react-native-executorch 0.4.8 → 0.5.0

package/third-party/include/opencv2/core/dualquaternion.inl.hpp

@@ -0,0 +1,464 @@
+// 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 <kongliangqian@huawei.com>
+//         Longbu Wang <wanglongbu@huawei.com>
+
+#ifndef OPENCV_CORE_DUALQUATERNION_INL_HPP
+#define OPENCV_CORE_DUALQUATERNION_INL_HPP
+
+#ifndef OPENCV_CORE_DUALQUATERNION_HPP
+#error This is not a standalone header. Include dualquaternion.hpp instead.
+#endif
+
+///////////////////////////////////////////////////////////////////////////////////////
+// Implementation
+namespace cv {
+
+template <typename T>
+DualQuat<T>::DualQuat() : w(0), x(0), y(0), z(0), w_(0), x_(0), y_(0), z_(0) {}
+
+template <typename T>
+DualQuat<T>::DualQuat(const T vw, const T vx, const T vy, const T vz,
+                      const T _w, const T _x, const T _y, const T _z)
+    : w(vw), x(vx), y(vy), z(vz), w_(_w), x_(_x), y_(_y), z_(_z) {}
+
+template <typename T>
+DualQuat<T>::DualQuat(const Vec<T, 8> &q)
+    : w(q[0]), x(q[1]), y(q[2]), z(q[3]), w_(q[4]), x_(q[5]), y_(q[6]),
+      z_(q[7]) {}
+
+template <typename T>
+DualQuat<T> DualQuat<T>::createFromQuat(const Quat<T> &realPart,
+                                        const Quat<T> &dualPart) {
+  T w = realPart.w;
+  T x = realPart.x;
+  T y = realPart.y;
+  T z = realPart.z;
+  T w_ = dualPart.w;
+  T x_ = dualPart.x;
+  T y_ = dualPart.y;
+  T z_ = dualPart.z;
+  return DualQuat<T>(w, x, y, z, w_, x_, y_, z_);
+}
+
+template <typename T>
+DualQuat<T> DualQuat<T>::createFromAngleAxisTrans(const T angle,
+                                                  const Vec<T, 3> &axis,
+                                                  const Vec<T, 3> &trans) {
+  Quat<T> r = Quat<T>::createFromAngleAxis(angle, axis);
+  Quat<T> t{0, trans[0], trans[1], trans[2]};
+  return createFromQuat(r, t * r * T(0.5));
+}
+
+template <typename T> DualQuat<T> DualQuat<T>::createFromMat(InputArray _R) {
+  CV_CheckTypeEQ(_R.type(), cv::traits::Type<T>::value, "");
+  if (_R.size() != Size(4, 4)) {
+    CV_Error(Error::StsBadArg,
+             "The input matrix must have 4 columns and 4 rows");
+  }
+  Mat R = _R.getMat();
+  Quat<T> r = Quat<T>::createFromRotMat(R.colRange(0, 3).rowRange(0, 3));
+  Quat<T> trans(0, R.at<T>(0, 3), R.at<T>(1, 3), R.at<T>(2, 3));
+  return createFromQuat(r, trans * r * T(0.5));
+}
+
+template <typename T>
+DualQuat<T> DualQuat<T>::createFromAffine3(const Affine3<T> &R) {
+  return createFromMat(R.matrix);
+}
+
+template <typename T>
+DualQuat<T> DualQuat<T>::createFromPitch(const T angle, const T d,
+                                         const Vec<T, 3> &axis,
+                                         const Vec<T, 3> &moment) {
+  T half_angle = angle * T(0.5), half_d = d * T(0.5);
+  Quat<T> qaxis = Quat<T>(0, axis[0], axis[1], axis[2]).normalize();
+  Quat<T> qmoment = Quat<T>(0, moment[0], moment[1], moment[2]);
+  qmoment -= qaxis * axis.dot(moment);
+  Quat<T> dual = -half_d * std::sin(half_angle) +
+                 std::sin(half_angle) * qmoment +
+                 half_d * std::cos(half_angle) * qaxis;
