Ordinary quaternion by chargerKong · Pull Request #18335 · opencv/opencv

chargerKong · 2020-09-14T15:00:37Z

Pull Request Readiness Checklist

See details at https://github.com/opencv/opencv/wiki/How_to_contribute#making-a-good-pull-request

I agree to contribute to the project under Apache 2 License.
To the best of my knowledge, the proposed patch is not based on a code under GPL or other license that is incompatible with OpenCV
The PR is proposed to proper branch
There is reference to original bug report and related work
There is accuracy test, performance test and test data in opencv_extra repository, if applicable
Patch to opencv_extra has the same branch name.
The feature is well documented and sample code can be built with the project CMake

force_builders=linux,Docs,Win64,Mac,Win32,android,ios

asmorkalov · 2020-09-14T15:18:47Z

@chargerKong Thanks for the contribution. Could you add tests for your implementation?

modules/core/include/opencv2/core.hpp

chargerKong · 2020-09-16T02:30:10Z

Thanks for your review. We will add the corresponding test file in next few days.

modules/core/src/quaternion.cpp

chargerKong · 2020-09-17T09:24:41Z

Thanks for your code review. We're carefully fixing these issues and adding test files, which will be done in the next few days. @savuor

modules/core/include/opencv2/core/quaternion.hpp

tompollok · 2020-09-18T14:10:17Z

can we have a function for conversion to rodruigez vector and back?

catree · 2020-09-18T16:29:18Z

Typedef for Quat<double> and Quat<float> would be useful, similar to Eigen::Quaterniond and Eigen::Quaterniondf.

chargerKong · 2020-09-19T06:19:23Z

can we have a function for conversion to rodruigez vector and back?

Thanks for your code review, we will add it in next commit

chargerKong · 2020-09-19T06:22:37Z

Typedef for Quat<double> and Quat<float> would be useful, similar to Eigen::Quaterniond and Eigen::Quaterniondf.

OK, Thanks for your suggestions. This will be added in next commit.

catree · 2020-09-20T16:11:51Z

Typedef for Quat<double> and Quat<float> would be useful, similar to Eigen::Quaterniond and Eigen::Quaterniondf.
OK, Thanks for your suggestions. This will be added in next commit.

Maybe only float and double types should be allowed? To avoid user doing something like Quat<int>?
Don't know how this kind of things are handled in other libraries like Eigen.

Related OE 33. 3D Module for Quaternion / dual Quaternion support?

chargerKong · 2020-09-21T07:15:21Z

Typedef for Quat<double> and Quat<float> would be useful, similar to Eigen::Quaterniond and Eigen::Quaterniondf.
OK, Thanks for your suggestions. This will be added in next commit.
Maybe only float and double types should be allowed? To avoid user doing something like Quat<int>?
Don't know how this kind of things are handled in other libraries like Eigen.

Related OE 33. 3D Module for Quaternion / dual Quaternion support?

Yes，Quat<int> is indeed meaningless. This could be stricted by

template <typename T>
    class Quat
    {   
    using value_type = typename std::enable_if<
                    std::is_same<float, T>::value ||
                    std::is_same<double, T>::value,
                    T
                >::type;

This work does relat to OE 33. 3D Module, and we plan to implement dual quaternions after ordinary ones.

modules/core/include/opencv2/core/quaternion.hpp

modules/core/src/quaternion.cpp

modules/core/include/opencv2/core/quaternion.hpp

modules/core/test/test_quaternion.cpp

modules/core/include/opencv2/core/quaternion.hpp

chargerKong · 2020-10-25T14:18:37Z

I'm sorry for not updating code and replying in time resulting from business trip over the last two weeks.
Thanks all for providing valuable comments! I will modify the code in next week. @catree @savuor @VadimLevin @alalek

change some constructor to createFrom* function; change Rodrigues vector to rotation vector; change the matexpr to mat of 3x3 return type; improve comments;

modules/core/include/opencv2/core/quaternion.hpp

improve docs; add using std::cos funcs

modules/core/include/opencv2/core/quaternion.hpp

chargerKong · 2020-11-10T07:40:37Z

@savuor @alalek Can this PR consider merging？

alalek · 2020-11-12T18:30:17Z

@chargerKong Well done! Looks good to me.

savuor · 2020-11-12T21:24:57Z

@chargerKong have just reviewed it; found no issues. If tests are passed, this should be merged.

chargerKong · 2020-11-13T02:00:31Z

OK. Thanks very much! @savuor @alalek

add std::* in affine.hpp,warpers_inl.hpp;

chargerKong · 2020-11-13T14:25:56Z

There is no scheduled status and the rest are all not_queued.

