t_bool dielectric(t_material *material, const t_ray *r, const t_hit_record *h, t_vec3 *attenuation, t_ray *scattered)
{
t_vec3 outward_normal;
t_vec3 reflected;
t_vec3 refracted;
float ni_over_nt;
float reflect_probe;
float cosine;
vec3_reflect(&reflected, &RAY_DIRECTION(r), &h->normal);
vec3_assign(attenuation, &material->texture.albedo);
if (vec3_dot(&RAY_DIRECTION(r), &h->normal) > 0)
{
vec3_mul_f(&outward_normal, &h->normal, -1.f);
//TODO pass idx
ni_over_nt = REF_IDX;
cosine = REF_IDX * vec3_dot(&RAY_DIRECTION(r), &h->normal) / vec3_length(&RAY_DIRECTION(r));
}
else
{
vec3_assign(&outward_normal, &h->normal);
ni_over_nt = 1.0f / REF_IDX;
cosine = - vec3_dot(&RAY_DIRECTION(r), &h->normal) / vec3_length(&RAY_DIRECTION(r));
}
if (refract(&RAY_DIRECTION(r), &outward_normal, ni_over_nt, &refracted))
reflect_probe = schlick(cosine, REF_IDX);
else
reflect_probe = 1.0f;
if (drand48() < reflect_probe)
ray_assign(scattered, &h->pos, &reflected);
else
ray_assign(scattered, &h->pos, &refracted);
return (TRUE);
}
t_primitive_rectangle *rectangle_create(const t_vec3 *p0, const t_vec3 *a, const t_vec3 *b)
{
t_primitive_rectangle *r;
r = (t_primitive_rectangle *)ft_memalloc(sizeof(t_primitive_rectangle));
vec3_assign(&r->p0, p0);
vec3_assign(&r->a, a);
vec3_assign(&r->b, b);
return (r);
}
t_primitive_triangle *triangle_create(const t_vec3 *v0, const t_vec3 *v1, const t_vec3 *v2)
{
t_primitive_triangle *t;
t = (t_primitive_triangle *)ft_memalloc(sizeof(t_primitive_triangle));
vec3_assign(&t->v0, v0);
vec3_assign(&t->v1, v1);
vec3_assign(&t->v2, v2);
return (t);
}
// ===========================================================================================
void decomposeR(mat33_t *Rz, const mat33_t *R)
{
real_t cl = _atan2(R->m[7],R->m[6]);
vec3_t rpy;
vec3_assign(&rpy,0,0,cl);
rpyMat(Rz,&rpy);
}
t_material *material_create(t_material_type type, t_vec3 *albedo_t)
{
t_material *material;
material = (t_material *)ft_memalloc(sizeof(t_material));
material->type = type;
vec3_assign(&material->texture.albedo, albedo_t);
if (material->type == MATERIAL_LAMBERTIAN)
{
material->scatter = &lambertian;
material->texture.value = &albedo;
}
else if (material->type == MATERIAL_METAL)
material->scatter = &metal;
else if (material->type == MATERIAL_DIELECTRIC)
material->scatter = &dielectric;
else if (material->type == MATERIAL_DEBUG)
{
material->scatter = &lambertian;
material->texture.value = &checker;
}
else if (material->type == MATERIAL_EMITTER)
{
material->scatter = &emitter;
material->emit = &basic_light;
}
return (material);
}
t_primitive_box *box_create(const t_vec3 *a, const t_vec3 *b)
{
t_primitive_box *box;
box = (t_primitive_box *)ft_memalloc(sizeof(t_primitive_box));
if (a->x < b->x && a->y < b->y && a->z < b->z)
{
