d3/align.h

   1 // Copyright 2003 David Hilvert <dhilvert@auricle.dyndns.org>,
   2 //                              <dhilvert@ugcs.caltech.edu>
   3
   4 /*  This file is part of the Anti-Lamenessing Engine.
   5
   6     The Anti-Lamenessing Engine is free software; you can redistribute it and/or modify
   7     it under the terms of the GNU General Public License as published by
   8     the Free Software Foundation; either version 3 of the License, or
   9     (at your option) any later version.
  10
  11     The Anti-Lamenessing Engine is distributed in the hope that it will be useful,
  12     but WITHOUT ANY WARRANTY; without even the implied warranty of
  13     MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
  14     GNU General Public License for more details.
  15
  16     You should have received a copy of the GNU General Public License
  17     along with the Anti-Lamenessing Engine; if not, write to the Free Software
  18     Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA  02111-1307  USA
  19 */
  20
  21 /*
  22  * d3/align.h: Handle alignment of view pyramids.
  23  *
  24  * XXX: this class assumes that the view volume is a right rectangular-based
  25  * pyramid, which holds for most photographic situations.
  26  *
  27  * XXX: this class assumes that the horizontal and vertical angles of the view
  28  * volume pyramid are proportional to the horizontal and vertical pixel
  29  * resolutions.
  30  */
  31
  32 #ifndef __d3align_h__
  33 #define __d3align_h__
  34
  35 #include "point.h"
  36 #include "et.h"
  37 #include "pt.h"
  38 #include "tfile.h"
  39
  40 class align {
  41         static ale_pos _init_angle;
  42         static et *alignment_array;
  43         static int _vp_adjust;
  44         static int _vo_adjust;
  45         static tload_t *tload;
  46         static tsave_t *tsave;
  47
  48         /*
  49          * Estimate the point at which the pyramidal axis passes through the
  50          * plane, based on the given 2-dimensional transformation and the given
  51          * point set indicating the corners of the quadrilateral of
  52          * intersection.  (Both transformation and point set alone are
  53          * sufficient for calculation.)
  54          *
  55          * Using the point set, the desired point is exactly the point of
  56          * intersection between line segments drawn between opposite corners of
  57          * the quadrilateral of intersection.  The algebraic details of this
  58          * calculation are desribed below.
  59          *
  60          * If we represent the desired point by (e1, e2), and the four corners
  61          * of the quadrilateral of intersection by (a1, a2), ..., (d1, d2) in
  62          * clockwise (or counter-clockwise) order, then we get the two-equation
  63          * vector system (implicitly four equations)
  64          *
  65          * (e1, e2) = (a1, a2) + x[(c1, c2) - (a1, a2)]
  66          *          = (b1, b2) + y[(d1, d2) - (b1, b2)]
  67          *
  68          * Solving for x in terms of y, we get the two-equation system
  69          *
  70          * x = (b1 - yb1 + yd1 - a1) / (c1 - a1)
  71          *   = (b2 - yb2 + yd2 - a2) / (c2 - a2)
  72          *
  73          * And
  74          *
  75          * y = (c1b2 - c1a2 - a1b2 - c2b1 + c2a1 - a2b1)
  76          *   /(-c2b1 + c2d1 + a2b1 - a2d1 + c1b2 - c1d2 - a1b2 + a1d2)
  77          *
  78          * However, it's much easier just to project the center point of the
  79          * source image onto the quadrilateral of intersection using the
  80          * given 2-dimensional transformation.
  81          */
  82         static d2::point axis_intersection(d2::point a, d2::point b, d2::point c, d2::point d, d2::transformation t) {
  83 #if 0
  84                 ale_pos y = (c[0]*b[1] - c[0]*a[1] - a[0]*b[1] - c[1]*b[0]
  85                            + c[1]*a[0] - a[1]*b[0])
  86                           /(-c[1]*b[0] + c[1]*d[0] + a[1]*b[0] - a[1]*d[0]
  87                            + c[0]*b[1] - c[0]*d[1] - a[0]*b[1] + a[0]*d[1]);
  88
  89                 return b + y * (d - b);
  90 #else
  91                 return t.transform_scaled(d2::point((t.scaled_height() - 1) / 2, (t.scaled_width() - 1) / 2));
  92 #endif
  93         }
  94
  95         /*
  96          * gd_position is a gradient-descent automatic positioning algorithm
  97          * used to determine the location of the view pyramid apex.
