
typedef unsigned char Real;
typedef float FloatingPoint;
enum {
IsComplex = 0,
HasFloatingPoint = 0,
ReadCost = 1,
AddCost = 1,
MulCost = 1
};
};
template<> struct NumTraits<short int>
{
typedef short int Real;
typedef float FloatingPoint;
enum {
IsComplex = 0,
HasFloatingPoint = 0,
ReadCost = 1,
AddCost = 1,
MulCost = 1
};
};
make Point derive Eigen's Matrix and some cleanning
2008-10-28 12:47:37 +01:00
// WARNING this is a default version provided so that Intersection() stuff can compile.
// Indeed, the compiler try to instanciate all versions of Intersection() leading to
// the instanciation of Eigen::Matrix<Face,...> !!!
template<typename T> struct NumTraits
{
struct wrong_type
{
wrong_type() { assert(0 && "Eigen: you are using a wrong scalar type" ); }
};
typedef wrong_type Real;
typedef wrong_type FloatingPoint;
enum {
IsComplex = 0,
HasFloatingPoint = 0,
ReadCost = 0,
AddCost = 0,
MulCost = 0
};
};
// implementation of Lexicographic order comparison
// TODO should use meta unrollers
template<typename Derived1, typename Derived2> struct ei_lexi_comparison<Derived1,Derived2,2>
{
inline static bool less(const Derived1& a, const Derived2& b) {
return (a.coeff(1)!=b.coeff(1))?(a.coeff(1)< b.coeff(1)) : (a.coeff(0)<b.coeff(0));
}
inline static bool greater(const Derived1& a, const Derived2& b) {
return (a.coeff(1)!=b.coeff(1))?(a.coeff(1)> b.coeff(1)) : (a.coeff(0)>b.coeff(0));
}
inline static bool lessEqual(const Derived1& a, const Derived2& b) {
return (a.coeff(1)!=b.coeff(1))?(a.coeff(1)< b.coeff(1)) : (a.coeff(0)<=b.coeff(0));
}
inline static bool greaterEqual(const Derived1& a, const Derived2& b) {
return (a.coeff(1)!=b.coeff(1))?(a.coeff(1)> b.coeff(1)) : (a.coeff(0)>=b.coeff(0));
}
};
template<typename Derived1, typename Derived2> struct ei_lexi_comparison<Derived1,Derived2,3>
{
inline static bool less(const Derived1& a, const Derived2& b) {
return (a.coeff(2)!=b.coeff(2))?(a.coeff(2)< b.coeff(2)):
(a.coeff(1)!=b.coeff(1))?(a.coeff(1)< b.coeff(1)) : (a.coeff(0)<b.coeff(0));
}
inline static bool greater(const Derived1& a, const Derived2& b) {
return (a.coeff(2)!=b.coeff(2))?(a.coeff(2)> b.coeff(2)):
(a.coeff(1)!=b.coeff(1))?(a.coeff(1)> b.coeff(1)) : (a.coeff(0)>b.coeff(0));
}
inline static bool lessEqual(const Derived1& a, const Derived2& b) {
return (a.coeff(2)!=b.coeff(2))?(a.coeff(2)< b.coeff(2)):
(a.coeff(1)!=b.coeff(1))?(a.coeff(1)< b.coeff(1)) : (a.coeff(0)<=b.coeff(0));
}
inline static bool greaterEqual(const Derived1& a, const Derived2& b) {
return (a.coeff(2)!=b.coeff(2))?(a.coeff(2)> b.coeff(2)):
(a.coeff(1)!=b.coeff(1))?(a.coeff(1)> b.coeff(1)) : (a.coeff(0)>=b.coeff(0));
}
};
template<typename Derived1, typename Derived2> struct ei_lexi_comparison<Derived1,Derived2,4>
{
inline static bool less(const Derived1& a, const Derived2& b) {
return (a.coeff(3)!=b.coeff(3))?(a.coeff(3)< b.coeff(3)) : (a.coeff(2)!=b.coeff(2))?(a.coeff(2)< b.coeff(2)):
(a.coeff(1)!=b.coeff(1))?(a.coeff(1)< b.coeff(1)) : (a.coeff(0)<b.coeff(0));
}
inline static bool greater(const Derived1& a, const Derived2& b) {
return (a.coeff(3)!=b.coeff(3))?(a.coeff(3)> b.coeff(3)) : (a.coeff(2)!=b.coeff(2))?(a.coeff(2)> b.coeff(2)):
(a.coeff(1)!=b.coeff(1))?(a.coeff(1)> b.coeff(1)) : (a.coeff(0)>b.coeff(0));
