/* power transform */
static void
reset_exp(xgobidata *xg) {
char lbl[32];
Boolean state;
int j, k, groupno;
int tfno = POWER;
/* reset the power label */
sprintf(lbl, "%4.2f", exponent);
XtVaSetValues(exponent_lbl, XtNlabel, lbl, NULL);
ntform_cols = 0;
for (j=0; j<xg->ncols-1; j++) {
XtVaGetValues(var_cbox[j], XtNstate, &state, NULL);
if (state) {
tform_cols[ntform_cols++] = j;
groupno = xg->vgroup_ids[j];
for (k=j+1; k<xg->ncols-1; k++) {
if (xg->vgroup_ids[k] == groupno)
tform_cols[ntform_cols++] = k;
}
}
}
if (ntform_cols > 0) {
if (transform1(xg, tform_cols, ntform_cols,
&domain_incr, domain_adj, inv_domain_adj,
tfno, (double) exponent))
{
tform_response(xg, tform_cols, ntform_cols);
}
}
}
/* ARGSUSED */
static XtCallbackProc
stage1_tform_cback(Widget w, xgobidata *xg, XtPointer cbdata)
{
int tfno, j /*, k, groupno*/;
Boolean state;
for (tfno=0; tfno<N1TFORMS; tfno++)
if (w == stage1_tform_cmd[tfno])
break;
ntform_cols = 0;
for (j=0; j<xg->ncols-1; j++) {
XtVaGetValues(var_cbox[j], XtNstate, &state, NULL);
if (state) {
tform_cols[ntform_cols++] = j;
/* groupno = xg->vgroup_ids[j];
for (k=j+1; k<xg->ncols-1; k++) {
if (xg->vgroup_ids[k] == groupno)
tform_cols[ntform_cols++] = k;
}*/
}
}
if (ntform_cols > 0) {
if (transform1(xg, tform_cols, ntform_cols,
&domain_incr, domain_adj, inv_domain_adj,
tfno, (double) exponent))
{
tform_response(xg, tform_cols, ntform_cols);
}
}
}
void
restore_variables(xgobidata *xg) {
if (ntform_cols > 0 && tform_cols != NULL) {
if ( transform1(xg, tform_cols, ntform_cols,
&domain_incr, domain_adj, inv_domain_adj,
RESTORE, 0.0) )
{
tform_response(xg, tform_cols, ntform_cols);
}
}
}
unsigned long int transform(char *str1, char *str2, int n, int type,int *arr1,int *arr2){
unsigned long int score = 0;
switch(type){
case 0:
score = transform0(str1, str2, n, type);
break;
case 1:
score = transform1(str1, str2, n, type, arr1, arr2);
break;
}
return score;
}
/* This is only stage1 so far */
void
transform_all(xgobidata *xg) {
int j, cols[1];
for (j=0; j<xg->ncols-1; j++) {
cols[0] = j;
if (tform_tp != (TFormType *) NULL && &tform_tp[j] != (TFormType *) NULL)
transform1(xg, cols, 1,
&tform_tp[j].domain_incr,
tform_tp[j].domain_adj, tform_tp[j].inv_domain_adj,
tform_tp[j].tform1, tform_tp[j].param);
}
}
SCM pip_color_distance (SCM cR, SCM cG, SCM cB, SCM cR2, SCM cG2, SCM cB2)
{
double R = scm_to_double (cR);
double G = scm_to_double (cG);
double B = scm_to_double (cB);
double R2 = scm_to_double (cR2);
double G2 = scm_to_double (cG2);
double B2 = scm_to_double (cB2);
R /= 255.0;
G /= 255.0;
B /= 255.0;
R2 /= 255.0;
G2 /= 255.0;
B2 /= 255.0;
R = transform1 (R);
G = transform1 (G);
B = transform1 (B);
R2 = transform1 (R2);
G2 = transform1 (G2);
B2 = transform1 (B2);
double X = R * 0.4124 + G * 0.3576 + B * 0.1805;
double Y = R * 0.2126 + G * 0.7152 + B * 0.0722;
double Z = R * 0.0193 + G * 0.1192 + B * 0.9505;
double X2 = R2 * 0.4124 + G2 * 0.3576 + B2 * 0.1805;
double Y2 = R2 * 0.2126 + G2 * 0.7152 + B2 * 0.0722;
double Z2 = R2 * 0.0193 + G2 * 0.1192 + B2 * 0.9505;
Y /= REFY;
Z /= REFZ;
X /= REFX;
Y2 /= REFY;
Z2 /= REFZ;
X2 /= REFX;
