node-native-win-utils 1.1.0 → 1.3.0

package/include/opencv2/core/quaternion.inl.hpp

@@ -0,0 +1,1063 @@
+// This file is part of OpenCV project.
+// It is subject to the license terms in the LICENSE file found in the top-level directory
+// of this distribution and at http://opencv.org/license.html.
+//
+//
+//                          License Agreement
+//                For Open Source Computer Vision Library
+//
+// Copyright (C) 2020, Huawei Technologies Co., Ltd. All rights reserved.
+// Third party copyrights are property of their respective owners.
+//
+// Licensed under the Apache License, Version 2.0 (the "License");
+// you may not use this file except in compliance with the License.
+// You may obtain a copy of the License at
+//
+//       http://www.apache.org/licenses/LICENSE-2.0
+//
+// Unless required by applicable law or agreed to in writing, software
+// distributed under the License is distributed on an "AS IS" BASIS,
+// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+// See the License for the specific language governing permissions and
+// limitations under the License.
+//
+// Author: Liangqian Kong <chargerKong@126.com>
+//         Longbu Wang <riskiest@gmail.com>
+
+#ifndef OPENCV_CORE_QUATERNION_INL_HPP
+#define OPENCV_CORE_QUATERNION_INL_HPP
+
+#ifndef OPENCV_CORE_QUATERNION_HPP
+#erorr This is not a standalone header. Include quaternion.hpp instead.
+#endif
+
+//@cond IGNORE
+///////////////////////////////////////////////////////////////////////////////////////
+//Implementation
+namespace cv {
+
+template <typename T>
+Quat<T>::Quat() : w(0), x(0), y(0), z(0) {}
+
+template <typename T>
+Quat<T>::Quat(const Vec<T, 4> &coeff):w(coeff[0]), x(coeff[1]), y(coeff[2]), z(coeff[3]){}
+
+template <typename T>
+Quat<T>::Quat(const T qw, const T qx, const T qy, const T qz):w(qw), x(qx), y(qy), z(qz){}
+
+template <typename T>
+Quat<T> Quat<T>::createFromAngleAxis(const T angle, const Vec<T, 3> &axis)
+{
+    T w, x, y, z;
+    T vNorm = std::sqrt(axis.dot(axis));
+    if (vNorm < CV_QUAT_EPS)
+    {
+        CV_Error(Error::StsBadArg, "this quaternion does not represent a rotation");
+    }
+    const T angle_half = angle * T(0.5);
+    w = std::cos(angle_half);
+    const T sin_v = std::sin(angle_half);
+    const T sin_norm = sin_v / vNorm;
+    x = sin_norm * axis[0];
+    y = sin_norm * axis[1];
+    z = sin_norm * axis[2];
+    return Quat<T>(w, x, y, z);
+}
+
+template <typename T>
+Quat<T> Quat<T>::createFromRotMat(InputArray _R)
+{
+    CV_CheckTypeEQ(_R.type(), cv::traits::Type<T>::value, "");
+    if (_R.rows() != 3 || _R.cols() != 3)
+    {
+        CV_Error(Error::StsBadArg, "Cannot convert matrix to quaternion: rotation matrix should be a 3x3 matrix");
+    }
+    Matx<T, 3, 3> R;
+    _R.copyTo(R);
+
+    T S, w, x, y, z;
+    T trace = R(0, 0) + R(1, 1) + R(2, 2);
+    if (trace > 0)
+    {
+        S = std::sqrt(trace + 1) * T(2);
+        x = (R(1, 2) - R(2, 1)) / S;
+        y = (R(2, 0) - R(0, 2)) / S;
+        z = (R(0, 1) - R(1, 0)) / S;
+        w = -T(0.25) * S;
+    }
+    else if (R(0, 0) > R(1, 1) && R(0, 0) > R(2, 2))
+    {
+
+        S = std::sqrt(T(1.0) + R(0, 0) - R(1, 1) - R(2, 2)) * T(2);
+        x = -T(0.25) * S;
+        y = -(R(1, 0) + R(0, 1)) / S;
+        z = -(R(0, 2) + R(2, 0)) / S;
+        w = (R(1, 2) - R(2, 1)) / S;
+    }
+    else if (R(1, 1) > R(2, 2))
+    {
+        S = std::sqrt(T(1.0) - R(0, 0) + R(1, 1) - R(2, 2)) * T(2);
+        x = (R(0, 1) + R(1, 0)) / S;
+        y = T(0.25) * S;
+        z = (R(1, 2) + R(2, 1)) / S;
+        w = (R(0, 2) - R(2, 0)) / S;
+    }
+    else
+    {
+        S = std::sqrt(T(1.0) - R(0, 0) - R(1, 1) + R(2, 2)) * T(2);
+        x = (R(0, 2) + R(2, 0)) / S;
+        y = (R(1, 2) + R(2, 1)) / S;
+        z = T(0.25) * S;
+        w = -(R(0, 1) - R(1, 0)) / S;
+    }
+    return Quat<T> (w, x, y, z);
+}
+
+template <typename T>
+Quat<T> Quat<T>::createFromRvec(InputArray _rvec)
+{
