6 #ifndef OPENVDB_MATH_MAPS_HAS_BEEN_INCLUDED 7 #define OPENVDB_MATH_MAPS_HAS_BEEN_INCLUDED 35 class ScaleTranslateMap;
36 class UniformScaleMap;
37 class UniformScaleTranslateMap;
40 class NonlinearFrustumMap;
55 template<
typename T>
struct is_linear {
static const bool value =
false; };
59 template<>
struct is_linear<UnitaryMap> {
static const bool value =
true; };
75 static const bool value =
true;
79 template<
typename T>
struct is_scale {
static const bool value =
false; };
139 using MapFactory =
Ptr (*)();
147 virtual Name type()
const = 0;
150 template<
typename MapT>
bool isType()
const {
return this->type() == MapT::mapType(); }
153 virtual bool isEqual(
const MapBase& other)
const = 0;
156 virtual bool isLinear()
const = 0;
158 virtual bool hasUniformScale()
const = 0;
160 virtual Vec3d applyMap(
const Vec3d& in)
const = 0;
161 virtual Vec3d applyInverseMap(
const Vec3d& in)
const = 0;
167 virtual Vec3d applyIJT(
const Vec3d& in)
const = 0;
168 virtual Vec3d applyIJT(
const Vec3d& in,
const Vec3d& domainPos)
const = 0;
171 virtual Mat3d applyIJC(
const Mat3d& m)
const = 0;
175 virtual double determinant()
const = 0;
176 virtual double determinant(
const Vec3d&)
const = 0;
183 virtual Vec3d voxelSize()
const = 0;
184 virtual Vec3d voxelSize(
const Vec3d&)
const = 0;
187 virtual void read(std::istream&) = 0;
188 virtual void write(std::ostream&)
const = 0;
190 virtual std::string str()
const = 0;
213 virtual Vec3d applyJacobian(
const Vec3d& in)
const = 0;
214 virtual Vec3d applyJacobian(
const Vec3d& in,
const Vec3d& domainPos)
const = 0;
223 virtual Vec3d applyInverseJacobian(
const Vec3d& in)
const = 0;
224 virtual Vec3d applyInverseJacobian(
const Vec3d& in,
const Vec3d& domainPos)
const = 0;
235 virtual Vec3d applyJT(
const Vec3d& in)
const = 0;
236 virtual Vec3d applyJT(
const Vec3d& in,
const Vec3d& domainPos)
const = 0;
249 template<
typename MapT>
252 return other.
isType<MapT>() && (
self == *static_cast<const MapT*>(&other));
273 static bool isRegistered(
const Name&);
276 static void registerMap(
const Name&, MapBase::MapFactory);
279 static void unregisterMap(
const Name&);
302 mMatrix(
Mat4d::identity()),
303 mMatrixInv(
Mat4d::identity()),
304 mJacobianInv(
Mat3d::identity()),
306 mVoxelSize(
Vec3d(1,1,1)),
315 Mat4d mat4(Mat4d::identity());
318 updateAcceleration();
325 "Tried to initialize an affine transform from a non-affine 4x4 matrix");
327 updateAcceleration();
332 mMatrix(other.mMatrix),
333 mMatrixInv(other.mMatrixInv),
334 mJacobianInv(other.mJacobianInv),
335 mDeterminant(other.mDeterminant),
336 mVoxelSize(other.mVoxelSize),
337 mIsDiagonal(other.mIsDiagonal),
338 mIsIdentity(other.mIsIdentity)
344 mMatrix(first.mMatrix * second.mMatrix)
346 updateAcceleration();
358 static bool isRegistered() {
return MapRegistry::isRegistered(AffineMap::mapType()); }
362 MapRegistry::registerMap(
363 AffineMap::mapType(),
376 Mat3d mat = mMatrix.getMat3();
377 const double det = mat.
det();
381 mat *= (1.0 / pow(std::abs(det), 1.0/3.0));
386 bool isEqual(
const MapBase& other)
const override {
return isEqualBase(*
this, other); }
391 if (!mMatrix.eq(other.mMatrix)) {
return false; }
392 if (!mMatrixInv.eq(other.mMatrixInv)) {
return false; }
400 mMatrix = other.mMatrix;
401 mMatrixInv = other.mMatrixInv;
403 mJacobianInv = other.mJacobianInv;
404 mDeterminant = other.mDeterminant;
405 mVoxelSize = other.mVoxelSize;
406 mIsDiagonal = other.mIsDiagonal;
407 mIsIdentity = other.mIsIdentity;
423 return applyInverseJacobian(in);
428 return mMatrixInv.transform3x3(in);
437 return Vec3d( m[ 0] * in[0] + m[ 1] * in[1] + m[ 2] * in[2],
438 m[ 4] * in[0] + m[ 5] * in[1] + m[ 6] * in[2],
439 m[ 8] * in[0] + m[ 9] * in[1] + m[10] * in[2] );
448 return mJacobianInv.
transpose()* m * mJacobianInv;
481 mMatrix.preRotate(axis, radians);
482 updateAcceleration();
487 updateAcceleration();
491 mMatrix.preTranslate(v);
492 updateAcceleration();
496 mMatrix.preShear(axis0, axis1, shear);
497 updateAcceleration();
506 mMatrix.postRotate(axis, radians);
507 updateAcceleration();
511 mMatrix.postScale(v);
512 updateAcceleration();
516 mMatrix.postTranslate(v);
517 updateAcceleration();
521 mMatrix.postShear(axis0, axis1, shear);
522 updateAcceleration();
528 void read(std::istream& is)
override { mMatrix.read(is); updateAcceleration(); }
530 void write(std::ostream& os)
const override { mMatrix.write(os); }
532 std::string
str()
const override 534 std::ostringstream buffer;
535 buffer <<
" - mat4:\n" << mMatrix.str() << std::endl;
536 buffer <<
" - voxel dimensions: " << mVoxelSize << std::endl;
559 affineMap->accumPreRotation(axis, radians);
565 affineMap->accumPreTranslation(t);
566 return StaticPtrCast<MapBase, AffineMap>(affineMap);
571 affineMap->accumPreScale(s);
572 return StaticPtrCast<MapBase, AffineMap>(affineMap);
577 affineMap->accumPreShear(axis0, axis1, shear);
589 affineMap->accumPostRotation(axis, radians);
595 affineMap->accumPostTranslation(t);
596 return StaticPtrCast<MapBase, AffineMap>(affineMap);
601 affineMap->accumPostScale(s);
602 return StaticPtrCast<MapBase, AffineMap>(affineMap);
607 affineMap->accumPostShear(axis0, axis1, shear);
618 void updateAcceleration() {
619 Mat3d mat3 = mMatrix.getMat3();
620 mDeterminant = mat3.
det();
624 "Tried to initialize an affine transform from a nearly singular matrix");
626 mMatrixInv = mMatrix.inverse();
631 mVoxelSize(0) = (applyMap(
Vec3d(1,0,0)) - pos).length();
632 mVoxelSize(1) = (applyMap(
Vec3d(0,1,0)) - pos).length();
633 mVoxelSize(2) = (applyMap(
Vec3d(0,0,1)) - pos).length();
644 bool mIsDiagonal, mIsIdentity;
662 mScaleValuesInverse(
Vec3d(1,1,1)),
663 mInvScaleSqr(1,1,1), mInvTwiceScale(0.5,0.5,0.5){}
668 mVoxelSize(
Vec3d(
std::abs(scale(0)),
std::abs(scale(1)),
std::abs(scale(2))))
670 double determinant = scale[0]* scale[1] * scale[2];
674 mScaleValuesInverse = 1.0 / mScaleValues;
675 mInvScaleSqr = mScaleValuesInverse * mScaleValuesInverse;
676 mInvTwiceScale = mScaleValuesInverse / 2;
681 mScaleValues(other.mScaleValues),
682 mVoxelSize(other.mVoxelSize),
683 mScaleValuesInverse(other.mScaleValuesInverse),
684 mInvScaleSqr(other.mInvScaleSqr),
685 mInvTwiceScale(other.mInvTwiceScale)
700 static bool isRegistered() {
return MapRegistry::isRegistered(ScaleMap::mapType()); }
704 MapRegistry::registerMap(
719 std::abs(mScaleValues.x()), std::abs(mScaleValues.y()),
double(5e-7));
721 std::abs(mScaleValues.x()), std::abs(mScaleValues.z()),
double(5e-7));
729 in.x() * mScaleValues.x(),
730 in.y() * mScaleValues.y(),
731 in.z() * mScaleValues.z());
737 in.x() * mScaleValuesInverse.x(),
738 in.y() * mScaleValuesInverse.y(),
739 in.z() * mScaleValuesInverse.z());
743 return applyJacobian(in);
751 return applyInverseJacobian(in);
756 return applyInverseMap(in);
776 for (
int i = 0; i < 3; i++) {
777 tmp.
setRow(i, in.row(i) * mScaleValuesInverse(i));
779 for (
int i = 0; i < 3; i++) {
780 tmp.
setCol(i, tmp.
