void
testeigen(double tt[7], double eval[3], double evec[9]) {
double mat[9], dot[3], cross[3];
unsigned int ii;
TEN_T2M(mat, tt);
printf("evals %g %g %g\n", eval[0], eval[1], eval[2]);
printf("evec0 (%g) %g %g %g\n",
ELL_3V_LEN(evec + 0), evec[0], evec[1], evec[2]);
printf("evec1 (%g) %g %g %g\n",
ELL_3V_LEN(evec + 3), evec[3], evec[4], evec[5]);
printf("evec2 (%g) %g %g %g\n",
ELL_3V_LEN(evec + 6), evec[6], evec[7], evec[8]);
printf("Mv - lv: (len) X Y Z (should be ~zeros)\n");
for (ii=0; ii<3; ii++) {
double uu[3], vv[3], dd[3];
ELL_3MV_MUL(uu, mat, evec + 3*ii);
ELL_3V_SCALE(vv, eval[ii], evec + 3*ii);
ELL_3V_SUB(dd, uu, vv);
printf("%d: (%g) %g %g %g\n", ii, ELL_3V_LEN(dd), dd[0], dd[1], dd[2]);
}
dot[0] = ELL_3V_DOT(evec + 0, evec + 3);
dot[1] = ELL_3V_DOT(evec + 0, evec + 6);
dot[2] = ELL_3V_DOT(evec + 3, evec + 6);
printf("pairwise dots: (%g) %g %g %g\n",
ELL_3V_LEN(dot), dot[0], dot[1], dot[2]);
ELL_3V_CROSS(cross, evec+0, evec+3);
printf("right-handed: %g\n", ELL_3V_DOT(evec+6, cross));
return;
}
/* Estimates the shortest distance from a point to a line going
through the origin */
double
_tenPldist( const double point[], const double line[] ) {
double cross[3];
double negpoint[3];
negpoint[0] = -point[0];
negpoint[1] = -point[1];
negpoint[2] = -point[2];
ELL_3V_CROSS( cross, line, negpoint );
return ELL_3V_LEN( cross ) / ELL_3V_LEN( line );
}
/*
******** tenGradientRandom
**
** generates num random unit vectors of type double
*/
int
tenGradientRandom(Nrrd *ngrad, unsigned int num, unsigned int seed) {
static const char me[]="tenGradientRandom";
double *grad, len;
unsigned int gi;
if (nrrdMaybeAlloc_va(ngrad, nrrdTypeDouble, 2,
AIR_CAST(size_t, 3), AIR_CAST(size_t, num))) {
biffMovef(TEN, NRRD, "%s: couldn't allocate output", me);
return 1;
}
airSrandMT(seed);
grad = AIR_CAST(double*, ngrad->data);
for (gi=0; gi<num; gi++) {
do {
grad[0] = AIR_AFFINE(0, airDrandMT(), 1, -1, 1);
grad[1] = AIR_AFFINE(0, airDrandMT(), 1, -1, 1);
grad[2] = AIR_AFFINE(0, airDrandMT(), 1, -1, 1);
len = ELL_3V_LEN(grad);
} while (len > 1 || !len);
ELL_3V_SCALE(grad, 1.0/len, grad);
grad += 3;
}
return 0;
}
void
_coilKindScalarFilterModifiedCurvature(coil_t *delta, coil_t **iv3,
double spacing[3],
double parm[COIL_PARMS_NUM]) {
coil_t forwX[3], backX[3], forwY[3], backY[3], forwZ[3], backZ[3],
grad[3], gm, eps, KK, LL, denom, rspX, rspY, rspZ, lerp;
/* reciprocals of spacings in X, Y, and Z */
rspX = AIR_CAST(coil_t, 1.0/spacing[0]);
rspY = AIR_CAST(coil_t, 1.0/spacing[1]);
rspZ = AIR_CAST(coil_t, 1.0/spacing[2]);
_coilKindScalar3x3x3Gradients(forwX, backX,
forwY, backY,
forwZ, backZ,
iv3,
rspX, rspY, rspZ);
grad[0] = rspX*(iv3[2][4] - iv3[0][4]);
grad[1] = rspY*(iv3[1][5] - iv3[1][3]);
grad[2] = rspZ*(iv3[1][7] - iv3[1][1]);
gm = AIR_CAST(coil_t, ELL_3V_LEN(grad));
/* compute fluxes */
eps = 0.000001f;
KK = AIR_CAST(coil_t, parm[1]*parm[1]);
LL = ELL_3V_DOT(forwX, forwX);
denom = AIR_CAST(coil_t, 1.0/(eps + sqrt(LL)));
forwX[0] *= _COIL_CONDUCT(LL, KK)*denom;
LL = ELL_3V_DOT(forwY, forwY);
forwY[1] *= _COIL_CONDUCT(LL, KK)*denom;
LL = ELL_3V_DOT(forwZ, forwZ);
forwZ[2] *= _COIL_CONDUCT(LL, KK)*denom;
LL = ELL_3V_DOT(backX, backX);
backX[0] *= _COIL_CONDUCT(LL, KK)*denom;
LL = ELL_3V_DOT(backY, backY);
backY[1] *= _COIL_CONDUCT(LL, KK)*denom;
LL = ELL_3V_DOT(backZ, backZ);
backZ[2] *= _COIL_CONDUCT(LL, KK)*denom;
lerp = AIR_CAST(coil_t, parm[2]);
delta[0] = (lerp*_coilLaplacian3(iv3, spacing)
+ (1-lerp)*gm*(rspX*(forwX[0] - backX[0])
+ rspY*(forwY[1] - backY[1])
+ rspZ*(forwZ[2] - backZ[2])));
delta[0] *= AIR_CAST(coil_t, parm[0]);
}
double
_energyInterParticle(pullTask *task, pullPoint *me, pullPoint *she,
/* output */
double egrad[4]) {
char meme[]="_energyInterParticle";
double spadist, sparad, diff[4], rr, enr, frc, *parm;
ELL_4V_SUB(diff, she->pos, me->pos);
spadist = ELL_3V_LEN(diff);
sparad = task->pctx->radiusSpace;
rr = spadist/(2*sparad);
/*
fprintf(stderr, "!%s: rr(%u,%u) = %g\n", meme, me->idtag, she->idtag, rr);
*/
if (rr > 1) {
ELL_4V_SET(egrad, 0, 0, 0, 0);
return 0;
}
if (rr == 0) {
fprintf(stderr, "%s: pos of pts %u, %u equal: (%g,%g,%g,%g)\n",
meme, me->idtag, she->idtag,
me->pos[0], me->pos[1], me->pos[2], me->pos[3]);
ELL_4V_SET(egrad, 0, 0, 0, 0);
return 0;
}
parm = task->pctx->energySpec->parm;
enr = task->pctx->energySpec->energy->eval(&frc, rr, parm);
frc *= -1.0/(2*sparad*spadist);
ELL_3V_SCALE(egrad, frc, diff);
egrad[3] = 0;
/*
fprintf(stderr, "%s: %u <-- %u = %g,%g,%g -> egrad = %g,%g,%g, enr = %g\n",
meme, me->idtag, she->idtag,
diff[0], diff[1], diff[2],
egrad[0], egrad[1], egrad[2], enr);
*/
return enr;
}
int
tenExperSpecGradSingleBValSet(tenExperSpec *espec,
int insertB0,
double bval,
const double *grad,
unsigned int gradNum) {
static const char me[]="tenExperSpecGradSingleBValSet";
unsigned int ii, imgNum, ei;
if (!espec) {
biffAddf(TEN, "%s: got NULL pointer", me);
return 1;
}
if (insertB0 && !ELL_3V_LEN(grad + 3*0)) {
biffAddf(TEN, "%s: wanted insertB0 but gradients "
"already start with (0,0,0)", me);
return 1;
}
imgNum = gradNum + !!insertB0;
if (_experAlloc(espec, imgNum)) {
biffAddf(TEN, "%s: couldn't allocate", me);
return 1;
}
if (insertB0) {
espec->bval[0] = 0;
ELL_3V_SET(espec->grad + 3*0, 1, 0, 0);
ei = 1;
} else {
ei = 0;
}
for (ii=0; ii<gradNum; ei++, ii++) {
espec->bval[ei] = bval;
ELL_3V_COPY(espec->grad + 3*ei, grad + 3*ii);
/* espec->wght[ii] = 1.0; */
}
return 0;
}
/*
** assign random signs to the vectors and measures the length of their
** mean, as quickly as possible
*/
static double
party(Nrrd *npos, airRandMTState *rstate) {
double *pos, mean[3];
unsigned int ii, num, rnd, rndBit;
pos = (double *)(npos->data);
num = AIR_UINT(npos->axis[1].size);
rnd = airUIrandMT_r(rstate);
rndBit = 0;
ELL_3V_SET(mean, 0, 0, 0);
for (ii=0; ii<num; ii++) {
if (32 == rndBit) {
rnd = airUIrandMT_r(rstate);
rndBit = 0;
}
if (rnd & (1 << rndBit++)) {
ELL_3V_SCALE(pos + 3*ii, -1, pos + 3*ii);
}
ELL_3V_INCR(mean, pos + 3*ii);
}
ELL_3V_SCALE(mean, 1.0/num, mean);
return ELL_3V_LEN(mean);
}
/*
******** tenFiberTraceSet
**
** slightly more flexible API for fiber tracking than tenFiberTrace
**
** EITHER: pass a non-NULL nfiber, and NULL, 0, NULL, NULL for
** the following arguments, and things are the same as with tenFiberTrace:
** data inside the nfiber is allocated, and the tract vertices are copied
** into it, having been stored in dynamically allocated airArrays
**
** OR: pass a NULL nfiber, and a buff allocated for 3*(2*halfBuffLen + 1)
** (note the "+ 1" !!!) doubles. The fiber tracking on each half will stop
** at halfBuffLen points. The given seedpoint will be stored in
** buff[0,1,2 + 3*halfBuffLen]. The indices for the end of the first
** tract half, and the end of the second tract half, will be set in
** *startIdxP and *endIdxP respectively.
*/
int
tenFiberTraceSet(tenFiberContext *tfx, Nrrd *nfiber,
double *buff, unsigned int halfBuffLen,
unsigned int *startIdxP, unsigned int *endIdxP,
double seed[3]) {
char me[]="tenFiberTraceSet", err[BIFF_STRLEN];
airArray *fptsArr[2]; /* airArrays of backward (0) and forward (1)
fiber points */
double *fpts[2]; /* arrays storing forward and backward
fiber points */
double
tmp[3],
iPos[3],
currPoint[3],
forwDir[3],
*fiber; /* array of both forward and backward points,
when finished */
int ret, whyStop, buffIdx, fptsIdx, outIdx, oldStop;
unsigned int i;
airArray *mop;
if (!(tfx)) {
sprintf(err, "%s: got NULL pointer", me);
biffAdd(TEN, err); return 1;
}
/* HEY: a hack to preserve the state inside tenFiberContext so that
we have fewer side effects (tfx->maxNumSteps may still be set) */
oldStop = tfx->stop;
if (!nfiber) {
if (!( buff && halfBuffLen > 0 && startIdxP && startIdxP )) {
sprintf(err, "%s: need either non-NULL nfiber or fpts buffer info", me);
biffAdd(TEN, err); return 1;
}
if (tenFiberStopSet(tfx, tenFiberStopNumSteps, halfBuffLen)) {
sprintf(err, "%s: error setting new fiber stop", me);
biffAdd(TEN, err); return 1;
}
}
/* initialize the quantities which describe the fiber halves */
tfx->halfLen[0] = tfx->halfLen[1] = 0.0;
tfx->numSteps[0] = tfx->numSteps[1] = 0;
tfx->whyStop[0] = tfx->whyStop[1] = tenFiberStopUnknown;
/* try probing once */
if (tfx->useIndexSpace) {
ret = gageProbe(tfx->gtx,
AIR_CAST(gage_t, seed[0]),
AIR_CAST(gage_t, seed[1]),
AIR_CAST(gage_t, seed[2]));
} else {
gageShapeWtoI(tfx->gtx->shape, tmp, seed);
ret = gageProbe(tfx->gtx,
AIR_CAST(gage_t, tmp[0]),
AIR_CAST(gage_t, tmp[1]),
AIR_CAST(gage_t, tmp[2]));
}
if (ret) {
sprintf(err, "%s: first gageProbe failed: %s (%d)",
me, tfx->gtx->errStr, tfx->gtx->errNum);
biffAdd(TEN, err); return 1;
}
/* see if we're doomed */
if ((whyStop = _tenFiberStopCheck(tfx))) {
/* stopped immediately at seed point, but that's not an error */
tfx->whyNowhere = whyStop;
if (nfiber) {
nrrdEmpty(nfiber);
} else {
*startIdxP = *endIdxP = 0;
}
return 0;
} else {
/* did not immediately halt */
tfx->whyNowhere = tenFiberStopUnknown;
}
/* record the principal eigenvector at the seed point, which
is needed to align the 4 intermediate steps of RK4 for the
FIRST step of each half of the tract */
ELL_3V_COPY(tfx->firstEvec, tfx->evec + 3*0);
/* airMop{Error,Okay}() can safely be called on NULL */
mop = nfiber ? airMopNew() : NULL;
for (tfx->dir=0; tfx->dir<=1; tfx->dir++) {
if (nfiber) {
fptsArr[tfx->dir] = airArrayNew((void**)&(fpts[tfx->dir]), NULL,
3*sizeof(double), TEN_FIBER_INCR);
airMopAdd(mop, fptsArr[tfx->dir], (airMopper)airArrayNuke, airMopAlways);
buffIdx = -1;
} else {
fptsArr[tfx->dir] = NULL;
fpts[tfx->dir] = NULL;
buffIdx = halfBuffLen;
fptsIdx = -1;
}
tfx->halfLen[tfx->dir] = 0;
if (tfx->useIndexSpace) {
ELL_3V_COPY(iPos, seed);
gageShapeItoW(tfx->gtx->shape, tfx->wPos, iPos);
} else {
gageShapeWtoI(tfx->gtx->shape, iPos, seed);
ELL_3V_COPY(tfx->wPos, seed);
}
ELL_3V_SET(tfx->lastDir, 0, 0, 0);
tfx->lastDirSet = AIR_FALSE;
for (tfx->numSteps[tfx->dir] = 0; AIR_TRUE; tfx->numSteps[tfx->dir]++) {
if (_tenFiberProbe(tfx, tfx->wPos)) {
/* even if gageProbe had an error OTHER than going out of bounds,
we're not going to report it any differently here, alas */
tfx->whyStop[tfx->dir] = tenFiberStopBounds;
break;
}
if ((whyStop = _tenFiberStopCheck(tfx))) {
if (tenFiberStopNumSteps == whyStop) {
/* we stopped along this direction because tfx->numSteps[tfx->dir]
exceeded tfx->maxNumSteps. Okay. But tfx->numSteps[tfx->dir]
is supposed to be a record of how steps were (successfully)
taken. So we need to decrementing before moving on ... */
tfx->numSteps[tfx->dir]--;
}
tfx->whyStop[tfx->dir] = whyStop;
break;
}
if (tfx->useIndexSpace) {
gageShapeWtoI(tfx->gtx->shape, iPos, tfx->wPos);
ELL_3V_COPY(currPoint, iPos);
} else {
ELL_3V_COPY(currPoint, tfx->wPos);
}
if (nfiber) {
fptsIdx = airArrayLenIncr(fptsArr[tfx->dir], 1);
ELL_3V_COPY(fpts[tfx->dir] + 3*fptsIdx, currPoint);
} else {
ELL_3V_COPY(buff + 3*buffIdx, currPoint);
/*
fprintf(stderr, "!%s: (dir %d) saving to %d pnt %g %g %g\n", me,
tfx->dir, buffIdx,
currPoint[0], currPoint[1], currPoint[2]);
*/
buffIdx += !tfx->dir ? -1 : 1;
}
/* forwDir is set by this to point to the next fiber point */
if (_tenFiberIntegrate[tfx->intg](tfx, forwDir)) {
tfx->whyStop[tfx->dir] = tenFiberStopBounds;
break;
}
ELL_3V_COPY(tfx->lastDir, forwDir);
tfx->lastDirSet = AIR_TRUE;
ELL_3V_ADD2(tfx->wPos, tfx->wPos, forwDir);
tfx->halfLen[tfx->dir] += ELL_3V_LEN(forwDir);
}
}
if (nfiber) {
if (nrrdMaybeAlloc_va(nfiber, nrrdTypeDouble, 2,
AIR_CAST(size_t, 3),
AIR_CAST(size_t, (fptsArr[0]->len
+ fptsArr[1]->len - 1)))) {
sprintf(err, "%s: couldn't allocate fiber nrrd", me);
biffMove(TEN, err, NRRD); airMopError(mop); return 1;
}
fiber = (double*)(nfiber->data);
outIdx = 0;
for (i=fptsArr[0]->len-1; i>=1; i--) {
ELL_3V_COPY(fiber + 3*outIdx, fpts[0] + 3*i);
outIdx++;
}
for (i=0; i<=fptsArr[1]->len-1; i++) {
ELL_3V_COPY(fiber + 3*outIdx, fpts[1] + 3*i);
outIdx++;
}
} else {
*startIdxP = halfBuffLen - tfx->numSteps[0];
*endIdxP = halfBuffLen + tfx->numSteps[1];
}
tfx->stop = oldStop;
airMopOkay(mop);
return 0;
}
void
tenGradientMeasure(double *pot, double *minAngle, double *minEdge,
const Nrrd *npos, tenGradientParm *tgparm,
int edgeNormalize) {
/* static const char me[]="tenGradientMeasure"; */
double diff[3], *pos, atmp=0, ptmp, edge, len;
unsigned int ii, jj, num;
/* allow minAngle NULL */
if (!(pot && npos && tgparm )) {
return;
}
num = AIR_UINT(npos->axis[1].size);
pos = AIR_CAST(double *, npos->data);
edge = (edgeNormalize
? tenGradientIdealEdge(num, tgparm->single)
: 1.0);
*pot = 0;
if (minAngle) {
*minAngle = AIR_PI;
}
if (minEdge) {
*minEdge = 2;
}
for (ii=0; ii<num; ii++) {
for (jj=0; jj<ii; jj++) {
ELL_3V_SUB(diff, pos + 3*ii, pos + 3*jj);
len = ELL_3V_LEN(diff);
if (minEdge) {
*minEdge = AIR_MIN(*minEdge, len);
}
if (tgparm->expo) {
ptmp = airIntPow(edge/len, tgparm->expo);
} else {
ptmp = pow(edge/len, tgparm->expo_d);
}
*pot += ptmp;
if (minAngle) {
atmp = ell_3v_angle_d(pos + 3*ii, pos + 3*jj);
*minAngle = AIR_MIN(atmp, *minAngle);
}
if (!tgparm->single) {
*pot += ptmp;
ELL_3V_ADD2(diff, pos + 3*ii, pos + 3*jj);
len = ELL_3V_LEN(diff);
if (minEdge) {
*minEdge = AIR_MIN(*minEdge, len);
}
if (tgparm->expo) {
*pot += 2*airIntPow(edge/len, tgparm->expo);
} else {
*pot += 2*pow(edge/len, tgparm->expo_d);
}
if (minAngle) {
*minAngle = AIR_MIN(AIR_PI-atmp, *minAngle);
}
}
}
}
return;
}
int
main(int argc, char *argv[]) {
char *me;
hestOpt *hopt=NULL;
airArray *mop;
double tripA[3], tripB[3], evalA[3], evalB[3],
rt_A[3], rt_B[3], trip[3], eval[3], lasteval[3], lastxyz[3],
logAB[3], ndist;