+    if (!((_rvec.cols() == 1 && _rvec.rows() == 3) || (_rvec.cols() == 3 && _rvec.rows() == 1))) {
+        CV_Error(Error::StsBadArg, "Cannot convert rotation vector to quaternion: The length of rotation vector should be 3");
+    }
+    Vec<T, 3> rvec;
+    _rvec.copyTo(rvec);
+    T psi = std::sqrt(rvec.dot(rvec));
+    if (abs(psi) < CV_QUAT_EPS) {
+        return Quat<T> (1, 0, 0, 0);
+    }
+    Vec<T, 3> axis = rvec / psi;
+    return createFromAngleAxis(psi, axis);
+}
+
+template <typename T>
+inline Quat<T> Quat<T>::operator-() const
+{
+    return Quat<T>(-w, -x, -y, -z);
+}
+
+
+template <typename T>
+inline bool Quat<T>::operator==(const Quat<T> &q) const
+{
+    return (abs(w - q.w) < CV_QUAT_EPS && abs(x - q.x) < CV_QUAT_EPS && abs(y - q.y) < CV_QUAT_EPS && abs(z - q.z) < CV_QUAT_EPS);
+}
+
+template <typename T>
+inline Quat<T> Quat<T>::operator+(const Quat<T> &q1) const
+{
+    return Quat<T>(w + q1.w, x + q1.x, y + q1.y, z + q1.z);
+}
+
+template <typename T>
+inline Quat<T> operator+(const T a, const Quat<T>& q)
+{
+    return Quat<T>(q.w + a, q.x, q.y, q.z);
+}
+
+template <typename T>
+inline Quat<T> operator+(const Quat<T>& q, const T a)
+{
+    return Quat<T>(q.w + a, q.x, q.y, q.z);
+}
+
+template <typename T>
+inline Quat<T> operator-(const T a, const Quat<T>& q)
+{
+    return Quat<T>(a - q.w, -q.x, -q.y, -q.z);
+}
+
+template <typename T>
+inline Quat<T> operator-(const Quat<T>& q, const T a)
+{
+    return Quat<T>(q.w - a, q.x, q.y, q.z);
+}
+
+template <typename T>
+inline Quat<T> Quat<T>::operator-(const Quat<T> &q1) const
+{
+    return Quat<T>(w - q1.w, x - q1.x, y - q1.y, z - q1.z);
+}
+
+template <typename T>
+inline Quat<T>& Quat<T>::operator+=(const Quat<T> &q1)
+{
+    w += q1.w;
+    x += q1.x;
+    y += q1.y;
+    z += q1.z;
+    return *this;
+}
+
+template <typename T>
+inline Quat<T>& Quat<T>::operator-=(const Quat<T> &q1)
+{
+    w -= q1.w;
+    x -= q1.x;
+    y -= q1.y;
+    z -= q1.z;
+    return *this;
+}
+
+template <typename T>
+inline Quat<T> Quat<T>::operator*(const Quat<T> &q1) const
+{
+    Vec<T, 4> q{w, x, y, z};
+    Vec<T, 4> q2{q1.w, q1.x, q1.y, q1.z};
+    return Quat<T>(q * q2);
+}
+
+
+template <typename T>
+Quat<T> operator*(const Quat<T> &q1, const T a)
+{
+    return Quat<T>(a * q1.w, a * q1.x, a * q1.y, a * q1.z);
+}
+
+template <typename T>
+Quat<T> operator*(const T a, const Quat<T> &q1)
+{
+    return Quat<T>(a * q1.w, a * q1.x, a * q1.y, a * q1.z);
+}
+
+template <typename T>
+inline Quat<T>& Quat<T>::operator*=(const Quat<T> &q1)
+{
+    T qw, qx, qy, qz;
+    qw = w * q1.w - x * q1.x - y * q1.y - z * q1.z;
+    qx = x * q1.w + w * q1.x + y * q1.z - z * q1.y;
+    qy = y * q1.w + w * q1.y + z * q1.x - x * q1.z;
+    qz = z * q1.w + w * q1.z + x * q1.y - y * q1.x;
+    w = qw;
+    x = qx;
+    y = qy;
+    z = qz;
+    return *this;
+}
+
+template <typename T>
+inline Quat<T>& Quat<T>::operator/=(const Quat<T> &q1)
+{
+    Quat<T> q(*this * q1.inv());
+    w = q.w;
+    x = q.x;
+    y = q.y;
+    z = q.z;
+    return *this;
+}
+template <typename T>
+Quat<T>& Quat<T>::operator*=(const T q1)
+{
+    w *= q1;
+    x *= q1;
+    y *= q1;
+    z *= q1;
+    return *this;
+}
+
+template <typename T>
+inline Quat<T>& Quat<T>::operator/=(const T a)
+{
+    const T a_inv = 1.0 / a;
+    w *= a_inv;
+    x *= a_inv;
+    y *= a_inv;
+    z *= a_inv;
+    return *this;
+}
+
+template <typename T>
+inline Quat<T> Quat<T>::operator/(const T a) const
+{
+    const T a_inv = T(1.0) / a;
+    return Quat<T>(w * a_inv, x * a_inv, y * a_inv, z * a_inv);
+}
+
+template <typename T>
+inline Quat<T> Quat<T>::operator/(const Quat<T> &q) const
+{
+    return *this * q.inv();
+}
+
+template <typename T>
+inline const T& Quat<T>::operator[](std::size_t n) const
+{
+    switch (n) {
+        case 0:
+            return w;
+        case 1:
+            return x;
+        case 2:
+            return y;
+        case 3:
+            return z;
+        default:
