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<div class="title">bspline_segment.h</div> </div>
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<a href="bspline__segment_8h.html">Go to the documentation of this file.</a><div class="fragment"><div class="line"><a name="l00001"></a><span class="lineno"> 1</span> <span class="comment">// Copyright (c) 2011, Hauke Strasdat</span></div>
<div class="line"><a name="l00002"></a><span class="lineno"> 2</span> <span class="comment">// Copyright (c) 2012, Steven Lovegrove</span></div>
<div class="line"><a name="l00003"></a><span class="lineno"> 3</span> <span class="comment">// Copyright (c) 2021, farm-ng, inc.</span></div>
<div class="line"><a name="l00004"></a><span class="lineno"> 4</span> <span class="comment">//</span></div>
<div class="line"><a name="l00005"></a><span class="lineno"> 5</span> <span class="comment">// Use of this source code is governed by an MIT-style</span></div>
<div class="line"><a name="l00006"></a><span class="lineno"> 6</span> <span class="comment">// license that can be found in the LICENSE file or at</span></div>
<div class="line"><a name="l00007"></a><span class="lineno"> 7</span> <span class="comment">// https://opensource.org/licenses/MIT.</span></div>
<div class="line"><a name="l00008"></a><span class="lineno"> 8</span>  </div>
<div class="line"><a name="l00009"></a><span class="lineno"> 9</span> <span class="preprocessor">#pragma once</span></div>
<div class="line"><a name="l00010"></a><span class="lineno"> 10</span>  </div>
<div class="line"><a name="l00011"></a><span class="lineno"> 11</span> <span class="preprocessor">#include "<a class="code" href="common_2common_8h.html">sophus/common/common.h</a>"</span></div>
<div class="line"><a name="l00012"></a><span class="lineno"> 12</span> <span class="preprocessor">#include "<a class="code" href="cubic__basis_8h.html">sophus/interp/spline/details/cubic_basis.h</a>"</span></div>
<div class="line"><a name="l00013"></a><span class="lineno"> 13</span>  </div>
<div class="line"><a name="l00014"></a><span class="lineno"> 14</span> <span class="keyword">namespace </span><a class="code" href="namespacesophus.html">sophus</a> {</div>
<div class="line"><a name="l00015"></a><span class="lineno"> 15</span> <span class="keyword">namespace </span>details {</div>
<div class="line"><a name="l00016"></a><span class="lineno"> 16</span>  </div>
<div class="line"><a name="l00017"></a><span class="lineno"> 17</span> <span class="keyword">template</span> <<span class="keyword">class</span> TScalar, <span class="keywordtype">int</span> kDim></div>
<div class="line"><a name="l00018"></a><span class="lineno"> 18</span> <span class="keyword">class </span>CubicBSplineFn {</div>
<div class="line"><a name="l00019"></a><span class="lineno"> 19</span>  <span class="keyword">public</span>:</div>
<div class="line"><a name="l00020"></a><span class="lineno"> 20</span>  <span class="keyword">using</span> Scalar = TScalar;</div>
<div class="line"><a name="l00021"></a><span class="lineno"> 21</span>  <span class="keyword">using</span> Vector = Eigen::Vector<Scalar, kDim>;</div>
<div class="line"><a name="l00022"></a><span class="lineno"> 22</span>  </div>
<div class="line"><a name="l00023"></a><span class="lineno"> 23</span>  <span class="keyword">static</span> Vector <a class="code" href="namespacesophus.html#a7f8a70bf80c958469d5cf472a2485891">interpolate</a>(</div>
<div class="line"><a name="l00024"></a><span class="lineno"> 24</span>  Vector <span class="keyword">const</span>& control_point,</div>
<div class="line"><a name="l00025"></a><span class="lineno"> 25</span>  std::array<Vector, 3> <span class="keyword">const</span>& control_vectors,</div>
