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Fit_Occ.c
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Fit_Occ.c
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#include"utils.h"
#include"matrix_ops.h"
#include"globals.h"
void find_chord_dist(int *tlist,double *vlist,int nfac,int nvert,double *offset,double *p1,double *p2,double* dist2,int* vert2,double *dddx2,double *dddy2);
void find_chord_dist_simple(int *tlist,double *vlist,int nfac,int nvert,double *offset,double *p1,double *p2,double* dist2,int* vert2,double *dddx2,double *dddy2);
void Fit_Occ(int *tlist,double *vlist,int nfac,int nvert,double *angles,double *up,double *E,double *V0,double *TIME,double *offset,double *chords,int *type,int nchords,double *W,double *Chordoffset,double *dist,double *dx,double *dy,double *dz,double *dangles,double *dtox,double *dtoy,double* dCOdoff)
{
/*INPUT:
* TIMES nchordsx2 disappearance and appearance times
* offset=[x,y] offset in plane
* chords nchordsx4 coordinates, disappearance and appearance
* Chordoffset nchords vector,containing chord offset in seconds
* OUTPUT:
* dist nchordsx4 matrix, x and y distance ofclosest model points to disappearance and appearance points
* dx,dy,dz 4nchordsxnvert matrix
* dangles 4nchordsx3 matrix
* dtox,dtoy 4*nchordsx1, derivatives wrt offsets
* dCOdoff 4*nchordsxnchords matrix, derivatives for chord offsets
* */
double time=0;
double M[3][3],MRT[3][3],MRdb[3][3],MRdl[3][3],MRdo[3][3],MRTT[9];
double MRdbT[9],MRdlT[9],MRdoT[9];
double R[3][3],Rb[3][3],Rl[3][3],Ro[3][3],Rt[3][3],RbT[3][3],RlT[3][3],RoT[3][3];
int faedge[2],cledge[2],inters;
int edget[2];
int ic1,ic2,fa1,fa2;
double clpoint[2],fapoint[2],dclpx[4],dclpy[4],dfapx[4],dfapy[4];
double temp4[4];
double V[3];
double dLx=0,dLy=0; //Chord offset
double nd_dist,nd_dx,nd_dy;
int nd_vert;
double ND_CHORD_WEIGHT=INI_NDCHORD_WEIGHT;
for(int j=0;j<2*nchords;j++)
time+=TIME[j];
time=time/(2*nchords);
int *Adj=calloc(nvert*nvert,sizeof(int));
AdjFacet(tlist,vlist,nfac,nvert,Adj);
Calculate_Frame_Matrix(E,up,M);
rotate(angles[0],angles[1],angles[2],angles[3],time,R,Rb,Rl,Ro);
//Calculate velocity in camera frame
V[0]=M[0][0]*V0[0]+M[0][1]*V0[1]+M[0][2]*V0[2];
V[1]=M[1][0]*V0[0]+M[1][1]*V0[1]+M[1][2]*V0[2];
transpose(R,Rt); //Transpose, since we rotate the model, not view directions
transpose(Rb,RbT);
transpose(Rl,RlT);
transpose(Ro,RoT);
mult_mat(M,Rt,MRT);
double mr11,mr12,mr13,mr21,mr22,mr23;
mr11=MRT[0][0];