+            CV_Error(Error::StsOutOfRange, "subscript exceeds the index range");
+    }
+}
+
+template <typename T>
+inline T& Quat<T>::operator[](std::size_t n)
+{
+    switch (n) {
+        case 0:
+            return w;
+        case 1:
+            return x;
+        case 2:
+            return y;
+        case 3:
+            return z;
+        default:
+            CV_Error(Error::StsOutOfRange, "subscript exceeds the index range");
+    }
+}
+
+template <typename T>
+std::ostream & operator<<(std::ostream &os, const Quat<T> &q)
+{
+    os << "Quat " << Vec<T, 4>{q.w, q.x, q.y, q.z};
+    return os;
+}
+
+template <typename T>
+inline T Quat<T>::at(size_t index) const
+{
+    return (*this)[index];
+}
+
+template <typename T>
+inline Quat<T> Quat<T>::conjugate() const
+{
+    return Quat<T>(w, -x, -y, -z);
+}
+
+template <typename T>
+inline T Quat<T>::norm() const
+{
+    return std::sqrt(dot(*this));
+}
+
+template <typename T>
+Quat<T> exp(const Quat<T> &q)
+{
+    return q.exp();
+}
+
+template <typename T>
+Quat<T> Quat<T>::exp() const
+{
+    Vec<T, 3> v{x, y, z};
+    T normV = std::sqrt(v.dot(v));
+    T k = normV < CV_QUAT_EPS ? 1 : std::sin(normV) / normV;
+    return std::exp(w) * Quat<T>(std::cos(normV), v[0] * k, v[1] * k, v[2] * k);
+}
+
+template <typename T>
+Quat<T> log(const Quat<T> &q, QuatAssumeType assumeUnit)
+{
+    return q.log(assumeUnit);
+}
+
+template <typename T>
+Quat<T> Quat<T>::log(QuatAssumeType assumeUnit) const
+{
+    Vec<T, 3> v{x, y, z};
+    T vNorm = std::sqrt(v.dot(v));
+    if (assumeUnit)
+    {
+        T k = vNorm < CV_QUAT_EPS ? 1 : std::acos(w) / vNorm;
+        return Quat<T>(0, v[0] * k, v[1] * k, v[2] * k);
+    }
+    T qNorm = norm();
+    if (qNorm < CV_QUAT_EPS)
+    {
+        CV_Error(Error::StsBadArg, "Cannot apply this quaternion to log function: undefined");
+    }
+    T k = vNorm < CV_QUAT_EPS ? 1 : std::acos(w / qNorm) / vNorm;
+    return Quat<T>(std::log(qNorm), v[0] * k, v[1] * k, v[2] *k);
+}
+
+template <typename T>
+inline Quat<T> power(const Quat<T> &q1, const T alpha, QuatAssumeType assumeUnit)
+{
+    return q1.power(alpha, assumeUnit);
+}
+
+template <typename T>
+inline Quat<T> Quat<T>::power(const T alpha, QuatAssumeType assumeUnit) const
+{
+    if (x * x + y * y + z * z > CV_QUAT_EPS)
+    {
+        T angle = getAngle(assumeUnit);
+        Vec<T, 3> axis = getAxis(assumeUnit);
+        if (assumeUnit)
+        {
+            return createFromAngleAxis(alpha * angle, axis);
+        }
+        return std::pow(norm(), alpha) * createFromAngleAxis(alpha * angle, axis);
+    }
+    else
+    {
+        return std::pow(norm(), alpha) * Quat<T>(w, x, y, z);
+    }
+}
+
+
+template <typename T>
+inline Quat<T> sqrt(const Quat<T> &q, QuatAssumeType assumeUnit)
+{
+    return q.sqrt(assumeUnit);
+}
+
+template <typename T>
+inline Quat<T> Quat<T>::sqrt(QuatAssumeType assumeUnit) const
+{
+    return power(0.5, assumeUnit);
+}
+
+
+template <typename T>
+inline Quat<T> power(const Quat<T> &p, const Quat<T> &q, QuatAssumeType assumeUnit)
+{
+    return p.power(q, assumeUnit);
+}
+
+
+template <typename T>
+inline Quat<T> Quat<T>::power(const Quat<T> &q, QuatAssumeType assumeUnit) const
+{
+    return cv::exp(q * log(assumeUnit));
+}
+
+template <typename T>
+inline T Quat<T>::dot(Quat<T> q1) const
+{
+    return w * q1.w + x * q1.x + y * q1.y + z * q1.z;
+}
+
+
+template <typename T>
+inline Quat<T> crossProduct(const Quat<T> &p, const Quat<T> &q)
+{
+    return p.crossProduct(q);
+}
+
+
+template <typename T>
+inline Quat<T> Quat<T>::crossProduct(const Quat<T> &q) const
+{
+    return Quat<T> (0, y * q.z - z * q.y, z * q.x - x * q.z, x * q.y - q.x * y);
+}
+
+template <typename T>
+inline Quat<T> Quat<T>::normalize() const
+{
+    T normVal = norm();
+    if (normVal < CV_QUAT_EPS)
+    {
+        CV_Error(Error::StsBadArg, "Cannot normalize this quaternion: the norm is too small.");
+    }
+    return Quat<T>(w / normVal, x / normVal, y / normVal, z / normVal) ;