+  return createFromQuat(Quat<T>::createFromAngleAxis(angle, axis), dual);
+}
+
+template <typename T>
+inline bool DualQuat<T>::operator==(const DualQuat<T> &q) const {
+  return (
+      abs(w - q.w) < CV_DUAL_QUAT_EPS && abs(x - q.x) < CV_DUAL_QUAT_EPS &&
+      abs(y - q.y) < CV_DUAL_QUAT_EPS && abs(z - q.z) < CV_DUAL_QUAT_EPS &&
+      abs(w_ - q.w_) < CV_DUAL_QUAT_EPS && abs(x_ - q.x_) < CV_DUAL_QUAT_EPS &&
+      abs(y_ - q.y_) < CV_DUAL_QUAT_EPS && abs(z_ - q.z_) < CV_DUAL_QUAT_EPS);
+}
+
+template <typename T> inline Quat<T> DualQuat<T>::getRealPart() const {
+  return Quat<T>(w, x, y, z);
+}
+
+template <typename T> inline Quat<T> DualQuat<T>::getDualPart() const {
+  return Quat<T>(w_, x_, y_, z_);
+}
+
+template <typename T> inline DualQuat<T> conjugate(const DualQuat<T> &dq) {
+  return dq.conjugate();
+}
+
+template <typename T> inline DualQuat<T> DualQuat<T>::conjugate() const {
+  return DualQuat<T>(w, -x, -y, -z, w_, -x_, -y_, -z_);
+}
+
+template <typename T> DualQuat<T> DualQuat<T>::norm() const {
+  Quat<T> real = getRealPart();
+  T realNorm = real.norm();
+  Quat<T> dual = getDualPart();
+  if (realNorm < CV_DUAL_QUAT_EPS) {
+    return DualQuat<T>(0, 0, 0, 0, 0, 0, 0, 0);
+  }
+  return DualQuat<T>(realNorm, 0, 0, 0, real.dot(dual) / realNorm, 0, 0, 0);
+}
+
+template <typename T>
+inline Quat<T> DualQuat<T>::getRotation(QuatAssumeType assumeUnit) const {
+  if (assumeUnit) {
+    return getRealPart();
+  }
+  return getRealPart().normalize();
+}
+
+template <typename T>
+inline Vec<T, 3> DualQuat<T>::getTranslation(QuatAssumeType assumeUnit) const {
+  Quat<T> trans = T(2.0) * (getDualPart() * getRealPart().inv(assumeUnit));
+  return Vec<T, 3>{trans[1], trans[2], trans[3]};
+}
+
+template <typename T> DualQuat<T> DualQuat<T>::normalize() const {
+  Quat<T> p = getRealPart();
+  Quat<T> q = getDualPart();
+  T p_norm = p.norm();
+  if (p_norm < CV_DUAL_QUAT_EPS) {
+    CV_Error(Error::StsBadArg,
+             "Cannot normalize this dual quaternion: the norm is too small.");
+  }
+  Quat<T> p_nr = p / p_norm;
+  Quat<T> q_nr = q / p_norm;
+  return createFromQuat(p_nr, q_nr - p_nr * p_nr.dot(q_nr));
+}
+
+template <typename T> inline T DualQuat<T>::dot(DualQuat<T> q) const {
+  return q.w * w + q.x * x + q.y * y + q.z * z + q.w_ * w_ + q.x_ * x_ +
+         q.y_ * y_ + q.z_ * z_;
+}
+
+template <typename T>
+inline DualQuat<T> inv(const DualQuat<T> &dq,
+                       QuatAssumeType assumeUnit = QUAT_ASSUME_NOT_UNIT) {
+  return dq.inv(assumeUnit);
+}
+
+template <typename T>
+inline DualQuat<T> DualQuat<T>::inv(QuatAssumeType assumeUnit) const {
+  Quat<T> real = getRealPart();
+  Quat<T> dual = getDualPart();
+  return createFromQuat(real.inv(assumeUnit),
+                        -real.inv(assumeUnit) * dual * real.inv(assumeUnit));
+}
+
+template <typename T>
+inline DualQuat<T> DualQuat<T>::operator-(const DualQuat<T> &q) const {
+  return DualQuat<T>(w - q.w, x - q.x, y - q.y, z - q.z, w_ - q.w_, x_ - q.x_,
+                     y_ - q.y_, z_ - q.z_);
+}
+