int ittype, ottype, ptype, rttype;
unsigned int NN, ii;
tenInterpParm *tip;
void (*interp)(double oeval[3], const double evalA[3],
const double evalB[3], const double tt);
double (*qdist)(const double RTh_A[3], const double RTh_B[3]);
void (*qlog)(double klog[3],
const double RThZA[3], const double RThZB[3]);
void (*qexp)(double RThZB[3],
const double RThZA[3], const double klog[3]);
void (*grads)(double grad[3][3], const double eval[3]);
me = argv[0];
mop = airMopNew();
tip = tenInterpParmNew();
airMopAdd(mop, tip, (airMopper)tenInterpParmNix, airMopAlways);
hestOptAdd(&hopt, "a", "start", airTypeDouble, 3, 3, tripA, NULL,
"start triple of values");
hestOptAdd(&hopt, "b", "end", airTypeDouble, 3, 3, tripB, NULL,
"end triple of values");
hestOptAdd(&hopt, "it", "type", airTypeEnum, 1, 1, &ittype, NULL,
"type of given start and end triples", NULL, tenTripleType);
hestOptAdd(&hopt, "ot", "type", airTypeEnum, 1, 1, &ottype, NULL,
"type of triples for output", NULL, tenTripleType);
hestOptAdd(&hopt, "p", "type", airTypeEnum, 1, 1, &ptype, NULL,
"type of path interpolation", NULL, tenInterpType);
hestOptAdd(&hopt, "n", "# steps", airTypeUInt, 1, 1, &NN, "100",
"number of steps along path");
hestOptAdd(&hopt, "v", "verbosity", airTypeInt, 1, 1,
&(tip->verbose), "0", "verbosity");
hestOptAdd(&hopt, "s", "stepsize", airTypeDouble, 1, 1,
&(tip->convStep), "1", "step size in update");
hestOptAdd(&hopt, "r", "recurse", airTypeInt, 0, 0,
&(tip->enableRecurse), NULL,
"enable recursive solution, when useful");
hestOptAdd(&hopt, "mn", "minnorm", airTypeDouble, 1, 1,
&(tip->minNorm), "0.000001",
"minnorm of something");
hestOptAdd(&hopt, "mi", "maxiter", airTypeUInt, 1, 1,
&(tip->maxIter), "0",
"if non-zero, max # iterations for computation");
hestOptAdd(&hopt, "c", "conv", airTypeDouble, 1, 1,
&(tip->convEps), "0.0001",
"convergence threshold of length fraction");
hestParseOrDie(hopt, argc-1, argv+1, NULL,
me, info, AIR_TRUE, AIR_TRUE, AIR_TRUE);
airMopAdd(mop, hopt, (airMopper)hestOptFree, airMopAlways);
airMopAdd(mop, hopt, (airMopper)hestParseFree, airMopAlways);
if (!( tenInterpTypeQuatGeoLoxK == ptype
|| tenInterpTypeQuatGeoLoxR == ptype )) {
fprintf(stderr, "%s: need type %s or %s, not %s\n", me,
airEnumStr(tenInterpType, tenInterpTypeQuatGeoLoxK),
airEnumStr(tenInterpType, tenInterpTypeQuatGeoLoxR),
airEnumStr(tenInterpType, ptype));
airMopError(mop);
return 1;
}
if (tenInterpTypeQuatGeoLoxK == ptype) {
interp = tenQGLInterpTwoEvalK;
qdist = _tenQGL_Kdist;
qlog = _tenQGL_Klog;
qexp = _tenQGL_Kexp;
grads = kgrads;
rttype = tenTripleTypeRThetaZ;
} else {
interp = tenQGLInterpTwoEvalR;
qdist = _tenQGL_Rdist;
qlog = _tenQGL_Rlog;
qexp = _tenQGL_Rexp;
grads = rgrads;
rttype = tenTripleTypeRThetaPhi;
}
fprintf(stderr, "%s: (%s) %f %f %f \n--%s--> %f %f %f\n", me,
airEnumStr(tenTripleType, ittype),
tripA[0], tripA[1], tripA[2],
airEnumStr(tenInterpType, ptype),
tripB[0], tripB[1], tripB[2]);
tenTripleConvertSingle_d(evalA, tenTripleTypeEigenvalue, tripA, ittype);
tenTripleConvertSingle_d(evalB, tenTripleTypeEigenvalue, tripB, ittype);
tenTripleConvertSingle_d(rt_A, rttype, tripA, ittype);
tenTripleConvertSingle_d(rt_B, rttype, tripB, ittype);
ndist = 0;
ELL_3V_SET(lasteval, AIR_NAN, AIR_NAN, AIR_NAN);
ELL_3V_SET(lastxyz, AIR_NAN, AIR_NAN, AIR_NAN);
qlog(logAB, rt_A, rt_B);
fprintf(stderr, "%s: log = %g %g %g (%g)\n", me,
logAB[0], logAB[1], logAB[2], ELL_3V_LEN(logAB));
for (ii=0; ii<NN; ii++) {
double tt, xyz[3], dot[3], ll[3], prayRT[3], prayO[3];
tt = AIR_AFFINE(0, ii, NN-1, 0.0, 1.0);
interp(eval, evalA, evalB, tt);
tenTripleConvertSingle_d(trip, ottype,
eval, tenTripleTypeEigenvalue);
tenTripleConvertSingle_d(xyz, tenTripleTypeXYZ,
eval, tenTripleTypeEigenvalue);
ELL_3V_SCALE(ll, tt, logAB);
qexp(prayRT, rt_A, ll);
tenTripleConvertSingle_d(prayO, ottype, prayRT, rttype);
if (ii) {
double diff[3], gr[3][3];
ELL_3V_SUB(diff, lasteval, eval);
ndist += ELL_3V_LEN(diff);
ELL_3V_SUB(diff, lastxyz, xyz);
grads(gr, eval);
dot[0] = ELL_3V_DOT(diff, gr[0]);
dot[1] = ELL_3V_DOT(diff, gr[1]);
dot[2] = ELL_3V_DOT(diff, gr[2]);
} else {
ELL_3V_SET(dot, 0, 0, 0);
}
printf("%03u %g %g %g %g %g %g 00 %g %g %g\n", ii,
trip[0], prayO[0],
trip[1], prayO[1],
trip[2], prayO[2],
dot[0], dot[1], dot[2]);
ELL_3V_COPY(lasteval, eval);
ELL_3V_COPY(lastxyz, xyz);
}
fprintf(stderr, "%s: dist %g =?= %g\n", me,
qdist(rt_A, rt_B), ndist);
airMopOkay(mop);
return 0;
}
int
main(int argc, const char *argv[]) {
const char *me;
char *err, *outS;
double eval[3], matA[9], matB[9], sval[3], uu[9], vv[9], escl[5],
view[3];
float matAf[9], matBf[16];
float pp[3], qq[4], mR[9], len, gamma;
float os, vs, rad, AB[2], ten[7];
hestOpt *hopt=NULL;
airArray *mop;
limnObject *obj;
limnLook *look; int lookRod, lookSoid;
float kadsRod[3], kadsSoid[3];
int gtype, partIdx=-1; /* sssh */
int res;
FILE *file;
me = argv[0];
hestOptAdd(&hopt, "sc", "evals", airTypeDouble, 3, 3, eval, "1 1 1",
"original eigenvalues of tensor to be visualized");
hestOptAdd(&hopt, "AB", "A, B exponents", airTypeFloat, 2, 2, AB, "nan nan",
"Directly set the A, B parameters to the superquadric surface, "
"over-riding the default behavior of determining them from the "
"scalings \"-sc\" as superquadric tensor glyphs");
hestOptAdd(&hopt, "os", "over-all scaling", airTypeFloat, 1, 1, &os, "1",
"over-all scaling (multiplied by scalings)");
hestOptAdd(&hopt, "vs", "view-dir scaling", airTypeFloat, 1, 1, &vs, "1",
"scaling along view-direction (to show off bas-relief "
"ambibuity of ellipsoids versus superquads)");
hestOptAdd(&hopt, "es", "extra scaling", airTypeDouble, 5, 5, escl,
"2 1 0 0 1", "extra scaling specified with five values "
"0:tensor|1:geometry|2:none vx vy vz scaling");
hestOptAdd(&hopt, "fr", "from (eye) point", airTypeDouble, 3, 3, &view,
"4 4 4", "eye point, needed for non-unity \"-vs\"");
hestOptAdd(&hopt, "gamma", "superquad sharpness", airTypeFloat, 1, 1,
&gamma, "0",
"how much to sharpen edges as a "
"function of differences between eigenvalues");
hestOptAdd(&hopt, "g", "glyph shape", airTypeEnum, 1, 1, >ype, "sqd",
"glyph to use; not all are implemented here",
NULL, tenGlyphType);
hestOptAdd(&hopt, "pp", "x y z", airTypeFloat, 3, 3, pp, "0 0 0",
"transform: rotation identified by"
"location in quaternion quotient space");
hestOptAdd(&hopt, "r", "radius", airTypeFloat, 1, 1, &rad, "0.015",
"black axis cylinder radius (or 0.0 to not drawn these)");
hestOptAdd(&hopt, "res", "resolution", airTypeInt, 1, 1, &res, "25",
"tesselation resolution for both glyph and axis cylinders");
hestOptAdd(&hopt, "pg", "ka kd ks", airTypeFloat, 3, 3, kadsSoid,
"0.2 0.8 0.0",
"phong coefficients for glyph");
hestOptAdd(&hopt, "pr", "ka kd ks", airTypeFloat, 3, 3, kadsRod, "1 0 0",
"phong coefficients for black rods (if being drawn)");
hestOptAdd(&hopt, "o", "output OFF", airTypeString, 1, 1, &outS, "out.off",
"output file to save OFF into");
hestParseOrDie(hopt, argc-1, argv+1, NULL,
me, info, AIR_TRUE, AIR_TRUE, AIR_TRUE);
mop = airMopNew();
airMopAdd(mop, hopt, (airMopper)hestOptFree, airMopAlways);
airMopAdd(mop, hopt, (airMopper)hestParseFree, airMopAlways);
obj = limnObjectNew(1000, AIR_TRUE);
airMopAdd(mop, obj, (airMopper)limnObjectNix, airMopAlways);
if (!( 0 == escl[0] || 1 == escl[0] || 2 == escl[0] )) {
fprintf(stderr, "%s: escl[0] %g not 0, 1 or 2\n", me, escl[0]);
airMopError(mop); return 1;
}
if (!(tenGlyphTypeBox == gtype ||
tenGlyphTypeSphere == gtype ||
tenGlyphTypeSuperquad == gtype)) {
fprintf(stderr, "%s: got %s %s, but here only do %s, %s, or %s\n", me,
tenGlyphType->name,
airEnumStr(tenGlyphType, gtype),
airEnumStr(tenGlyphType, tenGlyphTypeBox),
airEnumStr(tenGlyphType, tenGlyphTypeSphere),
airEnumStr(tenGlyphType, tenGlyphTypeSuperquad));
airMopError(mop); return 1;
}
/* create limnLooks for glyph and for rods */
lookSoid = limnObjectLookAdd(obj);
look = obj->look + lookSoid;
ELL_4V_SET(look->rgba, 1, 1, 1, 1);
ELL_3V_COPY(look->kads, kadsSoid);
look->spow = 0;
lookRod = limnObjectLookAdd(obj);
look = obj->look + lookRod;
ELL_4V_SET(look->rgba, 0, 0, 0, 1);
ELL_3V_COPY(look->kads, kadsRod);
look->spow = 0;
ELL_3M_IDENTITY_SET(matA); /* A = I */
ELL_3V_SCALE(eval, os, eval);
ELL_3M_SCALE_SET(matB, eval[0], eval[1], eval[2]); /* B = diag(eval) */
ell_3m_post_mul_d(matA, matB); /* A = B*A = diag(eval) */
if (0 == escl[0]) {
scalingMatrix(matB, escl + 1, escl[4]);
ell_3m_post_mul_d(matA, matB);
}
if (1 != vs) {
if (!ELL_3V_LEN(view)) {
fprintf(stderr, "%s: need non-zero view for vs %g != 1\n", me, vs);
airMopError(mop); return 1;
}
scalingMatrix(matB, view, vs);
/* the scaling along the view direction is a symmetric matrix,
but applying that scaling to the symmetric input tensor
is not necessarily symmetric */
ell_3m_post_mul_d(matA, matB); /* A = B*A */
}
/* so we do an SVD to get rotation U and the scalings sval[] */
/* U * diag(sval) * V */
ell_3m_svd_d(uu, sval, vv, matA, AIR_TRUE);
/*
fprintf(stderr, "%s: ____________________________________\n", me);
fprintf(stderr, "%s: mat = \n", me);
ell_3m_print_d(stderr, matA);
fprintf(stderr, "%s: uu = \n", me);
ell_3m_print_d(stderr, uu);
ELL_3M_TRANSPOSE(matC, uu);
ELL_3M_MUL(matB, uu, matC);
fprintf(stderr, "%s: uu * uu^T = \n", me);
ell_3m_print_d(stderr, matB);
fprintf(stderr, "%s: sval = %g %g %g\n", me, sval[0], sval[1], sval[2]);
fprintf(stderr, "%s: vv = \n", me);
ell_3m_print_d(stderr, vv);
ELL_3M_MUL(matB, vv, vv);
fprintf(stderr, "%s: vv * vv^T = \n", me);
ELL_3M_TRANSPOSE(matC, vv);
ELL_3M_MUL(matB, vv, matC);
ell_3m_print_d(stderr, matB);
ELL_3M_IDENTITY_SET(matA);
ell_3m_pre_mul_d(matA, uu);
ELL_3M_SCALE_SET(matB, sval[0], sval[1], sval[2]);
ell_3m_pre_mul_d(matA, matB);
ell_3m_pre_mul_d(matA, vv);
fprintf(stderr, "%s: uu * diag(sval) * vv = \n", me);
ell_3m_print_d(stderr, matA);
fprintf(stderr, "%s: ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^\n", me);
*/
/* now create symmetric matrix out of U and sval */
/* A = I */
ELL_3M_IDENTITY_SET(matA);
ell_3m_pre_mul_d(matA, uu); /* A = A*U = I*U = U */
ELL_3M_SCALE_SET(matB, sval[0], sval[1], sval[2]); /* B = diag(sval) */
ell_3m_pre_mul_d(matA, matB); /* A = U*diag(sval) */
ELL_3M_TRANSPOSE(matB, uu);
ell_3m_pre_mul_d(matA, matB); /* A = U*diag(sval)*U^T */
TEN_M2T(ten, matA);
partIdx = soidDoit(obj, lookSoid,
gtype, gamma, res,
(AIR_EXISTS(AB[0]) && AIR_EXISTS(AB[1])) ? AB : NULL,
ten);
if (1 == escl[0]) {
scalingMatrix(matB, escl + 1, escl[4]);
ELL_43M_INSET(matBf, matB);
limnObjectPartTransform(obj, partIdx, matBf);
}
/* this is a rotate on the geomtry; nothing to do with the tensor */
ELL_4V_SET(qq, 1, pp[0], pp[1], pp[2]);
ELL_4V_NORM(qq, qq, len);
ell_q_to_3m_f(mR, qq);
ELL_43M_INSET(matBf, mR);
limnObjectPartTransform(obj, partIdx, matBf);
if (rad) {
partIdx = limnObjectCylinderAdd(obj, lookRod, 0, res);
ELL_4M_IDENTITY_SET(matAf);
ELL_4M_SCALE_SET(matBf, (1-eval[0])/2, rad, rad);
ell_4m_post_mul_f(matAf, matBf);
ELL_4M_TRANSLATE_SET(matBf, (1+eval[0])/2, 0.0, 0.0);
ell_4m_post_mul_f(matAf, matBf);
limnObjectPartTransform(obj, partIdx, matAf);
partIdx = limnObjectCylinderAdd(obj, lookRod, 0, res);
ELL_4M_IDENTITY_SET(matAf);
ELL_4M_SCALE_SET(matBf, (1-eval[0])/2, rad, rad);
ell_4m_post_mul_f(matAf, matBf);
ELL_4M_TRANSLATE_SET(matBf, -(1+eval[0])/2, 0.0, 0.0);
ell_4m_post_mul_f(matAf, matBf);
limnObjectPartTransform(obj, partIdx, matAf);
partIdx = limnObjectCylinderAdd(obj, lookRod, 1, res);
ELL_4M_IDENTITY_SET(matAf);
ELL_4M_SCALE_SET(matBf, rad, (1-eval[1])/2, rad);
ell_4m_post_mul_f(matAf, matBf);
ELL_4M_TRANSLATE_SET(matBf, 0.0, (1+eval[1])/2, 0.0);
ell_4m_post_mul_f(matAf, matBf);
limnObjectPartTransform(obj, partIdx, matAf);
partIdx = limnObjectCylinderAdd(obj, lookRod, 1, res);
ELL_4M_IDENTITY_SET(matAf);
ELL_4M_SCALE_SET(matBf, rad, (1-eval[1])/2, rad);
ell_4m_post_mul_f(matAf, matBf);
ELL_4M_TRANSLATE_SET(matBf, 0.0, -(1+eval[1])/2, 0.0);
ell_4m_post_mul_f(matAf, matBf);
limnObjectPartTransform(obj, partIdx, matAf);
partIdx = limnObjectCylinderAdd(obj, lookRod, 2, res);
ELL_4M_IDENTITY_SET(matAf);
ELL_4M_SCALE_SET(matBf, rad, rad, (1-eval[2])/2);
ell_4m_post_mul_f(matAf, matBf);
ELL_4M_TRANSLATE_SET(matBf, 0.0, 0.0, (1+eval[2])/2);
ell_4m_post_mul_f(matAf, matBf);
limnObjectPartTransform(obj, partIdx, matAf);
partIdx = limnObjectCylinderAdd(obj, lookRod, 2, res);
ELL_4M_IDENTITY_SET(matAf);
ELL_4M_SCALE_SET(matBf, rad, rad, (1-eval[2])/2);
ell_4m_post_mul_f(matAf, matBf);
ELL_4M_TRANSLATE_SET(matBf, 0.0, 0.0, -(1+eval[2])/2);
ell_4m_post_mul_f(matAf, matBf);
limnObjectPartTransform(obj, partIdx, matAf);
}
file = airFopen(outS, stdout, "w");
airMopAdd(mop, file, (airMopper)airFclose, airMopAlways);
if (limnObjectWriteOFF(file, obj)) {
airMopAdd(mop, err = biffGetDone(LIMN), airFree, airMopAlways);
fprintf(stderr, "%s: trouble:\n%s\n", me, err);
airMopError(mop); return 1;
}
airMopOkay(mop);
return 0;
}
static int
constraintSatHght(pullTask *task, pullPoint *point,
int tang1Use, int tang2Use,
int negtang1Use, int negtang2Use,
double stepMax, unsigned int iterMax,
int *constrFailP) {
static const char me[]="constraintSatHght";
double val, grad[3], hess[9], posproj[9], negproj[9],
state[1+3+9+9+9+3], hack, step,
d1, d2, pdir[3], plen, pgrad[3];
#if PRAYING
double _tmpv[3]={0,0,0};
#endif
int havePos, haveNeg, haveNada;
unsigned int iter = 0; /* 0: initial probe, 1..iterMax: probes in loop */
/* http://en.wikipedia.org/wiki/Newton%27s_method_in_optimization */
havePos = tang1Use || tang2Use;
haveNeg = negtang1Use || negtang2Use;
haveNada = !havePos && !haveNeg;
#if PRAYING
{
double stpmin;