<div class="line"><a name="l00026"></a><span class="lineno"> 26</span>  <span class="keywordtype">double</span> u) {</div>
<div class="line"><a name="l00027"></a><span class="lineno"> 27</span>  Eigen::Vector3<TScalar> b = CubicBSplineBasis<TScalar>::b(u);</div>
<div class="line"><a name="l00028"></a><span class="lineno"> 28</span>  <span class="keywordflow">return</span> control_point + b[0] * control_vectors[0] +</div>
<div class="line"><a name="l00029"></a><span class="lineno"> 29</span>  b[1] * control_vectors[1] + b[2] * control_vectors[2];</div>
<div class="line"><a name="l00030"></a><span class="lineno"> 30</span>  }</div>
<div class="line"><a name="l00031"></a><span class="lineno"> 31</span>  </div>
<div class="line"><a name="l00032"></a><span class="lineno"> 32</span>  <span class="keyword">static</span> Eigen::Matrix<Scalar, kDim, kDim> dxiInterpolate(</div>
<div class="line"><a name="l00033"></a><span class="lineno"> 33</span>  <span class="keywordtype">double</span> u, <span class="keywordtype">int</span> quadruple_idx) {</div>
<div class="line"><a name="l00034"></a><span class="lineno"> 34</span>  <span class="keywordflow">if</span> (quadruple_idx == 0) {</div>
<div class="line"><a name="l00035"></a><span class="lineno"> 35</span>  <span class="keywordflow">return</span> Eigen::Matrix<Scalar, kDim, kDim>::Identity();</div>
<div class="line"><a name="l00036"></a><span class="lineno"> 36</span>  }</div>
<div class="line"><a name="l00037"></a><span class="lineno"> 37</span>  Eigen::Vector3<TScalar> b = CubicBSplineBasis<Scalar>::b(u);</div>
<div class="line"><a name="l00038"></a><span class="lineno"> 38</span>  </div>
<div class="line"><a name="l00039"></a><span class="lineno"> 39</span>  <span class="keywordflow">return</span> b[quadruple_idx - 1] * Eigen::Matrix<Scalar, kDim, kDim>::Identity();</div>
<div class="line"><a name="l00040"></a><span class="lineno"> 40</span>  }</div>
<div class="line"><a name="l00041"></a><span class="lineno"> 41</span> };</div>
<div class="line"><a name="l00042"></a><span class="lineno"> 42</span>  </div>
<div class="line"><a name="l00043"></a><span class="lineno"> 43</span> <span class="keyword">template</span> <<span class="keyword">class</span> TScalar, <span class="keywordtype">int</span> kDim></div>
<div class="line"><a name="l00044"></a><span class="lineno"> 44</span> <span class="keyword">struct </span>CubicBSplineSegment {</div>
<div class="line"><a name="l00045"></a><span class="lineno"> 45</span>  <span class="keyword">public</span>:</div>
<div class="line"><a name="l00046"></a><span class="lineno"> 46</span>  <span class="keyword">using</span> Scalar = TScalar;</div>
<div class="line"><a name="l00047"></a><span class="lineno"> 47</span>  <span class="keyword">using</span> Vector = Eigen::Vector<Scalar, kDim>;</div>
<div class="line"><a name="l00048"></a><span class="lineno"> 48</span>  </div>
<div class="line"><a name="l00049"></a><span class="lineno"> 49</span>  CubicBSplineSegment(</div>
<div class="line"><a name="l00050"></a><span class="lineno"> 50</span>  SegmentCase segment_case,</div>
<div class="line"><a name="l00051"></a><span class="lineno"> 51</span>  Vector <span class="keyword">const</span>& control_point0,</div>
<div class="line"><a name="l00052"></a><span class="lineno"> 52</span>  Vector <span class="keyword">const</span>& control_point1,</div>
<div class="line"><a name="l00053"></a><span class="lineno"> 53</span>  Vector <span class="keyword">const</span>& control_point2,</div>
<div class="line"><a name="l00054"></a><span class="lineno"> 54</span>  Vector <span class="keyword">const</span>& control_point3)</div>
