react-native-executorch 0.4.8 → 0.5.0

package/third-party/include/opencv2/core/affine.hpp

@@ -0,0 +1,676 @@
+/*M///////////////////////////////////////////////////////////////////////////////////////
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+// the use of this software, even if advised of the possibility of such damage.
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+//M*/
+
+#ifndef OPENCV_CORE_AFFINE3_HPP
+#define OPENCV_CORE_AFFINE3_HPP
+
+#ifdef __cplusplus
+
+#include <opencv2/core.hpp>
+
+namespace cv {
+
+//! @addtogroup core_eigen
+//! @{
+
+/** @brief Affine transform
+ *
+ * It represents a 4x4 homogeneous transformation matrix \f$T\f$
+ *
+ *  \f[T =
+ *  \begin{bmatrix}
+ *  R & t\\
+ *  0 & 1\\
+ *  \end{bmatrix}
+ *  \f]
+ *
+ *  where \f$R\f$ is a 3x3 rotation matrix and \f$t\f$ is a 3x1 translation
+ * vector.
+ *
+ *  You can specify \f$R\f$ either by a 3x3 rotation matrix or by a 3x1 rotation
+ * vector, which is converted to a 3x3 rotation matrix by the Rodrigues formula.
+ *
+ *  To construct a matrix \f$T\f$ representing first rotation around the axis
+ * \f$r\f$ with rotation angle \f$|r|\f$ in radian (right hand rule) and then
+ * translation by the vector \f$t\f$, you can use
+ *
+ *  @code
+ *  cv::Vec3f r, t;
+ *  cv::Affine3f T(r, t);
+ *  @endcode
+ *
+ *  If you already have the rotation matrix \f$R\f$, then you can use
+ *
+ *  @code
+ *  cv::Matx33f R;
+ *  cv::Affine3f T(R, t);
+ *  @endcode
+ *
+ *  To extract the rotation matrix \f$R\f$ from \f$T\f$, use
+ *
+ *  @code
+ *  cv::Matx33f R = T.rotation();
+ *  @endcode
+ *
+ *  To extract the translation vector \f$t\f$ from \f$T\f$, use
+ *
+ *  @code
+ *  cv::Vec3f t = T.translation();
+ *  @endcode
+ *
+ *  To extract the rotation vector \f$r\f$ from \f$T\f$, use
+ *
+ *  @code
+ *  cv::Vec3f r = T.rvec();
+ *  @endcode
+ *
+ *  Note that since the mapping from rotation vectors to rotation matrices
+ *  is many to one. The returned rotation vector is not necessarily the one
+ *  you used before to set the matrix.
+ *
+ *  If you have two transformations \f$T = T_1 * T_2\f$, use
+ *
+ *  @code
+ *  cv::Affine3f T, T1, T2;
+ *  T = T2.concatenate(T1);
+ *  @endcode
+ *
+ *  To get the inverse transform of \f$T\f$, use
+ *
+ *  @code
+ *  cv::Affine3f T, T_inv;
+ *  T_inv = T.inv();
+ *  @endcode
+ *
+ */
+template <typename T> class Affine3 {
+public:
+  typedef T float_type;
+  typedef Matx<float_type, 3, 3> Mat3;
+  typedef Matx<float_type, 4, 4> Mat4;
+  typedef Vec<float_type, 3> Vec3;
+
+  //! Default constructor. It represents a 4x4 identity matrix.
+  Affine3();
+
+  //! Augmented affine matrix
+  Affine3(const Mat4 &affine);
+
+  /**
+   *  The resulting 4x4 matrix is
+   *
+   *  \f[
+   *  \begin{bmatrix}
+   *  R & t\\
+   *  0 & 1\\
+   *  \end{bmatrix}
+   *  \f]
+   *
+   * @param R 3x3 rotation matrix.
+   * @param t 3x1 translation vector.
+   */
+  Affine3(const Mat3 &R, const Vec3 &t = Vec3::all(0));
+
+  /**
+   * Rodrigues vector.
+   *
+   * The last row of the current matrix is set to [0,0,0,1].