/* HEY: shouldn't stpmin also be used later in this function? */
stpmin = task->pctx->voxelSizeSpace*task->pctx->sysParm.constraintStepMin;
fprintf(stderr, "!%s(%u): starting at %g %g %g %g\n", me, point->idtag,
point->pos[0], point->pos[1], point->pos[2], point->pos[3]);
fprintf(stderr, "!%s: pt %d %d nt %d %d (nada %d) "
"stepMax %g, iterMax %u\n", me,
tang1Use, tang2Use, negtang1Use, negtang2Use, haveNada,
stepMax, iterMax);
fprintf(stderr, "!%s: stpmin = %g = voxsize %g * parm.stepmin %g\n", me,
stpmin, task->pctx->voxelSizeSpace,
task->pctx->sysParm.constraintStepMin);
}
#endif
_pullPointHistAdd(point, pullCondOld);
PROBE(val, grad, hess, posproj, negproj);
#if PRAYING
PRINT("initial probe");
#endif
SAVE(state, val, grad, hess, posproj, negproj, point->pos);
hack = 1;
for (iter=1; iter<=iterMax; iter++) {
#if PRAYING
fprintf(stderr, "!%s: =============== begin iter %u\n", me, iter);
#endif
/* HEY: no opportunistic increase of hack? */
if (havePos || haveNada) {
POSNORM(d1, d2, pdir, plen, pgrad, grad, hess, posproj);
if (!plen) {
/* this use to be a biff error, which got to be annoying */
*constrFailP = pullConstraintFailProjGradZeroA;
return 0;
}
step = (d2 <= 0 ? -plen : -d1/d2);
#if PRAYING
fprintf(stderr, "!%s: (+) iter %u step = (%g <= 0 ? %g : %g) --> %g\n",
me, iter, d2, -plen, -d1/d2, step);
#endif
step = step > 0 ? AIR_MIN(stepMax, step) : AIR_MAX(-stepMax, step);
if (AIR_ABS(step) < stepMax*task->pctx->sysParm.constraintStepMin) {
/* no further iteration needed; we're converged */
#if PRAYING
fprintf(stderr, " |step| %g < %g*%g = %g ==> converged!\n",
AIR_ABS(step),
stepMax, task->pctx->sysParm.constraintStepMin,
stepMax*task->pctx->sysParm.constraintStepMin);
#endif
if (!haveNeg) {
break;
} else {
goto nextstep;
}
}
/* else we have to take a significant step */
#if PRAYING
fprintf(stderr, " -> step %g, |pdir| = %g\n",
step, ELL_3V_LEN(pdir));
ELL_3V_COPY(_tmpv, point->pos);
fprintf(stderr, " -> pos (%g,%g,%g,%g) += %g * %g * (%g,%g,%g)\n",
point->pos[0], point->pos[1], point->pos[2], point->pos[3],
hack, step, pdir[0], pdir[1], pdir[2]);
#endif
ELL_3V_SCALE_INCR(point->pos, hack*step, pdir);
#if PRAYING
ELL_3V_SUB(_tmpv, _tmpv, point->pos);
fprintf(stderr, " -> moved to %g %g %g %g\n",
point->pos[0], point->pos[1], point->pos[2], point->pos[3]);
fprintf(stderr, " (moved %g)\n", ELL_3V_LEN(_tmpv));
#endif
_pullPointHistAdd(point, pullCondConstraintSatA);
PROBE(val, grad, hess, posproj, negproj);
#if PRAYING
fprintf(stderr, " (+) probed at (%g,%g,%g,%g)\n",
point->pos[0], point->pos[1], point->pos[2], point->pos[3]);
PRINT("after move");
fprintf(stderr, " val(%g,%g,%g,%g)=%g %s state[0]=%g\n",
point->pos[0], point->pos[1], point->pos[2], point->pos[3],
val, val <= state[0] ? "<=" : ">", state[0]);
#endif
if (val <= state[0]) {
/* we made progress */
#if PRAYING
fprintf(stderr, " (+) progress!\n");
#endif
SAVE(state, val, grad, hess, posproj, negproj, point->pos);
hack = 1;
} else {
/* oops, we went uphill instead of down; try again */
#if PRAYING
fprintf(stderr, " val *increased*; backing hack from %g to %g\n",
hack, hack*task->pctx->sysParm.backStepScale);
#endif
hack *= task->pctx->sysParm.backStepScale;
RESTORE(val, grad, hess, posproj, negproj, point->pos, state);
#if PRAYING
fprintf(stderr, " restored to pos (%g,%g,%g,%g)\n",
point->pos[0], point->pos[1], point->pos[2], point->pos[3]);
#endif
}
}
nextstep:
if (haveNeg) {
/* HEY: copy and paste from above, minus fluff */
NEGNORM(d1, d2, pdir, plen, pgrad, grad, hess, negproj);
if (!plen && !haveNeg) {
/* this use to be a biff error, which got to be annoying */
*constrFailP = pullConstraintFailProjGradZeroA;
return 0;
}
step = (d2 <= 0 ? -plen : -d1/d2);
#if PRAYING
fprintf(stderr, "!%s: -+) iter %u step = (%g <= 0 ? %g : %g) --> %g\n",
me, iter, d2, -plen, -d1/d2, step);
#endif
step = step > 0 ? AIR_MIN(stepMax, step) : AIR_MAX(-stepMax, step);
if (AIR_ABS(step) < stepMax*task->pctx->sysParm.constraintStepMin) {
#if PRAYING
fprintf(stderr, " |step| %g < %g*%g = %g ==> converged!\n",
AIR_ABS(step),
stepMax, task->pctx->sysParm.constraintStepMin,
stepMax*task->pctx->sysParm.constraintStepMin);
#endif
/* no further iteration needed; we're converged */
break;
}
/* else we have to take a significant step */
#if PRAYING
fprintf(stderr, " -> step %g, |pdir| = %g\n",
step, ELL_3V_LEN(pdir));
ELL_3V_COPY(_tmpv, point->pos);
fprintf(stderr, " -> pos (%g,%g,%g,%g) += %g * %g * (%g,%g,%g)\n",
point->pos[0], point->pos[1], point->pos[2], point->pos[3],
hack, step, pdir[0], pdir[1], pdir[2]);
#endif
ELL_3V_SCALE_INCR(point->pos, hack*step, pdir);
#if PRAYING
ELL_3V_SUB(_tmpv, _tmpv, point->pos);
fprintf(stderr, " -> moved to %g %g %g %g\n",
point->pos[0], point->pos[1], point->pos[2], point->pos[3]);
fprintf(stderr, " (moved %g)\n", ELL_3V_LEN(_tmpv));
#endif
_pullPointHistAdd(point, pullCondConstraintSatA);
PROBE(val, grad, hess, posproj, negproj);
#if PRAYING
fprintf(stderr, " (-) probed at (%g,%g,%g,%g)\n",
point->pos[0], point->pos[1], point->pos[2], point->pos[3]);
PRINT("after move");
fprintf(stderr, " val(%g,%g,%g,%g)=%g %s state[0]=%g\n",
point->pos[0], point->pos[1], point->pos[2], point->pos[3],
val, val >= state[0] ? ">=" : "<", state[0]);
#endif
if (val >= state[0]) {
/* we made progress */
#if PRAYING
fprintf(stderr, " (-) progress!\n");
#endif
SAVE(state, val, grad, hess, posproj, negproj, point->pos);
hack = 1;
} else {
/* oops, we went uphill instead of down; try again */
#if PRAYING
fprintf(stderr, " val *increased*; backing hack from %g to %g\n",
hack, hack*task->pctx->sysParm.backStepScale);
#endif
hack *= task->pctx->sysParm.backStepScale;
RESTORE(val, grad, hess, posproj, negproj, point->pos, state);
#if PRAYING
fprintf(stderr, " restored to pos (%g,%g,%g,%g)\n",
point->pos[0], point->pos[1], point->pos[2], point->pos[3]);
#endif
}
}
}
if (iter > iterMax) {
*constrFailP = pullConstraintFailIterMaxed;
} else {
*constrFailP = AIR_FALSE;
}
/*
printf("!%s: %d %s\n", me, *constrFailP,
*constrFailP ? "FAILED!" : "ok");
*/
return 0;
}
/* HEY: have to make sure that scale position point->pos[3]
** is not modified anywhere in here: constraints are ONLY spatial
**
** This uses biff, but only for showstopper problems
*/
int
_pullConstraintSatisfy(pullTask *task, pullPoint *point,
double travelMax,
/* output */
int *constrFailP) {
static const char me[]="_pullConstraintSatisfy";
double stepMax;
unsigned int iterMax;
double pos3Orig[3], pos3Diff[3], travel;
ELL_3V_COPY(pos3Orig, point->pos);
stepMax = task->pctx->voxelSizeSpace;
iterMax = task->pctx->iterParm.constraintMax;
/*
dlim = _pullDistLimit(task, point);
if (iterMax*stepMax > dlim) {
stepMax = dlim/iterMax;
}
*/
/*
fprintf(stderr, "!%s(%d): hi ==== %g %g %g, stepMax = %g, iterMax = %u\n",
me, point->idtag, point->pos[0], point->pos[1], point->pos[2],
stepMax, iterMax);
*/
task->pctx->count[pullCountConstraintSatisfy] += 1;
switch (task->pctx->constraint) {
case pullInfoHeightLaplacian: /* zero-crossing edges */
if (constraintSatLapl(task, point, stepMax/4, 4*iterMax, constrFailP)) {
biffAddf(PULL, "%s: trouble", me);
return 1;
}
break;
case pullInfoIsovalue:
if (constraintSatIso(task, point, stepMax, iterMax, constrFailP)) {
biffAddf(PULL, "%s: trouble", me);
return 1;
}
break;
case pullInfoHeight:
if (constraintSatHght(task, point,
!!task->pctx->ispec[pullInfoTangent1],
!!task->pctx->ispec[pullInfoTangent2],
!!task->pctx->ispec[pullInfoNegativeTangent1],
!!task->pctx->ispec[pullInfoNegativeTangent2],
stepMax, iterMax, constrFailP)) {
biffAddf(PULL, "%s: trouble", me);
return 1;
}
break;
default:
fprintf(stderr, "%s: constraint on %s (%d) unimplemented!!\n", me,
airEnumStr(pullInfo, task->pctx->constraint),
task->pctx->constraint);
}
ELL_3V_SUB(pos3Diff, pos3Orig, point->pos);
travel = ELL_3V_LEN(pos3Diff)/task->pctx->voxelSizeSpace;
if (travel > travelMax) {
*constrFailP = pullConstraintFailTravel;
}
/*
fprintf(stderr, "!%s(%u) %s @ (%g,%g,%g) = (%g,%g,%g) + (%g,%g,%g)\n", me,
point->idtag,
(*constrFailP
? airEnumStr(pullConstraintFail, *constrFailP)
: "#GOOD#"),
point->pos[0], point->pos[1], point->pos[2],
pos3Diff[0], pos3Diff[1], pos3Diff[2],
pos3Orig[0], pos3Orig[1], pos3Orig[2]);
*/
return 0;
}
void
tend_helixDoit(Nrrd *nout, double bnd,
double orig[3], double i2w[9], double mf[9],
double r, double R, double S, double angle, int incrtwist,
double ev[3], double bgEval) {
int sx, sy, sz, xi, yi, zi;
double th, t0, t1, t2, t3, v1, v2,
wpos[3], vpos[3], mfT[9],
W2H[9], H2W[9], H2C[9], C2H[9], fv[3], rv[3], uv[3], mA[9], mB[9], inside,
tmp[3], len;
float *out;
sx = nout->axis[1].size;
sy = nout->axis[2].size;
sz = nout->axis[3].size;
out = (float*)nout->data;
ELL_3M_TRANSPOSE(mfT, mf);
for (zi=0; zi<sz; zi++) {
fprintf(stderr, "zi = %d/%d\n", zi, sz);
for (yi=0; yi<sy; yi++) {
for (xi=0; xi<sx; xi++) {
ELL_3V_SET(tmp, xi, yi, zi);
ELL_3MV_MUL(vpos, i2w, tmp);
ELL_3V_INCR(vpos, orig);
#define WPOS(pos, th) ELL_3V_SET((pos),R*cos(th), R*sin(th), S*(th)/(2*AIR_PI))
#define VAL(th) (WPOS(wpos, th), ELL_3V_DIST(wpos, vpos))
#define RR 0.61803399
#define CC (1.0-RR)
#define SHIFT3(a,b,c,d) (a)=(b); (b)=(c); (c)=(d)
#define SHIFT2(a,b,c) (a)=(b); (b)=(c)
th = atan2(vpos[1], vpos[0]);
th += 2*AIR_PI*floor(0.5 + vpos[2]/S - th/(2*AIR_PI));
if (S*th/(2*AIR_PI) > vpos[2]) {
t0 = th - AIR_PI; t3 = th;
} else {
t0 = th; t3 = th + AIR_PI;
}
t1 = RR*t0 + CC*t3;
t2 = CC*t0 + RR*t3;
v1 = VAL(t1);
v2 = VAL(t2);
while ( t3-t0 > 0.000001*(AIR_ABS(t1)+AIR_ABS(t2)) ) {
if (v1 < v2) {
SHIFT3(t3, t2, t1, CC*t0 + RR*t2);
SHIFT2(v2, v1, VAL(t1));
} else {
SHIFT3(t0, t1, t2, RR*t1 + CC*t3);
SHIFT2(v1, v2, VAL(t2));
}
}
/* t1 (and t2) are now the th for which the point on the helix
(R*cos(th), R*sin(th), S*(th)/(2*AIR_PI)) is closest to vpos */
WPOS(wpos, t1);
ELL_3V_SUB(wpos, vpos, wpos);
ELL_3V_SET(fv, -R*sin(t1), R*cos(t1), S/AIR_PI); /* helix tangent */
ELL_3V_NORM(fv, fv, len);
ELL_3V_COPY(rv, wpos);
ELL_3V_NORM(rv, rv, len);
len = ELL_3V_DOT(rv, fv);
ELL_3V_SCALE(tmp, -len, fv);
ELL_3V_ADD2(rv, rv, tmp);
ELL_3V_NORM(rv, rv, len); /* rv now normal to helix, closest to
pointing to vpos */
ELL_3V_CROSS(uv, rv, fv);
ELL_3V_NORM(uv, uv, len); /* (rv,fv,uv) now right-handed frame */
ELL_3MV_ROW0_SET(W2H, uv); /* as is (uv,rv,fv) */
ELL_3MV_ROW1_SET(W2H, rv);
ELL_3MV_ROW2_SET(W2H, fv);
ELL_3M_TRANSPOSE(H2W, W2H);
inside = 0.5 - 0.5*airErf((ELL_3V_LEN(wpos)-r)/(bnd + 0.0001));
if (incrtwist) {
th = angle*ELL_3V_LEN(wpos)/r;
} else {
th = angle;
}
ELL_3M_ROTATE_Y_SET(H2C, th);
ELL_3M_TRANSPOSE(C2H, H2C);
ELL_3M_SCALE_SET(mA,
AIR_LERP(inside, bgEval, ev[1]),
AIR_LERP(inside, bgEval, ev[2]),
AIR_LERP(inside, bgEval, ev[0]));
ELL_3M_MUL(mB, mA, H2C);
ELL_3M_MUL(mA, mB, W2H);
ELL_3M_MUL(mB, mA, mf);
ELL_3M_MUL(mA, C2H, mB);
ELL_3M_MUL(mB, H2W, mA);
ELL_3M_MUL(mA, mfT, mB);
TEN_M2T_TT(out, float, mA);
out[0] = 1.0;
out += 7;
}
}
}
return;
}
void
_tenGageAnswer (gageContext *ctx, gagePerVolume *pvl) {
/* char me[]="_tenGageAnswer"; */
gage_t epsilon=1.0E-10f;
gage_t *tenAns, *evalAns, *evecAns, *vecTmp=NULL,
*gradDtA=NULL, *gradDtB=NULL, *gradDtC=NULL,
*gradDtD=NULL, *gradDtE=NULL, *gradDtF=NULL,
gradDdXYZ[21]={0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0},
*gradCbS=NULL, *gradCbB=NULL, *gradCbQ=NULL, *gradCbR=NULL;
gage_t tmp0, tmp1, magTmp=0,
gradCbA[3]={0,0,0}, gradCbC[3]={0,0,0},
dtA=0, dtB=0, dtC=0, dtD=0, dtE=0, dtF=0,
cbQQQ=0, cbQ=0, cbR=0, cbA=0, cbB=0, cbC=0, cbS=0;
#if !GAGE_TYPE_FLOAT
int ci;
float evalAnsF[3], aniso[TEN_ANISO_MAX+1];
#endif
tenAns = pvl->directAnswer[tenGageTensor];
evalAns = pvl->directAnswer[tenGageEval];
evecAns = pvl->directAnswer[tenGageEvec];
if (GAGE_QUERY_ITEM_TEST(pvl->query, tenGageTensor)) {
/* done if doV */
tenAns[0] = AIR_CLAMP(0.0f, tenAns[0], 1.0f);
dtA = tenAns[1];
dtB = tenAns[2];
dtC = tenAns[3];
dtD = tenAns[4];
dtE = tenAns[5];
dtF = tenAns[6];
if (ctx->verbose) {
fprintf(stderr, "tensor = (%g) %g %g %g %g %g %g\n", tenAns[0],
dtA, dtB, dtC, dtD, dtE, dtF);
}
}
/* done if doV
if (GAGE_QUERY_ITEM_TEST(pvl->query, tenGageConfidence)) {
}
*/
if (GAGE_QUERY_ITEM_TEST(pvl->query, tenGageTrace)) {
cbA = -(pvl->directAnswer[tenGageTrace][0] = dtA + dtD + dtF);
}
if (GAGE_QUERY_ITEM_TEST(pvl->query, tenGageB)) {
cbB = pvl->directAnswer[tenGageB][0] =
dtA*dtD + dtA*dtF + dtD*dtF - dtB*dtB - dtC*dtC - dtE*dtE;
}
if (GAGE_QUERY_ITEM_TEST(pvl->query, tenGageDet)) {
cbC = -(pvl->directAnswer[tenGageDet][0] =
2.0f*dtB*dtC*dtE + dtA*dtD*dtF
- dtC*dtC*dtD - dtA*dtE*dtE - dtB*dtB*dtF);
}
if (GAGE_QUERY_ITEM_TEST(pvl->query, tenGageS)) {
cbS = (pvl->directAnswer[tenGageS][0] =
dtA*dtA + dtD*dtD + dtF*dtF
+ 2.0f*dtB*dtB + 2.0f*dtC*dtC + 2.0f*dtE*dtE);
}
if (GAGE_QUERY_ITEM_TEST(pvl->query, tenGageQ)) {
cbQ = pvl->directAnswer[tenGageQ][0] = (cbS - cbB)/9.0f;
}
if (GAGE_QUERY_ITEM_TEST(pvl->query, tenGageFA)) {
pvl->directAnswer[tenGageFA][0] =
AIR_CAST(gage_t, 3*sqrt(cbQ/(epsilon + cbS)));
}
if (GAGE_QUERY_ITEM_TEST(pvl->query, tenGageR)) {
cbR = pvl->directAnswer[tenGageR][0] =
(5.0f*cbA*cbB - 27.0f*cbC - 2.0f*cbA*cbS)/54.0f;
}
if (GAGE_QUERY_ITEM_TEST(pvl->query, tenGageTheta)) {
cbQQQ = cbQ*cbQ*cbQ;
tmp0 = AIR_CAST(gage_t, cbR/(epsilon + sqrt(cbQQQ)));
tmp0 = AIR_CLAMP(-1.0f, tmp0, 1.0f);
pvl->directAnswer[tenGageTheta][0] = AIR_CAST(gage_t, acos(tmp0)/AIR_PI);
}
if (GAGE_QUERY_ITEM_TEST(pvl->query, tenGageEvec)) {
/* we do the longer process to get eigenvectors, and in the process
we always find the eigenvalues, whether or not they were asked for */
#if GAGE_TYPE_FLOAT
tenEigensolve_f(evalAns, evecAns, tenAns);
#else