  98          *
  99          * Starting from an initial camera position ESTIMATE, this method
 100          * determines the angles between each pair of legs in the view volume
 101          * (there are six pairs).  The sum of squares of the differences
 102          * between the thusly determined angles and the known desired angles is
 103          * then used as an error metric, and a kind of gradient descent is used
 104          * to find a position for which this metric is minimized.
 105          */
 106         static point gd_position(point estimate, d2::point a, d2::point b, d2::point c, d2::point d, d2::transformation t) {
 107                 ale_pos w = t.scaled_width();
 108                 ale_pos h = t.scaled_height();
 109
 110                 /*
 111                  * The desired diagonal angle is given (as init_angle).
 112                  * Calculate the desired side angles as follows:
 113                  *
 114                  * The distance to the apex is
 115                  *
 116                  *      D = sqrt(h*h + w*w) / (2 * tan(init_angle/2))
 117                  *
 118                  * Then
 119                  *
 120                  *      desired_h_angle = 2 * arctan(h / (2 * sqrt(D*D + w*w/4)))
 121                  *      desired_w_angle = 2 * arctan(w / (2 * sqrt(D*D + h*h/4)))
 122                  */
 123
 124                 ale_pos D = (ale_pos) sqrt(h * h + w * w)
 125                                  / (ale_pos) (2 * tan(_init_angle/2));
 126                 ale_pos desired_h_angle = (double) (2 * atan((double) ((double) h / (2 * sqrt((double) (D*D) + (double) (w*w)/4)))));
 127                 ale_pos desired_w_angle = (double) (2 * atan((double) ((double) w / (2 * sqrt((double) (D*D) + (double) (h*h)/4)))));
 128
 129                 ale_pos estimate_h1_angle = estimate.anglebetw(a, b);
 130                 ale_pos estimate_h2_angle = estimate.anglebetw(c, d);
 131                 ale_pos estimate_w1_angle = estimate.anglebetw(a, d);
 132                 ale_pos estimate_w2_angle = estimate.anglebetw(b, c);
 133                 ale_pos estimate_d1_angle = estimate.anglebetw(a, c);
 134                 ale_pos estimate_d2_angle = estimate.anglebetw(b, d);
 135
 136                 ale_pos error = sqrt(pow(estimate_h1_angle - desired_h_angle, 2)
 137                                    + pow(estimate_h2_angle - desired_h_angle, 2)
 138                                    + pow(estimate_w1_angle - desired_w_angle, 2)
 139                                    + pow(estimate_w2_angle - desired_w_angle, 2)
 140                                    + pow(estimate_d1_angle - _init_angle    , 2)
 141                                    + pow(estimate_d2_angle - _init_angle    , 2));
 142
 143                 /*
 144                  * Vary the magnitude by which each coordinate of the position
 145                  * can be changed at each step.
 146                  */
 147
 148                 ale_pos view_angle = _init_angle;
 149
 150                 for (ale_pos magnitude = estimate[2] / 2;
 151                         magnitude >= 1;
 152                         magnitude /= 2) {
 153
 154                         /*
 155                          * Continue searching at this magnitude while error <
 156                          * old_error.  (Initialize old_error accordingly.)
 157                          */
 158
 159                         ale_pos old_error = error * 2;
 160
 161                         while(old_error > error) {
 162
 163 //                              ale_pos D = sqrt(h * h + w * w)
 164 //                                               / (2 * tan(view_angle/2));
 165 //                              ale_pos desired_h_angle = 2 * atan(h / (2 * sqrt(D*D + w*w/4)));
 166 //                              ale_pos desired_w_angle = 2 * atan(w / (2 * sqrt(D*D + h*h/4)));
 167
 168 //                              fprintf(stderr, ".");
 169
 170
 171 //                              fprintf(stderr, "estimate: [%f %f %f %f %f %f]\n",
 172 //                                              estimate_h1_angle,
 173 //                                              estimate_h2_angle,
 174 //                                              estimate_w1_angle,
 175 //                                              estimate_w2_angle,
 176 //                                              estimate_d1_angle,
 177 //                                              estimate_d2_angle);
 178 //
 179 //                              fprintf(stderr, "desired : [%f %f %f]\n",
 180 //                                              desired_h_angle,
 181 //                                              desired_w_angle,
 182 //                                              view_angle);
 183
 184                                 old_error = error;
 185
 186                                 for (ale_pos c0 = -magnitude; c0 <= magnitude; c0 += magnitude)
 187                                 for (ale_pos c1 = -magnitude; c1 <= magnitude; c1 += magnitude)
 188                                 for (ale_pos c2 = -magnitude; c2 <= magnitude; c2 += magnitude)
