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https://github.com/SoftFever/OrcaSlicer.git
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2ae2672ee9
Fixing dep build script on Windows and removing some warnings. Use bundled igl by default. Not building with the dependency scripts if not explicitly stated. This way, it will stay in Fix the libigl patch to include C source files in header only mode.
137 lines
4 KiB
C++
137 lines
4 KiB
C++
// This file is part of libigl, a simple c++ geometry processing library.
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//
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// Copyright (C) 2014 Stefan Brugger <stefanbrugger@gmail.com>
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//
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// This Source Code Form is subject to the terms of the Mozilla Public License
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// v. 2.0. If a copy of the MPL was not distributed with this file, You can
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// obtain one at http://mozilla.org/MPL/2.0/.
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#ifndef IGL_PROCRUSTES_H
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#define IGL_PROCRUSTES_H
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#include "igl_inline.h"
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#include <Eigen/Dense>
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#include <Eigen/Geometry>
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namespace igl
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{
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// Solve Procrustes problem in d dimensions. Given two point sets X,Y in R^d
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// find best scale s, orthogonal R and translation t s.t. |s*X*R + t - Y|^2
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// is minimized.
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//
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// Templates:
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// DerivedV point type
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// Scalar scalar type
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// DerivedR type of R
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// DerivedT type of t
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// Inputs:
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// X #V by DIM first list of points
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// Y #V by DIM second list of points
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// includeScaling if scaling should be allowed
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// includeReflections if R is allowed to be a reflection
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// Outputs:
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// scale scaling
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// R orthogonal matrix
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// t translation
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//
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// Example:
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// MatrixXd X, Y; (containing 3d points as rows)
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// double scale;
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// MatrixXd R;
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// VectorXd t;
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// igl::procrustes(X,Y,true,false,scale,R,t);
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// R *= scale;
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// MatrixXd Xprime = (X * R).rowwise() + t.transpose();
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//
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template <
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typename DerivedX,
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typename DerivedY,
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typename Scalar,
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typename DerivedR,
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typename DerivedT>
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IGL_INLINE void procrustes(
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const Eigen::PlainObjectBase<DerivedX>& X,
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const Eigen::PlainObjectBase<DerivedY>& Y,
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bool includeScaling,
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bool includeReflections,
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Scalar& scale,
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Eigen::PlainObjectBase<DerivedR>& R,
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Eigen::PlainObjectBase<DerivedT>& t);
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// Same as above but returns Eigen transformation object.
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//
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// Templates:
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// DerivedV point type
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// Scalar scalar type
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// DIM point dimension
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// TType type of transformation
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// (Isometry,Affine,AffineCompact,Projective)
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// Inputs:
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// X #V by DIM first list of points
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// Y #V by DIM second list of points
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// includeScaling if scaling should be allowed
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// includeReflections if R is allowed to be a reflection
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// Outputs:
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// T transformation that minimizes error
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//
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// Example:
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// MatrixXd X, Y; (containing 3d points as rows)
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// AffineCompact3d T;
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// igl::procrustes(X,Y,true,false,T);
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// MatrixXd Xprime = (X * T.linear()).rowwise() + T.translation().transpose();
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template <
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typename DerivedX,
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typename DerivedY,
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typename Scalar,
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int DIM,
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int TType>
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IGL_INLINE void procrustes(
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const Eigen::PlainObjectBase<DerivedX>& X,
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const Eigen::PlainObjectBase<DerivedY>& Y,
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bool includeScaling,
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bool includeReflections,
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Eigen::Transform<Scalar,DIM,TType>& T);
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// Convenient wrapper that returns S=scale*R instead of scale and R separately
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template <
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typename DerivedX,
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typename DerivedY,
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typename DerivedR,
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typename DerivedT>
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IGL_INLINE void procrustes(
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const Eigen::PlainObjectBase<DerivedX>& X,
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const Eigen::PlainObjectBase<DerivedY>& Y,
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bool includeScaling,
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bool includeReflections,
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Eigen::PlainObjectBase<DerivedR>& S,
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Eigen::PlainObjectBase<DerivedT>& t);
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// Convenient wrapper for rigid case (no scaling, no reflections)
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template <
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typename DerivedX,
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typename DerivedY,
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typename DerivedR,
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typename DerivedT>
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IGL_INLINE void procrustes(
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const Eigen::PlainObjectBase<DerivedX>& X,
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const Eigen::PlainObjectBase<DerivedY>& Y,
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Eigen::PlainObjectBase<DerivedR>& R,
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Eigen::PlainObjectBase<DerivedT>& t);
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// Convenient wrapper for 2D case.
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template <
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typename DerivedX,
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typename DerivedY,
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typename Scalar,
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typename DerivedT>
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IGL_INLINE void procrustes(
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const Eigen::PlainObjectBase<DerivedX>& X,
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const Eigen::PlainObjectBase<DerivedY>& Y,
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Eigen::Rotation2D<Scalar>& R,
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Eigen::PlainObjectBase<DerivedT>& t);
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}
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#ifndef IGL_STATIC_LIBRARY
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#include "procrustes.cpp"
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#endif
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#endif
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