67 lines
3.1 KiB
C++
67 lines
3.1 KiB
C++
#ifndef H_frame_conversions
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#define H_frame_conversions
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#include <Eigen/Dense>
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#include <cmath>
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#ifndef M_PI
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#define M_PI 3.141592653589793238462643383279502884197169399375105820974944592307816406286208998628034825342117068
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#endif
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namespace frame_conversions {
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/// @brief Computes the modulo of a number with another number, ensuring that the results lies in the interval [0;b].
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/// @param a The number to compute the modulo of.
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/// @param b The modulo.
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/// @return The modulo of a with b, ensuring that the result lies in the interval [0;b]
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template <typename T>
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inline T fmod_pos(T a, T b) {
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return a - b*std::floor(a/b);
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}
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/// @brief Maps a value x from the range (a,b) to the range (c,d).
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///
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/// This function takes an input value x and maps it from the input range (a,b)
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/// to the output range (c,d). The resulting mapped value is returned.
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///
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/// @param x The value to be mapped.
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/// @param a The lower bound of the input range.
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/// @param b The upper bound of the input range.
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/// @param c The lower bound of the output range.
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/// @param d The upper bound of the output range.
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///
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/// @return The mapped value of x in the output range.
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///
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/// @note Make sure that a != b to avoid a divide-by-zero error.
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double map(double x, double a, double b, double c, double d);
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} // namespace frame_conversions
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/// @brief Converts a spherical vector [r, theta, phi] in ISO convention (theta=0 is Z+) to a cartesian vector.
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Eigen::Vector3d sph2cart(const Eigen::Vector3d & sph);
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/// @brief Converts a cartesian vector to a spherical vector [r, theta, phi] in ISO convention (theta=0 is Z+).
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Eigen::Vector3d cart2sph(const Eigen::Vector3d & cart);
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/// @brief Converts equirectangular coordinates to spherical coordinates.
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/// @param i Row in the equirectangular image.
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/// @param j Column in the equirectangular image.
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/// @param width Width of the equirectangular image.
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/// @param height Height of the equirectangular image.
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/// @return A spherical vector [r, theta, phi] in ISO convention (theta=0 is Z+).
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Eigen::Vector3d equirectangular2sph(int i, int j, unsigned int width, unsigned int height);
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/// @brief Converts spherical coordinates to pixel coordinates of an equirectangular image.
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/// @param p_sph A spherical vector [r, theta, phi] in ISO convention (theta=0 is Z+).
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/// @param width Width of the equirectangular image.
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/// @param height Height of the equirectangular image.
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/// @return A 2D vector of floating point numbers [i, j] representing the pixel coordinates of the equirectangular image.
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Eigen::Vector2d sph2equirectangular_d(Eigen::Vector3d const& p_sph, unsigned int width, unsigned int height);
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/// @brief Converts spherical coordinates to pixel coordinates of an equirectangular image.
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/// @param p_sph A spherical vector [r, theta, phi] in ISO convention (theta=0 is Z+).
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/// @param width Width of the equirectangular image.
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/// @param height Height of the equirectangular image.
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/// @return A 2D vector of integers [i, j] representing the pixel coordinates of the equirectangular image.
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Eigen::Vector2i sph2equirectangular_i(Eigen::Vector3d const& p_sph, unsigned int width, unsigned int height);
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#endif
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