99 lines
2.9 KiB
C++
99 lines
2.9 KiB
C++
/*
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The code for Dual Quaternion Blending provided here is a modified
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version of the sample codes by Arkan.
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Copyright (c) 2019 Arkan
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Permission is hereby granted, free of charge, to any person obtaining a copy
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of this software and associated documentation files (the "Software"), to deal
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in the Software without restriction, including without limitation the rights
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to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
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copies of the Software, and to permit persons to whom the Software is
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furnished to do so, subject to the following conditions:
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The above copyright notice and this permission notice shall be included in all
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copies or substantial portions of the Software.
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THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
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IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
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FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
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AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
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LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
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OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
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SOFTWARE.
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*/
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#ifndef __OPENCV_RGBD_DQB_HPP__
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#define __OPENCV_RGBD_DQB_HPP__
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#include "opencv2/core.hpp"
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#include "opencv2/core/affine.hpp"
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namespace cv {
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namespace dynafu {
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class Quaternion
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{
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public:
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Quaternion();
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Quaternion(float w, float i, float j, float k);
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// Generate a quaternion from rotation of a Rt matrix.
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Quaternion(const Affine3f& r);
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float normalize()
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{
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float n = (float)cv::norm(coeff);
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coeff /= n;
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return n;
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}
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Affine3f getRotation() const;
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float w() const {return coeff[0];}
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float i() const {return coeff[1];}
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float j() const {return coeff[2];}
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float k() const {return coeff[3];}
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float norm() const {return (float)cv::norm(coeff);}
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friend Quaternion operator*(float a, const Quaternion& q);
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friend Quaternion operator*(const Quaternion& q, float a);
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friend Quaternion operator/(const Quaternion& q, float a);
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friend Quaternion operator+(const Quaternion& q1, const Quaternion& q2);
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friend Quaternion& operator+=(Quaternion& q1, const Quaternion& q2);
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friend Quaternion& operator/=(Quaternion& q, float a);
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private:
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// w, i, j, k coefficients
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Vec4f coeff;
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};
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class DualQuaternion
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{
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public:
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DualQuaternion();
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DualQuaternion(const Affine3f& Rt);
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DualQuaternion(Quaternion& q0, Quaternion& qe);
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void normalize();
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friend DualQuaternion& operator+=(DualQuaternion& q1, const DualQuaternion& q2);
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friend DualQuaternion operator*(float a, const DualQuaternion& q);
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Affine3f getAffine() const;
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private:
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Quaternion q0; // rotation quaternion
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Quaternion qe; // translation quaternion
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};
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DualQuaternion DQB(std::vector<float>& weights, std::vector<DualQuaternion>& quats);
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Affine3f DQB(std::vector<float>& weights, std::vector<Affine3f>& transforms);
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} // namespace dynafu
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} // namespace cv
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#endif |