vec3_assign(&box->a, a);
vec3_assign(&box->b, b);
}
else
{
vec3_assign(&box->a, b);
vec3_assign(&box->b, a);
}
return (box);
}
Box* initBox(const mat4 inv_transform, const float x_span, const float y_span, const float z_span, Material* mat)
{
float half_x = x_span / 2.0f;
float half_y = y_span / 2.0f;
float half_z = z_span / 2.0f;
AABox* aabox = (AABox*)malloc(sizeof(AABox));
vec3_assign(aabox->min, -half_x, -half_y, -half_z);
vec3_assign(aabox->max, half_x, half_y, half_z);
aabox->mat = mat;
Box* box = (Box*)malloc(sizeof(Box));
box->obj.ptr = aabox;
box->obj.type = AABOX;
box->mat = mat;
mat4_copy(box->inv_transform, inv_transform);
return box;
}
// ===========================================================================================
void rpyAng(vec3_t *angs, const mat33_t *R)
{
const real_t sinB = -(R->m[6]);
const real_t cosB = _sqrt(R->m[0]*R->m[0] + R->m[3]*R->m[3]);
if(_abs(cosB) > (real_t)(1E-15))
{
const real_t sinA = R->m[3] / cosB;
const real_t cosA = R->m[0] / cosB;
const real_t sinC = R->m[7] / cosB;
const real_t cosC = R->m[8] / cosB;
vec3_assign(angs,_atan2(sinC,cosC),_atan2(sinB,cosB),_atan2(sinA,cosA));
}
else
{
const real_t sinC = (R->m[1] - R->m[5]) * 0.5;
const real_t cosC = (R->m[4] - R->m[2]) * 0.5;
vec3_assign(angs,_atan2(sinC,cosC),CONST_PI_OVER_2, 0.0);
}
}
t_bool metal(t_material *material, const t_ray *r, const t_hit_record *h, t_vec3 *attenuation, t_ray *scattered)
{
t_vec3 reflected;
t_vec3 random;
random = random_cosine_direction(.3f);
vec3_reflect(&reflected, vec3_unit_vector(&reflected, &RAY_DIRECTION(r)), &h->normal);
ray_assign(scattered, &h->pos, &reflected);
vec3_assign(attenuation, &material->texture.albedo);
return (vec3_dot(&RAY_DIRECTION(scattered), &h->normal) > 0);
}
void rpyAng_X(vec3_t *ang_zyx, const mat33_t *R)
{
rpyAng(ang_zyx,R);
if(_abs(ang_zyx->v[0]) > CONST_PI_OVER_2)
{
while(_abs(ang_zyx->v[0]) > CONST_PI_OVER_2)
{
if(ang_zyx->v[0] > 0)
{
vec3_assign(ang_zyx, ang_zyx->v[0]+CONST_PI,
3*CONST_PI-ang_zyx->v[1],
ang_zyx->v[2]+CONST_PI);
vec3_sub(ang_zyx,CONST_2_PI);
}
else
{
vec3_assign(ang_zyx, ang_zyx->v[0]+CONST_PI,
3*CONST_PI-ang_zyx->v[1],
ang_zyx->v[2]+CONST_PI);
}
}
}
}
t_entity *entity_create(t_entity_type type, t_material *material, const t_vec3 *pos, void *data)
{
t_entity *entity;
entity = (t_entity *)ft_memalloc(sizeof(t_entity));
entity->type = type;
if (type == PRIMITIVE_SPHERE)
{
vec3_assign(&entity->center, pos);
entity->hit = &sphere_hit;
}
else if (type == PRIMITIVE_TRIANGLE)
entity->hit = &triangle_hit;
else if (type == PRIMITIVE_RECTANGLE)
entity->hit = &rectangle_hit;
else if (type == PRIMITIVE_AXIS_ALIGNED_BOX)
entity->hit = &box_hit;
entity->material = material;
entity->data = data;
return (entity);
}
// Utility function for vol_draw_mandel_box ().