 189                                 for (ale_pos c3 = -magnitude; c3 <= magnitude; c3 += magnitude) {
 190
 191                                         if (c3 > 10)
 192                                                 c3 = 10;
 193
 194                                         // fprintf(stderr, "[%f %f %f]\n", c0, c1, c2);
 195
 196                                         estimate[0] += c0;
 197                                         estimate[1] += c1;
 198                                         estimate[2] += c2;
 199                                         // view_angle += c3 / 30;
 200
 201                                         ale_pos D = (ale_pos) sqrt(h * h + w * w)
 202                                                          / (ale_pos) (2 * tan(view_angle/2));
 203                                         ale_pos desired_h_angle = 2 * atan((double) h / (2 * sqrt((double) (D*D) + (double) (w*w)/4)));
 204                                         ale_pos desired_w_angle = 2 * atan((double) w / (2 * sqrt((double) D*D + (double) h*h/4)));
 205
 206                                         estimate_h1_angle = estimate.anglebetw(a, b);
 207                                         estimate_h2_angle = estimate.anglebetw(c, d);
 208                                         estimate_w1_angle = estimate.anglebetw(a, d);
 209                                         estimate_w2_angle = estimate.anglebetw(b, c);
 210                                         estimate_d1_angle = estimate.anglebetw(a, c);
 211                                         estimate_d2_angle = estimate.anglebetw(b, d);
 212
 213                                         ale_pos perturbed_error =
 214                                                         sqrt(pow(estimate_h1_angle - desired_h_angle, 2)
 215                                                            + pow(estimate_h2_angle - desired_h_angle, 2)
 216                                                            + pow(estimate_w1_angle - desired_w_angle, 2)
 217                                                            + pow(estimate_w2_angle - desired_w_angle, 2)
 218                                                            + pow(estimate_d1_angle - view_angle    , 2)
 219                                                            + pow(estimate_d2_angle - view_angle    , 2));
 220
 221                                         if (perturbed_error < error) {
 222                                                 error = perturbed_error;
 223                                         } else {
 224                                                 estimate[0] -= c0;
 225                                                 estimate[1] -= c1;
 226                                                 estimate[2] -= c2;
 227                                                 // view_angle -= c3 / 30;
 228                                         }
 229                                 }
 230                         }
 231                 }
 232
 233 //              fprintf(stderr, "error %f\n", error);
 234
 235
 236                 return estimate;
 237         }
 238
 239 public:
 240
 241         /*
 242          * Get alignment for frame N.
 243          */
 244         static et of(unsigned int n) {
 245                 assert (n < d2::image_rw::count());
 246                 assert (alignment_array);
 247
 248                 return alignment_array[n];
 249         }
 250
 251         static double angle_of(unsigned int n) {
 252                 return _init_angle;
 253         }
 254
 255         static pt projective(unsigned int n) {
 256                 return pt(d2::align::of(n), of(n), angle_of(n));
 257         }
 258
 259         static void set_tload(tload_t *t) {
 260                 tload = t;
 261         }
 262
 263         static void set_tsave(tsave_t *t) {
 264                 tsave = t;
 265         }
 266
 267         static void write_alignments() {
 268                 int count = d2::image_rw::count();
 269
 270                 if (count > 0)
 271                         tsave_first(tsave, projective(0));
 272
 273                 for (int i = 1; i < count; i++) {
 274                         tsave_next(tsave, projective(i));
 275                 }
 276         }
 277
 278         static void vp_adjust() {
 279                 _vp_adjust = 1;
 280         }
 281
 282         static void vp_noadjust() {
 283                 _vp_adjust = 0;
 284         }
 285
 286         static void vo_adjust() {
 287                 _vo_adjust = 1;
 288         }
 289
 290         static void vo_noadjust() {
 291                 _vo_adjust = 0;
 292         }
 293
 294         /*
 295          * Set the initial estimated diagonal viewing angle of the view
 296          * pyramid.  This is the angle formed, e.g., between the top-left and
 297          * bottom-right legs of the view pyramid.
 298          */
 299         static void init_angle(ale_pos a) {
 300                 _init_angle = a;
 301         }
 302
 303         /*
 304          * Initialize d3 transformations from d2 transformations.
