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Merged branch 'dev_native' into lm_sla_supports_auto

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Added igl library files
This commit is contained in:
Lukas Matena 2018-10-26 15:45:52 +02:00
commit 7681d00ee5
2865 changed files with 142806 additions and 22325 deletions
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src/igl/polar_svd3x3.cpp Normal file
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// This file is part of libigl, a simple c++ geometry processing library.
//
// Copyright (C) 2013 Alec Jacobson <alecjacobson@gmail.com>
//
// This Source Code Form is subject to the terms of the Mozilla Public License
// v. 2.0. If a copy of the MPL was not distributed with this file, You can
// obtain one at http://mozilla.org/MPL/2.0/.
#include "polar_svd3x3.h"
#include "svd3x3.h"
#ifdef __SSE__
# include "svd3x3_sse.h"
#endif
#ifdef __AVX__
# include "svd3x3_avx.h"
#endif
template<typename Mat>
IGL_INLINE void igl::polar_svd3x3(const Mat& A, Mat& R)
{
// should be caught at compile time, but just to be 150% sure:
assert(A.rows() == 3 && A.cols() == 3);
Eigen::Matrix<typename Mat::Scalar, 3, 3> U, Vt;
Eigen::Matrix<typename Mat::Scalar, 3, 1> S;
svd3x3(A, U, S, Vt);
R = U * Vt.transpose();
}
#ifdef __SSE__
template<typename T>
IGL_INLINE void igl::polar_svd3x3_sse(const Eigen::Matrix<T, 3*4, 3>& A, Eigen::Matrix<T, 3*4, 3> &R)
{
// should be caught at compile time, but just to be 150% sure:
assert(A.rows() == 3*4 && A.cols() == 3);
Eigen::Matrix<T, 3*4, 3> U, Vt;
Eigen::Matrix<T, 3*4, 1> S;
svd3x3_sse(A, U, S, Vt);
for (int k=0; k<4; k++)
{
R.block(3*k, 0, 3, 3) = U.block(3*k, 0, 3, 3) * Vt.block(3*k, 0, 3, 3).transpose();
}
//// test:
//for (int k=0; k<4; k++)
//{
// Eigen::Matrix3f Apart = A.block(3*k, 0, 3, 3);
// Eigen::Matrix3f Rpart;
// polar_svd3x3(Apart, Rpart);
// Eigen::Matrix3f Rpart_SSE = R.block(3*k, 0, 3, 3);
// Eigen::Matrix3f diff = Rpart - Rpart_SSE;
// float diffNorm = diff.norm();
// int hu = 1;
//}
//// eof test
}
#endif
#ifdef __AVX__
template<typename T>
IGL_INLINE void igl::polar_svd3x3_avx(const Eigen::Matrix<T, 3*8, 3>& A, Eigen::Matrix<T, 3*8, 3> &R)
{
// should be caught at compile time, but just to be 150% sure:
assert(A.rows() == 3*8 && A.cols() == 3);
Eigen::Matrix<T, 3*8, 3> U, Vt;
Eigen::Matrix<T, 3*8, 1> S;
svd3x3_avx(A, U, S, Vt);
for (int k=0; k<8; k++)
{
R.block(3*k, 0, 3, 3) = U.block(3*k, 0, 3, 3) * Vt.block(3*k, 0, 3, 3).transpose();
}
// test:
for (int k=0; k<8; k++)
{
Eigen::Matrix3f Apart = A.block(3*k, 0, 3, 3);
Eigen::Matrix3f Rpart;
polar_svd3x3(Apart, Rpart);
Eigen::Matrix3f Rpart_SSE = R.block(3*k, 0, 3, 3);
Eigen::Matrix3f diff = Rpart - Rpart_SSE;
float diffNorm = diff.norm();
if (std::abs(diffNorm) > 0.001)
{
printf("Huh: diffNorm = %15f (k = %i)\n", diffNorm, k);
}
// Unused
//int hu = 1;
}
// eof test
}
#endif
#ifdef IGL_STATIC_LIBRARY
// Explicit template instantiation
template void igl::polar_svd3x3<Eigen::Matrix<double, 3, 3, 0, 3, 3> >(Eigen::Matrix<double, 3, 3, 0, 3, 3> const&, Eigen::Matrix<double, 3, 3, 0, 3, 3>&);
template void igl::polar_svd3x3<Eigen::Matrix<float,3,3,0,3,3> >(Eigen::Matrix<float,3,3,0,3,3> const &,Eigen::Matrix<float,3,3,0,3,3> &);
#ifdef __SSE__
template void igl::polar_svd3x3_sse<float>(Eigen::Matrix<float, 12, 3, 0, 12, 3> const&, Eigen::Matrix<float, 12, 3, 0, 12, 3>&);
#endif
#ifdef __AVX__
template void igl::polar_svd3x3_avx<float>(Eigen::Matrix<float, 24, 3, 0, 24, 3> const&, Eigen::Matrix<float, 24, 3, 0, 24, 3>&);
#endif
#endif