}
inline static bool lessEqual(const Derived1& a, const Derived2& b) {
return (a.coeff(3)!=b.coeff(3))?(a.coeff(3)< b.coeff(3)) : (a.coeff(2)!=b.coeff(2))?(a.coeff(2)< b.coeff(2)):
(a.coeff(1)!=b.coeff(1))?(a.coeff(1)< b.coeff(1)) : (a.coeff(0)<=b.coeff(0));
}
inline static bool greaterEqual(const Derived1& a, const Derived2& b) {
return (a.coeff(3)!=b.coeff(3))?(a.coeff(3)> b.coeff(3)) : (a.coeff(2)!=b.coeff(2))?(a.coeff(2)> b.coeff(2)):
(a.coeff(1)!=b.coeff(1))?(a.coeff(1)> b.coeff(1)) : (a.coeff(0)>=b.coeff(0));
}
};
* change all remaining Transpose to transpose, * update the gl/math wrappers to make them more Eigen friendly (and remove the useless, and not used, and somehow dangerous *Direct and *E functions) * add automatic reinterpret_casting from Eigen::Matrix to vcg specialized types
2008-10-29 01:05:44 +01:00
// implementation of Import
template<typename Derived1, typename Derived2>
struct ei_import_selector<Derived1,Derived2,true,true>
{
static void run(Derived1& a, const Derived2& b) { a = b; }
};
template<typename Derived1, typename Derived2>
struct ei_import_selector<Derived1,Derived2,false,true>
{
static void run(Derived1& a, const Derived2& b)
{ a = b.template cast<typename Derived1::Scalar>(); }
};
template<typename Derived1, typename Derived2>
struct ei_import_selector<Derived1,Derived2,false,false>
{
static void run(Derived1& a, const Derived2& b)
{
EIGEN_STATIC_ASSERT_VECTOR_ONLY(Derived1);
EIGEN_STATIC_ASSERT_FIXED_SIZE(Derived1);
EIGEN_STATIC_ASSERT_VECTOR_ONLY(Derived2);
EIGEN_STATIC_ASSERT_FIXED_SIZE(Derived2);
enum {
Size1 = Derived1::SizeAtCompileTime,
Size2 = Derived2::SizeAtCompileTime
};
assert(Size1<=4 && Size2<=4);
a.coeffRef(0) = Scalar(b.coeff(0));
if (Size1>1) { if (Size2>1) a.coeffRef(1) = Scalar(b.coeff(1)); else a.coeffRef(1) = 0; }
if (Size1>2) { if (Size2>2) a.coeffRef(2) = Scalar(b.coeff(2)); else a.coeffRef(2) = 0; }
if (Size1>3) { if (Size2>3) a.coeffRef(3) = Scalar(b.coeff(3)); else a.coeffRef(3) = 0; }
}
};
// default implementation of ei_to_vcgtype
// the specialization are with
template<typename XprType,int Rows,int Cols,int StorageOrder,int MRows,int MCols>
struct ei_to_vcgtype { typedef Matrix<typename XprType::Scalar,Rows,Cols,StorageOrder,MRows,MCols> type; };
Port to eigen2: state of the mess: * curently nothing change if you don't define VCG_USE_EIGEN * make Matrix*, Point3 and Point4 derive Eigen::Matrix (still ugly) * now catching all the dot products to replace them by .dot() note that most of meshlab already compile
2008-10-27 20:35:17 +01:00
}
big replacement .Zero => .SetZero, and start of Eigen's compatibilities (currently disabled by default)
2008-10-27 15:48:14 +01:00
#define VCG_EIGEN_INHERIT_ASSIGNMENT_OPERATOR(Derived, Op) \
template<typename OtherDerived> \
Derived& operator Op(const Eigen::MatrixBase<OtherDerived>& other) \
{ \
Base::operator Op(other.derived()); return *this;\
} \
Derived& operator Op(const Derived& other) \
{ \
Base::operator Op(other); return *this;\
}
#define VCG_EIGEN_INHERIT_SCALAR_ASSIGNMENT_OPERATOR(Derived, Op) \
template<typename Other> \
Derived& operator Op(const Other& scalar) \
{ \
Base::operator Op(scalar); return *this;\
}
#define VCG_EIGEN_INHERIT_ASSIGNMENT_OPERATORS(Derived) \