double LL = 116.0 * transform2(Y) - 16.0;
double AA = 500.0 * (transform2(X) - transform2 (Y));
double BB = 200.0 * (transform2(Y) - transform2 (Z));
double LL2 = 116.0 * transform2(Y2) - 16.0;
double AA2 = 500.0 * (transform2(X2) - transform2 (Y2));
double BB2 = 200.0 * (transform2(Y2) - transform2 (Z2));
double dL = LL - LL2;
double dA = AA - AA2;
double dB = BB - BB2;
return scm_from_double (sqrt (dL * dL + dA * dA + dB * dB));
}
void HomogeneousMatrixTest::testRPYConversions() {
double xExpected, yExpected, zExpected, rollExpected, pitchExpected, yawExpected;
double xActual, yActual, zActual, rollActual, pitchActual, yawActual;
IHomogeneousMatrix44::IHomogeneousMatrix44Ptr transform1(new HomogeneousMatrix44());
xExpected = 1.0;
yExpected = 2.0;
zExpected = 3.0;
rollExpected = 0.5*M_PI;
pitchExpected = 0.0;
yawExpected = 0.0;
HomogeneousMatrix44::xyzRollPitchYawToMatrix(xExpected, yExpected, zExpected, rollExpected, pitchExpected, yawExpected, transform1);
std::cout << "---> transform1 " << std::endl <<*transform1;
HomogeneousMatrix44::matrixToXyzRollPitchYaw(transform1, xActual, yActual, zActual, rollActual, pitchActual, yawActual);
CPPUNIT_ASSERT_DOUBLES_EQUAL(xExpected, xActual, maxTolerance);
CPPUNIT_ASSERT_DOUBLES_EQUAL(yExpected, yActual, maxTolerance);
CPPUNIT_ASSERT_DOUBLES_EQUAL(zExpected, zActual, maxTolerance);
CPPUNIT_ASSERT_DOUBLES_EQUAL(rollExpected, rollActual, maxTolerance);
CPPUNIT_ASSERT_DOUBLES_EQUAL(pitchExpected, pitchActual, maxTolerance);
CPPUNIT_ASSERT_DOUBLES_EQUAL(yawExpected, yawActual, maxTolerance);
xExpected = 1.0;
yExpected = 2.0;
zExpected = 3.0;
rollExpected = 0.0;
pitchExpected = 0.0;
yawExpected = 0.5 * M_PI;
Eigen::AngleAxis<double> rotation2(yawExpected, Eigen::Vector3d(0,0,1));
Transform3d transformation2;
transformation2 = Eigen::Affine3d::Identity();
transformation2.translate(Eigen::Vector3d(xExpected,yExpected,zExpected));
transformation2.rotate(rotation2);
IHomogeneousMatrix44::IHomogeneousMatrix44Ptr transform2(new HomogeneousMatrix44(&transformation2));
HomogeneousMatrix44::matrixToXyzRollPitchYaw(transform2, xActual, yActual, zActual, rollActual, pitchActual, yawActual);
CPPUNIT_ASSERT_DOUBLES_EQUAL(xExpected, xActual, maxTolerance);
CPPUNIT_ASSERT_DOUBLES_EQUAL(yExpected, yActual, maxTolerance);
CPPUNIT_ASSERT_DOUBLES_EQUAL(zExpected, zActual, maxTolerance);
CPPUNIT_ASSERT_DOUBLES_EQUAL(rollExpected, rollActual, maxTolerance);
CPPUNIT_ASSERT_DOUBLES_EQUAL(pitchExpected, pitchActual, maxTolerance);
CPPUNIT_ASSERT_DOUBLES_EQUAL(yawExpected, yawActual, maxTolerance);
xExpected = 1.0;
yExpected = 2.0;
zExpected = 3.0;
rollExpected = 0.0;
pitchExpected = 0.5 * M_PI;
yawExpected = 0;
Eigen::AngleAxis<double> rotation3(pitchExpected, Eigen::Vector3d(0,1,0));
Transform3d transformation3;
transformation3 = Eigen::Affine3d::Identity();
transformation3.translate(Eigen::Vector3d(xExpected,yExpected,zExpected));
transformation3.rotate(rotation3);
IHomogeneousMatrix44::IHomogeneousMatrix44Ptr transform3(new HomogeneousMatrix44(&transformation3));
HomogeneousMatrix44::matrixToXyzRollPitchYaw(transform3, xActual, yActual, zActual, rollActual, pitchActual, yawActual);
