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OrientationConverter.hpp
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OrientationConverter.hpp
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/* ============================================================================
* Copyright (c) 2009-2017 BlueQuartz Software, LLC
*
* Redistribution and use in source and binary forms, with or without modification,
* are permitted provided that the following conditions are met:
*
* Redistributions of source code must retain the above copyright notice, this
* list of conditions and the following disclaimer.
*
* Redistributions in binary form must reproduce the above copyright notice, this
* list of conditions and the following disclaimer in the documentation and/or
* other materials provided with the distribution.
*
* Neither the name of BlueQuartz Software, the US Air Force, nor the names of its
* contributors may be used to endorse or promote products derived from this software
* without specific prior written permission.
*
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
* AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
* IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE
* FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL
* DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR
* SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
* CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY,
* OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE
* USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
*
* The code contained herein was partially funded by the followig contracts:
* United States Air Force Prime Contract FA8650-07-D-5800
* United States Air Force Prime Contract FA8650-10-D-5210
* United States Prime Contract Navy N00173-07-C-2068
*
* ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ */
#pragma once
#include <iostream>
#include <QtCore/QVector>
#include <QtCore/QString>
#include "SIMPLib/SIMPLib.h"
#include "SIMPLib/Math/SIMPLibMath.h"
#include "SIMPLib/DataArrays/DataArray.hpp"
#include "SIMPLib/Common/SIMPLibSetGetMacros.h"
#include "OrientationLib/Core/Orientation.hpp"
#include "OrientationLib/Core/OrientationTransformation.hpp"
#include "OrientationLib/OrientationLib.h"
#include "OrientationLib/Core/Orientation.hpp"
#include "OrientationLib/OrientationMath/OrientationRepresentation.h"
#ifdef SIMPL_USE_PARALLEL_ALGORITHMS
#include <tbb/blocked_range.h>
#include <tbb/parallel_for.h>
#include <tbb/partitioner.h>
#include <tbb/task_scheduler_init.h>
#endif
/**
* @brief This is the top level superclass for doing the conversions between orientation
* representations
*/
template<typename T>
class OrientationConverter
{
public:
SIMPL_SHARED_POINTERS(OrientationConverter<T> )
SIMPL_TYPE_MACRO(OrientationConverter<T>)
~OrientationConverter() = default;
/**
* @brief getOrientationRepresentation
* @return
*/
virtual OrientationRepresentation::Type getOrientationRepresentation()
{
return OrientationRepresentation::Type::Unknown;
}
/**
* @brief convertRepresentationTo Converts the data to the desired type
* @param repType The type of representation to convert to.
* @return
*/
void convertRepresentationTo(OrientationRepresentation::Type repType)
{
if(repType == OrientationRepresentation::Type::Euler)
{
toEulers();
}
else if(repType == OrientationRepresentation::Type::OrientationMatrix)
{
toOrientationMatrix();
}
else if(repType == OrientationRepresentation::Type::Quaternion)
{
toQuaternion();
}
else if(repType == OrientationRepresentation::Type::AxisAngle)
{
toAxisAngle();
}
else if(repType == OrientationRepresentation::Type::Rodrigues)
{
toRodrigues();
}
else if(repType == OrientationRepresentation::Type::Homochoric)
{
toHomochoric();
}
else if(repType == OrientationRepresentation::Type::Cubochoric)
{
toCubochoric();
}
}
/**
* @brief toEulers Converts the input orientations to Euler Angles
*/
virtual void toEulers() = 0;
/**
* @brief toOrientationMatrix Converts the input orientations to an Orientation Matrix (3x3)
*/
virtual void toOrientationMatrix() = 0;
/**
* @brief toQuaternion Converts the input orientations to Quaternions
*/
virtual void toQuaternion() = 0;
/**
* @brief toAxisAngle Converts the input orientations to Axis Angles
*/
virtual void toAxisAngle() = 0;
/**
* @brief toRodrigues Converts the input orientations to Rodrigues
*/
virtual void toRodrigues() = 0;
/**
* @brief toHomochoric Converts the input orientations to Homochoric
*/
virtual void toHomochoric() = 0;
/**
* @brief toCubochoric Converts the input orientations to Cubochoric
*/
virtual void toCubochoric() = 0;
/**
* @brief compareRepresentations Compares 2 representations of the same type
* and returns if the values differ only by the tolerance value
* @param a Input Orientations
* @param b Comparison Orientations
* @param epsilon The epsilon to use for the comparison
* @return
*/
virtual bool compareRepresentations(T* a, T* b,
const T& epsilon = std::numeric_limits<T>::epsilon()) = 0;
/**
* @brief sanityCheckInputData Runs basic checks on the input data to ensure
* the intput data falls within certain data ranges.