+   *
+   * @param rvec 3x1 rotation vector. Its direction indicates the rotation axis
+   * and its length indicates the rotation angle in radian (using right hand
+   * rule).
+   * @param t 3x1 translation vector.
+   */
+  Affine3(const Vec3 &rvec, const Vec3 &t = Vec3::all(0));
+
+  /**
+   * Combines all constructors above. Supports 4x4, 3x4, 3x3, 1x3, 3x1 sizes of
+   * data matrix.
+   *
+   * The last row of the current matrix is set to [0,0,0,1] when data is not
+   * 4x4.
+   *
+   * @param data 1-channel matrix.
+   *             when it is 4x4, it is copied to the current matrix and t is not
+   * used. When it is 3x4, it is copied to the upper part 3x4 of the current
+   * matrix and t is not used. When it is 3x3, it is copied to the upper left
+   * 3x3 part of the current matrix. When it is 3x1 or 1x3, it is treated as a
+   * rotation vector and the Rodrigues formula is used to compute a 3x3 rotation
+   * matrix.
+   * @param t 3x1 translation vector. It is used only when data is neither 4x4
+   * nor 3x4.
+   */
+  explicit Affine3(const Mat &data, const Vec3 &t = Vec3::all(0));
+
+  //! From 16-element array
+  explicit Affine3(const float_type *vals);
+
+  //! Create an 4x4 identity transform
+  static Affine3 Identity();
+
+  /**
+   * Rotation matrix.
+   *
+   * Copy the rotation matrix to the upper left 3x3 part of the current matrix.
+   * The remaining elements of the current matrix are not changed.
+   *
+   * @param R 3x3 rotation matrix.
+   *
+   */
+  void rotation(const Mat3 &R);
+
+  /**
+   * Rodrigues vector.
+   *
+   * It sets the upper left 3x3 part of the matrix. The remaining part is
+   * unaffected.
+   *
+   * @param rvec 3x1 rotation vector. The direction indicates the rotation axis
+   * and its length indicates the rotation angle in radian (using the right
+   * thumb convention).
+   */
+  void rotation(const Vec3 &rvec);
+
+  /**
+   * Combines rotation methods above. Supports 3x3, 1x3, 3x1 sizes of data
+   * matrix.
+   *
+   * It sets the upper left 3x3 part of the matrix. The remaining part is
+   * unaffected.
+   *
+   * @param data 1-channel matrix.
+   *             When it is a 3x3 matrix, it sets the upper left 3x3 part of the
+   * current matrix. When it is a 1x3 or 3x1 matrix, it is used as a rotation
+   * vector. The Rodrigues formula is used to compute the rotation matrix and
+   * sets the upper left 3x3 part of the current matrix.
+   */
+  void rotation(const Mat &data);
+
+  /**
+   * Copy the 3x3 matrix L to the upper left part of the current matrix
+   *
+   * It sets the upper left 3x3 part of the matrix. The remaining part is
+   * unaffected.
+   *
+   * @param L 3x3 matrix.
+   */
+  void linear(const Mat3 &L);
+
+  /**
+   * Copy t to the first three elements of the last column of the current matrix
+   *
+   * It sets the upper right 3x1 part of the matrix. The remaining part is
+   * unaffected.
+   *
+   * @param t 3x1 translation vector.
+   */
+  void translation(const Vec3 &t);
+
+  //! @return the upper left 3x3 part
+  Mat3 rotation() const;
+
+  //! @return the upper left 3x3 part
+  Mat3 linear() const;
+
+  //! @return the upper right 3x1 part
+  Vec3 translation() const;
+
+  //! Rodrigues vector.
+  //! @return a vector representing the upper left 3x3 rotation matrix of the
+  //! current matrix.
+  //! @warning  Since the mapping between rotation vectors and rotation matrices
+  //! is many to one,
+  //!           this function returns only one rotation vector that represents
+  //!           the current rotation matrix, which is not necessarily the same
+  //!           one set by `rotation(const Vec3& rvec)`.
+  Vec3 rvec() const;
+
+  //! @return the inverse of the current matrix.