tenEigensolve_d(evalAns, evecAns, tenAns);
#endif
} else if (GAGE_QUERY_ITEM_TEST(pvl->query, tenGageEval)) {
/* else eigenvectors are NOT needed, but eigenvalues ARE needed */
#if GAGE_TYPE_FLOAT
tenEigensolve_f(evalAns, NULL, tenAns);
#else
tenEigensolve_d(evalAns, NULL, tenAns);
#endif
}
if (GAGE_QUERY_ITEM_TEST(pvl->query, tenGageTensorGrad)) {
/* done if doD1 */
/* still have to set up pointer variables that item answers
below will rely on as short-cuts */
vecTmp = pvl->directAnswer[tenGageTensorGrad];
gradDtA = vecTmp + 1*3;
gradDtB = vecTmp + 2*3;
gradDtC = vecTmp + 3*3;
gradDtD = vecTmp + 4*3;
gradDtE = vecTmp + 5*3;
gradDtF = vecTmp + 6*3;
TEN_T_SET(gradDdXYZ + 0*7, tenAns[0],
gradDtA[0], gradDtB[0], gradDtC[0],
gradDtD[0], gradDtE[0],
gradDtF[0]);
TEN_T_SET(gradDdXYZ + 1*7, tenAns[0],
gradDtA[1], gradDtB[1], gradDtC[1],
gradDtD[1], gradDtE[1],
gradDtF[1]);
TEN_T_SET(gradDdXYZ + 2*7, tenAns[0],
gradDtA[2], gradDtB[2], gradDtC[2],
gradDtD[2], gradDtE[2],
gradDtF[2]);
}
if (GAGE_QUERY_ITEM_TEST(pvl->query, tenGageTensorGradMag)) {
vecTmp = pvl->directAnswer[tenGageTensorGradMag];
vecTmp[0] = AIR_CAST(gage_t, sqrt(TEN_T_DOT(gradDdXYZ + 0*7,
gradDdXYZ + 0*7)));
vecTmp[1] = AIR_CAST(gage_t, sqrt(TEN_T_DOT(gradDdXYZ + 1*7,
gradDdXYZ + 1*7)));
vecTmp[2] = AIR_CAST(gage_t, sqrt(TEN_T_DOT(gradDdXYZ + 2*7,
gradDdXYZ + 2*7)));
}
if (GAGE_QUERY_ITEM_TEST(pvl->query, tenGageTensorGradMag)) {
pvl->directAnswer[tenGageTensorGradMagMag][0] =
AIR_CAST(gage_t, ELL_3V_LEN(vecTmp));
}
/* --- Trace --- */
if (GAGE_QUERY_ITEM_TEST(pvl->query, tenGageTraceGradVec)) {
vecTmp = pvl->directAnswer[tenGageTraceGradVec];
ELL_3V_ADD3(vecTmp, gradDtA, gradDtD, gradDtF);
ELL_3V_SCALE(gradCbA, -1, vecTmp);
}
if (GAGE_QUERY_ITEM_TEST(pvl->query, tenGageTraceGradMag)) {
magTmp = pvl->directAnswer[tenGageTraceGradMag][0] =
AIR_CAST(gage_t, ELL_3V_LEN(vecTmp));
}
if (GAGE_QUERY_ITEM_TEST(pvl->query, tenGageTraceNormal)) {
ELL_3V_SCALE(pvl->directAnswer[tenGageTraceNormal],
1.0f/(epsilon + magTmp), vecTmp);
}
/* --- B --- */
if (GAGE_QUERY_ITEM_TEST(pvl->query, tenGageBGradVec)) {
gradCbB = vecTmp = pvl->directAnswer[tenGageBGradVec];
ELL_3V_SCALE_ADD6(vecTmp,
dtD + dtF, gradDtA,
-2.0f*dtB, gradDtB,
-2.0f*dtC, gradDtC,
dtA + dtF, gradDtD,
-2.0f*dtE, gradDtE,
dtA + dtD, gradDtF);
}
if (GAGE_QUERY_ITEM_TEST(pvl->query, tenGageBGradMag)) {
magTmp = pvl->directAnswer[tenGageBGradMag][0] =
AIR_CAST(gage_t, ELL_3V_LEN(vecTmp));
}
if (GAGE_QUERY_ITEM_TEST(pvl->query, tenGageBNormal)) {
ELL_3V_SCALE(pvl->directAnswer[tenGageBNormal],
1.0f/(epsilon + magTmp), vecTmp);
}
/* --- Det --- */
if (GAGE_QUERY_ITEM_TEST(pvl->query, tenGageDetGradVec)) {
vecTmp = pvl->directAnswer[tenGageDetGradVec];
ELL_3V_SCALE_ADD6(vecTmp,
dtD*dtF - dtE*dtE, gradDtA,
2.0f*(dtC*dtE - dtB*dtF), gradDtB,
2.0f*(dtB*dtE - dtC*dtD), gradDtC,
dtA*dtF - dtC*dtC, gradDtD,
2.0f*(dtB*dtC - dtA*dtE), gradDtE,
dtA*dtD - dtB*dtB, gradDtF);
ELL_3V_SCALE(gradCbC, -1, vecTmp);
}
if (GAGE_QUERY_ITEM_TEST(pvl->query, tenGageDetGradMag)) {
magTmp = pvl->directAnswer[tenGageDetGradMag][0] =
AIR_CAST(float, ELL_3V_LEN(vecTmp));
}
void
_gageVecAnswer(gageContext *ctx, gagePerVolume *pvl) {
char me[]="_gageVecAnswer";
double cmag, tmpMat[9], mgevec[9], mgeval[3];
double symm[9], asym[9], tran[9], eval[3], tmpVec[3], norm;
gage_t *vecAns, *normAns, *jacAns, *curlAns, *hesAns, *curlGradAns,
*helGradAns, *dirHelDirAns, *curlnormgradAns;
/* int asw; */
vecAns = pvl->directAnswer[gageVecVector];
normAns = pvl->directAnswer[gageVecNormalized];
jacAns = pvl->directAnswer[gageVecJacobian];
curlAns = pvl->directAnswer[gageVecCurl];
hesAns = pvl->directAnswer[gageVecHessian];
curlGradAns = pvl->directAnswer[gageVecCurlGradient];
curlnormgradAns = pvl->directAnswer[gageVecCurlNormGrad];
helGradAns = pvl->directAnswer[gageVecHelGradient];
dirHelDirAns = pvl->directAnswer[gageVecDirHelDeriv];
if (GAGE_QUERY_ITEM_TEST(pvl->query, gageVecVector)) {
/* done if doV */
if (ctx->verbose) {
fprintf(stderr, "vec = ");
ell_3v_PRINT(stderr, vecAns);
}
}
/* done if doV
if (GAGE_QUERY_ITEM_TEST(pvl->query, gageVecVector{0,1,2})) {
}
*/
if (GAGE_QUERY_ITEM_TEST(pvl->query, gageVecLength)) {
pvl->directAnswer[gageVecLength][0] = AIR_CAST(gage_t, ELL_3V_LEN(vecAns));
}
if (GAGE_QUERY_ITEM_TEST(pvl->query, gageVecNormalized)) {
if (pvl->directAnswer[gageVecLength][0]) {
ELL_3V_SCALE_TT(normAns, gage_t,
1.0/pvl->directAnswer[gageVecLength][0], vecAns);
} else {
ELL_3V_COPY(normAns, gageZeroNormal);
}
}
if (GAGE_QUERY_ITEM_TEST(pvl->query, gageVecJacobian)) {
/* done if doD1 */
/*
0:dv_x/dx 1:dv_x/dy 2:dv_x/dz
3:dv_y/dx 4:dv_y/dy 5:dv_y/dz
6:dv_z/dx 7:dv_z/dy 8:dv_z/dz
*/
if (ctx->verbose) {
fprintf(stderr, "%s: jac = \n", me);
ell_3m_PRINT(stderr, jacAns);
}
}
if (GAGE_QUERY_ITEM_TEST(pvl->query, gageVecDivergence)) {
pvl->directAnswer[gageVecDivergence][0] = jacAns[0] + jacAns[4] + jacAns[8];
if (ctx->verbose) {
fprintf(stderr, "%s: div = %g + %g + %g = %g\n", me,
jacAns[0], jacAns[4], jacAns[8],
pvl->directAnswer[gageVecDivergence][0]);
}
}
if (GAGE_QUERY_ITEM_TEST(pvl->query, gageVecCurl)) {
ELL_3V_SET(curlAns,
jacAns[7] - jacAns[5],
jacAns[2] - jacAns[6],
jacAns[3] - jacAns[1]);
}
if (GAGE_QUERY_ITEM_TEST(pvl->query, gageVecCurlNorm)) {
pvl->directAnswer[gageVecCurlNorm][0] =
AIR_CAST(gage_t, ELL_3V_LEN(curlAns));
}
if (GAGE_QUERY_ITEM_TEST(pvl->query, gageVecHelicity)) {
pvl->directAnswer[gageVecHelicity][0] =
ELL_3V_DOT(vecAns, curlAns);
}
if (GAGE_QUERY_ITEM_TEST(pvl->query, gageVecNormHelicity)) {
cmag = ELL_3V_LEN(curlAns);
pvl->directAnswer[gageVecNormHelicity][0] =
AIR_CAST(gage_t, cmag ? ELL_3V_DOT(normAns, curlAns)/cmag : 0);
}
if (GAGE_QUERY_ITEM_TEST(pvl->query, gageVecLambda2)) {
ELL_3M_TRANSPOSE(tran, jacAns);
/* symmetric part */
ELL_3M_SCALE_ADD2(symm, 0.5, jacAns, 0.5, tran);
/* antisymmetric part */
ELL_3M_SCALE_ADD2(asym, 0.5, jacAns, -0.5, tran);
/* square symmetric part */
ELL_3M_MUL(tmpMat, symm, symm);
ELL_3M_COPY(symm, tmpMat);
/* square antisymmetric part */
ELL_3M_MUL(tmpMat, asym, asym);
/* sum of both */
ELL_3M_ADD2(symm, symm, tmpMat);
/* get eigenvalues in sorted order */
/* asw = */ ell_3m_eigenvalues_d(eval, symm, AIR_TRUE);
pvl->directAnswer[gageVecLambda2][0] = AIR_CAST(gage_t, eval[1]);
}
if (GAGE_QUERY_ITEM_TEST(pvl->query, gageVecImaginaryPart)) {
pvl->directAnswer[gageVecImaginaryPart][0] =
AIR_CAST(gage_t, gage_imaginary_part_eigenvalues(jacAns));
}
/* 2nd order vector derivative continued */
if (GAGE_QUERY_ITEM_TEST(pvl->query, gageVecHessian)) {
/* done if doD2 */
/* the ordering is induced by the scalar hessian computation :
0:d2v_x/dxdx 1:d2v_x/dxdy 2:d2v_x/dxdz
3:d2v_x/dydx 4:d2v_x/dydy 5:d2v_x/dydz
6:d2v_x/dzdx 7:d2v_x/dzdy 8:d2v_x/dzdz
9:d2v_y/dxdx [...]
[...]
24:dv2_z/dzdx 25:d2v_z/dzdy 26:d2v_z/dzdz
*/
if (ctx->verbose) {
fprintf(stderr, "%s: hes = \n", me);
ell_3m_PRINT(stderr, hesAns); /* ?? */
}
}
if (GAGE_QUERY_ITEM_TEST(pvl->query, gageVecDivGradient)) {
pvl->directAnswer[gageVecDivGradient][0] = hesAns[0] + hesAns[12] + hesAns[24];
pvl->directAnswer[gageVecDivGradient][1] = hesAns[1] + hesAns[13] + hesAns[25];
pvl->directAnswer[gageVecDivGradient][2] = hesAns[2] + hesAns[14] + hesAns[26];
}
if (GAGE_QUERY_ITEM_TEST(pvl->query, gageVecCurlGradient)) {
pvl->directAnswer[gageVecCurlGradient][0] = hesAns[21]-hesAns[15];
pvl->directAnswer[gageVecCurlGradient][1] = hesAns[22]-hesAns[16];
pvl->directAnswer[gageVecCurlGradient][2] = hesAns[23]-hesAns[17];
pvl->directAnswer[gageVecCurlGradient][3] = hesAns[ 6]-hesAns[18];
pvl->directAnswer[gageVecCurlGradient][4] = hesAns[ 7]-hesAns[19];
pvl->directAnswer[gageVecCurlGradient][5] = hesAns[ 8]-hesAns[20];
pvl->directAnswer[gageVecCurlGradient][6] = hesAns[ 9]-hesAns[ 1];
pvl->directAnswer[gageVecCurlGradient][7] = hesAns[10]-hesAns[ 2];
pvl->directAnswer[gageVecCurlGradient][8] = hesAns[11]-hesAns[ 3];
}
if (GAGE_QUERY_ITEM_TEST(pvl->query, gageVecCurlNormGrad)) {
norm = 1./ELL_3V_LEN(curlAns);
tmpVec[0] = hesAns[21] - hesAns[15];
tmpVec[1] = hesAns[ 6] - hesAns[18];
tmpVec[2] = hesAns[ 9] - hesAns[ 3];
pvl->directAnswer[gageVecCurlNormGrad][0]=
AIR_CAST(gage_t, norm*ELL_3V_DOT(tmpVec, curlAns));
tmpVec[0] = hesAns[22] - hesAns[16];
tmpVec[1] = hesAns[ 7] - hesAns[19];
tmpVec[2] = hesAns[10] - hesAns[ 4];
pvl->directAnswer[gageVecCurlNormGrad][1]=
AIR_CAST(gage_t, norm*ELL_3V_DOT(tmpVec, curlAns));
tmpVec[0] = hesAns[23] - hesAns[17];
tmpVec[1] = hesAns[ 8] - hesAns[20];
tmpVec[2] = hesAns[11] - hesAns[ 5];
pvl->directAnswer[gageVecCurlNormGrad][2]=
AIR_CAST(gage_t, norm*ELL_3V_DOT(tmpVec, curlAns));
}
if (GAGE_QUERY_ITEM_TEST(pvl->query, gageVecNCurlNormGrad)) {
norm = 1./ELL_3V_LEN(curlnormgradAns);
ELL_3V_SCALE_TT(pvl->directAnswer[gageVecNCurlNormGrad], gage_t,
norm, pvl->directAnswer[gageVecCurlNormGrad]);
}
if (GAGE_QUERY_ITEM_TEST(pvl->query, gageVecHelGradient)) {
pvl->directAnswer[gageVecHelGradient][0] =
jacAns[0]*curlAns[0]+
jacAns[3]*curlAns[1]+
jacAns[6]*curlAns[2]+
curlGradAns[0]*vecAns[0]+
curlGradAns[3]*vecAns[1]+
curlGradAns[6]*vecAns[2];
pvl->directAnswer[gageVecHelGradient][1] =
jacAns[1]*curlAns[0]+
jacAns[4]*curlAns[1]+
jacAns[7]*curlAns[2]+
curlGradAns[1]*vecAns[0]+
curlGradAns[4]*vecAns[1]+
curlGradAns[7]*vecAns[2];
pvl->directAnswer[gageVecHelGradient][0] =
jacAns[2]*curlAns[0]+
jacAns[5]*curlAns[1]+
jacAns[8]*curlAns[2]+
curlGradAns[2]*vecAns[0]+
curlGradAns[5]*vecAns[1]+
curlGradAns[8]*vecAns[2];
}
if (GAGE_QUERY_ITEM_TEST(pvl->query, gageVecDirHelDeriv)) {
pvl->directAnswer[gageVecDirHelDeriv][0] =
ELL_3V_DOT(normAns, helGradAns);
}
if (GAGE_QUERY_ITEM_TEST(pvl->query, gageVecProjHelGradient)) {
pvl->directAnswer[gageVecDirHelDeriv][0] =
helGradAns[0]-dirHelDirAns[0]*normAns[0];
pvl->directAnswer[gageVecDirHelDeriv][1] =
helGradAns[1]-dirHelDirAns[0]*normAns[1];
pvl->directAnswer[gageVecDirHelDeriv][2] =
helGradAns[2]-dirHelDirAns[0]*normAns[2];
}
if (GAGE_QUERY_ITEM_TEST(pvl->query, gageVecGradient0)) {
ELL_3V_SET(pvl->directAnswer[gageVecGradient0],
jacAns[0],
jacAns[1],
jacAns[2]);
}
if (GAGE_QUERY_ITEM_TEST(pvl->query, gageVecGradient1)) {
ELL_3V_SET(pvl->directAnswer[gageVecGradient1],
jacAns[3],
jacAns[4],
jacAns[5]);
}
if (GAGE_QUERY_ITEM_TEST(pvl->query, gageVecGradient2)) {
ELL_3V_SET(pvl->directAnswer[gageVecGradient2],
jacAns[6],
jacAns[7],
jacAns[8]);
}
if (GAGE_QUERY_ITEM_TEST(pvl->query, gageVecMultiGrad)) {
ELL_3M_IDENTITY_SET(pvl->directAnswer[gageVecMultiGrad]);
ELL_3MV_OUTER_ADD(pvl->directAnswer[gageVecMultiGrad],
pvl->directAnswer[gageVecGradient0],
pvl->directAnswer[gageVecGradient0]);
ELL_3MV_OUTER_ADD(pvl->directAnswer[gageVecMultiGrad],
pvl->directAnswer[gageVecGradient1],
pvl->directAnswer[gageVecGradient1]);
ELL_3MV_OUTER_ADD(pvl->directAnswer[gageVecMultiGrad],
pvl->directAnswer[gageVecGradient2],
pvl->directAnswer[gageVecGradient2]);
}
if (GAGE_QUERY_ITEM_TEST(pvl->query, gageVecMGFrob)) {
pvl->directAnswer[gageVecMGFrob][0]
= AIR_CAST(gage_t, ELL_3M_FROB(pvl->directAnswer[gageVecMultiGrad]));
}
if (GAGE_QUERY_ITEM_TEST(pvl->query, gageVecMGEval)) {
ELL_3M_COPY(tmpMat, pvl->directAnswer[gageVecMultiGrad]);
/* HEY: look at the return value for root multiplicity? */
ell_3m_eigensolve_d(mgeval, mgevec, tmpMat, AIR_TRUE);
ELL_3V_COPY_TT(pvl->directAnswer[gageVecMGEval], gage_t, mgeval);
}
if (GAGE_QUERY_ITEM_TEST(pvl->query, gageVecMGEvec)) {
ELL_3M_COPY_TT(pvl->directAnswer[gageVecMGEvec], gage_t, mgevec);
}
return;
}
/*
** parm vector:
** 0 1 2 3 4 5 (6)
** step K_perp K_tan lerp X_ring Y_ring
*/
void
_coilKindScalarFilterModifiedCurvatureRings(coil_t *delta,
int xi, int yi, int zi,
coil_t **iv3, double spacing[3],
double parm[COIL_PARMS_NUM]) {
coil_t forwX[3], backX[3], forwY[3], backY[3], forwZ[3], backZ[3],
grad[3], gm, eps, KK, LL, denom, rspX, rspY, rspZ, lerp;
double bas0[3], bas1[3], bas2[3], len, norm[3], sk;
AIR_UNUSED(zi);
ELL_3V_SET(bas0, 0, 0, 1);
ELL_3V_SET(bas1, xi - parm[4], yi - parm[5], 0);
ELL_3V_NORM(bas1, bas1, len);
ELL_3V_CROSS(bas2, bas0, bas1);
rspX = AIR_CAST(coil_t, 1.0/spacing[0]);
rspY = AIR_CAST(coil_t, 1.0/spacing[1]);
rspZ = AIR_CAST(coil_t, 1.0/spacing[2]);
_coilKindScalar3x3x3Gradients(forwX, backX,
forwY, backY,
forwZ, backZ,
iv3,
rspX, rspY, rspZ);
grad[0] = rspX*(iv3[2][4] - iv3[0][4]);
grad[1] = rspY*(iv3[1][5] - iv3[1][3]);
grad[2] = rspZ*(iv3[1][7] - iv3[1][1]);
gm = AIR_CAST(coil_t, ELL_3V_LEN(grad));
if (gm) {
double tc, rcsq;
ELL_3V_SCALE(norm, 1.0/gm, grad);
tc = ELL_3V_DOT(norm, bas2);
rcsq = 1 - tc*tc;
sk = AIR_LERP(rcsq, parm[1], parm[2]);
} else {
sk = parm[1];
}
/* compute fluxes */
eps = 0.0000000001f;
KK = AIR_CAST(coil_t, sk*sk);
LL = ELL_3V_DOT(forwX, forwX);
denom = AIR_CAST(coil_t, 1.0/(eps + sqrt(LL)));
forwX[0] *= _COIL_CONDUCT(LL, KK)*denom;
LL = ELL_3V_DOT(forwY, forwY);
denom = AIR_CAST(coil_t, 1.0/(eps + sqrt(LL)));
forwY[1] *= _COIL_CONDUCT(LL, KK)*denom;
LL = ELL_3V_DOT(forwZ, forwZ);
denom = AIR_CAST(coil_t, 1.0/(eps + sqrt(LL)));
forwZ[2] *= _COIL_CONDUCT(LL, KK)*denom;
LL = ELL_3V_DOT(backX, backX);
denom = AIR_CAST(coil_t, 1.0/(eps + sqrt(LL)));
backX[0] *= _COIL_CONDUCT(LL, KK)*denom;
LL = ELL_3V_DOT(backY, backY);
denom = AIR_CAST(coil_t, 1.0/(eps + sqrt(LL)));
backY[1] *= _COIL_CONDUCT(LL, KK)*denom;
LL = ELL_3V_DOT(backZ, backZ);
denom = AIR_CAST(coil_t, 1.0/(eps + sqrt(LL)));
backZ[2] *= _COIL_CONDUCT(LL, KK)*denom;
lerp = AIR_CAST(coil_t, parm[2]);
delta[0] = (lerp*_coilLaplacian3(iv3, spacing)
+ (1-lerp)*gm*(rspX*(forwX[0] - backX[0])
+ rspY*(forwY[1] - backY[1])
+ rspZ*(forwZ[2] - backZ[2])));
delta[0] *= AIR_CAST(coil_t, parm[0]);
