raw

Thirdparty/Pangolin/include/pangolin/plot/datalog.h

@@ -0,0 +1,243 @@
+/* This file is part of the Pangolin Project.
+ * http://github.com/stevenlovegrove/Pangolin
+ *
+ * Copyright (c) 2011 Steven Lovegrove
+ *
+ * Permission is hereby granted, free of charge, to any person
+ * obtaining a copy of this software and associated documentation
+ * files (the "Software"), to deal in the Software without
+ * restriction, including without limitation the rights to use,
+ * copy, modify, merge, publish, distribute, sublicense, and/or sell
+ * copies of the Software, and to permit persons to whom the
+ * Software is furnished to do so, subject to the following
+ * conditions:
+ *
+ * The above copyright notice and this permission notice shall be
+ * included in all copies or substantial portions of the Software.
+ *
+ * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND,
+ * EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES
+ * OF MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND
+ * NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT
+ * HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY,
+ * WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING
+ * FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR
+ * OTHER DEALINGS IN THE SOFTWARE.
+ */
+
+#pragma once
+
+#include <pangolin/platform.h>
+
+#include <algorithm> // std::min, std::max
+#include <limits>
+#include <memory>
+#include <mutex>
+#include <stdexcept>
+#include <string>
+#include <vector>
+
+#if defined(HAVE_EIGEN) && !defined(__CUDACC__) //prevent including Eigen in cuda files
+#define USE_EIGEN
+#endif
+
+#ifdef USE_EIGEN
+#include <Eigen/Core>
+#endif
+
+namespace pangolin
+{
+
+/// Simple statistics recorded for a logged input dimension.
+struct DimensionStats
+{
+    DimensionStats()
+    {
+        Reset();
+    }
+
+    void Reset()
+    {
+        isMonotonic = true;
+        sum = 0.0f;
+        sum_sq = 0.0f;
+        min = std::numeric_limits<float>::max();
+        max = std::numeric_limits<float>::lowest();
+    }
+
+    void Add(const float v)
+    {
+        isMonotonic = isMonotonic && (v >= max);
+        sum += v;
+        sum_sq += v*v;
+        min = std::min(min, v);
+        max = std::max(max, v);
+    }
+
+    bool isMonotonic;
+    float sum;
+    float sum_sq;
+    float min;
+    float max;
+};
+
+class DataLogBlock
+{
+public:
+    /// @param dim: dimension of sample
+    /// @param max_samples: maximum number of samples this block can hold
+    /// @param start_id: index of first sample (from entire dataset) in this buffer
+    DataLogBlock(size_t dim, size_t max_samples, size_t start_id)
+        : dim(dim), max_samples(max_samples), samples(0),
+          start_id(start_id)
+    {
+        sample_buffer = std::unique_ptr<float[]>(new float[dim*max_samples]);
+//        stats = std::unique_ptr<DimensionStats[]>(new DimensionStats[dim]);
+    }
+
+    ~DataLogBlock()
+    {
+    }
+
+    size_t Samples() const
+    {
+        return samples;
+    }
+
+    size_t MaxSamples() const
+    {
+        return max_samples;
+    }
+
+    /// Return how many more samples can fit in this block
+    size_t SampleSpaceLeft() const
+    {
+        return MaxSamples()- Samples();
+    }
+
+    bool IsFull() const
+    {
+        return Samples() >= MaxSamples();
+    }
+
+    /// Add data to block
+    void AddSamples(size_t num_samples, size_t dimensions, const float* data_dim_major );
+
+    /// Delete all samples
+    void ClearLinked()
+    {
+        samples = 0;
+        nextBlock.reset();
+    }
+
+    DataLogBlock* NextBlock() const
+    {
+        return nextBlock.get();
+    }
+
+    size_t StartId() const
+    {
+        return start_id;
+    }
+
+    float* DimData(size_t d) const
+    {
+        return sample_buffer.get() + d;
+    }
+
+    size_t Dimensions() const
+    {
+        return dim;
+    }
+
+    const float* Sample(size_t n) const
+    {
+        const int id = (int)n - (int)start_id;
+
+        if( 0 <= id && id < (int)samples ) {
+            return sample_buffer.get() + dim*id;
+        }else{
+            if(nextBlock) {
+                return nextBlock->Sample(n);
+            }else{
+                throw std::out_of_range("Index out of range.");
+            }
+        }
+    }
+
+protected:
+    size_t dim;
+    size_t max_samples;
+    size_t samples;
+    size_t start_id;
+    std::unique_ptr<float[]> sample_buffer;
+//    std::unique_ptr<DimensionStats[]> stats;
+    std::unique_ptr<DataLogBlock> nextBlock;
+};
+
+/// A DataLog can efficiently record floating point sample data of any size.