+}
+
+template <typename T>
+inline Quat<T> inv(const Quat<T> &q, QuatAssumeType assumeUnit)
+{
+    return q.inv(assumeUnit);
+}
+
+
+template <typename T>
+inline Quat<T> Quat<T>::inv(QuatAssumeType assumeUnit) const
+{
+    if (assumeUnit)
+    {
+        return conjugate();
+    }
+    T norm2 = dot(*this);
+    if (norm2 < CV_QUAT_EPS)
+    {
+        CV_Error(Error::StsBadArg, "This quaternion do not have inverse quaternion");
+    }
+    return conjugate() / norm2;
+}
+
+template <typename T>
+inline Quat<T> sinh(const Quat<T> &q)
+{
+    return q.sinh();
+}
+
+
+template <typename T>
+inline Quat<T> Quat<T>::sinh() const
+{
+    Vec<T, 3> v{x, y ,z};
+    T vNorm = std::sqrt(v.dot(v));
+    T k = vNorm < CV_QUAT_EPS ? 1 : std::cosh(w) * std::sin(vNorm) / vNorm;
+    return Quat<T>(std::sinh(w) * std::cos(vNorm), v[0] * k, v[1] * k, v[2] * k);
+}
+
+
+template <typename T>
+inline Quat<T> cosh(const Quat<T> &q)
+{
+    return q.cosh();
+}
+
+
+template <typename T>
+inline Quat<T> Quat<T>::cosh() const
+{
+    Vec<T, 3> v{x, y ,z};
+    T vNorm = std::sqrt(v.dot(v));
+    T k = vNorm < CV_QUAT_EPS ? 1 : std::sinh(w) * std::sin(vNorm) / vNorm;
+    return Quat<T>(std::cosh(w) * std::cos(vNorm), v[0] * k, v[1] * k, v[2] * k);
+}
+
+template <typename T>
+inline Quat<T> tanh(const Quat<T> &q)
+{
+    return q.tanh();
+}
+
+template <typename T>
+inline Quat<T> Quat<T>::tanh() const
+{
+    return sinh() * cosh().inv();
+}
+
+
+template <typename T>
+inline Quat<T> sin(const Quat<T> &q)
+{
+    return q.sin();
+}
+
+
+template <typename T>
+inline Quat<T> Quat<T>::sin() const
+{
+    Vec<T, 3> v{x, y ,z};
+    T vNorm = std::sqrt(v.dot(v));
+    T k = vNorm < CV_QUAT_EPS ? 1 : std::cos(w) * std::sinh(vNorm) / vNorm;
+    return Quat<T>(std::sin(w) * std::cosh(vNorm), v[0] * k, v[1] * k, v[2] * k);
+}
+
+template <typename T>
+inline Quat<T> cos(const Quat<T> &q)
+{
+    return q.cos();
+}
+
+template <typename T>
+inline Quat<T> Quat<T>::cos() const
+{
+    Vec<T, 3> v{x, y ,z};
+    T vNorm = std::sqrt(v.dot(v));
+    T k = vNorm < CV_QUAT_EPS ? 1 : std::sin(w) * std::sinh(vNorm) / vNorm;
+    return Quat<T>(std::cos(w) * std::cosh(vNorm), -v[0] * k, -v[1] * k, -v[2] * k);
+}
+
+template <typename T>
+inline Quat<T> tan(const Quat<T> &q)
+{
+    return q.tan();
+}
+
+template <typename T>
+inline Quat<T> Quat<T>::tan() const
+{
+    return sin() * cos().inv();
+}
+
+template <typename T>
+inline Quat<T> asinh(const Quat<T> &q)
+{
+    return q.asinh();
+}
+
+template <typename T>
+inline Quat<T> Quat<T>::asinh() const
+{
+    return cv::log(*this + cv::power(*this * *this + Quat<T>(1, 0, 0, 0), 0.5));
+}
+
+template <typename T>
+inline Quat<T> acosh(const Quat<T> &q)
+{
+    return q.acosh();
+}
+
+template <typename T>
+inline Quat<T> Quat<T>::acosh() const
+{
+    return cv::log(*this + cv::power(*this * *this - Quat<T>(1,0,0,0), 0.5));
+}
+
+template <typename T>
+inline Quat<T> atanh(const Quat<T> &q)
+{
+    return q.atanh();
+}
+
+template <typename T>
+inline Quat<T> Quat<T>::atanh() const
+{
+    Quat<T> ident(1, 0, 0, 0);
+    Quat<T> c1 = (ident + *this).log();
+    Quat<T> c2 = (ident - *this).log();
+    return 0.5 * (c1 - c2);
+}
+
+template <typename T>
+inline Quat<T> asin(const Quat<T> &q)
+{
+    return q.asin();
+}
+
+template <typename T>
+inline Quat<T> Quat<T>::asin() const
+{
+    Quat<T> v(0, x, y, z);
+    T vNorm = v.norm();
+    T k = vNorm < CV_QUAT_EPS ? 1 : vNorm;
+    return -v / k * (*this * v / k).asinh();
+}
+
+template <typename T>
+inline Quat<T> acos(const Quat<T> &q)
+{
+    return q.acos();
+}
+
+template <typename T>
+inline Quat<T> Quat<T>::acos() const
+{
+    Quat<T> v(0, x, y, z);
+    T vNorm = v.norm();
+    T k = vNorm < CV_QUAT_EPS ? 1 : vNorm;
+    return -v / k * acosh();
+}
+
+template <typename T>
+inline Quat<T> atan(const Quat<T> &q)
+{
+    return q.atan();
+}
+
+template <typename T>
+inline Quat<T> Quat<T>::atan() const
+{
+    Quat<T> v(0, x, y, z);