}
/*
** Do asynchronous update of positions in "npos', based on force
** calculations wherein the distances are normalized "edge". Using a
** small "edge" allows forces to either underflow to zero, or be
** finite, instead of exploding to infinity, for high exponents.
**
** The smallest seen edge length is recorded in "*edgeMin", which is
** initialized to the given "edge". This allows, for example, the
** caller to try again with a smaller edge normalization.
**
** The mean velocity of the points through the update is recorded in
** "*meanVel".
**
** Based on the observation that when using large exponents, numerical
** difficulties arise from the (force-based) update of the positions
** of the two (or few) closest particles, this function puts a speed
** limit (variable "limit") on the distance a particle may move during
** update, expressed as a fraction of the normalizing edge length.
** "limit" has been set heuristically, according to the exponent (we
** have to clamp speeds more aggresively with higher exponents), as
** well as (even more heuristically) according to the number of times
** the step size has been decreased. This latter factor has to be
** bounded, so that the update is not unnecessarily bounded when the
** step size gets very small at the last stages of computation.
** Without the step-size-based speed limit, the step size would
** sometimes (e.g. num=200, expo=300) have to reduced to a miniscule
** value, which slows subsequent convergence terribly.
**
** this function is not static, though it could be, so that mac's
** "Sampler" app can profile this
*/
int
_tenGradientUpdate(double *meanVel, double *edgeMin,
Nrrd *npos, double edge, tenGradientParm *tgparm) {
/* static const char me[]="_tenGradientUpdate"; */
double *pos, newpos[3], grad[3], ngrad[3],
dir[3], len, rep, step, diff[3], limit, expo;
int num, ii, jj, E;
E = 0;
pos = AIR_CAST(double *, npos->data);
num = AIR_UINT(npos->axis[1].size);
*meanVel = 0;
*edgeMin = edge;
expo = tgparm->expo ? tgparm->expo : tgparm->expo_d;
limit = expo*AIR_MIN(sqrt(expo),
log(1 + tgparm->initStep/tgparm->step));
for (ii=0; ii<num; ii++) {
ELL_3V_SET(grad, 0, 0, 0);
for (jj=0; jj<num; jj++) {
if (ii == jj) {
continue;
}
ELL_3V_SUB(dir, pos + 3*ii, pos + 3*jj);
ELL_3V_NORM(dir, dir, len);
*edgeMin = AIR_MIN(*edgeMin, len);
if (tgparm->expo) {
rep = airIntPow(edge/len, tgparm->expo+1);
} else {
rep = pow(edge/len, tgparm->expo_d+1);
}
ELL_3V_SCALE_INCR(grad, rep/num, dir);
if (!tgparm->single) {
ELL_3V_ADD2(dir, pos + 3*ii, pos + 3*jj);
ELL_3V_NORM(dir, dir, len);
*edgeMin = AIR_MIN(*edgeMin, len);
if (tgparm->expo) {
rep = airIntPow(edge/len, tgparm->expo+1);
} else {
rep = pow(edge/len, tgparm->expo_d+1);
}
ELL_3V_SCALE_INCR(grad, rep/num, dir);
}
}
ELL_3V_NORM(ngrad, grad, len);
if (!( AIR_EXISTS(len) )) {
/* things blew up, either in incremental force
additions, or in the attempt at normalization */
E = 1;
*meanVel = AIR_NAN;
break;
}
if (0 == len) {
/* if the length of grad[] underflowed to zero, we can
legitimately zero out ngrad[] */
ELL_3V_SET(ngrad, 0, 0, 0);
}
step = AIR_MIN(len*tgparm->step, edge/limit);
ELL_3V_SCALE_ADD2(newpos,
1.0, pos + 3*ii,
step, ngrad);
ELL_3V_NORM(newpos, newpos, len);
ELL_3V_SUB(diff, pos + 3*ii, newpos);
*meanVel += ELL_3V_LEN(diff);
ELL_3V_COPY(pos + 3*ii, newpos);
}
*meanVel /= num;
return E;
}
int
_pullPointProcess(pullTask *task, pullBin *bin, pullPoint *point) {
char me[]="pullPointProcess", err[BIFF_STRLEN];
double energyOld, energyNew, force[4], distLimit, posOld[4],
capvec[3], caplen, capscl; /* related to capping distance traveled
in a per-iteration way */
int stepBad, giveUp;
if (!point->stepEnergy) {
sprintf(err, "%s: whoa, point %u step is zero!", me, point->idtag);
biffAdd(PULL, err); return 1;
}
if (0 && 162 == point->idtag) {
fprintf(stderr, "!%s: !!!!!!!!!!!! praying ON!\n", me);
_pullPraying = AIR_TRUE;
ELL_3V_COPY(_pullPrayCorner[0][0], point->pos);
_pullPrayCorner[0][0][2] -= 1;
ELL_3V_COPY(_pullPrayCorner[0][1], point->pos);
_pullPrayCorner[0][1][2] += 1;
fprintf(stderr, "!%s: corner[0][0] = %g %g %g\n", me,
_pullPrayCorner[0][0][0],
_pullPrayCorner[0][0][1],
_pullPrayCorner[0][0][2]);
fprintf(stderr, "!%s: corner[0][1] = %g %g %g\n", me,
_pullPrayCorner[0][1][0],
_pullPrayCorner[0][1][1],
_pullPrayCorner[0][1][2]);
} else {
_pullPraying = AIR_FALSE;
}
if (_pullPraying) {
fprintf(stderr, "%s: =============================== (%u) hi @ %g %g %g\n",
me, point->idtag, point->pos[0], point->pos[1], point->pos[2]);
}
energyOld = _pullPointEnergyTotal(task, bin, point, force);
if (_pullPraying) {
fprintf(stderr, "!%s: =================== point %u has:\n "
" energy = %g ; ndist = %g, force %g %g %g %g\n", me,
point->idtag, energyOld, point->neighDist,
force[0], force[1], force[2], force[3]);
}
if (!( AIR_EXISTS(energyOld) && ELL_4V_EXISTS(force) )) {
sprintf(err, "%s: point %u non-exist energy or force", me, point->idtag);
biffAdd(PULL, err); return 1;
}
if (task->pctx->constraint) {
/* we have a constraint, so do something to get the force more
tangential to the constriant surface */
double proj[9], pfrc[3];
_pullConstraintTangent(task, point, proj);
ELL_3MV_MUL(pfrc, proj, force);
ELL_3V_COPY(force, pfrc);
}
point->status = 0; /* reset status bitflag */
ELL_4V_COPY(posOld, point->pos);
_pullPointHistInit(point);
_pullPointHistAdd(point, pullCondOld);
if (!ELL_4V_LEN(force)) {
/* this particle has no reason to go anywhere; we're done with it */
point->energy = energyOld;
return 0;
}
distLimit = _pullDistLimit(task, point);
/* find capscl */
ELL_3V_SCALE(capvec, point->stepEnergy, force);
caplen = ELL_3V_LEN(capvec);
if (caplen > distLimit) {
capscl = distLimit/caplen;
} else {
capscl = 1;
}
if (_pullPraying) {
fprintf(stderr, "%s: ======= (%u) capscl = %g\n", me,
point->idtag, capscl);
}
if (_pullPraying) {
double nfrc[3], len, phold[4], ee;
int cfail;
ELL_4V_COPY(phold, point->pos);
fprintf(stderr, "!%s(%u,%u): energy(%g,%g,%g) = %f (original)\n",
me, task->pctx->iter, point->idtag,
point->pos[0], point->pos[1], point->pos[2], energyOld);
ELL_4V_SCALE_ADD2(point->pos, 1.0, posOld,
capscl*point->stepEnergy, force);
ELL_3V_COPY(_pullPrayCorner[1][0], point->pos);
_pullPrayCorner[1][0][2] -= 1;
ELL_3V_COPY(_pullPrayCorner[1][1], point->pos);
_pullPrayCorner[1][1][2] += 1;
fprintf(stderr, "!%s: corner[1][0] = %g %g %g\n", me,
_pullPrayCorner[1][0][0],
_pullPrayCorner[1][0][1],
_pullPrayCorner[1][0][2]);
fprintf(stderr, "!%s: corner[1][1] = %g %g %g\n", me,
_pullPrayCorner[1][1][0],
_pullPrayCorner[1][1][1],
_pullPrayCorner[1][1][2]);
#define PROBE(l) if (_pullProbe(task, point)) { \
sprintf(err, "%s: while praying", me); \
biffAdd(PULL, err); return 1; \
} \
(l) = _pullPointScalar(task->pctx, point, \
pullInfoHeight, NULL, NULL);
if (1) {
double *enr, *lpl, uu, vv, vpos[2][3], ll, mid[3];
unsigned int ui, vi;
Nrrd *nenr, *nlpl;
nenr = nrrdNew();
nlpl = nrrdNew();
nrrdMaybeAlloc_nva(nenr, nrrdTypeDouble, 2, _pullPrayRes);
enr = AIR_CAST(double *, nenr->data);
nrrdMaybeAlloc_nva(nlpl, nrrdTypeDouble, 2, _pullPrayRes);
lpl = AIR_CAST(double *, nlpl->data);
for (vi=0; vi<_pullPrayRes[1]; vi++) {
vv = AIR_AFFINE(0, vi, _pullPrayRes[1]-1, 0, 1);
ELL_3V_LERP(vpos[0], vv, _pullPrayCorner[0][0], _pullPrayCorner[0][1]);
ELL_3V_LERP(vpos[1], vv, _pullPrayCorner[1][0], _pullPrayCorner[1][1]);
for (ui=0; ui<_pullPrayRes[0]; ui++) {
uu = AIR_AFFINE(0, ui, _pullPrayRes[0]-1, 0, 1);
ELL_3V_LERP(point->pos, uu, vpos[0], vpos[1]);
PROBE(ll);
lpl[ui + _pullPrayRes[0]*vi] = ll;
enr[ui + _pullPrayRes[0]*vi] = _pullPointEnergyTotal(task, bin,
point, NULL);
}
}
nrrdSave("nenr.nrrd", nenr, NULL);
nrrdSave("nlpl.nrrd", nlpl, NULL);
nenr = nrrdNuke(nenr);
nlpl = nrrdNuke(nlpl);
}
#undef PROBE
ELL_4V_COPY(point->pos, phold);
_pullPointEnergyTotal(task, bin, point, NULL);
}
void
_gageSclAnswer (gageContext *ctx, gagePerVolume *pvl) {
char me[]="_gageSclAnswer";
double gmag=0, *hess, *norm, *gvec, *gten, *k1, *k2, curv=0,
sHess[9]={0,0,0,0,0,0,0,0,0};
double tmpMat[9], tmpVec[3], hevec[9], heval[3];
double len, gp1[3], gp2[3], *nPerp, ncTen[9], nProj[9]={0,0,0,0,0,0,0,0,0};
double alpha = 0.5;
double beta = 0.5;
double gamma = 5;
double cc = 1e-6;
#define FD_MEDIAN_MAX 16
int fd, nidx, xi, yi, zi;
double *fw, iv3wght[2*FD_MEDIAN_MAX*FD_MEDIAN_MAX*FD_MEDIAN_MAX],
wghtSum, wght;
/* convenience pointers for work below */
hess = pvl->directAnswer[gageSclHessian];
gvec = pvl->directAnswer[gageSclGradVec];
norm = pvl->directAnswer[gageSclNormal];
nPerp = pvl->directAnswer[gageSclNPerp];
gten = pvl->directAnswer[gageSclGeomTens];
k1 = pvl->directAnswer[gageSclK1];
k2 = pvl->directAnswer[gageSclK2];
if (GAGE_QUERY_ITEM_TEST(pvl->query, gageSclValue)) {
/* done if doV */
if (ctx->verbose) {
fprintf(stderr, "%s: val = % 15.7f\n", me,
(double)(pvl->directAnswer[gageSclValue][0]));
}
}
if (GAGE_QUERY_ITEM_TEST(pvl->query, gageSclGradVec)) {
/* done if doD1 */
if (ctx->verbose) {
fprintf(stderr, "%s: gvec = ", me);
ell_3v_print_d(stderr, gvec);
}
}
if (GAGE_QUERY_ITEM_TEST(pvl->query, gageSclGradMag)) {
/* this is the true value of gradient magnitude */
gmag = pvl->directAnswer[gageSclGradMag][0] = sqrt(ELL_3V_DOT(gvec, gvec));
}
/* NB: it would seem that gageParmGradMagMin is completely ignored ... */
if (GAGE_QUERY_ITEM_TEST(pvl->query, gageSclNormal)) {
if (gmag) {
ELL_3V_SCALE(norm, 1/gmag, gvec);
/* polishing ...
len = sqrt(ELL_3V_DOT(norm, norm));
ELL_3V_SCALE(norm, 1/len, norm);
*/
} else {
ELL_3V_COPY(norm, gageZeroNormal);
}
}
if (GAGE_QUERY_ITEM_TEST(pvl->query, gageSclNPerp)) {
/* nPerp = I - outer(norm, norm) */
/* NB: this sets both nPerp and nProj */
ELL_3MV_OUTER(nProj, norm, norm);
ELL_3M_SCALE(nPerp, -1, nProj);
nPerp[0] += 1;
nPerp[4] += 1;
nPerp[8] += 1;
}
if (GAGE_QUERY_ITEM_TEST(pvl->query, gageSclHessian)) {
/* done if doD2 */
if (ctx->verbose) {
fprintf(stderr, "%s: hess = \n", me);
ell_3m_print_d(stderr, hess);
}
}
if (GAGE_QUERY_ITEM_TEST(pvl->query, gageSclLaplacian)) {
pvl->directAnswer[gageSclLaplacian][0] = hess[0] + hess[4] + hess[8];
if (ctx->verbose) {
fprintf(stderr, "%s: lapl = %g + %g + %g = %g\n", me,
hess[0], hess[4], hess[8],
pvl->directAnswer[gageSclLaplacian][0]);
}
}
if (GAGE_QUERY_ITEM_TEST(pvl->query, gageSclHessFrob)) {
pvl->directAnswer[gageSclHessFrob][0] = ELL_3M_FROB(hess);
}
if (GAGE_QUERY_ITEM_TEST(pvl->query, gageSclHessEval)) {
/* HEY: look at the return value for root multiplicity? */
ell_3m_eigensolve_d(heval, hevec, hess, AIR_TRUE);
ELL_3V_COPY(pvl->directAnswer[gageSclHessEval], heval);
}
if (GAGE_QUERY_ITEM_TEST(pvl->query, gageSclHessEvec)) {
ELL_3M_COPY(pvl->directAnswer[gageSclHessEvec], hevec);
}
if (GAGE_QUERY_ITEM_TEST(pvl->query, gageSclHessRidgeness)) {
double A, B, S;
if (heval[1] >0 || heval[2]>0) {
pvl->directAnswer[gageSclHessRidgeness][0] = 0;
}
else if (AIR_ABS(heval[1])<1e-10 || AIR_ABS(heval[2])<1e-10) {
pvl->directAnswer[gageSclHessRidgeness][0] = 0;
}
else {
double *ans;
A = AIR_ABS(heval[1])/AIR_ABS(heval[2]);
B = AIR_ABS(heval[0])/sqrt(AIR_ABS(heval[1]*heval[2]));
S = sqrt(heval[0]*heval[0] + heval[1]*heval[1] + heval[2]*heval[2]);
ans = pvl->directAnswer[gageSclHessRidgeness];
ans[0] = (1-exp(-A*A/(2*alpha*alpha))) *
exp(-B*B/(2*beta*beta)) *
(1-exp(-S*S/(2*gamma*gamma))) *
exp(-2*cc*cc/(AIR_ABS(heval[1])*heval[2]*heval[2]));
}
}
if (GAGE_QUERY_ITEM_TEST(pvl->query, gageSclHessValleyness)) {
double A, B, S;
if (heval[0] <0 || heval[1]<0) {
pvl->directAnswer[gageSclHessValleyness][0] = 0;
}
else if (AIR_ABS(heval[0])<1e-10 || AIR_ABS(heval[1])<1e-10) {
pvl->directAnswer[gageSclHessValleyness][0] = 0;
}
else {
double *ans;
A = AIR_ABS(heval[1])/AIR_ABS(heval[0]);
B = AIR_ABS(heval[2])/sqrt(AIR_ABS(heval[1]*heval[0]));
S = sqrt(heval[0]*heval[0] + heval[1]*heval[1] + heval[2]*heval[2]);
ans = pvl->directAnswer[gageSclHessValleyness];
ans[0] = (1-exp(-A*A/(2*alpha*alpha))) *
exp(-B*B/(2*beta*beta)) *
(1-exp(-S*S/(2*gamma*gamma))) *
exp(-2*cc*cc/(AIR_ABS(heval[1])*heval[0]*heval[0]));
}
}
if (GAGE_QUERY_ITEM_TEST(pvl->query, gageSclHessMode)) {
pvl->directAnswer[gageSclHessMode][0] = airMode3_d(heval);
}
if (GAGE_QUERY_ITEM_TEST(pvl->query, gageScl2ndDD)) {
ELL_3MV_MUL(tmpVec, hess, norm);
pvl->directAnswer[gageScl2ndDD][0] = ELL_3V_DOT(norm, tmpVec);
}
if (GAGE_QUERY_ITEM_TEST(pvl->query, gageSclGeomTens)) {
if (gmag > ctx->parm.gradMagCurvMin) {
/* parm.curvNormalSide applied here to determine the sense of the
normal when doing all curvature calculations */
ELL_3M_SCALE(sHess, -(ctx->parm.curvNormalSide)/gmag, hess);
/* gten = nPerp * sHess * nPerp */
ELL_3M_MUL(tmpMat, sHess, nPerp);
ELL_3M_MUL(gten, nPerp, tmpMat);
if (ctx->verbose) {
fprintf(stderr, "%s: gten: \n", me);
ell_3m_print_d(stderr, gten);
ELL_3MV_MUL(tmpVec, gten, norm);
len = ELL_3V_LEN(tmpVec);
fprintf(stderr, "%s: should be small: %30.15f\n", me, (double)len);
ell_3v_perp_d(gp1, norm);
ELL_3MV_MUL(tmpVec, gten, gp1);
len = ELL_3V_LEN(tmpVec);
fprintf(stderr, "%s: should be bigger: %30.15f\n", me, (double)len);
ELL_3V_CROSS(gp2, gp1, norm);
ELL_3MV_MUL(tmpVec, gten, gp2);
len = ELL_3V_LEN(tmpVec);
fprintf(stderr, "%s: should (also) be bigger: %30.15f\n",
me, (double)len);
}
} else {
ELL_3M_ZERO_SET(gten);
}
}
if (GAGE_QUERY_ITEM_TEST(pvl->query, gageSclTotalCurv)) {
curv = pvl->directAnswer[gageSclTotalCurv][0] = ELL_3M_FROB(gten);
}
if (GAGE_QUERY_ITEM_TEST(pvl->query, gageSclShapeTrace)) {
pvl->directAnswer[gageSclShapeTrace][0] = (curv
? ELL_3M_TRACE(gten)/curv
: 0);
}
if ( (GAGE_QUERY_ITEM_TEST(pvl->query, gageSclK1)) ||
(GAGE_QUERY_ITEM_TEST(pvl->query, gageSclK2)) ){
double T, N, D;
T = ELL_3M_TRACE(gten);
N = curv;
D = 2*N*N - T*T;
/*
if (D < -0.0000001) {
fprintf(stderr, "%s: %g %g\n", me, T, N);
fprintf(stderr, "%s: !!! D curv determinant % 22.10f < 0.0\n", me, D);
fprintf(stderr, "%s: gten: \n", me);
ell_3m_print_d(stderr, gten);
}
*/
D = AIR_MAX(D, 0);
D = sqrt(D);
k1[0] = 0.5*(T + D);
k2[0] = 0.5*(T - D);
}
if (GAGE_QUERY_ITEM_TEST(pvl->query, gageSclMeanCurv)) {
pvl->directAnswer[gageSclMeanCurv][0] = (*k1 + *k2)/2;
}
if (GAGE_QUERY_ITEM_TEST(pvl->query, gageSclGaussCurv)) {
pvl->directAnswer[gageSclGaussCurv][0] = (*k1)*(*k2);
}
if (GAGE_QUERY_ITEM_TEST(pvl->query, gageSclShapeIndex)) {
pvl->directAnswer[gageSclShapeIndex][0] =
-(2/AIR_PI)*atan2(*k1 + *k2, *k1 - *k2);
}
if (GAGE_QUERY_ITEM_TEST(pvl->query, gageSclCurvDir1)) {
/* HEY: this only works when K1, K2, 0 are all well mutually distinct,
