def alignment(self, segpos, debug=0, **kw):
cen1 = segpos[self.from_seg][..., :, 3]
cen2 = segpos[self.to_seg][..., :, 3]
ax1 = segpos[self.from_seg][..., :, 2]
ax2 = segpos[self.to_seg][..., :, 2]
if not self.distinct_axes and hm.angle(ax1, ax2) > np.pi / 2:
ax2 = -ax2
p, q = hm.line_line_closest_points_pa(cen1, ax1, cen2, ax2)
cen = (p + q) / 2
# ax1 = hm.hnormalized(cen1 - cen)
# ax2 = hm.hnormalized(cen2 - cen)
x = hm.align_vectors(ax1, ax2, self.tgtaxis1[1], self.tgtaxis2[1])
x[..., :, 3] = -x @ cen
if debug:
print('angs', hm.angle_degrees(ax1, ax2),
hm.angle_degrees(self.tgtaxis1[1], self.tgtaxis2[1]))
print('ax1', ax1)
print('ax2', ax2)
print('xax1', x @ ax1)
print('tax1', self.tgtaxis1[1])
print('xax2', x @ ax2)
print('tax2', self.tgtaxis2[1])
raise AssertionError
# if not (np.allclose(x @ ax1, self.tgtaxis1[1], atol=1e-2) and
# np.allclose(x @ ax2, self.tgtaxis2[1], atol=1e-2)):
# print(hm.angle(self.tgtaxis1[1], self.tgtaxis2[1]))
# print(hm.angle(ax1, ax2))
# print(x @ ax1)
# print(self.tgtaxis1[1])
# print(x @ ax2)
# print(self.tgtaxis2[1])
# raise AssertionError('hm.align_vectors sucks')
return x
def alignment(self, segpos, out_cell_spacing=False, **kw):
ax = segpos[self.to_seg, :3, 2]
cn = segpos[self.to_seg, :3, 3]
origin = np.array([0, 0, 0])
if self.d_nfold > 2 and self.c_nfold > 2:
mn, mni = 9e9, None
for i, _ in enumerate(self.c_tgt_axis_isect):
c_axis_isects, c_tgt_axis = _
d = hm.numba_line_line_distance_pa(cn, ax, origin,
c_axis_isects)
a = np.arccos(abs(np.sum(c_tgt_axis * ax)))
err = np.sqrt(d**2 + (a * self.lever)**2)
if err < mn:
mn = err
mni = i
c_axis_isects, c_tgt_axis = self.c_tgt_axis_isect[mni]
p, q = hm.line_line_closest_points_pa(cn, ax, origin,
c_axis_isects)
cell_spacing = np.linalg.norm(p + q) / np.sqrt(2) # 2x from p+q
xalign = np.eye(4)
if np.sum(c_axis_isects * q) > 0:
xalign = hm.hrot(hm.hcross(c_axis_isects, c_tgt_axis),
180) @ xalign
xalign = self.aligners[mni] @ xalign
xalign[:3, 3] = self.to_origin * cell_spacing
d = np.linalg.norm(p - q)
a = np.arccos(abs(np.sum(c_tgt_axis * ax)))
carterr2 = d**2
angerr2 = (a * self.lever)**2
if np.sum(c_axis_isects * q) > 0:
print()
print("alignment", d, a * self.lever, self.lever)
print("ax", ax, xalign[:3, :3] @ ax)
print("cn", cn, xalign @ [cn[0], cn[1], cn[2], 1])
print("isect", p)
print("isect", q)
print("cell_spacing", cell_spacing)
print("xalign", hm.axis_angle_of(xalign))
print(xalign)
else:
raise NotImplementedError
if out_cell_spacing:
return xalign, cell_spacing
else:
return xalign
def score(self, segpos, verbosity=False, **kw):
cen1 = segpos[self.from_seg][..., :, 3]
cen2 = segpos[self.to_seg][..., :, 3]
ax1 = segpos[self.from_seg][..., :, 2]
ax2 = segpos[self.to_seg][..., :, 2]
if self.nondistinct_axes:
p, q = hm.line_line_closest_points_pa(cen1, ax1, cen2, ax2)
dist = hm.hnorm(p - q)
cen = (p + q) / 2
ax1c = hm.hnormalized(cen1 - cen)
ax2c = hm.hnormalized(cen2 - cen)
ax1 = np.where(hm.hdot(ax1, ax1c)[..., None] > 0, ax1, -ax1)