col(i) * mScaleValuesInverse(i));
791 return mScaleValues.x() * mScaleValues.y() * mScaleValues.z();
813 void read(std::istream& is)
override 815 mScaleValues.read(is);
817 mScaleValuesInverse.read(is);
818 mInvScaleSqr.read(is);
819 mInvTwiceScale.read(is);
822 void write(std::ostream& os)
const override 824 mScaleValues.write(os);
825 mVoxelSize.write(os);
826 mScaleValuesInverse.write(os);
827 mInvScaleSqr.write(os);
828 mInvTwiceScale.write(os);
831 std::string
str()
const override 833 std::ostringstream buffer;
834 buffer <<
" - scale: " << mScaleValues << std::endl;
835 buffer <<
" - voxel dimensions: " << mVoxelSize << std::endl;
839 bool isEqual(
const MapBase& other)
const override {
return isEqualBase(*
this, other); }
844 if (!mScaleValues.eq(other.mScaleValues)) {
return false; }
864 affineMap->accumPreRotation(axis, radians);
873 affineMap->accumPreShear(axis0, axis1, shear);
885 affineMap->accumPostRotation(axis, radians);
893 affineMap->accumPostShear(axis0, axis1, shear);
899 Vec3d mScaleValues, mVoxelSize, mScaleValuesInverse, mInvScaleSqr, mInvTwiceScale;
923 const Vec3d& invScale = getInvScale();
927 static bool isRegistered() {
return MapRegistry::isRegistered(UniformScaleMap::mapType()); }
930 MapRegistry::registerMap(
931 UniformScaleMap::mapType(),
932 UniformScaleMap::create);
938 bool isEqual(
const MapBase& other)
const override {
return isEqualBase(*
this, other); }
958 ScaleMap::preScale(
const Vec3d& v)
const 960 const Vec3d new_scale(v * mScaleValues);
970 ScaleMap::postScale(
const Vec3d& v)
const 999 static bool isRegistered() {
return MapRegistry::isRegistered(TranslationMap::mapType()); }
1003 MapRegistry::registerMap(
1004 TranslationMap::mapType(),
1005 TranslationMap::create);
1029 return applyInverseJacobian(in);
1051 return applyIJC(mat);
1068 void read(std::istream& is)
override { mTranslation.read(is); }
1070 void write(std::ostream& os)
const override { mTranslation.write(os); }
1072 std::string
str()
const override 1074 std::ostringstream buffer;
1075 buffer <<
" - translation: " << mTranslation << std::endl;
1076 return buffer.str();
1079 bool isEqual(
const MapBase& other)
const override {
return isEqualBase(*
this, other); }
1084 return mTranslation.eq(other.mTranslation);
1092 Mat4d matrix(Mat4d::identity());
1105 affineMap->accumPreRotation(axis, radians);
1119 affineMap->accumPreShear(axis0, axis1, shear);
1130 affineMap->accumPostRotation(axis, radians);
1144 affineMap->accumPostShear(axis0, axis1, shear);
1170 mTranslation(
Vec3d(0,0,0)),
1171 mScaleValues(
Vec3d(1,1,1)),
1172 mVoxelSize(
Vec3d(1,1,1)),
1173 mScaleValuesInverse(
Vec3d(1,1,1)),
1174 mInvScaleSqr(1,1,1),
1175 mInvTwiceScale(0.5,0.5,0.5)
1181 mTranslation(translate),
1182 mScaleValues(scale),
1183 mVoxelSize(
std::abs(scale(0)),
std::abs(scale(1)),
std::abs(scale(2)))
1185 const double determinant = scale[0]* scale[1] * scale[2];
1189 mScaleValuesInverse = 1.0 / mScaleValues;
1190 mInvScaleSqr = mScaleValuesInverse * mScaleValuesInverse;
1191 mInvTwiceScale = mScaleValuesInverse / 2;
1196 mTranslation(translate.getTranslation()),
1198 mVoxelSize(
std::abs(mScaleValues(0)),
1199 std::abs(mScaleValues(1)),
1200 std::abs(mScaleValues(2))),
1201 mScaleValuesInverse(1.0 / scale.
getScale())
1203 mInvScaleSqr = mScaleValuesInverse * mScaleValuesInverse;
1204 mInvTwiceScale = mScaleValuesInverse / 2;
1209 mTranslation(other.mTranslation),
1210 mScaleValues(other.mScaleValues),
1211 mVoxelSize(other.mVoxelSize),
1212 mScaleValuesInverse(other.mScaleValuesInverse),
1213 mInvScaleSqr(other.mInvScaleSqr),
1214 mInvTwiceScale(other.mInvTwiceScale)
1227 mScaleValuesInverse, -mScaleValuesInverse * mTranslation));
1230 static bool isRegistered() {
return MapRegistry::isRegistered(ScaleTranslateMap::mapType()); }
1234 MapRegistry::registerMap(
1235 ScaleTranslateMap::mapType(),
1236 ScaleTranslateMap::create);
1250 std::abs(mScaleValues.x()), std::abs(mScaleValues.y()),
double(5e-7));
1252 std::abs(mScaleValues.x()), std::abs(mScaleValues.z()),
double(5e-7));
1260 in.x() * mScaleValues.x() + mTranslation.x(),
1261 in.y() * mScaleValues.y() + mTranslation.y(),
1262 in.z() * mScaleValues.z() + mTranslation.z());
1268 (in.x() - mTranslation.x() ) * mScaleValuesInverse.x(),
1269 (in.y() - mTranslation.y() ) * mScaleValuesInverse.y(),
1270 (in.z() - mTranslation.z() ) * mScaleValuesInverse.z());
1275 return applyJacobian(in);
1283 return applyInverseJacobian(in);
1288 return in * mScaleValuesInverse;
1300 return applyIJT(in);
1306 in.x() * mScaleValuesInverse.x(),
1307 in.y() * mScaleValuesInverse.y(),
1308 in.z() * mScaleValuesInverse.z());
1314 for (
int i=0; i<3; i++){
1315 tmp.
setRow(i, in.row(i)*mScaleValuesInverse(i));
1317 for (
int i=0; i<3; i++){
1318 tmp.
setCol(i, tmp.
col(i)*mScaleValuesInverse(i));
1323 return applyIJC(in);
1330 return mScaleValues.x() * mScaleValues.y() * mScaleValues.z();
1350 void read(std::istream& is)
override 1352 mTranslation.read(is);
1353 mScaleValues.read(is);
1354 mVoxelSize.read(is);
1355 mScaleValuesInverse.read(is);
1356 mInvScaleSqr.read(is);
1357 mInvTwiceScale.read(is);
1360 void write(std::ostream& os)
const override 1362 mTranslation.write(os);
1363 mScaleValues.write(os);
1364 mVoxelSize.write(os);
1365 mScaleValuesInverse.write(os);
1366 mInvScaleSqr.write(os);
1367 mInvTwiceScale.write(os);
1370 std::string
str()
const override 1372 std::ostringstream buffer;
1373 buffer <<
" - translation: " << mTranslation << std::endl;
1374 buffer <<
" - scale: " << mScaleValues << std::endl;
1375 buffer <<
" - voxel dimensions: " << mVoxelSize << std::endl;
1376 return buffer.str();
1379 bool isEqual(
const MapBase& other)
const override {
return isEqualBase(*
this, other); }
1384 if (!mScaleValues.eq(other.mScaleValues)) {
return false; }
1385 if (!mTranslation.eq(other.mTranslation)) {
return false; }
1395 affineMap->accumPostTranslation(mTranslation);
1405 affineMap->accumPreRotation(axis, radians);
1410 const Vec3d& s = mScaleValues;
1411 const Vec3d scaled_trans( t.
x() * s.
x(),
1422 affineMap->accumPreShear(axis0, axis1, shear);
1433 affineMap->accumPostRotation(axis, radians);
1446 affineMap->accumPostShear(axis0, axis1, shear);
1452 Vec3d mTranslation, mScaleValues, mVoxelSize, mScaleValuesInverse,
1453 mInvScaleSqr, mInvTwiceScale;
1458 ScaleMap::postTranslate(
const Vec3d& t)
const 1465 ScaleMap::preTranslate(
const Vec3d& t)
const 1468 const Vec3d& s = mScaleValues;
1469 const Vec3d scaled_trans( t.
x() * s.
x(),
1500 const Vec3d& scaleInv = getInvScale();
1501 const Vec3d& trans = getTranslation();
1507 return MapRegistry::isRegistered(UniformScaleTranslateMap::mapType());
1512 MapRegistry::registerMap(
1513 UniformScaleTranslateMap::mapType(), UniformScaleTranslateMap::create);
1519 bool isEqual(
const MapBase& other)
const override {
return isEqualBase(*
this, other); }
1532 const Vec3d new_trans = this->getTranslation() + scale * t;
1547 UniformScaleMap::postTranslate(
const Vec3d& t)
const 1555 UniformScaleMap::preTranslate(
const Vec3d& t)
const 1563 TranslationMap::preScale(
const Vec3d& v)
const 1574 TranslationMap::postScale(
const Vec3d& v)
const 1579 const Vec3d trans(mTranslation.x()*v.
x(),
1580 mTranslation.y()*v.
y(),
1581 mTranslation.z()*v.
z());
1588 ScaleTranslateMap::preScale(
const Vec3d& v)
const 1590 const Vec3d new_scale( v * mScaleValues );
1600 ScaleTranslateMap::postScale(
const Vec3d& v)
const 1602 const Vec3d new_scale( v * mScaleValues );
1603 const Vec3d new_trans( mTranslation.x()*v.
x(),
1604 mTranslation.y()*v.
y(),
1605 mTranslation.z()*v.
z() );
1652 Mat4d matrix(Mat4d::identity());
1661 "4x4 Matrix initializing unitary map was not unitary: not invertible");
1666 "4x4 Matrix initializing unitary map was not unitary: not affine");
1671 "4x4 Matrix initializing unitary map was not unitary: had translation");
1676 "4x4 Matrix initializing unitary map was not unitary");
1684 mAffineMap(other.mAffineMap)
1689 mAffineMap(*(first.getAffineMap()), *(second.getAffineMap()))
1693 ~UnitaryMap()
override =
default;
1702 return MapBase::Ptr(
new UnitaryMap(mAffineMap.getMat4().inverse()));
1705 static bool isRegistered() {
return MapRegistry::isRegistered(UnitaryMap::mapType()); }
1709 MapRegistry::registerMap(
1710 UnitaryMap::mapType(),
1711 UnitaryMap::create);
1725 bool isEqual(
const MapBase& other)
const override {
return isEqualBase(*
this, other); }
1730 if (mAffineMap!=other.mAffineMap)
return false;
1734 bool operator!=(
const UnitaryMap& other)
const {
return !(*
this == other); }
1747 return applyInverseJacobian(in);
1752 return mAffineMap.applyInverseJacobian(in);
1760 return applyInverseMap(in);
1772 return applyIJC(in);
1778 double determinant()
const override {
return mAffineMap.determinant(); }
1789 void read(std::istream& is)
override 1791 mAffineMap.read(is);
1795 void write(std::ostream& os)
const override 1797 mAffineMap.write(os);
1800 std::string
str()
const override 1802 std::ostringstream buffer;
1803 buffer << mAffineMap.str();
1804 return buffer.str();
1815 UnitaryMap first(axis, radians);
1817 return StaticPtrCast<MapBase, UnitaryMap>(unitaryMap);
1824 affineMap->accumPreTranslation(t);
1832 affineMap->accumPreScale(v);
1840 affineMap->accumPreShear(axis0, axis1, shear);
1848 UnitaryMap second(axis, radians);
1850 return StaticPtrCast<MapBase, UnitaryMap>(unitaryMap);
1857 affineMap->accumPostTranslation(t);
1865 affineMap->accumPostScale(v);
1873 affineMap->accumPostShear(axis0, axis1, shear);
1910 MapBase(),mBBox(bb), mTaper(taper), mDepth(depth)
1922 mBBox(bb), mTaper(taper), mDepth(depth)
1924 if (!secondMap->isLinear() ) {
1926 "The second map in the Frustum transfrom must be linear");
1928 mSecondMap = *( secondMap->getAffineMap() );
1935 mTaper(other.mTaper),
1936 mDepth(other.mDepth),
1937 mSecondMap(other.mSecondMap),
1938 mHasSimpleAffine(other.mHasSimpleAffine)
1959 const Vec3d& direction,
1962 double z_near,
double depth,
1970 "The frustum depth must be non-zero and positive");
1972 if (!(up.
