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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.h 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/.
#ifndef IGL_PROCRUSTES_H
#define IGL_PROCRUSTES_H
#include "igl_inline.h"
#include <Eigen/Dense>
#include <Eigen/Geometry>
namespace igl
{
// Solve Procrustes problem in d dimensions. Given two point sets X,Y in R^d
// find best scale s, orthogonal R and translation t s.t. |s*X*R + t - Y|^2
// is minimized.
//
// Templates:
// DerivedV point type
// Scalar scalar type
// DerivedR type of R
// DerivedT type of t
// Inputs:
// X #V by DIM first list of points
// Y #V by DIM second list of points
// includeScaling if scaling should be allowed
// includeReflections if R is allowed to be a reflection
// Outputs:
// scale scaling
// R orthogonal matrix
// t translation
//
// Example:
// MatrixXd X, Y; (containing 3d points as rows)
// double scale;
// MatrixXd R;
// VectorXd t;
// igl::procrustes(X,Y,true,false,scale,R,t);
// R *= scale;
// MatrixXd Xprime = (X * R).rowwise() + t.transpose();
//
template <
typename DerivedX,
typename DerivedY,
typename Scalar,
typename DerivedR,
typename DerivedT>
IGL_INLINE void 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);
// Same as above but returns Eigen transformation object.
//
// Templates:
// DerivedV point type
// Scalar scalar type
// DIM point dimension
// TType type of transformation
// (Isometry,Affine,AffineCompact,Projective)
// Inputs:
// X #V by DIM first list of points
// Y #V by DIM second list of points
// includeScaling if scaling should be allowed
// includeReflections if R is allowed to be a reflection
// Outputs:
// T transformation that minimizes error
//
// Example:
// MatrixXd X, Y; (containing 3d points as rows)
// AffineCompact3d T;
// igl::procrustes(X,Y,true,false,T);
// MatrixXd Xprime = (X * T.linear()).rowwise() + T.translation().transpose();
template <
typename DerivedX,
typename DerivedY,
typename Scalar,
int DIM,
int TType>
IGL_INLINE void procrustes(
const Eigen::PlainObjectBase<DerivedX>& X,
const Eigen::PlainObjectBase<DerivedY>& Y,
bool includeScaling,
bool includeReflections,
Eigen::Transform<Scalar,DIM,TType>& T);
// Convenient wrapper that returns S=scale*R instead of scale and R separately
template <
typename DerivedX,
typename DerivedY,
typename DerivedR,
typename DerivedT>
IGL_INLINE void procrustes(
const Eigen::PlainObjectBase<DerivedX>& X,
const Eigen::PlainObjectBase<DerivedY>& Y,
bool includeScaling,
bool includeReflections,
Eigen::PlainObjectBase<DerivedR>& S,
Eigen::PlainObjectBase<DerivedT>& t);
// Convenient wrapper for rigid case (no scaling, no reflections)
template <
typename DerivedX,
typename DerivedY,
typename DerivedR,
typename DerivedT>
IGL_INLINE void procrustes(
const Eigen::PlainObjectBase<DerivedX>& X,
const Eigen::PlainObjectBase<DerivedY>& Y,
Eigen::PlainObjectBase<DerivedR>& R,
Eigen::PlainObjectBase<DerivedT>& t);
// Convenient wrapper for 2D case.
template <
typename DerivedX,
typename DerivedY,
typename Scalar,
typename DerivedT>
IGL_INLINE void procrustes(
const Eigen::PlainObjectBase<DerivedX>& X,
const Eigen::PlainObjectBase<DerivedY>& Y,
Eigen::Rotation2D<Scalar>& R,
Eigen::PlainObjectBase<DerivedT>& t);
}
#ifndef IGL_STATIC_LIBRARY
#include "procrustes.cpp"
#endif
#endif