ax2 = np.where(hm.hdot(ax2, ax2c)[..., None] > 0, ax2, -ax2)
ang = np.arccos(hm.hdot(ax1, ax2))
else:
dist = hm.line_line_distance_pa(cen1, ax1, cen2, ax2)
ang = np.arccos(np.abs(hm.hdot(ax1, ax2)))
roterr2 = (ang - self.tgtangle)**2
return np.sqrt(roterr2 / self.rot_tol**2 + (dist / self.tolerance)**2)
def alignment(self, segpos, out_cell_spacing=False, **kw):
ax = segpos[self.to_seg, :3, 2]
cn = segpos[self.to_seg, :3, 3]
if self.d_nfold > 2 and self.c_nfold > 2:
mn, mni = 9e9, -1
for i, tf in enumerate(self.d_2folds):
d = hm.line_line_distance_pa(cn, ax, [0, 0, 0], tf)
if d < mn:
mn, mni = d, i
p, q = hm.line_line_closest_points_pa(cn, ax, [0, 0, 0],
self.d_2folds[mni])
spacing = np.linalg.norm(p + q) / 2
xalign = hm.align_vectors([0, 0, 1], q, [0, 0, 1], [1, 0, 0])
elif self.d_nfold > 2 and self.c_nfold == 2:
if abs(ax[2]) > 0.5:
# case: c2 on z pick d2 isects axis
mn, mni = 9e9, -1
for i, tf in enumerate(self.d_2folds):
d = hm.line_line_distance_pa(cn, ax, [0, 0, 0], tf)
if d < mn:
mn, mni = d, i
p, q = hm.line_line_closest_points_pa(cn, ax, [0, 0, 0],
self.d_2folds[mni])
spacing = np.linalg.norm(p + q) / 2
xalign = hm.align_vectors([0, 0, 1], q, [0, 0, 1], [1, 0, 0])
else:
# case: c2 prep to z, pick D2 perp to axis
mn, mni = 9e9, -1
for i, tf in enumerate(self.d_2folds):
d = abs(np.sum(tf * ax))
if d < mn:
mn, mni = d, i
p, q = hm.line_line_closest_points_pa(cn, ax, [0, 0, 0],
self.d_2folds[mni])
spacing = np.linalg.norm(p + q) / 2
xalign = hm.align_vectors([0, 0, 1], q, [0, 0, 1], [1, 0, 0])
elif self.d_nfold == 2 and self.c_nfold > 2:
mn, mni = 9e9, -1
mxdot, mxdoti = 0, -1
for i, tf in enumerate(self.d_2folds):
d = hm.line_line_distance_pa(cn, ax, [0, 0, 0], tf)
if d < mn:
mn, mni = d, i
dot = abs(np.sum(tf * ax))
if dot > mxdot:
mxdot, mxdoti = dot, i
assert mni != mxdoti
p, q = hm.line_line_closest_points_pa(cn, ax, [0, 0, 0],
self.d_2folds[mni])
spacing = np.linalg.norm(p + q) / 2
# assumes d_folds are X Y Z ax[argmin] selects correct one
xalign = hm.align_vectors(self.d_2folds[mni],
self.d_2folds[mxdoti], [1, 0, 0],
[0, 0, 1])
# print("cn", cn)
# print("ax", ax)
# print("isect", self.d_2folds[mni])
# print("align", self.d_2folds[mxdoti])
# print("align xform", xalign)
# print("aligned ax", xalign[:3, :3] @ ax)
# assert 0
elif self.d_nfold == 2 and self.c_nfold == 2:
mn, mni = 9e9, -1
for i, tf in enumerate(self.d_2folds):
d = hm.line_line_distance_pa(cn, ax, [0, 0, 0],
self.d_2diag[i])
dot = abs(np.sum(tf * ax))
angerr2 = (np.arccos(dot) * self.lever)**2
err = np.sqrt(d**2 + angerr2)
if err < mn:
mn = err
mni = i
p, q = hm.line_line_closest_points_pa(cn, ax, [0, 0, 0],
self.d_2diag[mni])
spacing = np.linalg.norm(p + q) / 2 / np.sqrt(2)
# assumes d_folds are X Y Z ax[argmin] selects correct one
xalign = hm.align_vectors(self.d_2diag[mni], self.d_2folds[mni],
[1, 1, 0], [0, 0, 1])
else:
raise NotImplementedError
if out_cell_spacing:
return xalign, spacing
else:
return xalign