length() > 0)) {
1974 "The frustum height must be non-zero and positive");
1976 if (!(aspect > 0)) {
1978 "The frustum aspect ratio must be non-zero and positive");
1982 "The frustum up orientation must be perpendicular to into-frustum direction");
1985 double near_plane_height = 2 * up.
length();
1986 double near_plane_width = aspect * near_plane_height;
1991 mDepth = depth / near_plane_width;
1992 double gamma = near_plane_width / z_near;
1993 mTaper = 1./(mDepth*gamma + 1.);
1995 Vec3d direction_unit = direction;
1998 Mat4d r1(Mat4d::identity());
2000 Mat4d r2(Mat4d::identity());
2004 Vec3d(near_plane_width, near_plane_width, near_plane_width));
2008 Mat4d mat = scale * r2 * r1;
2029 "inverseMap() is not implemented for NonlinearFrustumMap");
2031 static bool isRegistered() {
return MapRegistry::isRegistered(NonlinearFrustumMap::mapType()); }
2035 MapRegistry::registerMap(
2036 NonlinearFrustumMap::mapType(),
2037 NonlinearFrustumMap::create);
2058 const Vec3d e1(1,0,0);
2059 if (!applyMap(e1).eq(e1))
return false;
2061 const Vec3d e2(0,1,0);
2062 if (!applyMap(e2).eq(e2))
return false;
2064 const Vec3d e3(0,0,1);
2065 if (!applyMap(e3).eq(e3))
return false;
2070 bool isEqual(
const MapBase& other)
const override {
return isEqualBase(*
this, other); }
2074 if (mBBox!=other.mBBox)
return false;
2081 if (!mSecondMap.applyMap(e).eq(other.mSecondMap.
applyMap(e)))
return false;
2084 if (!mSecondMap.applyMap(e).eq(other.mSecondMap.
applyMap(e)))
return false;
2087 if (!mSecondMap.applyMap(e).eq(other.mSecondMap.
applyMap(e)))
return false;
2090 if (!mSecondMap.applyMap(e).eq(other.mSecondMap.
applyMap(e)))
return false;
2099 return mSecondMap.applyMap(applyFrustumMap(in));
2105 return applyFrustumInverseMap(mSecondMap.applyInverseMap(in));
2114 Vec3d centered(isloc);
2115 centered = centered - mBBox.min();
2116 centered.
x() -= mXo;
2117 centered.
y() -= mYo;
2120 const double zprime = centered.
z()*mDepthOnLz;
2122 const double scale = (mGamma * zprime + 1.) / mLx;
2123 const double scale2 = mGamma * mDepthOnLz / mLx;
2125 const Vec3d tmp(scale * in.
x() + scale2 * centered.
x()* in.
z(),
2126 scale * in.
y() + scale2 * centered.
y()* in.
z(),
2127 mDepthOnLz * in.
z());
2129 return mSecondMap.applyJacobian(tmp);
2136 return mSecondMap.applyInverseJacobian(in);
2143 Vec3d centered(isloc);
2144 centered = centered - mBBox.min();
2145 centered.
x() -= mXo;
2146 centered.
y() -= mYo;
2149 const double zprime = centered.
z()*mDepthOnLz;
2151 const double scale = (mGamma * zprime + 1.) / mLx;
2152 const double scale2 = mGamma * mDepthOnLz / mLx;
2155 Vec3d out = mSecondMap.applyInverseJacobian(in);
2157 out.
x() = (out.
x() - scale2 * centered.
x() * out.
z() / mDepthOnLz) / scale;
2158 out.
y() = (out.
y() - scale2 * centered.
y() * out.
z() / mDepthOnLz) / scale;
2159 out.
z() = out.
z() / mDepthOnLz;
2167 const Vec3d tmp = mSecondMap.applyJT(in);
2170 Vec3d centered(isloc);
2171 centered = centered - mBBox.min();
2172 centered.
x() -= mXo;
2173 centered.
y() -= mYo;
2176 const double zprime = centered.
z()*mDepthOnLz;
2178 const double scale = (mGamma * zprime + 1.) / mLx;
2179 const double scale2 = mGamma * mDepthOnLz / mLx;
2181 return Vec3d(scale * tmp.
x(),
2183 scale2 * centered.
x()* tmp.
x() +
2184 scale2 * centered.
y()* tmp.
y() +
2185 mDepthOnLz * tmp.
z());
2189 return mSecondMap.applyJT(in);
2205 const Vec3d loc = applyFrustumMap(ijk);
2206 const double s = mGamma * loc.
z() + 1.;
2211 " at the singular focal point (e.g. camera)");
2214 const double sinv = 1.0/s;
2215 const double pt0 = mLx * sinv;
2216 const double pt1 = mGamma * pt0;
2217 const double pt2 = pt1 * sinv;
2219 const Mat3d& jacinv = mSecondMap.getConstJacobianInv();
2222 Mat3d gradE(Mat3d::zero());
2223 for (
int j = 0; j < 3; ++j ) {
2224 gradE(0,j) = pt0 * jacinv(0,j) - pt2 * loc.
x()*jacinv(2,j);
2225 gradE(1,j) = pt0 * jacinv(1,j) - pt2 * loc.
y()*jacinv(2,j);
2226 gradE(2,j) = (1./mDepthOnLz) * jacinv(2,j);
2230 for (
int i = 0; i < 3; ++i) {
2231 result(i) = d1_is(0) * gradE(0,i) + d1_is(1) * gradE(1,i) + d1_is(2) * gradE(2,i);
2246 const Vec3d loc = applyFrustumMap(ijk);
2248 const double s = mGamma * loc.
z() + 1.;
2253 " at the singular focal point (e.g. camera)");
2257 const double sinv = 1.0/s;
2258 const double pt0 = mLx * sinv;
2259 const double pt1 = mGamma * pt0;
2260 const double pt2 = pt1 * sinv;
2261 const double pt3 = pt2 * sinv;
2263 const Mat3d& jacinv = mSecondMap.getConstJacobianInv();
2267 Mat3d matE0(Mat3d::zero());
2268 Mat3d matE1(Mat3d::zero());
2269 for(
int j = 0; j < 3; j++) {
2270 for (
int k = 0; k < 3; k++) {
2272 const double pt4 = 2. * jacinv(2,j) * jacinv(2,k) * pt3;
2274 matE0(j,k) = -(jacinv(0,j) * jacinv(2,k) + jacinv(2,j) * jacinv(0,k)) * pt2 +
2277 matE1(j,k) = -(jacinv(1,j) * jacinv(2,k) + jacinv(2,j) * jacinv(1,k)) * pt2 +
2283 Mat3d gradE(Mat3d::zero());
2284 for (
int j = 0; j < 3; ++j ) {
2285 gradE(0,j) = pt0 * jacinv(0,j) - pt2 * loc.
x()*jacinv(2,j);
2286 gradE(1,j) = pt0 * jacinv(1,j) - pt2 * loc.
y()*jacinv(2,j);
2287 gradE(2,j) = (1./mDepthOnLz) * jacinv(2,j);
2290 Mat3d result(Mat3d::zero());
2293 for (
int m = 0; m < 3; ++m ) {
2294 for (
int n = 0; n < 3; ++n) {
2295 for (
int i = 0; i < 3; ++i ) {
2296 for (
int j = 0; j < 3; ++j) {
2297 result(m, n) += gradE(j, m) * gradE(i, n) * d2_is(i, j);
2303 for (
int m = 0; m < 3; ++m ) {
2304 for (
int n = 0; n < 3; ++n) {
2306 matE0(m, n) * d1_is(0) + matE1(m, n) * d1_is(1);
2314 double determinant()
const override {
return mSecondMap.determinant();}
2320 double s = mGamma * loc.
z() + 1.0;
2321 double frustum_determinant = s * s * mDepthOnLzLxLx;
2322 return mSecondMap.determinant() * frustum_determinant;
2328 const Vec3d loc( 0.5*(mBBox.min().x() + mBBox.max().x()),
2329 0.5*(mBBox.min().y() + mBBox.max().y()),
2332 return voxelSize(loc);
2342 Vec3d out, pos = applyMap(loc);
2343 out(0) = (applyMap(loc +
Vec3d(1,0,0)) - pos).length();
2344 out(1) = (applyMap(loc +
Vec3d(0,1,0)) - pos).length();
2345 out(2) = (applyMap(loc +
Vec3d(0,0,1)) - pos).length();
2375 void read(std::istream& is)
override 2386 is.read(reinterpret_cast<char*>(&mTaper),
sizeof(
double));
2387 is.read(reinterpret_cast<char*>(&mDepth),
sizeof(
double));
2393 if(!MapRegistry::isRegistered(type)) {
2398 MapBase::Ptr proxy = math::MapRegistry::createMap(type);
2400 mSecondMap = *(proxy->getAffineMap());
2405 void write(std::ostream& os)
const override 2408 os.write(reinterpret_cast<const char*>(&mTaper),
sizeof(
double));
2409 os.write(reinterpret_cast<const char*>(&mDepth),
sizeof(
double));
2412 mSecondMap.write(os);
2416 std::string
str()
const override 2418 std::ostringstream buffer;
2419 buffer <<
" - taper: " << mTaper << std::endl;
2420 buffer <<
" - depth: " << mDepth << std::endl;
2421 buffer <<
" SecondMap: "<< mSecondMap.type() << std::endl;
2422 buffer << mSecondMap.str() << std::endl;
2423 return buffer.str();
2452 mBBox, mTaper, mDepth, mSecondMap.preShear(shear, axis0, axis1)));
2481 mBBox, mTaper, mDepth, mSecondMap.postShear(shear, axis0, axis1)));
2488 mLx = mBBox.extents().x();
2489 mLy = mBBox.extents().y();
2490 mLz = mBBox.extents().z();
2494 " must have at least two index points in each direction.");
2501 mGamma = (1./mTaper - 1) / mDepth;
2503 mDepthOnLz = mDepth/mLz;
2504 mDepthOnLzLxLx = mDepthOnLz/(mLx * mLx);
2507 mHasSimpleAffine =
true;
2508 Vec3d tmp = mSecondMap.voxelSize();
2511 if (!