*/
virtual void sanityCheckInputData() = 0;
/**
* @brief printRepresentation Prints the values of a single representation to
* an output stream;
* @param out An output stream
* @param a Pointer to print
* @param label Optional Label
*/
virtual void printRepresentation(std::ostream& out, T* a, const std::string& label = std::string("")) = 0;
/**
* @brief Sets/Gets the input orientations
*/
SIMPL_INSTANCE_PROPERTY(typename DataArray<T>::Pointer, InputData)
/**
* @brief Sets/Gets the output orientations
*/
SIMPL_INSTANCE_PROPERTY(typename DataArray<T>::Pointer, OutputData)
/**
* @brief GetOrientationTypeStrings
* @return
*/
static QVector<QString> GetOrientationTypeStrings()
{
QVector<QString> otypes(7);
otypes[0] = "Euler";
otypes[1] = "Orientation Matrix";
otypes[2] = "Quaternion";
otypes[3] = "Axis-Angle";
otypes[4] = "Rodrigues";
otypes[5] = "Homochoric";
otypes[6] = "Cubochoric";
return otypes;
}
/**
* @brief GetComponentCounts
* @return
*/
static QVector<int> GetComponentCounts()
{
QVector<int> counts(7);
counts[0] = 3; // Euler
counts[1] = 9; // Orientation Matrix
counts[2] = 4; // Quaternion
counts[3] = 4; // Axis-Angle
counts[4] = 4; // Rodrigues
counts[5] = 3; // Homchoric
counts[6] = 3; // Cubochoric
return counts;
}
/**
* @brief GetOrientationTypes
* @return
*/
static QVector<OrientationRepresentation::Type> GetOrientationTypes()
{
QVector<OrientationRepresentation::Type> ocTypes(7);
ocTypes[0] = OrientationRepresentation::Type::Euler;
ocTypes[1] = OrientationRepresentation::Type::OrientationMatrix;
ocTypes[2] = OrientationRepresentation::Type::Quaternion;
ocTypes[3] = OrientationRepresentation::Type::AxisAngle;
ocTypes[4] = OrientationRepresentation::Type::Rodrigues;
ocTypes[5] = OrientationRepresentation::Type::Homochoric;
ocTypes[6] = OrientationRepresentation::Type::Cubochoric;
return ocTypes;
}
/**
* @brief GetMinIndex
* @return
*/
static int GetMinIndex() { return 0; }
/**
* @brief Returns the maximum index into the arrays of conversion types and representations
* @return
*/
static int GetMaxIndex() { return 6; }
protected:
OrientationConverter() = default;
public:
OrientationConverter(const OrientationConverter&) = delete; // Copy Constructor Not Implemented
OrientationConverter(OrientationConverter&&) = delete; // Move Constructor Not Implemented
OrientationConverter& operator=(const OrientationConverter&) = delete; // Copy Assignment Not Implemented
OrientationConverter& operator=(OrientationConverter&&) = delete; // Move Assignment Not Implemented
};
/**
* @brief This macro is used to create a functor that wraps a paricular conversion
* method with a functor class so it can be passed to the parallel algorithms
*/
#define OC_CONVERTOR_FUNCTOR(CLASSNAME, INSTRIDE, OUTSTRIDE, CONVERSION_METHOD) \
template <typename InputType> \
class CLASSNAME \
{ \
public: \
CLASSNAME() = default; \
void operator()(InputType* input, InputType* output) \
{ \
using OrientationInputType = Orientation<InputType>; \
OrientationInputType inputOrientation(input, INSTRIDE); \