mr12=MRT[0][1];
mr13=MRT[0][2];
mr21=MRT[1][0];
mr22=MRT[1][1];
mr23=MRT[1][2];
mult_mat(M,RbT,MRdb);
mult_mat(M,RlT,MRdl);
mult_mat(M,RoT,MRdo);
zero_array(dx,4*nchords*nvert);
zero_array(dy,4*nchords*nvert);
zero_array(dz,4*nchords*nvert);
zero_array(dangles,4*nchords*3);
zero_array(dtox,4*nchords);
zero_array(dtox,4*nchords);
zero_array(dCOdoff,4*nchords*nchords);
transpose2(MRT,MRTT);
transpose2(MRdb,MRdbT);
transpose2(MRdl,MRdlT);
transpose2(MRdo,MRdoT);
double a[2],b[2];
double *vlist2=calloc(nvert*3,sizeof(double));
double *vlist2b=calloc(nvert*3,sizeof(double));
double *vlist2l=calloc(nvert*3,sizeof(double));
double *vlist2o=calloc(nvert*3,sizeof(double));
matrix_prod(vlist,nvert,3,MRTT,3,vlist2); //vlist2 contains rotated and projected model
matrix_prod(vlist,nvert,3,MRdbT,3,vlist2b);
matrix_prod(vlist,nvert,3,MRdlT,3,vlist2l);
matrix_prod(vlist,nvert,3,MRdoT,3,vlist2o);
double w;
double el=0;
for(int j=0;j<nchords;j++)
{
if(Chordoffset!=NULL)
{
dLx=V[0]*Chordoffset[j];
dLy=V[1]*Chordoffset[j];
}
else
{
dLx=0;
dLy=0;
}
if(W!=NULL)
w=W[j];
else
w=1;
a[0]=chords[4*j]+dLx;
a[1]=chords[4*j+1]+dLy;
b[0]=chords[4*j+2]+dLx;
b[1]=chords[4*j+3]+dLy;
find_chord(tlist,vlist2,nfac,nvert,offset,a,b,Adj,cledge,faedge,clpoint,fapoint,&inters,dclpx,dclpy,dfapx,dfapy);
if(type[j]==-1)
{
find_chord_dist(tlist,vlist2,nfac,nvert,offset,a,b,&nd_dist,&nd_vert,&nd_dx,&nd_dy);
if(inters==1)
printf("Intersection with no-detection chord %d (of %d)\n",j,nchords);
dist[4*j]=w*nd_dist*ND_CHORD_WEIGHT;
dist[4*j+1]=0;
dist[4*j+2]=0;
dist[4*j+3]=0;
el=ND_CHORD_WEIGHT*w*(nd_dx*mr11+nd_dy*mr21);
set_el(dx,4*nchords,nvert,el,4*j,nd_vert);
el=ND_CHORD_WEIGHT*w*(nd_dx*mr12+nd_dy*mr22);
set_el(dy,4*nchords,nvert,el,4*j,nd_vert);
el=ND_CHORD_WEIGHT*w*(nd_dx*mr13+nd_dy*mr23);
set_el(dz,4*nchords,nvert,el,4*j,nd_vert);
dtox[4*j]=w*ND_CHORD_WEIGHT*(nd_dx);
dtoy[4*j]=w*ND_CHORD_WEIGHT*(nd_dy);
dangles[4*j*3]=w*ND_CHORD_WEIGHT*(nd_dx*get_el(vlist2b,nvert,3,nd_vert,0)+nd_dy*get_el(vlist2b,nvert,3,nd_vert,1));
dangles[4*j*3+1]=w*ND_CHORD_WEIGHT*(nd_dx*get_el(vlist2l,nvert,3,nd_vert,0)+nd_dy*get_el(vlist2l,nvert,3,nd_vert,1));
dangles[4*j*3+2]=w*ND_CHORD_WEIGHT*(nd_dx*get_el(vlist2o,nvert,3,nd_vert,0)+nd_dy*get_el(vlist2o,nvert,3,nd_vert,1));
continue;
}
if(inters==1)
{
//We have check that closest point is actually closest and not farthest. In that case, switch points
if((fapoint[0]-clpoint[0])*(b[0]-a[0])+(fapoint[1]-clpoint[1])*(b[1]-a[1])<0)