double _vol_draw_mandel_box_equation (double *v, double s, double r, double f, double *c)
{
//printf ("TEST %lf %lf %lf: %lf %lf %lf, %lf %lf %lf\n", v[0], v[1], v[2], s, r, f, c[0], c[1], c[2]);
vec3_clone (fold, v);
int i;
for (i = 0; i < 3; i++)
{
if (fold[i] > 1) fold[i] = (double) 2.0 - fold[i];
else if (fold[i] < -1) fold[i] = (double) -2.0 - fold[i];
}
vec3_s_mul (fold, f);
double m = vec3_len (fold);
if (m < r) { vec3_s_mul (fold, 4); }
else if (m < 1) { vec3_s_div (fold, m * m); }
vec3_assign (v, fold);
vec3_s_mul (v, s);
vec3_add (v, c);
return vec3_len (v);
}
void render_text(FontRenderer* r, FontAtlas* a, const char *text,
vec4 coords, float sx, float sy) {
bind_program(&r->sp);
const uint8_t *p;
/* Use the texture containing the atlas */
bind_texture(&a->t);
add_int_uniform(&r->sp, "tex", 0);
glBindVertexArray(r->vao);
BufferData b[6* strlen(text)];
int c = 0;
float x = coords[0], y = coords[1], z = coords[2];
/* Loop through all characters */
for (p = (const uint8_t *)text; *p; p++) {
/* Calculate the vertex and texture coordinates */
float x2 = x + a->c[*p].bl * sx;
float y2 = -y - a->c[*p].bt * sy;
float w = a->c[*p].bw * sx;
float h = a->c[*p].bh * sy;
/* Advance the cursor to the start of the next character */
x += a->c[*p].ax * sx;
y += a->c[*p].ay * sy;
/* Skip glyphs that have no pixels */
if (!w || !h)
continue;
float tx0, tx1, ty0, ty1, px0, px1, py0, py1;
// Clockwise winding with positions named like this
// x0,y1 o---o x1,y1
// | /|
// | / |
// |/ |
// x0,y0 o---o x1,y0
px0 = x2;
px1 = x2 + w;
py0 = -y2 - h;
py1 = -y2;
tx0 = a->c[*p].tx;
tx1 = a->c[*p].tx + a->c[*p].bw / a->w,
ty0 = a->c[*p].ty + a->c[*p].bh / a->h;
ty1 = a->c[*p].ty;
vec3_assign(b[c].pos, px0, py0, z);
vec2_assign(b[c++].tex, tx0, ty0);
vec3_assign(b[c].pos, px1, py1, z);
vec2_assign(b[c++].tex, tx1, ty1);
vec3_assign(b[c].pos, px0, py1, z);
vec2_assign(b[c++].tex, tx0, ty1);
// Second triangle
vec3_assign(b[c].pos, px1, py1, z);
vec2_assign(b[c++].tex, tx1, ty1);
vec3_assign(b[c].pos, px0, py0, z);
vec2_assign(b[c++].tex, tx0, ty0);
vec3_assign(b[c].pos, px1, py0, z);
vec2_assign(b[c++].tex, tx1, ty0);
}
/* Draw all the character on the screen in one go */
glBindBuffer(GL_ARRAY_BUFFER, r->vbo);
glBufferData(GL_ARRAY_BUFFER, sizeof(b), b, GL_DYNAMIC_DRAW);
glDrawArrays(GL_TRIANGLES, 0, c);
glBindVertexArray(0);
}
t_ray *ray_assign(t_ray *r, const t_vec3 *a, const t_vec3 *b)
{
vec3_assign(&r->a, a);
vec3_assign(&r->b, b);
return (r);
}
void getRfor2ndPose_V_Exact(pose_t *sol, const vec3_t *v, const vec3_t *P,
const mat33_t R, const vec3_t t, const real_t DB, const int n, int *r_n)
{
mat33_t RzN;
decomposeR(&RzN, &R);
mat33_t R_;
mat33_mult_mat2(&R_, &R, &RzN);
mat33_t RzN_tr;
mat33_transpose(&RzN_tr, RzN);
//vec3_array P_;
vec3_t P_[n];
vec3_array_mult_vec2(&*P_, &RzN_tr, P, n);
vec3_t ang_zyx;
rpyAng_X(&ang_zyx, &R_);
vec3_t rpy;
mat33_t Ry,Rz;
vec3_assign(&rpy, 0, ang_zyx.v[1], 0);
rpyMat(&Ry, &rpy);
vec3_assign(&rpy,0,0,ang_zyx.v[2]);
rpyMat(&Rz,&rpy);
//scalar_array bl;
//vec3_array Tnew;
//double *bl = (double*)malloc(4 * sizeof(double));
//vec3_t *Tnew = (vec3_t*)malloc(4 * sizeof(vec3_t));
double bl[10];
vec3_t Tnew[10];
int res_n = 0;
getRotationY_wrtT(&*bl, &*Tnew, v, &*P_, &t, &DB, &Rz, n, &res_n);
// Estimate the Error for all solutions !