 305          *
 306          * Here are three possible approaches for calculating camera position
 307          * based on a known diagonal viewing angle and known area of
 308          * intersection of the view volume with a fixed plane:
 309          *
 310          * (1) divide the rectangular-based pyramidal view volume into two
 311          * tetrahedra.  A coordinate system is selected so that the triangle of
 312          * intersection between one of the tetrahedra and the fixed plane has
 313          * coordinates (0, 0, 0), (1, 0, 0), and (a, b, 0), for some (a, b).
 314          * The law of cosines is then used to derive three equations
 315          * associating the three known angles at the apex with the lengths of
 316          * the edges of the tetrahedron.  The solution of this system of
 317          * equations gives the coordinates of the apex in terms of a, b, and
 318          * the known angles.  These coordinates are then transformed back to
 319          * the original coordinate system.
 320          *
 321          * (2) The gradient descent approach taken by the method gd_position().
 322          *
 323          * (3) Assume that the camera is aimed (roughly) perpendicular to the
 324          * plane.  In this case, the pyramidal axis forms with each adjacent
 325          * pyramidal edge, in combination with a segment in the plane, a right
 326          * triangle.  The distance of the camera from the plane is d/(2 *
 327          * tan(theta/2)), where d is the distance between opposite corners of
 328          * the quadrilateral of intersection and theta is the angle between
 329          * opposite pairs of edges of the view volume.
 330          *
 331          * As an initial approach to the problem, we use (3) followed by (2).
 332          *
 333          * After position is estimated, we determine orientation from position.
 334          * In order to do this, we determine the point at which the axis of
 335          * the view pyramid passes through the plane, as described in the
 336          * method axis_intersection().
 337          */
 338
 339         static void init_from_d2() {
 340                 assert (alignment_array == NULL);
 341
 342                 /*
 343                  * Initialize the alignment array.
 344                  */
 345
 346                 alignment_array = (et *) malloc (d2::image_rw::count() * sizeof(et));
 347
 348                 assert (alignment_array);
 349
 350                 if (!alignment_array) {
 351                         fprintf(stderr, "\n\n*** Unable to allocate memory for 3D alignment array. ***\n\n");
 352                         exit(1);
 353                 }
 354
 355                 /*
 356                  * Iterate over input frames
 357                  */
 358
 359                 for (unsigned int i = 0; i < d2::image_rw::count(); i++) {
 360
 361                         /*
 362                          * Obtain the four mapped corners of the quadrilateral
 363                          * of intersection.
 364                          */
 365
 366                         d2::transformation t = d2::align::of(i);
 367
 368                         d2::point a = t.transform_scaled(d2::point(0, 0));
 369                         d2::point b = t.transform_scaled(d2::point(t.scaled_height() - 1, 0));
 370                         d2::point c = t.transform_scaled(d2::point(t.scaled_height() - 1, t.scaled_width() - 1));
 371                         d2::point d = t.transform_scaled(d2::point(0, t.scaled_width() - 1));
 372
 373                         /*
 374                          * Estimate the point at which the pyramidal axis
 375                          * passes through the plane.  We denote the point as
 376                          * 'e'.
 377                          */
 378
 379                         d2::point e = axis_intersection(a, b, c, d, t);
 380
 381                         /*
 382                          * Determine the average distance between opposite
 383                          * corners, and calculate the distance to the camera
 384                          * based on method (3) described above.
 385                          */
 386
 387                         ale_pos dist1 = sqrt((a[0] - c[0])
 388                                            * (a[0] - c[0])
 389                                           +  (a[1] - c[1])
 390                                            * (a[1] - c[1]));
 391
 392                         ale_pos dist2 = sqrt((b[0] - d[0])
 393                                            * (b[0] - d[0])
 394                                           +  (b[1] - d[1])
 395                                            * (b[1] - d[1]));
 396
 397                         ale_pos avg_dist = (dist1 + dist2) / 2;
 398
 399
 400                         ale_pos tangent = tan(_init_angle / 2);
 401
 402                         ale_pos distance = avg_dist / (2 * tangent);
 403
 404                         /*
 405                          * Set the position of the camera based on the estimate
 406                          * from method (3).  This is used as the initial
 407                          * position for method (2).  We assume that the camera
 408                          * is placed so that its 0 and 1 coordinates match those
 409                          * of e.
 410                          */
 411
 412                         point estimate;
 413
 414                         estimate[0] = e[0];
 415                         estimate[1] = e[1];
 416                         estimate[2] = distance;
 417
 418                         // fprintf(stderr, "position (n=%d) %f %f %f\n", i, estimate[0], estimate[1], estimate[2]);
 419
 420                         /*
 421                          * Perform method (2).