+/// Memory is allocated in blocks is transparent to the user.
+class PANGOLIN_EXPORT DataLog
+{
+public:
+    /// @param block_samples_alloc number of samples each memory block can hold.
+    DataLog(unsigned int block_samples_alloc = 10000 );
+
+    ~DataLog();
+
+    /// Provide textual labels corresponding to each dimension logged.
+    /// This information may be used by graphical interfaces to DataLog.
+    void SetLabels(const std::vector<std::string> & labels);
+    const std::vector<std::string>& Labels() const;
+
+    void Log(size_t dimension, const float * vals, unsigned int samples = 1);
+    void Log(float v);
+    void Log(float v1, float v2);
+    void Log(float v1, float v2, float v3);
+    void Log(float v1, float v2, float v3, float v4);
+    void Log(float v1, float v2, float v3, float v4, float v5);
+    void Log(float v1, float v2, float v3, float v4, float v5, float v6);
+    void Log(float v1, float v2, float v3, float v4, float v5, float v6, float v7);
+    void Log(float v1, float v2, float v3, float v4, float v5, float v6, float v7, float v8);
+    void Log(float v1, float v2, float v3, float v4, float v5, float v6, float v7, float v8, float v9);
+    void Log(float v1, float v2, float v3, float v4, float v5, float v6, float v7, float v8, float v9, float v10);
+    void Log(const std::vector<float> & vals);
+
+#ifdef USE_EIGEN
+    template<typename Derived>
+    void Log(const Eigen::MatrixBase<Derived>& M)
+    {
+        Log( M.rows() * M.cols(), M.template cast<float>().eval().data() );
+    }
+#endif
+
+    void Clear();
+    void Save(std::string filename);
+
+    // Return first block of stored data
+    const DataLogBlock* FirstBlock() const;
+
+    // Return last block of stored data
+    const DataLogBlock* LastBlock() const;
+
+    // Return number of samples stored in this DataLog
+    size_t Samples() const;
+
+    // Return pointer to stored sample n
+    const float* Sample(int n) const;
+
+    // Return stats computed for each dimension if enabled.
+    const DimensionStats& Stats(size_t dim) const;
+
+    std::mutex access_mutex;
+
+protected:
+    unsigned int block_samples_alloc;
+    std::vector<std::string> labels;
+    std::unique_ptr<DataLogBlock> block0;
+    DataLogBlock* blockn;
+    std::vector<DimensionStats> stats;
+    bool record_stats;
+};
+
+}

Thirdparty/Pangolin/include/pangolin/plot/plotter.h

@@ -0,0 +1,282 @@
+/* This file is part of the Pangolin Project.
+ * http://github.com/stevenlovegrove/Pangolin
+ *
+ * Copyright (c) 2014 Steven Lovegrove
+ *
+ * Permission is hereby granted, free of charge, to any person
+ * obtaining a copy of this software and associated documentation
+ * files (the "Software"), to deal in the Software without
+ * restriction, including without limitation the rights to use,
+ * copy, modify, merge, publish, distribute, sublicense, and/or sell
+ * copies of the Software, and to permit persons to whom the
+ * Software is furnished to do so, subject to the following
+ * conditions:
+ *
+ * The above copyright notice and this permission notice shall be
+ * included in all copies or substantial portions of the Software.
+ *
+ * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND,
+ * EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES
+ * OF MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND
+ * NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT
+ * HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY,
+ * WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING
+ * FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR
+ * OTHER DEALINGS IN THE SOFTWARE.
