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Merged branch 'dev_native' into lm_sla_supports_auto

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Added igl library files
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Lukas Matena 2018-10-26 15:45:52 +02:00
commit 7681d00ee5
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src/igl/procrustes.cpp Normal file
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// This file is part of libigl, a simple c++ geometry processing library.
//
// Copyright (C) 2014 Stefan Brugger <stefanbrugger@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 "procrustes.h"
#include "polar_svd.h"
#include "polar_dec.h"
template <
typename DerivedX,
typename DerivedY,
typename Scalar,
typename DerivedR,
typename DerivedT>
IGL_INLINE void igl::procrustes(
const Eigen::PlainObjectBase<DerivedX>& X,
const Eigen::PlainObjectBase<DerivedY>& Y,
bool includeScaling,
bool includeReflections,
Scalar& scale,
Eigen::PlainObjectBase<DerivedR>& R,
Eigen::PlainObjectBase<DerivedT>& t)
{
using namespace Eigen;
assert (X.rows() == Y.rows() && "Same number of points");
assert(X.cols() == Y.cols() && "Points have same dimensions");
// Center data
const VectorXd Xmean = X.colwise().mean();
const VectorXd Ymean = Y.colwise().mean();
MatrixXd XC = X.rowwise() - Xmean.transpose();
MatrixXd YC = Y.rowwise() - Ymean.transpose();
// Scale
scale = 1.;
if (includeScaling)
{
double scaleX = XC.norm() / XC.rows();
double scaleY = YC.norm() / YC.rows();
scale = scaleY/scaleX;
XC *= scale;
assert (std::abs(XC.norm() / XC.rows() - scaleY) < 1e-8);
}
// Rotation
MatrixXd S = XC.transpose() * YC;
MatrixXd T;
if (includeReflections)
{
polar_dec(S,R,T);
}else
{
polar_svd(S,R,T);
}
// R.transposeInPlace();
// Translation
t = Ymean - scale*R.transpose()*Xmean;
}
template <
typename DerivedX,
typename DerivedY,
typename Scalar,
int DIM,
int TType>
IGL_INLINE void igl::procrustes(
const Eigen::PlainObjectBase<DerivedX>& X,
const Eigen::PlainObjectBase<DerivedY>& Y,
bool includeScaling,
bool includeReflections,
Eigen::Transform<Scalar,DIM,TType>& T)
{
using namespace Eigen;
double scale;
MatrixXd R;
VectorXd t;
procrustes(X,Y,includeScaling,includeReflections,scale,R,t);
// Combine
T = Translation<Scalar,DIM>(t) * R * Scaling(scale);
}
template <
typename DerivedX,
typename DerivedY,
typename DerivedR,
typename DerivedT>
IGL_INLINE void igl::procrustes(
const Eigen::PlainObjectBase<DerivedX>& X,
const Eigen::PlainObjectBase<DerivedY>& Y,
bool includeScaling,
bool includeReflections,
Eigen::PlainObjectBase<DerivedR>& S,
Eigen::PlainObjectBase<DerivedT>& t)
{
double scale;
procrustes(X,Y,includeScaling,includeReflections,scale,S,t);
S *= scale;
}
template <
typename DerivedX,
typename DerivedY,
typename DerivedR,
typename DerivedT>
IGL_INLINE void igl::procrustes(
const Eigen::PlainObjectBase<DerivedX>& X,
const Eigen::PlainObjectBase<DerivedY>& Y,
Eigen::PlainObjectBase<DerivedR>& R,
Eigen::PlainObjectBase<DerivedT>& t)
{
procrustes(X,Y,false,false,R,t);
}
template <
typename DerivedX,
typename DerivedY,
typename Scalar,
typename DerivedT>
IGL_INLINE void igl::procrustes(
const Eigen::PlainObjectBase<DerivedX>& X,
const Eigen::PlainObjectBase<DerivedY>& Y,
Eigen::Rotation2D<Scalar>& R,
Eigen::PlainObjectBase<DerivedT>& t)
{
using namespace Eigen;
assert (X.cols() == 2 && Y.cols() == 2 && "Points must have dimension 2");
Matrix2d Rmat;
procrustes(X,Y,false,false,Rmat,t);
R.fromRotationMatrix(Rmat);
}
#ifdef IGL_STATIC_LIBRARY
template void igl::procrustes<Eigen::Matrix<double, 3, 2, 0, 3, 2>, Eigen::Matrix<double, 3, 2, 0, 3, 2>, double, Eigen::Matrix<double, 2, 2, 0, 2, 2>, Eigen::Matrix<double, 2, 1, 0, 2, 1> >(Eigen::PlainObjectBase<Eigen::Matrix<double, 3, 2, 0, 3, 2> > const&, Eigen::PlainObjectBase<Eigen::Matrix<double, 3, 2, 0, 3, 2> > const&, bool, bool, double&, Eigen::PlainObjectBase<Eigen::Matrix<double, 2, 2, 0, 2, 2> >&, Eigen::PlainObjectBase<Eigen::Matrix<double, 2, 1, 0, 2, 1> >&);
#endif