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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.
140 lines
3.9 KiB
C++
140 lines
3.9 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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#include "procrustes.h"
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#include "polar_svd.h"
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#include "polar_dec.h"
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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 igl::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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{
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using namespace Eigen;
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assert (X.rows() == Y.rows() && "Same number of points");
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assert(X.cols() == Y.cols() && "Points have same dimensions");
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// Center data
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const VectorXd Xmean = X.colwise().mean();
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const VectorXd Ymean = Y.colwise().mean();
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MatrixXd XC = X.rowwise() - Xmean.transpose();
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MatrixXd YC = Y.rowwise() - Ymean.transpose();
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// Scale
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scale = 1.;
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if (includeScaling)
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{
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double scaleX = XC.norm() / XC.rows();
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double scaleY = YC.norm() / YC.rows();
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scale = scaleY/scaleX;
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XC *= scale;
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assert (std::abs(XC.norm() / XC.rows() - scaleY) < 1e-8);
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}
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// Rotation
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MatrixXd S = XC.transpose() * YC;
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MatrixXd T;
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if (includeReflections)
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{
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polar_dec(S,R,T);
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}else
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{
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polar_svd(S,R,T);
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}
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// R.transposeInPlace();
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// Translation
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t = Ymean - scale*R.transpose()*Xmean;
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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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int DIM,
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int TType>
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IGL_INLINE void igl::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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{
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using namespace Eigen;
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double scale;
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MatrixXd R;
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VectorXd t;
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procrustes(X,Y,includeScaling,includeReflections,scale,R,t);
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// Combine
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T = Translation<Scalar,DIM>(t) * R * Scaling(scale);
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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 DerivedR,
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typename DerivedT>
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IGL_INLINE void igl::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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{
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double scale;
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procrustes(X,Y,includeScaling,includeReflections,scale,S,t);
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S *= scale;
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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 DerivedR,
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typename DerivedT>
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IGL_INLINE void igl::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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{
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procrustes(X,Y,false,false,R,t);
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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 DerivedT>
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IGL_INLINE void igl::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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using namespace Eigen;
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assert (X.cols() == 2 && Y.cols() == 2 && "Points must have dimension 2");
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Matrix2d Rmat;
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procrustes(X,Y,false,false,Rmat,t);
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R.fromRotationMatrix(Rmat);
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}
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#ifdef IGL_STATIC_LIBRARY
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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> >&);
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#endif
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