since these are the eigenvalues of the geometry tensor, and this
code assumes that the eigenspaces are all one-dimensional */
ELL_3M_COPY(tmpMat, gten);
ELL_3M_DIAG_SET(tmpMat, gten[0] - *k1, gten[4]- *k1, gten[8] - *k1);
ell_3m_1d_nullspace_d(tmpVec, tmpMat);
ELL_3V_COPY(pvl->directAnswer[gageSclCurvDir1], tmpVec);
}
if (GAGE_QUERY_ITEM_TEST(pvl->query, gageSclCurvDir2)) {
/* HEY: this only works when K1, K2, 0 are all well mutually distinct,
since these are the eigenvalues of the geometry tensor, and this
code assumes that the eigenspaces are all one-dimensional */
ELL_3M_COPY(tmpMat, gten);
ELL_3M_DIAG_SET(tmpMat, gten[0] - *k2, gten[4] - *k2, gten[8] - *k2);
ell_3m_1d_nullspace_d(tmpVec, tmpMat);
ELL_3V_COPY(pvl->directAnswer[gageSclCurvDir2], tmpVec);
}
if (GAGE_QUERY_ITEM_TEST(pvl->query, gageSclFlowlineCurv)) {
if (gmag >= ctx->parm.gradMagCurvMin) {
/* because of the gageSclGeomTens prerequisite, sHess, nPerp, and
nProj are all already set */
/* ncTen = nPerp * sHess * nProj */
ELL_3M_MUL(tmpMat, sHess, nProj);
ELL_3M_MUL(ncTen, nPerp, tmpMat);
} else {
ELL_3M_ZERO_SET(ncTen);
}
/* there used to be a wrong extra sqrt() here */
pvl->directAnswer[gageSclFlowlineCurv][0] = ELL_3M_FROB(ncTen);
}
if (GAGE_QUERY_ITEM_TEST(pvl->query, gageSclMedian)) {
/* this item is currently a complete oddball in that it does not
benefit from anything done in the "filter" stage, which is in
fact a waste of time if the query consists only of this item */
fd = 2*ctx->radius;
if (fd > FD_MEDIAN_MAX) {
fprintf(stderr, "%s: PANIC: current filter diameter = %d "
"> FD_MEDIAN_MAX = %d\n", me, fd, FD_MEDIAN_MAX);
exit(1);
}
fw = ctx->fw + fd*3*gageKernel00;
/* HEY: this needs some optimization help */
wghtSum = 0;
nidx = 0;
for (xi=0; xi<fd; xi++) {
for (yi=0; yi<fd; yi++) {
for (zi=0; zi<fd; zi++) {
iv3wght[0 + 2*nidx] = pvl->iv3[nidx];
iv3wght[1 + 2*nidx] = fw[xi + 0*fd]*fw[yi + 1*fd]*fw[zi + 2*fd];
wghtSum += iv3wght[1 + 2*nidx];
nidx++;
}
}
}
qsort(iv3wght, fd*fd*fd, 2*sizeof(double), nrrdValCompare[nrrdTypeDouble]);
wght = 0;
for (nidx=0; nidx<fd*fd*fd; nidx++) {
wght += iv3wght[1 + 2*nidx];
if (wght > wghtSum/2) {
break;
}
}
pvl->directAnswer[gageSclMedian][0] = iv3wght[0 + 2*nidx];
}
return;
}
int
tenExperSpecFromKeyValueSet(tenExperSpec *espec, const Nrrd *ndwi) {
static const char me[]="tenExperSpecFromKeyValueSet";
unsigned int *skip, skipNum, ii, imgNum, dwiax;
Nrrd *ngrad, *nbmat;
airArray *mop;
double len, singleBval, *bval, *grad;
for (dwiax=0; dwiax<ndwi->dim; dwiax++) {
if (nrrdKindList == ndwi->axis[dwiax].kind
|| nrrdKindVector == ndwi->axis[dwiax].kind) {
break;
}
}
if (ndwi->dim == dwiax) {
biffAddf(TEN, "%s: need dwis to have a kind %s or %s axis", me,
airEnumStr(nrrdKind, nrrdKindList),
airEnumStr(nrrdKind, nrrdKindVector));
return 1;
} else {
if (0 != dwiax) {
biffAddf(TEN, "%s: need dwis (kind %s or %s) along axis 0, not %u", me,
airEnumStr(nrrdKind, nrrdKindList),
airEnumStr(nrrdKind, nrrdKindVector), dwiax);
return 1;
}
}
for (ii=dwiax+1; ii<ndwi->dim; ii++) {
if (nrrdKindList == ndwi->axis[ii].kind
|| nrrdKindVector == ndwi->axis[ii].kind) {
break;
}
}
if (ii < ndwi->dim) {
biffAddf(TEN, "%s: saw on %u another %s or %s kind axis, after 0", me,
ii, airEnumStr(nrrdKind, nrrdKindList),
airEnumStr(nrrdKind, nrrdKindVector));
return 1;
}
if (tenDWMRIKeyValueParse(&ngrad, &nbmat, &singleBval,
&skip, &skipNum, ndwi)) {
biffAddf(TEN, "%s: trouble parsing DWI info from key/value pairs", me);
return 1;
}
mop = airMopNew();
if (ngrad) {
airMopAdd(mop, ngrad, (airMopper)nrrdNuke, airMopAlways);
}
if (nbmat) {
airMopAdd(mop, nbmat, (airMopper)nrrdNuke, airMopAlways);
}
if (skip) {
airMopAdd(mop, skip, airFree, airMopAlways);
}
if (nbmat) {
biffAddf(TEN, "%s: sorry, currently can't handle B-matrices here", me);
airMopError(mop);
return 1;
}
if (skipNum) {
biffAddf(TEN, "%s: sorry, currently can't handle skipping (%u) here", me,
skipNum);
airMopError(mop);
return 1;
}
imgNum = ngrad->axis[1].size;
bval = AIR_CALLOC(imgNum, double);
airMopAdd(mop, bval, airFree, airMopAlways);
grad = AIR_CAST(double *, ngrad->data);
for (ii=0; ii<imgNum; ii++) {
len = ELL_3V_LEN(grad + 3*ii);
bval[ii] = singleBval*len*len;
if (len) {
ELL_3V_SCALE(grad + 3*ii, 1/len, grad + 3*ii);
} else {
ELL_3V_SET(grad + 3*ii, 0, 0, -1);
}
}
if (tenExperSpecGradBValSet(espec, AIR_FALSE, bval, grad, imgNum)) {
biffAddf(TEN, "%s: trouble", me);
airMopError(mop);
return 1;
}
airMopOkay(mop);
return 0;
}
double
miteSample(miteThread *mtt, miteRender *mrr, miteUser *muu,
int num, double rayT, int inside,
double samplePosWorld[3],
double samplePosIndex[3]) {
static const char me[]="miteSample";
mite_t R, G, B, A;
double *NN;
double NdotV, kn[3], knd[3], ref[3], len, *dbg=NULL;
if (!inside) {
return mtt->rayStep;
}
if (mtt->skip) {
/* we have one verbose pixel, but we're not on it */
return 0.0;
}
/* early ray termination */
if (1-mtt->TT >= muu->opacNear1) {
mtt->TT = 0.0;
return 0.0;
}
/* set (fake) view based on fake from */
if (AIR_EXISTS(muu->fakeFrom[0])) {
ELL_3V_SUB(mtt->V, samplePosWorld, muu->fakeFrom);
ELL_3V_NORM(mtt->V, mtt->V, len);
}
/* do probing at this location to determine values of everything
that might appear in the txf domain */
if (gageProbe(mtt->gctx,
samplePosIndex[0],
samplePosIndex[1],
samplePosIndex[2])) {
biffAddf(MITE, "%s: gage trouble: %s (%d)", me,
mtt->gctx->errStr, mtt->gctx->errNum);
return AIR_NAN;
}
if (mrr->queryMiteNonzero) {
/* There is some optimal trade-off between slowing things down
with too many branches on all possible checks of queryMite,
and slowing things down with doing the work of setting them all.
This code has not been profiled whatsoever */
mtt->directAnsMiteVal[miteValXw][0] = samplePosWorld[0];
mtt->directAnsMiteVal[miteValXi][0] = samplePosIndex[0];
mtt->directAnsMiteVal[miteValYw][0] = samplePosWorld[1];
mtt->directAnsMiteVal[miteValYi][0] = samplePosIndex[1];
mtt->directAnsMiteVal[miteValZw][0] = samplePosWorld[2];
mtt->directAnsMiteVal[miteValZi][0] = samplePosIndex[2];
mtt->directAnsMiteVal[miteValRw][0] = ELL_3V_LEN(samplePosWorld);
mtt->directAnsMiteVal[miteValRi][0] = ELL_3V_LEN(samplePosIndex);
mtt->directAnsMiteVal[miteValTw][0] = rayT;
mtt->directAnsMiteVal[miteValTi][0] = num;
ELL_3V_COPY(mtt->directAnsMiteVal[miteValView], mtt->V);
NN = mtt->directAnsMiteVal[miteValNormal];
if (mtt->_normal) {
if (1 == muu->normalSide) {
ELL_3V_SCALE(NN, -1, mtt->_normal);
} else {
ELL_3V_COPY(NN, mtt->_normal);
}
}
if ((GAGE_QUERY_ITEM_TEST(mrr->queryMite, miteValNdotV)
|| GAGE_QUERY_ITEM_TEST(mrr->queryMite, miteValNdotL)
|| GAGE_QUERY_ITEM_TEST(mrr->queryMite, miteValVrefN))) {
mtt->directAnsMiteVal[miteValNdotV][0] = ELL_3V_DOT(NN, mtt->V);
mtt->directAnsMiteVal[miteValNdotL][0] =
ELL_3V_DOT(NN, muu->lit->dir[0]);
if (!muu->normalSide) {
mtt->directAnsMiteVal[miteValNdotV][0] =
AIR_ABS(mtt->directAnsMiteVal[miteValNdotV][0]);
mtt->directAnsMiteVal[miteValNdotL][0] =
AIR_ABS(mtt->directAnsMiteVal[miteValNdotL][0]);
}
NdotV = mtt->directAnsMiteVal[miteValNdotV][0];
ELL_3V_SCALE_ADD2(ref, 2*NdotV, NN, -1, mtt->V);
ELL_3V_NORM(mtt->directAnsMiteVal[miteValVrefN], ref, len);
}
if (GAGE_QUERY_ITEM_TEST(mrr->queryMite, miteValGTdotV)) {
ELL_3MV_MUL(kn, mtt->nPerp, mtt->V);
ELL_3V_NORM(kn, kn, len);
ELL_3MV_MUL(knd, mtt->geomTens, kn);
mtt->directAnsMiteVal[miteValGTdotV][0] = ELL_3V_DOT(knd, kn);
}
}
/* initialize txf range quantities, and apply all txfs */
if (mtt->verbose) {
muu->debugIdx = airArrayLenIncr(muu->debugArr, muu->ndebug->axis[0].size);
}
memcpy(mtt->range, muu->rangeInit, MITE_RANGE_NUM*sizeof(mite_t));
_miteStageRun(mtt, muu);
/* if there's opacity, do shading and compositing */
if (mtt->range[miteRangeAlpha]) {
/* fprintf(stderr, "%s: mtt->TT = %g\n", me, mtt->TT); */
/*
if (mtt->verbose) {
fprintf(stderr, "%s: before compositing: RGBT = %g,%g,%g,%g\n",
me, mtt->RR, mtt->GG, mtt->BB, mtt->TT);
}
*/
_miteRGBACalc(&R, &G, &B, &A, mtt, mrr, muu);
mtt->RR += mtt->TT*A*R;
mtt->GG += mtt->TT*A*G;
mtt->BB += mtt->TT*A*B;
mtt->TT *= 1-A;
/*
if (mtt->verbose) {
fprintf(stderr, "%s: after compositing: RGBT = %g,%g,%g,%g\n",
me, mtt->RR, mtt->GG, mtt->BB, mtt->TT);
}
*/
/* fprintf(stderr, "%s: mtt->TT = %g\n", me, mtt->TT); */
} else {
R = G = B = A = 0;
}
if (mtt->verbose) {
dbg = muu->debug + muu->debugIdx;
dbg[0 + 2*mtt->stageNum] = R;
dbg[1 + 2*mtt->stageNum] = G;
dbg[2 + 2*mtt->stageNum] = B;
dbg[3 + 2*mtt->stageNum] = A;
dbg[4 + 2*mtt->stageNum] = rayT;
}
/* set Z if it hasn't been set already */
if (1-mtt->TT >= muu->opacMatters && !AIR_EXISTS(mtt->ZZ)) {
mtt->ZZ = rayT;
}
/* this is used to index mtt->debug */
mtt->raySample += 1;
return mtt->rayStep;
}
int
main(int argc, const char *argv[]) {
hestOpt *hopt=NULL;
hestParm *hparm;
Nrrd *nlight, *nmap, *ndebug;
const char *me;
char *outS, *errS, *debugS;
airArray *mop;
float amb[3], *linfo, *debug, *map, vscl;
unsigned li, ui, vi;
int qn, bits, method, doerr;
limnLight *light;
limnCamera *cam;
double u, v, r, w, V2W[9], diff, WW[3], VV[3];
me = argv[0];
mop = airMopNew();
hparm = hestParmNew();
airMopAdd(mop, hparm, (airMopper)hestParmFree, airMopAlways);
hparm->elideSingleEmptyStringDefault = AIR_TRUE;
cam = limnCameraNew();
airMopAdd(mop, cam, (airMopper)limnCameraNix, airMopAlways);
hestOptAdd(&hopt, "i", "nlight", airTypeOther, 1, 1, &nlight, NULL,
"input nrrd containing light information",
NULL, NULL, nrrdHestNrrd);
hestOptAdd(&hopt, "b", "# bits", airTypeInt, 1, 1, &bits, "16",
"number of bits to use for normal quantization, "
"between 8 and 16 inclusive. ");
hestOptAdd(&hopt, "amb", "ambient RGB", airTypeFloat, 3, 3, amb, "0 0 0",
"ambient light color");
hestOptAdd(&hopt, "fr", "from point", airTypeDouble, 3, 3, cam->from,"1 0 0",
"position of camera, used to determine view vector");
hestOptAdd(&hopt, "at", "at point", airTypeDouble, 3, 3, cam->at, "0 0 0",
"camera look-at point, used to determine view vector");
hestOptAdd(&hopt, "up", "up vector", airTypeDouble, 3, 3, cam->up, "0 0 1",
"camera pseudo-up vector, used to determine view coordinates");
hestOptAdd(&hopt, "rh", NULL, airTypeInt, 0, 0, &(cam->rightHanded), NULL,
"use a right-handed UVN frame (V points down)");
hestOptAdd(&hopt, "vs", "view-dir scaling", airTypeFloat, 1, 1, &vscl, "1",
"scaling along view-direction of location of "
"view-space lights");
hestOptAdd(&hopt, "o", "filename", airTypeString, 1, 1, &outS, NULL,
"file to write output envmap to");
hestOptAdd(&hopt, "d", "filename", airTypeString, 1, 1, &debugS, "",
"Use this option to save out (to the given filename) a rendering "
"of the front (on the left) and back (on the right) of a sphere "
"as shaded with the new environment map. U increases "
"right-ward, V increases downward. The back sphere half is "
"rendered as though the front half was removed");
hestOptAdd(&hopt, "err", NULL, airTypeInt, 0, 0, &doerr, NULL,
"If using \"-d\", make the image represent the error between the "
"real and quantized vector");
hestParseOrDie(hopt, argc-1, argv+1, hparm, me, emapInfo,
AIR_TRUE, AIR_TRUE, AIR_TRUE);
airMopAdd(mop, hopt, (airMopper)hestOptFree, airMopAlways);
airMopAdd(mop, hopt, (airMopper)hestParseFree, airMopAlways);
switch(bits) {
case 16:
method = limnQN16octa;
break;
case 15:
method = limnQN15octa;
break;
case 14:
method = limnQN14octa;
break;
case 13:
method = limnQN13octa;
break;
case 12:
method = limnQN12octa;
break;
case 11:
method = limnQN11octa;
break;
case 10:
method = limnQN10octa;
break;
case 9:
method = limnQN9octa;
break;
case 8:
method = limnQN8octa;
break;
default:
fprintf(stderr, "%s: requested #bits (%d) not in valid range [8,16]\n",
me, bits);
airMopError(mop);
return 1;
}
if (!(nrrdTypeFloat == nlight->type &&
2 == nlight->dim &&
7 == nlight->axis[0].size &&
LIMN_LIGHT_NUM >= nlight->axis[1].size)) {
fprintf(stderr, "%s: nlight isn't valid format for light specification, "
"must be: float type, 2-dimensional, 7\tx\tN size, N <= %d\n",
me, LIMN_LIGHT_NUM);
airMopError(mop);
return 1;
}
cam->neer = -0.000000001;
cam->dist = 0;
cam->faar = 0.0000000001;
cam->atRelative = AIR_TRUE;
if (limnCameraUpdate(cam)) {
airMopAdd(mop, errS = biffGetDone(LIMN), airFree, airMopAlways);
fprintf(stderr, "%s: problem with camera:\n%s\n", me, errS);
airMopError(mop);
return 1;
}
light = limnLightNew();
airMopAdd(mop, light, (airMopper)limnLightNix, airMopAlways);
limnLightAmbientSet(light, amb[0], amb[1], amb[2]);
for (li=0; li<nlight->axis[1].size; li++) {
int vsp;
float lxyz[3];
linfo = (float *)(nlight->data) + 7*li;
vsp = !!linfo[0];
ELL_3V_COPY(lxyz, linfo + 4);
if (vsp) {
lxyz[2] *= vscl;
}
limnLightSet(light, li, vsp,
linfo[1], linfo[2], linfo[3], lxyz[0], lxyz[1], lxyz[2]);
}
if (limnLightUpdate(light, cam)) {
airMopAdd(mop, errS = biffGetDone(LIMN), airFree, airMopAlways);
fprintf(stderr, "%s: problem with lights:\n%s\n", me, errS);
airMopError(mop);
return 1;
}
nmap=nrrdNew();
airMopAdd(mop, nmap, (airMopper)nrrdNuke, airMopAlways);
if (limnEnvMapFill(nmap, limnLightDiffuseCB, method, light)) {
airMopAdd(mop, errS = biffGetDone(LIMN), airFree, airMopAlways);
fprintf(stderr, "%s: problem making environment map:\n%s\n", me, errS);
airMopError(mop);
return 1;
}
map = (float *)nmap->data;
if (nrrdSave(outS, nmap, NULL)) {
fprintf(stderr, "%s: trouble:\n%s", me, errS = biffGetDone(NRRD));
free(errS);
return 1;
}
if (airStrlen(debugS)) {
ELL_34M_EXTRACT(V2W, cam->V2W);
ndebug = nrrdNew();
nrrdMaybeAlloc_va(ndebug, nrrdTypeFloat, 3,
AIR_CAST(size_t, 3),
AIR_CAST(size_t, 1024),
AIR_CAST(size_t, 512));
airMopAdd(mop, ndebug, (airMopper)nrrdNuke, airMopAlways);
debug = (float *)ndebug->data;
for (vi=0; vi<=511; vi++) {
v = AIR_AFFINE(0, vi, 511, -0.999, 0.999);
for (ui=0; ui<=511; ui++) {
u = AIR_AFFINE(0, ui, 511, -0.999, 0.999);
r = sqrt(u*u + v*v);
if (r > 1) {
continue;
}
w = sqrt(1 - r*r);
/* first, the near side of the sphere */
ELL_3V_SET(VV, u, v, -w);
ELL_3MV_MUL(WW, V2W, VV);
qn = limnVtoQN_d[method](WW);
if (doerr) {
limnQNtoV_d[method](VV, qn);
ELL_3V_SUB(WW, WW, VV);
diff = ELL_3V_LEN(WW);
ELL_3V_SET_TT(debug + 3*(ui + 1024*vi), float,
diff, diff, diff);
} else {
ELL_3V_COPY(debug + 3*(ui + 1024*vi), map + 3*qn);
}
/* second, the far side of the sphere */
ELL_3V_SET(VV, u, v, w);
ELL_3MV_MUL(WW, V2W, VV);
qn = limnVtoQN_d[method](WW);
if (doerr) {
limnQNtoV_d[method](VV, qn);
ELL_3V_SUB(WW, WW, VV);
diff = ELL_3V_LEN(WW);
ELL_3V_SET_TT(debug + 3*(ui + 512 + 1024*vi), float,
diff, diff, diff);
} else {
ELL_3V_COPY(debug + 3*(ui + 512 + 1024*vi), map + 3*qn);
