Ejemplo n.º 1
0
Archivo: hit.c Proyecto: Elytum/rtv1
int				plane_normal(t_data *data)
{
	const t_plane	plane = data->scene.planes[data->closest[1]];
	const t_ray		ray = data->viewray;

	if (vec3_dot(plane.normal, ray.dir) < 0)
		data->normal = plane.normal;
	else
		data->normal = vec3_reverse(plane.normal);
	data->material = data->scene.materials[
						data->scene.planes[data->closest[1]].m];
	data->new_start = vec3_add(data->viewray.start,
						vec3_mult(data->viewray.dir, data->t));
	return (1);
}
Ejemplo n.º 2
0
// ===========================================================================================
void Quaternion_byAngleAndVector(quat_t *Q, const real_t q_angle, const vec3_t *q_vector)
{
	vec3_t rotation_axis;
	normRv(&rotation_axis, q_vector);
	
	//real_t f = _sin(q_angle * 0.5);
	real_t f, cs;
	_sin_cos(q_angle*0.5, &f, &cs);
	
	vec3_copy(&Q->v, &rotation_axis);
	vec3_mult(&Q->v, f);
	//Q->s = _cos(q_angle*0.5);
	Q->s = cs;
	quat_mult(Q, 1.0 / quat_norm(Q));
}
Ejemplo n.º 3
0
void arGetInitRot2_sub(rpp_float &err,
					   rpp_mat &R,
					   rpp_vec &t,
					   const rpp_float cc[2],
					   const rpp_float fc[2],
					   const rpp_vec *model,
					   const rpp_vec *iprts,
					   const unsigned int model_iprts_size,
					   const rpp_mat R_init,
					   const bool estimate_R_init,
					   const rpp_float epsilon,
					   const rpp_float tolerance,
					   const unsigned int max_iterations)
{
	vec3_array _model;
	vec3_array _iprts;
	_model.resize(model_iprts_size);
	_iprts.resize(model_iprts_size);

	mat33_t K, K_inv;
	mat33_eye(K);
	K.m[0][0] = (real_t)fc[0];
	K.m[1][1] = (real_t)fc[1];
	K.m[0][2] = (real_t)cc[0];
	K.m[1][2] = (real_t)cc[1];

	mat33_inv(K_inv, K);

	for(unsigned int i=0; i<model_iprts_size; i++)
	{
		vec3_t _v,_v2;
		vec3_assign(_v,(real_t)model[i][0],(real_t)model[i][1],(real_t)model[i][2]);
		_model[i] = _v;
		vec3_assign(_v,(real_t)iprts[i][0],(real_t)iprts[i][1],(real_t)iprts[i][2]);
		vec3_mult(_v2,K_inv,_v);
		_iprts[i] = _v2;
	}

	options_t options;
	options.max_iter = max_iterations;
	options.epsilon = (real_t)(epsilon == 0 ? DEFAULT_EPSILON : epsilon);
	options.tol =     (real_t)(tolerance == 0 ? DEFAULT_TOL : tolerance);
	if(estimate_R_init)
		mat33_set_all_zeros(options.initR);
	else
	{
		mat33_assign(options.initR,
			(real_t)R_init[0][0], (real_t)R_init[0][1], (real_t)R_init[0][2],
			(real_t)R_init[1][0], (real_t)R_init[1][1], (real_t)R_init[1][2],
			(real_t)R_init[2][0], (real_t)R_init[2][1], (real_t)R_init[2][2]);
	}

	real_t _err;
	mat33_t _R;
	vec3_t _t;

	arGetInitRot2_sub2(_err,_R,_t,_model,_iprts,options);

	for(int j=0; j<3; j++)
	{
		R[j][0] = (rpp_float)_R.m[j][0];
		R[j][1] = (rpp_float)_R.m[j][1];
		R[j][2] = (rpp_float)_R.m[j][2];
		t[j] = (rpp_float)_t.v[j];
	}
	err = (rpp_float)_err;
}
Ejemplo n.º 4
0
void getRotationY_wrtT(double *al_ret, vec3_t *tnew, const vec3_t *v,
					   const vec3_t *p, const vec3_t *t, const real_t *DB,
					   const mat33_t *Rz, const int n, int *res_n)
{
	int i,j,k;
	
	mat33_t V[n];
	
	for(i=0; i<n; i++)
	{
		vec3_mul_vec3trans(&V[i], &v[i], &v[i]);
		mat33_div(&V[i], vec3trans_mul_vec3(&v[i], &v[i]));
	}