scalar_array_div(bl, 180.0/CONST_PI, res_n);
mat33_t V[n];
int i, j;
for(i=0; i<n; i++)
{
vec3_mul_vec3trans(&V[i], &v[i], &v[i]);
mat33_div(&V[i], vec3trans_mul_vec3(&v[i],&v[i]));
}
mat33_t _m1;
mat33_t _m2;
vec3_t _v1;
vec3_t _v2;
for(j=0; j<res_n; j++)
{
mat33_clear(&Ry);
vec3_assign(&rpy, 0, bl[j], 0);
rpyMat(&Ry, &rpy);
mat33_mult_mat2(&_m1, &Rz, &Ry);
mat33_mult_mat2(&sol[j].R, &_m1, &RzN_tr);
vec3_copy(&sol[j].t, &Tnew[j]);
real_t E = 0;
for(i=0; i<n; i++)
{
mat33_eye(&_m2);
mat33_sub(&_m2, &V[i]);
vec3_mult_mat(&_v1, &sol[j].R, &P[i]);
vec3_add_vec(&_v1, &sol[j].t);
vec3_mult_mat(&_v2, &_m2, &_v1);
vec3_mult_vec(&_v2, &_v2);
E += vec3_sum(&_v2);
}
sol[j].E = E;
}
*r_n = res_n;
}
void getRotationY_wrtT(double *al_ret, vec3_t *tnew, const vec3_t *v,
const vec3_t *p, const vec3_t *t, const real_t *DB,
const mat33_t *Rz, const int n, int *res_n)
{
int i,j,k;
mat33_t V[n];
for(i=0; i<n; i++)
{
vec3_mul_vec3trans(&V[i], &v[i], &v[i]);
mat33_div(&V[i], vec3trans_mul_vec3(&v[i], &v[i]));
}
mat33_t G, _g1, _g2, _g3;
mat33_array_sum(&_g1, &*V, n);
mat33_eye(&_g2);
mat33_div(&_g1, (real_t)(n));
mat33_sub_mat2(&_g3, &_g2, &_g1);
mat33_inv(&G, &_g3);
mat33_div(&G, (real_t)(n));
mat33_t _opt_t;
mat33_clear(&_opt_t);
for(i=0; i<n; i++)
{
const real_t v11 = V[i].m[0];
const real_t v21 = V[i].m[3];
const real_t v31 = V[i].m[6];
const real_t v12 = V[i].m[1];
const real_t v22 = V[i].m[4];
const real_t v32 = V[i].m[7];
const real_t v13 = V[i].m[2];
const real_t v23 = V[i].m[5];
const real_t v33 = V[i].m[8];
const real_t px = p[i].v[0];
const real_t py = p[i].v[1];
const real_t pz = p[i].v[2];
const real_t r1 = Rz->m[0];
const real_t r2 = Rz->m[1];
const real_t r3 = Rz->m[2];
const real_t r4 = Rz->m[3];
const real_t r5 = Rz->m[4];
const real_t r6 = Rz->m[5];
const real_t r7 = Rz->m[6];
const real_t r8 = Rz->m[7];
const real_t r9 = Rz->m[8];
mat33_t _o;
_o.m[0] = (((v11-(real_t)(1))*r2+v12*r5+v13*r8)*py+(-(v11-(real_t)(1))*r1-v12*r4-v13*r7)*px+(-(v11-(real_t)(1))*r3-v12*r6-v13*r9)*pz);
_o.m[1] = (((real_t)(2)*(v11-(real_t)(1))*r1+(real_t)(2)*v12*r4+(real_t)(2)*v13*r7)*pz+(-(real_t)(2)*(v11-(real_t)(1))*r3-(real_t)(2)*v12*r6-(real_t)(2)*v13*r9)*px);
_o.m[2] = ((v11-(real_t)(1))*r1+v12*r4+v13*r7)*px+((v11-(real_t)(1))*r3+v12*r6+v13*r9)*pz+((v11-(real_t)(1))*r2+v12*r5+v13*r8)*py;
_o.m[3] = ((v21*r2+(v22-(real_t)(1))*r5+v23*r8)*py+(-v21*r1-(v22-(real_t)(1))*r4-v23*r7)*px+(-v21*r3-(v22-(real_t)(1))*r6-v23*r9)*pz);
