type_util.hpp

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/*
 * SPDX-FileCopyrightText: 2021 Smart Robotics Lab, Imperial College London, Technical University of Munich
 * SPDX-FileCopyrightText: 2021 Nils Funk
 * SPDX-FileCopyrightText: 2021 Sotiris Papatheodorou
 * SPDX-License-Identifier: BSD-3-Clause
 */
 
#ifndef SE_TYPE_UTIL_HPP
#define SE_TYPE_UTIL_HPP
 
#include <Eigen/StdVector>
#include <se/common/rgb.hpp>
 
EIGEN_DEFINE_STL_VECTOR_SPECIALIZATION(Eigen::Vector2f)
EIGEN_DEFINE_STL_VECTOR_SPECIALIZATION(Eigen::Vector3f)
EIGEN_DEFINE_STL_VECTOR_SPECIALIZATION(Eigen::Vector2d)
EIGEN_DEFINE_STL_VECTOR_SPECIALIZATION(Eigen::Vector3d)
 
EIGEN_DEFINE_STL_VECTOR_SPECIALIZATION(Eigen::Matrix2f)
EIGEN_DEFINE_STL_VECTOR_SPECIALIZATION(Eigen::Matrix3f)
EIGEN_DEFINE_STL_VECTOR_SPECIALIZATION(Eigen::Matrix4f)
EIGEN_DEFINE_STL_VECTOR_SPECIALIZATION(Eigen::Matrix2d)
EIGEN_DEFINE_STL_VECTOR_SPECIALIZATION(Eigen::Matrix3d)
EIGEN_DEFINE_STL_VECTOR_SPECIALIZATION(Eigen::Matrix4d)
 
namespace se {
 
typedef uint64_t key_t;   
typedef uint64_t code_t;  
typedef uint64_t scale_t; 
 
typedef unsigned int idx_t; 
 
typedef float field_t; 
 
typedef Eigen::Matrix<field_t, 3, 1> field_vec_t;
 
typedef se::field_t weight_t; 
 
typedef int timestamp_t; 
 
typedef RGB colour_t; 
 
typedef uint16_t id_t;
inline constexpr id_t g_no_id = 0;
inline constexpr id_t g_not_mapped = -1;
 
 
static inline RGB id_colour(const id_t id)
{
    switch (id) {
    case g_not_mapped:
        return {0x00, 0x00, 0x00};
    case g_no_id:
        return {0xFF, 0xFF, 0xFF};
    default: {
        // Inspired from the following and naively modified for 16-bit integers.
        // https://stackoverflow.com/questions/664014/what-integer-hash-function-are-good-that-accepts-an-integer-hash-key/12996028#12996028
        const uint8_t r = ((id >> 8) ^ id) * 0x45d9f3b;
        const uint8_t g = ((id >> 8) ^ r) * 0x45d9f3b;
        const uint8_t b = ((id >> 8) ^ g) * 0x45d9f3b;
        return {r, g, b};
    }
    }
}
 
} // namespace se
 
#endif // SE_TYPE_UTIL_HPP