| Directory: | ./ |
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| File: | libs/geometry/eigen/helper.hpp |
| Date: | 2024-04-24 14:25:45 |
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| 1 | /************************************************************************ | ||
| 2 | * | ||
| 3 | * Copyright (C) 2017-2024 IRCAD France | ||
| 4 | * Copyright (C) 2017-2018 IHU Strasbourg | ||
| 5 | * | ||
| 6 | * This file is part of Sight. | ||
| 7 | * | ||
| 8 | * Sight is free software: you can redistribute it and/or modify it under | ||
| 9 | * the terms of the GNU Lesser General Public License as published by | ||
| 10 | * the Free Software Foundation, either version 3 of the License, or | ||
| 11 | * (at your option) any later version. | ||
| 12 | * | ||
| 13 | * Sight is distributed in the hope that it will be useful, | ||
| 14 | * but WITHOUT ANY WARRANTY; without even the implied warranty of | ||
| 15 | * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the | ||
| 16 | * GNU Lesser General Public License for more details. | ||
| 17 | * | ||
| 18 | * You should have received a copy of the GNU Lesser General Public | ||
| 19 | * License along with Sight. If not, see <https://www.gnu.org/licenses/>. | ||
| 20 | * | ||
| 21 | ***********************************************************************/ | ||
| 22 | |||
| 23 | #pragma once | ||
| 24 | |||
| 25 | #include <sight/geometry/eigen/config.hpp> | ||
| 26 | |||
| 27 | #include <data/matrix4.hpp> | ||
| 28 | |||
| 29 | #include <Eigen/Core> | ||
| 30 | |||
| 31 | namespace sight::geometry::eigen::helper | ||
| 32 | { | ||
| 33 | |||
| 34 | /** | ||
| 35 | * @brief rvec_tvec_t is a std::pair of Eigen::Vector3d that handles Rotation and Translation Vectors (Rvec, Tvec) | ||
| 36 | * The first element is the rotation vector (Rvec) | ||
| 37 | * The second element is the translation vector (Tvec) | ||
| 38 | */ | ||
| 39 | using rvec_tvec_t = std::pair<Eigen::Vector3d, Eigen::Vector3d>; | ||
| 40 | using EigenMatrix = Eigen::Matrix<double, 4, 4, Eigen::RowMajor>; | ||
| 41 | /** | ||
| 42 | * @brief Convert from an Eigen float 4x4 Matrix to a data::matrix4 | ||
| 43 | * @param _mat : the eigen matrix | ||
| 44 | * @return a pointer to a data::matrix4 | ||
| 45 | */ | ||
| 46 | SIGHT_GEOMETRY_EIGEN_API data::matrix4::sptr from_eigen(const Eigen::Matrix4f& _mat); | ||
| 47 | |||
| 48 | /** | ||
| 49 | * @brief Convert from an Eigen double 4x4 Matrix to a data::matrix4 | ||
| 50 | * @param _mat : the eigen matrix | ||
| 51 | * @return a pointer to a data::matrix4 | ||
| 52 | */ | ||
| 53 | SIGHT_GEOMETRY_EIGEN_API data::matrix4::sptr from_eigen(const Eigen::Matrix4d& _mat); | ||
| 54 | |||
| 55 | /** | ||
| 56 | * @brief Transform a eigen 4x4 matrix to a rvec tvec representation | ||
| 57 | * @param _mat : input matrix | ||
| 58 | * @return std::pair of Eigen::Vector3d (see rvec_tvec_t) | ||
| 59 | */ | ||
| 60 | SIGHT_GEOMETRY_EIGEN_API rvec_tvec_t eigen_mat_to_rvec_tvec(const Eigen::Matrix4d& _mat); | ||
| 61 | |||
| 62 | /** | ||
| 63 | * @brief Transform rvec tvec representation to a eigen 4x4 matrix | ||
| 64 | * @param _mat : input data::matrix4 | ||
| 65 | * @return std::pair of Eigen::Vector3d (see rvec_tvec_t) | ||
| 66 | */ | ||
| 67 | SIGHT_GEOMETRY_EIGEN_API rvec_tvec_t f4s_mat_to_rvec_tvec(const data::matrix4::csptr _mat); | ||
| 68 | /** | ||
| 69 | * @brief toEigen | ||
| 70 | * @param _farray of float (16 values) | ||
| 71 | * @return eigen Matrix (double) | ||
| 72 | */ | ||
| 73 | SIGHT_GEOMETRY_EIGEN_API EigenMatrix to_eigen(const std::array<float, 16>& _farray); | ||
| 74 | |||
| 75 | /** | ||
| 76 | * @brief toEigen | ||
| 77 | * @param _farray of double (16 values) | ||
| 78 | * @return eigen Matrix (double) | ||
| 79 | */ | ||
| 80 | SIGHT_GEOMETRY_EIGEN_API EigenMatrix to_eigen(const std::array<double, 16>& _farray); | ||
| 81 | |||
| 82 | /** | ||
| 83 | * @brief Transform rvec tvec representation to a eigen 4x4 matrix | ||
| 84 | * @param _farray input matrix | ||
| 85 | * @return std::pair of Eigen::Vector3d (see rvec_tvec_t) | ||
| 86 | */ | ||
| 87 | SIGHT_GEOMETRY_EIGEN_API rvec_tvec_t float16_to_rvec_tvec(const std::array<float, 16>& _farray); | ||
| 88 | |||
| 89 | /** | ||
| 90 | * @brief Transform a data::matrix4::sptr to a eigen 4x4 matrix | ||
| 91 | * @param _trf input matrix to transform | ||
| 92 | * @return the corresponding eigen 4x4 matrix | ||
| 93 | */ | ||
| 94 | template<class T = double> | ||
| 95 | 82 | Eigen::Matrix<T, 4, 4, Eigen::RowMajor> to_eigen(const data::matrix4::csptr _trf) | |
| 96 | { | ||
| 97 | 82 | Eigen::Matrix<T, 4, 4> mat; | |
| 98 |
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410 | for(unsigned int r = 0 ; r < 4 ; ++r) |
| 99 | { | ||
| 100 |
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1640 | for(unsigned int c = 0 ; c < 4 ; ++c) |
| 101 | { | ||
| 102 | 1312 | mat(r, c) = static_cast<T>((*_trf)(r, c)); | |
| 103 | } | ||
| 104 | } | ||
| 105 | |||
| 106 | 82 | return mat; | |
| 107 | } | ||
| 108 | |||
| 109 | } // namespace sight::geometry::eigen::helper | ||
| 110 |