 422                          */
 423
 424                         estimate = gd_position(estimate, a, b, c, d, t);
 425
 426                         // fprintf(stderr, ".");
 427
 428                         /*
 429                          * Assign transformation values based on the output of
 430                          * method (2), by modifying transformation parameters
 431                          * from the identity transformation.
 432                          */
 433
 434                         alignment_array[i] = et::identity();
 435
 436                         // fprintf(stderr, "position (n=%d) %f %f %f\n", i, estimate[0], estimate[1], estimate[2]);
 437
 438                         /*
 439                          * Modify translation values, if desired.
 440                          */
 441
 442                         if (_vp_adjust) {
 443                                 alignment_array[i].modify_translation(0, -estimate[0]);
 444                                 alignment_array[i].modify_translation(1, -estimate[1]);
 445                                 alignment_array[i].modify_translation(2, -estimate[2]);
 446                         } else {
 447
 448                                 /*
 449                                  * Establish a default translation value.
 450                                  */
 451
 452                                 alignment_array[i].modify_translation(2, -1);
 453                         }
 454
 455                         /*
 456                          * Load any transformations.
 457                          */
 458
 459                         if (i == 0) {
 460                                 int is_default;
 461                                 pt p = tload_first(tload, projective(i), &is_default);
 462                                 alignment_array[i] = p.e();
 463                                 _init_angle = p.view_angle();
 464                         } else {
 465                                 int is_default;
 466                                 pt p = tload_next(tload, projective(i), &is_default);
 467                                 alignment_array[i] = p.e();
 468
 469                                 if (p.view_angle() != _init_angle) {
 470                                         fprintf(stderr, "Error: variation in view angle is not currently supported.\n");
 471                                         exit(1);
 472                                 }
 473                         }
 474
 475                         /*
 476                          * Assert that the z-axis translation is nonzero.  This
 477                          * is important for determining rotation values.
 478                          */
 479
 480                         assert (estimate[2] != 0);
 481
 482                         /*
 483                          * Check whether rotation adjustment must proceed.
 484                          */
 485
 486                         if (!_vo_adjust) {
 487                                 continue;
 488                         }
 489
 490                         /*
 491                          * Modify rotation values
 492                          *
 493                          * The axis of the view pyramid should be mapped onto
 494                          * the z-axis.  Hence, the point of intersection
 495                          * between the world-coordinates xy-plane and the axis
 496                          * of the pyramid should occur at (0, 0) in local x-y
 497                          * coordinates.
 498                          *
 499                          * If we temporarily assume no rotation about the
 500                          * z-axis (e2 == 0), then the Euler angles (e0, e1, e2)
 501                          * used to determine rotation give us:
 502                          *
 503                          *         x' = x cos e1 - (z cos e0 - y sin e0) sin e1
 504                          *         y' = y cos e0 + z sin e0
 505                          *         z' = (z cos e0 - y sin e0) cos e1 + x sin e1
 506                          *
 507                          * Setting x' = y' = 0, we get:
 508                          *
 509                          *         e0 = arctan (-y/z)
 510                          *         e1 = arctan (x/(z cos e0 - y sin e0))
 511                          *              [optionally add pi to achieve z' < 0]
 512                          *
 513                          * To set e2, taking T to be the 3D transformation as a
 514                          * function of e2, we first ensure that
 515                          *
 516                          *      tan(T(e2, a)[1] / T(e2, a)[0])
 517                          *    ==
 518                          *      tan(width / height)
 519                          *
 520                          * by assigning
 521                          *
 522                          *      e2 += tan(width / height)
 523                          *          - tan(T(e2, a)[1] / T(e2, a)[0])
 524                          *
 525                          * Once this condition is satisfied, we conditionally
 526                          * assign
 527                          *
 528                          *      e2 += pi
 529                          *
 530                          * to ensure that
 531                          *
 532                          *      T(e2, a)[0] < 0
 533                          *      T(e2, a)[1] < 0
 534                          *
 535                          * which places the transformed point in the lower-left
 536                          * quadrant.  This is correct, since point A is mapped
 537                          * from (0, 0), the most negative point in the image.