+  Affine3 inv(int method = cv::DECOMP_SVD) const;
+
+  //! a.rotate(R) is equivalent to Affine(R, 0) * a;
+  Affine3 rotate(const Mat3 &R) const;
+
+  //! a.rotate(rvec) is equivalent to Affine(rvec, 0) * a;
+  Affine3 rotate(const Vec3 &rvec) const;
+
+  //! a.translate(t) is equivalent to Affine(E, t) * a, where E is an identity
+  //! matrix
+  Affine3 translate(const Vec3 &t) const;
+
+  //! a.concatenate(affine) is equivalent to affine * a;
+  Affine3 concatenate(const Affine3 &affine) const;
+
+  template <typename Y> operator Affine3<Y>() const;
+
+  template <typename Y> Affine3<Y> cast() const;
+
+  Mat4 matrix;
+
+#if defined EIGEN_WORLD_VERSION && defined EIGEN_GEOMETRY_MODULE_H
+  Affine3(
+      const Eigen::Transform<T, 3, Eigen::Affine, (Eigen::RowMajor)> &affine);
+  Affine3(const Eigen::Transform<T, 3, Eigen::Affine> &affine);
+  operator Eigen::Transform<T, 3, Eigen::Affine, (Eigen::RowMajor)>() const;
+  operator Eigen::Transform<T, 3, Eigen::Affine>() const;
+#endif
+};
+
+template <typename T>
+static Affine3<T> operator*(const Affine3<T> &affine1,
+                            const Affine3<T> &affine2);
+
+//! V is a 3-element vector with member fields x, y and z
+template <typename T, typename V>
+static V operator*(const Affine3<T> &affine, const V &vector);
+
+typedef Affine3<float> Affine3f;
+typedef Affine3<double> Affine3d;
+
+static Vec3f operator*(const Affine3f &affine, const Vec3f &vector);
+static Vec3d operator*(const Affine3d &affine, const Vec3d &vector);
+
+template <typename _Tp> class DataType<Affine3<_Tp>> {
+public:
+  typedef Affine3<_Tp> value_type;
+  typedef Affine3<typename DataType<_Tp>::work_type> work_type;
+  typedef _Tp channel_type;
+
+  enum {
+    generic_type = 0,
+    channels = 16,
+    fmt = traits::SafeFmt<channel_type>::fmt + ((channels - 1) << 8)
+#ifdef OPENCV_TRAITS_ENABLE_DEPRECATED
+        ,
+    depth = DataType<channel_type>::depth,
+    type = CV_MAKETYPE(depth, channels)
+#endif
+  };
+
+  typedef Vec<channel_type, channels> vec_type;
+};
+
+namespace traits {
+template <typename _Tp> struct Depth<Affine3<_Tp>> {
+  enum { value = Depth<_Tp>::value };
+};
+template <typename _Tp> struct Type<Affine3<_Tp>> {
+  enum { value = CV_MAKETYPE(Depth<_Tp>::value, 16) };
+};
+} // namespace traits
+
+//! @} core
+
+} // namespace cv
+
+//! @cond IGNORED
+
+///////////////////////////////////////////////////////////////////////////////////
+// Implementation
+
+template <typename T> inline cv::Affine3<T>::Affine3() : matrix(Mat4::eye()) {}
+
+template <typename T>
+inline cv::Affine3<T>::Affine3(const Mat4 &affine) : matrix(affine) {}
+
+template <typename T>
+inline cv::Affine3<T>::Affine3(const Mat3 &R, const Vec3 &t) {
+  rotation(R);
+  translation(t);
+  matrix.val[12] = matrix.val[13] = matrix.val[14] = 0;
+  matrix.val[15] = 1;
+}
+
+template <typename T>
+inline cv::Affine3<T>::Affine3(const Vec3 &_rvec, const Vec3 &t) {
+  rotation(_rvec);
+  translation(t);
+  matrix.val[12] = matrix.val[13] = matrix.val[14] = 0;