VCG_EIGEN_INHERIT_ASSIGNMENT_OPERATOR(Derived, =) \
VCG_EIGEN_INHERIT_ASSIGNMENT_OPERATOR(Derived, +=) \
VCG_EIGEN_INHERIT_ASSIGNMENT_OPERATOR(Derived, -=) \
VCG_EIGEN_INHERIT_SCALAR_ASSIGNMENT_OPERATOR(Derived, *=) \
VCG_EIGEN_INHERIT_SCALAR_ASSIGNMENT_OPERATOR(Derived, /=)
Port to eigen2: state of the mess: * curently nothing change if you don't define VCG_USE_EIGEN * make Matrix*, Point3 and Point4 derive Eigen::Matrix (still ugly) * now catching all the dot products to replace them by .dot() note that most of meshlab already compile
2008-10-27 20:35:17 +01:00
namespace vcg {
template<typename Derived1, typename Derived2>
typename Eigen::ei_traits<Derived1>::Scalar
Angle(const Eigen::MatrixBase<Derived1>& p1, const Eigen::MatrixBase<Derived2> & p2)
{
EIGEN_STATIC_ASSERT_VECTOR_ONLY(Derived1)
EIGEN_STATIC_ASSERT_VECTOR_ONLY(Derived2)
EIGEN_STATIC_ASSERT_FIXED_SIZE(Derived1)
EIGEN_STATIC_ASSERT_FIXED_SIZE(Derived2)
EIGEN_STATIC_ASSERT_SAME_VECTOR_SIZE(Derived1,Derived2)
typedef typename Eigen::ei_traits<Derived1>::Scalar Scalar;
Scalar w = p1.norm()*p2.norm();
if(w==0) return Scalar(-1);
Scalar t = (p1.dot(p2))/w;
if(t>1) t = 1;
else if(t<-1) t = -1;
return vcg::math::Acos(t);
}
make Point derive Eigen's Matrix and some cleanning
2008-10-28 12:47:37 +01:00
template<typename Derived1, typename Derived2>
typename Eigen::ei_traits<Derived1>::Scalar
AngleN(const Eigen::MatrixBase<Derived1>& p1, const Eigen::MatrixBase<Derived2> & p2)
{
EIGEN_STATIC_ASSERT_VECTOR_ONLY(Derived1)
EIGEN_STATIC_ASSERT_VECTOR_ONLY(Derived2)
EIGEN_STATIC_ASSERT_FIXED_SIZE(Derived1)
EIGEN_STATIC_ASSERT_FIXED_SIZE(Derived2)
EIGEN_STATIC_ASSERT_SAME_VECTOR_SIZE(Derived1,Derived2)
typedef typename Eigen::ei_traits<Derived1>::Scalar Scalar;
Scalar t = (p1.dot(p2));
if(t>1) t = 1;
else if(t<-1) t = -1;
return vcg::math::Acos(t);
}
Port to eigen2: state of the mess: * curently nothing change if you don't define VCG_USE_EIGEN * make Matrix*, Point3 and Point4 derive Eigen::Matrix (still ugly) * now catching all the dot products to replace them by .dot() note that most of meshlab already compile
2008-10-27 20:35:17 +01:00
template<typename Derived1>
inline typename Eigen::ei_traits<Derived1>::Scalar Norm( const Eigen::MatrixBase<Derived1>& p)
{ return p.norm(); }
template<typename Derived1>
inline typename Eigen::ei_traits<Derived1>::Scalar SquaredNorm( const Eigen::MatrixBase<Derived1>& p)
compilation fixes with eigen (norm2=>squaredNorm, a*b => a.dot(b))
2009-01-23 17:58:47 +01:00
{ return p.squaredNorm(); }
Port to eigen2: state of the mess: * curently nothing change if you don't define VCG_USE_EIGEN * make Matrix*, Point3 and Point4 derive Eigen::Matrix (still ugly) * now catching all the dot products to replace them by .dot() note that most of meshlab already compile
2008-10-27 20:35:17 +01:00
template<typename Derived1, typename Derived2>
inline typename Eigen::ei_traits<Derived1>::Scalar
Distance(const Eigen::MatrixBase<Derived1>& p1, const Eigen::MatrixBase<Derived2> & p2)
{ return (p1-p2).norm(); }
template<typename Derived1, typename Derived2>
inline typename Eigen::ei_traits<Derived1>::Scalar
SquaredDistance(const Eigen::MatrixBase<Derived1>& p1, const Eigen::MatrixBase<Derived2> & p2)