CPPUNIT_ASSERT_DOUBLES_EQUAL(xExpected, xActual, maxTolerance);
CPPUNIT_ASSERT_DOUBLES_EQUAL(yExpected, yActual, maxTolerance);
CPPUNIT_ASSERT_DOUBLES_EQUAL(zExpected, zActual, maxTolerance);
CPPUNIT_ASSERT_DOUBLES_EQUAL(rollExpected, rollActual, maxTolerance);
CPPUNIT_ASSERT_DOUBLES_EQUAL(pitchExpected, pitchActual, maxTolerance);
CPPUNIT_ASSERT_DOUBLES_EQUAL(yawExpected, yawActual, maxTolerance);
xExpected = 1.0;
yExpected = 2.0;
zExpected = 3.0;
rollExpected = 0.5 * M_PI;
pitchExpected = 0.0;
yawExpected = 0;
Eigen::AngleAxis<double> rotation4(rollExpected, Eigen::Vector3d(1,0,0));
Transform3d transformation4;
transformation4 = Eigen::Affine3d::Identity();
transformation4.translate(Eigen::Vector3d(xExpected,yExpected,zExpected));
transformation4.rotate(rotation4);
IHomogeneousMatrix44::IHomogeneousMatrix44Ptr transform4(new HomogeneousMatrix44(&transformation4));
HomogeneousMatrix44::matrixToXyzRollPitchYaw(transform4, xActual, yActual, zActual, rollActual, pitchActual, yawActual);
std::cout << "---> transform4 " << std::endl <<*transform4;
CPPUNIT_ASSERT_DOUBLES_EQUAL(xExpected, xActual, maxTolerance);
CPPUNIT_ASSERT_DOUBLES_EQUAL(yExpected, yActual, maxTolerance);
CPPUNIT_ASSERT_DOUBLES_EQUAL(zExpected, zActual, maxTolerance);
CPPUNIT_ASSERT_DOUBLES_EQUAL(rollExpected, rollActual, maxTolerance);
CPPUNIT_ASSERT_DOUBLES_EQUAL(pitchExpected, pitchActual, maxTolerance);
CPPUNIT_ASSERT_DOUBLES_EQUAL(yawExpected, yawActual, maxTolerance);
/* CHecke if Eigen generated and xyzRPY generated _matices_ are similar */
const double* matrixData1 = transform1->getRawData();
const double* matrixData4 = transform4->getRawData();
for (unsigned int i = 0; i < 16; ++i) {
CPPUNIT_ASSERT_DOUBLES_EQUAL(matrixData1[i], matrixData4[i], maxTolerance);
}
}
template <typename PointInT> void
pcl::ConvexHull<PointInT>::performReconstruction (PointCloud &hull, std::vector<pcl::Vertices> &polygons,
bool fill_polygon_data)
{
// FInd the principal directions
EIGEN_ALIGN16 Eigen::Matrix3f covariance_matrix;
Eigen::Vector4f xyz_centroid;
compute3DCentroid (*input_, *indices_, xyz_centroid);
computeCovarianceMatrix (*input_, *indices_, xyz_centroid, covariance_matrix);
EIGEN_ALIGN16 Eigen::Vector3f eigen_values;
EIGEN_ALIGN16 Eigen::Matrix3f eigen_vectors;
pcl::eigen33 (covariance_matrix, eigen_vectors, eigen_values);
Eigen::Affine3f transform1;
transform1.setIdentity ();
int dim = 3;
if (eigen_values[0] / eigen_values[2] < 1.0e-5)
{
// We have points laying on a plane, using 2d convex hull
// Compute transformation bring eigen_vectors.col(i) to z-axis
eigen_vectors.col (2) = eigen_vectors.col (0).cross (eigen_vectors.col (1));
eigen_vectors.col (1) = eigen_vectors.col (2).cross (eigen_vectors.col (0));
transform1 (0, 2) = eigen_vectors (0, 0);
transform1 (1, 2) = eigen_vectors (1, 0);
transform1 (2, 2) = eigen_vectors (2, 0);
transform1 (0, 1) = eigen_vectors (0, 1);
transform1 (1, 1) = eigen_vectors (1, 1);
transform1 (2, 1) = eigen_vectors (2, 1);
transform1 (0, 0) = eigen_vectors (0, 2);
transform1 (1, 0) = eigen_vectors (1, 2);