+  matrix.val[15] = 1;
+}
+
+template <typename T>
+inline cv::Affine3<T>::Affine3(const cv::Mat &data, const Vec3 &t) {
+  CV_Assert(data.type() == cv::traits::Type<T>::value);
+  CV_Assert(data.channels() == 1);
+
+  if (data.cols == 4 && data.rows == 4) {
+    data.copyTo(matrix);
+    return;
+  } else if (data.cols == 4 && data.rows == 3) {
+    rotation(data(Rect(0, 0, 3, 3)));
+    translation(data(Rect(3, 0, 1, 3)));
+  } else {
+    rotation(data);
+    translation(t);
+  }
+
+  matrix.val[12] = matrix.val[13] = matrix.val[14] = 0;
+  matrix.val[15] = 1;
+}
+
+template <typename T>
+inline cv::Affine3<T>::Affine3(const float_type *vals) : matrix(vals) {}
+
+template <typename T> inline cv::Affine3<T> cv::Affine3<T>::Identity() {
+  return Affine3<T>(cv::Affine3<T>::Mat4::eye());
+}
+
+template <typename T> inline void cv::Affine3<T>::rotation(const Mat3 &R) {
+  linear(R);
+}
+
+template <typename T> inline void cv::Affine3<T>::rotation(const Vec3 &_rvec) {
+  double theta = norm(_rvec);
+
+  if (theta < DBL_EPSILON)
+    rotation(Mat3::eye());
+  else {
+    double c = std::cos(theta);
+    double s = std::sin(theta);
+    double c1 = 1. - c;
+    double itheta = (theta != 0) ? 1. / theta : 0.;
+
+    Point3_<T> r = _rvec * itheta;
+
+    Mat3 rrt(r.x * r.x, r.x * r.y, r.x * r.z, r.x * r.y, r.y * r.y, r.y * r.z,
+             r.x * r.z, r.y * r.z, r.z * r.z);
+    Mat3 r_x(0, -r.z, r.y, r.z, 0, -r.x, -r.y, r.x, 0);
+
+    // R = cos(theta)*I + (1 - cos(theta))*r*rT + sin(theta)*[r_x]
+    // where [r_x] is [0 -rz ry; rz 0 -rx; -ry rx 0]
+    Mat3 R = c * Mat3::eye() + c1 * rrt + s * r_x;
+
+    rotation(R);
+  }
+}
+
+// Combines rotation methods above. Supports 3x3, 1x3, 3x1 sizes of data matrix;
+template <typename T>
+inline void cv::Affine3<T>::rotation(const cv::Mat &data) {
+  CV_Assert(data.type() == cv::traits::Type<T>::value);
+  CV_Assert(data.channels() == 1);
+
+  if (data.cols == 3 && data.rows == 3) {
+    Mat3 R;
+    data.copyTo(R);
+    rotation(R);
+  } else if ((data.cols == 3 && data.rows == 1) ||
+             (data.cols == 1 && data.rows == 3)) {
+    Vec3 _rvec;
+    data.reshape(1, 3).copyTo(_rvec);
+    rotation(_rvec);
+  } else
+    CV_Error(Error::StsError, "Input matrix can only be 3x3, 1x3 or 3x1");
+}
+
+template <typename T> inline void cv::Affine3<T>::linear(const Mat3 &L) {
+  matrix.val[0] = L.val[0];
+  matrix.val[1] = L.val[1];
+  matrix.val[2] = L.val[2];
+  matrix.val[4] = L.val[3];
+  matrix.val[5] = L.val[4];
+  matrix.val[6] = L.val[5];
+  matrix.val[8] = L.val[6];
+  matrix.val[9] = L.val[7];
+  matrix.val[10] = L.val[8];
+}
+
+template <typename T> inline void cv::Affine3<T>::translation(const Vec3 &t) {
+  matrix.val[3] = t[0];
+  matrix.val[7] = t[1];
+  matrix.val[11] = t[2];
+}
+
+template <typename T>
+inline typename cv::Affine3<T>::Mat3 cv::Affine3<T>::rotation() const {
+  return linear();
+}
+
+template <typename T>
+inline typename cv::Affine3<T>::Mat3 cv::Affine3<T>::linear() const {