+template <typename T> inline DualQuat<T> DualQuat<T>::operator-() const {
+  return DualQuat<T>(-w, -x, -y, -z, -w_, -x_, -y_, -z_);
+}
+
+template <typename T>
+inline DualQuat<T> DualQuat<T>::operator+(const DualQuat<T> &q) const {
+  return DualQuat<T>(w + q.w, x + q.x, y + q.y, z + q.z, w_ + q.w_, x_ + q.x_,
+                     y_ + q.y_, z_ + q.z_);
+}
+
+template <typename T>
+inline DualQuat<T> &DualQuat<T>::operator+=(const DualQuat<T> &q) {
+  *this = *this + q;
+  return *this;
+}
+
+template <typename T>
+inline DualQuat<T> DualQuat<T>::operator*(const DualQuat<T> &q) const {
+  Quat<T> A = getRealPart();
+  Quat<T> B = getDualPart();
+  Quat<T> C = q.getRealPart();
+  Quat<T> D = q.getDualPart();
+  return DualQuat<T>::createFromQuat(A * C, A * D + B * C);
+}
+
+template <typename T>
+inline DualQuat<T> &DualQuat<T>::operator*=(const DualQuat<T> &q) {
+  *this = *this * q;
+  return *this;
+}
+
+template <typename T>
+inline DualQuat<T> operator+(const T a, const DualQuat<T> &q) {
+  return DualQuat<T>(a + q.w, q.x, q.y, q.z, q.w_, q.x_, q.y_, q.z_);
+}
+
+template <typename T>
+inline DualQuat<T> operator+(const DualQuat<T> &q, const T a) {
+  return DualQuat<T>(a + q.w, q.x, q.y, q.z, q.w_, q.x_, q.y_, q.z_);
+}
+
+template <typename T>
+inline DualQuat<T> operator-(const DualQuat<T> &q, const T a) {
+  return DualQuat<T>(q.w - a, q.x, q.y, q.z, q.w_, q.x_, q.y_, q.z_);
+}
+
+template <typename T>
+inline DualQuat<T> &DualQuat<T>::operator-=(const DualQuat<T> &q) {
+  *this = *this - q;
+  return *this;
+}
+
+template <typename T>
+inline DualQuat<T> operator-(const T a, const DualQuat<T> &q) {
+  return DualQuat<T>(a - q.w, -q.x, -q.y, -q.z, -q.w_, -q.x_, -q.y_, -q.z_);
+}
+
+template <typename T>
+inline DualQuat<T> operator*(const T a, const DualQuat<T> &q) {
+  return DualQuat<T>(q.w * a, q.x * a, q.y * a, q.z * a, q.w_ * a, q.x_ * a,
+                     q.y_ * a, q.z_ * a);
+}
+
+template <typename T>
+inline DualQuat<T> operator*(const DualQuat<T> &q, const T a) {
+  return DualQuat<T>(q.w * a, q.x * a, q.y * a, q.z * a, q.w_ * a, q.x_ * a,
+                     q.y_ * a, q.z_ * a);
+}
+
+template <typename T>
+inline DualQuat<T> DualQuat<T>::operator/(const T a) const {
+  return DualQuat<T>(w / a, x / a, y / a, z / a, w_ / a, x_ / a, y_ / a,
+                     z_ / a);
+}
+
+template <typename T>
+inline DualQuat<T> DualQuat<T>::operator/(const DualQuat<T> &q) const {
+  return *this * q.inv();
+}
+
+template <typename T>
+inline DualQuat<T> &DualQuat<T>::operator/=(const DualQuat<T> &q) {
+  *this = *this / q;
+  return *this;
+}
+
+template <typename T>
+std::ostream &operator<<(std::ostream &os, const DualQuat<T> &q) {
+  os << "DualQuat " << Vec<T, 8>{q.w, q.x, q.y, q.z, q.w_, q.x_, q.y_, q.z_};
+  return os;
+}
+
+template <typename T> inline DualQuat<T> exp(const DualQuat<T> &dq) {
+  return dq.exp();
+}
+
+namespace detail {
+
+template <typename _Tp> Matx<_Tp, 4, 4> jacob_exp(const Quat<_Tp> &q) {
+  _Tp nv = std::sqrt(q.x * q.x + q.y * q.y + q.z * q.z);
+  _Tp sinc_nv = abs(nv) < cv::DualQuat<_Tp>::CV_DUAL_QUAT_EPS