isApproxEqual(tmp(0), tmp(1))) { mHasSimpleAffine =
false;
return; }
2512 if (!
isApproxEqual(tmp(0), tmp(2))) { mHasSimpleAffine =
false;
return; }
2514 Vec3d trans = mSecondMap.applyMap(
Vec3d(0,0,0));
2516 Vec3d tmp1 = mSecondMap.applyMap(
Vec3d(1,0,0)) - trans;
2517 Vec3d tmp2 = mSecondMap.applyMap(
Vec3d(0,1,0)) - trans;
2518 Vec3d tmp3 = mSecondMap.applyMap(
Vec3d(0,0,1)) - trans;
2521 if (!
isApproxEqual(tmp1.
dot(tmp2), 0., 1.e-7)) { mHasSimpleAffine =
false;
return; }
2522 if (!
isApproxEqual(tmp2.
dot(tmp3), 0., 1.e-7)) { mHasSimpleAffine =
false;
return; }
2523 if (!
isApproxEqual(tmp3.
dot(tmp1), 0., 1.e-7)) { mHasSimpleAffine =
false;
return; }
2532 out = out - mBBox.min();
2537 out.
z() *= mDepthOnLz;
2539 double scale = (mGamma * out.
z() + 1.)/ mLx;
2548 Vec3d applyFrustumInverseMap(
const Vec3d& in)
const 2552 double invScale = mLx / (mGamma * out.
z() + 1.);
2553 out.
x() *= invScale;
2554 out.
y() *= invScale;
2559 out.
z() /= mDepthOnLz;
2562 out = out + mBBox.min();
2577 double mLx, mLy, mLz;
2578 double mXo, mYo, mGamma, mDepthOnLz, mDepthOnLzLxLx;
2581 bool mHasSimpleAffine;
2591 template<
typename FirstMapType,
typename SecondMapType>
2603 CompoundMap(
const FirstMapType& f,
const SecondMapType& s): mFirstMap(f), mSecondMap(s)
2605 updateAffineMatrix();
2609 mFirstMap(other.mFirstMap),
2610 mSecondMap(other.mSecondMap),
2611 mAffineMap(other.mAffineMap)
2617 return (FirstMapType::mapType() +
Name(
":") + SecondMapType::mapType());
2622 if (mFirstMap != other.mFirstMap)
return false;
2623 if (mSecondMap != other.mSecondMap)
return false;
2624 if (mAffineMap != other.mAffineMap)
return false;
2632 mFirstMap = other.mFirstMap;
2633 mSecondMap = other.mSecondMap;
2634 mAffineMap = other.mAffineMap;
2641 return mAffineMap.isIdentity();
2643 return mFirstMap.isIdentity()&&mSecondMap.isIdentity();
2649 return mAffineMap.isDiagonal();
2651 return mFirstMap.isDiagonal()&&mSecondMap.isDiagonal();
2662 "Constant affine matrix representation not possible for this nonlinear map");
2667 const FirstMapType&
firstMap()
const {
return mFirstMap; }
2668 const SecondMapType&
secondMap()
const {
return mSecondMap; }
2670 void setFirstMap(
const FirstMapType& first) { mFirstMap = first; updateAffineMatrix(); }
2671 void setSecondMap(
const SecondMapType& second) { mSecondMap = second; updateAffineMatrix(); }
2675 mAffineMap.read(is);
2677 mSecondMap.read(is);
2681 mAffineMap.write(os);
2682 mFirstMap.write(os);
2683 mSecondMap.write(os);
2687 void updateAffineMatrix()
2693 mAffineMap =
AffineMap(*first, *second);
2697 FirstMapType mFirstMap;
2698 SecondMapType mSecondMap;
2707 #endif // OPENVDB_MATH_MAPS_HAS_BEEN_INCLUDED bool isLinear() const override
Return true (a UnitaryMap is always linear).
Definition: Maps.h:1720
bool isDiagonal() const
Definition: Maps.h:2647
OPENVDB_API uint32_t getFormatVersion(std::ios_base &)
Return the file format version number associated with the given input stream.
Vec3d applyInverseMap(const Vec3d &in) const override
Return the pre-image of in under the map.
Definition: Maps.h:1020
double determinant() const override
Return 1.
Definition: Maps.h:1057
UnitaryMap(const Mat4d &m)
Definition: Maps.h:1657
Mat3d applyIJC(const Mat3d &mat, const Vec3d &, const Vec3d &) const override
Definition: Maps.h:1050
Vec3d applyInverseJacobian(const Vec3d &in, const Vec3d &) const final
Return the Inverse Jacobian of the map applied to in (i.e. inverse map with out translation) ...
Definition: Maps.h:750
static bool isRegistered()
Definition: Maps.h:999
ScaleTranslateMap()
Definition: Maps.h:1168
std::string str() const override
string serialization, useful for debuging
Definition: Maps.h:2416
TranslationMap(const Vec3d &t)
Definition: Maps.h:985
MapBase::Ptr inverseMap() const override
Return a new map representing the inverse of this map.
Definition: Maps.h:696
static MapBase::Ptr create()
Return a MapBase::Ptr to a new AffineMap.
Definition: Maps.h:352
bool operator==(const NonlinearFrustumMap &other) const
Definition: Maps.h:2072
SharedPtr< FullyDecomposedMap > createDecomposedMap()
on-demand decomposition of the affine map
Definition: Maps.h:541
static void registerMap()
Definition: Maps.h:360
Mat3 transpose() const
returns transpose of this
Definition: Mat3.h:454
CompoundMap< CompoundMap< UnitaryMap, ScaleMap >, UnitaryMap > SpectralDecomposedMap
Definition: Maps.h:45
static void registerMap()
Definition: Maps.h:1001
OPENVDB_API SharedPtr< FullyDecomposedMap > createFullyDecomposedMap(const Mat4d &m)
General decomposition of a Matrix into a Unitary (e.g. rotation) following a Symmetric (e...
Vec3d voxelSize(const Vec3d &loc) const override
Returns the lengths of the images of the three segments from loc to loc + (1,0,0), from loc to loc + (0,1,0) and from loc to loc + (0,0,1)
Definition: Maps.h:2340
Int32 ValueType
Definition: Coord.h:32
MapBase::Ptr preRotate(double radians, Axis axis) const override
Return a MapBase::Ptr to a new map that is the result of prepending the appropraite operation to the ...
Definition: Maps.h:861
#define OPENVDB_THROW(exception, message)
Definition: Exceptions.h:74
bool operator!=(const TranslationMap &other) const
Definition: Maps.h:1087
AffineMap::Ptr getAffineMap() const override
Definition: Maps.h:2349
Vec3d applyIJT(const Vec3d &d1_is, const Vec3d &ijk) const override
Definition: Maps.h:2203
MapBase::Ptr preTranslate(const Vec3d &t) const override
Return a MapBase::Ptr to a new map that is the result of prepending the appropraite operation...
Definition: Maps.h:1408
Vec3d applyMap(const Vec3d &in) const override
Return the image of in under the map.
Definition: Maps.h:1018
bool operator!=(const ScaleTranslateMap &other) const
Definition: Maps.h:1389
void setToRotation(Axis axis, T angle)
Sets the matrix to a rotation about the given axis.
Definition: Mat4.h:783
Definition: Exceptions.h:59
General-purpose arithmetic and comparison routines, most of which accept arbitrary value types (or at...
Mat3 inverse(T tolerance=0) const
Definition: Mat3.h:465
NonlinearFrustumMap(const BBoxd &bb, double taper, double depth)
Constructor that takes an index-space bounding box to be mapped into a frustum with a given depth and...
Definition: Maps.h:1909
double getTaper() const
Return the taper value.
Definition: Maps.h:2354
void read(std::istream &is) override
read serialization
Definition: Maps.h:813
std::string str() const override
string serialization, useful for debuging
Definition: Maps.h:1800
Vec3d voxelSize() const final
Return the lengths of the images of the segments (0,0,0) − 1,0,0), (0,0,0) − (0,1,0) and (0,0,0) − (0,0,1).
Definition: Maps.h:808
Vec3d applyIJT(const Vec3d &in, const Vec3d &) const override
Return the transpose of the inverse Jacobian (Identity for TranslationMap) of the map applied to in...
Definition: Maps.h:1044
AffineMap(const Mat4d &m)
Definition: Maps.h:321
Definition: version.h.in:255
Vec3d applyJacobian(const Vec3d &in) const final
Return the Jacobian of the map applied to in.
Definition: Maps.h:746
static bool isEqualBase(const MapT &self, const MapBase &other)
Definition: Maps.h:250
MapBase::Ptr preScale(const Vec3d &s) const override
Return a MapBase::Ptr to a new map that is the result of prepending the appropraite operation...
Definition: Maps.h:568
void read(std::istream &is) override
read serialization
Definition: Maps.h:1068
bool operator==(const AffineMap &other) const
Definition: Maps.h:388
Vec3d applyJacobian(const Vec3d &in, const Vec3d &) const override
Apply the Jacobian of this map to a vector. For a linear map this is equivalent to applying the map e...