	mat33_t G, _g1, _g2, _g3;
	mat33_array_sum(&_g1, &*V, n);
	mat33_eye(&_g2);
	mat33_div(&_g1, (real_t)(n));
	mat33_sub_mat2(&_g3, &_g2, &_g1);
	mat33_inv(&G, &_g3);
	mat33_div(&G, (real_t)(n));
	mat33_t _opt_t;
	mat33_clear(&_opt_t);

	for(i=0; i<n; i++)
	{
		const real_t v11 = V[i].m[0]; 
		const real_t v21 = V[i].m[3];
		const real_t v31 = V[i].m[6];
		const real_t v12 = V[i].m[1]; 
		const real_t v22 = V[i].m[4];
		const real_t v32 = V[i].m[7];
		const real_t v13 = V[i].m[2]; 
		const real_t v23 = V[i].m[5];
		const real_t v33 = V[i].m[8];
		const real_t px = p[i].v[0];
		const real_t py = p[i].v[1];
		const real_t pz = p[i].v[2];
		const real_t r1 = Rz->m[0];
		const real_t r2 = Rz->m[1];
		const real_t r3 = Rz->m[2];
		const real_t r4 = Rz->m[3];
		const real_t r5 = Rz->m[4];
		const real_t r6 = Rz->m[5];
		const real_t r7 = Rz->m[6];
		const real_t r8 = Rz->m[7];
		const real_t r9 = Rz->m[8];

		mat33_t _o;
		_o.m[0] = (((v11-(real_t)(1))*r2+v12*r5+v13*r8)*py+(-(v11-(real_t)(1))*r1-v12*r4-v13*r7)*px+(-(v11-(real_t)(1))*r3-v12*r6-v13*r9)*pz);
		_o.m[1] = (((real_t)(2)*(v11-(real_t)(1))*r1+(real_t)(2)*v12*r4+(real_t)(2)*v13*r7)*pz+(-(real_t)(2)*(v11-(real_t)(1))*r3-(real_t)(2)*v12*r6-(real_t)(2)*v13*r9)*px);
		_o.m[2] = ((v11-(real_t)(1))*r1+v12*r4+v13*r7)*px+((v11-(real_t)(1))*r3+v12*r6+v13*r9)*pz+((v11-(real_t)(1))*r2+v12*r5+v13*r8)*py;

		_o.m[3] = ((v21*r2+(v22-(real_t)(1))*r5+v23*r8)*py+(-v21*r1-(v22-(real_t)(1))*r4-v23*r7)*px+(-v21*r3-(v22-(real_t)(1))*r6-v23*r9)*pz);
		_o.m[4] = (((real_t)(2)*v21*r1+(real_t)(2)*(v22-(real_t)(1))*r4+(real_t)(2)*v23*r7)*pz+(-(real_t)(2)*v21*r3-(real_t)(2)*(v22-(real_t)(1))*r6-(real_t)(2)*v23*r9)*px);
		_o.m[5] = (v21*r1+(v22-(real_t)(1))*r4+v23*r7)*px+(v21*r3+(v22-(real_t)(1))*r6+v23*r9)*pz+(v21*r2+(v22-(real_t)(1))*r5+v23*r8)*py;

		_o.m[6] = ((v31*r2+v32*r5+(v33-(real_t)(1))*r8)*py+(-v31*r1-v32*r4-(v33-(real_t)(1))*r7)*px+(-v31*r3-v32*r6-(v33-(real_t)(1))*r9)*pz);
		_o.m[7] = (((real_t)(2)*v31*r1+(real_t)(2)*v32*r4+(real_t)(2)*(v33-(real_t)(1))*r7)*pz+(-(real_t)(2)*v31*r3-(real_t)(2)*v32*r6-(real_t)(2)*(v33-(real_t)(1))*r9)*px);
		_o.m[8] = (v31*r1+v32*r4+(v33-(real_t)(1))*r7)*px+(v31*r3+v32*r6+(v33-(real_t)(1))*r9)*pz+(v31*r2+v32*r5+(v33-(real_t)(1))*r8)*py;

		mat33_add(&_opt_t, &_o);
	}

	mat33_t opt_t;
	mat33_mult_mat2(&opt_t, &G, &_opt_t);
	real_t E_2[5] = {0,0,0,0,0};
	for(i=0; i<n; i++)
	{
		const real_t px = p[i].v[0];
		const real_t py = p[i].v[1];
		const real_t pz = p[i].v[2];