OrientationInputType outputOrientation(output, OUTSTRIDE); \
outputOrientation = OrientationTransformation::CONVERSION_METHOD<OrientationInputType, OrientationInputType>(inputOrientation); \
} \
};
/**
* @brief This contains all the functors that represent all possible conversion routines
* between orientation representations
*/
namespace Convertors {
/* Euler Functors */
OC_CONVERTOR_FUNCTOR(Eu2Om, 3, 9, eu2om)
OC_CONVERTOR_FUNCTOR(Eu2Qu, 3, 4, eu2qu)
OC_CONVERTOR_FUNCTOR(Eu2Ax, 3, 4, eu2ax)
OC_CONVERTOR_FUNCTOR(Eu2Ro, 3, 4, eu2ro)
OC_CONVERTOR_FUNCTOR(Eu2Ho, 3, 3, eu2ho)
OC_CONVERTOR_FUNCTOR(Eu2Cu, 3, 3, eu2cu)
/* OrientationMatrix Functors */
OC_CONVERTOR_FUNCTOR(Om2Eu, 9, 3, om2eu)
OC_CONVERTOR_FUNCTOR(Om2Qu, 9, 4, om2qu)
OC_CONVERTOR_FUNCTOR(Om2Ax, 9, 4, om2ax)
OC_CONVERTOR_FUNCTOR(Om2Ro, 9, 4, om2ro)
OC_CONVERTOR_FUNCTOR(Om2Ho, 9, 3, om2ho)
OC_CONVERTOR_FUNCTOR(Om2Cu, 9, 3, om2cu)
/* Quaterion Functors */
OC_CONVERTOR_FUNCTOR(Qu2Eu, 4, 3, qu2eu)
OC_CONVERTOR_FUNCTOR(Qu2Om, 4, 9, qu2om)
OC_CONVERTOR_FUNCTOR(Qu2Ax, 4, 4, qu2ax)
OC_CONVERTOR_FUNCTOR(Qu2Ro, 4, 4, qu2ro)
OC_CONVERTOR_FUNCTOR(Qu2Ho, 4, 3, qu2ho)
OC_CONVERTOR_FUNCTOR(Qu2Cu, 4, 3, qu2cu)
/* AxisAngles Functors */
OC_CONVERTOR_FUNCTOR(Ax2Eu, 4, 3, ax2eu)
OC_CONVERTOR_FUNCTOR(Ax2Om, 4, 9, ax2om)
OC_CONVERTOR_FUNCTOR(Ax2Qu, 4, 4, ax2qu)
OC_CONVERTOR_FUNCTOR(Ax2Ro, 4, 4, ax2ro)
OC_CONVERTOR_FUNCTOR(Ax2Ho, 4, 3, ax2ho)
OC_CONVERTOR_FUNCTOR(Ax2Cu, 4, 3, ax2cu)
/* Rodrigues Functors */
OC_CONVERTOR_FUNCTOR(Ro2Eu, 4, 3, ro2eu)
OC_CONVERTOR_FUNCTOR(Ro2Om, 4, 9, ro2om)
OC_CONVERTOR_FUNCTOR(Ro2Qu, 4, 4, ro2qu)
OC_CONVERTOR_FUNCTOR(Ro2Ax, 4, 4, ro2ax)
OC_CONVERTOR_FUNCTOR(Ro2Ho, 4, 3, ro2ho)
OC_CONVERTOR_FUNCTOR(Ro2Cu, 4, 3, ro2cu)
/* Rodrigues Functors */
OC_CONVERTOR_FUNCTOR(Ho2Eu, 3, 3, ho2eu)
OC_CONVERTOR_FUNCTOR(Ho2Om, 3, 9, ho2om)
OC_CONVERTOR_FUNCTOR(Ho2Qu, 3, 4, ho2qu)
OC_CONVERTOR_FUNCTOR(Ho2Ax, 3, 4, ho2ax)
OC_CONVERTOR_FUNCTOR(Ho2Ro, 3, 4, ho2ro)
OC_CONVERTOR_FUNCTOR(Ho2Cu, 3, 3, ho2cu)
/* Rodrigues Functors */
OC_CONVERTOR_FUNCTOR(Cu2Eu, 3, 3, cu2eu)
OC_CONVERTOR_FUNCTOR(Cu2Om, 3, 9, cu2om)
OC_CONVERTOR_FUNCTOR(Cu2Qu, 3, 4, cu2qu)
OC_CONVERTOR_FUNCTOR(Cu2Ax, 3, 4, cu2ax)
OC_CONVERTOR_FUNCTOR(Cu2Ro, 3, 4, cu2ro)
OC_CONVERTOR_FUNCTOR(Cu2Ho, 3, 3, cu2ho)
}
/**
* @brief This templated class is a functor class that is used for
* the TBB classes to use to parallelize the conversion of orientation
* representations
*/
template <typename T, class Converter>
class ConvertRepresentation
{
public:
ConvertRepresentation(T* inPtr, T* outPtr, size_t inStride, size_t outStride) :
m_InPtr(inPtr)
, m_OutPtr(outPtr)
, m_InStride(inStride)
, m_OutStride(outStride)
{}
~ConvertRepresentation() = default;
/**
* @brief This is the main conversion routine
* @param start Starting index
* @param end Ending index
*/
void convert(size_t start, size_t end) const
{
Converter conv;
T* input = m_InPtr + (start * m_InStride);
T* output = m_OutPtr + (start * m_OutStride);
for (size_t i = start; i < end; ++i) {