+    T vNorm = v.norm();
+    T k = vNorm < CV_QUAT_EPS ? 1 : vNorm;
+    return -v / k * (*this * v / k).atanh();
+}
+
+template <typename T>
+inline T Quat<T>::getAngle(QuatAssumeType assumeUnit) const
+{
+    if (assumeUnit)
+    {
+        return 2 * std::acos(w);
+    }
+    if (norm() < CV_QUAT_EPS)
+    {
+        CV_Error(Error::StsBadArg, "This quaternion does not represent a rotation");
+    }
+    return 2 * std::acos(w / norm());
+}
+
+template <typename T>
+inline Vec<T, 3> Quat<T>::getAxis(QuatAssumeType assumeUnit) const
+{
+    T angle = getAngle(assumeUnit);
+    const T sin_v = std::sin(angle * 0.5);
+    if (assumeUnit)
+    {
+        return Vec<T, 3>{x, y, z} / sin_v;
+    }
+    return Vec<T, 3> {x, y, z} / (norm() * sin_v);
+}
+
+template <typename T>
+Matx<T, 4, 4> Quat<T>::toRotMat4x4(QuatAssumeType assumeUnit) const
+{
+    T a = w, b = x, c = y, d = z;
+    if (!assumeUnit)
+    {
+        Quat<T> qTemp = normalize();
+        a = qTemp.w;
+        b = qTemp.x;
+        c = qTemp.y;
+        d = qTemp.z;
+    }
+    Matx<T, 4, 4> R{
+        1 - 2 * (c * c + d * d), 2 * (b * c - a * d)    , 2 * (b * d + a * c)    , 0,
+        2 * (b * c + a * d)    , 1 - 2 * (b * b + d * d), 2 * (c * d - a * b)    , 0,
+        2 * (b * d - a * c)    , 2 * (c * d + a * b)    , 1 - 2 * (b * b + c * c), 0,
+        0                      , 0                      , 0                      , 1,
+    };
+    return R;
+}
+
+template <typename T>
+Matx<T, 3, 3> Quat<T>::toRotMat3x3(QuatAssumeType assumeUnit) const
+{
+    T a = w, b = x, c = y, d = z;
+    if (!assumeUnit)
+    {
+        Quat<T> qTemp = normalize();
+        a = qTemp.w;
+        b = qTemp.x;
+        c = qTemp.y;
+        d = qTemp.z;
+    }
+    Matx<T, 3, 3> R{
+        1 - 2 * (c * c + d * d), 2 * (b * c - a * d)    , 2 * (b * d + a * c),
+        2 * (b * c + a * d)    , 1 - 2 * (b * b + d * d), 2 * (c * d - a * b),
+        2 * (b * d - a * c)    , 2 * (c * d + a * b)    , 1 - 2 * (b * b + c * c)
+    };
+    return R;
+}
+
+template <typename T>
+Vec<T, 3> Quat<T>::toRotVec(QuatAssumeType assumeUnit) const
+{
+    T angle = getAngle(assumeUnit);
+    Vec<T, 3> axis = getAxis(assumeUnit);
+    return angle * axis;
+}
+
+template <typename T>
+Vec<T, 4> Quat<T>::toVec() const
+{
+    return Vec<T, 4>{w, x, y, z};
+}
+
+template <typename T>
+Quat<T> Quat<T>::lerp(const Quat<T> &q0, const Quat<T> &q1, const T t)
+{
+    return (1 - t) * q0 + t * q1;
+}
+
+template <typename T>
+Quat<T> Quat<T>::slerp(const Quat<T> &q0, const Quat<T> &q1, const T t, QuatAssumeType assumeUnit, bool directChange)
+{
+    Quatd v0(q0);
+    Quatd v1(q1);
+    if (!assumeUnit)
+    {
+        v0 = v0.normalize();
+        v1 = v1.normalize();
+    }
+    T cosTheta = v0.dot(v1);
+    constexpr T DOT_THRESHOLD = 0.995;
+    if (cosTheta > DOT_THRESHOLD)
+    {
+        return nlerp(v0, v1, t, QUAT_ASSUME_UNIT);
+    }
+
+    if (directChange && cosTheta < 0)
+    {
+        v0 = -v0;
+        cosTheta = -cosTheta;
+    }
+    T sinTheta = std::sqrt(1 - cosTheta * cosTheta);
+    T angle = atan2(sinTheta, cosTheta);
+    return (std::sin((1 - t) * angle) / (sinTheta) * v0 + std::sin(t * angle) / (sinTheta) * v1).normalize();
+}
+
+
+template <typename T>
+inline Quat<T> Quat<T>::nlerp(const Quat<T> &q0, const Quat<T> &q1, const T t, QuatAssumeType assumeUnit)
+{
+    Quat<T> v0(q0), v1(q1);
+    if (v1.dot(v0) < 0)
+    {
+        v0 = -v0;
+    }
+    if (assumeUnit)
+    {
+        return ((1 - t) * v0 + t * v1).normalize();
+    }
+    v0 = v0.normalize();
+    v1 = v1.normalize();
+    return ((1 - t) * v0 + t * v1).normalize();
+}
+
+
+template <typename T>
+inline bool Quat<T>::isNormal(T eps) const
+{
+
+    double normVar = norm();
+    if ((normVar > 1 - eps) && (normVar < 1 + eps))
+        return true;
+    return false;
+}
+
+template <typename T>
+inline void Quat<T>::assertNormal(T eps) const
+{
+    if (!isNormal(eps))