		mat33_t Rpi;
		mat33_assign(&Rpi, -px, (real_t)(2)*pz,px,py,(real_t)(0),py,-pz,-(real_t)(2)*px,pz);

		mat33_t E,_e1,_e2;
		mat33_eye(&_e1);
		mat33_sub(&_e1, &V[i]);
		mat33_mult_mat2(&_e2, Rz, &Rpi);
		mat33_add(&_e2, &opt_t);
		mat33_mult_mat2(&E,&_e1,&_e2);
		vec3_t e2,e1,e0;
		mat33_to_col_vec3(&e2,&e1,&e0,&E);
		vec3_t _E2_0,_E2_1,_E2_2,_E2_3,_E2_4;
		vec3_copy(&_E2_0,&e2);
		vec3_mult_vec(&_E2_0,&e2);
		vec3_copy(&_E2_1,&e1);
		vec3_mult_vec(&_E2_1,&e2);
		vec3_mult(&_E2_1,2.0);
		vec3_copy(&_E2_2,&e0);
		vec3_mult_vec(&_E2_2,&e2);
		vec3_mult(&_E2_2,2.0);
		vec3_t _e1_sq;
		vec3_copy(&_e1_sq,&e1);
		vec3_mult_vec(&_e1_sq,&e1);
		vec3_add_vec(&_E2_2,&_e1_sq);
		vec3_copy(&_E2_3,&e0);
		vec3_mult_vec(&_E2_3,&e1);
		vec3_mult(&_E2_3,2.0);
		vec3_copy(&_E2_4,&e0);
		vec3_mult_vec(&_E2_4,&e0);
		E_2[0] += vec3_sum(&_E2_0);
		E_2[1] += vec3_sum(&_E2_1);
		E_2[2] += vec3_sum(&_E2_2);
		E_2[3] += vec3_sum(&_E2_3);
		E_2[4] += vec3_sum(&_E2_4);
	}

	//scalar_array _a;
	//_a.resize(5);
	double _a[5];
	
	_a[4] = -E_2[1];
	_a[3] = (real_t)(4)*E_2[0] - (real_t)(2)*E_2[2];
	_a[2] = -(real_t)(3)*E_2[3] + (real_t)(3)*E_2[1];
	_a[1] = -(real_t)(4)*E_2[4] + (real_t)(2)*E_2[2];
	_a[0] = E_2[3];

	double at_sol[5];
	
	int num_sol = solve_polynomial(&*at_sol, &*_a, 5);
	double e[num_sol];
	scalar_array_clear(&*e, num_sol);
	
	double at[num_sol];
	
	if(COMPLICATED_ERROR_CMP)
	{
	  // get the error in a complicate way
	  scalar_array_clear(&*e, num_sol);
	  scalar_array_add(&*e, _a[0], num_sol);
	  
	  //at.clear();
	  //at.assign(at_sol.begin(),at_sol.end());
	  memcpy(&*at, &*at_sol, num_sol*sizeof(double));
	  
	  scalar_array_mult(&*at, _a[1], num_sol);
	  scalar_array_add_vec(&*e, &*at, num_sol);
	  
	  for(j=2; j<=4; j++)
	    {
	      //at.clear();
	      //at.assign(at_sol.begin(),at_sol.end());
		  memcpy(&*at, &*at_sol, num_sol*sizeof(double));
		  
	      scalar_array_pow(&*at, (real_t)(j), num_sol);
	      scalar_array_mult(&*at, _a[j], num_sol);
	      scalar_array_add_vec(&*e, &*at, num_sol);
	    }
	}
	else
	{
	  // Or in a fast one 
	  scalar_array_add(&*e, _a[4], num_sol);
	  for(j=3;j>0;j--)
	  {
	    // multiply with at & add a_ 
	    for(k=0;k<num_sol;k++)
		{
	      e[k] =  e[k]*at_sol[k] + _a[j] ;
		}
	  }
	}
	
	memcpy(&*at, &*at_sol, num_sol*sizeof(double));

	// get the angle al
	//scalar_array sa(at.begin(),at.end());
	double sa[num_sol];
	memcpy(&*sa, &*at, num_sol*sizeof(double));
	
	scalar_array_mult(&*sa, 2.0, num_sol);
	
	//scalar_array _ca1(at.begin(),at.end());
	double _ca1[num_sol];
	memcpy(&*_ca1, &*at, num_sol*sizeof(double));
	
	scalar_array_pow(&*_ca1,2.0, num_sol);
	scalar_array_add(&*_ca1,1.0, num_sol);
	