+ */
+
+#ifndef PLOTTER_H
+#define PLOTTER_H
+
+#include <limits>
+
+#include <pangolin/display/view.h>
+#include <pangolin/gl/colour.h>
+#include <pangolin/gl/gl.h>
+#include <pangolin/gl/glfont.h>
+#include <pangolin/gl/glsl.h>
+#include <pangolin/handler/handler.h>
+#include <pangolin/plot/datalog.h>
+#include <pangolin/plot/range.h>
+
+#include <set>
+
+namespace pangolin
+{
+
+enum DrawingMode
+{
+    DrawingModePoints = GL_POINTS,
+    DrawingModeDashed = GL_LINES,
+    DrawingModeLine = GL_LINE_STRIP,
+    DrawingModeNone,
+};
+
+struct Marker
+{
+    enum Direction
+    {
+        Horizontal,
+        Vertical
+    };
+
+    enum Equality
+    {
+        LessThan = -1,
+        Equal = 0,
+        GreaterThan = 1
+    };
+
+    Marker(Direction d, float value, Equality leg = Equal, Colour c = Colour() )
+        : colour(c)
+    {
+        if(d == Horizontal) {
+            range.x = Rangef::Open();
+            range.y = Rangef::Containing(value);
+            if(leg == LessThan) {
+                range.y.Insert(std::numeric_limits<float>::lowest() );
+            }else if(leg == GreaterThan) {
+                range.y.Insert(std::numeric_limits<float>::max() );
+            }
+        }else if(d == Vertical) {
+            range.x = Rangef::Containing(value);
+            range.y = Rangef::Open();
+            if(leg == LessThan) {
+                range.x.Insert(std::numeric_limits<float>::lowest() );
+            }else if(leg == GreaterThan) {
+                range.x.Insert(std::numeric_limits<float>::max() );
+            }
+        }
+    }
+
+    Marker(const XYRangef& range, const Colour& c = Colour() )
+        : range(range), colour(c)
+    {
+    }
+
+    XYRangef range;
+    Colour colour;
+};
+
+class PANGOLIN_EXPORT Plotter : public View, Handler
+{
+public:
+    Plotter(
+        DataLog* default_log,
+        float left=0, float right=600, float bottom=-1, float top=1,
+        float tickx=30, float ticky=0.5,
+        Plotter* linked_plotter_x = 0,
+        Plotter* linked_plotter_y = 0
+    );
+
+    virtual ~Plotter();
+
+    void Render();
+
+    XYRangef& GetSelection();
+
+    XYRangef& GetDefaultView();
+    void SetDefaultView(const XYRangef& range);
+
+    XYRangef& GetView();
+    void SetView(const XYRangef& range);
+    void SetViewSmooth(const XYRangef& range);
+
+    void ScrollView(float x, float y);
+    void ScrollViewSmooth(float x, float y);
+
+    void ScaleView(float x, float y, float cx, float cy);
+    void ScaleViewSmooth(float x, float y, float cx, float cy);
+
+    void ResetView();
+
+    void SetTicks(float tickx, float ticky);
+
+    void Track(const std::string& x="$i", const std::string& y = "");
+    void ToggleTracking();
+
+    void Trigger(const std::string& x="$0", int edge = -1, float value = 0.0f);
+    void ToggleTrigger();
+
+    void SetBackgroundColour(const Colour& col);
+    void SetAxisColour(const Colour& col);
+    void SetTickColour(const Colour& col);
+
+    void ScreenToPlot(int xpix, int ypix, float &xplot, float &yplot);
+    void Keyboard(View&, unsigned char key, int x, int y, bool pressed);
+    void Mouse(View&, MouseButton button, int x, int y, bool pressed, int mouse_state);
+    void MouseMotion(View&, int x, int y, int mouse_state);
+    void PassiveMouseMotion(View&, int x, int y, int button_state);
+    void Special(View&, InputSpecial inType, float x, float y, float p1, float p2, float p3, float p4, int button_state);
+
+    /// Remove all current series plots
+    void ClearSeries();
+
+    /// Add series X,Y plot from glsl compatible expressions x_expr, y_expr
+    /// $i refers to integral index of datum in log.
+    /// $0, $1, $2, ... refers to nth series in log.