+        CV_Error(Error::StsBadArg, "Quaternion should be normalized");
+}
+
+
+template <typename T>
+inline Quat<T> Quat<T>::squad(const Quat<T> &q0, const Quat<T> &q1,
+                            const Quat<T> &q2, const Quat<T> &q3,
+                            const T t, QuatAssumeType assumeUnit,
+                            bool directChange)
+{
+    Quat<T> v0(q0), v1(q1), v2(q2), v3(q3);
+    if (!assumeUnit)
+    {
+        v0 = v0.normalize();
+        v1 = v1.normalize();
+        v2 = v2.normalize();
+        v3 = v3.normalize();
+    }
+
+    Quat<T> c0 = slerp(v0, v3, t, assumeUnit, directChange);
+    Quat<T> c1 = slerp(v1, v2, t, assumeUnit, directChange);
+    return slerp(c0, c1, 2 * t * (1 - t), assumeUnit, directChange);
+}
+
+template <typename T>
+Quat<T> Quat<T>::interPoint(const Quat<T> &q0, const Quat<T> &q1,
+                            const Quat<T> &q2, QuatAssumeType assumeUnit)
+{
+    Quat<T> v0(q0), v1(q1), v2(q2);
+    if (!assumeUnit)
+    {
+        v0 = v0.normalize();
+        v1 = v1.normalize();
+        v2 = v2.normalize();
+    }
+    return v1 * cv::exp(-(cv::log(v1.conjugate() * v0, assumeUnit) + (cv::log(v1.conjugate() * v2, assumeUnit))) / 4);
+}
+
+template <typename T>
+Quat<T> Quat<T>::spline(const Quat<T> &q0, const Quat<T> &q1, const Quat<T> &q2, const Quat<T> &q3, const T t, QuatAssumeType assumeUnit)
+{
+    Quatd v0(q0), v1(q1), v2(q2), v3(q3);
+    if (!assumeUnit)
+    {
+        v0 = v0.normalize();
+        v1 = v1.normalize();
+        v2 = v2.normalize();
+        v3 = v3.normalize();
+    }
+    T cosTheta;
+    std::vector<Quat<T>> vec{v0, v1, v2, v3};
+    for (size_t i = 0; i < 3; ++i)
+    {
+        cosTheta = vec[i].dot(vec[i + 1]);
+        if (cosTheta < 0)
+        {
+            vec[i + 1] = -vec[i + 1];
+        }
+    }
+    Quat<T> s1 = interPoint(vec[0], vec[1], vec[2], QUAT_ASSUME_UNIT);
+    Quat<T> s2 = interPoint(vec[1], vec[2], vec[3], QUAT_ASSUME_UNIT);
+    return squad(vec[1], s1, s2, vec[2], t, assumeUnit, QUAT_ASSUME_NOT_UNIT);
+}
+
+namespace detail {
+
+template <typename T> static
+Quat<T> createFromAxisRot(int axis, const T theta)
+{
+    if (axis == 0)
+        return Quat<T>::createFromXRot(theta);
+    if (axis == 1)
+        return Quat<T>::createFromYRot(theta);
+    if (axis == 2)
+        return Quat<T>::createFromZRot(theta);
+    CV_Assert(0);
+}
+
+inline bool isIntAngleType(QuatEnum::EulerAnglesType eulerAnglesType)
+{
+    return eulerAnglesType < QuatEnum::EXT_XYZ;
+}
+
+inline bool isTaitBryan(QuatEnum::EulerAnglesType eulerAnglesType)
+{
+    return eulerAnglesType/6 == 1 || eulerAnglesType/6 == 3;
+}
+}  // namespace detail
+
+template <typename T>
+Quat<T> Quat<T>::createFromYRot(const T theta)
+{
+    return Quat<T>{std::cos(theta * 0.5f), 0, std::sin(theta * 0.5f), 0};
+}
+
+template <typename T>
+Quat<T> Quat<T>::createFromXRot(const T theta){
+    return Quat<T>{std::cos(theta * 0.5f), std::sin(theta * 0.5f), 0, 0};
+}
+
+template <typename T>
+Quat<T> Quat<T>::createFromZRot(const T theta){
+    return Quat<T>{std::cos(theta * 0.5f), 0, 0, std::sin(theta * 0.5f)};
+}
+
+
+template <typename T>
+Quat<T> Quat<T>::createFromEulerAngles(const Vec<T, 3> &angles, QuatEnum::EulerAnglesType eulerAnglesType) {
+    CV_Assert(eulerAnglesType < QuatEnum::EulerAnglesType::EULER_ANGLES_MAX_VALUE);
+    static const int rotationAxis[24][3] = {
+        {0, 1, 2}, ///< Intrinsic rotations with the Euler angles type X-Y-Z
+        {0, 2, 1}, ///< Intrinsic rotations with the Euler angles type X-Z-Y
+        {1, 0, 2}, ///< Intrinsic rotations with the Euler angles type Y-X-Z
+        {1, 2, 0}, ///< Intrinsic rotations with the Euler angles type Y-Z-X
+        {2, 0, 1}, ///< Intrinsic rotations with the Euler angles type Z-X-Y
+        {2, 1, 0}, ///< Intrinsic rotations with the Euler angles type Z-Y-X
+        {0, 1, 0}, ///< Intrinsic rotations with the Euler angles type X-Y-X
+        {0, 2, 0}, ///< Intrinsic rotations with the Euler angles type X-Z-X
