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Fix GCC 11 compatibility issue #658

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Fix GCC 11 compatibility issue #658

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279c17d
Fix GCC 11 compatibility issue
abougouffa May 24, 2021
72f21a2
Fix comp error: 'numeric_limits' is not a member of 'std'
abougouffa Aug 16, 2021
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230 changes: 101 additions & 129 deletions include/pangolin/gl/colour.h
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Original file line number Diff line number Diff line change
Expand Up @@ -28,151 +28,123 @@
#pragma once

#include <cmath>

#include <limits>
#include <stdexcept>

namespace pangolin
{
namespace pangolin {

/// Represent OpenGL floating point colour: Red, Green and Blue with alpha.
struct Colour
{
inline static Colour White() {
return Colour(1.0f,1.0f,1.0f,1.0f);
}
inline static Colour Black() {
return Colour(0.0f,0.0f,0.0f,1.0f);
}
inline static Colour Red() {
return Colour(1.0f,0.0f,0.0f,1.0f);
}
inline static Colour Green() {
return Colour(0.0f,1.0f,0.0f,1.0f);
}
inline static Colour Blue() {
return Colour(0.0f,0.0f,1.0f,1.0f);
}
inline static Colour Unspecified() {
return Colour(
std::numeric_limits<float>::quiet_NaN(), std::numeric_limits<float>::quiet_NaN(),
std::numeric_limits<float>::quiet_NaN(), std::numeric_limits<float>::quiet_NaN()
);
}

/// Default constructs white.
inline Colour()
: red(1.0f), green(1.0f), blue(1.0f), alpha(1.0f)
{
}

/// Construct from component values
inline Colour(const float red, const float green, const float blue, const float alpha = 1.0f)
: red(red), green(green), blue(blue), alpha(alpha)
{
}

/// Construct from rgba array.
inline Colour(const float rgba[4])
{
r = rgba[0];
g = rgba[1];
b = rgba[2];
a = rgba[3];
}

/// Return pointer to OpenGL compatible RGBA array.
inline float* Get()
{
return c;
}

/// Return this colour with alpha adjusted.
inline Colour WithAlpha(const float alpha)
{
return Colour(r,g,b,alpha);
}

/// Construct from HSV Colour
/// @param hue Colour hue in range [0,1]
/// @param sat Saturation in range [0,1]
/// @param val Value / Brightness in range [0,1].
static inline Colour Hsv(const float hue, const float sat = 1.0f, const float val = 1.0f, const float alpha = 1.0f)
{
const float h = 6.0f * hue;
const int i = (int)floor(h);
const float f = (i%2 == 0) ? 1-(h-i) : h-i;
const float m = val * (1-sat);
const float n = val * (1-sat*f);

switch(i)
{
case 0: return Colour(val,n,m,alpha);
case 1: return Colour(n,val,m,alpha);
case 2: return Colour(m,val,n,alpha);
case 3: return Colour(m,n,val,alpha);
case 4: return Colour(n,m,val,alpha);
case 5: return Colour(val,m,n,alpha);
default:
throw std::runtime_error("Found extra colour in rainbow.");
}
}

union {
struct {
float red;
float green;
float blue;
float alpha;
};
struct {
float r;
float g;
float b;
float a;
};
float c[4];
struct Colour {
inline static Colour White() { return Colour(1.0f, 1.0f, 1.0f, 1.0f); }
inline static Colour Black() { return Colour(0.0f, 0.0f, 0.0f, 1.0f); }
inline static Colour Red() { return Colour(1.0f, 0.0f, 0.0f, 1.0f); }
inline static Colour Green() { return Colour(0.0f, 1.0f, 0.0f, 1.0f); }
inline static Colour Blue() { return Colour(0.0f, 0.0f, 1.0f, 1.0f); }
inline static Colour Unspecified() {
return Colour(std::numeric_limits<float>::quiet_NaN(),
std::numeric_limits<float>::quiet_NaN(),
std::numeric_limits<float>::quiet_NaN(),
std::numeric_limits<float>::quiet_NaN());
}

/// Default constructs white.
inline Colour() : red(1.0f), green(1.0f), blue(1.0f), alpha(1.0f) {}

/// Construct from component values
inline Colour(const float red, const float green, const float blue,
const float alpha = 1.0f)
: red(red), green(green), blue(blue), alpha(alpha) {}

/// Construct from rgba array.
inline Colour(const float rgba[4]) {
r = rgba[0];
g = rgba[1];
b = rgba[2];
a = rgba[3];
}

/// Return pointer to OpenGL compatible RGBA array.
inline float *Get() { return c; }

/// Return this colour with alpha adjusted.
inline Colour WithAlpha(const float alpha) { return Colour(r, g, b, alpha); }