+    ///    e.g. x_expr = "$i", y_expr = "$0"       // index - data[0] plot
+    ///    e.g. x_expr = "$0", y_expr = "$1"       // data[0], data[1] X-Y plot
+    ///    e.g. x_exptr ="$i", y_expr = "sqrt($1)} // index - sqrt(data[0]) plot
+    void AddSeries(const std::string& x_expr, const std::string& y_expr,
+        DrawingMode drawing_mode = DrawingModeLine, Colour colour = Colour::Unspecified(),
+        const std::string &title = "$y", DataLog* log = nullptr
+    );
+
+    std::string PlotTitleFromExpr(const std::string& expr) const;
+
+    /// Remove all current markers
+    void ClearMarkers();
+
+    /// Add horizontal or vertical inequality marker; equal-to, less-than, or greater than.
+    /// This is useful for annotating a critical point or valid region.
+    Marker& AddMarker(
+        Marker::Direction d, float value,
+        Marker::Equality leg = Marker::Equal, Colour c = Colour()
+    );
+
+    Marker& AddMarker( const Marker& marker );
+
+    void ClearImplicitPlots();
+    void AddImplicitPlot();
+
+    /// Reset colour wheel to initial state. May be useful together with ClearSeries() / ClearMarkers()
+    void ResetColourWheel();
+
+protected:
+    struct PANGOLIN_EXPORT Tick
+    {
+        float val;
+        float factor;
+        std::string symbol;
+    };
+
+    struct PANGOLIN_EXPORT PlotAttrib
+    {
+        PlotAttrib(std::string name, int plot_id, int location = -1)
+            : name(name), plot_id(plot_id), location(location) { }
+
+        std::string name;
+        int plot_id;
+        int location;
+    };
+
+    struct PANGOLIN_EXPORT PlotSeries
+    {
+        PlotSeries();
+        void CreatePlot(const std::string& x, const std::string& y, Colour c, std::string title);
+
+        GlSlProgram prog;
+        GlText title;
+        bool contains_id;
+        std::vector<PlotAttrib> attribs;
+        DataLog* log;
+        GLenum drawing_mode;
+        Colour colour;
+        bool used;
+    };
+
+    struct PANGOLIN_EXPORT PlotImplicit
+    {
+        // Assign to gl_FragColor
+        void CreatePlot(const std::string& code);
+
+        // Expression uses x,y and assignes colours [0,1] to r,g,b,a
+        void CreateColouredPlot(const std::string& code);
+
+        // Expression uses x,y and evaluates to true/false;
+        void CreateInequality(const std::string& ie, Colour c);
+
+        // Expression uses x,y and evaluates to a number
+        void CreateDistancePlot(const std::string& dist);
+
+        GlSlProgram prog;
+    };
+
+    void FixSelection();
+    void UpdateView();
+    Tick FindTickFactor(float tick);
+
+    DataLog* default_log;
+
+    ColourWheel colour_wheel;
+    Colour colour_bg;
+    Colour colour_tk;
+    Colour colour_ax;
+
+    GlSlProgram prog_lines;
+    GlSlProgram prog_text;
+
+    std::vector<PlotSeries> plotseries;
+    std::vector<Marker> plotmarkers;
+    std::vector<PlotImplicit> plotimplicits;
+
+    Tick tick[2];
+    XYRangef rview_default;
+    XYRangef rview;
+    XYRangef target;
+    XYRangef selection;
+
+    void ComputeTrackValue( float track_val[2] );
+    XYRangef ComputeAutoSelection();
+
+    bool track;
+    std::string track_x;
+    std::string track_y;
+    float last_track_val[2];
+
+    // -1: falling, -0:disable, 1: rising
+    int trigger_edge;
+    float trigger_value;
+    std::string trigger;
+
+    float hover[2];
+    int last_mouse_pos[2];
+
+    Plotter* linked_plotter_x;
+    Plotter* linked_plotter_y;
+};
+
+} // namespace pangolin
+
+#endif // PLOTTER_H

Thirdparty/Pangolin/include/pangolin/plot/range.h

@@ -0,0 +1,372 @@
+/* This file is part of the Pangolin Project.
+ * http://github.com/stevenlovegrove/Pangolin
+ *
+ * Copyright (c) 2014 Steven Lovegrove
+ *
+ * Permission is hereby granted, free of charge, to any person
+ * obtaining a copy of this software and associated documentation
+ * files (the "Software"), to deal in the Software without
+ * restriction, including without limitation the rights to use,
+ * copy, modify, merge, publish, distribute, sublicense, and/or sell
+ * copies of the Software, and to permit persons to whom the
+ * Software is furnished to do so, subject to the following
+ * conditions:
+ *
+ * The above copyright notice and this permission notice shall be
+ * included in all copies or substantial portions of the Software.