<div class="line"><a name="l00055"></a><span class="lineno"> 55</span>  : segment_case_(segment_case),</div>
<div class="line"><a name="l00056"></a><span class="lineno"> 56</span>  control_point0_(control_point0),</div>
<div class="line"><a name="l00057"></a><span class="lineno"> 57</span>  control_point1_(control_point1),</div>
<div class="line"><a name="l00058"></a><span class="lineno"> 58</span>  control_point2_(control_point2),</div>
<div class="line"><a name="l00059"></a><span class="lineno"> 59</span>  control_point3_(control_point3) {}</div>
<div class="line"><a name="l00060"></a><span class="lineno"> 60</span>  </div>
<div class="line"><a name="l00061"></a><span class="lineno"> 61</span>  CubicBSplineSegment(CubicBSplineSegment <span class="keyword">const</span>&) = <span class="keyword">delete</span>;</div>
<div class="line"><a name="l00062"></a><span class="lineno"> 62</span>  CubicBSplineSegment(CubicBSplineSegment&&) = <span class="keyword">delete</span>;</div>
<div class="line"><a name="l00063"></a><span class="lineno"> 63</span>  </div>
<div class="line"><a name="l00064"></a><span class="lineno"> 64</span>  <span class="keyword">auto</span> operator=(CubicBSplineSegment <span class="keyword">const</span>&) -> CubicBSplineSegment = <span class="keyword">delete</span>;</div>
<div class="line"><a name="l00065"></a><span class="lineno"> 65</span>  <span class="keyword">auto</span> operator=(CubicBSplineSegment&&) -> CubicBSplineSegment = <span class="keyword">delete</span>;</div>
<div class="line"><a name="l00066"></a><span class="lineno"> 66</span>  </div>
<div class="line"><a name="l00067"></a><span class="lineno"> 67</span>  Vector <a class="code" href="namespacesophus.html#a7f8a70bf80c958469d5cf472a2485891">interpolate</a>(<span class="keywordtype">double</span> u) {</div>
<div class="line"><a name="l00068"></a><span class="lineno"> 68</span>  <span class="keywordflow">switch</span> (segment_case_) {</div>
<div class="line"><a name="l00069"></a><span class="lineno"> 69</span>  <span class="keywordflow">case</span> SegmentCase::first: {</div>
<div class="line"><a name="l00070"></a><span class="lineno"> 70</span>  <span class="keywordflow">return</span> <a class="code" href="namespacefarm__ng_1_1time__series.html#ae41f7f6c2521344974c0e4ebe53afe98">CubicBSplineFn<Scalar, kDim>::interpolate</a>(</div>
<div class="line"><a name="l00071"></a><span class="lineno"> 71</span>  control_point0_,</div>
<div class="line"><a name="l00072"></a><span class="lineno"> 72</span>  std::array<Vector, 3>(</div>
<div class="line"><a name="l00073"></a><span class="lineno"> 73</span>  {Vector::Zero(),</div>
<div class="line"><a name="l00074"></a><span class="lineno"> 74</span>  control_point2_ - control_point1_,</div>
<div class="line"><a name="l00075"></a><span class="lineno"> 75</span>  control_point3_ - control_point2_}),</div>
<div class="line"><a name="l00076"></a><span class="lineno"> 76</span>  u);</div>
<div class="line"><a name="l00077"></a><span class="lineno"> 77</span>  }</div>
<div class="line"><a name="l00078"></a><span class="lineno"> 78</span>  <span class="keywordflow">case</span> SegmentCase::normal: {</div>
<div class="line"><a name="l00079"></a><span class="lineno"> 79</span>  <span class="keywordflow">return</span> <a class="code" href="namespacefarm__ng_1_1time__series.html#ae41f7f6c2521344974c0e4ebe53afe98">CubicBSplineFn<Scalar, kDim>::interpolate</a>(</div>
<div class="line"><a name="l00080"></a><span class="lineno"> 80</span>  control_point0_,</div>
<div class="line"><a name="l00081"></a><span class="lineno"> 81</span>  std::array<Vector, 3>(</div>
<div class="line"><a name="l00082"></a><span class="lineno"> 82</span>  {control_point1_ - control_point0_,</div>