+  typename cv::Affine3<T>::Mat3 R;
+  R.val[0] = matrix.val[0];
+  R.val[1] = matrix.val[1];
+  R.val[2] = matrix.val[2];
+  R.val[3] = matrix.val[4];
+  R.val[4] = matrix.val[5];
+  R.val[5] = matrix.val[6];
+  R.val[6] = matrix.val[8];
+  R.val[7] = matrix.val[9];
+  R.val[8] = matrix.val[10];
+  return R;
+}
+
+template <typename T>
+inline typename cv::Affine3<T>::Vec3 cv::Affine3<T>::translation() const {
+  return Vec3(matrix.val[3], matrix.val[7], matrix.val[11]);
+}
+
+template <typename T>
+inline typename cv::Affine3<T>::Vec3 cv::Affine3<T>::rvec() const {
+  cv::Vec3d w;
+  cv::Matx33d u, vt, R = rotation();
+  cv::SVD::compute(R, w, u, vt, cv::SVD::FULL_UV + cv::SVD::MODIFY_A);
+  R = u * vt;
+
+  double rx = R.val[7] - R.val[5];
+  double ry = R.val[2] - R.val[6];
+  double rz = R.val[3] - R.val[1];
+
+  double s = std::sqrt((rx * rx + ry * ry + rz * rz) * 0.25);
+  double c = (R.val[0] + R.val[4] + R.val[8] - 1) * 0.5;
+  c = c > 1.0 ? 1.0 : c < -1.0 ? -1.0 : c;
+  double theta = std::acos(c);
+
+  if (s < 1e-5) {
+    if (c > 0)
+      rx = ry = rz = 0;
+    else {
+      double t;
+      t = (R.val[0] + 1) * 0.5;
+      rx = std::sqrt(std::max(t, 0.0));
+      t = (R.val[4] + 1) * 0.5;
+      ry = std::sqrt(std::max(t, 0.0)) * (R.val[1] < 0 ? -1.0 : 1.0);
+      t = (R.val[8] + 1) * 0.5;
+      rz = std::sqrt(std::max(t, 0.0)) * (R.val[2] < 0 ? -1.0 : 1.0);
+
+      if (fabs(rx) < fabs(ry) && fabs(rx) < fabs(rz) &&
+          (R.val[5] > 0) != (ry * rz > 0))
+        rz = -rz;
+      theta /= std::sqrt(rx * rx + ry * ry + rz * rz);
+      rx *= theta;
+      ry *= theta;
+      rz *= theta;
+    }
+  } else {
+    double vth = 1 / (2 * s);
+    vth *= theta;
+    rx *= vth;
+    ry *= vth;
+    rz *= vth;
+  }
+
+  return cv::Vec3d(rx, ry, rz);
+}
+
+template <typename T>
+inline cv::Affine3<T> cv::Affine3<T>::inv(int method) const {
+  return matrix.inv(method);
+}
+
+template <typename T>
+inline cv::Affine3<T> cv::Affine3<T>::rotate(const Mat3 &R) const {
+  Mat3 Lc = linear();
+  Vec3 tc = translation();
+  Mat4 result;
+  result.val[12] = result.val[13] = result.val[14] = 0;
+  result.val[15] = 1;
+
+  for (int j = 0; j < 3; ++j) {
+    for (int i = 0; i < 3; ++i) {
+      float_type value = 0;
+      for (int k = 0; k < 3; ++k)
+        value += R(j, k) * Lc(k, i);
+      result(j, i) = value;
+    }
+
+    result(j, 3) = R.row(j).dot(tc.t());
+  }
+  return result;
+}
+
+template <typename T>
+inline cv::Affine3<T> cv::Affine3<T>::rotate(const Vec3 &_rvec) const {
+  return rotate(Affine3f(_rvec).rotation());
+}
+
+template <typename T>
+inline cv::Affine3<T> cv::Affine3<T>::translate(const Vec3 &t) const {
+  Mat4 m = matrix;
+  m.val[3] += t[0];
+  m.val[7] += t[1];
+  m.val[11] += t[2];
+  return m;
+}
+
+template <typename T>
+inline cv::Affine3<T>
+cv::Affine3<T>::concatenate(const Affine3<T> &affine) const {
+  return (*this).rotate(affine.rotation()).translate(affine.translation());
+}
+
+template <typename T>
+template <typename Y>