conv(input, output);
input = input + m_InStride; /* Increment input pointer */
output = output + m_OutStride; /* Increment output pointer*/
}
}
#ifdef SIMPL_USE_PARALLEL_ALGORITHMS
void operator()(const tbb::blocked_range<size_t>& r) const
{
convert(r.begin(), r.end());
}
#endif
private:
T* m_InPtr = nullptr;
T* m_OutPtr = nullptr;
size_t m_InStride = 0;
size_t m_OutStride = 0;
};
/**
* @brief OC_CONVERT_BODY Generates the body of method that will perform the conversion
*/
#ifdef SIMPL_USE_PARALLEL_ALGORITHMS
#define OC_CONVERT_BODY(OUTSTRIDE, OUT_ARRAY_NAME, CONVERSION_METHOD, FUNCTOR) \
sanityCheckInputData(); \
typename DataArray<T>::Pointer input = this->getInputData(); \
T* inPtr = input->getPointer(0); \
size_t nTuples = this->getInputData()->getNumberOfTuples(); \
int inStride = input->getNumberOfComponents(); \
size_t outStride = OUTSTRIDE; \
std::vector<size_t> cDims = {outStride}; \
typename DataArray<T>::Pointer output = DataArray<T>::CreateArray(nTuples, cDims, #OUT_ARRAY_NAME, true); \
output->initializeWithZeros(); /* Intialize the array with Zeros */ \
T* outPtr = output->getPointer(0); \
tbb::task_scheduler_init init; \
tbb::parallel_for(tbb::blocked_range<size_t>(0, nTuples), ConvertRepresentation<T, Convertors::FUNCTOR<T>>(inPtr, outPtr, inStride, outStride), tbb::auto_partitioner()); \
this->setOutputData(output);
#else
#define OC_CONVERT_BODY(OUTSTRIDE, OUT_ARRAY_NAME, CONVERSION_METHOD, FUNCTOR) \
sanityCheckInputData(); \
typename DataArray<T>::Pointer input = this->getInputData(); \
T* inPtr = input->getPointer(0); \
size_t nTuples = this->getInputData()->getNumberOfTuples(); \
int inStride = input->getNumberOfComponents(); \
size_t outStride = OUTSTRIDE; \
std::vector<size_t> cDims = {outStride}; /* Create the n component (nx1) based array.*/ \
typename DataArray<T>::Pointer output = DataArray<T>::CreateArray(nTuples, cDims, #OUT_ARRAY_NAME, true); \
output->initializeWithZeros(); /* Intialize the array with Zeros */ \
T* outPtr = output->getPointer(0); \
ConvertRepresentation<T, Convertors::FUNCTOR<T>> serial(inPtr, outPtr, inStride, outStride); \
serial.convert(0, nTuples); \
this->setOutputData(output);
#endif
/* =============================================================================
*
* ===========================================================================*/
template <typename T>
class EulerSanityCheck
{
public:
EulerSanityCheck(T* input, size_t stride) : m_Input(input), m_Stride(stride)
{}
~EulerSanityCheck() = default;
void sanityCheck(size_t start, size_t end) const
{
T* inPtr = m_Input + (start * m_Stride);
for (size_t i = start; i < end; ++i)
{
inPtr[0] = fmod(inPtr[0], SIMPLib::Constants::k_2Pi);
inPtr[1] = fmod(inPtr[1], SIMPLib::Constants::k_Pi);
inPtr[2] = fmod(inPtr[2], SIMPLib::Constants::k_2Pi);
if(inPtr[0] < 0.0) { inPtr[0] *= static_cast<T>(-1.0); }
if(inPtr[1] < 0.0) { inPtr[1] *= static_cast<T>(-1.0); }
if(inPtr[2] < 0.0) { inPtr[2] *= static_cast<T>(-1.0); }
inPtr = inPtr + m_Stride; // This is Pointer arithmetic!!
