AA_API void aa_cv_rgb2hsv(const double rgb[3], double hsv[3]) {
double r = rgb[0];
double g = rgb[1];
double b = rgb[2];
// using the polar coordinates method (not hexagon)
double alpha = 0.5 * (2*r - g - b);
double beta = (sqrt(3) / 2.0) * (g - b);
double c = sqrt(alpha*alpha + beta*beta);
// H
hsv[0] = atan2(beta, alpha);
// V
double tmp = AA_MAX(r,g);
hsv[2] = AA_MAX(tmp,b);
// S
if( aa_feq(c,0,0) ) {
hsv[1] = 0;
} else {
hsv[1] = c / hsv[2];
}
}
void aafeq( const char * name, double a, double b, double tol ) {
if( !aa_feq( a, b, tol) ) {
fprintf( stderr, "FAILED: %s\n",name);
fprintf( stderr, "a: %f, b: %f\n", a, b);
abort();
}
}
void test_feq( const char *name, double a, double b, double tol )
{
if( !aa_feq(a,b,tol) ) {
fprintf( stderr, "FAILED: %s, %f != %f\n",name, a, b);
abort();
}
}
static void quat(double E[2][7]) {
double u;
double *q1 = E[0];
double *q2 = E[0];
u = aa_frand();
{
double qg[4], qa[4];
aa_tf_qslerp( u, q1, q2, qg );
aa_tf_qslerpalg( u, q1, q2, qa );
aveq("slerp", 4, qg, qa, .001 );
double dqg[4], dqa[4];
aa_tf_qslerpdiff( u, q1, q2, dqg );
aa_tf_qslerpdiffalg( u, q1, q2, dqa );
aveq("slerpdiff", 4, dqg, dqa, .001 );
}
// mul
{
double Ql[16], Qr[16];
double y0[4], y1[4], y2[4];
aa_tf_qmatrix_l(q1, Ql, 4);
aa_tf_qmatrix_r(q2, Qr, 4);
aa_tf_qmul(q1,q2, y0);
cblas_dgemv( CblasColMajor, CblasNoTrans, 4, 4,
1.0, Ql, 4,
q2, 1,
0, y1, 1 );
cblas_dgemv( CblasColMajor, CblasNoTrans, 4, 4,
1.0, Qr, 4,
q1, 1,
0, y2, 1 );
aveq( "qmul-1", 4, y0, y1, 1e-6 );
aveq( "qmul-2", 4, y0, y2, 1e-6 );
}
// average
{
double qq[8], p[4], s[4];
AA_MEM_CPY( qq, q1, 4 );
AA_MEM_CPY( qq+4, q2, 4 );
double w[2] = {.5,.5};
aa_tf_quat_davenport( 2, w, qq, 4, p );
aa_tf_qslerp( .5, q1, q2, s );
aa_tf_qminimize( p );
aa_tf_qminimize( s );
aveq("davenport-2", 4, p, s, 1e-4 );
}
double R1[9], R2[9], Rr[9], qr[4], qrr[4];
aa_tf_quat2rotmat(q1, R1);
aa_tf_quat2rotmat(q2, R2);
aa_tf_9rel( R1, R2, Rr );
aa_tf_qrel( q1, q2, qr );
aa_tf_rotmat2quat( Rr, qrr );
aa_tf_qminimize( qr );
aa_tf_qminimize( qrr );
aveq("qrel", 4, qr, qrr, .001 );
// minimize
{
double qmin[4], axang[4];
aa_tf_qminimize2( q1, qmin );
test( "quat-minimize", aa_feq( fabs(q1[3]), qmin[3], 0) );
aa_tf_quat2axang( qmin, axang );
test( "quat-minimize-angle", fabs(axang[3]) <= M_PI );
}
// mulc
{
double q1c[4], q2c[4], t1[4], t2[4];
aa_tf_qconj(q1, q1c);
aa_tf_qconj(q2, q2c);
aa_tf_qmul(q1,q2c,t1);
aa_tf_qmulc(q1,q2,t2);
aveq("qmulc", 4, t1, t2, .001 );
aa_tf_qmul(q1c,q2,t1);
aa_tf_qcmul(q1,q2,t2);
aveq("qcmul", 4, t1, t2, .001 );
}
// conj. props
{
// p*q = conj(conj(q) * conj(p))
double c1[4], c2[4], c2c1[4], cc2c1[4], q1q2[4];
aa_tf_qconj(q1,c1);
aa_tf_qconj(q2,c2);
aa_tf_qmul(c2,c1,c2c1);
aa_tf_qmul(q1,q2,q1q2);
aa_tf_qconj(c2c1,cc2c1);
aveq("conjprop", 4, q1q2, cc2c1, .0001);
}
// exp
{
double q1e[4], q1eln[4];
aa_tf_qexp(q1, q1e);
aa_tf_qln(q1e, q1eln);
aveq("exp-log", 4, q1, q1eln, .00001 );
aa_tf_qln(q1, q1eln);
aa_tf_qexp(q1eln, q1e);
aveq("log-exp", 4, q1, q1e, .00001 );
}
// diff
double w[3]={0}, dq[4], wdq[3];
aa_vrand( 3, w );
aa_tf_qvel2diff( q1, w, dq );
aa_tf_qdiff2vel( q1, dq, wdq );
aveq("qveldiff", 3, w, wdq, .000001);
// integrate
double qn_rk1[4], qn_vrk1[4], qn_vrk4[4], qn_vexp[4], qn_dq[4], w0[3] = {0};
double dt = .02;
aa_tf_qrk1( q1, dq, dt, qn_rk1 );
aa_tf_qvelrk1( q1, w, dt, qn_vrk1 );
aa_tf_qvelrk4( q1, w, dt, qn_vrk4 );
aa_tf_qsvel( q1, w, dt, qn_vexp );
aa_tf_qsdiff( q1, dq, dt, qn_dq );
aveq("qvelrk1", 4, qn_rk1, qn_vrk1, .001 );