+ *
+ * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND,
+ * EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES
+ * OF MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND
+ * NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT
+ * HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY,
+ * WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING
+ * FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR
+ * OTHER DEALINGS IN THE SOFTWARE.
+ */
+
+#pragma once
+
+#include <pangolin/platform.h>
+
+#include <limits>
+#include <algorithm>
+#include <cmath>
+
+//prevent including Eigen in cuda files
+#if defined(HAVE_EIGEN) && !defined(__CUDACC__)
+#  define USE_EIGEN
+#endif
+
+#ifdef USE_EIGEN
+#  include <Eigen/Core>
+#  include <Eigen/src/Geometry/AlignedBox.h>
+#endif // USE_EIGEN
+
+namespace pangolin
+{
+
+
+template<typename T>
+struct Range
+{
+    static Range<T> Open()
+    {
+        return Range<T>(std::numeric_limits<T>::lowest(), std::numeric_limits<T>::max());
+    }
+
+    static Range<T> Empty()
+    {
+        return Range<T>(std::numeric_limits<T>::max(), std::numeric_limits<T>::lowest());
+    }
+
+    static Range<T> Containing(T val)
+    {
+        return Range<T>(val, val);
+    }
+
+    Range()
+        : min(+std::numeric_limits<T>::max()),
+          max(-std::numeric_limits<T>::max())
+    {
+    }
+
+    Range(T rmin, T rmax)
+        : min(rmin), max(rmax)
+    {
+    }
+
+    Range operator+(T v)
+    {
+        return Range(min+v, max+v);
+    }
+
+    Range operator-(T v)
+    {
+        return Range(min-v, max-v);
+    }
+
+    Range& operator+=(T v)
+    {
+        min += v;
+        max += v;
+        return *this;
+    }
+
+    Range& operator-=(T v)
+    {
+        min -= v;
+        max -= v;
+        return *this;
+    }
+
+    Range& operator*=(T v)
+    {
+        min *= v;
+        max *= v;
+        return *this;
+    }
+
+    Range& operator/=(T v)
+    {
+        min /= v;
+        max /= v;
+        return *this;
+    }
+
+    Range& operator+=(const Range& o)
+    {
+        min += o.min;
+        max += o.max;
+        return *this;
+    }
+
+    Range& operator-=(const Range& o)
+    {
+        min -= o.min;
+        max -= o.max;
+        return *this;
+    }
+
+    Range operator+(const Range& o) const
+    {
+        return Range(min + o.min, max + o.max);
+    }
+
+    Range operator-(const Range& o) const
+    {
+        return Range(min - o.min, max - o.max);
+    }
+
+    Range operator*(float s) const
+    {
+        return Range(T(s*min), T(s*max));
+    }
+
+    T Size() const
+    {
+        return max - min;
+    }
+
+    T AbsSize() const
+    {
+        return std::abs(Size());
+    }
+
+    T Mid() const
+    {
+        return (min + max) / (T)2.0f;
+    }
+
+    void Scale(float s, float center = 0.0f)
+    {
+        min = T(s*(min-center) + center);
+        max = T(s*(max-center) + center);
+    }
+
+    void Insert(T v)
+    {
+        min = std::min(min,v);
+        max = std::max(max,v);
+    }
+
+    void Insert(const Range<T>& r)
+    {
+        Insert(r.min);
+        Insert(r.max);
+    }
+
+    void Clamp(T vmin, T vmax)
+    {
+        min = std::min(std::max(vmin, min), vmax);
+        max = std::min(std::max(vmin, max), vmax);
+    }
+
+    void Clamp(const Range& o)
+    {
+        Clamp(o.min, o.max);
+    }
+
+    void Clear()
+    {
+        min = std::numeric_limits<T>::max();
+        max = std::numeric_limits<T>::lowest();
+    }
+
+    bool Contains(T v) const
+    {