{
memcpy(edget,cledge,sizeof(int)*2);
memcpy(cledge,faedge,sizeof(int)*2);
memcpy(faedge,edget,sizeof(int)*2);
memcpy(temp4,clpoint,sizeof(double)*2);
memcpy(clpoint,fapoint,sizeof(double)*2);
memcpy(fapoint,temp4,sizeof(double)*2);
memcpy(temp4,dclpx,sizeof(double)*4);
memcpy(dclpx,dfapx,sizeof(double)*4);
memcpy(dfapx,temp4,sizeof(double)*4);
memcpy(temp4,dclpy,sizeof(double)*4);
memcpy(dclpy,dfapy,sizeof(double)*4);
memcpy(dfapy,temp4,sizeof(double)*4);
}
dist[4*j]=w*(clpoint[0]-chords[4*j]-dLx); //distance in x
dist[4*j+1]=w*(clpoint[1]-chords[4*j+1]-dLy); //dist in y
dist[4*j+2]=w*(fapoint[0]-chords[4*j+2]-dLx);
dist[4*j+3]=w*(fapoint[1]-chords[4*j+3]-dLy);
ic1=cledge[0];
ic2=cledge[1];
fa1=faedge[0];
fa2=faedge[1];
el=dclpx[0]*mr11+dclpx[1]*mr21;
el=w*el;
set_el(dx,4*nchords,nvert,el,4*j,ic1);
el=dclpx[0]*mr12+dclpx[1]*mr22;
el=w*el;
set_el(dy,4*nchords,nvert,el,4*j,ic1);
el=dclpx[0]*mr13+dclpx[1]*mr23;
el=w*el;
set_el(dz,4*nchords,nvert,el,4*j,ic1);
el=dclpx[2]*mr11+dclpx[3]*mr21;
el=w*el;
set_el(dx,4*nchords,nvert,el,4*j,ic2);
el=dclpx[2]*mr12+dclpx[3]*mr22;
el=w*el;
set_el(dy,4*nchords,nvert,el,4*j,ic2);
el=dclpx[2]*mr13+dclpx[3]*mr23;
el=w*el;
set_el(dz,4*nchords,nvert,el,4*j,ic2);
el=dclpy[0]*mr11+dclpy[1]*mr21;
el=w*el;
set_el(dx,4*nchords,nvert,el,4*j+1,ic1);
el=dclpy[0]*mr12+dclpy[1]*mr22;
el=w*el;
set_el(dy,4*nchords,nvert,el,4*j+1,ic1);
el=dclpy[0]*mr13+dclpy[1]*mr23;
el=w*el;
set_el(dz,4*nchords,nvert,el,4*j+1,ic1);
el=dclpy[2]*mr11+dclpy[3]*mr21;
el=w*el;
set_el(dx,4*nchords,nvert,el,4*j+1,ic2);
el=dclpy[2]*mr12+dclpy[3]*mr22;
el=w*el;
set_el(dy,4*nchords,nvert,el,4*j+1,ic2);
el=dclpy[2]*mr13+dclpy[3]*mr23;
el=w*el;
set_el(dz,4*nchords,nvert,el,4*j+1,ic2);
el=dfapx[0]*mr11+dfapx[1]*mr21;
el=w*el;
set_el(dx,4*nchords,nvert,el,4*j+2,fa1);
el=dfapx[0]*mr12+dfapx[1]*mr22;
el=w*el;
set_el(dy,4*nchords,nvert,el,4*j+2,fa1);
el=dfapx[0]*mr13+dfapx[1]*mr23;
el=w*el;
set_el(dz,4*nchords,nvert,el,4*j+2,fa1);
el=dfapx[2]*mr11+dfapx[3]*mr21;
el=w*el;
set_el(dx,4*nchords,nvert,el,4*j+2,fa2);
el=dfapx[2]*mr12+dfapx[3]*mr22;
el=w*el;
set_el(dy,4*nchords,nvert,el,4*j+2,fa2);
el=dfapx[2]*mr13+dfapx[3]*mr23;
el=w*el;
set_el(dz,4*nchords,nvert,el,4*j+2,fa2);
el=dfapy[0]*mr11+dfapy[1]*mr21;
el=w*el;
set_el(dx,4*nchords,nvert,el,4*j+3,fa1);
el=dfapy[0]*mr12+dfapy[1]*mr22;
el=w*el;
set_el(dy,4*nchords,nvert,el,4*j+3,fa1);
el=dfapy[0]*mr13+dfapy[1]*mr23;
el=w*el;