transform1 (2, 0) = eigen_vectors (2, 2);
transform1 = transform1.inverse ();
dim = 2;
}
else
transform1.setIdentity ();
PointCloud cloud_transformed;
pcl::demeanPointCloud (*input_, *indices_, xyz_centroid, cloud_transformed);
pcl::transformPointCloud (cloud_transformed, cloud_transformed, transform1);
// True if qhull should free points in qh_freeqhull() or reallocation
boolT ismalloc = True;
// option flags for qhull, see qh_opt.htm
char flags[] = "qhull Tc";
// output from qh_produce_output(), use NULL to skip qh_produce_output()
FILE *outfile = NULL;
// error messages from qhull code
FILE *errfile = stderr;
// 0 if no error from qhull
int exitcode;
// Array of coordinates for each point
coordT *points = (coordT *)calloc (cloud_transformed.points.size () * dim, sizeof(coordT));
for (size_t i = 0; i < cloud_transformed.points.size (); ++i)
{
points[i * dim + 0] = (coordT)cloud_transformed.points[i].x;
points[i * dim + 1] = (coordT)cloud_transformed.points[i].y;
if (dim > 2)
points[i * dim + 2] = (coordT)cloud_transformed.points[i].z;
}
// Compute convex hull
exitcode = qh_new_qhull (dim, cloud_transformed.points.size (), points, ismalloc, flags, outfile, errfile);
if (exitcode != 0)
{
PCL_ERROR ("[pcl::%s::performReconstrution] ERROR: qhull was unable to compute a convex hull for the given point cloud (%lu)!\n",
getClassName ().c_str (), (unsigned long) input_->points.size ());
//check if it fails because of NaN values...
if (!cloud_transformed.is_dense)
{
bool NaNvalues = false;
for (size_t i = 0; i < cloud_transformed.size (); ++i)
{
if (!pcl_isfinite (cloud_transformed.points[i].x) ||
!pcl_isfinite (cloud_transformed.points[i].y) ||
!pcl_isfinite (cloud_transformed.points[i].z))
{
NaNvalues = true;
break;
}
}
if (NaNvalues)
PCL_ERROR ("[pcl::%s::performReconstruction] ERROR: point cloud contains NaN values, consider running pcl::PassThrough filter first to remove NaNs!\n", getClassName ().c_str ());
}
hull.points.resize (0);
hull.width = hull.height = 0;
polygons.resize (0);
qh_freeqhull (!qh_ALL);
int curlong, totlong;
qh_memfreeshort (&curlong, &totlong);
return;
}
qh_triangulate ();
int num_facets = qh num_facets;
int num_vertices = qh num_vertices;
hull.points.resize (num_vertices);
vertexT * vertex;
int i = 0;
// Max vertex id
int max_vertex_id = -1;
FORALLvertices
{
if ((int)vertex->id > max_vertex_id)
max_vertex_id = vertex->id;
}
++max_vertex_id;
std::vector<int> qhid_to_pcidx (max_vertex_id);
FORALLvertices
{
// Add vertices to hull point_cloud
hull.points[i].x = vertex->point[0];
hull.points[i].y = vertex->point[1];
if (dim>2)
hull.points[i].z = vertex->point[2];
else
hull.points[i].z = 0;
qhid_to_pcidx[vertex->id] = i; // map the vertex id of qhull to the point cloud index
++i;
}
if (fill_polygon_data)
{
if (dim == 3)
{
polygons.resize (num_facets);
int dd = 0;
facetT * facet;
FORALLfacets
{
polygons[dd].vertices.resize (3);
// Needed by FOREACHvertex_i_
int vertex_n, vertex_i;
FOREACHvertex_i_((*facet).vertices)
//facet_vertices.vertices.push_back (qhid_to_pcidx[vertex->id]);
polygons[dd].vertices[vertex_i] = qhid_to_pcidx[vertex->id];
++dd;
}
}
else
{