/// Construct from HSV Colour
/// @param hue Colour hue in range [0,1]
/// @param sat Saturation in range [0,1]
/// @param val Value / Brightness in range [0,1].
static inline Colour Hsv(const float hue, const float sat = 1.0f,
const float val = 1.0f, const float alpha = 1.0f) {
const float h = 6.0f * hue;
const int i = (int)floor(h);
const float f = (i % 2 == 0) ? 1 - (h - i) : h - i;
const float m = val * (1 - sat);
const float n = val * (1 - sat * f);

switch (i) {
case 0:
return Colour(val, n, m, alpha);
case 1:
return Colour(n, val, m, alpha);
case 2:
return Colour(m, val, n, alpha);
case 3:
return Colour(m, n, val, alpha);
case 4:
return Colour(n, m, val, alpha);
case 5:
return Colour(val, m, n, alpha);
default:
throw std::runtime_error("Found extra colour in rainbow.");
}
}

union {
struct {
float red;
float green;
float blue;
float alpha;
};

struct {
float r;
float g;
float b;
float a;
};
float c[4];
};
};

/// A ColourWheel is like a continuous colour palate that can be sampled.
/// In the future, different ColourWheels will be supported, but this one
/// is based on sampling hues in HSV colourspace. An indefinite number of
/// unique colours are sampled using the golden angle.
class ColourWheel
{
class ColourWheel {
public:
/// Construct ColourWheel with Saturation, Value and Alpha constant.
inline ColourWheel(float saturation = 0.5f, float value = 1.0f, float alpha = 1.0f)
: unique_colours(0), sat(saturation), val(value), alpha(alpha)
{

}
/// Construct ColourWheel with Saturation, Value and Alpha constant.
inline ColourWheel(float saturation = 0.5f, float value = 1.0f,
float alpha = 1.0f)
: unique_colours(0), sat(saturation), val(value), alpha(alpha) {}

/// Use Golden ratio (/angle) to pick well spaced colours.
inline Colour GetColourBin(int i) const
{
float hue = i * 0.5f * (3.0f - sqrt(5.0f));
hue -= (int)hue;
return Colour::Hsv(hue,sat,val,alpha);
}
/// Use Golden ratio (/angle) to pick well spaced colours.
inline Colour GetColourBin(int i) const {
float hue = i * 0.5f * (3.0f - sqrt(5.0f));
hue -= (int)hue;
return Colour::Hsv(hue, sat, val, alpha);
}

/// Return next unique colour from ColourWheel.
inline Colour GetUniqueColour()
{
return GetColourBin(unique_colours++);
}
/// Return next unique colour from ColourWheel.
inline Colour GetUniqueColour() { return GetColourBin(unique_colours++); }

/// Reset colour wheel counter to initial state
inline void Reset() {
unique_colours = 0;
}
/// Reset colour wheel counter to initial state
inline void Reset() { unique_colours = 0; }

protected:
int unique_colours;
float sat;
float val;
float alpha;
int unique_colours;
float sat;
float val;
float alpha;
};

}
} // namespace pangolin
18 changes: 9 additions & 9 deletions include/pangolin/utils/picojson.h
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Original file line number Diff line number Diff line change
Expand Up @@ -270,8 +270,8 @@ class value {
private:
template <typename T> value(const T*); // intentionally defined to block implicit conversion of pointer to bool
template <typename Iter> static void _indent(Iter os, int indent);
template <typename Iter> void _serialize(Iter os, int indent) const;
std::string _serialize(int indent) const;
template <typename Iter> void serialize_(Iter os, int indent) const;
std::string serialize_(int indent) const;
};

typedef value::array array;
Expand Down Expand Up @@ -561,11 +561,11 @@ template <typename Iter> void serialize_str(const std::string& s, Iter oi) {
}

template <typename Iter> void value::serialize(Iter oi, bool prettify) const {
return _serialize(oi, prettify ? 0 : -1);
return serialize_(oi, prettify ? 0 : -1);
}

inline std::string value::serialize(bool prettify) const {
return _serialize(prettify ? 0 : -1);
return serialize_(prettify ? 0 : -1);
}

template <typename Iter> void value::_indent(Iter oi, int indent) {
Expand All @@ -575,7 +575,7 @@ template <typename Iter> void value::_indent(Iter oi, int indent) {
}
}

template <typename Iter> void value::_serialize(Iter oi, int indent) const {
template <typename Iter> void value::serialize_(Iter oi, int indent) const {
switch (type_) {
case string_type:
serialize_str(*u_.string_, oi);
Expand All @@ -594,7 +594,7 @@ template <typename Iter> void value::_serialize(Iter oi, int indent) const {
if (indent != -1) {
_indent(oi, indent);
}
i->_serialize(oi, indent);
i->serialize_(oi, indent);
}
if (indent != -1) {
--indent;
Expand Down Expand Up @@ -624,7 +624,7 @@ template <typename Iter> void value::_serialize(Iter oi, int indent) const {
if (indent != -1) {
*oi++ = ' ';
}
i->second._serialize(oi, indent);
i->second.serialize_(oi, indent);
}
if (indent != -1) {
--indent;
Expand All @@ -644,9 +644,9 @@ template <typename Iter> void value::_serialize(Iter oi, int indent) const {
}
}

inline std::string value::_serialize(int indent) const {
inline std::string value::serialize_(int indent) const {
std::string s;
_serialize(std::back_inserter(s), indent);
serialize_(std::back_inserter(s), indent);
return s;
}

Expand Down