set_el(dz,4*nchords,nvert,el,4*j+3,fa1);
el=dfapy[2]*mr11+dfapy[3]*mr21;
el=w*el;
set_el(dx,4*nchords,nvert,el,4*j+3,fa2);
el=dfapy[2]*mr12+dfapy[3]*mr22;
el=w*el;
set_el(dy,4*nchords,nvert,el,4*j+3,fa2);
el=dfapy[2]*mr13+dfapy[3]*mr23;
el=w*el;
set_el(dz,4*nchords,nvert,el,4*j+3,fa2);
//Chords offset derivatives
set_el(dCOdoff,4*nchords,nchords,-V[0],4*j,j);
set_el(dCOdoff,4*nchords,nchords,-V[1],4*j+1,j);
set_el(dCOdoff,4*nchords,nchords,-V[0],4*j+2,j);
set_el(dCOdoff,4*nchords,nchords,-V[1],4*j+3,j);
//Offset derivatives
dtox[4*j]=w*(dclpx[0]+dclpx[2]);
dtox[4*j+1]=w*(dclpy[0]+dclpy[2]);
dtox[4*j+2]=w*(dfapx[0]+dfapx[2]);
dtox[4*j+3]=w*(dfapy[0]+dfapy[2]);
dtoy[4*j]=w*(dclpx[1]+dclpx[3]);
dtoy[4*j+1]=w*(dclpy[1]+dclpy[3]);
dtoy[4*j+2]=w*(dfapx[1]+dfapx[3]);
dtoy[4*j+3]=w*(dfapy[1]+dfapy[3]);
dangles[4*j*3]=w*(dclpx[0]*get_el(vlist2b,nvert,3,ic1,0)+dclpx[1]*get_el(vlist2b,nvert,3,ic1,1)+dclpx[2]*get_el(vlist2b,nvert,3,ic2,0)+dclpx[3]*get_el(vlist2b,nvert,3,ic2,1));
dangles[4*j*3+1]=w*(dclpx[0]*get_el(vlist2l,nvert,3,ic1,0)+dclpx[1]*get_el(vlist2l,nvert,3,ic1,1)+dclpx[2]*get_el(vlist2l,nvert,3,ic2,0)+dclpx[3]*get_el(vlist2l,nvert,3,ic2,1));
dangles[4*j*3+2]=w*(dclpx[0]*get_el(vlist2o,nvert,3,ic1,0)+dclpx[1]*get_el(vlist2o,nvert,3,ic1,1)+dclpx[2]*get_el(vlist2o,nvert,3,ic2,0)+dclpx[3]*get_el(vlist2o,nvert,3,ic2,1));
dangles[4*j*3+3+0]=w*(dclpy[0]*get_el(vlist2b,nvert,3,ic1,0)+dclpy[1]*get_el(vlist2b,nvert,3,ic1,1)+dclpy[2]*get_el(vlist2b,nvert,3,ic2,0)+dclpy[3]*get_el(vlist2b,nvert,3,ic2,1));
dangles[4*j*3+3+1]=w*(dclpy[0]*get_el(vlist2l,nvert,3,ic1,0)+dclpy[1]*get_el(vlist2l,nvert,3,ic1,1)+dclpy[2]*get_el(vlist2l,nvert,3,ic2,0)+dclpy[3]*get_el(vlist2l,nvert,3,ic2,1));
dangles[4*j*3+3+2]=w*(dclpy[0]*get_el(vlist2o,nvert,3,ic1,0)+dclpy[1]*get_el(vlist2o,nvert,3,ic1,1)+dclpy[2]*get_el(vlist2o,nvert,3,ic2,0)+dclpy[3]*get_el(vlist2o,nvert,3,ic2,1));
dangles[4*j*3+2*3+0]=w*(dfapx[0]*get_el(vlist2b,nvert,3,fa1,0)+dfapx[1]*get_el(vlist2b,nvert,3,fa1,1)+dfapx[2]*get_el(vlist2b,nvert,3,fa2,0)+dfapx[3]*get_el(vlist2b,nvert,3,fa2,1));
dangles[4*j*3+2*3+1]=w*(dfapx[0]*get_el(vlist2l,nvert,3,fa1,0)+dfapx[1]*get_el(vlist2l,nvert,3,fa1,1)+dfapx[2]*get_el(vlist2l,nvert,3,fa2,0)+dfapx[3]*get_el(vlist2l,nvert,3,fa2,1));
dangles[4*j*3+2*3+2]=w*(dfapx[0]*get_el(vlist2o,nvert,3,fa1,0)+dfapx[1]*get_el(vlist2o,nvert,3,fa1,1)+dfapx[2]*get_el(vlist2o,nvert,3,fa2,0)+dfapx[3]*get_el(vlist2o,nvert,3,fa2,1));