	//scalar_array ca(at.begin(),at.end());
	double ca[num_sol];
	memcpy(&*ca, &*at, num_sol*sizeof(double));
	
	scalar_array_pow(&*ca,2, num_sol);
	scalar_array_negate(&*ca, num_sol);
	scalar_array_add(&*ca,1.0, num_sol);
	scalar_array_div_vec(&*ca, &*_ca1, num_sol);
	scalar_array_div_vec(&*sa, &*_ca1, num_sol);
	
	double al[num_sol];
	scalar_array_atan2(&*al, &*sa, &*ca, num_sol);
	
	// check the sign of the derivative 
	scalar_array_mult(&*al, (real_t)(180./CONST_PI), num_sol);
	
	double _c_tMaxMin[num_sol];
	//_c_tMaxMin.resize(at.size());
	scalar_array_clear(&*_c_tMaxMin, num_sol);
	scalar_array_add(&*_c_tMaxMin, _a[1], num_sol);
	double _at[num_sol];
	//_at.clear();
	//_at.assign(at.begin(),at.end());
	memcpy(&*_at, &*at, num_sol*sizeof(double));
	
	scalar_array_mult(&*_at, _a[2], num_sol);
	scalar_array_mult(&*_at, 2.0, num_sol);
	scalar_array_add_vec(&*_c_tMaxMin, &*_at, num_sol);

	for(j=3; j<=4; j++)
	{
		memcpy(&*_at, &*at, num_sol*sizeof(double));
		
		scalar_array_pow(&*_at, (real_t)(j)-(real_t)(1.0), num_sol);
		scalar_array_mult(&*_at, _a[j], num_sol);
		scalar_array_mult(&*_at, (real_t)(j), num_sol);
		scalar_array_add_vec(&*_c_tMaxMin, &*_at, num_sol);
	}

	double tMaxMin[num_sol];
	double al_[num_sol];
	int al_idx = 0, a;
	
	memcpy(&*tMaxMin, &*_c_tMaxMin, num_sol*sizeof(double));
	
	for(i=0; i<num_sol; i++)
	{
		if(tMaxMin[i] > 0) al_[al_idx++] = al[i];
	}
	
	for(a=0; a<al_idx; a++)
	{
		vec3_t rpy;
		vec3_assign(&rpy, (real_t)0, (real_t)(al_[a] * CONST_PI / (real_t)(180)), (real_t)(0));
		mat33_t R, Ry_;
		rpyMat(&Ry_, &rpy);
		mat33_mult_mat2(&R, Rz, &Ry_);
		vec3_t t_opt;
		vec3_clear(&t_opt);

		for(i=0; i<n; i++)
		{
			mat33_t _m1, _eye3;
			mat33_eye(&_eye3);
			mat33_copy(&_m1, &V[i]);
			mat33_sub(&_m1, &_eye3);
			vec3_t _v1, _v2;
			vec3_mult_mat(&_v1, &R, &p[i]);
			vec3_mult_mat(&_v2, &_m1, &_v1);
			vec3_add_vec(&t_opt, &_v2);
		}

		vec3_t t_opt_;
		vec3_mult_mat(&t_opt_, &G, &t_opt);
		tnew[a] = t_opt_;
	}
	
	memcpy(al_ret, &*al_, al_idx*sizeof(double));
	
	*res_n = al_idx;
}
Ejemplo n.º 5
0
void objpose(mat33_t *R, vec3_t *t, int *it, real_t *obj_err, real_t *img_err,
			 bool calc_img_err, const vec3_t *_P, const vec3_t *Qp, const options_t options, const int n)
{
	int i, j;
	//vec3_array P(_P.begin(),_P.end());
	vec3_t P[n];
	memcpy(&*P, _P, n*sizeof(vec3_t));

	//const int n = (unsigned int) P.size();
	vec3_t pbar;
	vec3_array_sum(&pbar, &*P, n);
	vec3_div(&pbar, (real_t)(n));
	vec3_array_sub(&*P, &pbar, n);
	
	//vec3_array Q(Qp.begin(),Qp.end());
	vec3_t Q[n];
	memcpy(&*Q, Qp, n*sizeof(vec3_t));
	
	vec3_t ones;
	ones.v[0] = 1;
	ones.v[1] = 1;
	ones.v[2] = 1;
	const bool mask_z[3] = {0,0,1};
	vec3_array_set(&*Q, &ones, mask_z, n);
	