Definition: Maps.h:1740
Vec3d voxelSize() const override
Returns the lengths of the images of the segments (0,0,0) − (1,0,0), (0,0,0) − (0,1,0) and (0,0,0) − (0,0,1).
Definition: Maps.h:1784
MapBase::Ptr preTranslate(const Vec3d &t) const override
Return a MapBase::Ptr to a new map that is the result of prepending the given translation.
Definition: Maps.h:1821
NonlinearFrustumMap(const Vec3d &position, const Vec3d &direction, const Vec3d &up, double aspect, double z_near, double depth, Coord::ValueType x_count, Coord::ValueType z_count)
Constructor from a camera frustum.
Definition: Maps.h:1958
Mat3d applyIJC(const Mat3d &d2_is, const Vec3d &d1_is, const Vec3d &ijk) const override
Definition: Maps.h:2244
MapBase::Ptr preShear(double shear, Axis axis0, Axis axis1) const override
Return a MapBase::Ptr to a new map that is the result of prepending the given shear to the linear par...
Definition: Maps.h:2449
Axis-aligned bounding box of signed integer coordinates.
Definition: Coord.h:250
const Mat3d & getConstJacobianInv() const
Definition: Maps.h:615
MapBase::Ptr postShear(double shear, Axis axis0, Axis axis1) const override
Return a MapBase::Ptr to a new map that is the result of postfixing the appropriate operation...
Definition: Maps.h:1141
MapBase::Ptr preShear(double shear, Axis axis0, Axis axis1) const override
Return a MapBase::Ptr to a new map that is the result of prepending the appropriate operation...
Definition: Maps.h:1116
Vec3d applyInverseMap(const Vec3d &in) const final
Return the pre-image of in under the map.
Definition: Maps.h:734
std::map< Name, MapBase::MapFactory > MapDictionary
Definition: Maps.h:265
void setSecondMap(const SecondMapType &second)
Definition: Maps.h:2671
Definition: Exceptions.h:56
Mat3d applyIJC(const Mat3d &in, const Vec3d &, const Vec3d &) const final
Definition: Maps.h:1322
bool operator!=(const NonlinearFrustumMap &other) const
Definition: Maps.h:2094
bool hasUniformScale() const override
Return false (by convention true)
Definition: Maps.h:1723
bool isIdentity() const
Return true if the underlying matrix is approximately an identity.
Definition: Maps.h:466
bool hasUniformScale() const final
Return true if the values have the same magitude (eg. -1, 1, -1 would be a rotation).
Definition: Maps.h:716
Name readString(std::istream &is)
Definition: Name.h:22
MatType scale(const Vec3< typename MatType::value_type > &s)
Return a matrix that scales by s.
Definition: Mat.h:615
const Vec3d & getInvTwiceScale() const
Return 1/(2 scale). Used to optimize some finite difference calculations.
Definition: Maps.h:1345
Vec3d asVec3d() const
Definition: Coord.h:143
static fileSize_t write(std::ostream &os, const GridHandle< BufferT > &handle, Codec codec, uint32_t n)
std::shared_ptr< T > SharedPtr
Definition: Types.h:114
MapBase::Ptr preRotate(double radians, Axis axis) const override
Return a MapBase::Ptr to a new map that is the result of prepending the appropraite operation...
Definition: Maps.h:1402
bool isDiagonal(const MatType &mat)
Determine if a matrix is diagonal.
Definition: Mat.h:902
void accumPostRotation(Axis axis, double radians)
Modify the existing affine map by post-applying the given operation.
Definition: Maps.h:504
Vec3d applyIJT(const Vec3d &in) const final
Return the transpose of the inverse Jacobian of the map applied to in.
Definition: Maps.h:1303
Vec3d applyJacobian(const Vec3d &in) const override
Return the Jacobian of the map applied to in.
Definition: Maps.h:418
Vec3d applyMap(const Vec3d &in) const override
Return the image of in under the map.
Definition: Maps.h:1736
Vec3d applyInverseJacobian(const Vec3d &in) const override
Return the Inverse Jacobian of the map applied to in (i.e. inverse map with out translation) ...
Definition: Maps.h:1033
MapBase::Ptr postRotate(double radians, Axis axis=X_AXIS) const override
Return a MapBase::Ptr to a new map that is the result of postfixing the appropraite operation...
Definition: Maps.h:586
void write(std::ostream &os) const override
write serialization
Definition: Maps.h:822
std::string str() const override
string serialization, useful for debuging
Definition: Maps.h:1072
Vec3d applyInverseJacobian(const Vec3d &in, const Vec3d &) const override
Return the Inverse Jacobian of the map applied to in (i.e. inverse map with out translation) ...
Definition: Maps.h:1028
double determinant() const override
Return the determinant of the Jacobian.
Definition: Maps.h:1778
Vec3d voxelSize(const Vec3d &) const final
Return the absolute values of the scale values, ignores argument.
Definition: Maps.h:1335
static Name mapType()
Definition: Maps.h:1009
AffineMap::Ptr getAffineMap() const override
Return AffineMap::Ptr to an AffineMap equivalent to *this.
Definition: Maps.h:1090
MapBase::Ptr preShear(double shear, Axis axis0, Axis axis1) const override
Return a MapBase::Ptr to a new map that is the result of prepending the given shear.
Definition: Maps.h:1837
bool operator==(const TranslationMap &other) const
Definition: Maps.h:1081
A specialized Affine transform that scales along the principal axis the scaling need not be uniform i...
Definition: Maps.h:1162
Vec3d voxelSize() const final
Return the absolute values of the scale values.
Definition: Maps.h:1333
SharedPtr< const MyType > ConstPtr
Definition: Maps.h:2598
Vec3d applyIJT(const Vec3d &in) const override
Return the transpose of the inverse Jacobian (Identity for TranslationMap) of the map applied to in...
Definition: Maps.h:1047
MapBase::Ptr inverseMap() const override
Return a new map representing the inverse of this map.
Definition: Maps.h:356
Vec3d applyJacobian(const Vec3d &in) const override
Return the Jacobian of the map applied to in.
Definition: Maps.h:1024
Name type() const override
Return the name of this map's concrete type (e.g., "AffineMap").
Definition: Maps.h:367
Vec3d applyJacobian(const Vec3d &in, const Vec3d &) const override
Return the Jacobian of the map applied to in.
Definition: Maps.h:416
CompoundMap(const MyType &other)
Definition: Maps.h:2608
MapBase::Ptr postShear(double shear, Axis axis0, Axis axis1) const override
Return a MapBase::Ptr to a new map that is the result of postfixing the appropraite operation...
Definition: Maps.h:604
MapBase::Ptr preTranslate(const Vec3d &t) const override
Return a MapBase::Ptr to a new map that is the result of prepending the appropraite operation...
Definition: Maps.h:562
void setCol(int j, const Vec3< T > &v)
Set jth column to vector v.
Definition: Mat3.h:159
MapBase::Ptr copy() const override
Return a MapBase::Ptr to a deep copy of this map.
Definition: Maps.h:993
MapBase::Ptr postRotate(double radians, Axis axis=X_AXIS) const override
Return a MapBase::Ptr to a new map that is the result of appending the given rotation to the linear p...
Definition: Maps.h:2457
UnitaryMap()
default constructor makes an Idenity.
Definition: Maps.h:1627
double getDepth() const
Return the unscaled frustm depth.
Definition: Maps.h:2358
MapBase::Ptr preRotate(double radians, Axis axis) const override
Return a MapBase::Ptr to a new map that is the result of prepending the given rotation.
Definition: Maps.h:1813
MapBase::Ptr preScale(const Vec3d &v) const override
Return a MapBase::Ptr to a new map that is the result of prepending the given scale.
Definition: Maps.h:1829
static Name mapType()
Return NonlinearFrustumMap.
Definition: Maps.h:2042
void accumPreShear(Axis axis0, Axis axis1, double shear)
Modify the existing affine map by pre-applying the given operation.
Definition: Maps.h:494
bool isType() const
Return true if this map is of concrete type MapT (e.g., AffineMap).
Definition: Maps.h:150
static bool isRegistered()
Definition: Maps.h:700
MapBase::Ptr inverseMap() const override
Return a new map representing the inverse of this map.
Definition: Maps.h:1700
MapBase::Ptr inverseMap() const override
Return a new map representing the inverse of this map.
Definition: Maps.h:1224
double determinant(const Vec3d &) const override
Return the determinant of the Jacobian, ignores argument.
Definition: Maps.h:454
Vec3d applyJT(const Vec3d &in) const override
Return the Jacobian Transpose of the map applied to in.
Definition: Maps.h:1040
Vec3d applyIJT(const Vec3d &in, const Vec3d &) const final
Return the transpose of the inverse Jacobian of the map applied to in.
Definition: Maps.h:1299
NonlinearFrustumMap()
Definition: Maps.h:1897
Vec3d applyJT(const Vec3d &in) const final
Return the Jacobian Transpose of the map applied to in.
Definition: Maps.h:763
void writeString(std::ostream &os, const Name &name)
Definition: Name.h:33
MapBase::Ptr postTranslate(const Vec3d &t) const override
Return a MapBase::Ptr to a new map that is the result of appending the given translation.
Definition: Maps.h:1854
SharedPtr< MapBase > Ptr
Definition: Maps.h:137
bool isEqual(const MapBase &other) const override
Return true if this map is equal to the given map.
Definition: Maps.h:2070
MapBase::Ptr postShear(double shear, Axis axis0, Axis axis1) const override
Return a MapBase::Ptr to a new map that is the result of appending the given shear to the linear part...
Definition: Maps.h:2478
static Name mapType()
Definition: Maps.h:1240
ScaleMap(const ScaleMap &other)
Definition: Maps.h:679
bool operator==(const ScaleTranslateMap &other) const
Definition: Maps.h:1381
T length() const
Length of the vector.
Definition: Vec3.h:200
Mat3< T > getMat3() const
Definition: Mat4.h:297
Vec3d applyInverseMap(const Vec3d &in) const override
Return the pre-image of in under the map.
Definition: Maps.h:1738
UnitaryMap(const UnitaryMap &other)
Definition: Maps.h:1682
MapBase::Ptr copy() const override
Return a MapBase::Ptr to a deep copy of this map.