But status diaplays here is waiting for builds（This has already waited for a week:sweat_smile:）

I think maybe the reason is Linux OpenCL, Win64 OpenCL, Linux x64 Debug and Linux32 are not builded?

How could I start to build it？
@savuor @alalek

chargerKong · 2020-11-16T03:42:06Z

The tests are all passed. Can you please proceed with merge? Thanks @alalek @savuor

savuor · 2020-11-19T08:31:51Z

👍

alalek · 2020-11-19T08:37:02Z

modules/core/include/opencv2/core/quaternion.hpp

+#include <iostream>
+namespace cv
+{
+//! @addtogroup core


@vpisarev Which documentation group should be used for this?

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

- avoid non-proper names in `cv::` namespace - it makes sence to put that into `Quat` class directly, but there are some isses because Quat is template (code becomes too verbose)

alalek

Looks good to me! Thank you 👍

Ordinary quaternion * version 1.0 * add assumeUnit; add UnitTest; check boundary value; fix the func using method: func(obj); fix 4x4; add rodrigues vector transformation; fix mat to quat; * fix blank and tab * fix blank and tab modify test;cpp to hpp * mainly improve comment; add rvec2Quat;fix toRodrigues; fix throw to CV_Error * fix bug of quatd * int; combine hpp and cpp; fix << overload error in win system; modify include in test file; * move implementation to quaternion.ini.hpp; change some constructor to createFrom* function; change Rodrigues vector to rotation vector; change the matexpr to mat of 3x3 return type; improve comments; * try fix log function error in win * add enums for assumeUnit; improve docs; add using std::cos funcs * remove using std::* from header; add std::* in affine.hpp,warpers_inl.hpp; * quat: coding style * quat: AssumeType => QuatAssumeType

version 1.0

086cde7

asmorkalov requested a review from vpisarev September 14, 2020 15:16

asmorkalov added category: core feature pr: needs test New functionality requires minimal tests set labels Sep 14, 2020

asmorkalov previously requested changes Sep 14, 2020

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chargerKong changed the title ~~Ordinary quaternion~~ [WIT]Ordinary quaternion Sep 15, 2020

chargerKong changed the title ~~[WIT]Ordinary quaternion~~ [WIP]Ordinary quaternion Sep 15, 2020

savuor reviewed Sep 16, 2020

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VadimLevin reviewed Oct 21, 2020

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chargerKong added 2 commits October 30, 2020 01:26

move implementation to quaternion.ini.hpp;

da6aeeb

change some constructor to createFrom* function; change Rodrigues vector to rotation vector; change the matexpr to mat of 3x3 return type; improve comments;

try fix log function error in win

1737cbf

savuor reviewed Nov 3, 2020

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savuor reviewed Nov 3, 2020

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add enums for assumeUnit;

91e878e

improve docs; add using std::cos funcs

chargerKong commented Nov 4, 2020

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remove using std::* from header;

1dc124d

add std::* in affine.hpp,warpers_inl.hpp;

alalek reviewed Nov 19, 2020

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alalek added 2 commits November 19, 2020 13:02

quat: coding style

554e177

quat: AssumeType => QuatAssumeType

e5ccc55

- avoid non-proper names in `cv::` namespace - it makes sence to put that into `Quat` class directly, but there are some isses because Quat is template (code becomes too verbose)

alalek approved these changes Nov 19, 2020

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alalek assigned savuor Nov 19, 2020

alalek merged commit 11cfa64 into opencv:master Nov 19, 2020

This was referenced Nov 27, 2020

Merge 4.x #18951

Merged

Convert scipy coordinate system to opencv coordinate system #18964

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