+        return min <= v && v <= max;
+    }
+
+    bool ContainsWeak(T v) const
+    {
+        return (min <= v && v <= max)
+            || (max <= v && v <= min);
+    }
+
+    template<typename To>
+    Range<To> Cast() const
+    {
+        return Range<To>(To(min), To(max));
+    }
+
+    T min;
+    T max;
+};
+
+template<typename T>
+struct XYRange
+{
+    static XYRange<T> Open()
+    {
+        return XYRange<T>(
+            Range<T>(std::numeric_limits<T>::lowest(), std::numeric_limits<T>::max()),
+            Range<T>(std::numeric_limits<T>::lowest(), std::numeric_limits<T>::max())
+        );
+    }
+
+    static XYRange<T> Empty()
+    {
+        return XYRange<T>(
+            Range<T>(std::numeric_limits<T>::max(), std::numeric_limits<T>::lowest()),
+            Range<T>(std::numeric_limits<T>::max(), std::numeric_limits<T>::lowest())
+        );
+    }
+
+    static XYRange<T> Containing(T x, T y)
+    {
+        return XYRange<T>(
+            Range<T>(x, x),
+            Range<T>(y, y)
+        );
+    }
+
+    XYRange()
+    {
+    }
+
+    XYRange(const Range<T>& xrange, const Range<T>& yrange)
+        : x(xrange), y(yrange)
+    {
+    }
+
+    XYRange(T xmin, T xmax, T ymin, T ymax)
+        : x(xmin,xmax), y(ymin,ymax)
+    {
+    }
+
+    XYRange operator-(const XYRange& o) const
+    {
+        return XYRange(x - o.x, y - o.y);
+    }
+
+    XYRange operator*(float s) const
+    {
+        return XYRange(x*s, y*s);
+    }
+
+    XYRange& operator+=(const XYRange& o)
+    {
+        x += o.x;
+        y += o.y;
+        return *this;
+    }
+
+    void Scale(float sx, float sy, float centerx, float centery)
+    {
+        x.Scale(sx, centerx);
+        y.Scale(sy, centery);
+    }
+
+    void Clear()
+    {
+        x.Clear();
+        y.Clear();
+    }
+
+    void Clamp(T xmin, T xmax, T ymin, T ymax)
+    {
+        x.Clamp(xmin,xmax);
+        y.Clamp(ymin,ymax);
+    }
+
+    void Clamp(const XYRange& o)
+    {
+        x.Clamp(o.x);
+        y.Clamp(o.y);
+    }
+
+    void Insert(T xval, T yval)
+    {
+        x.Insert(xval);
+        y.Insert(yval);
+    }
+
+    void Insert(XYRange<T> r)
+    {
+        x.Insert(r.x);
+        y.Insert(r.y);
+    }
+
+    float Area() const
+    {
+        return x.Size() * y.Size();
+    }
+
+    bool Contains(float px, float py) const
+    {
+        return x.Contains(px) && y.Contains(py);
+    }
+
+    bool ContainsWeak(float px, float py) const
+    {
+        return x.ContainsWeak(px) && y.ContainsWeak(py);
+    }
+
+    template<typename To>
+    XYRange<To> Cast() const
+    {
+        return XYRange<To>(
+            x.template Cast<To>(),
+            y.template Cast<To>()
+        );
+    }
+
+#ifdef USE_EIGEN
+    operator Eigen::AlignedBox<T,2>() const {
+        return Eigen::AlignedBox<T,2>(
+            Eigen::Matrix<T,2,1>(x.min, y.min),
+            Eigen::Matrix<T,2,1>(x.max, y.max)
+        );
+    }
+
+    Eigen::Matrix<T,2,1> Center() const {
+        return Eigen::Matrix<T,2,1>(x.Mid(), y.Mid());
+    }
+#endif
+
+    Range<T> x;
+    Range<T> y;
+};
+
+typedef Range<int> Rangei;
+typedef Range<float> Rangef;
+typedef Range<double> Ranged;
+
+typedef XYRange<int> XYRangei;
+typedef XYRange<float> XYRangef;
+typedef XYRange<double> XYRanged;
+
+template<typename T> inline
+Rangei Round(const Range<T>& r)
+{
+    return Rangei( int(r.min+0.5), int(r.max+0.5) );
+}
+
+template<typename T> inline
+XYRangei Round(const XYRange<T>& r)
+{
+    return XYRangei( Round(r.x), Round(r.y) );
+}
+
+}