v01

2022-04-05 11:42:28 +03:00
commit 6dc0eb0fcf
5565 changed files with 1200500 additions and 0 deletions
--- a/thirdparty/basalt-headers/include/basalt/camera/camera_static_assert.hpp
+++ b/thirdparty/basalt-headers/include/basalt/camera/camera_static_assert.hpp
@@ -0,0 +1,126 @@
+/**
+BSD 3-Clause License
+
+This file is part of the Basalt project.
+https://gitlab.com/VladyslavUsenko/basalt-headers.git
+
+Copyright (c) 2019, Vladyslav Usenko and Nikolaus Demmel.
+All rights reserved.
+
+Redistribution and use in source and binary forms, with or without
+modification, are permitted provided that the following conditions are met:
+
+* Redistributions of source code must retain the above copyright notice, this
+  list of conditions and the following disclaimer.
+
+* Redistributions in binary form must reproduce the above copyright notice,
+  this list of conditions and the following disclaimer in the documentation
+  and/or other materials provided with the distribution.
+
+* Neither the name of the copyright holder nor the names of its
+  contributors may be used to endorse or promote products derived from
+  this software without specific prior written permission.
+
+THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
+DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE
+FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL
+DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR
+SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
+CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY,
+OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
+OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+
+@file
+@brief Static asserts for checking projection and unprojection types
+*/
+
+#pragma once
+
+#include <Eigen/Dense>
+
+#include <string_view>
+
+namespace basalt {
+
+/// @brief Helper struct to evaluate lazy Eigen expressions or const reference
+/// them if they are Eigen::Matrix or Eigen::Map types
+template <class Derived>
+struct EvalOrReference {
+  using Type = typename Eigen::internal::eval<Derived>::type;
+};
+
+/// @brief Helper struct to evaluate lazy Eigen expressions or const reference
+/// them if they are Eigen::Matrix or Eigen::Map types
+template <typename _Scalar, int _Rows, int _Cols, int _Options, int _MaxRows,
+          int _MaxCols, int MapOptions, typename StrideType>
+struct EvalOrReference<Eigen::Map<
+    Eigen::Matrix<_Scalar, _Rows, _Cols, _Options, _MaxRows, _MaxCols>,
+    MapOptions, StrideType>> {
+  using Type = const Eigen::MatrixBase<Eigen::Map<
+      Eigen::Matrix<_Scalar, _Rows, _Cols, _Options, _MaxRows, _MaxCols>,
+      MapOptions, StrideType>> &;
+};
+
+/// @brief Helper function to check that 3D points are 3 or 4 dimensional and
+/// the Jacobians have the appropriate shape in the project function
+template <class DerivedPoint3D, class DerivedPoint2D, class DerivedJ3DPtr,
+          class DerivedJparamPtr, int N>
+constexpr inline void checkProjectionDerivedTypes() {
+  EIGEN_STATIC_ASSERT(DerivedPoint3D::IsVectorAtCompileTime &&
+                          (DerivedPoint3D::SizeAtCompileTime == 3 ||
+                           DerivedPoint3D::SizeAtCompileTime == 4),
+                      THIS_METHOD_IS_ONLY_FOR_VECTORS_OF_A_SPECIFIC_SIZE)
+
+  EIGEN_STATIC_ASSERT_VECTOR_SPECIFIC_SIZE(DerivedPoint2D, 2);
+
+  if constexpr (!std::is_same_v<DerivedJ3DPtr, std::nullptr_t>) {
+    static_assert(std::is_pointer_v<DerivedJ3DPtr>);
+    using DerivedJ3D = typename std::remove_pointer<DerivedJ3DPtr>::type;
+
+    EIGEN_STATIC_ASSERT(DerivedJ3D::RowsAtCompileTime == 2 &&
+                            int(DerivedJ3D::ColsAtCompileTime) ==
+                                int(DerivedPoint3D::SizeAtCompileTime),
+                        THIS_METHOD_IS_ONLY_FOR_MATRICES_OF_A_SPECIFIC_SIZE)
+  }
+
+  if constexpr (!std::is_same_v<DerivedJparamPtr, std::nullptr_t>) {
+    static_assert(std::is_pointer_v<DerivedJparamPtr>);
+    using DerivedJparam = typename std::remove_pointer<DerivedJparamPtr>::type;
+    EIGEN_STATIC_ASSERT_MATRIX_SPECIFIC_SIZE(DerivedJparam, 2, N);
+  }
+}
+
+/// @brief Helper function to check that 3D points are 3 or 4 dimensional and
+/// the Jacobians have the appropriate shape in the unproject function
+template <class DerivedPoint2D, class DerivedPoint3D, class DerivedJ2DPtr,
+          class DerivedJparamPtr, int N>
+constexpr inline void checkUnprojectionDerivedTypes() {
+  EIGEN_STATIC_ASSERT_VECTOR_SPECIFIC_SIZE(DerivedPoint2D, 2);
+
+  EIGEN_STATIC_ASSERT(DerivedPoint3D::IsVectorAtCompileTime &&
+                          (DerivedPoint3D::SizeAtCompileTime == 3 ||
+                           DerivedPoint3D::SizeAtCompileTime == 4),
+                      THIS_METHOD_IS_ONLY_FOR_VECTORS_OF_A_SPECIFIC_SIZE)
+
+  if constexpr (!std::is_same_v<DerivedJ2DPtr, std::nullptr_t>) {
+    static_assert(std::is_pointer_v<DerivedJ2DPtr>);
+    using DerivedJ2D = typename std::remove_pointer<DerivedJ2DPtr>::type;
+    EIGEN_STATIC_ASSERT(DerivedJ2D::ColsAtCompileTime == 2 &&
+                            int(DerivedJ2D::RowsAtCompileTime) ==
+                                int(DerivedPoint3D::SizeAtCompileTime),
+                        THIS_METHOD_IS_ONLY_FOR_MATRICES_OF_A_SPECIFIC_SIZE)
+  }
+
+  if constexpr (!std::is_same_v<DerivedJparamPtr, std::nullptr_t>) {
+    static_assert(std::is_pointer_v<DerivedJparamPtr>);
+    using DerivedJparam = typename std::remove_pointer<DerivedJparamPtr>::type;
+    EIGEN_STATIC_ASSERT(DerivedJparam::ColsAtCompileTime == N &&
+                            int(DerivedJparam::RowsAtCompileTime) ==
+                                int(DerivedPoint3D::SizeAtCompileTime),
+                        THIS_METHOD_IS_ONLY_FOR_MATRICES_OF_A_SPECIFIC_SIZE)
+  }
+}
+
+}  // namespace basalt