}
}
}
/*
******** limnCameraPathMake
**
** uses limnSplines to do camera paths based on key-frames
**
** output: cameras at all "numFrames" frames are set in the
** PRE-ALLOCATED array of output cameras, "cam".
**
** input:
** keycam: array of keyframe cameras
** time: times associated with the key frames
** ---> both of these arrays are length "numKeys" <---
** trackWhat: takes values from the limnCameraPathTrack* enum
** quatType: spline to control camera orientations. This is needed for
** tracking at or from, but not needed for limnCameraPathTrackBoth.
** This is the only limnSplineTypeSpec* argument that can be NULL.
** posType: spline to control whichever of from, at, and up are needed for
** the given style of tracking.
** distType: spline to control neer, faar, dist: positions of near clipping,
** far clipping, and image plane, as well as the
** distance between from and at (which is used if not doing
** limnCameraPathTrackBoth)
** viewType: spline to control fov (and aspect, if you're crazy)
**
** NOTE: The "atRelative", "orthographic", and "rightHanded" fields
** are copied from keycam[0] into all output cam[i], but you still need
** to correctly set them for all keycam[i] for limnCameraUpdate to work
** as expected. Also, for the sake of simplicity, this function only works
** with fov and aspect, instead of {u,v}Range, and hence both "fov" and
** "aspect" need to set in *all* the keycams, even if neither of them
** ever changes!
*/
int
limnCameraPathMake(limnCamera *cam, int numFrames,
limnCamera *keycam, double *time, int numKeys,
int trackWhat,
limnSplineTypeSpec *quatType,
limnSplineTypeSpec *posType,
limnSplineTypeSpec *distType,
limnSplineTypeSpec *viewType) {
static const char me[]="limnCameraPathMake";
char which[AIR_STRLEN_MED];
airArray *mop;
Nrrd *nquat, *nfrom, *natpt, *nupvc, *ndist, *nfova, *ntime, *nsample;
double fratVec[3], *quat, *from, *atpt, *upvc, *dist, *fova,
W2V[9], N[3], fratDist;
limnSpline *timeSpline, *quatSpline, *fromSpline, *atptSpline, *upvcSpline,
*distSpline, *fovaSpline;
limnSplineTypeSpec *timeType;
int ii, E;
if (!( cam && keycam && time && posType && distType && viewType )) {
biffAddf(LIMN, "%s: got NULL pointer", me);
return 1;
}
if (!( AIR_IN_OP(limnCameraPathTrackUnknown, trackWhat,
limnCameraPathTrackLast) )) {
biffAddf(LIMN, "%s: trackWhat %d not in valid range [%d,%d]", me,
trackWhat, limnCameraPathTrackUnknown+1,
limnCameraPathTrackLast-1);
return 1;
}
if (limnCameraPathTrackBoth != trackWhat && !quatType) {
biffAddf(LIMN, "%s: need the quaternion limnSplineTypeSpec if not "
"doing trackBoth", me);
return 1;
}
/* create and allocate nrrds. For the time being, we're allocating
more different nrrds, and filling their contents, than we need
to-- nquat is not needed if we're doing limnCameraPathTrackBoth,
for example. However, we do make an effort to only do the spline
evaluation on the things we actually need to know. */
mop = airMopNew();
airMopAdd(mop, nquat = nrrdNew(), (airMopper)nrrdNuke, airMopAlways);
airMopAdd(mop, nfrom = nrrdNew(), (airMopper)nrrdNuke, airMopAlways);
airMopAdd(mop, natpt = nrrdNew(), (airMopper)nrrdNuke, airMopAlways);
airMopAdd(mop, nupvc = nrrdNew(), (airMopper)nrrdNuke, airMopAlways);
airMopAdd(mop, ndist = nrrdNew(), (airMopper)nrrdNuke, airMopAlways);
airMopAdd(mop, nfova = nrrdNew(), (airMopper)nrrdNuke, airMopAlways);
airMopAdd(mop, ntime = nrrdNew(), (airMopper)nrrdNix, airMopAlways);
if (nrrdWrap_va(ntime, time, nrrdTypeDouble, 1,
AIR_CAST(size_t, numKeys))) {
biffMovef(LIMN, NRRD, "%s: trouble wrapping time values", me);
airMopError(mop); return 1;
}
airMopAdd(mop, nsample = nrrdNew(), (airMopper)nrrdNuke, airMopAlways);
timeType = limnSplineTypeSpecNew(limnSplineTypeTimeWarp);
airMopAdd(mop, timeType, (airMopper)limnSplineTypeSpecNix, airMopAlways);
if (nrrdMaybeAlloc_va(nquat, nrrdTypeDouble, 2,
AIR_CAST(size_t, 4), AIR_CAST(size_t, numKeys))
|| nrrdMaybeAlloc_va(nfrom, nrrdTypeDouble, 2,
AIR_CAST(size_t, 3), AIR_CAST(size_t, numKeys))
|| nrrdMaybeAlloc_va(natpt, nrrdTypeDouble, 2,
AIR_CAST(size_t, 3), AIR_CAST(size_t, numKeys))
|| nrrdMaybeAlloc_va(nupvc, nrrdTypeDouble, 2,
AIR_CAST(size_t, 3), AIR_CAST(size_t, numKeys))
|| nrrdMaybeAlloc_va(ndist, nrrdTypeDouble, 2,
AIR_CAST(size_t, 4), AIR_CAST(size_t, numKeys))
|| nrrdMaybeAlloc_va(nfova, nrrdTypeDouble, 2,
AIR_CAST(size_t, 2), AIR_CAST(size_t, numKeys))) {
biffMovef(LIMN, NRRD, "%s: couldn't allocate buffer nrrds", me);
airMopError(mop); return 1;
}
quat = (double*)(nquat->data);
from = (double*)(nfrom->data);
atpt = (double*)(natpt->data);
upvc = (double*)(nupvc->data);
dist = (double*)(ndist->data);
fova = (double*)(nfova->data);
/* check cameras, and put camera information into nrrds */
for (ii=0; ii<numKeys; ii++) {
if (limnCameraUpdate(keycam + ii)) {
biffAddf(LIMN, "%s: trouble with camera at keyframe %d\n", me, ii);
airMopError(mop); return 1;
}
if (!( AIR_EXISTS(keycam[ii].fov) && AIR_EXISTS(keycam[ii].aspect) )) {
biffAddf(LIMN, "%s: fov, aspect not both defined on keyframe %d",
me, ii);
airMopError(mop); return 1;
}
ell_4m_to_q_d(quat + 4*ii, keycam[ii].W2V);
if (ii) {
if (0 > ELL_4V_DOT(quat + 4*ii, quat + 4*(ii-1))) {
ELL_4V_SCALE(quat + 4*ii, -1, quat + 4*ii);
}
}
ELL_3V_COPY(from + 3*ii, keycam[ii].from);
ELL_3V_COPY(atpt + 3*ii, keycam[ii].at);
ELL_3V_COPY(upvc + 3*ii, keycam[ii].up);
ELL_3V_SUB(fratVec, keycam[ii].from, keycam[ii].at);
fratDist = ELL_3V_LEN(fratVec);
ELL_4V_SET(dist + 4*ii, fratDist,
keycam[ii].neer, keycam[ii].dist, keycam[ii].faar);
ELL_2V_SET(fova + 2*ii, keycam[ii].fov, keycam[ii].aspect);
}
/* create splines from nrrds */
if (!( (strcpy(which, "quaternion"), quatSpline =
limnSplineCleverNew(nquat, limnSplineInfoQuaternion, quatType))
&& (strcpy(which, "from point"), fromSpline =
limnSplineCleverNew(nfrom, limnSplineInfo3Vector, posType))
&& (strcpy(which, "at point"), atptSpline =
limnSplineCleverNew(natpt, limnSplineInfo3Vector, posType))
&& (strcpy(which, "up vector"), upvcSpline =
limnSplineCleverNew(nupvc, limnSplineInfo3Vector, posType))
&& (strcpy(which, "plane distances"), distSpline =
limnSplineCleverNew(ndist, limnSplineInfo4Vector, distType))
&& (strcpy(which, "field-of-view"), fovaSpline =
limnSplineCleverNew(nfova, limnSplineInfo2Vector, viewType))
&& (strcpy(which, "time warp"), timeSpline =
limnSplineCleverNew(ntime, limnSplineInfoScalar, timeType)) )) {
biffAddf(LIMN, "%s: trouble creating %s spline", me, which);
airMopError(mop); return 1;
}
airMopAdd(mop, quatSpline, (airMopper)limnSplineNix, airMopAlways);
airMopAdd(mop, fromSpline, (airMopper)limnSplineNix, airMopAlways);
airMopAdd(mop, atptSpline, (airMopper)limnSplineNix, airMopAlways);
airMopAdd(mop, upvcSpline, (airMopper)limnSplineNix, airMopAlways);
airMopAdd(mop, distSpline, (airMopper)limnSplineNix, airMopAlways);
airMopAdd(mop, fovaSpline, (airMopper)limnSplineNix, airMopAlways);
airMopAdd(mop, timeSpline, (airMopper)limnSplineNix, airMopAlways);
/* evaluate splines */
E = AIR_FALSE;
if (!E) E |= limnSplineSample(nsample, timeSpline,
limnSplineMinT(timeSpline), numFrames,
limnSplineMaxT(timeSpline));
quat = NULL;
from = NULL;
atpt = NULL;
upvc = NULL;
switch(trackWhat) {
case limnCameraPathTrackAt:
if (!E) E |= limnSplineNrrdEvaluate(natpt, atptSpline, nsample);
if (!E) atpt = (double*)(natpt->data);
if (!E) E |= limnSplineNrrdEvaluate(nquat, quatSpline, nsample);
if (!E) quat = (double*)(nquat->data);
break;
case limnCameraPathTrackFrom:
if (!E) E |= limnSplineNrrdEvaluate(nfrom, fromSpline, nsample);
if (!E) from = (double*)(nfrom->data);
if (!E) E |= limnSplineNrrdEvaluate(nquat, quatSpline, nsample);
if (!E) quat = (double*)(nquat->data);
break;
case limnCameraPathTrackBoth:
if (!E) E |= limnSplineNrrdEvaluate(nfrom, fromSpline, nsample);
if (!E) from = (double*)(nfrom->data);
if (!E) E |= limnSplineNrrdEvaluate(natpt, atptSpline, nsample);
if (!E) atpt = (double*)(natpt->data);
if (!E) E |= limnSplineNrrdEvaluate(nupvc, upvcSpline, nsample);
if (!E) upvc = (double*)(nupvc->data);
break;
}
dist = NULL;
if (!E) E |= limnSplineNrrdEvaluate(ndist, distSpline, nsample);
if (!E) dist = (double*)(ndist->data);
fova = NULL;
if (!E) E |= limnSplineNrrdEvaluate(nfova, fovaSpline, nsample);
if (!E) fova = (double*)(nfova->data);
if (E) {
biffAddf(LIMN, "%s: trouble evaluating splines", me);
airMopError(mop); return 1;
}
/* copy information from nrrds back into cameras */
for (ii=0; ii<numFrames; ii++) {
cam[ii].atRelative = keycam[0].atRelative;
cam[ii].orthographic = keycam[0].orthographic;
cam[ii].rightHanded = keycam[0].rightHanded;
if (limnCameraPathTrackBoth == trackWhat) {
ELL_3V_COPY(cam[ii].from, from + 3*ii);
ELL_3V_COPY(cam[ii].at, atpt + 3*ii);
ELL_3V_COPY(cam[ii].up, upvc + 3*ii);
} else {
fratDist = (dist + 4*ii)[0];
ell_q_to_3m_d(W2V, quat + 4*ii);
ELL_3MV_ROW1_GET(cam[ii].up, W2V);
if (cam[ii].rightHanded) {
ELL_3V_SCALE(cam[ii].up, -1, cam[ii].up);
}
ELL_3MV_ROW2_GET(N, W2V);
if (limnCameraPathTrackFrom == trackWhat) {
ELL_3V_COPY(cam[ii].from, from + 3*ii);
ELL_3V_SCALE_ADD2(cam[ii].at, 1.0, cam[ii].from, fratDist, N);
} else {
ELL_3V_COPY(cam[ii].at, atpt + 3*ii);
ELL_3V_SCALE_ADD2(cam[ii].from, 1.0, cam[ii].at, -fratDist, N);
}
}
cam[ii].neer = (dist + 4*ii)[1];
cam[ii].dist = (dist + 4*ii)[2];
cam[ii].faar = (dist + 4*ii)[3];
cam[ii].fov = (fova + 2*ii)[0];
cam[ii].aspect = (fova + 2*ii)[1];
if (limnCameraUpdate(cam + ii)) {
biffAddf(LIMN, "%s: trouble with output camera %d\n", me, ii);
airMopError(mop); return 1;
}
}
airMopOkay(mop);
return 0;
}
/*
** (mcde)
** parm vector:
** 0 1 2 (3)
** step K lerp (lerp=1: all laplacian)
*/
void
_coilKindScalarFilterModifiedCurvature(coil_t *delta,
int xi, int yi, int zi,
coil_t **iv3, double spacing[3],
double parm[COIL_PARMS_NUM]) {
/* char me[]="_coilKindScalarFilterModifiedCurvature"; */
coil_t forwX[3], backX[3], forwY[3], backY[3], forwZ[3], backZ[3],
grad[3], gm, eps, KK, LL, denom, rspX, rspY, rspZ, lerp;
AIR_UNUSED(xi);
AIR_UNUSED(yi);
AIR_UNUSED(zi);
/*
if (coilVerbose) {
fprintf(stderr, "!%s: --------- hello --------\n", me);
}
*/
/* reciprocals of spacings in X, Y, and Z */
rspX = AIR_CAST(coil_t, 1.0/spacing[0]);
rspY = AIR_CAST(coil_t, 1.0/spacing[1]);
rspZ = AIR_CAST(coil_t, 1.0/spacing[2]);
_coilKindScalar3x3x3Gradients(forwX, backX,
forwY, backY,
forwZ, backZ,
iv3,
rspX, rspY, rspZ);
grad[0] = rspX*(iv3[2][4] - iv3[0][4]);
grad[1] = rspY*(iv3[1][5] - iv3[1][3]);
grad[2] = rspZ*(iv3[1][7] - iv3[1][1]);
gm = AIR_CAST(coil_t, ELL_3V_LEN(grad));
/*
if (coilVerbose) {
fprintf(stderr, "forwX = %g %g %g backX = %g %g %g\n",
forwX[0], forwX[1], forwX[2],
backX[0], backX[1], backX[2]);
fprintf(stderr, "forwY = %g %g %g backY = %g %g %g\n",
forwY[0], forwY[1], forwY[2],
backY[0], backY[1], backY[2]);
fprintf(stderr, "forwZ = %g %g %g backZ = %g %g %g\n",
forwZ[0], forwZ[1], forwZ[2],
backZ[0], backZ[1], backZ[2]);
fprintf(stderr, "grad = %g %g %g --> gm = %g\n",
grad[0], grad[1], grad[2], gm);
}
*/
/* compute fluxes */
eps = 0.0000000001f;
KK = AIR_CAST(coil_t, parm[1]*parm[1]);
LL = ELL_3V_DOT(forwX, forwX);
denom = AIR_CAST(coil_t, 1.0/(eps + sqrt(LL)));
forwX[0] *= _COIL_CONDUCT(LL, KK)*denom;
LL = ELL_3V_DOT(forwY, forwY);
denom = AIR_CAST(coil_t, 1.0/(eps + sqrt(LL)));
forwY[1] *= _COIL_CONDUCT(LL, KK)*denom;
LL = ELL_3V_DOT(forwZ, forwZ);
denom = AIR_CAST(coil_t, 1.0/(eps + sqrt(LL)));
forwZ[2] *= _COIL_CONDUCT(LL, KK)*denom;
LL = ELL_3V_DOT(backX, backX);
denom = AIR_CAST(coil_t, 1.0/(eps + sqrt(LL)));
backX[0] *= _COIL_CONDUCT(LL, KK)*denom;
LL = ELL_3V_DOT(backY, backY);
denom = AIR_CAST(coil_t, 1.0/(eps + sqrt(LL)));
backY[1] *= _COIL_CONDUCT(LL, KK)*denom;
LL = ELL_3V_DOT(backZ, backZ);
denom = AIR_CAST(coil_t, 1.0/(eps + sqrt(LL)));
backZ[2] *= _COIL_CONDUCT(LL, KK)*denom;
lerp = AIR_CAST(coil_t, parm[2]);
delta[0] = (lerp*_coilLaplacian3(iv3, spacing)
+ (1-lerp)*gm*(rspX*(forwX[0] - backX[0])
+ rspY*(forwY[1] - backY[1])
+ rspZ*(forwZ[2] - backZ[2])));
delta[0] *= AIR_CAST(coil_t, parm[0]);
/*
if (coilVerbose) {
fprintf(stderr, "!%s: delta = %g\n", me, delta[0]);
}
*/
}
/*
******** limnCameraUpdate()
**
** sets in cam: W2V, V2W, U, V, N, vspNeer, vspFaar, vspDist
** and, if fov and aspect are set, this also sets uRange and vRange
**
** This does use biff to describe problems with camera settings
*/
int
limnCameraUpdate(limnCamera *cam) {
static const char me[] = "limnCameraUpdate";
double len, bb[4], uu[4], vv[4], nn[4], TT[16], RR[16];
if (!cam) {
biffAddf(LIMN, "%s: got NULL pointer", me);
return 1;
}
ELL_4V_SET(uu, 0, 0, 0, 0);
ELL_4V_SET(vv, 0, 0, 0, 0);
ELL_4V_SET(nn, 0, 0, 0, 0);
ELL_4V_SET(bb, 0, 0, 0, 1);
ELL_3V_SUB(nn, cam->at, cam->from);
len = ELL_3V_LEN(nn);
if (!len) {
biffAddf(LIMN, "%s: cam->at (%g,%g,%g) == cam->from", me,
cam->at[0], cam->at[1], cam->at[2]);
return 1;
}
if (cam->atRelative) {
/* ctx->cam->{neer,dist} are "at" relative */
cam->vspNeer = cam->neer + len;
cam->vspFaar = cam->faar + len;
cam->vspDist = cam->dist + len;
}
else {
/* ctx->cam->{neer,dist} are eye relative */
