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185 lines
4.7 KiB
185 lines
4.7 KiB
/////////////////////////////////////////////////////////////////////////// |
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// |
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// Copyright (c) 2002-2012, Industrial Light & Magic, a division of Lucas |
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// Digital Ltd. LLC |
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// |
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// All rights reserved. |
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// |
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// Redistribution and use in source and binary forms, with or without |
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// modification, are permitted provided that the following conditions are |
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// met: |
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// * Redistributions of source code must retain the above copyright |
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// notice, this list of conditions and the following disclaimer. |
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// * Redistributions in binary form must reproduce the above |
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// copyright notice, this list of conditions and the following disclaimer |
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// in the documentation and/or other materials provided with the |
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// distribution. |
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// * Neither the name of Industrial Light & Magic nor the names of |
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// its contributors may be used to endorse or promote products derived |
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// from this software without specific prior written permission. |
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// |
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// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS |
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// "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT |
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// LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR |
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// A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT |
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// OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, |
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// SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT |
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// LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, |
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// DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY |
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// THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT |
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// (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE |
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// OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. |
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// |
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/////////////////////////////////////////////////////////////////////////// |
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#ifndef INCLUDED_IMATHLINE_H |
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#define INCLUDED_IMATHLINE_H |
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//------------------------------------- |
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// |
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// A 3D line class template |
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// |
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//------------------------------------- |
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#include "ImathVec.h" |
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#include "ImathLimits.h" |
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#include "ImathMatrix.h" |
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#include "ImathNamespace.h" |
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IMATH_INTERNAL_NAMESPACE_HEADER_ENTER |
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template <class T> |
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class Line3 |
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{ |
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public: |
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Vec3<T> pos; |
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Vec3<T> dir; |
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//------------------------------------------------------------- |
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// Constructors - default is normalized units along direction |
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//------------------------------------------------------------- |
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Line3() {} |
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Line3(const Vec3<T>& point1, const Vec3<T>& point2); |
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//------------------ |
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// State Query/Set |
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//------------------ |
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void set(const Vec3<T>& point1, |
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const Vec3<T>& point2); |
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//------- |
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// F(t) |
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//------- |
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Vec3<T> operator() (T parameter) const; |
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//--------- |
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// Query |
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//--------- |
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T distanceTo(const Vec3<T>& point) const; |
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T distanceTo(const Line3<T>& line) const; |
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Vec3<T> closestPointTo(const Vec3<T>& point) const; |
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Vec3<T> closestPointTo(const Line3<T>& line) const; |
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}; |
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//-------------------- |
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// Convenient typedefs |
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//-------------------- |
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typedef Line3<float> Line3f; |
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typedef Line3<double> Line3d; |
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//--------------- |
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// Implementation |
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//--------------- |
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template <class T> |
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inline Line3<T>::Line3(const Vec3<T> &p0, const Vec3<T> &p1) |
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{ |
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set(p0,p1); |
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} |
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template <class T> |
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inline void Line3<T>::set(const Vec3<T> &p0, const Vec3<T> &p1) |
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{ |
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pos = p0; dir = p1-p0; |
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dir.normalize(); |
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} |
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template <class T> |
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inline Vec3<T> Line3<T>::operator()(T parameter) const |
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{ |
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return pos + dir * parameter; |
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} |
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template <class T> |
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inline T Line3<T>::distanceTo(const Vec3<T>& point) const |
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{ |
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return (closestPointTo(point)-point).length(); |
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} |
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template <class T> |
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inline Vec3<T> Line3<T>::closestPointTo(const Vec3<T>& point) const |
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{ |
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return ((point - pos) ^ dir) * dir + pos; |
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} |
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template <class T> |
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inline T Line3<T>::distanceTo(const Line3<T>& line) const |
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{ |
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T d = (dir % line.dir) ^ (line.pos - pos); |
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return (d >= 0)? d: -d; |
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} |
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template <class T> |
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inline Vec3<T> |
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Line3<T>::closestPointTo(const Line3<T>& line) const |
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{ |
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// Assumes the lines are normalized |
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Vec3<T> posLpos = pos - line.pos ; |
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T c = dir ^ posLpos; |
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T a = line.dir ^ dir; |
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T f = line.dir ^ posLpos ; |
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T num = c - a * f; |
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T denom = a*a - 1; |
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T absDenom = ((denom >= 0)? denom: -denom); |
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if (absDenom < 1) |
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{ |
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T absNum = ((num >= 0)? num: -num); |
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if (absNum >= absDenom * limits<T>::max()) |
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return pos; |
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} |
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return pos + dir * (num / denom); |
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} |
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template<class T> |
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std::ostream& operator<< (std::ostream &o, const Line3<T> &line) |
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{ |
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return o << "(" << line.pos << ", " << line.dir << ")"; |
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} |
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template<class S, class T> |
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inline Line3<S> operator * (const Line3<S> &line, const Matrix44<T> &M) |
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{ |
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return Line3<S>( line.pos * M, (line.pos + line.dir) * M ); |
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} |
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IMATH_INTERNAL_NAMESPACE_HEADER_EXIT |
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#endif // INCLUDED_IMATHLINE_H
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