compilation fixes with eigen (norm2=>squaredNorm, a*b => a.dot(b))
2009-01-23 17:58:47 +01:00
{ return (p1-p2).squaredNorm(); }
Port to eigen2: state of the mess: * curently nothing change if you don't define VCG_USE_EIGEN * make Matrix*, Point3 and Point4 derive Eigen::Matrix (still ugly) * now catching all the dot products to replace them by .dot() note that most of meshlab already compile
2008-10-27 20:35:17 +01:00
big cleaning in Point* and Matrix*, now they are very closed to be simple typedef of Eigen's Matrix. Now the dilema is how to mimic those typedefs, using inheritence ? or using the classic workaround: typename Point3<float>::Type; with Point3<T>::Type defined to Eigen::Matrix<T,3,1>. Anyway currently I support both (and the inheritence scheme has to be preserved for compatibility). The advantage of the second approach is that when eigen has to evaluate an expression it uses an Eigen::Matrix<>, so it is probably better to only use Eigen::Matrix but I'm not 100% sure that makes a big difference especially if we add some automatic reinterpret_cast between Eigen::Matrix and vcg::Point*....
2008-10-28 21:06:17 +01:00
template<typename Derived>
inline const Eigen::CwiseUnaryOp<Eigen::ei_scalar_abs_op<typename Eigen::ei_traits<Derived>::Scalar>, Derived>
Abs(const Eigen::MatrixBase<Derived>& p)
{ return p.cwise().abs(); }
sounds like I forgot to commit the addition of Transpose compatibility + fix related to recent Eigen change
2008-11-04 13:33:47 +01:00
/** \deprecated use transposeInPlace() or transpose() */
template<typename Scalar,int Size,int StorageOrder>
EIGEN_DEPRECATED inline Eigen::Matrix<Scalar,Size,Size,StorageOrder>&
Transpose(const Eigen::Matrix<Scalar,Size,Size,StorageOrder>& m)
{ return m.transposeInPlace(); return m; }
big cleaning in Point* and Matrix*, now they are very closed to be simple typedef of Eigen's Matrix. Now the dilema is how to mimic those typedefs, using inheritence ? or using the classic workaround: typename Point3<float>::Type; with Point3<T>::Type defined to Eigen::Matrix<T,3,1>. Anyway currently I support both (and the inheritence scheme has to be preserved for compatibility). The advantage of the second approach is that when eigen has to evaluate an expression it uses an Eigen::Matrix<>, so it is probably better to only use Eigen::Matrix but I'm not 100% sure that makes a big difference especially if we add some automatic reinterpret_cast between Eigen::Matrix and vcg::Point*....
2008-10-28 21:06:17 +01:00
template<typename Derived>
inline const Eigen::CwiseBinaryOp<Eigen::ei_scalar_max_op<typename Eigen::ei_traits<Derived>::Scalar>,
Derived,
Eigen::NestByValue<typename Derived::ConstantReturnType> >
LowClampToZero(const Eigen::MatrixBase<Derived>& p)
{ return p.cwise().max(Derived::Zero().nestByValue()); }
Port to eigen2: state of the mess: * curently nothing change if you don't define VCG_USE_EIGEN * make Matrix*, Point3 and Point4 derive Eigen::Matrix (still ugly) * now catching all the dot products to replace them by .dot() note that most of meshlab already compile
2008-10-27 20:35:17 +01:00
}
big replacement .Zero => .SetZero, and start of Eigen's compatibilities (currently disabled by default)
2008-10-27 15:48:14 +01:00
#endif