IGL_INLINE void igl::barycentric_coordinates(
const Eigen::MatrixBase<DerivedP> & P,
const Eigen::MatrixBase<DerivedA> & A,
const Eigen::MatrixBase<DerivedB> & B,
const Eigen::MatrixBase<DerivedC> & C,
Eigen::PlainObjectBase<DerivedL> & L)
{
using namespace Eigen;
#ifndef NDEBUG
const int DIM = P.cols();
assert(A.cols() == DIM && "corners must be in same dimension as query");
assert(B.cols() == DIM && "corners must be in same dimension as query");
assert(C.cols() == DIM && "corners must be in same dimension as query");
assert(P.rows() == A.rows() && "Must have same number of queries as corners");
assert(A.rows() == B.rows() && "Corners must be same size");
assert(A.rows() == C.rows() && "Corners must be same size");
#endif
// http://gamedev.stackexchange.com/a/23745
typedef
Eigen::Array<
typename DerivedP::Scalar,
DerivedP::RowsAtCompileTime,
DerivedP::ColsAtCompileTime>
ArrayS;
typedef
Eigen::Array<
typename DerivedP::Scalar,
DerivedP::RowsAtCompileTime,
1>
VectorS;
const ArrayS v0 = B.array() - A.array();
const ArrayS v1 = C.array() - A.array();
const ArrayS v2 = P.array() - A.array();
VectorS d00 = (v0*v0).rowwise().sum();
VectorS d01 = (v0*v1).rowwise().sum();
VectorS d11 = (v1*v1).rowwise().sum();
VectorS d20 = (v2*v0).rowwise().sum();
VectorS d21 = (v2*v1).rowwise().sum();
VectorS denom = d00 * d11 - d01 * d01;
L.resize(P.rows(),3);
L.col(1) = (d11 * d20 - d01 * d21) / denom;
L.col(2) = (d00 * d21 - d01 * d20) / denom;
L.col(0) = 1.0f -(L.col(1) + L.col(2)).array();
}
void ba81NormalQuad::layer::detectTwoTier(Eigen::ArrayBase<T1> ¶m,
Eigen::MatrixBase<T2> &mean, Eigen::MatrixBase<T3> &cov)
{
if (mean.rows() < 3) return;
std::vector<int> orthogonal;
Eigen::Matrix<Eigen::DenseIndex, Eigen::Dynamic, 1>
numCov((cov.array() != 0.0).matrix().colwise().count());
std::vector<int> candidate;
for (int fx=0; fx < numCov.rows(); ++fx) {
if (numCov(fx) == 1) candidate.push_back(fx);
}
if (candidate.size() > 1) {
std::vector<bool> mask(numItems());
for (int cx=candidate.size() - 1; cx >= 0; --cx) {
std::vector<bool> loading(numItems());
for (int ix=0; ix < numItems(); ++ix) {
loading[ix] = param(candidate[cx], itemsMap[ix]) != 0;
}
std::vector<bool> overlap(loading.size());
std::transform(loading.begin(), loading.end(),
mask.begin(), overlap.begin(),
std::logical_and<bool>());
if (std::find(overlap.begin(), overlap.end(), true) == overlap.end()) {
std::transform(loading.begin(), loading.end(),
mask.begin(), mask.begin(),
std::logical_or<bool>());
orthogonal.push_back(candidate[cx]);
}
}
}
std::reverse(orthogonal.begin(), orthogonal.end());
if (orthogonal.size() == 1) orthogonal.clear();
if (orthogonal.size() && orthogonal[0] != mean.rows() - int(orthogonal.size())) {
mxThrow("Independent specific factors must be given after general dense factors");
}
numSpecific = orthogonal.size();
if (numSpecific) {
Sgroup.assign(numItems(), 0);
for (int ix=0; ix < numItems(); ix++) {
for (int dx=orthogonal[0]; dx < mean.rows(); ++dx) {
if (param(dx, itemsMap[ix]) != 0) {
Sgroup[ix] = dx - orthogonal[0];
continue;
}
}
}
//Eigen::Map< Eigen::ArrayXi > foo(Sgroup.data(), param.cols());
//mxPrintMat("sgroup", foo);
}
}
Eigen::Matrix<typename Derived::Scalar, 3, 3> rpy2rotmat(const Eigen::MatrixBase<Derived>& rpy)
{
EIGEN_STATIC_ASSERT_VECTOR_SPECIFIC_SIZE(Eigen::MatrixBase<Derived>, 3);
auto rpy_array = rpy.array();
auto s = rpy_array.sin();
auto c = rpy_array.cos();
Eigen::Matrix<typename Derived::Scalar, 3, 3> R;
R.row(0) << c(2) * c(1), c(2) * s(1) * s(0) - s(2) * c(0), c(2) * s(1) * c(0) + s(2) * s(0);
R.row(1) << s(2) * c(1), s(2) * s(1) * s(0) + c(2) * c(0), s(2) * s(1) * c(0) - c(2) * s(0);
R.row(2) << -s(1), c(1) * s(0), c(1) * c(0);
return R;
}
IGL_INLINE void igl::normalize_row_sums(
const Eigen::MatrixBase<DerivedA>& A,
Eigen::MatrixBase<DerivedB> & B)
{
#ifndef NDEBUG
// loop over rows
for(int i = 0; i < A.rows();i++)
{
typename DerivedB::Scalar sum = A.row(i).sum();
assert(sum != 0);
}
#endif
B = (A.array().colwise() / A.rowwise().sum().array()).eval();
}
IGL_INLINE Scalar igl::random_search(
const std::function< Scalar (DerivedX &) > f,
const Eigen::MatrixBase<DerivedLB> & LB,
const Eigen::MatrixBase<DerivedUB> & UB,
const int iters,
DerivedX & X)
{
Scalar min_f = std::numeric_limits<Scalar>::max();
const int dim = LB.size();
assert(UB.size() == dim && "UB should match LB size");
for(int iter = 0;iter<iters;iter++)
{
const DerivedX R = DerivedX::Random(dim).array()*0.5+0.5;
DerivedX Xr = LB.array() + R.array()*(UB-LB).array();
const Scalar fr = f(Xr);
if(fr<min_f)
{
min_f = fr;
X = Xr;
}
}
return min_f;
}
inline bool isFucked(const Eigen::MatrixBase<Derived>& x)
{
return !((x.array() == x.array())).all() && !( (x - x).array() == (x - x).array()).all();
}
inline bool is_nan(const Eigen::MatrixBase<Derived>& x) {
return ((x.array() == x.array())).all();
}
void operator()(Eigen::MatrixBase<Derived> &inout) const
{
inout = 1.0 / (1.0 + (-1.0 * inout.array()).exp());
}
void log_activation(const Eigen::MatrixBase<T>& inputs, Eigen::VectorXd& activation)
{
activation = inputs.array().log().matrix();
}