_o.m[4] = (((real_t)(2)*v21*r1+(real_t)(2)*(v22-(real_t)(1))*r4+(real_t)(2)*v23*r7)*pz+(-(real_t)(2)*v21*r3-(real_t)(2)*(v22-(real_t)(1))*r6-(real_t)(2)*v23*r9)*px);
_o.m[5] = (v21*r1+(v22-(real_t)(1))*r4+v23*r7)*px+(v21*r3+(v22-(real_t)(1))*r6+v23*r9)*pz+(v21*r2+(v22-(real_t)(1))*r5+v23*r8)*py;
_o.m[6] = ((v31*r2+v32*r5+(v33-(real_t)(1))*r8)*py+(-v31*r1-v32*r4-(v33-(real_t)(1))*r7)*px+(-v31*r3-v32*r6-(v33-(real_t)(1))*r9)*pz);
_o.m[7] = (((real_t)(2)*v31*r1+(real_t)(2)*v32*r4+(real_t)(2)*(v33-(real_t)(1))*r7)*pz+(-(real_t)(2)*v31*r3-(real_t)(2)*v32*r6-(real_t)(2)*(v33-(real_t)(1))*r9)*px);
_o.m[8] = (v31*r1+v32*r4+(v33-(real_t)(1))*r7)*px+(v31*r3+v32*r6+(v33-(real_t)(1))*r9)*pz+(v31*r2+v32*r5+(v33-(real_t)(1))*r8)*py;
mat33_add(&_opt_t, &_o);
}
mat33_t opt_t;
mat33_mult_mat2(&opt_t, &G, &_opt_t);
real_t E_2[5] = {0,0,0,0,0};
for(i=0; i<n; i++)
{
const real_t px = p[i].v[0];
const real_t py = p[i].v[1];
const real_t pz = p[i].v[2];
mat33_t Rpi;
mat33_assign(&Rpi, -px, (real_t)(2)*pz,px,py,(real_t)(0),py,-pz,-(real_t)(2)*px,pz);
mat33_t E,_e1,_e2;
mat33_eye(&_e1);
mat33_sub(&_e1, &V[i]);
mat33_mult_mat2(&_e2, Rz, &Rpi);
mat33_add(&_e2, &opt_t);
mat33_mult_mat2(&E,&_e1,&_e2);
vec3_t e2,e1,e0;
mat33_to_col_vec3(&e2,&e1,&e0,&E);
vec3_t _E2_0,_E2_1,_E2_2,_E2_3,_E2_4;
vec3_copy(&_E2_0,&e2);
vec3_mult_vec(&_E2_0,&e2);
vec3_copy(&_E2_1,&e1);
vec3_mult_vec(&_E2_1,&e2);
vec3_mult(&_E2_1,2.0);
vec3_copy(&_E2_2,&e0);
vec3_mult_vec(&_E2_2,&e2);
vec3_mult(&_E2_2,2.0);
vec3_t _e1_sq;
vec3_copy(&_e1_sq,&e1);
vec3_mult_vec(&_e1_sq,&e1);
vec3_add_vec(&_E2_2,&_e1_sq);
vec3_copy(&_E2_3,&e0);
vec3_mult_vec(&_E2_3,&e1);
vec3_mult(&_E2_3,2.0);
vec3_copy(&_E2_4,&e0);
vec3_mult_vec(&_E2_4,&e0);
E_2[0] += vec3_sum(&_E2_0);
E_2[1] += vec3_sum(&_E2_1);
E_2[2] += vec3_sum(&_E2_2);
E_2[3] += vec3_sum(&_E2_3);
E_2[4] += vec3_sum(&_E2_4);
}
//scalar_array _a;
//_a.resize(5);
double _a[5];
_a[4] = -E_2[1];
_a[3] = (real_t)(4)*E_2[0] - (real_t)(2)*E_2[2];
_a[2] = -(real_t)(3)*E_2[3] + (real_t)(3)*E_2[1];
_a[1] = -(real_t)(4)*E_2[4] + (real_t)(2)*E_2[2];
_a[0] = E_2[3];
double at_sol[5];
int num_sol = solve_polynomial(&*at_sol, &*_a, 5);
double e[num_sol];
scalar_array_clear(&*e, num_sol);
double at[num_sol];
if(COMPLICATED_ERROR_CMP)
{
// get the error in a complicate way
scalar_array_clear(&*e, num_sol);