+inline cv::Affine3<T>::operator Affine3<Y>() const {
+  return Affine3<Y>(matrix);
+}
+
+template <typename T>
+template <typename Y>
+inline cv::Affine3<Y> cv::Affine3<T>::cast() const {
+  return Affine3<Y>(matrix);
+}
+
+template <typename T>
+inline cv::Affine3<T> cv::operator*(const cv::Affine3<T> &affine1,
+                                    const cv::Affine3<T> &affine2) {
+  return affine2.concatenate(affine1);
+}
+
+template <typename T, typename V>
+inline V cv::operator*(const cv::Affine3<T> &affine, const V &v) {
+  const typename Affine3<T>::Mat4 &m = affine.matrix;
+
+  V r;
+  r.x = m.val[0] * v.x + m.val[1] * v.y + m.val[2] * v.z + m.val[3];
+  r.y = m.val[4] * v.x + m.val[5] * v.y + m.val[6] * v.z + m.val[7];
+  r.z = m.val[8] * v.x + m.val[9] * v.y + m.val[10] * v.z + m.val[11];
+  return r;
+}
+
+static inline cv::Vec3f cv::operator*(const cv::Affine3f &affine,
+                                      const cv::Vec3f &v) {
+  const cv::Matx44f &m = affine.matrix;
+  cv::Vec3f r;
+  r.val[0] = m.val[0] * v[0] + m.val[1] * v[1] + m.val[2] * v[2] + m.val[3];
+  r.val[1] = m.val[4] * v[0] + m.val[5] * v[1] + m.val[6] * v[2] + m.val[7];
+  r.val[2] = m.val[8] * v[0] + m.val[9] * v[1] + m.val[10] * v[2] + m.val[11];
+  return r;
+}
+
+static inline cv::Vec3d cv::operator*(const cv::Affine3d &affine,
+                                      const cv::Vec3d &v) {
+  const cv::Matx44d &m = affine.matrix;
+  cv::Vec3d r;
+  r.val[0] = m.val[0] * v[0] + m.val[1] * v[1] + m.val[2] * v[2] + m.val[3];
+  r.val[1] = m.val[4] * v[0] + m.val[5] * v[1] + m.val[6] * v[2] + m.val[7];
+  r.val[2] = m.val[8] * v[0] + m.val[9] * v[1] + m.val[10] * v[2] + m.val[11];
+  return r;
+}
+
+#if defined EIGEN_WORLD_VERSION && defined EIGEN_GEOMETRY_MODULE_H
+
+template <typename T>
+inline cv::Affine3<T>::Affine3(
+    const Eigen::Transform<T, 3, Eigen::Affine, (Eigen::RowMajor)> &affine) {
+  cv::Mat(4, 4, cv::traits::Type<T>::value, affine.matrix().data())
+      .copyTo(matrix);
+}
+
+template <typename T>
+inline cv::Affine3<T>::Affine3(
+    const Eigen::Transform<T, 3, Eigen::Affine> &affine) {
+  Eigen::Transform<T, 3, Eigen::Affine, (Eigen::RowMajor)> a = affine;
+  cv::Mat(4, 4, cv::traits::Type<T>::value, a.matrix().data()).copyTo(matrix);
+}
+
+template <typename T>
+inline cv::Affine3<T>::operator Eigen::Transform<T, 3, Eigen::Affine,
+                                                 (Eigen::RowMajor)>() const {
+  Eigen::Transform<T, 3, Eigen::Affine, (Eigen::RowMajor)> r;
+  cv::Mat hdr(4, 4, cv::traits::Type<T>::value, r.matrix().data());
+  cv::Mat(matrix, false).copyTo(hdr);
+  return r;
+}
+
+template <typename T>
+inline cv::Affine3<T>::operator Eigen::Transform<T, 3, Eigen::Affine>() const {
+  return this
+      ->operator Eigen::Transform<T, 3, Eigen::Affine, (Eigen::RowMajor)>();
+}
+
+#endif /* defined EIGEN_WORLD_VERSION && defined EIGEN_GEOMETRY_MODULE_H */
+
+//! @endcond
+
+#endif /* __cplusplus */
+
+#endif /* OPENCV_CORE_AFFINE3_HPP */