}
}
#ifdef SIMPL_USE_PARALLEL_ALGORITHMS
void operator()(const tbb::blocked_range<size_t>& r) const
{
sanityCheck(r.begin(), r.end());
}
#endif
private:
T* m_Input = nullptr;
size_t m_Stride = 0;
};
// -----------------------------------------------------------------------------
//
// -----------------------------------------------------------------------------
template<typename T>
class EulerConverter : public OrientationConverter<T>
{
public:
SIMPL_SHARED_POINTERS(EulerConverter<T> )
SIMPL_TYPE_MACRO_SUPER(EulerConverter<T>, OrientationConverter<T>)
SIMPL_STATIC_NEW_MACRO(EulerConverter<T>)
virtual ~EulerConverter() = default;
virtual OrientationRepresentation::Type getOrientationRepresentation()
{
return OrientationRepresentation::Type::Euler;
}
virtual void toEulers()
{
using PointerType = typename DataArray<T>::Pointer;
PointerType input = this->getInputData();
PointerType output = std::dynamic_pointer_cast<DataArray<T> >(input->deepCopy());
this->setOutputData(output);
}
virtual void toOrientationMatrix()
{
OC_CONVERT_BODY(9, OrientationMatrix, eu2om, Eu2Om)
}
virtual void toQuaternion()
{
OC_CONVERT_BODY(4, Quaternion, eu2qu, Eu2Qu)
}
virtual void toAxisAngle()
{
OC_CONVERT_BODY(4, AxisAngle, eu2ax, Eu2Ax)
}
virtual void toRodrigues()
{
OC_CONVERT_BODY(4, Rodrigues, eu2ro, Eu2Ro)
}
virtual void toHomochoric()
{
OC_CONVERT_BODY(3, Homochoric, eu2ho, Eu2Ho)
}
virtual void toCubochoric()
{
OC_CONVERT_BODY(3, Cubochoric, eu2cu, Eu2Cu)
}
virtual void sanityCheckInputData()
{
typename DataArray<T>::Pointer input = this->getInputData();
T* inPtr = input->getPointer(0);
size_t nTuples = input->getNumberOfTuples();
int inStride = input->getNumberOfComponents();
#ifdef SIMPL_USE_PARALLEL_ALGORITHMS
tbb::task_scheduler_init init;
bool doParallel = true;
#endif
#ifdef SIMPL_USE_PARALLEL_ALGORITHMS
if(doParallel)
{
tbb::parallel_for(tbb::blocked_range<size_t>(0, nTuples), EulerSanityCheck<T>(inPtr, inStride), tbb::auto_partitioner());
}
else
#endif
{
EulerSanityCheck<T> serial(inPtr, inStride);
serial.sanityCheck(0, nTuples);
}
}
/**
* @brief compareRepresentations
* @param a
* @param b
* @param epsilon
* @return
*/
virtual bool compareRepresentations(T* a, T* b, const T& epsilon = std::numeric_limits<T>::epsilon())
{
bool close = false;
for(int i = 0; i < 3; i++)
{
close = (epsilon > std::fabs(a[i] - b[i]));
if(!close) { return close; }
}
return close;
}
/**
* @brief printRepresentation
* @param out
* @param eu
* @param label
*/
virtual void printRepresentation(std::ostream& out, T* eu, const std::string& label = std::string("Eu"))
{
out.precision(16);
out << label << eu[0] << '\t' << eu[1] << '\t' << eu[2] << std::endl;
}
protected:
EulerConverter() :
OrientationConverter<T>()
{}
explicit EulerConverter(typename DataArray<T>::Pointer data) :
OrientationConverter<T>()
{
this->setInputData(data);
}
public:
EulerConverter(const EulerConverter&) = delete; // Copy Constructor Not Implemented
EulerConverter(EulerConverter&&) = delete; // Move Constructor Not Implemented
EulerConverter& operator=(const EulerConverter&) = delete; // Copy Assignment Not Implemented