Definition: Maps.h:2021
void write(std::ostream &os) const override
write serialization
Definition: Maps.h:1070
void write(std::ostream &os) const
Definition: Maps.h:2679
Name type() const override
Return UnitaryMap.
Definition: Maps.h:1715
const Mat4d & getConstMat4() const
Definition: Maps.h:614
AffineMap & operator=(const AffineMap &other)
Definition: Maps.h:398
NonlinearFrustumMap(const NonlinearFrustumMap &other)
Definition: Maps.h:1932
MapBase::Ptr preRotate(double radians, Axis axis=X_AXIS) const override
Return a MapBase::Ptr to a new map that is the result of prepending the appropraite operation...
Definition: Maps.h:556
void accumPostTranslation(const Vec3d &v)
Modify the existing affine map by post-applying the given operation.
Definition: Maps.h:514
double determinant() const final
Return the product of the scale values.
Definition: Maps.h:790
AffineMap::Ptr getAffineMap() const override
Return AffineMap::Ptr to an AffineMap equivalent to *this.
Definition: Maps.h:1807
const Vec3d & getScale() const
Returns the scale values.
Definition: Maps.h:1338
Vec3d applyJT(const Vec3d &in) const final
Return the Jacobian Transpose of the map applied to in.
Definition: Maps.h:1295
Threadsafe singleton object for accessing the map type-name dictionary. Associates a map type-name wi...
Definition: Maps.h:262
void read(std::istream &is)
Unserialize this bounding box from the given stream.
Definition: BBox.h:134
MapBase::Ptr postScale(const Vec3d &s) const override
Return a MapBase::Ptr to a new map that is the result of appending the given scale to the linear part...
Definition: Maps.h:2471
MapBase::Ptr postTranslate(const Vec3d &t) const override
Return a MapBase::Ptr to a new map that is the result of appending the given translation to the linea...
Definition: Maps.h:2464
TranslationMap()
Definition: Maps.h:984
Vec3d applyInverseJacobian(const Vec3d &in) const final
Return the Inverse Jacobian of the map applied to in (i.e. inverse map with out translation) ...
Definition: Maps.h:1287
Vec3d applyJT(const Vec3d &in, const Vec3d &isloc) const override
Return the Jacobian Transpose of the map applied to vector in at indexloc.
Definition: Maps.h:2166
const Vec3d & getInvTwiceScale() const
Return 1/(2 scale). Used to optimize some finite difference calculations.
Definition: Maps.h:800
static void registerMap()
Definition: Maps.h:702
static bool isRegistered()
Definition: Maps.h:2031
const Coord & min() const
Definition: Coord.h:323
MapBase::Ptr postShear(double shear, Axis axis0, Axis axis1) const override
Return a MapBase::Ptr to a new map that is the result of prepending the appropraite operation to the ...
Definition: Maps.h:890
Vec3d applyIJT(const Vec3d &in, const Vec3d &) const override
Return the transpose of the inverse Jacobian of the map applied to in.
Definition: Maps.h:443
Mat4d getMat4() const
Return the matrix representation of this AffineMap.
Definition: Maps.h:613
Vec3d applyInverseMap(const Vec3d &in) const final
Return the pre-image of under the map.
Definition: Maps.h:1265
Vec3d voxelSize(const Vec3d &) const override
Return the lengths of the images of the segments (0,0,0)-(1,0,0), (0,0,0)-(0,1,0) and (0...
Definition: Maps.h:462
void accumPreTranslation(const Vec3d &v)
Modify the existing affine map by pre-applying the given operation.
Definition: Maps.h:489
void setDepth(double d)
set the frustum depth: distance between near and far plane = frustm depth * frustm x-width ...
Definition: Maps.h:2356
MapBase::Ptr preTranslate(const Vec3d &t) const override
Return a MapBase::Ptr to a new map that is the result of prepending the given translation to the line...
Definition: Maps.h:2435
ScaleMap()
Definition: Maps.h:661
void write(std::ostream &os) const override
write serialization
Definition: Maps.h:2405
static bool isRegistered()
Definition: Maps.h:1230
static void registerMap()
Definition: Maps.h:2033
UnitaryMap(const UnitaryMap &first, const UnitaryMap &second)
Definition: Maps.h:1688
static Name mapType()
Definition: Maps.h:710
MapBase::Ptr postShear(double shear, Axis axis0, Axis axis1) const override
Return a MapBase::Ptr to a new map that is the result of postfixing the appropraite operation...
Definition: Maps.h:1443
Vec3d applyJT(const Vec3d &in) const override
Return the Jacobian Transpose of the map applied to in.
Definition: Maps.h:1759
Vec3d applyIJT(const Vec3d &in) const override
Return the transpose of the inverse Jacobian of the map applied to in.
Definition: Maps.h:1768
std::string str() const override
string serialization, useful for debuging
Definition: Maps.h:831
bool isIdentity(const MatType &m)
Determine if a matrix is an identity matrix.
Definition: Mat.h:860
bool operator!=(const AffineMap &other) const
Definition: Maps.h:396
Mat3d applyIJC(const Mat3d &in) const override
Return the Jacobian Curvature for the linear second map.
Definition: Maps.h:2239
Mat3d applyIJC(const Mat3d &in) const final
Return the Jacobian Curvature: zero for a linear map.
Definition: Maps.h:1311
void accumPostScale(const Vec3d &v)
Modify the existing affine map by post-applying the given operation.
Definition: Maps.h:509
void setRow(int i, const Vec3< T > &v)
Set ith row to vector v.
Definition: Mat3.h:141
bool isValid() const
Definition: Maps.h:2369
Vec3d applyInverseJacobian(const Vec3d &in, const Vec3d &) const final
Return the Inverse Jacobian of the map applied to in (i.e. inverse map with out translation) ...
Definition: Maps.h:1282
SharedPtr< const MapBase > ConstPtr
Definition: Maps.h:138
SharedPtr< MyType > Ptr
Definition: Maps.h:2597
bool operator!=(const UnitaryMap &other) const
Definition: Maps.h:1734
T & y()
Definition: Vec3.h:86
Vec3d applyInverseJacobian(const Vec3d &in) const final
Return the Inverse Jacobian of the map applied to in (i.e. inverse map with out translation) ...
Definition: Maps.h:755
void read(std::istream &is) override
read serialization
Definition: Maps.h:2375
void setToRotation(const Quat< T > &q)
Set this matrix to the rotation matrix specified by the quaternion.
Definition: Mat3.h:253
Map traits.
Definition: Maps.h:55
Vec3d applyIJT(const Vec3d &in) const override
Return the transpose of the inverse Jacobian of the linear second map applied to in.
Definition: Maps.h:2193
bool operator==(const ScaleMap &other) const
Definition: Maps.h:841
void accumPreScale(const Vec3d &v)
Modify the existing affine map by pre-applying the given operation.
Definition: Maps.h:484
bool isUnitary(const MatType &m)
Determine if a matrix is unitary (i.e., rotation or reflection).
Definition: Mat.h:889
T dot(const Vec3< T > &v) const
Dot product.
Definition: Vec3.h:191
A general linear transform using homogeneous coordinates to perform rotation, scaling, shear and translation.
Definition: Maps.h:295
Axis
Definition: Math.h:901
MapBase::Ptr preRotate(double radians, Axis axis) const override
Return a MapBase::Ptr to a new map that is the result of prepending the appropriate operation...
Definition: Maps.h:1102
bool isAffine(const Mat4< T > &m)
Definition: Mat4.h:1304
Vec3d applyMap(const Vec3d &in) const final
Return the image of under the map.
Definition: Maps.h:1257
Vec3d applyJacobian(const Vec3d &in, const Vec3d &) const final
Return the Jacobian of the map applied to in.
Definition: Maps.h:1274
const Vec3d & getInvScaleSqr() const
Return the square of the scale. Used to optimize some finite difference calculations.
Definition: Maps.h:1343
bool isScaleTranslate() const
Return true if the map is equivalent to a ScaleTranslateMap.
Definition: Maps.h:472
Mat4 inverse(T tolerance=0) const
Definition: Mat4.h:485
const Vec3d & getInvScale() const
Return 1/(scale)
Definition: Maps.h:1347
bool isApproxEqual(const Type &a, const Type &b, const Type &tolerance)
Return true if a is equal to b to within the given tolerance.
Definition: Math.h:406
bool isLinear() const final
Return true (a ScaleMap is always linear).
Definition: Maps.h:713
static MapBase::Ptr create()
Return a MapBase::Ptr to a new UnitaryMap.
Definition: Maps.h:1696
double determinant(const Vec3d &) const override
Return the determinant of the Jacobian, ignores argument.
Definition: Maps.h:1776
void setTaper(double t)
set the taper value, the ratio of nearplane width / far plane width
Definition: Maps.h:2352
Definition: Exceptions.h:13
NonlinearFrustumMap(const BBoxd &bb, double taper, double depth, const MapBase::Ptr &secondMap)
Constructor that takes an index-space bounding box to be mapped into a frustum with a given depth and...
Definition: Maps.h:1920
void accumPostShear(Axis axis0, Axis axis1, double shear)
Modify the existing affine map by post-applying the given operation.
Definition: Maps.h:519
bool isEqual(const MapBase &other) const override
Return true if this map is equal to the given map.
Definition: Maps.h:386
Vec3< T > col(int j) const
Get jth column, e.g. Vec3d v = m.col(0);.
Definition: Mat3.h:168
Vec3d applyJacobian(const Vec3d &in, const Vec3d &isloc) const override
Return the Jacobian defined at isloc applied to in.
Definition: Maps.h:2110
float Round(float x)
Return x rounded to the nearest integer.
Definition: Math.h:819
Vec3d voxelSize() const override
Return (1,1,1).
Definition: Maps.h:1060
AffineMap(const Mat3d &m)
Definition: Maps.h:313
AffineMap::Ptr getAffineMap() const override
Return AffineMap::Ptr to an AffineMap equivalent to *this.
Definition: Maps.h:1392
std::string str() const override
string serialization, useful for debugging
Definition: Maps.h:532
MapBase::Ptr preShear(double shear, Axis axis0, Axis axis1) const override
Return a MapBase::Ptr to a new map that is the result of prepending the appropraite operation...