+        {1, 0, 1}, ///< Intrinsic rotations with the Euler angles type Y-X-Y
+        {1, 2, 1}, ///< Intrinsic rotations with the Euler angles type Y-Z-Y
+        {2, 0, 2}, ///< Intrinsic rotations with the Euler angles type Z-X-Z
+        {2, 1, 2}, ///< Intrinsic rotations with the Euler angles type Z-Y-Z
+        {0, 1, 2}, ///< Extrinsic rotations with the Euler angles type X-Y-Z
+        {0, 2, 1}, ///< Extrinsic rotations with the Euler angles type X-Z-Y
+        {1, 0, 2}, ///< Extrinsic rotations with the Euler angles type Y-X-Z
+        {1, 2, 0}, ///< Extrinsic rotations with the Euler angles type Y-Z-X
+        {2, 0, 1}, ///< Extrinsic rotations with the Euler angles type Z-X-Y
+        {2, 1, 0}, ///< Extrinsic rotations with the Euler angles type Z-Y-X
+        {0, 1, 0}, ///< Extrinsic rotations with the Euler angles type X-Y-X
+        {0, 2, 0}, ///< Extrinsic rotations with the Euler angles type X-Z-X
+        {1, 0, 1}, ///< Extrinsic rotations with the Euler angles type Y-X-Y
+        {1, 2, 1}, ///< Extrinsic rotations with the Euler angles type Y-Z-Y
+        {2, 0, 2}, ///< Extrinsic rotations with the Euler angles type Z-X-Z
+        {2, 1, 2}  ///< Extrinsic rotations with the Euler angles type Z-Y-Z
+    };
+    Quat<T> q1 = detail::createFromAxisRot(rotationAxis[eulerAnglesType][0], angles(0));
+    Quat<T> q2 = detail::createFromAxisRot(rotationAxis[eulerAnglesType][1], angles(1));
+    Quat<T> q3 = detail::createFromAxisRot(rotationAxis[eulerAnglesType][2], angles(2));
+    if (detail::isIntAngleType(eulerAnglesType))
+    {
+        return q1 * q2 * q3;
+    }
+    else // (!detail::isIntAngleType<T>(eulerAnglesType))
+    {
+        return q3 * q2 * q1;
+    }
+}
+
+template <typename T>
+Vec<T, 3> Quat<T>::toEulerAngles(QuatEnum::EulerAnglesType eulerAnglesType){
+    CV_Assert(eulerAnglesType < QuatEnum::EulerAnglesType::EULER_ANGLES_MAX_VALUE);
+    Matx33d R = toRotMat3x3();
+    enum {
+        C_ZERO,
+        C_PI,
+        C_PI_2,
+        N_CONSTANTS,
+        R_0_0 = N_CONSTANTS, R_0_1, R_0_2,
+        R_1_0, R_1_1, R_1_2,
+        R_2_0, R_2_1, R_2_2
+    };
+    static const T constants_[N_CONSTANTS] = {
+        0,  // C_ZERO
+        (T)CV_PI,  // C_PI
+        (T)(CV_PI * 0.5)  // C_PI_2, -C_PI_2
+    };
+    static const int rotationR_[24][12] = {
+        {+R_0_2,    +R_1_0, +R_1_1, C_PI_2,     +R_2_1, +R_1_1, -C_PI_2,    -R_1_2, +R_2_2,    +R_0_2,    -R_0_1, +R_0_0},  // INT_XYZ
+        {+R_0_1,    -R_1_2, +R_2_2, -C_PI_2,    +R_2_0, +R_2_2, C_PI_2,     +R_2_1, +R_1_1,    -R_0_1,    +R_0_2, +R_0_0},  // INT_XZY
+        {+R_1_2,    -R_0_1, +R_0_0, -C_PI_2,    +R_0_1, +R_0_0, C_PI_2,     +R_0_2, +R_2_2,    -R_1_2,    +R_1_0, +R_1_1},  // INT_YXZ
+        {+R_1_0,    +R_0_2, +R_2_2, C_PI_2,     +R_0_2, +R_0_1, -C_PI_2,    -R_2_0, +R_0_0,    +R_1_0,    -R_1_2, +R_1_1},  // INT_YZX
+        {+R_2_1,    +R_1_0, +R_0_0, C_PI_2,     +R_1_0, +R_0_0, -C_PI_2,    -R_0_1, +R_1_1,    +R_2_1,    -R_2_0, +R_2_2},  // INT_ZXY
+        {+R_2_0,    -R_0_1, +R_1_1, -C_PI_2,    +R_1_2, +R_1_1, C_PI_2,     +R_1_0, +R_0_0,    -R_2_0,    +R_2_1, +R_2_2},  // INT_ZYX
+        {+R_0_0,    +R_2_1, +R_2_2, C_ZERO,     +R_1_2, +R_1_1, C_PI,       +R_1_0, -R_2_0,    +R_0_0,    +R_0_1, +R_0_2},  // INT_XYX
+        {+R_0_0,    +R_2_1, +R_2_2, C_ZERO,     -R_2_1, +R_2_2, C_PI,       +R_2_0, +R_1_0,    +R_0_0,    +R_0_2, -R_0_1},  // INT_XZX
+        {+R_1_1,    +R_0_2, +R_0_0, C_ZERO,     -R_2_0, +R_0_0, C_PI,       +R_0_1, +R_2_1,    +R_1_1,    +R_1_0, -R_1_2},  // INT_YXY
+        {+R_1_1,    +R_0_2, +R_0_0, C_ZERO,     +R_0_2, -R_0_0, C_PI,       +R_2_1, -R_0_1,    +R_1_1,    +R_1_2, +R_1_0},  // INT_YZY
+        {+R_2_2,    +R_1_0, +R_1_1, C_ZERO,     +R_1_0, +R_0_0, C_PI,       +R_0_2, -R_1_2,    +R_2_2,    +R_2_0, +R_2_1},  // INT_ZXZ
+        {+R_2_2,    +R_1_0, +R_0_0, C_ZERO,     +R_1_0, +R_0_0, C_PI,       +R_1_2, +R_0_2,    +R_2_2,    +R_2_1, -R_2_0},  // INT_ZYZ