dangles[4*j*3+3*3+0]=w*(dfapy[0]*get_el(vlist2b,nvert,3,fa1,0)+dfapy[1]*get_el(vlist2b,nvert,3,fa1,1)+dfapy[2]*get_el(vlist2b,nvert,3,fa2,0)+dfapy[3]*get_el(vlist2b,nvert,3,fa2,1));
dangles[4*j*3+3*3+1]=w*(dfapy[0]*get_el(vlist2l,nvert,3,fa1,0)+dfapy[1]*get_el(vlist2l,nvert,3,fa1,1)+dfapy[2]*get_el(vlist2l,nvert,3,fa2,0)+dfapy[3]*get_el(vlist2l,nvert,3,fa2,1));
dangles[4*j*3+3*3+2]=w*(dfapy[0]*get_el(vlist2o,nvert,3,fa1,0)+dfapy[1]*get_el(vlist2o,nvert,3,fa1,1)+dfapy[2]*get_el(vlist2o,nvert,3,fa2,0)+dfapy[3]*get_el(vlist2o,nvert,3,fa2,1));
}
else
{
find_chord_dist_simple(tlist,vlist2,nfac,nvert,offset,a,b,&nd_dist,&nd_vert,&nd_dx,&nd_dy);
dist[4*j]=w*chords[j*4]*(1+nd_dist);
dist[4*j+1]=w*chords[j*4+1];
dist[4*j+2]=w*chords[j*4+2];
dist[4*j+3]=w*chords[j*4+3];
el=chords[j*4]*w*(nd_dx*mr11+nd_dy*mr21);
set_el(dx,4*nchords,nvert,el,4*j,nd_vert);
el=chords[j*4]*w*(nd_dx*mr12+nd_dy*mr22);
set_el(dy,4*nchords,nvert,el,4*j,nd_vert);
el=chords[j*4]*w*(nd_dx*mr13+nd_dy*mr23);
set_el(dz,4*nchords,nvert,el,4*j,nd_vert);
dtox[4*j]=w*chords[j*4]*(nd_dx);
dtoy[4*j]=w*chords[j*4]*(nd_dy);
dangles[4*j*3]=w*chords[j*4]*(nd_dx*get_el(vlist2b,nvert,3,nd_vert,0)+nd_dy*get_el(vlist2b,nvert,3,nd_vert,1));
dangles[4*j*3+1]=w*chords[j*4]*(nd_dx*get_el(vlist2l,nvert,3,nd_vert,0)+nd_dy*get_el(vlist2l,nvert,3,nd_vert,1));
dangles[4*j*3+2]=w*chords[j*4]*(nd_dx*get_el(vlist2o,nvert,3,nd_vert,0)+nd_dy*get_el(vlist2o,nvert,3,nd_vert,1));
}
}
free(vlist2);
free(vlist2b);
free(vlist2l);
free(vlist2o);
free(Adj);
}
void find_chord_dist(int *tlist,double *vlist,int nfac,int nvert,double *offset,double *p1,double *p2,double* dist2,int* vert2,double *dddx2,double *dddy2)
{
double w[2];
double normw;
double n[2];
double offx,offy;
double v[2];
double d=0;
double dist=0.0;
int vert=0;
double dddx,dddy;
int k=INI_LOGEXP;
offx=offset[0];
offy=offset[1];
double maxneg,maxpos;
maxneg=0;
maxpos=0;
double closeneg=1E6,closepos=1E6;
int closenegv=0,closeposv=0,maxnegv=0,maxposv=0;
/*Distance set to negative if the chord intersect polyhedron. Otherwise positive*/
w[0]=p2[0]-p1[0];
w[1]=p2[1]-p1[1];
normw=sqrt(w[0]*w[0]+w[1]*w[1]);
w[0]=w[0]/normw;
w[1]=w[1]/normw;
n[0]=-w[1];
n[1]=w[0];
for(int j=0;j<nvert;j++)
{
v[0]=p1[0]-(vlist[3*j]+offx);
v[1]=p1[1]-(vlist[3*j+1]+offy);
d=v[0]*n[0]+v[1]*n[1];
if(d<0 && d<maxneg)
{
maxneg=d;
maxnegv=j;
}
if(d>0 && d>maxpos)
{
maxpos=d;
maxposv=j;
}
if(d<0 && -d<closeneg)
{
closeneg=-d;
closenegv=j;
}
if(d>0 && d<closepos)
{
closepos=d;