scalar_array_add(&*e, _a[0], num_sol);
//at.clear();
//at.assign(at_sol.begin(),at_sol.end());
memcpy(&*at, &*at_sol, num_sol*sizeof(double));
scalar_array_mult(&*at, _a[1], num_sol);
scalar_array_add_vec(&*e, &*at, num_sol);
for(j=2; j<=4; j++)
{
//at.clear();
//at.assign(at_sol.begin(),at_sol.end());
memcpy(&*at, &*at_sol, num_sol*sizeof(double));
scalar_array_pow(&*at, (real_t)(j), num_sol);
scalar_array_mult(&*at, _a[j], num_sol);
scalar_array_add_vec(&*e, &*at, num_sol);
}
}
else
{
// Or in a fast one
scalar_array_add(&*e, _a[4], num_sol);
for(j=3;j>0;j--)
{
// multiply with at & add a_
for(k=0;k<num_sol;k++)
{
e[k] = e[k]*at_sol[k] + _a[j] ;
}
}
}
memcpy(&*at, &*at_sol, num_sol*sizeof(double));
// get the angle al
//scalar_array sa(at.begin(),at.end());
double sa[num_sol];
memcpy(&*sa, &*at, num_sol*sizeof(double));
scalar_array_mult(&*sa, 2.0, num_sol);
//scalar_array _ca1(at.begin(),at.end());
double _ca1[num_sol];
memcpy(&*_ca1, &*at, num_sol*sizeof(double));
scalar_array_pow(&*_ca1,2.0, num_sol);
scalar_array_add(&*_ca1,1.0, num_sol);
//scalar_array ca(at.begin(),at.end());
double ca[num_sol];
memcpy(&*ca, &*at, num_sol*sizeof(double));
scalar_array_pow(&*ca,2, num_sol);
scalar_array_negate(&*ca, num_sol);
scalar_array_add(&*ca,1.0, num_sol);
scalar_array_div_vec(&*ca, &*_ca1, num_sol);
scalar_array_div_vec(&*sa, &*_ca1, num_sol);
double al[num_sol];
scalar_array_atan2(&*al, &*sa, &*ca, num_sol);
// check the sign of the derivative
scalar_array_mult(&*al, (real_t)(180./CONST_PI), num_sol);
double _c_tMaxMin[num_sol];
//_c_tMaxMin.resize(at.size());
scalar_array_clear(&*_c_tMaxMin, num_sol);
scalar_array_add(&*_c_tMaxMin, _a[1], num_sol);
double _at[num_sol];
//_at.clear();
//_at.assign(at.begin(),at.end());
memcpy(&*_at, &*at, num_sol*sizeof(double));
scalar_array_mult(&*_at, _a[2], num_sol);
scalar_array_mult(&*_at, 2.0, num_sol);
scalar_array_add_vec(&*_c_tMaxMin, &*_at, num_sol);
for(j=3; j<=4; j++)
{
memcpy(&*_at, &*at, num_sol*sizeof(double));
scalar_array_pow(&*_at, (real_t)(j)-(real_t)(1.0), num_sol);
scalar_array_mult(&*_at, _a[j], num_sol);
scalar_array_mult(&*_at, (real_t)(j), num_sol);
scalar_array_add_vec(&*_c_tMaxMin, &*_at, num_sol);
}
double tMaxMin[num_sol];
double al_[num_sol];
int al_idx = 0, a;
memcpy(&*tMaxMin, &*_c_tMaxMin, num_sol*sizeof(double));
for(i=0; i<num_sol; i++)
{
if(tMaxMin[i] > 0) al_[al_idx++] = al[i];