EulerConverter& operator=(EulerConverter&&) = delete; // Move Assignment Not Implemented
};
/* =============================================================================
*
* ===========================================================================*/
template <typename T>
class OrientationMatrixSanityCheck
{
public:
OrientationMatrixSanityCheck(T* input, size_t stride) : m_Input(input), m_Stride(stride)
{}
~OrientationMatrixSanityCheck() = default;
void sanityCheck(size_t start, size_t end) const
{
T* inPtr = m_Input + (start * m_Stride);
for (size_t i = start; i < end; ++i)
{
using OrientationType = Orientation<T>;
using ResultType = OrientationTransformation::ResultType;
OrientationType oaType(inPtr, 9);
ResultType res = OrientationTransformation::om_check(oaType);
if(res.result <= 0)
{
std::cout << res.msg << std::endl;
printRepresentation(std::cout, inPtr, std::string("Bad OM"));
}
inPtr = inPtr + m_Stride; // This is Pointer arithmetic!!
}
}
#ifdef SIMPL_USE_PARALLEL_ALGORITHMS
void operator()(const tbb::blocked_range<size_t>& r) const
{
sanityCheck(r.begin(), r.end());
}
#endif
/**
* @brief printRepresentation
* @param out
* @param om
* @param label
*/
void printRepresentation(std::ostream& out, T* om, const std::string& label = std::string("Om")) const
{
out.precision(16);
out << label << om[0] << '\t' << om[1] << '\t' << om[2] << std::endl;
out << label << om[3] << '\t' << om[4] << '\t' << om[5] << std::endl;
out << label << om[6] << '\t' << om[7] << '\t' << om[8] << std::endl;
}
private:
T* m_Input = nullptr;
size_t m_Stride = 0;
};
template<typename T>
class OrientationMatrixConverter : public OrientationConverter<T>
{
public:
SIMPL_SHARED_POINTERS(OrientationMatrixConverter<T> )
SIMPL_TYPE_MACRO_SUPER(OrientationMatrixConverter<T>, OrientationConverter<T>)
SIMPL_STATIC_NEW_MACRO(OrientationMatrixConverter<T>)
virtual ~OrientationMatrixConverter() = default;
virtual OrientationRepresentation::Type getOrientationRepresentation()
{
return OrientationRepresentation::Type::OrientationMatrix;
}
virtual void toEulers()
{
sanityCheckInputData();
OC_CONVERT_BODY(3, Eulers, om2eu, Om2Eu)
}
virtual void toOrientationMatrix()
{
using PointerType = typename DataArray<T>::Pointer;
PointerType input = this->getInputData();
PointerType output = std::dynamic_pointer_cast<DataArray<T> >(input->deepCopy());
this->setOutputData(output);
}
virtual void toQuaternion()
{
sanityCheckInputData();
OC_CONVERT_BODY(4, Quaternion, om2qu, Om2Qu)
}
virtual void toAxisAngle()
{
sanityCheckInputData();
OC_CONVERT_BODY(4, AxisAngle, om2ax, Om2Ax)
}
virtual void toRodrigues()
{
sanityCheckInputData();
OC_CONVERT_BODY(4, Rodrigues, om2ro, Om2Ro)
}
virtual void toHomochoric()
{
sanityCheckInputData();
OC_CONVERT_BODY(3, Homochoric, om2ho, Om2Ho)
}
virtual void toCubochoric()
{
sanityCheckInputData();
OC_CONVERT_BODY(3, Cubochoric, om2cu, Om2Cu)
}
virtual void sanityCheckInputData()
{
typename DataArray<T>::Pointer input = this->getInputData();
T* inPtr = input->getPointer(0);
size_t nTuples = input->getNumberOfTuples();
int inStride = input->getNumberOfComponents();
#ifdef SIMPL_USE_PARALLEL_ALGORITHMS