 538                          */
 539
 540                         point e_translated = alignment_array[i](e);
 541
 542 //                      fprintf(stderr, "axis-intersection (n=%d) e1 %f e0 %f e_t1 %f e_t0 %f e_t2 %f\n",
 543 //                              i,
 544 //                              e[1],
 545 //                              e[0],
 546 //                              alignment_array[i](e)[1],
 547 //                              alignment_array[i](e)[0],
 548 //                              alignment_array[i](e)[2]);
 549 //
 550 //                      fprintf(stderr, "camera origin (n=%d) o1 %f o0 %f o2 %f o_t1 %f o_t0 %f o_t2 %f\n",
 551 //                              i,
 552 //                              estimate[1],
 553 //                              estimate[0],
 554 //                              estimate[2],
 555 //                              alignment_array[i](estimate)[1],
 556 //                              alignment_array[i](estimate)[0],
 557 //                              alignment_array[i](estimate)[2]);
 558
 559                         ale_pos e0 = atan(-e_translated[1] / e_translated[2]);
 560                         ale_pos e1 = atan((double) e_translated[0]
 561                                         / ((double) e_translated[2] * cos(e0)
 562                                          - (double) e_translated[1] * sin(e0)));
 563
 564                         alignment_array[i].modify_rotation(0, e0);
 565                         alignment_array[i].modify_rotation(1, e1);
 566
 567                         if (alignment_array[i](e)[2] > 0)
 568                                 alignment_array[i].modify_rotation(1, M_PI);
 569
 570 //                      fprintf(stderr, "axis-intersection (n=%d) e1 %f e0 %f e_t1 %f e_t0 %f e_t2 %f\n",
 571 //                              i,
 572 //                              e[1],
 573 //                              e[0],
 574 //                              alignment_array[i](e)[1],
 575 //                              alignment_array[i](e)[0],
 576 //                              alignment_array[i](e)[2]);
 577 //
 578 //                      fprintf(stderr, "camera origin (n=%d) o_t1 %f o_t0 %f o_t2 %f\n",
 579 //                              i,
 580 //                              alignment_array[i](estimate)[1],
 581 //                              alignment_array[i](estimate)[0],
 582 //                              alignment_array[i](estimate)[2]);
 583
 584                         point a_transformed = alignment_array[i](a);
 585
 586                         ale_pos e2 = atan((t.scaled_width() - 1) / (t.scaled_height() - 1))
 587                                    - atan(a_transformed[1] / a_transformed[0]);
 588
 589 //                      fprintf(stderr, "a components (n=%d) a1 %f a0 %f\n", i, a[1], a[0]);
 590 //                      fprintf(stderr, "e2 components (n=%d) tw %f th %f a_t1 %f a_t0 %f\n", i,
 591 //                                      t.scaled_width(), t.scaled_height(), a_transformed[1], a_transformed[0]);
 592
 593                         alignment_array[i].modify_rotation(2, e2);
 594
 595 //                      fprintf(stderr, "rotation (n=%d) e0 %f e1 %f e2 %f\n", i, e0, e1, e2);
 596
 597                         if (alignment_array[i](a)[0] > 0) {
 598                                 e2 += M_PI;
 599                                 alignment_array[i].modify_rotation(2, M_PI);
 600
 601                                 // fprintf(stderr, "adding 2pi to e2.");
 602                         }
 603
 604                         // fprintf(stderr, "rotation (n=%d) e0 %f e1 %f e2 %f\n", i, e0, e1, e2);
 605
 606 //                      fprintf(stderr, "(0, 0) output (n=%d) a1 %f a0 %f a_t1 %f a_t0 %f\n",
 607 //                              i,
 608 //                              a[1],
 609 //                              a[0],
 610 //                              alignment_array[i](a)[1],
 611 //                              alignment_array[i](a)[0]);
 612
 613                         assert (alignment_array[i](a)[0] < 0);
 614                         assert (alignment_array[i](a)[1] < 0);
 615                 }
 616         }
 617
 618         static void adjust_translation(unsigned int n, int d, ale_pos x) {
 619                 alignment_array[n].modify_translation(d, x);
 620         }
 621
 622         static void adjust_rotation(unsigned int n, int d, ale_pos x) {
 623                 alignment_array[n].modify_rotation(d, x);
 624         }
 625
 626         static void set_translation(unsigned int n, int d, ale_pos x) {
 627                 alignment_array[n].set_translation(d, x);
 628         }
 629
 630         static void set_rotation(unsigned int n, int d, ale_pos x) {
 631                 alignment_array[n].set_rotation(d, x);
 632         }
 633
 634         static void adjust_view_angle(ale_pos x) {
 635                 _init_angle += x;
 636         }
 637
 638         static void set_view_angle(ale_pos x) {
 639                 _init_angle = x;
 640         }
 641 };
 642
 643 #endif