Definition: Maps.h:1419
T * asPointer()
Definition: Vec3.h:94
bool hasUniformScale() const override
Return false (by convention true)
Definition: Maps.h:1015
A specialized linear transform that performs a unitary maping i.e. rotation and or reflection...
Definition: Maps.h:1620
bool hasUniformScale() const override
Return false (by convention false)
Definition: Maps.h:2048
Vec3d applyJacobian(const Vec3d &in, const Vec3d &) const override
Return the Jacobian of the map applied to in.
Definition: Maps.h:1022
MapBase::Ptr postRotate(double radians, Axis axis) const override
Return a MapBase::Ptr to a new map that is the result of prepending the appropraite operation to the ...
Definition: Maps.h:882
Vec3d applyJT(const Vec3d &in) const override
Return the Jacobian Transpose of the second map applied to in.
Definition: Maps.h:2188
double determinant() const override
Return the determinant of the Jacobian.
Definition: Maps.h:456
MapBase::Ptr copy() const override
Return a MapBase::Ptr to a deep copy of this map.
Definition: Maps.h:354
const FirstMapType & firstMap() const
Definition: Maps.h:2667
Name type() const override
Return NonlinearFrustumMap.
Definition: Maps.h:2040
AffineMap()
Definition: Maps.h:301
Vec3d applyInverseJacobian(const Vec3d &in) const override
Return the Inverse Jacobian of the map applied to in (i.e. inverse map with out translation) ...
Definition: Maps.h:2135
Vec3d voxelSize() const override
Return the lengths of the images of the segments (0,0,0)-(1,0,0), (0,0,0)-(0,1,0) and (0...
Definition: Maps.h:461
std::string Name
Definition: Name.h:19
MapBase::Ptr copy() const override
Return a MapBase::Ptr to a deep copy of this map.
Definition: Maps.h:694
MapBase::Ptr postScale(const Vec3d &v) const override
Return a MapBase::Ptr to a new map that is the result of appending the given scale.
Definition: Maps.h:1862
bool isEqual(const MapBase &other) const override
Return true if this map is equal to the given map.
Definition: Maps.h:839
double determinant(const Vec3d &) const final
Return the product of the scale values, ignores argument.
Definition: Maps.h:1327
Vec3d applyJT(const Vec3d &in, const Vec3d &) const final
Return the Jacobian Transpose of the map applied to in.
Definition: Maps.h:761
const Vec3d & getTranslation() const
Return the translation vector.
Definition: Maps.h:1065
Mat3d applyIJC(const Mat3d &in, const Vec3d &, const Vec3d &) const override
Definition: Maps.h:1771
ScaleTranslateMap(const ScaleTranslateMap &other)
Definition: Maps.h:1207
bool isDiagonal() const
Return true if the underylying matrix is diagonal.
Definition: Maps.h:468
AffineMap::Ptr getAffineMap() const override
Return a AffineMap equivalent to this map.
Definition: Maps.h:851
AffineMap::Ptr getAffineMap() const override
Return AffineMap::Ptr to a deep copy of the current AffineMap.
Definition: Maps.h:547
Vec3d applyInverseJacobian(const Vec3d &in, const Vec3d &) const override
Return the Inverse Jacobian of the map applied to in (i.e. inverse map with out translation) ...
Definition: Maps.h:1746
OPENVDB_API SharedPtr< SymmetricMap > createSymmetricMap(const Mat3d &m)
Utility methods.
Creates the composition of two maps, each of which could be a composition. In the case that each comp...
Definition: Maps.h:42
void read(std::istream &is)
Unserialize this bounding box from the given stream.
Definition: Coord.h:498
CompoundMap()
Definition: Maps.h:2601
bool isInvertible(const MatType &m)
Determine if a matrix is invertible.
Definition: Mat.h:869
Vec3d applyJacobian(const Vec3d &in) const override
Return the Jacobian of the linear second map applied to in.
Definition: Maps.h:2108
MapBase::Ptr preShear(double shear, Axis axis0, Axis axis1) const override
Return a MapBase::Ptr to a new map that is the result of prepending the appropraite operation to the ...
Definition: Maps.h:870
Mat3d applyIJC(const Mat3d &in, const Vec3d &, const Vec3d &) const final
Definition: Maps.h:784
MapBase::Ptr preShear(double shear, Axis axis0, Axis axis1) const override
Return a MapBase::Ptr to a new map that is the result of prepending the appropraite operation...
Definition: Maps.h:574
bool isLinear() const override
Return true (an AffineMap is always linear).
Definition: Maps.h:371
void setFirstMap(const FirstMapType &first)
Definition: Maps.h:2670
Vec3d applyIJT(const Vec3d &in) const final
Return the transpose of the inverse Jacobian of the map applied to in.
Definition: Maps.h:771
Vec3d applyInverseJacobian(const Vec3d &in, const Vec3d &) const override
Return the Inverse Jacobian of the map applied to in (i.e. inverse map with out translation) ...
Definition: Maps.h:422
MapBase::Ptr copy() const override
Returns a MapBase::Ptr to a deep copy of *this.
Definition: Maps.h:1698
Vec3d applyJacobian(const Vec3d &in) const final
Return the Jacobian of the map applied to in.
Definition: Maps.h:1278
T & z()
Definition: Vec3.h:87
Mat3d applyIJC(const Mat3d &mat) const override
Return the Jacobian Curvature: zero for a linear map.
Definition: Maps.h:1049
double determinant() const override
Return the determinant of the Jacobian of linear second map.
Definition: Maps.h:2314
static bool isRegistered()
Definition: Maps.h:358
double determinant() const final
Return the product of the scale values.
Definition: Maps.h:1329
Vec3d applyInverseMap(const Vec3d &in) const override
Return the pre-image of in under the map.
Definition: Maps.h:413
bool isLinear() const final
Return true (a ScaleTranslateMap is always linear).
Definition: Maps.h:1243
AffineMap(const AffineMap &first, const AffineMap &second)
constructor that merges the matrixes for two affine maps
Definition: Maps.h:343
Abstract base class for maps.
Definition: Maps.h:134
MapBase::Ptr preScale(const Vec3d &s) const override
Return a MapBase::Ptr to a new map that is the result of prepending the given scale to the linear par...
Definition: Maps.h:2442
double determinant(const Vec3d &) const override
Return 1.
Definition: Maps.h:1055
UnitaryMap(const Mat3d &m)
Definition: Maps.h:1645
double determinant(const Vec3d &loc) const override
Definition: Maps.h:2318
static void registerMap()
Definition: Maps.h:1232
MapBase::Ptr postShear(double shear, Axis axis0, Axis axis1) const override
Return a MapBase::Ptr to a new map that is the result of appending the given shear.
Definition: Maps.h:1870
static void read(std::istream &is, BufferT &buffer, Codec codec)
UnitaryMap(const Vec3d &axis, double radians)
Definition: Maps.h:1631
static Name mapType()
Return UnitaryMap.
Definition: Maps.h:1717
static MapBase::Ptr create()
Return a MapBase::Ptr to a new TranslationMap.
Definition: Maps.h:991
Vec3d applyJacobian(const Vec3d &in, const Vec3d &) const final
Return the Jacobian of the map applied to in.
Definition: Maps.h:742
bool isLinear() const override
Return true (a TranslationMap is always linear).
Definition: Maps.h:1012
Vec3d applyJacobian(const Vec3d &in) const override
Return the Jacobian of the map applied to in.
Definition: Maps.h:1742
const Coord & max() const
Definition: Coord.h:324
Vec3d applyInverseJacobian(const Vec3d &in) const override
Return the Inverse Jacobian of the map applied to in (i.e. inverse map with out translation) ...
Definition: Maps.h:1751
void read(std::istream &is)
Definition: Maps.h:2673
void read(std::istream &is) override
read serialization
Definition: Maps.h:1789
Vec3d applyJT(const Vec3d &in, const Vec3d &) const override
Return the Jacobian Transpose of the map applied to in.
Definition: Maps.h:1038
void write(std::ostream &os) const override
write serialization
Definition: Maps.h:1360
Definition: Exceptions.h:61
MapBase::Ptr postRotate(double radians, Axis axis) const override
Return a MapBase::Ptr to a new map that is the result of postfixing the appropriate operation...
Definition: Maps.h:1127
const Vec3d & getScale() const
Return the scale values that define the map.
Definition: Maps.h:795
CompoundMap(const FirstMapType &f, const SecondMapType &s)
Definition: Maps.h:2603
bool hasUniformScale() const override
Return false ( test if this is unitary with translation )
Definition: Maps.h:374
bool operator!=(const ScaleMap &other) const
Definition: Maps.h:848
bool operator==(const UnitaryMap &other) const
Definition: Maps.h:1727
const SecondMapType & secondMap() const
Definition: Maps.h:2668
SharedPtr< AffineMap > Ptr
Definition: Maps.h:298
static MapBase::Ptr create()
Return a MapBase::Ptr to a new ScaleMap.
Definition: Maps.h:692
Vec3d applyIJT(const Vec3d &in) const override
Return the transpose of the inverse Jacobian of the map applied to in.
Definition: Maps.h:445
MapBase()
Definition: Maps.h:247
Mat3d applyIJC(const Mat3d &in) const final
Return the Jacobian Curvature: zero for a linear map.
Definition: Maps.h:773
MapBase::Ptr inverseMap() const override
Not implemented, since there is currently no map type that can represent the inverse of a frustum...
Definition: Maps.h:2026
OPENVDB_API Mat4d approxInverse(const Mat4d &mat)
Returns the left pseudoInverse of the input matrix when the 3x3 part is symmetric otherwise it zeros ...
Mat3d applyIJC(const Mat3d &in, const Vec3d &, const Vec3d &) const override
Definition: Maps.h:450
Vec3d applyJT(const Vec3d &in, const Vec3d &) const override
Definition: Maps.h:433
Vec3d voxelSize() const override
Return the size of a voxel at the center of the near plane.
Definition: Maps.h:2326
Vec3d voxelSize(const Vec3d &) const override
Returns the lengths of the images of the segments (0,0,0) − (1,0,0), (0,0,0) − (0,1,0) and (0,0,0) − (0,0,1).