tbb::task_scheduler_init init;
bool doParallel = true;
#endif
#ifdef SIMPL_USE_PARALLEL_ALGORITHMS
if(doParallel)
{
tbb::parallel_for(tbb::blocked_range<size_t>(0, nTuples), OrientationMatrixSanityCheck<T>(inPtr, inStride), tbb::auto_partitioner());
}
else
#endif
{
OrientationMatrixSanityCheck<T> serial(inPtr, inStride);
serial.sanityCheck(0, nTuples);
}
}
/**
* @brief compareRepresentations
* @param a
* @param b
* @param epsilon
* @return
*/
virtual bool compareRepresentations(T* a, T* b, const T& epsilon = std::numeric_limits<T>::epsilon())
{
bool close = false;
for(int i = 0; i < 9; i++)
{
close = (epsilon > std::fabs(a[i] - b[i]));
if(!close) { return close; }
}
return close;
}
/**
* @brief printRepresentation
* @param out
* @param om
* @param label
*/
virtual void printRepresentation(std::ostream& out, T* om, const std::string& label = std::string("Om"))
{
out.precision(16);
out << label << om[0] << '\t' << om[1] << '\t' << om[2] << std::endl;
out << label << om[3] << '\t' << om[4] << '\t' << om[5] << std::endl;
out << label << om[6] << '\t' << om[7] << '\t' << om[8] << std::endl;
}
protected:
OrientationMatrixConverter() :
OrientationConverter<T>()
{}
explicit OrientationMatrixConverter(typename DataArray<T>::Pointer data) :
OrientationConverter<T>()
{
this->setInputData(data);
}
public:
OrientationMatrixConverter(const OrientationMatrixConverter&) = delete; // Copy Constructor Not Implemented
OrientationMatrixConverter(OrientationMatrixConverter&&) = delete; // Move Constructor Not Implemented
OrientationMatrixConverter& operator=(const OrientationMatrixConverter&) = delete; // Copy Assignment Not Implemented
OrientationMatrixConverter& operator=(OrientationMatrixConverter&&) = delete; // Move Assignment Not Implemented
};
/* =============================================================================
*
* ===========================================================================*/
template <typename T>
class QuaternionSanityCheck
{
public:
QuaternionSanityCheck(T* input, size_t stride) : m_Input(input), m_Stride(stride)
{}
~QuaternionSanityCheck() = default;
void sanityCheck(size_t start, size_t end) const
{
T* inPtr = m_Input + (start * m_Stride);
for (size_t i = start; i < end; ++i)
{
}
}
#ifdef SIMPL_USE_PARALLEL_ALGORITHMS
void operator()(const tbb::blocked_range<size_t>& r) const
{
sanityCheck(r.begin(), r.end());
}
#endif
private:
T* m_Input = nullptr;
size_t m_Stride = 0;
};
template<typename T>
class QuaternionConverter : public OrientationConverter<T>
{
public:
SIMPL_SHARED_POINTERS(QuaternionConverter<T> )
SIMPL_TYPE_MACRO_SUPER(QuaternionConverter<T>, OrientationConverter<T>)
SIMPL_STATIC_NEW_MACRO(QuaternionConverter<T>)
virtual ~QuaternionConverter() = default;
virtual OrientationRepresentation::Type getOrientationRepresentation()
{
return OrientationRepresentation::Type::Quaternion;
}
virtual void toEulers()
{
OC_CONVERT_BODY(3, Eulers, qu2eu, Qu2Eu)
}
virtual void toOrientationMatrix()
{
OC_CONVERT_BODY(9, OrientationMatrix, qu2om, Qu2Om)
}
virtual void toQuaternion()
{
using PointerType = typename DataArray<T>::Pointer;