<div class="line"><a name="l00083"></a><span class="lineno"> 83</span>  control_point2_ - control_point1_,</div>
<div class="line"><a name="l00084"></a><span class="lineno"> 84</span>  control_point3_ - control_point2_}),</div>
<div class="line"><a name="l00085"></a><span class="lineno"> 85</span>  u);</div>
<div class="line"><a name="l00086"></a><span class="lineno"> 86</span>  }</div>
<div class="line"><a name="l00087"></a><span class="lineno"> 87</span>  <span class="keywordflow">case</span> SegmentCase::last: {</div>
<div class="line"><a name="l00088"></a><span class="lineno"> 88</span>  <span class="keywordflow">return</span> <a class="code" href="namespacefarm__ng_1_1time__series.html#ae41f7f6c2521344974c0e4ebe53afe98">CubicBSplineFn<Scalar, kDim>::interpolate</a>(</div>
<div class="line"><a name="l00089"></a><span class="lineno"> 89</span>  control_point0_,</div>
<div class="line"><a name="l00090"></a><span class="lineno"> 90</span>  std::array<Vector, 3>(</div>
<div class="line"><a name="l00091"></a><span class="lineno"> 91</span>  {control_point1_ - control_point0_,</div>
<div class="line"><a name="l00092"></a><span class="lineno"> 92</span>  control_point2_ - control_point1_,</div>
<div class="line"><a name="l00093"></a><span class="lineno"> 93</span>  Vector::Zero()}),</div>
<div class="line"><a name="l00094"></a><span class="lineno"> 94</span>  u);</div>
<div class="line"><a name="l00095"></a><span class="lineno"> 95</span>  }</div>
<div class="line"><a name="l00096"></a><span class="lineno"> 96</span>  }</div>
<div class="line"><a name="l00097"></a><span class="lineno"> 97</span>  </div>
<div class="line"><a name="l00098"></a><span class="lineno"> 98</span>  SOPHUS_PANIC(<span class="stringliteral">"logic error"</span>);</div>
<div class="line"><a name="l00099"></a><span class="lineno"> 99</span>  }</div>
<div class="line"><a name="l00100"></a><span class="lineno"> 100</span>  </div>
<div class="line"><a name="l00101"></a><span class="lineno"> 101</span>  Eigen::Matrix<Scalar, kDim, kDim> dxiInterpolate(</div>
<div class="line"><a name="l00102"></a><span class="lineno"> 102</span>  <span class="keywordtype">double</span> u, <span class="keywordtype">int</span> quadruple_idx) {</div>
<div class="line"><a name="l00103"></a><span class="lineno"> 103</span>  <span class="keywordflow">switch</span> (segment_case_) {</div>
<div class="line"><a name="l00104"></a><span class="lineno"> 104</span>  <span class="keywordflow">case</span> SegmentCase::first: {</div>
<div class="line"><a name="l00105"></a><span class="lineno"> 105</span>  <span class="keywordflow">if</span> (quadruple_idx == 0) {</div>
<div class="line"><a name="l00106"></a><span class="lineno"> 106</span>  <span class="keywordflow">return</span> Eigen::Matrix<Scalar, kDim, kDim>::Zero();</div>
<div class="line"><a name="l00107"></a><span class="lineno"> 107</span>  }</div>
<div class="line"><a name="l00108"></a><span class="lineno"> 108</span>  <span class="keywordflow">if</span> (quadruple_idx == 1) {</div>
<div class="line"><a name="l00109"></a><span class="lineno"> 109</span>  <span class="keywordflow">return</span> CubicBSplineFn<Scalar, kDim>::dxiInterpolate(u, 0) -</div>
<div class="line"><a name="l00110"></a><span class="lineno"> 110</span>  CubicBSplineFn<Scalar, kDim>::dxiInterpolate(u, 2);</div>
<div class="line"><a name="l00111"></a><span class="lineno"> 111</span>  }</div>
<div class="line"><a name="l00112"></a><span class="lineno"> 112</span>  <span class="keywordflow">if</span> (quadruple_idx == 2) {</div>