}
for(a=0; a<al_idx; a++)
{
vec3_t rpy;
vec3_assign(&rpy, (real_t)0, (real_t)(al_[a] * CONST_PI / (real_t)(180)), (real_t)(0));
mat33_t R, Ry_;
rpyMat(&Ry_, &rpy);
mat33_mult_mat2(&R, Rz, &Ry_);
vec3_t t_opt;
vec3_clear(&t_opt);
for(i=0; i<n; i++)
{
mat33_t _m1, _eye3;
mat33_eye(&_eye3);
mat33_copy(&_m1, &V[i]);
mat33_sub(&_m1, &_eye3);
vec3_t _v1, _v2;
vec3_mult_mat(&_v1, &R, &p[i]);
vec3_mult_mat(&_v2, &_m1, &_v1);
vec3_add_vec(&t_opt, &_v2);
}
vec3_t t_opt_;
vec3_mult_mat(&t_opt_, &G, &t_opt);
tnew[a] = t_opt_;
}
memcpy(al_ret, &*al_, al_idx*sizeof(double));
*res_n = al_idx;
}
void arGetInitRot2_sub(rpp_float &err,
rpp_mat &R,
rpp_vec &t,
const rpp_float cc[2],
const rpp_float fc[2],
const rpp_vec *model,
const rpp_vec *iprts,
const unsigned int model_iprts_size,
const rpp_mat R_init,
const bool estimate_R_init,
const rpp_float epsilon,
const rpp_float tolerance,
const unsigned int max_iterations)
{
vec3_array _model;
vec3_array _iprts;
_model.resize(model_iprts_size);
_iprts.resize(model_iprts_size);
mat33_t K, K_inv;
mat33_eye(K);
K.m[0][0] = (real_t)fc[0];
K.m[1][1] = (real_t)fc[1];
K.m[0][2] = (real_t)cc[0];
K.m[1][2] = (real_t)cc[1];
mat33_inv(K_inv, K);
for(unsigned int i=0; i<model_iprts_size; i++)
{
vec3_t _v,_v2;
vec3_assign(_v,(real_t)model[i][0],(real_t)model[i][1],(real_t)model[i][2]);
_model[i] = _v;
vec3_assign(_v,(real_t)iprts[i][0],(real_t)iprts[i][1],(real_t)iprts[i][2]);
vec3_mult(_v2,K_inv,_v);
_iprts[i] = _v2;
}
options_t options;
options.max_iter = max_iterations;
options.epsilon = (real_t)(epsilon == 0 ? DEFAULT_EPSILON : epsilon);
options.tol = (real_t)(tolerance == 0 ? DEFAULT_TOL : tolerance);
if(estimate_R_init)
mat33_set_all_zeros(options.initR);
else
{
mat33_assign(options.initR,
(real_t)R_init[0][0], (real_t)R_init[0][1], (real_t)R_init[0][2],
(real_t)R_init[1][0], (real_t)R_init[1][1], (real_t)R_init[1][2],
(real_t)R_init[2][0], (real_t)R_init[2][1], (real_t)R_init[2][2]);
}
real_t _err;
mat33_t _R;
vec3_t _t;
arGetInitRot2_sub2(_err,_R,_t,_model,_iprts,options);
for(int j=0; j<3; j++)
{
R[j][0] = (rpp_float)_R.m[j][0];
R[j][1] = (rpp_float)_R.m[j][1];
R[j][2] = (rpp_float)_R.m[j][2];
t[j] = (rpp_float)_t.v[j];
}
err = (rpp_float)_err;
}
/**
* return src / src.length
*/
inline t_vec3 *vec3_unit_vector(t_vec3 *v, const t_vec3 *src)
{
return (vec3_assign(v, vec3_div_f(v, src, vec3_length(src))));
}