PointerType input = this->getInputData();
PointerType output = std::dynamic_pointer_cast<DataArray<T> >(input->deepCopy());
this->setOutputData(output);
}
virtual void toAxisAngle()
{
OC_CONVERT_BODY(4, AxisAngle, qu2ax, Qu2Ax)
}
virtual void toRodrigues()
{
OC_CONVERT_BODY(4, Rodrigues, qu2ro, Qu2Ro)
}
virtual void toHomochoric()
{
OC_CONVERT_BODY(3, Homochoric, qu2ho, Qu2Ho)
}
virtual void toCubochoric()
{
OC_CONVERT_BODY(3, Cubochoric, qu2cu, Qu2Cu)
}
virtual void sanityCheckInputData()
{
/* Apparently there is no sanity check for Quaternions, Odd. We place this
* code here in case we come up with one, the parallel version is ready to
* go
*/
#if 0
typename DataArray<T>::Pointer input = this->getInputData();
T* inPtr = input->getPointer(0);
size_t nTuples = input->getNumberOfTuples();
int inStride = input->getNumberOfComponents();
#ifdef SIMPL_USE_PARALLEL_ALGORITHMS
tbb::task_scheduler_init init;
bool doParallel = true;
#endif
#ifdef SIMPL_USE_PARALLEL_ALGORITHMS
if(doParallel )
{
tbb::parallel_for(tbb::blocked_range<size_t>(0, nTuples), QuaternionSanityCheck<T>(inPtr, inStride), tbb::auto_partitioner());
}
else
#endif
{
QuaternionSanityCheck<T> serial(inPtr, inStride);
serial.sanityCheck(0, nTuples);
}
#endif
}
/**
* @brief printRepresentation
* @param out
* @param qu
* @param label
*/
virtual void printRepresentation(std::ostream& out, T* qu, const std::string& label = std::string("Qu"))
{
out.precision(16);
out << label << qu[0] << '\t' << qu[1] << '\t' << qu[2] << '\t' << qu[3] << std::endl;
}
/**
* @brief compareRepresentations
* @param a
* @param b
* @param epsilon
* @return
*/
virtual bool compareRepresentations(T* a, T* b, const T& epsilon = std::numeric_limits<T>::epsilon())
{
bool close = false;
for(int i = 0; i < 4; i++)
{
close = (epsilon > std::fabs(a[i] - b[i]));
if(!close) { return close; }
}
return close;
}
protected:
QuaternionConverter() :
OrientationConverter<T>()
{}
explicit QuaternionConverter(typename DataArray<T>::Pointer data) :
OrientationConverter<T>()
{
this->setInputData(data);
}
public:
QuaternionConverter(const QuaternionConverter&) = delete; // Copy Constructor Not Implemented
QuaternionConverter(QuaternionConverter&&) = delete; // Move Constructor Not Implemented
QuaternionConverter& operator=(const QuaternionConverter&) = delete; // Copy Assignment Not Implemented
QuaternionConverter& operator=(QuaternionConverter&&) = delete; // Move Assignment Not Implemented
};
/* =============================================================================
*
* ===========================================================================*/
template <typename T>
class AxisAngleSanityCheck
{
public:
AxisAngleSanityCheck(T* input, size_t stride) : m_Input(input), m_Stride(stride)
{}
~AxisAngleSanityCheck() = default;
void sanityCheck(size_t start, size_t end) const
{
T* inPtr = m_Input + (start * m_Stride);
for (size_t i = start; i < end; ++i)
{
}
}
#ifdef SIMPL_USE_PARALLEL_ALGORITHMS
void operator()(const tbb::blocked_range<size_t>& r) const
{
sanityCheck(r.begin(), r.end());
}
#endif
private:
T* m_Input = nullptr;
size_t m_Stride = 0;
};