<div class="line"><a name="l00113"></a><span class="lineno"> 113</span>  <span class="keywordflow">return</span> CubicBSplineFn<Scalar, kDim>::dxiInterpolate(u, 2) -</div>
<div class="line"><a name="l00114"></a><span class="lineno"> 114</span>  CubicBSplineFn<Scalar, kDim>::dxiInterpolate(u, 3);</div>
<div class="line"><a name="l00115"></a><span class="lineno"> 115</span>  }</div>
<div class="line"><a name="l00116"></a><span class="lineno"> 116</span>  <span class="keywordflow">return</span> CubicBSplineFn<Scalar, kDim>::dxiInterpolate(u, 3);</div>
<div class="line"><a name="l00117"></a><span class="lineno"> 117</span>  }</div>
<div class="line"><a name="l00118"></a><span class="lineno"> 118</span>  <span class="keywordflow">case</span> SegmentCase::normal: {</div>
<div class="line"><a name="l00119"></a><span class="lineno"> 119</span>  <span class="keywordflow">if</span> (quadruple_idx == 0) {</div>
<div class="line"><a name="l00120"></a><span class="lineno"> 120</span>  <span class="keywordflow">return</span> CubicBSplineFn<Scalar, kDim>::dxiInterpolate(u, 0) -</div>
<div class="line"><a name="l00121"></a><span class="lineno"> 121</span>  CubicBSplineFn<Scalar, kDim>::dxiInterpolate(u, 1);</div>
<div class="line"><a name="l00122"></a><span class="lineno"> 122</span>  }</div>
<div class="line"><a name="l00123"></a><span class="lineno"> 123</span>  <span class="keywordflow">if</span> (quadruple_idx == 1) {</div>
<div class="line"><a name="l00124"></a><span class="lineno"> 124</span>  <span class="keywordflow">return</span> CubicBSplineFn<Scalar, kDim>::dxiInterpolate(u, 1) -</div>
<div class="line"><a name="l00125"></a><span class="lineno"> 125</span>  CubicBSplineFn<Scalar, kDim>::dxiInterpolate(u, 2);</div>
<div class="line"><a name="l00126"></a><span class="lineno"> 126</span>  }</div>
<div class="line"><a name="l00127"></a><span class="lineno"> 127</span>  <span class="keywordflow">if</span> (quadruple_idx == 2) {</div>
<div class="line"><a name="l00128"></a><span class="lineno"> 128</span>  <span class="keywordflow">return</span> CubicBSplineFn<Scalar, kDim>::dxiInterpolate(u, 2) -</div>
<div class="line"><a name="l00129"></a><span class="lineno"> 129</span>  CubicBSplineFn<Scalar, kDim>::dxiInterpolate(u, 3);</div>
<div class="line"><a name="l00130"></a><span class="lineno"> 130</span>  }</div>
<div class="line"><a name="l00131"></a><span class="lineno"> 131</span>  <span class="keywordflow">return</span> CubicBSplineFn<Scalar, kDim>::dxiInterpolate(u, 3);</div>
<div class="line"><a name="l00132"></a><span class="lineno"> 132</span>  }</div>
<div class="line"><a name="l00133"></a><span class="lineno"> 133</span>  <span class="keywordflow">case</span> SegmentCase::last: {</div>
<div class="line"><a name="l00134"></a><span class="lineno"> 134</span>  <span class="keywordflow">if</span> (quadruple_idx == 0) {</div>
<div class="line"><a name="l00135"></a><span class="lineno"> 135</span>  <span class="keywordflow">return</span> CubicBSplineFn<Scalar, kDim>::dxiInterpolate(u, 0) -</div>
<div class="line"><a name="l00136"></a><span class="lineno"> 136</span>  CubicBSplineFn<Scalar, kDim>::dxiInterpolate(u, 1);</div>
<div class="line"><a name="l00137"></a><span class="lineno"> 137</span>  }</div>
<div class="line"><a name="l00138"></a><span class="lineno"> 138</span>  <span class="keywordflow">if</span> (quadruple_idx == 1) {</div>
<div class="line"><a name="l00139"></a><span class="lineno"> 139</span>  <span class="keywordflow">return</span> CubicBSplineFn<Scalar, kDim>::dxiInterpolate(u, 1) -</div>
<div class="line"><a name="l00140"></a><span class="lineno"> 140</span>  CubicBSplineFn<Scalar, kDim>::dxiInterpolate(u, 2);</div>
<div class="line"><a name="l00141"></a><span class="lineno"> 141</span>  }</div>