+
+        {+R_2_0,    -C_PI_2, -R_0_1, +R_1_1,    C_PI_2,  +R_1_2, +R_1_1,    +R_2_1, +R_2_2,    -R_2_0,    +R_1_0, +R_0_0},  // EXT_XYZ
+        {+R_1_0,    C_PI_2,  +R_0_2, +R_2_2,    -C_PI_2, +R_0_2, +R_0_1,    -R_1_2, +R_1_1,    +R_1_0,    -R_2_0, +R_0_0},  // EXT_XZY
+        {+R_2_1,    C_PI_2,  +R_1_0, +R_0_0,    -C_PI_2, +R_1_0, +R_0_0,    -R_2_0, +R_2_2,    +R_2_1,    -R_0_1, +R_1_1},  // EXT_YXZ
+        {+R_0_2,    -C_PI_2, -R_1_2, +R_2_2,    C_PI_2,  +R_2_0, +R_2_2,    +R_0_2, +R_0_0,    -R_0_1,    +R_2_1, +R_1_1},  // EXT_YZX
+        {+R_1_2,    -C_PI_2, -R_0_1, +R_0_0,    C_PI_2,  +R_0_1, +R_0_0,    +R_1_0, +R_1_1,    -R_1_2,    +R_0_2, +R_2_2},  // EXT_ZXY
+        {+R_0_2,    C_PI_2,  +R_1_0, +R_1_1,    -C_PI_2, +R_2_1, +R_1_1,    -R_0_1, +R_0_0,    +R_0_2,    -R_1_2, +R_2_2},  // EXT_ZYX
+        {+R_0_0,    C_ZERO,  +R_2_1, +R_2_2,    C_PI,    +R_1_2, +R_1_1,    +R_0_1, +R_0_2,    +R_0_0,    +R_1_0, -R_2_0},  // EXT_XYX
+        {+R_0_0,    C_ZERO,  +R_2_1, +R_2_2,    C_PI,    +R_2_1, +R_2_2,    +R_0_2, -R_0_1,    +R_0_0,    +R_2_0, +R_1_0},  // EXT_XZX
+        {+R_1_1,    C_ZERO,  +R_0_2, +R_0_0,    C_PI,    -R_2_0, +R_0_0,    +R_1_0, -R_1_2,    +R_1_1,    +R_0_1, +R_2_1},  // EXT_YXY
+        {+R_1_1,    C_ZERO,  +R_0_2, +R_0_0,    C_PI,    +R_0_2, -R_0_0,    +R_1_2, +R_1_0,    +R_1_1,    +R_2_1, -R_0_1},  // EXT_YZY
+        {+R_2_2,    C_ZERO,  +R_1_0, +R_1_1,    C_PI,    +R_1_0, +R_0_0,    +R_2_0, +R_2_1,    +R_2_2,    +R_0_2, -R_1_2},  // EXT_ZXZ
+        {+R_2_2,    C_ZERO,  +R_1_0, +R_0_0,    C_PI,    +R_1_0, +R_0_0,    +R_2_1, -R_2_0,    +R_2_2,    +R_1_2, +R_0_2},  // EXT_ZYZ
+    };
+    T rotationR[12];
+    for (int i = 0; i < 12; i++)
+    {
+        int id = rotationR_[eulerAnglesType][i];
+        unsigned idx = std::abs(id);
+        T value = 0.0f;
+        if (idx < N_CONSTANTS)
+        {
+            value = constants_[idx];
+        }
+        else
+        {
+            unsigned r_idx = idx - N_CONSTANTS;
+            CV_DbgAssert(r_idx < 9);
+            value = R.val[r_idx];
+        }
+        bool isNegative = id < 0;
+        if (isNegative)
+            value = -value;
+        rotationR[i] = value;
+    }
+    Vec<T, 3> angles;
+    if (detail::isIntAngleType(eulerAnglesType))
+    {
+        if (abs(rotationR[0] - 1) < CV_QUAT_CONVERT_THRESHOLD)
+        {
+            CV_LOG_WARNING(NULL,"Gimbal Lock occurs. Euler angles are non-unique, we set the third angle to 0");
+            angles = {std::atan2(rotationR[1], rotationR[2]), rotationR[3], 0};
+            return angles;
+        }
+        else if(abs(rotationR[0] + 1) < CV_QUAT_CONVERT_THRESHOLD)
+        {
+            CV_LOG_WARNING(NULL,"Gimbal Lock occurs. Euler angles are non-unique, we set the third angle to 0");
+            angles = {std::atan2(rotationR[4], rotationR[5]), rotationR[6], 0};
+            return angles;
+        }
+    }
+    else // (!detail::isIntAngleType<T>(eulerAnglesType))
+    {
+        if (abs(rotationR[0] - 1) < CV_QUAT_CONVERT_THRESHOLD)
+        {
+            CV_LOG_WARNING(NULL,"Gimbal Lock occurs. Euler angles are non-unique, we set the first angle to 0");
+            angles = {0, rotationR[1], std::atan2(rotationR[2], rotationR[3])};
+            return angles;
+        }
+        else if (abs(rotationR[0] + 1) < CV_QUAT_CONVERT_THRESHOLD)
+        {
+            CV_LOG_WARNING(NULL,"Gimbal Lock occurs. Euler angles are non-unique, we set the first angle to 0");
+            angles = {0, rotationR[4], std::atan2(rotationR[5], rotationR[6])};
+            return angles;
+        }
+    }
+
+    angles(0) = std::atan2(rotationR[7], rotationR[8]);
+    if (detail::isTaitBryan(eulerAnglesType))
+        angles(1) = std::acos(rotationR[9]);
+    else
+        angles(1) = std::asin(rotationR[9]);
+    angles(2) = std::atan2(rotationR[10], rotationR[11]);
+    return angles;
+}
+
+}  // namepsace
+//! @endcond
+
+#endif /*OPENCV_CORE_QUATERNION_INL_HPP*/