aveq("qvelrk4", 4, qn_rk1, qn_vrk4, .001 );
aveq("qvelexp", 4, qn_vrk4, qn_vexp, .0001);
aveq("qvelsdiff", 4, qn_vexp, qn_dq, .001 );
aa_tf_qsvel( q1, w0, dt, qn_vexp );
aveq("qvelsvel0", 4, q1, qn_vexp, .000 );
{
double Rb[9], qR[4];
aa_tf_qsvel( q1, w, dt, qn_vexp );
aa_tf_rotmat_svel( R1, w, dt, Rb );
aa_tf_rotmat2quat( Rb, qR );
aa_tf_qminimize( qn_vexp);
aa_tf_qminimize( qR );
aveq("rotmat_svel", 4, qn_vexp, qR, 1e-4 );
}
// vectors
{
double *v0 = E[0] + AA_TF_QUTR_T;
double *v1 = E[1] + AA_TF_QUTR_T;
double q[4], vp[3];
// identify case
aa_tf_vecs2quat( v0, v0, q);
aveq( "vecs2quat-ident", 4, q, aa_tf_quat_ident, 1e-6 );
// regular case
aa_tf_vecs2quat( v0, v1, q);
aa_tf_qrot(q,v0,vp);
// normalize result
{
double n0 = sqrt(v0[0]*v0[0] + v0[1]*v0[1] + v0[2]*v0[2] );
double n1 = sqrt(v1[0]*v1[0] + v1[1]*v1[1] + v1[2]*v1[2] );
double vp1[3];
for( size_t i = 0; i < 3; i ++ ) {
vp1[i] = n0*v1[i] / n1;
}
aveq("vecs2quat", 3, vp, vp1, 1e-6 );
}
// inverted case
double v0n[3] = {-v0[0], -v0[1], -v0[2]};
aa_tf_vecs2quat( v0, v0n, q);
aa_tf_qrot(q,v0,vp);
{
double n0 = sqrt(v0[0]*v0[0] + v0[1]*v0[1] + v0[2]*v0[2] );
double n1 = sqrt(v0n[0]*v0n[0] + v0n[1]*v0n[1] + v0n[2]*v0n[2] );
double vp1[3];
for( size_t i = 0; i < 3; i ++ ) {
vp1[i] = n0*v0n[i] / n1;
}
aveq("vecs2quat-degenerate", 3, vp, vp1, 1e-6 );
}
}
}
int aa_veq(size_t n, const double *a, const double *b, double tol ) {
for( size_t i = 0; i < n; i ++ ) {
if( ! aa_feq( a[i], b[i], tol ) ) return 0;
}
return 1;
}
AA_API void aa_rx_sg_tf_update
( const struct aa_rx_sg *scene_graph,
size_t n_q,
const double *q0,
const double *q,
size_t n_tf,
const double *TF_rel0, size_t ld_rel0,
const double *TF_abs0, size_t ld_abs0,
double *TF_rel, size_t ld_rel,
double *TF_abs, size_t ld_abs )
{
aa_rx_sg_ensure_clean_frames( scene_graph );
amino::SceneGraph *sg = scene_graph->sg;
bool updated[sg->frames.size()];
size_t i_frame = 0;
for( size_t i_rel0 = 0, i_abs0 = 0,
i_rel = 0, i_abs = 0;
i_frame < n_tf && i_frame < sg->frames.size();
i_frame++, i_rel += ld_rel, i_abs += ld_abs,
i_rel0 += ld_rel0, i_abs0 += ld_abs0
)
{
amino::SceneFrame *f = sg->frames[(aa_rx_frame_id)i_frame];
enum aa_rx_frame_type type = f->type;
bool update_abs = 0;
bool in_global = f->in_global();
const double *E_rel0 = TF_rel0 + i_rel0;
const double *E_abs0 = TF_abs0 + i_abs0;
double *E_rel = TF_rel + i_rel;
double *E_abs = TF_abs + i_abs;
switch( type ) {
case AA_RX_FRAME_FIXED:
f->tf_rel(q, E_rel);
update_abs = !in_global && updated[f->parent_id];
break;
case AA_RX_FRAME_REVOLUTE:
case AA_RX_FRAME_PRISMATIC: {
amino::SceneFrameJoint *fj = static_cast<amino::SceneFrameJoint*>(f);
if( aa_feq(q0[fj->config_index], q[fj->config_index], 0 )) {
AA_MEM_CPY(E_rel, E_rel0, 7);
update_abs = !in_global && updated[f->parent_id];
} else {
f->tf_rel(q, E_rel);
update_abs = 1;
}
break; }
}
if( update_abs ) {
// chain to global
if( in_global ) {
// TODO: can we somehow get rid of this branch?
// maybe a separate type for global frames
AA_MEM_CPY(E_abs, E_rel, 7);
} else {
assert( f->parent_id < (ssize_t)i_frame );
double *E_abs_parent = TF_abs + (ld_abs * f->parent_id);;
aa_tf_qutr_mul(E_abs_parent, E_rel, E_abs);
}
updated[i_frame] = 1;
} else {
AA_MEM_CPY(E_abs, E_abs0, 7);
updated[i_frame] = 0;
}
}
}
void aneq( double a, double b, double tol ) {
assert( !aa_feq(a,b,tol) );
}
AA_API int aa_valid_vunit( double *values, size_t n, double tol ) {
return aa_feq( aa_la_norm(n, values), 1.0, tol ) ? 0 : 1;
}