<div class="line"><a name="l00142"></a><span class="lineno"> 142</span>  <span class="keywordflow">if</span> (quadruple_idx == 2) {</div>
<div class="line"><a name="l00143"></a><span class="lineno"> 143</span>  <span class="keywordflow">return</span> CubicBSplineFn<Scalar, kDim>::dxiInterpolate(u, 2);</div>
<div class="line"><a name="l00144"></a><span class="lineno"> 144</span>  }</div>
<div class="line"><a name="l00145"></a><span class="lineno"> 145</span>  <span class="keywordflow">return</span> Eigen::Matrix<Scalar, kDim, kDim>::Zero();</div>
<div class="line"><a name="l00146"></a><span class="lineno"> 146</span>  }</div>
<div class="line"><a name="l00147"></a><span class="lineno"> 147</span>  }</div>
<div class="line"><a name="l00148"></a><span class="lineno"> 148</span>  </div>
<div class="line"><a name="l00149"></a><span class="lineno"> 149</span>  SOPHUS_PANIC(<span class="stringliteral">"logic error"</span>);</div>
<div class="line"><a name="l00150"></a><span class="lineno"> 150</span>  }</div>
<div class="line"><a name="l00151"></a><span class="lineno"> 151</span>  </div>
<div class="line"><a name="l00152"></a><span class="lineno"> 152</span>  <span class="keyword">private</span>:</div>
<div class="line"><a name="l00153"></a><span class="lineno"> 153</span>  SegmentCase segment_case_;</div>
<div class="line"><a name="l00154"></a><span class="lineno"> 154</span>  Vector <span class="keyword">const</span>& control_point0_;</div>
<div class="line"><a name="l00155"></a><span class="lineno"> 155</span>  Vector <span class="keyword">const</span>& control_point1_;</div>
<div class="line"><a name="l00156"></a><span class="lineno"> 156</span>  Vector <span class="keyword">const</span>& control_point2_;</div>
<div class="line"><a name="l00157"></a><span class="lineno"> 157</span>  Vector <span class="keyword">const</span>& control_point3_;</div>
<div class="line"><a name="l00158"></a><span class="lineno"> 158</span> };</div>
<div class="line"><a name="l00159"></a><span class="lineno"> 159</span>  </div>
<div class="line"><a name="l00160"></a><span class="lineno"> 160</span> } <span class="comment">// namespace details</span></div>
<div class="line"><a name="l00161"></a><span class="lineno"> 161</span> } <span class="comment">// namespace sophus</span></div>
<div class="ttc" id="acommon_2common_8h_html"><div class="ttname"><a href="common_2common_8h.html">common.h</a></div><div class="ttdoc">Common functionality.</div></div>
<div class="ttc" id="acubic__basis_8h_html"><div class="ttname"><a href="cubic__basis_8h.html">cubic_basis.h</a></div></div>
<div class="ttc" id="anamespacefarm__ng_1_1time__series_html_ae41f7f6c2521344974c0e4ebe53afe98"><div class="ttname"><a href="namespacefarm__ng_1_1time__series.html#ae41f7f6c2521344974c0e4ebe53afe98">farm_ng::time_series::interpolate</a></div><div class="ttdeci">auto interpolate(TType const &foo_from_bar, TType const &foo_from_daz, double p=0.5) -> TType</div><div class="ttdoc">Interpolate between two values.</div></div>
<div class="ttc" id="anamespacesophus_html"><div class="ttname"><a href="namespacesophus.html">sophus</a></div><div class="ttdoc">Image MutImage, owning images types.</div><div class="ttdef"><b>Definition:</b> num_diff.h:20</div></div>
<div class="ttc" id="anamespacesophus_html_a7f8a70bf80c958469d5cf472a2485891"><div class="ttname"><a href="namespacesophus.html#a7f8a70bf80c958469d5cf472a2485891">sophus::interpolate</a></div><div class="ttdeci">auto interpolate(sophus::ImageView< TT > const &image, Eigen::Vector2f uv) -> TT</div><div class="ttdef"><b>Definition:</b> interpolation.h:21</div></div>
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