cam->vspNeer = cam->neer;
cam->vspFaar = cam->faar;
cam->vspDist = cam->dist;
}
if (!(cam->vspNeer > 0 && cam->vspDist > 0 && cam->vspFaar > 0)) {
biffAddf(LIMN, "%s: eye-relative near (%g), dist (%g), or far (%g) <= 0",
me, cam->vspNeer, cam->vspDist, cam->vspFaar);
return 1;
}
if (!(cam->vspNeer <= cam->vspFaar)) {
biffAddf(LIMN, "%s: eye-relative near (%g) further than far (%g)",
me, cam->vspNeer, cam->vspFaar);
return 1 ;
}
if (AIR_EXISTS(cam->fov)) {
if (!( AIR_IN_OP(0.0, cam->fov, 180.0) )) {
biffAddf(LIMN, "%s: cam->fov (%g) not in valid range between 0 and 180",
me, cam->fov);
return 1 ;
}
if (!AIR_EXISTS(cam->aspect)) {
biffAddf(LIMN, "%s: cam->fov set, but cam->aspect isn't", me);
return 1;
}
/* "fov" is half vertical angle */
cam->vRange[0] = -tan(cam->fov*AIR_PI/360)*(cam->vspDist);
cam->vRange[1] = -cam->vRange[0];
cam->uRange[0] = cam->vRange[0]*(cam->aspect);
cam->uRange[1] = -cam->uRange[0];
}
/* else cam->fov isn't set, but we're not going to complain if
uRange and vRange aren't both set ... */
ELL_3V_SCALE(nn, 1.0/len, nn);
ELL_3V_CROSS(uu, nn, cam->up);
len = ELL_3V_LEN(uu);
if (!len) {
biffAddf(LIMN, "%s: cam->up is co-linear with view direction", me);
return 1 ;
}
ELL_3V_SCALE(uu, 1.0/len, uu);
if (cam->rightHanded) {
ELL_3V_CROSS(vv, nn, uu);
}
else {
ELL_3V_CROSS(vv, uu, nn);
}
ELL_4V_COPY(cam->U, uu);
ELL_4V_COPY(cam->V, vv);
ELL_4V_COPY(cam->N, nn);
ELL_4M_TRANSLATE_SET(TT, -cam->from[0], -cam->from[1], -cam->from[2]);
ELL_4M_ROWS_SET(RR, uu, vv, nn, bb);
ELL_4M_MUL(cam->W2V, RR, TT);
ell_4m_inv_d(cam->V2W, cam->W2V);
return 0;
}
/*
** This does (non-optionally) use biff, to report convergence failures
**
** we do in fact require non-NULL tip, because it holds the buffers we need
*/
int
_tenQGLInterpNEval(double evalOut[3],
const double *evalIn, /* size 3 -by- NN */
const double *wght, /* size NN */
unsigned int NN,
int ptype, tenInterpParm *tip) {
static const char me[]="_tenQGLInterpNEval";
double RTh_Out[3], elen;
unsigned int ii, iter;
int rttype;
void (*llog)(double lg[3], const double RTh_A[3], const double RTh_B[3]);
void (*lexp)(double RTh_B[3], const double RTh_A[3], const double lg[3]);
if (!(evalOut && evalIn && tip)) {
biffAddf(TEN, "%s: got NULL pointer", me);
return 1;
}
/* convert to (R,Th,_) and initialize RTh_Out */
if (tenInterpTypeQuatGeoLoxK == ptype) {
rttype = tenTripleTypeRThetaZ;
llog = _tenQGL_Klog;
lexp = _tenQGL_Kexp;
} else {
rttype = tenTripleTypeRThetaPhi;
llog = _tenQGL_Rlog;
lexp = _tenQGL_Rexp;
}
ELL_3V_SET(RTh_Out, 0, 0, 0);
for (ii=0; ii<NN; ii++) {
double ww;
tenTripleConvertSingle_d(tip->rtIn + 3*ii, rttype,
evalIn + 3*ii, tenTripleTypeEigenvalue);
ww = wght ? wght[ii] : 1.0/NN;
ELL_3V_SCALE_INCR(RTh_Out, ww, tip->rtIn + 3*ii);
}
/* compute iterated weighted mean, stored in RTh_Out */
iter = 0;
do {
double logavg[3];
/* take log of everyone */
for (ii=0; ii<NN; ii++) {
llog(tip->rtLog + 3*ii, RTh_Out, tip->rtIn + 3*ii);
}
/* average, and find length */
ELL_3V_SET(logavg, 0, 0, 0);
for (ii=0; ii<NN; ii++) {
double ww;
ww = wght ? wght[ii] : 1.0/NN;
ELL_3V_SCALE_INCR(logavg, ww, tip->rtLog + 3*ii);
}
elen = ELL_3V_LEN(logavg);
lexp(RTh_Out, RTh_Out, logavg);
iter++;
} while ((!tip->maxIter || iter < tip->maxIter) && elen > tip->convEps);
if (elen > tip->convEps) {
ELL_3V_SET(evalOut, AIR_NAN, AIR_NAN, AIR_NAN);
biffAddf(TEN, "%s: still have error %g (> eps %g) after max %d iters", me,
elen, tip->convEps, tip->maxIter);
return 1;
}
/* finish, convert to eval */
tenTripleConvertSingle_d(evalOut, tenTripleTypeEigenvalue,
RTh_Out, rttype);
return 0;
}
static int
constraintSatLapl(pullTask *task, pullPoint *point,
double stepMax, unsigned int iterMax,
/* output */
int *constrFailP) {
static const char me[]="constraintSatLapl";
double
step, /* current step size */
valLast, val, /* last and current function values */
grad[4], dir[3], len,
posOld[3], posNew[3], tmpv[3];
double a=0, b=1, s, fa, fb, fs, tmp, diff;
int side = 0;
unsigned int iter = 0; /* 0: initial probe, 1..iterMax: probes in loop */
step = stepMax/2;
PROBEG(val, grad);
if (0 == val) {
/* already exactly at the zero, we're done. This actually happens! */
/* printf("!%s: a lapl == 0!\n", me); */
return 0;
}
valLast = val;
NORMALIZE(dir, grad, len);
/* first phase: follow normalized gradient until laplacian sign change */
for (iter=1; iter<=iterMax; iter++) {
double sgn;
ELL_3V_COPY(posOld, point->pos);
sgn = airSgn(val); /* lapl < 0 => downhill; lapl > 0 => uphill */
ELL_3V_SCALE_INCR(point->pos, sgn*step, dir);
_pullPointHistAdd(point, pullCondConstraintSatA);
PROBEG(val, grad);
if (val*valLast < 0) {
/* laplacian has changed sign; stop looking */
break;
}
valLast = val;
NORMALIZE(dir, grad, len);
}
if (iter > iterMax) {
*constrFailP = pullConstraintFailIterMaxed;
return 0;
}
/* second phase: find the zero-crossing, looking between
f(posOld)=valLast and f(posNew)=val */
ELL_3V_COPY(posNew, point->pos);
ELL_3V_SUB(tmpv, posNew, posOld);
len = ELL_3V_LEN(tmpv);
fa = valLast;
fb = val;
if (AIR_ABS(fa) < AIR_ABS(fb)) {
ELL_SWAP2(a, b, tmp); ELL_SWAP2(fa, fb, tmp);
}
for (iter=1; iter<=iterMax; iter++) {
s = AIR_AFFINE(fa, 0, fb, a, b);
ELL_3V_LERP(point->pos, s, posOld, posNew);
_pullPointHistAdd(point, pullCondConstraintSatB);
PROBE(fs);
if (0 == fs) {
/* exactly nailed the zero, we're done. This actually happens! */
printf("!%s: b lapl == 0!\n", me);
break;
}
/* "Illinois" false-position. Dumb, but it works. */
if (fs*fb > 0) { /* not between s and b */
b = s;
fb = fs;
if (+1 == side) {
fa /= 2;
}
side = +1;
} else { /* not between a and s */
a = s;
fa = fs;
if (-1 == side) {
fb /= 2;
}
side = -1;
}
diff = (b - a)*len;
if (AIR_ABS(diff) < stepMax*task->pctx->sysParm.constraintStepMin) {
/* converged! */
break;
}
}
if (iter > iterMax) {
*constrFailP = pullConstraintFailIterMaxed;
} else {
*constrFailP = AIR_FALSE;
}
return 0;
}
int
fixproj(Nrrd *nproj[3], Nrrd *nvol) {
char me[]="fixproj", err[BIFF_STRLEN];
airArray *mop;
Nrrd *ntmp[3], *nt;
int sz[3], ii, map[3], h[3], E, mi;
size_t rsz[3];
double vec[3][3], dot[3], sp[3], parm[NRRD_KERNEL_PARMS_NUM];
mop = airMopNew();
if (!( ELL_3V_EXISTS(nvol->axis[0].spaceDirection)
&& ELL_3V_EXISTS(nvol->axis[1].spaceDirection)
&& ELL_3V_EXISTS(nvol->axis[2].spaceDirection) )) {
sprintf(err, "%s: space directions don't exist for all 3 axes", me);
biffAdd(NINSPECT, err);
airMopError(mop); return 1;
}
airMopAdd(mop, nt = nrrdNew(), (airMopper)nrrdNuke, airMopAlways);
airMopAdd(mop, ntmp[0] = nrrdNew(), (airMopper)nrrdNuke, airMopAlways);
airMopAdd(mop, ntmp[1] = nrrdNew(), (airMopper)nrrdNuke, airMopAlways);
airMopAdd(mop, ntmp[2] = nrrdNew(), (airMopper)nrrdNuke, airMopAlways);
/* RL AP SI */
ELL_3V_SET(vec[0], 1, 0, 0);
ELL_3V_SET(vec[1], 0, 1, 0);
ELL_3V_SET(vec[2], 0, 0, 1);
for (ii=0; ii<3; ii++) {
dot[0] = ELL_3V_DOT(vec[ii], nvol->axis[0].spaceDirection);
dot[1] = ELL_3V_DOT(vec[ii], nvol->axis[1].spaceDirection);
dot[2] = ELL_3V_DOT(vec[ii], nvol->axis[2].spaceDirection);
dot[0] = AIR_ABS(dot[0]);
dot[1] = AIR_ABS(dot[1]);
dot[2] = AIR_ABS(dot[2]);
map[ii] = ELL_MAX3_IDX(dot[0], dot[1], dot[2]);
}
ELL_3V_SET(h, 1, 0, 0);
E = 0;
for (ii=0; ii<3; ii++) {
if (h[map[ii]] != map[h[ii]]) {
if (!E) E |= nrrdAxesSwap(ntmp[ii], nproj[map[ii]], 1, 2);
} else {
if (!E) E |= nrrdCopy(ntmp[ii], nproj[map[ii]]);
}
}
if (E) {
sprintf(err, "%s: trouble with nrrd operations", me);
biffMove(NINSPECT, err, NRRD);
airMopError(mop); return 1;
}
E = 0;
if (nvol->axis[map[0]].spaceDirection[0] > 0) {
if (!E) E |= nrrdFlip(nt, ntmp[1], 0+1);
if (!E) E |= nrrdCopy(ntmp[1], nt);
if (!E) E |= nrrdFlip(nt, ntmp[2], 0+1);
if (!E) E |= nrrdCopy(ntmp[2], nt);
}
if (nvol->axis[map[1]].spaceDirection[1] > 0) {
if (!E) E |= nrrdFlip(nt, ntmp[0], 0+1);
if (!E) E |= nrrdCopy(ntmp[0], nt);
if (!E) E |= nrrdFlip(nt, ntmp[2], 1+1);
if (!E) E |= nrrdCopy(ntmp[2], nt);
}
if (nvol->axis[map[2]].spaceDirection[2] > 0) {
if (!E) E |= nrrdFlip(nt, ntmp[0], 1+1);
if (!E) E |= nrrdCopy(ntmp[0], nt);
if (!E) E |= nrrdFlip(nt, ntmp[1], 1+1);
if (!E) E |= nrrdCopy(ntmp[1], nt);
}
if (E) {
sprintf(err, "%s: trouble with nrrd operations", me);
biffMove(NINSPECT, err, NRRD);
airMopError(mop); return 1;
}
for (ii=0; ii<3; ii++) {
sz[ii] = nvol->axis[map[ii]].size;
sp[ii] = ELL_3V_LEN(nvol->axis[map[ii]].spaceDirection);
}
mi = ELL_MIN3_IDX(sp[0], sp[1], sp[2]);
sz[0] = (int)(sz[0]*sp[0]/sp[mi]);
sz[1] = (int)(sz[1]*sp[1]/sp[mi]);
sz[2] = (int)(sz[2]*sp[2]/sp[mi]);
parm[0] = 1;
ELL_3V_SET(rsz, 3, sz[1], sz[2]);
nrrdSimpleResample(nproj[0], ntmp[0], nrrdKernelBox, parm, rsz, NULL);
ELL_3V_SET(rsz, 3, sz[0], sz[2]);
nrrdSimpleResample(nproj[1], ntmp[1], nrrdKernelBox, parm, rsz, NULL);
ELL_3V_SET(rsz, 3, sz[0], sz[1]);
nrrdSimpleResample(nproj[2], ntmp[2], nrrdKernelBox, parm, rsz, NULL);
airMopOkay(mop);
return 0;
}
int
main(int argc, char *argv[]) {
float angleA_f, axisA_f[3], angleB_f, axisB_f[3],
qA_f[4], qB_f[4], qC_f[4],
mat3A_f[9], mat4A_f[16], mat3B_f[9], mat4B_f[16], mat3C_f[9], mat4C_f[16],
pntA_f[4], pntB_f[4], pntC_f[4];
double angleA_d, axisA_d[3], angleB_d, axisB_d[3],
qA_d[4], qB_d[4], qC_d[4],
mat3A_d[9], mat4A_d[16], mat3B_d[9], mat4B_d[16], mat3C_d[9], mat4C_d[16],
pntA_d[4], pntB_d[4], pntC_d[4];
int I, N;
double tmp, det, frob;
me = argv[0];
N = 100000;
AIR_UNUSED(pntA_d);
AIR_UNUSED(pntB_d);
AIR_UNUSED(pntC_d);
AIR_UNUSED(mat4C_d);
AIR_UNUSED(mat3C_d);
AIR_UNUSED(mat4B_d);
AIR_UNUSED(mat3B_d);
AIR_UNUSED(mat4A_d);
AIR_UNUSED(mat3A_d);
AIR_UNUSED(qC_d);
AIR_UNUSED(qB_d);
AIR_UNUSED(qA_d);
AIR_UNUSED(axisB_d);
AIR_UNUSED(angleB_d);
AIR_UNUSED(axisA_d);
AIR_UNUSED(angleA_d);
AIR_UNUSED(argc);
for (I=0; I<N; I++) {
/* make a rotation (as a quaternion) */
ELL_3V_SET(axisA_f, 2*airDrandMT()-1, 2*airDrandMT()-1, 2*airDrandMT()-1);
ELL_3V_NORM(axisA_f, axisA_f, tmp); /* yea, not uniform, so what */
angleA_f = AIR_PI*(2*airDrandMT()-1);
ell_aa_to_q_f(qA_f, angleA_f, axisA_f);
/* convert to AA and back, and back */
angleB_f = ell_q_to_aa_f(axisB_f, qA_f);
if (ELL_3V_DOT(axisB_f, axisA_f) < 0) {
ELL_3V_SCALE(axisB_f, -1, axisB_f);
angleB_f *= -1;
}
ELL_3V_SUB(axisA_f, axisA_f, axisB_f);
printf(" aa -> q -> aa error: %g, %g\n",
CA + AIR_ABS(angleA_f - angleB_f), CA + ELL_3V_LEN(axisA_f));
/* convert to 3m and back, and back */
ell_q_to_3m_f(mat3A_f, qA_f);
ell_3m_to_q_f(qB_f, mat3A_f);
if (ELL_4V_DOT(qA_f, qB_f) < 0) {
ELL_4V_SCALE(qB_f, -1, qB_f);
}
ELL_4V_SUB(qC_f, qA_f, qB_f);
ELL_Q_TO_3M(mat3B_f, qA_f);
ELL_3M_SUB(mat3C_f, mat3B_f, mat3A_f);
printf(" q -> 3m -> q error: %g, %g\n",
CA + ELL_4V_LEN(qC_f), CA + ELL_3M_FROB(mat3C_f));
/* convert to 4m and back, and back */
ell_q_to_4m_f(mat4A_f, qA_f);
ell_4m_to_q_f(qB_f, mat4A_f);
if (ELL_4V_DOT(qA_f, qB_f) < 0) {
ELL_4V_SCALE(qB_f, -1, qB_f);
}
ELL_4V_SUB(qC_f, qA_f, qB_f);
ELL_Q_TO_4M(mat4B_f, qA_f);
ELL_4M_SUB(mat4C_f, mat4B_f, mat4A_f);
printf(" q -> 4m -> q error: %g, %g\n",
CA + ELL_4V_LEN(qC_f), CA + ELL_4M_FROB(mat4C_f));
/* make a point that we'll rotate */
ELL_3V_SET(pntA_f, 2*airDrandMT()-1, 2*airDrandMT()-1, 2*airDrandMT()-1);
/* effect rotation in two different ways, and compare results */
ELL_3MV_MUL(pntB_f, mat3A_f, pntA_f);
ell_q_3v_rotate_f(pntC_f, qA_f, pntA_f);
ELL_3V_SUB(pntA_f, pntB_f, pntC_f);
printf(" rotation error = %g\n", CA + ELL_3V_LEN(pntA_f));
/* mix up inversion with conversion */
ell_3m_inv_f(mat3C_f, mat3A_f);
ell_3m_to_q_f(qB_f, mat3C_f);
ell_q_mul_f(qC_f, qA_f, qB_f);
if (ELL_4V_DOT(qA_f, qC_f) < 0) {
ELL_4V_SCALE(qC_f, -1, qC_f);
}
printf(" inv mul = %g %g %g %g\n", qC_f[0],
CA + qC_f[1], CA + qC_f[2], CA + qC_f[3]);
ell_q_inv_f(qC_f, qB_f);
ELL_4V_SUB(qC_f, qB_f, qB_f);
printf(" inv diff = %g %g %g %g\n", CA + qC_f[0],
CA + qC_f[1], CA + qC_f[2], CA + qC_f[3]);
/* exp and log */
ell_q_log_f(qC_f, qA_f);
ell_q_log_f(qB_f, qC_f);
ell_q_exp_f(qC_f, qB_f);
ell_q_exp_f(qB_f, qC_f);
ELL_4V_SUB(qC_f, qB_f, qA_f);
printf(" exp/log diff = %g %g %g %g\n", CA + qC_f[0],
CA + qC_f[1], CA + qC_f[2], CA + qC_f[3]);
/* pow, not very exhaustive */
ell_q_to_3m_f(mat3A_f, qA_f);
ell_3m_post_mul_f(mat3A_f, mat3A_f);
ell_3m_post_mul_f(mat3A_f, mat3A_f);
ell_q_pow_f(qB_f, qA_f, 4);
ell_q_to_3m_f(mat3B_f, qB_f);
ELL_3M_SUB(mat3B_f, mat3B_f, mat3A_f);
printf(" pow diff = %g\n", CA + ELL_3M_FROB(mat3B_f));
if (ELL_3M_FROB(mat3B_f) > 2) {
printf(" start q = %g %g %g %g\n", qA_f[0], qA_f[1], qA_f[2], qA_f[3]);
angleA_f = ell_q_to_aa_f(axisA_f, qA_f);
printf(" --> aa = %g (%g %g %g)\n", angleA_f,
axisA_f[0], axisA_f[1], axisA_f[2]);
printf(" q^3 = %g %g %g %g\n", qB_f[0], qB_f[1], qB_f[2], qB_f[3]);
angleA_f = ell_q_to_aa_f(axisA_f, qB_f);
printf(" --> aa = %g (%g %g %g)\n", angleA_f,
axisA_f[0], axisA_f[1], axisA_f[2]);
exit(1);
}
/* make sure it looks like a rotation matrix */
ell_q_to_3m_f(mat3A_f, qA_f);
det = ELL_3M_DET(mat3A_f);
frob = ELL_3M_FROB(mat3A_f);
ELL_3M_TRANSPOSE(mat3B_f, mat3A_f);
ell_3m_inv_f(mat3C_f, mat3A_f);
ELL_3M_SUB(mat3C_f, mat3B_f, mat3C_f);
printf(" det = %g; size = %g; err = %g\n", det, frob*frob/3,
CA + ELL_3M_FROB(mat3C_f));
}
exit(0);
}