+                    ? _Tp(1.0) - nv * nv * _Tp(1.0 / 6.0)
+                    : std::sin(nv) / nv;
+  _Tp csiii_nv = abs(nv) < cv::DualQuat<_Tp>::CV_DUAL_QUAT_EPS
+                     ? -_Tp(1.0 / 3.0)
+                     : (std::cos(nv) - sinc_nv) / nv / nv;
+  Matx<_Tp, 4, 4> J_exp_quat{std::cos(nv),
+                             -sinc_nv * q.x,
+                             -sinc_nv * q.y,
+                             -sinc_nv * q.z,
+                             sinc_nv * q.x,
+                             csiii_nv * q.x * q.x + sinc_nv,
+                             csiii_nv * q.x * q.y,
+                             csiii_nv * q.x * q.z,
+                             sinc_nv * q.y,
+                             csiii_nv * q.y * q.x,
+                             csiii_nv * q.y * q.y + sinc_nv,
+                             csiii_nv * q.y * q.z,
+                             sinc_nv * q.z,
+                             csiii_nv * q.z * q.x,
+                             csiii_nv * q.z * q.y,
+                             csiii_nv * q.z * q.z + sinc_nv};
+  return std::exp(q.w) * J_exp_quat;
+}
+
+} // namespace detail
+
+template <typename T> DualQuat<T> DualQuat<T>::exp() const {
+  Quat<T> real = getRealPart();
+  return createFromQuat(
+      real.exp(), Quat<T>(detail::jacob_exp(real) * getDualPart().toVec()));
+}
+
+template <typename T>
+DualQuat<T> log(const DualQuat<T> &dq,
+                QuatAssumeType assumeUnit = QUAT_ASSUME_NOT_UNIT) {
+  return dq.log(assumeUnit);
+}
+
+template <typename T>
+DualQuat<T> DualQuat<T>::log(QuatAssumeType assumeUnit) const {
+  Quat<T> plog = getRealPart().log(assumeUnit);
+  Matx<T, 4, 4> jacob = detail::jacob_exp(plog);
+  return createFromQuat(plog, Quat<T>(jacob.inv() * getDualPart().toVec()));
+}
+
+template <typename T>
+inline DualQuat<T> power(const DualQuat<T> &dq, const T t,
+                         QuatAssumeType assumeUnit = QUAT_ASSUME_NOT_UNIT) {
+  return dq.power(t, assumeUnit);
+}
+
+template <typename T>
+inline DualQuat<T> DualQuat<T>::power(const T t,
+                                      QuatAssumeType assumeUnit) const {
+  return (t * log(assumeUnit)).exp();
+}
+
+template <typename T>
+inline DualQuat<T> power(const DualQuat<T> &p, const DualQuat<T> &q,
+                         QuatAssumeType assumeUnit = QUAT_ASSUME_NOT_UNIT) {
+  return p.power(q, assumeUnit);
+}
+
+template <typename T>
+inline DualQuat<T> DualQuat<T>::power(const DualQuat<T> &q,
+                                      QuatAssumeType assumeUnit) const {
+  return (q * log(assumeUnit)).exp();
+}
+
+template <typename T> inline Vec<T, 8> DualQuat<T>::toVec() const {
+  return Vec<T, 8>(w, x, y, z, w_, x_, y_, z_);
+}
+
+template <typename T>
+Affine3<T> DualQuat<T>::toAffine3(QuatAssumeType assumeUnit) const {
+  return Affine3<T>(toMat(assumeUnit));
+}
+
+template <typename T>
+Matx<T, 4, 4> DualQuat<T>::toMat(QuatAssumeType assumeUnit) const {
+  Matx<T, 4, 4> rot44 = getRotation(assumeUnit).toRotMat4x4();
+  Vec<T, 3> translation = getTranslation(assumeUnit);
+  rot44(0, 3) = translation[0];
+  rot44(1, 3) = translation[1];