Definition: Maps.h:1785
void write(std::ostream &os) const override
write serialization
Definition: Maps.h:1795
static void registerMap()
Definition: Maps.h:1707
This map is composed of three steps. First it will take a box of size (Lx X Ly X Lz) defined by a mem...
Definition: Maps.h:1891
MapBase::Ptr postTranslate(const Vec3d &t) const override
Return a MapBase::Ptr to a new map that is the result of postfixing the appropraite operation...
Definition: Maps.h:592
Vec3< typename MatType::value_type > getScale(const MatType &mat)
Return a Vec3 representing the lengths of the passed matrix's upper 3×3's rows.
Definition: Mat.h:633
Vec3d applyJT(const Vec3d &in, const Vec3d &) const final
Return the Jacobian Transpose of the map applied to in.
Definition: Maps.h:1293
SharedPtr< UnitaryMap > Ptr
Definition: Maps.h:1623
bool isIdentity() const
Return true if the map is equivalent to an identity.
Definition: Maps.h:2051
OPENVDB_API SharedPtr< MapBase > simplify(SharedPtr< AffineMap > affine)
reduces an AffineMap to a ScaleMap or a ScaleTranslateMap when it can
Vec3d applyMap(const Vec3d &in) const final
Return the image of in under the map.
Definition: Maps.h:726
Vec4< T0 > transform(const Vec4< T0 > &v) const
Transform a Vec4 by post-multiplication.
Definition: Mat4.h:998
const BBoxd & getBBox() const
Return the bounding box that defines the frustum in pre-image space.
Definition: Maps.h:2363
static MapBase::Ptr create()
Return a MapBase::Ptr to a new ScaleTranslateMap.
Definition: Maps.h:1220
ScaleTranslateMap(const ScaleMap &scale, const TranslationMap &translate)
Definition: Maps.h:1194
bool hasSimpleAffine() const
Return true if the second map is a uniform scale, Rotation and translation.
Definition: Maps.h:2372
MapBase::Ptr postRotate(double radians, Axis axis) const override
Return a MapBase::Ptr to a new map that is the result of appending the given rotation.
Definition: Maps.h:1846
Vec3d applyIJT(const Vec3d &in, const Vec3d &) const override
Return the transpose of the inverse Jacobian of the map applied to in.
Definition: Maps.h:1766
MapBase::Ptr inverseMap() const override
Return a new map representing the inverse of this map.
Definition: Maps.h:995
AffineMap::Ptr inverse() const
Return AffineMap::Ptr to the inverse of this map.
Definition: Maps.h:550
MapBase::Ptr postTranslate(const Vec3d &t) const override
Return a MapBase::Ptr to a new map that is the result of postfixing the appropriate operation...
Definition: Maps.h:1134
MapBase::Ptr copy() const override
Return a MapBase::Ptr to a deep copy of this map.
Definition: Maps.h:1222
Vec3d applyMap(const Vec3d &in) const override
Return the image of in under the map.
Definition: Maps.h:2097
MapBase::Ptr preTranslate(const Vec3d &t) const override
Return a MapBase::Ptr to a new map that is the result of prepending the appropriate operation...
Definition: Maps.h:1109
Mat3d applyIJC(const Mat3d &in) const override
Return the Jacobian Curvature: zero for a linear map.
Definition: Maps.h:1770
void write(std::ostream &os) const override
write serialization
Definition: Maps.h:530
math::BBox< Vec3d > BBoxd
Definition: Types.h:84
AffineMap::Ptr getAffineMap() const
Definition: Maps.h:2655
AffineMap(const AffineMap &other)
Definition: Maps.h:330
static MapBase::Ptr create()
Return a MapBase::Ptr to a new NonlinearFrustumMap.
Definition: Maps.h:2019
Vec3d applyJT(const Vec3d &in, const Vec3d &) const override
Return the Jacobian Transpose of the map applied to in.
Definition: Maps.h:1757
OPENVDB_API SharedPtr< PolarDecomposedMap > createPolarDecomposedMap(const Mat3d &m)
Decomposes a general linear into translation following polar decomposition.
bool isEqual(const MapBase &other) const override
Return true if this map is equal to the given map.
Definition: Maps.h:1725
void setMat3(const Mat3< T > &m)
Set upper left to a Mat3.
Definition: Mat4.h:290
Tolerance for floating-point comparison.
Definition: Math.h:148
bool hasTranslation(const Mat4< T > &m)
Definition: Mat4.h:1309
A specialized Affine transform that scales along the principal axis the scaling need not be uniform i...
Definition: Maps.h:655
const Vec3d & getInvScaleSqr() const
Return the square of the scale. Used to optimize some finite difference calculations.
Definition: Maps.h:798
UnitaryMap(Axis axis, double radians)
Definition: Maps.h:1638
Vec3d applyMap(const Vec3d &in) const override
Return the image of in under the map.
Definition: Maps.h:411
Name type() const override
Return the name of this map's concrete type (e.g., "AffineMap").
Definition: Maps.h:1008
Name type() const override
Return the name of this map's concrete type (e.g., "AffineMap").
Definition: Maps.h:709
Vec3d voxelSize(const Vec3d &) const final
Return the lengths of the images of the segments (0,0,0) − 1,0,0), (0,0,0) − (0,1,0) and (0,0,0) − (0,0,1).
Definition: Maps.h:809
Vec3d applyInverseJacobian(const Vec3d &in) const override
Return the Inverse Jacobian of the map applied to in (i.e. inverse map with out translation) ...
Definition: Maps.h:427
#define OPENVDB_VERSION_NAME
The version namespace name for this library version.
Definition: version.h.in:121
const Vec3d & getTranslation() const
Returns the translation.
Definition: Maps.h:1340
bool isEqual(const MapBase &other) const override
Return true if this map is equal to the given map.
Definition: Maps.h:1379
bool isIdentity() const
Definition: Maps.h:2638
bool operator!=(const MyType &other) const
Definition: Maps.h:2628
bool operator==(const MyType &other) const
Definition: Maps.h:2620
MapBase::Ptr postRotate(double radians, Axis axis) const override
Return a MapBase::Ptr to a new map that is the result of postfixing the appropraite operation...
Definition: Maps.h:1430
const Vec3d & getInvScale() const
Return 1/(scale)
Definition: Maps.h:802
Vec3d applyInverseMap(const Vec3d &in) const override
Return the pre-image of in under the map.
Definition: Maps.h:2103
A specialized linear transform that performs a translation.
Definition: Maps.h:977
TranslationMap(const TranslationMap &other)
Definition: Maps.h:986
MyType & operator=(const MyType &other)
Definition: Maps.h:2630
MapBase::Ptr preRotate(double radians, Axis axis=X_AXIS) const override
Return a MapBase::Ptr to a new map that is the result of prepending the given rotation to the linear ...
Definition: Maps.h:2428
bool isLinear() const override
Return false (a NonlinearFrustumMap is never linear).
Definition: Maps.h:2045
Mat3d applyIJC(const Mat3d &m) const override
Return the Jacobian Curvature: zero for a linear map.
Definition: Maps.h:447
const AffineMap & secondMap() const
Return MapBase::Ptr& to the second map.
Definition: Maps.h:2366
void read(std::istream &is) override
read serialization
Definition: Maps.h:1350
bool isEqual(const MapBase &other) const override
Return true if this map is equal to the given map.
Definition: Maps.h:1079
static Name mapType()
Definition: Maps.h:368
ScaleTranslateMap(const Vec3d &scale, const Vec3d &translate)
Definition: Maps.h:1179
bool normalize(T eps=T(1.0e-7))
this = normalized this
Definition: Vec3.h:362
MapBase::Ptr postTranslate(const Vec3d &t) const override
Return a MapBase::Ptr to a new map that is the result of postfixing the appropraite operation...
Definition: Maps.h:1436
std::string str() const override
string serialization, useful for debuging
Definition: Maps.h:1370
Name type() const
Definition: Maps.h:2614
bool operator==(const Vec3< T0 > &v0, const Vec3< T1 > &v1)
Equality operator, does exact floating point comparisons.
Definition: Vec3.h:473
T & x()
Reference to the component, e.g. v.x() = 4.5f;.
Definition: Vec3.h:85
double determinant(const Vec3d &) const final
Return the product of the scale values, ignores argument.
Definition: Maps.h:788
Vec3d voxelSize(const Vec3d &) const override
Return (1,1,1).
Definition: Maps.h:1062
Vec3d applyInverseJacobian(const Vec3d &in, const Vec3d &isloc) const override
Return the Inverse Jacobian defined at isloc of the map applied to in.
Definition: Maps.h:2139
double getGamma() const
Definition: Maps.h:2360
bool isScale() const
Return true if the map is equivalent to a ScaleMap.
Definition: Maps.h:470
static Name mapType()
Definition: Maps.h:2615
void setTranslation(const Vec3< T > &t)
Definition: Mat4.h:314
#define OPENVDB_USE_VERSION_NAMESPACE
Definition: version.h.in:212
MatType shear(Axis axis0, Axis axis1, typename MatType::value_type shear)
Set the matrix to a shear along axis0 by a fraction of axis1.
Definition: Mat.h:688
void accumPreRotation(Axis axis, double radians)
Modify the existing affine map by pre-applying the given operation.
Definition: Maps.h:479
void read(std::istream &is) override
read serialization
Definition: Maps.h:528
ScaleMap(const Vec3d &scale)
Definition: Maps.h:665
T det() const
Determinant of matrix.
Definition: Mat3.h:479
Name type() const override
Return the name of this map's concrete type (e.g., "AffineMap").
Definition: Maps.h:1239
static bool isRegistered()
Definition: Maps.h:1705
Vec3d applyIJT(const Vec3d &in, const Vec3d &) const final
Return the transpose of the inverse Jacobian of the map applied to in.
Definition: Maps.h:767
Vec3d applyJT(const Vec3d &in) const override
Return the Jacobian Transpose of the map applied to in.
Definition: Maps.h:435
MapBase::Ptr postScale(const Vec3d &s) const override
Return a MapBase::Ptr to a new map that is the result of postfixing the appropraite operation...
Definition: Maps.h:598
bool hasUniformScale() const final
Return true if the scale values have the same magnitude (eg. -1, 1, -1 would be a rotation)...
Definition: Maps.h:1247