further towards a complete quadrature

TransformationGrid.h

@@ -52,9 +52,9 @@ class TransformationGrid{
 public:
 	__device__ static void d_euler_to_quat(const float3 &euler,float4 &quat);
 	__host__ static void h_euler_to_quat(const float3 &euler,float4 &quat);
-	__host__ static void h_quat_to_euler(const float4 & rotations_quat,float3 &rotations_euler);
+	__host__ static void h_quat_to_euler(const float4 & rotations_quat,float3* const& euler);
 	__host__ static void h_matrix_to_quat(float * const& m,float4 & quaternion);
-	__host__ static void read_matrix_SO3_sampling(const char * file_name,float4 *& h_rotations, uint *& h_num_rotations);
+	__host__ static void read_matrix_SO3_sampling(const char * file_name,float4 *& h_rotations, float3 *& h_rotations_euler, uint *& h_num_rotations);
 	__host__ static void shift_and_scale_envelope_score(float * d_score, float * d_normalized_score,float *d_min, float *d_max, size_t num_scores);
 	__host__ static void shift_and_scale_chamfer_score(float * d_score, float * d_normalized_score,float *d_min, float *d_max, size_t num_scores);
 	TransformationGrid(const std::pair<float3,float3> bounding_box, const float tau, float * const& translation_offset);
@@ -73,11 +73,14 @@ public:
 	float4 * h_translation_offset;
 	float4 * d_translation_offset;
 	float4 * h_rotations;
+	float3 * h_rotations_euler;
 	float4 * d_rotations;
 	float * h_chebychev_nodes;
 	float * d_chebychev_nodes;
 	float * h_chebychev_weights;
 	float * d_chebychev_weights;
+//	float * h_tmp_rot_quadrature_scores;
+	float * d_tmp_rot_quadrature_scores;
 	float * h_scores;
 	float * d_scores;
 	uint * h_num_transformations;
@@ -92,6 +95,7 @@ public:
 	__host__ void refine_translation_grid(uint & i, float * h_translation);
 	__host__ void calculate_current_chebychev_nodes(void);
 	__host__ void gaussian(void);
+	__host__ void quadrature_test_function(void);
 	__host__ void quadrature(float* const &result);
 	__host__ void print_quadrature_weights(void);
 	__host__ void print_quadrature_nodes(void);

ccl_test.cu

@@ -635,10 +635,10 @@ BOOST_AUTO_TEST_CASE(translational_quadrature)
 		float tau = 0.1;
 		float * quadrature_result = (float *) malloc(sizeof(*quadrature_result));
 		TransformationGrid transformation_grid(effective_translational_shift,tau,&trans_offset[0]);
-		transformation_grid.gaussian();
+		transformation_grid.quadrature_test_function();
 		transformation_grid.quadrature(quadrature_result);
 		CudaCheckError();
-		transformation_grid.print_quadrature_nodes();
+//		transformation_grid.print_quadrature_nodes();
 		printf("Transformation num: %u\n",transformation_grid.h_num_transformations[0]);
 		printf("Translation num: %u\n",transformation_grid.h_num_translations[0]);
 		printf("Rotation num: %u\n",transformation_grid.h_num_rotations[0]);

rot_samples/N01_M4_Octa.dat

+9
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+1.	0	0	0	-1.	0	0	0	-1.
+-1.	0	0	0	1.	0	0	0	-1.
+-1.	0	0	0	-1.	0	0	0	1.

rot_samples/N04_M57_C1.dat

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