+  rot44(2, 3) = translation[2];
+  return rot44;
+}
+
+template <typename T>
+DualQuat<T> DualQuat<T>::sclerp(const DualQuat<T> &q0, const DualQuat<T> &q1,
+                                const T t, bool directChange,
+                                QuatAssumeType assumeUnit) {
+  DualQuat<T> v0(q0), v1(q1);
+  if (!assumeUnit) {
+    v0 = v0.normalize();
+    v1 = v1.normalize();
+  }
+  Quat<T> v0Real = v0.getRealPart();
+  Quat<T> v1Real = v1.getRealPart();
+  if (directChange && v1Real.dot(v0Real) < 0) {
+    v0 = -v0;
+  }
+  DualQuat<T> v0inv1 = v0.inv() * v1;
+  return v0 * v0inv1.power(t, QUAT_ASSUME_UNIT);
+}
+
+template <typename T>
+DualQuat<T> DualQuat<T>::dqblend(const DualQuat<T> &q1, const DualQuat<T> &q2,
+                                 const T t, QuatAssumeType assumeUnit) {
+  DualQuat<T> v1(q1), v2(q2);
+  if (!assumeUnit) {
+    v1 = v1.normalize();
+    v2 = v2.normalize();
+  }
+  if (v1.getRotation(assumeUnit).dot(v2.getRotation(assumeUnit)) < 0) {
+    return ((1 - t) * v1 - t * v2).normalize();
+  }
+  return ((1 - t) * v1 + t * v2).normalize();
+}
+
+template <typename T>
+DualQuat<T> DualQuat<T>::gdqblend(InputArray _dualquat, InputArray _weight,
+                                  QuatAssumeType assumeUnit) {
+  CV_CheckTypeEQ(_weight.type(), cv::traits::Type<T>::value, "");
+  CV_CheckTypeEQ(_dualquat.type(),
+                 CV_MAKETYPE(CV_MAT_DEPTH(cv::traits::Type<T>::value), 8), "");
+  Size dq_s = _dualquat.size();
+  if (dq_s != _weight.size() || (dq_s.height != 1 && dq_s.width != 1)) {
+    CV_Error(Error::StsBadArg,
+             "The size of weight must be the same as dualquat, both of them "
+             "should be (1, n) or (n, 1)");
+  }
+  Mat dualquat = _dualquat.getMat(), weight = _weight.getMat();
+  const int cn = std::max(dq_s.width, dq_s.height);
+  if (!assumeUnit) {
+    for (int i = 0; i < cn; ++i) {
+      dualquat.at<Vec<T, 8>>(i) =
+          DualQuat<T>{dualquat.at<Vec<T, 8>>(i)}.normalize().toVec();
+    }
+  }
+  Vec<T, 8> dq_blend = dualquat.at<Vec<T, 8>>(0) * weight.at<T>(0);
+  Quat<T> q0 = DualQuat<T>{dualquat.at<Vec<T, 8>>(0)}.getRotation(assumeUnit);
+  for (int i = 1; i < cn; ++i) {
+    T k =
+        q0.dot(DualQuat<T>{dualquat.at<Vec<T, 8>>(i)}.getRotation(assumeUnit)) <
+                0
+            ? -1
+            : 1;
+    dq_blend = dq_blend + dualquat.at<Vec<T, 8>>(i) * k * weight.at<T>(i);
+  }
+  return DualQuat<T>{dq_blend}.normalize();
+}
+
+template <typename T>
+template <int cn>
+DualQuat<T> DualQuat<T>::gdqblend(const Vec<DualQuat<T>, cn> &_dualquat,
+                                  InputArray _weight,
+                                  QuatAssumeType assumeUnit) {
+  Vec<DualQuat<T>, cn> dualquat(_dualquat);
+  if (cn == 0) {
+    return DualQuat<T>(1, 0, 0, 0, 0, 0, 0, 0);
+  }
+  Mat dualquat_mat(cn, 1, CV_64FC(8));
+  for (int i = 0; i < cn; ++i) {
+    dualquat_mat.at<Vec<T, 8>>(i) = dualquat[i].toVec();
+  }
+  return gdqblend(dualquat_mat, _weight, assumeUnit);
+}
+
+} // namespace cv
+
+#endif /*OPENCV_CORE_DUALQUATERNION_INL_HPP*/