	//mat33_array F;
	//F.resize(n);
	mat33_t F[n];
	
	vec3_t V;
	for(i=0; i<n; i++)
	{
		V.v[0] = Q[i].v[0] / Q[i].v[2];
		V.v[1] = Q[i].v[1] / Q[i].v[2];
		V.v[2] = 1.0;
		mat33_t _m;
		vec3_mul_vec3trans(&_m, &V, &V);
		mat33_div(&_m, vec3trans_mul_vec3(&V,&V));
		F[i] = _m;
	}

	mat33_t tFactor;
	
	mat33_t _m1,_m2,_m3;
	mat33_eye(&_m1);
	mat33_array_sum(&_m2, &*F, n);
	mat33_div(&_m2, (real_t)(n));
	mat33_sub_mat2(&_m3, &_m1, &_m2);
	mat33_inv(&tFactor, &_m3);
	mat33_div(&tFactor, (real_t)(n));

	*it = 0;
	int initR_approximate = mat33_all_zeros(&options.initR);
	mat33_t Ri;
	vec3_t ti;
	
	//vec3_array Qi;
	//Qi.resize(n);
	vec3_t Qi[n];
	
	real_t old_err = 0.0, new_err = 0.0;

	// ----------------------------------------------------------------------------------------
	if(initR_approximate == 0)
	{
		mat33_copy(&Ri, &options.initR);
		vec3_t _sum;
		vec3_t _v1, _v2;
		mat33_t _m1,_m2;
		vec3_clear(&_sum);
		for(j=0; j<n; j++)
		{
			mat33_eye(&_m1);
			mat33_sub_mat2(&_m2, &F[j], &_m1);
			vec3_mult_mat(&_v1, &Ri, &P[j]);
			vec3_mult_mat(&_v2, &_m2, &_v1);
			vec3_add_vec(&_sum, &_v2);
		}
		vec3_mult_mat(&ti,&tFactor,&_sum);
		xform(&*Qi, &*P, &Ri, &ti, n);
		old_err = 0;
		vec3_t _v;
		for(j=0; j<n; j++)
		{
			mat33_eye(&_m1);
			mat33_sub_mat2(&_m2, &F[j], &_m1);
			vec3_mult_mat(&_v, &_m2, &Qi[j]);
			old_err += vec3_dot(&_v, &_v);
		}
	// ----------------------------------------------------------------------------------------
	}
	else
	{
		abskernel(&Ri, &ti, &*Qi, &old_err, &*P, &*Q, &*F, &tFactor, n);
		*it = 1;
	}
	// ----------------------------------------------------------------------------------------

	abskernel(&Ri, &ti, &*Qi, &new_err, &*P, &*Qi, &*F, &tFactor, n);
	*it = *it + 1;

	while((_abs((old_err-new_err)/old_err) > options.tol) && (new_err > options.epsilon) &&
		  (options.max_iter == 0 || *it < options.max_iter))
	{
		old_err = new_err;
		abskernel(&Ri, &ti, &*Qi, &new_err, &*P, &*Qi, &*F, &tFactor, n);
		*it = *it + 1;
	}


	mat33_copy(R, &Ri);
	vec3_copy(t, &ti);
	*obj_err = _sqrt(new_err/(real_t)(n));

	if(calc_img_err == 1)
	{
		//vec3_array Qproj;
		//Qproj.resize(n);
		vec3_t Qproj[n];
		
		xformproj(&*Qproj, &*P, &Ri, &ti, n);
		*img_err = 0;

		vec3_t _v;
		for(j=0; j<n; j++)
		{
			vec3_sub_vec2(&_v, &Qproj[j], &Qp[j]);
			*img_err += vec3_dot(&_v, &_v);
		}
		*img_err = _sqrt(*img_err/(real_t)(n));
	}

	if(t->v[2] < 0)
	{
		mat33_mult(R, -1.0);
		vec3_mult(t, -1.0);
	}

	vec3_t _ts;
	vec3_mult_mat(&_ts, &Ri, &pbar);
	vec3_sub_vec(t, &_ts);
}
Ejemplo n.º 6
0
Vec3 vec3_reflect(Vec3* vIncidentVector, Vec3* vNormalVector) {
    return Vec3_diff(*vIncidentVector, vec3_mult(*vNormalVector, 2.0f * vec3_dot(vNormalVector, vIncidentVector)));
}