closeposv=j;
}
}
if(maxneg<0 && maxpos>0)
{
if(-maxneg<=maxpos)
{
dist=maxneg;
vert=maxnegv;
dddx=-n[0];
dddy=-n[1];
}
else
{
dist=-maxpos;
vert=maxposv;
dddx=n[0];
dddy=n[1];
}
}
else if(closepos<=closeneg)
{
dist=closepos;
vert=closeposv;
dddx=-n[0];
dddy=-n[1];
}
else
{
dist=closeneg;
vert=closenegv;
dddx=n[0];
dddy=n[1];
}
double tdist=dist;
dist=1-1/(1+exp(-2*k*tdist));
// printf("Distance to chord: dist: %f edist: %f maxneg: %f maxpos: %f closepos: %f closeneg: %f\n",dist,tdist,maxneg,maxpos,closepos,closeneg);
dddx=-2*k*exp(-2*k*tdist)/pow(1+exp(-2*k*tdist),2)*dddx;
dddy=-2*k*exp(-2*k*tdist)/pow(1+exp(-2*k*tdist),2)*dddy;
*dist2=dist;
*vert2=vert;
if(isnan(dddx))
dddx=0;
if(isnan(dddy))
dddy=0;
*dddx2=dddx;
*dddy2=dddy;
}
void find_chord_dist_simple(int *tlist,double *vlist,int nfac,int nvert,double *offset,double *p1,double *p2,double* dist2,int* vert2,double *dddx2,double *dddy2)
{
double w[2];
double normw;
double n[2];
double offx,offy;
double v[2];
double d=0;
double dist=0.0;
int vert=0;
double dddx,dddy;
int k=INI_LOGEXP;
offx=offset[0];
offy=offset[1];
double maxneg,maxpos;
maxneg=0;
maxpos=0;
double closeneg=1E6,closepos=1E6;
int closenegv=0,closeposv=0,maxnegv=0,maxposv=0;
/*Distance set to negative if the chord intersect polyhedron. Otherwise positive*/
w[0]=p2[0]-p1[0];
w[1]=p2[1]-p1[1];
normw=sqrt(w[0]*w[0]+w[1]*w[1]);
w[0]=w[0]/normw;
w[1]=w[1]/normw;
n[0]=-w[1];
n[1]=w[0];
for(int j=0;j<nvert;j++)
{
v[0]=p1[0]-(vlist[3*j]+offx);
v[1]=p1[1]-(vlist[3*j+1]+offy);
d=v[0]*n[0]+v[1]*n[1];
if(d<0 && d<maxneg)
{
maxneg=d;
maxnegv=j;
}
if(d>0 && d>maxpos)
{
maxpos=d;
maxposv=j;
}
if(d<0 && -d<closeneg)
{
closeneg=-d;
closenegv=j;
}
if(d>0 && d<closepos)
{
closepos=d;
closeposv=j;
}
}
if(maxneg<0 && maxpos>0)
{
if(-maxneg<=maxpos)
{
dist=maxneg;
vert=maxnegv;
dddx=-n[0];
dddy=-n[1];
}
else
{
dist=-maxpos;
vert=maxposv;
dddx=n[0];
dddy=n[1];
}
}
else if(closepos<=closeneg)
{
dist=closepos;
vert=closeposv;
dddx=-n[0];
dddy=-n[1];
}
else
{
dist=closeneg;
vert=closenegv;
dddx=n[0];
dddy=n[1];
}
double tdist=dist;
dist=1/(1+exp(-2*k*tdist));
// printf("Distance to chord: dist: %f edist: %f maxneg: %f maxpos: %f closepos: %f closeneg: %f\n",dist,tdist,maxneg,maxpos,closepos,closeneg);
dddx=2*k*exp(-2*k*tdist)/pow(1+exp(-2*k*tdist),2)*dddx;
dddy=2*k*exp(-2*k*tdist)/pow(1+exp(-2*k*tdist),2)*dddy;
*dist2=dist;
*vert2=vert;
if(isnan(dddx))
dddx=0;
if(isnan(dddy))
dddy=0;
*dddx2=dddx;
*dddy2=dddy;
}